fast torque response: Topics by Science.gov

Sample records for fast torque response

Ankle and hip postural strategies defined by joint torques

NASA Technical Reports Server (NTRS)

Runge, C. F.; Shupert, C. L.; Horak, F. B.; Zajac, F. E.; Peterson, B. W. (Principal Investigator)

1999-01-01

Previous studies have identified two discrete strategies for the control of posture in the sagittal plane based on EMG activations, body kinematics, and ground reaction forces. The ankle strategy was characterized by body sway resembling a single-segment-inverted pendulum and was elicited on flat support surfaces. In contrast, the hip strategy was characterized by body sway resembling a double-segment inverted pendulum divided at the hip and was elicited on short or compliant support surfaces. However, biomechanical optimization models have suggested that hip strategy should be observed in response to fast translations on a flat surface also, provided the feet are constrained to remain in contact with the floor and the knee is constrained to remain straight. The purpose of this study was to examine the experimental evidence for hip strategy in postural responses to backward translations of a flat support surface and to determine whether analyses of joint torques would provide evidence for two separate postural strategies. Normal subjects standing on a flat support surface were translated backward with a range of velocities from fast (55 cm/s) to slow (5 cm/s). EMG activations and joint kinematics showed pattern changes consistent with previous experimental descriptions of mixed hip and ankle strategy with increasing platform velocity. Joint torque analyses revealed the addition of a hip flexor torque to the ankle plantarflexor torque during fast translations. This finding indicates the addition of hip strategy to ankle strategy to produce a continuum of postural responses. Hip torque without accompanying ankle torque (pure hip strategy) was not observed. Although postural control strategies have previously been defined by how the body moves, we conclude that joint torques, which indicate how body movements are produced, are useful in defining postural control strategies. These results also illustrate how the biomechanics of the body can transform discrete control patterns into a continuum of postural corrections.
Shear mode ER transfer function for robotic applications

NASA Astrophysics Data System (ADS)

Tan, K. P.; Stanway, R.; Bullough, W. A.

2005-06-01

Electro-rheological (ER) fluids are becoming popular in modern industrial applications. The advantage of employing ER devices is due to the ease of energizing the ER fluids at fast speeds of response. One innovation in ER applications could be in the positioning control of the robotic arm using an ER clutch. In order to actuate the manipulator, the ER output torque response is required. However, the behaviour of this ER torque response at different input conditions is not clearly understood. Therefore, in this paper, a sample study of the ER output torque is conducted. The ER output torque responses at different input parameters are studied carefully for the establishment of an appropriate ER transfer function in shear mode. This transfer function will serve as an important feature in future ER-actuated robot arm's control process.
Fast Response Shape Memory Effect Titanium Nickel (TiNi) Foam Torque Tubes

NASA Technical Reports Server (NTRS)

Jardine, Peter

2014-01-01

Shape Change Technologies has developed a process to manufacture net-shaped TiNi foam torque tubes that demonstrate the shape memory effect. The torque tubes dramatically reduce response time by a factor of 10. This Phase II project matured the actuator technology by rigorously characterizing the process to optimize the quality of the TiNi and developing a set of metrics to provide ISO 9002 quality assurance. A laboratory virtual instrument engineering workbench (LabVIEW'TM')-based, real-time control of the torsional actuators was developed. These actuators were developed with The Boeing Company for aerospace applications.
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.
Evaluating the contribution of a neural component of ankle joint resistive torque in patients with stroke using a manual device.

PubMed

Kobayashi, Toshiki; Leung, Aaron K L; Akazawa, Yasushi; Hutchins, Stephen W

2011-01-01

To investigate the methodology using a manual ankle joint resistive torque measurement device to evaluate the contribution of the neural component of ankle joint resistive torque in patients with stroke. Within-subject comparison to compare the ankle joint resistive torque between fast and slow stretching conditions. Ten patients with stroke participated in this study. The incremental ratio of ankle joint resistive torque at the ankle angular position of 5degrees dorsiflexion under the fast stretching condition in comparison to the slow one was calculated in each patient. A significant increase (p<0.01) in the ankle joint resistive torque was demonstrated under the fast stretching condition in comparison to the slow one in all patients and the mean ankle joint resistive torque was 4.6 (SD=1.7) Nm under the slow stretching condition, while it was 8.4 (SD=4.1) Nm under the fast stretching condition at the ankle angular position of 5 degrees dorsiflexion. The incremental ratio ranged from 9.4-139.3% among the patients. The results of this study demonstrated the potential advantage of the device to evaluate the contribution of the neural component of ankle joint resistive torque.
An ironless armature brushless torque motor

NASA Technical Reports Server (NTRS)

Studer, P. A.

1973-01-01

A high torque motor with improved servo mechanism is reported. Armature windings are cast into an epoxy cylinder and armature conductors are integrally cast with an aluminum mounting ring which provides thermal conductance directly into the structure. This configuration eliminates magnetic hysteresis because there is no relative motion between the rotating magnetic field and any stationary iron. The absence of destabilization forces provides a fast electrical response compared with a typical torquer of conventional construction.
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.
The timing of control signals underlying fast point-to-point arm movements.

PubMed

Ghafouri, M; Feldman, A G

2001-04-01

It is known that proprioceptive feedback induces muscle activation when the facilitation of appropriate motoneurons exceeds their threshold. In the suprathreshold range, the muscle-reflex system produces torques depending on the position and velocity of the joint segment(s) that the muscle spans. The static component of the torque-position relationship is referred to as the invariant characteristic (IC). According to the equilibrium-point (EP) hypothesis, control systems produce movements by changing the activation thresholds and thus shifting the IC of the appropriate muscles in joint space. This control process upsets the balance between muscle and external torques at the initial limb configuration and, to regain the balance, the limb is forced to establish a new configuration or, if the movement is prevented, a new level of static torques. Taken together, the joint angles and the muscle torques generated at an equilibrium configuration define a single variable called the EP. Thus by shifting the IC, control systems reset the EP. Muscle activation and movement emerge following the EP resetting because of the natural physical tendency of the system to reach equilibrium. Empirical and simulation studies support the notion that the control IC shifts and the resulting EP shifts underlying fast point-to-point arm movements are gradual rather than step-like. However, controversies exist about the duration of these shifts. Some studies suggest that the IC shifts cease with the movement offset. Other studies propose that the IC shifts end early in comparison to the movement duration (approximately, at peak velocity). The purpose of this study was to evaluate the duration of the IC shifts underlying fast point-to-point arm movements. Subjects made fast (hand peak velocity about 1.3 m/s) planar arm movements toward different targets while grasping a handle. Hand forces applied to the handle and shoulder/elbow torques were, respectively, measured from a force sensor placed on the handle, or computed with equations of motion. In some trials, an electromagnetic brake prevented movements. In such movements, the hand force and joint torques reached a steady state after a time that was much smaller than the movement duration in unobstructed movements and was approximately equal to the time to peak velocity (mean difference < 80 ms). In an additional experiment, subjects were instructed to rapidly initiate corrections of the pushing force in response to movement arrest. They were able to initiate such corrections only when the joint torques and the pushing force had practically reached a steady state. The latency of correction onset was, however, smaller than the duration of unobstructed movements. We concluded that during the time at which the steady state torques were reached, the control pattern of IC shifts remained the same despite the movement block. Thereby the duration of these shifts did not exceed the time of reaching the steady state torques. Our findings are consistent with the hypothesis that, in unobstructed movements, the IC shifts and resulting shifts in the EP end approximately at peak velocity. In other words, during the latter part of the movement, the control signals responsible for the equilibrium shift remained constant, and the movement was driven by the arm inertial, viscous and elastic forces produced by the muscle-reflex system. Fast movements may thus be completed without continuous control guidance. As a consequence, central corrections and sequential commands may be issued rapidly, without waiting for the end of kinematic responses to each command, which may be important for many motor behaviours including typing, piano playing and speech. Our study also illustrates that the timing of the control signals may be substantially different from that of the resulting motor output and that the same control pattern may produce different motor outputs depending on external conditions.
Direct Torque Control of a Small Wind Turbine with a Sliding-Mode Speed Controller

NASA Astrophysics Data System (ADS)

Sri Lal Senanayaka, Jagath; Karimi, Hamid Reza; Robbersmyr, Kjell G.

2016-09-01

In this paper. the method of direct torque control in the presence of a sliding-mode speed controller is proposed for a small wind turbine being used in water heating applications. This concept and control system design can be expanded to grid connected or off-grid applications. Direct torque control of electrical machines has shown several advantages including very fast dynamics torque control over field-oriented control. Moreover. the torque and flux controllers in the direct torque control algorithms are based on hvsteretic controllers which are nonlinear. In the presence of a sliding-mode speed control. a nonlinear control system can be constructed which is matched for AC/DC conversion of the converter that gives fast responses with low overshoots. The main control objectives of the proposed small wind turbine can be maximum power point tracking and soft-stall power control. This small wind turbine consists of permanent magnet synchronous generator and external wind speed. and rotor speed measurements are not required for the system. However. a sensor is needed to detect the rated wind speed overpass events to activate proper speed references for the wind turbine. Based on the low-cost design requirement of small wind turbines. an available wind speed sensor can be modified. or a new sensor can be designed to get the required measurement. The simulation results will be provided to illustrate the excellent performance of the closed-loop control system in entire wind speed range (4-25 m/s).
The effects of short-term exercise training on peak-torque are time- and fiber-type dependent.

PubMed

Ureczky, Dóra; Vácz, Gabriella; Costa, Andreas; Kopper, Bence; Lacza, Zsombor; Hortobágyi, Tibor; Tihanyi, József

2014-08-01

We examined the susceptibility of fast and slow twitch muscle fibers in the quadriceps muscle to eccentric exercise-induced muscle damage. Nine healthy men (age: 22.5 ± 1.6 years) performed maximal eccentric quadriceps contractions at 120°·s-1 over a 120° of knee joint range of motion for 6 consecutive days. Biopsies were taken from the vastus lateralis muscle before repeated bouts of eccentric exercise on the third and seventh day. Immunohistochemical procedures were used to determine fiber composition and fibronectin activity. Creatine kinase (CK) and lactate dehydrogenase (LDH) were determined in serum. Average torque was calculated in each day for each subject. Relative to baseline, average torque decreased 37.4% till day 3 and increased 43.0% from the day 3 to day 6 (p < 0.001). Creatine kinase and LDH were 70.6 and 1.5 times higher on day 3 and 75.5 and 1.4 times higher on day 6. Fibronectin was found in fast fibers in subjects with high CK level on day 3 and 7 after exercise, but on day 7, fibronectin seemed in both slow and fast fibers except in muscles of 2 subjects with high fast fiber percentage. Peak torque and muscle fiber-type composition measured at baseline showed a strong positive association on day 3 (r = 0.76, p < 0.02) and strong negative association during recovery between day 3 and day 6 (r = -0.76, p < 0.02), and day 1 and day 6 (r = 0.84, p < 0.001). We conclude that the damage of fast fibers preceded the damage of slow fibers, and muscles with slow fiber dominance were more susceptible to repeated bouts of eccentric exercise than fast fiber dominance muscles. The data suggest that the responses to repeated bouts of eccentric exercise are fiber-type-dependent in the quadriceps muscle, which can be the basis for the design of individualized strength training protocols.
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.
Fast-Response-Time Shape-Memory-Effect Foam Actuators

NASA Technical Reports Server (NTRS)

Jardine, Peter

2010-01-01

Bulk shape memory alloys, such as Nitinol or CuAlZn, display strong recovery forces undergoing a phase transformation after being strained in their martensitic state. These recovery forces are used for actuation. As the phase transformation is thermally driven, the response time of the actuation can be slow, as the heat must be passively inserted or removed from the alloy. Shape memory alloy TiNi torque tubes have been investigated for at least 20 years and have demonstrated high actuation forces [3,000 in.-lb (approximately equal to 340 N-m) torques] and are very lightweight. However, they are not easy to attach to existing structures. Adhesives will fail in shear at low-torque loads and the TiNi is not weldable, so that mechanical crimp fits have been generally used. These are not reliable, especially in vibratory environments. The TiNi is also slow to heat up, as it can only be heated indirectly using heater and cooling must be done passively. This has restricted their use to on-off actuators where cycle times of approximately one minute is acceptable. Self-propagating high-temperature synthesis (SHS) has been used in the past to make porous TiNi metal foams. Shape Change Technologies has been able to train SHS derived TiNi to exhibit the shape memory effect. As it is an open-celled material, fast response times were observed when the material was heated using hot and cold fluids. A methodology was developed to make the open-celled porous TiNi foams as a tube with integrated hexagonal ends, which then becomes a torsional actuator with fast response times. Under processing developed independently, researchers were able to verify torques of 84 in.-lb (approximately equal to 9.5 Nm) using an actuator weighing 1.3 oz (approximately equal to 37 g) with very fast (less than 1/16th of a second) initial response times when hot and cold fluids were used to facilitate heat transfer. Integrated structural connections were added as part of the net shape process, eliminating the need for welding, adhesives, or mechanical crimping. Inexpensive net-shape processing was used, which reduces the cost of the actuator by over a factor of 10 over nonporous TiNi made by hot drawing of tube or electrical discharge machining. By forming the alloy as an open-celled foam, the surface area for heat transfer is dramatically increased, allowing for much faster response times. The technology also allows for netshape fabrication of the actuator, which allows for structural connections to be integrated into the actuator material, making these actuators significantly less expensive. Commercial applications include actuators for concepts such as the variable area chevron and nozzle in jet aircraft. Lightweight tube or rod components can be supplied to interested parties.
Muscle function in aged women in response to a water-based exercises program and progressive resistance training.

PubMed

Bento, Paulo Cesar Barauce; Rodacki, André Luiz Felix

2015-11-01

The purpose of the present study was to determine the effects of a water-based exercise program on muscle function compared with regular high-intensity resistance training. Older women (n = 87) were recruited from the local community. The inclusion criteria were, to be aged 60 years or older, able to walk and able to carry out daily living activities independently. Participants were randomly assigned to one of the following groups: water-based exercises (WBG), resistance training (RTG) or control (CG). The experimental groups carried out 12 weeks of an excise program performed on water or on land. The dynamic strength, the isometric peak, and rate of torque development for the lower limbs were assessed before and after interventions. The water-based program provided a similar improvement in dynamic strength in comparison with resistance training. The isometric peak torque increased around the hip and ankle joints in the water-based group, and around the knee joint in the resistance-training group (P < 0.05). The rate of torque development increased only in the water-based group around the hip extensors muscles (P < 0.05). Water-based programs constitute an attractive alternative to promote relevant strength gains using moderate loads and fast speed movements, which were also effective to improve the capacity to generate fast torques. © 2014 Japan Geriatrics Society.
Memory-Metal Electromechanical Actuators

NASA Technical Reports Server (NTRS)

Ruoff, C. F.

1984-01-01

Electrically controlled actuator produces predetermined force, torque, or displacement without motors, solenoids, or gears. Using memory-metal elements, actuator responds to digital input without electronic digitalto-analog conversion. To prevent overheating and consequent loss of hotformed shape, each element protected by thermostat turns off current when predetermined temperature is exceeded. Memory metals used to generate fast mechanical response to electric signals.
The Functional Role of the Triceps Surae Muscle during Human Locomotion

PubMed Central

Honeine, Jean-Louis; Schieppati, Marco; Gagey, Olivier; Do, Manh-Cuong

2013-01-01

Aim Despite numerous studies addressing the issue, it remains unclear whether the triceps surae muscle group generates forward propulsive force during gait, commonly identified as ‘push-off’. In order to challenge the push-off postulate, one must probe the effect of varying the propulsive force while annulling the effect of the progression velocity. This can be obtained by adding a load to the subject while maintaining the same progression velocity. Methods Ten healthy subjects initiated gait in both unloaded and loaded conditions (about 30% of body weight attached at abdominal level), for two walking velocities, spontaneous and fast. Ground reaction force and EMG activity of soleus and gastrocnemius medialis and lateralis muscles of the stance leg were recorded. Centre of mass velocity and position, centre of pressure position, and disequilibrium torque were calculated. Results At spontaneous velocity, adding the load increased disequilibrium torque and propulsive force. However, load had no effect on the vertical braking force or amplitude of triceps activity. At fast progression velocity, disequilibrium torque, vertical braking force and triceps EMG increased with respect to spontaneous velocity. Still, adding the load did not further increase braking force or EMG. Conclusions Triceps surae is not responsible for the generation of propulsive force but is merely supporting the body during walking and restraining it from falling. By controlling the disequilibrium torque, however, triceps can affect the propulsive force through the exchange of potential into kinetic energy. PMID:23341916
Measurement of Resistive Plantar Flexion Torque of the Ankle during Passive Stretch in Healthy Subjects and Patients with Poststroke Hemiplegia.

PubMed

Mizuno, Shiho; Sonoda, Shigeru; Takeda, Kotaro; Maeshima, Shinichiro

2016-04-01

Quantification of increased muscle tone for patients with spasticity has been performed to date using various devices to replace the manual scales, such as the modified Ashworth scale or the Tardieu scale. We developed a device that could measure resistive plantar flexion (PF) torque of the ankle during passive dorsiflexion (DF) as an indicator of muscle tone of ankle plantar flexors. The primary objective was to explore the test-retest intrarater reliability of a custom-built device. Participants were 11 healthy subjects (7 men, 4 women; mean age 47.0 years) and 22 patients with poststroke hemiplegia (11 hemorrhagic, 11 ischemic; 14 men, 8 women; mean age 57.2 years). The device was affixed to the ankle. Subjects were seated with knees either flexed or extended. The ankle was passively dorsiflexed from 20° of PF to more than 10° of DF at 5°/second (slow stretch) or 90°/second (fast stretch). Angle and torque were measured twice during the stretches. The intraclass correlation coefficients (ICCs) of torque at 10° of DF (T10) in the 4 conditions-slow and fast stretches with knee flexed or extended-were calculated. The T10 ICCs of the 4 conditions were .95-.99 in both groups. The healthy subjects showed significantly higher T10 of knee extension than of knee flexion during slow and fast stretches. The patients showed increased velocity-dependent torque during fast stretches. Excellent reliability was observed. The device is suitable for measuring resistive PF torque during passive stretch in a flexed knee condition. Copyright © 2016 National Stroke Association. Published by Elsevier Inc. All rights reserved.
Decoding tactile afferent activity to obtain an estimate of instantaneous force and torque applied to the fingerpad

PubMed Central

Birznieks, Ingvars; Redmond, Stephen J.

2015-01-01

Dexterous manipulation is not possible without sensory information about object properties and manipulative forces. Fundamental neuroscience has been unable to demonstrate how information about multiple stimulus parameters may be continuously extracted, concurrently, from a population of tactile afferents. This is the first study to demonstrate this, using spike trains recorded from tactile afferents innervating the monkey fingerpad. A multiple-regression model, requiring no a priori knowledge of stimulus-onset times or stimulus combination, was developed to obtain continuous estimates of instantaneous force and torque. The stimuli consisted of a normal-force ramp (to a plateau of 1.8, 2.2, or 2.5 N), on top of which −3.5, −2.0, 0, +2.0, or +3.5 mNm torque was applied about the normal to the skin surface. The model inputs were sliding windows of binned spike counts recorded from each afferent. Models were trained and tested by 15-fold cross-validation to estimate instantaneous normal force and torque over the entire stimulation period. With the use of the spike trains from 58 slow-adapting type I and 25 fast-adapting type I afferents, the instantaneous normal force and torque could be estimated with small error. This study demonstrated that instantaneous force and torque parameters could be reliably extracted from a small number of tactile afferent responses in a real-time fashion with stimulus combinations that the model had not been exposed to during training. Analysis of the model weights may reveal how interactions between stimulus parameters could be disentangled for complex population responses and could be used to test neurophysiologically relevant hypotheses about encoding mechanisms. PMID:25948866
Healthy older adults have insufficient hip range of motion and plantar flexor strength to walk like healthy young adults.

PubMed

Anderson, Dennis E; Madigan, Michael L

2014-03-21

Limited plantar flexor strength and hip extension range of motion (ROM) in older adults are believed to underlie common age-related differences in gait. However, no studies of age-related differences in gait have quantified the percentage of strength and ROM used during gait. We examined peak hip angles, hip torques and plantar flexor torques, and corresponding estimates of functional capacity utilized (FCU), which we define as the percentage of available strength or joint ROM used, in 10 young and 10 older healthy adults walking under self-selected and controlled (slow and fast) conditions. Older adults walked with about 30% smaller hip extension angle, 28% larger hip flexion angle, 34% more hip extensor torque in the slow condition, and 12% less plantar flexor torque in the fast condition than young adults. Older adults had higher FCU than young adults for hip flexion angle (47% vs. 34%) and hip extensor torque (48% vs. 27%). FCUs for plantar flexor torque (both age groups) and hip extension angle (older adults in all conditions; young adults in self-selected gait) were not significantly <100%, and were higher than for other measures examined. Older adults lacked sufficient hip extension ROM to walk with a hip extension angle as large as that of young adults. Similarly, in the fast gait condition older adults lacked the strength to match the plantar flexor torque produced by young adults. This supports the hypothesis that hip extension ROM and plantar flexor strength are limiting factors in gait and contribute to age-related differences in gait. Copyright © 2014 Elsevier Ltd. All rights reserved.
Acute Postexercise Time Course Responses of Hypertrophic vs. Power-Endurance Squat Exercise Protocols on Maximal and Rapid Torque of the Knee Extensors.

PubMed

Conchola, Eric C; Thiele, Ryan M; Palmer, Ty B; Smith, Doug B; Thompson, Brennan J

2015-05-01

The aim of this study was to examine the effects of a medium-intensity high-volume vs. explosive squat protocol on the postexercise time course responses of maximal and rapid strength of the knee extensors. Seventeen resistance-trained men (mean ± SD: age = 22.0 ± 2.6 years) performed maximal voluntary contractions (MVCs) of the knee extensors before and after performing a squat workout using either a low-intensity fast velocity (LIFV) (5 × 16 at 40% 1 repetition maximum) or a traditional high-intensity slow velocity (TISV) (5 × 8 at 80% 1RM) exercise protocol. For each MVC, peak torque (PT), peak rate of torque development (RTDpeak), absolute (RTDabs), and relative RTD (RTDnorm) at early (0-50 milliseconds) and late (100-200 milliseconds) phases of muscle contraction were examined at pre- (Pre) and post-exercise at 0, 7, 15, and 30 (Post0...30) minutes. There were no intensity × time interactions for any variables (p = 0.098-0.832). Peak torque was greater at Pre than Post0 and Post7 (p = 0.001-0.016) but was not greater than Post15 and Post30 (p = 0.010-0.189). RTDpeak and early absolute RTD (RTD50abs) were greater at Pre than all postexercise time phases (p = 0.001-0.050); however, later absolute RTD (RTD100-200abs) was only greater at Pre than Post0 and Post30 (p = 0.013-0.048). Early relative RTD (RTD50norm) was only higher at Pre compared with Post0 (p = 0.023), whereas no differences were observed for later relative RTD (RTD100-200norm) (p = 0.920-0.990). Low-intensity fast velocity and TISV squat protocols both yielded acute decreases in maximal and rapid strength capacities following free-weight squats, with rapid strength showing slower recovery characteristics than maximal strength.
Velocity specificity of training in bodybuilders.

PubMed

Bell, D G; Jacobs, I

1992-03-01

This study investigated the effects of many years of bodybuilding on muscular strength and endurance. Eight bodybuilders (BB), 4 males and 4 females, and 8 controls (C), 4 males and 4 females, performed a muscle fatigue test (MFT) consisting of 25 maximal leg extensions at angular velocities of 180 and 300 degrees/s. The results for strength showed that at both the slow and fast contraction speeds, BB were significantly stronger than C and males were significantly stronger than females. For muscular endurance the results showed that at the slow contraction speed the torques and torque decline were greater in the BB than in the C, and greater in the males than the females. At the faster contraction speed, torque decline was similar in all groups while torques for the BB and male-C were similar and significantly greater than the torques for the female-C. The ratio of torques (fast/slow) for both strength and muscular endurance showed a main effect due to training status which supported the velocity specificity hypothesis. However, when the relative torques over the 25 contractions at both speeds were looked at, no velocity specificity occurred for muscular endurance. The data suggest a definite velocity specificity for the strength factor in BB whereas the same conclusion is not as clear for the muscular endurance factor.

Applying torque to the Escherichia coli flagellar motor using magnetic tweezers.

PubMed

van Oene, Maarten M; Dickinson, Laura E; Cross, Bronwen; Pedaci, Francesco; Lipfert, Jan; Dekker, Nynke H

2017-03-07

The bacterial flagellar motor of Escherichia coli is a nanoscale rotary engine essential for bacterial propulsion. Studies on the power output of single motors rely on the measurement of motor torque and rotation under external load. Here, we investigate the use of magnetic tweezers, which in principle allow the application and active control of a calibrated load torque, to study single flagellar motors in Escherichia coli. We manipulate the external load on the motor by adjusting the magnetic field experienced by a magnetic bead linked to the motor, and we probe the motor's response. A simple model describes the average motor speed over the entire range of applied fields. We extract the motor torque at stall and find it to be similar to the motor torque at drag-limited speed. In addition, use of the magnetic tweezers allows us to force motor rotation in both forward and backward directions. We monitor the motor's performance before and after periods of forced rotation and observe no destructive effects on the motor. Our experiments show how magnetic tweezers can provide active and fast control of the external load while also exposing remaining challenges in calibration. Through their non-invasive character and straightforward parallelization, magnetic tweezers provide an attractive platform to study nanoscale rotary motors at the single-motor level.
Applying torque to the Escherichia coli flagellar motor using magnetic tweezers

PubMed Central

van Oene, Maarten M.; Dickinson, Laura E.; Cross, Bronwen; Pedaci, Francesco; Lipfert, Jan; Dekker, Nynke H.

2017-01-01

The bacterial flagellar motor of Escherichia coli is a nanoscale rotary engine essential for bacterial propulsion. Studies on the power output of single motors rely on the measurement of motor torque and rotation under external load. Here, we investigate the use of magnetic tweezers, which in principle allow the application and active control of a calibrated load torque, to study single flagellar motors in Escherichia coli. We manipulate the external load on the motor by adjusting the magnetic field experienced by a magnetic bead linked to the motor, and we probe the motor’s response. A simple model describes the average motor speed over the entire range of applied fields. We extract the motor torque at stall and find it to be similar to the motor torque at drag-limited speed. In addition, use of the magnetic tweezers allows us to force motor rotation in both forward and backward directions. We monitor the motor’s performance before and after periods of forced rotation and observe no destructive effects on the motor. Our experiments show how magnetic tweezers can provide active and fast control of the external load while also exposing remaining challenges in calibration. Through their non-invasive character and straightforward parallelization, magnetic tweezers provide an attractive platform to study nanoscale rotary motors at the single-motor level. PMID:28266562
A Mechanistic Model for Cooperative Behavior of Co-transcribing RNA Polymerases

PubMed Central

Heberling, Tamra; Davis, Lisa; Gedeon, Jakub; Morgan, Charles; Gedeon, Tomáš

2016-01-01

In fast-transcribing prokaryotic genes, such as an rrn gene in Escherichia coli, many RNA polymerases (RNAPs) transcribe the DNA simultaneously. Active elongation of RNAPs is often interrupted by pauses, which has been observed to cause RNAP traffic jams; yet some studies indicate that elongation seems to be faster in the presence of multiple RNAPs than elongation by a single RNAP. We propose that an interaction between RNAPs via the torque produced by RNAP motion on helically twisted DNA can explain this apparent paradox. We have incorporated the torque mechanism into a stochastic model and simulated transcription both with and without torque. Simulation results illustrate that the torque causes shorter pause durations and fewer collisions between polymerases. Our results suggest that the torsional interaction of RNAPs is an important mechanism in maintaining fast transcription times, and that transcription should be viewed as a cooperative group effort by multiple polymerases. PMID:27517607
Low mass planet migration in magnetically torqued dead zones - II. Flow-locked and runaway migration, and a torque prescription

NASA Astrophysics Data System (ADS)

McNally, Colin P.; Nelson, Richard P.; Paardekooper, Sijme-Jan

2018-04-01

We examine the migration of low mass planets in laminar protoplanetary discs, threaded by large scale magnetic fields in the dead zone that drive radial gas flows. As shown in Paper I, a dynamical corotation torque arises due to the flow-induced asymmetric distortion of the corotation region and the evolving vortensity contrast between the librating horseshoe material and background disc flow. Using simulations of laminar torqued discs containing migrating planets, we demonstrate the existence of the four distinct migration regimes predicted in Paper I. In two regimes, the migration is approximately locked to the inward or outward radial gas flow, and in the other regimes the planet undergoes outward runaway migration that eventually settles to fast steady migration. In addition, we demonstrate torque and migration reversals induced by midplane magnetic stresses, with a bifurcation dependent on the disc surface density. We develop a model for fast migration, and show why the outward runaway saturates to a steady speed, and examine phenomenologically its termination due to changing local disc conditions. We also develop an analytical model for the corotation torque at late times that includes viscosity, for application to discs that sustain modest turbulence. Finally, we use the simulation results to develop torque prescriptions for inclusion in population synthesis models of planet formation.
Low-mass planet migration in magnetically torqued dead zones - II. Flow-locked and runaway migration, and a torque prescription

NASA Astrophysics Data System (ADS)

McNally, Colin P.; Nelson, Richard P.; Paardekooper, Sijme-Jan

2018-07-01

We examine the migration of low-mass planets in laminar protoplanetary discs, threaded by large-scale magnetic fields in the dead zone that drive radial gas flows. As shown in Paper I, a dynamical corotation torque arises due to the flow-induced asymmetric distortion of the corotation region and the evolving vortensity contrast between the librating horseshoe material and background disc flow. Using simulations of laminar torqued discs containing migrating planets, we demonstrate the existence of the four distinct migration regimes predicted in Paper I. In two regimes, the migration is approximately locked to the inward or outward radial gas flow, and in the other regimes the planet undergoes outward runaway migration that eventually settles to fast steady migration. In addition, we demonstrate torque and migration reversals induced by mid-plane magnetic stresses, with a bifurcation dependent on the disc surface density. We develop a model for fast migration, and show why the outward runaway saturates to a steady speed, and examine phenomenologically its termination due to changing local disc conditions. We also develop an analytical model for the corotation torque at late times that includes viscosity, for application to discs that sustain modest turbulence. Finally, we use the simulation results to develop torque prescriptions for inclusion in population synthesis models of planet formation.
Fast Low-Current Spin-Orbit-Torque Switching of Magnetic Tunnel Junctions through Atomic Modifications of the Free-Layer Interfaces

NASA Astrophysics Data System (ADS)

Shi, Shengjie; Ou, Yongxi; Aradhya, S. V.; Ralph, D. C.; Buhrman, R. A.

2018-01-01

Future applications of spin-orbit torque will require new mechanisms to improve the efficiency of switching nanoscale magnetic tunnel junctions (MTJs), while also controlling the magnetic dynamics to achieve fast nanosecond-scale performance with low-write-error rates. Here, we demonstrate a strategy to simultaneously enhance the interfacial magnetic anisotropy energy and suppress interfacial spin-memory loss by introducing subatomic and monatomic layers of Hf at the top and bottom interfaces of the ferromagnetic free layer of an in-plane magnetized three-terminal MTJ device. When combined with a β -W spin Hall channel that generates spin-orbit torque, the cumulative effect is a switching current density of 5.4 ×106 A /cm2 .
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
Reconstruction of shifting elbow joint compliant characteristics during fast and slow movements.

PubMed

Latash, M L; Gottlieb, G L

1991-01-01

The purpose of this study was to experimentally investigate the applicability of the equilibrium-point hypothesis to the dynamics of single-joint movements. Subjects were trained to perform relatively slow (movement time 600-1000 ms) or fast (movement time 200-300 ms) single-joint elbow flexion movements against a constant extending torque bias. They were instructed to reproduce the same time pattern of central motor command for a series of movements when the external torque could slowly and unpredictably increase, decrease, or remain constant. For fast movements, the total muscle torque was calculated as a sum of external and inertial components. Analysis of the data allowed reconstruction of the elbow joint compliant characteristics at different times during execution of the learned motor command. "Virtual" trajectories of the movements, representing time-varying changes in a central control parameter, were reconstructed and compared with the "actual" trajectories. For slow movements, the actual trajectories lagged behind the virtual ones. There were no consistent changes in the joint stiffness during slow movements. Similar analysis of experiments without voluntary movements demonstrated a lack of changes in the central parameters, supporting the assumption that the subjects were able to keep the same central motor command in spite of externally imposed unexpected torque perturbations. For the fast movements, the virtual trajectories were N-shaped, and the joint stiffness demonstrated a considerable increase near the middle of the movement. These findings contradict an hypothesis of monotonic joint compliant characteristic translation at a nearly constant rate during such movements.
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.
Implementation of Temperature Sequential Controller on Variable Speed Drive

NASA Astrophysics Data System (ADS)

Cheong, Z. X.; Barsoum, N. N.

2008-10-01

There are many pump and motor installations with quite extensive speed variation, such as Sago conveyor, heating, ventilation and air conditioning (HVAC) and water pumping system. A common solution for these applications is to run several fixed speed motors in parallel, with flow control accomplish by turning the motors on and off. This type of control method causes high in-rush current, and adds a risk of damage caused by pressure transients. This paper explains the design and implementation of a temperature speed control system for use in industrial and commercial sectors. Advanced temperature speed control can be achieved by using ABB ACS800 variable speed drive-direct torque sequential control macro, programmable logic controller and temperature transmitter. The principle of direct torque sequential control macro (DTC-SC) is based on the control of torque and flux utilizing the stator flux field orientation over seven preset constant speed. As a result of continuous comparison of ambient temperature to the references temperatures; electromagnetic torque response is particularly fast to the motor state and it is able maintain constant speeds. Experimental tests have been carried out by using ABB ACS800-U1-0003-2, to validate the effectiveness and dynamic respond of ABB ACS800 against temperature variation, loads, and mechanical shocks.
Skeletal muscle fiber type composition and performance during repeated bouts of maximal, concentric contractions

NASA Technical Reports Server (NTRS)

Colliander, E. B.; Dudley, G. A.; Tesch, P. A.

1988-01-01

Force output and fatigue and recovery patterns were studied during intermittent short-term exercise. 27 men performed three bouts of 30 maximal unilateral knee extensions on 2 different occasions. Blood flow was maintained or occluded during recovery periods (60 s). Blood flow was restricted by inflating a pneumatic cuff placed around the proximal thigh. Muscle biopsies from vastus lateralis were analyzed for identification of fast twitch (FT) and slow twitch (ST) fibers and relative FT area. Peak torque decreased during each bout of exercise and more when blood flow was restricted during recovery. Initial peak torque (IPT) and average peak torque (APT) decreased over the three exercise bouts. This response was 3 fold greater without than with blood flow during recovery. IPT and APT decreased more in individuals with mainly FT fibers than in those with mainly ST fibers. It is suggested that performance during repeated bouts of maximal concentric contractions differs between individuals with different fiber type composition. Specifically, in high intensity, intermittent exercise with emphasis on anaerobic energy release a high FT composition may not necessarily be advantageous for performance.
A linear quadratic tracker for Control Moment Gyro based attitude control of the Space Station

NASA Technical Reports Server (NTRS)

Kaidy, J. T.

1986-01-01

The paper discusses a design for an attitude control system for the Space Station which produces fast response, with minimal overshoot and cross-coupling with the use of Control Moment Gyros (CMG). The rigid body equations of motion are linearized and discretized and a Linear Quadratic Regulator (LQR) design and analysis study is performed. The resulting design is then modified such that integral and differential terms are added to the state equations to enhance response characteristics. Methods for reduction of computation time through channelization are discussed as well as the reduction of initial torque requirements.
Control of finger forces during fast, slow and moderate rotational hand movements.

PubMed

Kazemi, Hamed; Kearney, Robert E; Milner, Theodore E

2014-01-01

The goal of this study was to investigate the effect of speed on patterns of grip forces during twisting movement involving forearm supination against a torsional load (combined elastic and inertial load). For slow and moderate speed rotations, the grip force increased linearly with load torque. However, for fast rotations in which the contribution of the inertia to load torque was significantly greater than slower movements, the grip force-load torque relationship could be segmented into two phases: a linear ascending phase corresponding to the acceleration part of the movement followed by a plateau during deceleration. That is, during the acceleration phase, the grip force accurately tracked the combined elastic and inertial load. However, the coupling between grip force and load torque was not consistent during the deceleration phase of the movement. In addition, as speed increased, both the position and the force profiles became smoother. No differences in the baseline grip force, safety margin to secure the grasp during hold phase or the overall change in grip force were observed across different speeds.
Spatially and time-resolved magnetization dynamics driven by spin-orbit torques

NASA Astrophysics Data System (ADS)

Baumgartner, Manuel; Garello, Kevin; Mendil, Johannes; Avci, Can Onur; Grimaldi, Eva; Murer, Christoph; Feng, Junxiao; Gabureac, Mihai; Stamm, Christian; Acremann, Yves; Finizio, Simone; Wintz, Sebastian; Raabe, Jörg; Gambardella, Pietro

2017-10-01

Current-induced spin-orbit torques are one of the most effective ways to manipulate the magnetization in spintronic devices, and hold promise for fast switching applications in non-volatile memory and logic units. Here, we report the direct observation of spin-orbit-torque-driven magnetization dynamics in Pt/Co/AlOx dots during current pulse injection. Time-resolved X-ray images with 25 nm spatial and 100 ps temporal resolution reveal that switching is achieved within the duration of a subnanosecond current pulse by the fast nucleation of an inverted domain at the edge of the dot and propagation of a tilted domain wall across the dot. The nucleation point is deterministic and alternates between the four dot quadrants depending on the sign of the magnetization, current and external field. Our measurements reveal how the magnetic symmetry is broken by the concerted action of the damping-like and field-like spin-orbit torques and the Dzyaloshinskii-Moriya interaction, and show that reproducible switching events can be obtained for over 1012 reversal cycles.
On fast X-ray rotators with long-term periodicities

NASA Technical Reports Server (NTRS)

Naranan, S.; Elsner, R. F.; Darbro, W.; Ramsey, B. D.; Leahy, D. A.; Weisskopf, M. C.; Williams, A. C.; Hardee, P. E.; Sutherland, P. G.; Grindlay, J. E.

1985-01-01

The support of previous SAS 3 spacecraft observations by new data gathered by the Monitor Proportional Counter aboard the HEAO 2 spacecraft indicates that the pulse period history of the 13.5 sec-pulsing X-ray source LMC X-4 is consistent with standard accretion and torque models only if LMC X-4 is a fast rotator for which the accretion torques nearly cancel. This result leads to a neutron star magnetic field strength estimate of about 1.2 x 10 to the 13th G. Strong evidence is noted for Her X-1's status as a fast rotator, while SMC X-1 is probably an intermediate-to-fast rotator. In the context of slaved disk models for these objects, it is noted that the precession periods expected for the companion stars are significantly longer than the observed 1-2 month time scales; slaved disk models are thereby undermined.
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.
Effect of muscle tone on ankle kinetics during gait with ankle-foot orthoses in persons with stroke.

PubMed

Mizuno, Shiho; Sonoda, Shigeru; Takeda, Kotaro; Maeshima, Shinichiro

2017-12-01

Background Individuals exhibiting hemiplegia and increased ankle plantar flexors muscle tone following stroke are frequently prescribed an ankle-foot orthosis (AFO) to regain functional ambulation. The effect of muscle tone on ankle kinetics when walking with an AFO remains unknown. Objectives To investigate the effect of plantar flexion (PF) muscle tone on ankle plantar flexion torque during walking with an ankle-foot orthosis Methods The study included 80 participants with first-ever stroke whose manual muscle testing (MMT) of ankle DF 0-4, and 10 healthy subjects. Participants were instructed to walk on a treadmill, at a comfortable speed, wearing an instrumented AFO. Minimum PF torque during the last half of swing was extracted as an outcome measure. Resistive PF torques during passive slow and fast stretches were measured with a custom-built device, with torques at 10° DF (T10°-slow and T10°-fast) extracted as defining parameters for stiffness and muscle tone, respectively. Results Correlations between both T10°-slow and T10°-fast variables with minimum PF torque were fair among ankle DF MMT 0-3 groups (r = 0.71 -0.74, p < 0.01), with no correlation observed among the MMT 4 group and healthy subjects. Conclusions Effects of muscle tone on ankle kinetics during swing phase, with an AFO, were observed in persons with severe ankle DF paresis. Quantitative evaluation of ankle kinetics during gait with an AFO in addition to evaluation of muscle tone at rest is contributory to objective assessment of a muscle tone, not subjective rating scale at rest, or visual inspection of walking.
Method and apparatus for effecting light-off of a catalytic converter in a hybrid powertrain system

DOEpatents

Roos, Bryan Nathaniel; Spohn, Brian L

2013-07-02

A powertrain system includes a hybrid transmission and an internal combustion engine coupled to an exhaust aftertreatment device. A method for operating the powertrain system includes operating the hybrid transmission to generate tractive torque responsive to an operator torque request with the internal combustion engine in an engine-off state so long as the tractive torque is less than a threshold. The internal combustion engine is operated in an engine-on state at preferred operating conditions to effect light-off of the exhaust aftertreatment device and the hybrid transmission is coincidentally operated to generate tractive torque responsive to the operator torque request when the operator torque request exceeds the threshold. The internal combustion engine is then operated in the engine-on state to generate tractive torque responsive to the operator torque request.
Propeller torque load and propeller shaft torque response correlation during ice-propeller interaction

NASA Astrophysics Data System (ADS)

Polić, Dražen; Ehlers, Sören; Æsøy, Vilmar

2017-03-01

Ships use propulsion machinery systems to create directional thrust. Sailing in ice-covered waters involves the breaking of ice pieces and their submergence as the ship hull advances. Sometimes, submerged ice pieces interact with the propeller and cause irregular fluctuations of the torque load. As a result, the propeller and engine dynamics become imbalanced, and energy propagates through the propulsion machinery system until equilibrium is reached. In such imbalanced situations, the measured propeller shaft torque response is not equal to the propeller torque. Therefore, in this work, the overall system response is simulated under the ice-related torque load using the Bond graph model. The energy difference between the propeller and propeller shaft is estimated and related to their corresponding mechanical energy. Additionally, the mechanical energy is distributed among modes. Based on the distribution, kinetic and potential energy are important for the correlation between propeller torque and propeller shaft response.
Ultra-fast three terminal perpendicular spin-orbit torque MRAM (Presentation Recording)

NASA Astrophysics Data System (ADS)

Boulle, Olivier; Cubukcu, Murat; Hamelin, Claire; Lamard, Nathalie; Buda-Prejbeanu, Liliana; Mikuszeit, Nikolai; Garello, Kevin; Gambardella, Pietro; Langer, Juergen; Ocker, Berthold; Miron, Mihai; Gaudin, Gilles

2015-09-01

The discovery that a current flowing in a heavy metal can exert a torque on a neighboring ferromagnet has opened a new way to manipulate the magnetization at the nanoscale. This "spin orbit torque" (SOT) has been demonstrated in ultrathin magnetic multilayers with structural inversion asymmetry (SIA) and high spin orbit coupling, such as Pt/Co/AlOx multilayers. We have shown that this torque can lead to the magnetization switching of a perpendicularly magnetized nanomagnet by an in-plane current injection. The manipulation of magnetization by SOT has led to a novel concept of magnetic RAM memory, the SOT-MRAM, which combines non volatility, high speed, reliability and large endurance. These features make the SOT-MRAM a good candidate to replace SRAM for non-volatile cache memory application. We will present the proof of concept of a perpendicular SOT-MRAM cell composed of a Ta/FeCoB/MgO/FeCoB magnetic tunnel junction and demonstrate ultra-fast (down to 300 ps) deterministic bipolar magnetization switching. Macrospin and micromagnetic simulations including SOT cannot reproduce the experimental results, which suggests that additional physical mechanisms are at stacks. Our results show that SOT-MRAM is fast, reliable and low power, which is promising for non-volatile cache memory application. We will also discuss recent experiments of magnetization reversal in ultrathin multilayers Pt/Co/AlOx by very short (<200 ps) current pulses. We will show that in this material, the Dzyaloshinskii-Moryia interaction plays a key role in the reversal process.

A path to stable low-torque plasma operation in ITER with test blanket modules

DOE PAGES

Lanctot, Matthew J.; Snipes, J. A.; Reimerdes, H.; ...

2016-12-12

New experiments in the low-torque ITER Q = 10 scenario on DIII-D demonstrate that n = 1 magnetic fields from a single row of ex-vessel control coils enable operation at ITER performance metrics in the presence of applied non-axisymmetric magnetic fields from a test blanket module (TBM) mock-up coil. With n = 1 compensation, operation below the ITER-equivalent injected torque is successful at three times the ITER equivalent toroidal magnetic field ripple for a pair of TBMs in one equatorial port, whereas the uncompensated TBM field leads to rotation collapse, loss of H-mode and plasma current disruption. In companion experimentsmore » at high plasma beta, where the n = 1 plasma response is enhanced, uncorrected TBM fields degrade energy confinement and the plasma angular momentum while increasing fast ion losses; however, disruptions are not routinely encountered owing to increased levels of injected neutral beam torque. In this regime, n = 1 field compensation leads to recovery of a dominant fraction of the TBM-induced plasma pressure and rotation degradation, and an 80% reduction in the heat load to the first wall. These results show that the n = 1 plasma response plays a dominant role in determining plasma stability, and that n = 1 field compensation alone not only recovers most of the impact on plasma performance of the TBM, but also protects the first wall from potentially damaging heat flux. Despite these benefits, plasma rotation braking from the TBM fields cannot be fully recovered using standard error field control. Lastly, given the uncertainty in extrapolation of these results to the ITER configuration, it is prudent to design the TBMs with as low a ferromagnetic mass as possible without jeopardizing the TBM mission.« less
A path to stable low-torque plasma operation in ITER with test blanket modules

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

Lanctot, Matthew J.; Snipes, J. A.; Reimerdes, H.

New experiments in the low-torque ITER Q = 10 scenario on DIII-D demonstrate that n = 1 magnetic fields from a single row of ex-vessel control coils enable operation at ITER performance metrics in the presence of applied non-axisymmetric magnetic fields from a test blanket module (TBM) mock-up coil. With n = 1 compensation, operation below the ITER-equivalent injected torque is successful at three times the ITER equivalent toroidal magnetic field ripple for a pair of TBMs in one equatorial port, whereas the uncompensated TBM field leads to rotation collapse, loss of H-mode and plasma current disruption. In companion experimentsmore » at high plasma beta, where the n = 1 plasma response is enhanced, uncorrected TBM fields degrade energy confinement and the plasma angular momentum while increasing fast ion losses; however, disruptions are not routinely encountered owing to increased levels of injected neutral beam torque. In this regime, n = 1 field compensation leads to recovery of a dominant fraction of the TBM-induced plasma pressure and rotation degradation, and an 80% reduction in the heat load to the first wall. These results show that the n = 1 plasma response plays a dominant role in determining plasma stability, and that n = 1 field compensation alone not only recovers most of the impact on plasma performance of the TBM, but also protects the first wall from potentially damaging heat flux. Despite these benefits, plasma rotation braking from the TBM fields cannot be fully recovered using standard error field control. Lastly, given the uncertainty in extrapolation of these results to the ITER configuration, it is prudent to design the TBMs with as low a ferromagnetic mass as possible without jeopardizing the TBM mission.« less
Neoclassical Toroidal Viscosity Torque Induced by Plasma Response in a Low- β Tokamak with Edge Pedestal

NASA Astrophysics Data System (ADS)

Yan, Xingting; Zhu, Ping; Sun, Youwen

2016-10-01

The characteristic profile and magnitude are predicted in theory for the neoclassical toroidal viscosity (NTV) torque induced by the plasma response to the resonant magnetic perturbation (RMP) in a tokamak with an edge pedestal, using the newly developed module coupling the NIMROD and the NTVTOK codes. For a low β equilibrium, the NTV torque is mainly induced by the dominant toroidal mode of plasma response. The NTV torque profile is radially localized and peaked, which is determined by profiles of both the equilibrium temperature and the plasma response fields. In general, the peak of NTV torque profile is found to trace the pedestal location. The magnitude of NTV torque is extremely sensitive to the β of pedestal top; for a given plasma response, the peak value of NTV torque can increase by three orders of magnitude, when the pedestal β increases by only one order of magnitude. This suggests a more significant role of NTV torque in higher plasma β regimes. Supported by the National Magnetic Confinement Fusion Program of China under Grant Nos. 2014GB124002 and 2015GB101004, and the 100 Talent Program of the Chinese Academy of Sciences.
Virtual trajectories of single-joint movements performed under two basic strategies.

PubMed

Latash, M L; Gottlieb, G L

1992-01-01

The framework of the equilibrium point hypothesis has been used to analyse motor control processes for single-joint movements. Virtual trajectories and joint stiffness were reconstructed for different movement speeds and distances when subjects were instructed either to move "as fast as possible" or to intentionally vary movement speed. These instructions are assumed to be associated with similar or different rates of change of hypothetical central control variables (corresponding to the speed-sensitive and speed-insensitive strategies). The subjects were trained to perform relatively slow, moderately fast and very fast (nominal movement times 800, 400 and 250 ms) single-joint elbow flexion movements against a constant extending torque bias. They were instructed to reproduce the motor command for a series of movements while ignoring possible changes in the external torque which could slowly and unpredictably increase, decrease, or remain constant. The total muscle torque was calculated as a sum of external and inertial components. Fast movements over different distances were made with the speed-insensitive strategy. They were characterized by an increase in joint stiffness near the midpoint of the movements which was relatively independent of movement amplitude. Their virtual trajectories had a non-monotonic N-shape. All three arms of the N-shape scaled with movement amplitude. Movements over one distance at different speeds were made with a speed-sensitive strategy. They demonstrated different patterns of virtual trajectories and joint stiffness that depended on movement speed. The N-shape became less apparent for moderately fast movements and virtually disappeared for the slow movements. Slow movements showed no visible increase in joint stiffness.(ABSTRACT TRUNCATED AT 250 WORDS)
Coordinated turn-and-reach movements. I. Anticipatory compensation for self-generated coriolis and interaction torques

NASA Technical Reports Server (NTRS)

Pigeon, Pascale; Bortolami, Simone B.; DiZio, Paul; Lackner, James R.

2003-01-01

When reaching movements involve simultaneous trunk rotation, additional interaction torques are generated on the arm that are absent when the trunk is stable. To explore whether the CNS compensates for such self-generated interaction torques, we recorded hand trajectories in reaching tasks involving various amplitudes and velocities of arm extension and trunk rotation. Subjects pointed to three targets on a surface slightly above waist level. Two of the target locations were chosen so that a similar arm configuration relative to the trunk would be required for reaching to them, one of these targets requiring substantial trunk rotation, the other very little. Significant trunk rotation was necessary to reach the third target, but the arm's radial distance to the body remained virtually unchanged. Subjects reached at two speeds-a natural pace (slow) and rapidly (fast)-under normal lighting and in total darkness. Trunk angular velocity and finger velocity relative to the trunk were higher in the fast conditions but were not affected by the presence or absence of vision. Peak trunk velocity increased with increasing trunk rotation up to a maximum of 200 degrees /s. In slow movements, peak finger velocity relative to the trunk was smaller when trunk rotation was necessary to reach the targets. In fast movements, peak finger velocity was approximately 1.7 m/s for all targets. Finger trajectories were more curved when reaching movements involved substantial trunk rotation; however, the terminal errors and the maximal deviation of the trajectory from a straight line were comparable in slow and fast movements. This pattern indicates that the larger Coriolis, centripetal, and inertial interaction torques generated during rapid reaches were compensated by additional joint torques. Trajectory characteristics did not vary with the presence or absence of vision, indicating that visual feedback was unnecessary for anticipatory compensations. In all reaches involving trunk rotation, the finger movement generally occurred entirely during the trunk movement, indicating that the CNS did not minimize Coriolis forces incumbent on trunk rotation by sequencing the arm and trunk motions into a turn followed by a reach. A simplified model of the arm/trunk system revealed that additional interaction torques generated on the arm during voluntary turning and reaching were equivalent to < or =1.8 g (1 g = 9.81 m/s(2)) of external force at the elbow but did not degrade performance. In slow-rotation room studies involving reaching movements during passive rotation, Coriolis forces as small as 0.2 g greatly deflect movement trajectories and endpoints. We conclude that compensatory motor innervations are engaged in a predictive fashion to counteract impending self-generated interaction torques during voluntary reaching movements.
Coordinated turn-and-reach movements. I. Anticipatory compensation for self-generated coriolis and interaction torques.

PubMed

Pigeon, Pascale; Bortolami, Simone B; DiZio, Paul; Lackner, James R

2003-01-01

When reaching movements involve simultaneous trunk rotation, additional interaction torques are generated on the arm that are absent when the trunk is stable. To explore whether the CNS compensates for such self-generated interaction torques, we recorded hand trajectories in reaching tasks involving various amplitudes and velocities of arm extension and trunk rotation. Subjects pointed to three targets on a surface slightly above waist level. Two of the target locations were chosen so that a similar arm configuration relative to the trunk would be required for reaching to them, one of these targets requiring substantial trunk rotation, the other very little. Significant trunk rotation was necessary to reach the third target, but the arm's radial distance to the body remained virtually unchanged. Subjects reached at two speeds-a natural pace (slow) and rapidly (fast)-under normal lighting and in total darkness. Trunk angular velocity and finger velocity relative to the trunk were higher in the fast conditions but were not affected by the presence or absence of vision. Peak trunk velocity increased with increasing trunk rotation up to a maximum of 200 degrees /s. In slow movements, peak finger velocity relative to the trunk was smaller when trunk rotation was necessary to reach the targets. In fast movements, peak finger velocity was approximately 1.7 m/s for all targets. Finger trajectories were more curved when reaching movements involved substantial trunk rotation; however, the terminal errors and the maximal deviation of the trajectory from a straight line were comparable in slow and fast movements. This pattern indicates that the larger Coriolis, centripetal, and inertial interaction torques generated during rapid reaches were compensated by additional joint torques. Trajectory characteristics did not vary with the presence or absence of vision, indicating that visual feedback was unnecessary for anticipatory compensations. In all reaches involving trunk rotation, the finger movement generally occurred entirely during the trunk movement, indicating that the CNS did not minimize Coriolis forces incumbent on trunk rotation by sequencing the arm and trunk motions into a turn followed by a reach. A simplified model of the arm/trunk system revealed that additional interaction torques generated on the arm during voluntary turning and reaching were equivalent to < or =1.8 g (1 g = 9.81 m/s(2)) of external force at the elbow but did not degrade performance. In slow-rotation room studies involving reaching movements during passive rotation, Coriolis forces as small as 0.2 g greatly deflect movement trajectories and endpoints. We conclude that compensatory motor innervations are engaged in a predictive fashion to counteract impending self-generated interaction torques during voluntary reaching movements.
Spin torque and Nernst effects in Dzyaloshinskii-Moriya ferromagnets

DOE PAGES

Kovalev, Alexey A.; Zyuzin, Vladimir

2016-04-11

Here, we predict that a temperature gradient can induce a magnon-mediated intrinsic torque in systems with a nontrivial magnon Berry curvature. With the help of a microscopic linear response theory of nonequilibrium magnon-mediated torques and spin currents we identify the interband and intraband components that manifest in ferromagnets with Dzyaloshinskii-Moriya interactions and magnetic textures. To illustrate and assess the importance of such effects, we apply the linear response theory to the magnon-mediated spin Nernst and torque responses in a kagome lattice ferromagnet.
Preceding muscle activity influences motor unit discharge and rate of torque development during ballistic contractions in humans

PubMed Central

Van Cutsem, Michaël; Duchateau, Jacques

2005-01-01

To investigate the effect of initial conditions on the modulation of motor unit discharge during fast voluntary contractions, we compared ballistic isometric contractions of the ankle dorsiflexor muscles that were produced from either a resting state or superimposed on a sustained contraction. The torque of the dorsiflexors and the surface and intramuscular EMGs from the tibialis anterior were recorded. The results showed that the performance of a ballistic contraction from a sustained contraction (∼25% maximal voluntary contraction (MVC)) had a negative effect on the maximal rate of torque development. Although the electromechanical delay was shortened, the EMG activity during the ballistic contraction was less synchronized. These observations were associated with a significant decline in the average discharge rate of single motor units (89.8 ± 3.8 versus 115 ± 5.8 Hz) and in the percentage of units (6.2 versus 15.5% of the whole sample) that exhibited double discharges at brief intervals (= 5 ms). High-threshold units that were not recruited during the sustained contraction displayed the same activation pattern, which indicates that the mechanisms responsible for the decline in discharge rate were not restricted to previously activated units, but appear to influence the entire motor unit pool. When a premotor silent period (SP) was observed at the transition from the sustained muscular activity to the ballistic contraction (19% of the trials), these adjustments in motor unit activity were not present, and the ballistic contractions were similar to those performed from a resting state. Together, these results indicate that initial conditions can influence the capacity for motor unit discharge rate and hence the performance of a fast voluntary contraction. PMID:15539402
Optimal spin current pattern for fast domain wall propagation in nanowires

NASA Astrophysics Data System (ADS)

Yan, Peng; Sun, Zhouzhou; Schliemann, John; Wang, Xiangrong

2011-03-01

One of the important issues in nanomagnetism is to lower the current needed for a technologically useful domain wall (DW) propagation speed. Based on the modified Landau-Lifshitz-Gilbert (LLG) equation with both Slonczewski spin-transfer torque and the field-like torque, we derive an optimal temporally and spatially varying spin current pattern for fast DW propagation along nanowires. Under such conditions, the DW velocity in biaxial wires can be enhanced as much as tens of times higher than that achieved in experiments so far. Moreover, the fast variation of spin polarization can efficiently help DW depinning. Possible experimental realizations are discussed. This work is supported by Hong Kong RGC grants (#603508, 604109, RPC10SC05 and HKU10/CRF/08-HKUST17/CRF/08), and by Deutsche Forschungsgemeinschaft via SFB 689. ZZS thanks the Alexander von Humboldt Foundation (Germany) for a grant.
Engine-start Control Strategy of P2 Parallel Hybrid Electric Vehicle

NASA Astrophysics Data System (ADS)

Xiangyang, Xu; Siqi, Zhao; Peng, Dong

2017-12-01

A smooth and fast engine-start process is important to parallel hybrid electric vehicles with an electric motor mounted in front of the transmission. However, there are some challenges during the engine-start control. Firstly, the electric motor must simultaneously provide a stable driving torque to ensure the drivability and a compensative torque to drag the engine before ignition. Secondly, engine-start time is a trade-off control objective because both fast start and smooth start have to be considered. To solve these problems, this paper first analyzed the resistance of the engine start process, and established a physic model in MATLAB/Simulink. Then a model-based coordinated control strategy among engine, motor and clutch was developed. Two basic control strategy during fast start and smooth start process were studied. Simulation results showed that the control objectives were realized by applying given control strategies, which can meet different requirement from the driver.
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.
Influence of patellofemoral bracing on pain, knee extensor torque, and gait function in females with patellofemoral pain.

PubMed

Powers, Christopher M; Doubleday, Kathryn L; Escudero, Carina

2008-01-01

Our purpose was to evaluate the effects of a patellofemoral brace on pain response, knee extensor torque production, and gait function in females with patellofemoral pain (PFP). Sixteen females between the ages of 14 and 46 with diagnosis of PFP participated. Knee extensor torque was measured by using a LIDO isokinetic dynamometer. Pain levels were documented by using the Visual Analog Pain Scale. Stride characteristics during the conditions of free walk, fast walk, ascend stairs, descend stairs, ascend ramp, and descend ramp were obtained with a stride analyzer unit. EMG activity of the vasti musculature was recorded by using indwelling, bipolar, wire electrodes. Knee joint motion was assessed by using a VICON motion analysis system. All testing was performed with and without the Bauerfeind Genutrain P3 patellofemoral brace. There were no significant differences in torque production, pain levels, and stride characteristics between braced and non-braced trials. In addition, there were no significant differences in mean vasti EMG between braced and non-braced trials. When averaged across all conditions, a small but statistically significant increase in knee flexion was found during the braced trials. Although the current study did not find significant improvements in the clinical measures evaluated, 8 of the 16 subjects did experience a decrease in knee pain. This finding suggests that certain patients with PFP may respond favorably to bracing, and criteria must be established to determine which patients would best benefit from such an intervention.
Optimal control of mode transition for four-wheel-drive hybrid electric vehicle with dry dual-clutch transmission

NASA Astrophysics Data System (ADS)

Zhao, Zhiguo; Lei, Dan; Chen, Jiayi; Li, Hangyu

2018-05-01

When the four-wheel-drive hybrid electric vehicle (HEV) equipped with a dry dual clutch transmission (DCT) is in the mode transition process from pure electrical rear wheel drive to front wheel drive with engine or hybrid drive, the problem of vehicle longitudinal jerk is prominent. A mode transition robust control algorithm which resists external disturbance and model parameter fluctuation has been developed, by taking full advantage of fast and accurate torque (or speed) response of three electrical power sources and getting the clutch of DCT fully involved in the mode transition process. Firstly, models of key components of driveline system have been established, and the model of five-degrees-of-freedom vehicle longitudinal dynamics has been built by using a Uni-Tire model. Next, a multistage optimal control method has been produced to realize the decision of engine torque and clutch-transmitted torque. The sliding-mode control strategy for measurable disturbance has been proposed at the stage of engine speed dragged up. Meanwhile, the double tracking control architecture that integrates the model calculating feedforward control with H∞ robust feedback control has been presented at the stage of speed synchronization. Finally, the results from Matlab/Simulink software and hardware-in-the-loop test both demonstrate that the proposed control strategy for mode transition can not only coordinate the torque among different power sources and clutch while minimizing vehicle longitudinal jerk, but also provide strong robustness to model uncertainties and external disturbance.
Studies of the underlying mechanisms for optical nonlinearities of blue phase liquid crystals (Presentation Recording)

NASA Astrophysics Data System (ADS)

Chen, Chun-Wei; Khoo, Iam Choon; Zhao, Shuo; Lin, Tsung-Hsien; Ho, Tsung-Jui

2015-10-01

We have investigated the mechanisms responsible for nonlinear optical processes occurring in azobenzene-doped blue phase liquid crystals (BPLC), which exhibit two thermodynamically stable BPs: BPI and BPII. In coherent two wave-mixing experiments, a slow (minutes) and a fast (few milliseconds) side diffractions are observed. The underlying mechanisms were disclosed by monitoring the dynamics of grating formation and relaxation as well as by some supplementary experiments. We found the photothermal indexing and dye/LC intermolecular torque leading to lattice distortion to be the dominant mechanisms for the observed nonlinear response in BPLC. Moreover, the response time of the nonlinear optical process varied with operating phase. The rise time of the thermal indexing process was in good agreement with our findings on the temperature dependence of BP refractive index: τ(ISO) > τ(BPI) > τ(BPII). The relaxation time of the torque-induced lattice distortion was analogue to its electrostriction counterpart: τ'(BPI) > τ'(BPII). In a separate experiment, lattice swelling with selective reflection of <110> direction changed from green to red was also observed. This was attributable to the isomerization-induced change in cholesteric pitch, which directly affects the lattice spacing. The phenomenon was confirmed by measuring the optical rotatory power of the BPLC.
Low mass planet migration in magnetically torqued dead zones - I. Static migration torque

NASA Astrophysics Data System (ADS)

McNally, Colin P.; Nelson, Richard P.; Paardekooper, Sijme-Jan; Gressel, Oliver; Lyra, Wladimir

2017-12-01

Motivated by models suggesting that the inner planet forming regions of protoplanetary discs are predominantly lacking in viscosity-inducing turbulence, and are possibly threaded by Hall-effect generated large-scale horizontal magnetic fields, we examine the dynamics of the corotation region of a low-mass planet in such an environment. The corotation torque in an inviscid, isothermal, dead zone ought to saturate, with the libration region becoming both symmetrical and of a uniform vortensity, leading to fast inward migration driven by the Lindblad torques alone. However, in such a low viscosity situation, the material on librating streamlines essentially preserves its vortensity. If there is relative radial motion between the disc gas and the planet, the librating streamlines will no longer be symmetrical. Hence, if the gas is torqued by a large-scale magnetic field so that it undergoes a net inflow or outflow past the planet, driving evolution of the vortensity and inducing asymmetry of the corotation region, the corotation torque can grow, leading to a positive torque. In this paper, we treat this effect by applying a symmetry argument to the previously studied case of a migrating planet in an inviscid disc. Our results show that the corotation torque due to a laminar Hall-induced magnetic field in a dead zone behaves quite differently from that studied previously for a viscous disc. Furthermore, the magnetic field induced corotation torque and the dynamical corotation torque in a low viscosity disc can be regarded as one unified effect.
Constitutive Modeling of a Glass Fiber-Reinforced PTFE Gasketed-Joint Under a Re-torque

NASA Astrophysics Data System (ADS)

Williams, James; Gordon, Ali P.

Joints gasketed with viscoelastic seals often receive an application of a secondary torque, i.e., retorque, in order to ensure joint tightness and proper sealing. The motivation of this study is to characterize and analytically model the load and deflection re-torque response of a single 25% glass-fiber reinforced polytetrafluorethylene (PTFE) gasket-bolted joint with serrated flange detail. The Burger-type viscoelastic modeling constants of the material are obtained through isolating the gasket from the bolt by performing a gasket creep test via a MTS electromechanical test frame. The re-load creep response is also investigated by re-loading the gasket after a period of initial creep to observe the response. The modeling constants obtained from the creep tests are used with a Burger-type viscoelastic model to predict the re-torque response of a single bolt-gasket test fixture in order to validate the ability of the model to simulate the re-torque response under various loading conditions and flange detail.
A path to stable low-torque plasma operation in ITER with test blanket modules

NASA Astrophysics Data System (ADS)

Lanctot, M. J.; Snipes, J. A.; Reimerdes, H.; Paz-Soldan, C.; Logan, N.; Hanson, J. M.; Buttery, R. J.; deGrassie, J. S.; Garofalo, A. M.; Gray, T. K.; Grierson, B. A.; King, J. D.; Kramer, G. J.; La Haye, R. J.; Pace, D. C.; Park, J.-K.; Salmi, A.; Shiraki, D.; Strait, E. J.; Solomon, W. M.; Tala, T.; Van Zeeland, M. A.

2017-03-01

New experiments in the low-torque ITER Q = 10 scenario on DIII-D demonstrate that n = 1 magnetic fields from a single row of ex-vessel control coils enable operation at ITER performance metrics in the presence of applied non-axisymmetric magnetic fields from a test blanket module (TBM) mock-up coil. With n = 1 compensation, operation below the ITER-equivalent injected torque is successful at three times the ITER equivalent toroidal magnetic field ripple for a pair of TBMs in one equatorial port, whereas the uncompensated TBM field leads to rotation collapse, loss of H-mode and plasma current disruption. In companion experiments at high plasma beta, where the n = 1 plasma response is enhanced, uncorrected TBM fields degrade energy confinement and the plasma angular momentum while increasing fast ion losses; however, disruptions are not routinely encountered owing to increased levels of injected neutral beam torque. In this regime, n = 1 field compensation leads to recovery of a dominant fraction of the TBM-induced plasma pressure and rotation degradation, and an 80% reduction in the heat load to the first wall. These results show that the n = 1 plasma response plays a dominant role in determining plasma stability, and that n = 1 field compensation alone not only recovers most of the impact on plasma performance of the TBM, but also protects the first wall from potentially damaging heat flux. Despite these benefits, plasma rotation braking from the TBM fields cannot be fully recovered using standard error field control. Given the uncertainty in extrapolation of these results to the ITER configuration, it is prudent to design the TBMs with as low a ferromagnetic mass as possible without jeopardizing the TBM mission.
Independent control of joint stiffness in the framework of the equilibrium-point hypothesis.

PubMed

Latash, M L

1992-01-01

In the framework of the equilibrium-point hypothesis, virtual trajectories and joint stiffness patterns have been reconstructed during two motor tasks practiced against a constant bias torque. One task required a voluntary increase in joint stiffness while preserving the original joint position. The other task involved fast elbow flexions over 36 degrees. Joint stiffness gradually subsided after the termination of fast movements. In both tasks, the external torque could slowly and unexpectedly change. The subjects were required not to change their motor commands if the torque changed, i.e. "to do the same no matter what the motor did". In both tasks, changes in joint stiffness were accompanied by unchanged virtual trajectories that were also independent of the absolute value of the bias torque. By contrast, the intercept of the joint compliant characteristic with the angle axis, r(t)-function, has demonstrated a clear dependence upon both the level of coactivation and external load. We assume that a template virtual trajectory is generated at a certain level of the motor hierarchy and is later scaled taking into account some commonly changing dynamic factors of the movement execution, for example, external load. The scaling leads to the generation of commands to the segmental structures that can be expressed, according to the equilibrium-point hypothesis, as changes in the thresholds of the tonic stretch reflex for corresponding muscles.
Neuromuscular performance of maximal voluntary explosive concentric contractions is influenced by angular acceleration.

PubMed

Hahn, D; Bakenecker, P; Zinke, F

2017-12-01

Torque production during maximal voluntary explosive contractions is considered to be a functionally more relevant neuromuscular measure than steady-state torque, but little is known about accelerated concentric contractions. This study investigated torque, muscle activity, and fascicle behavior during isometric and fast concentric contractions of quadriceps femoris. Ten participants performed maximal voluntary explosive isometric, isovelocity, and additional concentric knee extensions at angular accelerations ranging from 700 to 4000° s -2 that resulted in an angular velocity of 300° s -1 at 40° knee flexion. Concentric torque at 40° knee flexion was corrected for inertia, and the corresponding isometric torque was matched to the time when the target knee angle of 40° was reached during concentric contractions. Electromyography of quadriceps femoris and hamstrings and ultrasound of vastus lateralis were measured to determine muscle activity, fascicle length, and fascicle velocity (FV). The faster the acceleration, the more torque was produced during concentric contractions at 40° knee flexion, which was accompanied by a reduction in FV. In comparison with isometric conditions, concentric quadriceps muscle activity was increased and torque during accelerations ≥3000° s -2 equaled the time-matched isometric torque. Our results provide novel evidence that acceleration influences torque production during maximal voluntary explosive concentric contractions. This is suggested to be due to series elasticity and reduced force depression. © 2016 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.
Neutron star dynamics under time-dependent external torques

NASA Astrophysics Data System (ADS)

Gügercinoǧlu, Erbil; Alpar, M. Ali

2017-11-01

The two-component model describes neutron star dynamics incorporating the response of the superfluid interior. Conventional solutions and applications involve constant external torques, as appropriate for radio pulsars on dynamical time-scales. We present the general solution of two-component dynamics under arbitrary time-dependent external torques, with internal torques that are linear in the rotation rates, or with the extremely non-linear internal torques due to vortex creep. The two-component model incorporating the response of linear or non-linear internal torques can now be applied not only to radio pulsars but also to magnetars and to neutron stars in binary systems, with strong observed variability and noise in the spin-down or spin-up rates. Our results allow the extraction of the time-dependent external torques from the observed spin-down (or spin-up) time series, \\dot{Ω }(t). Applications are discussed.

Fast Estimation of Strains for Cross-Beams Six-Axis Force/Torque Sensors by Mechanical Modeling

PubMed Central

Ma, Junqing; Song, Aiguo

2013-01-01

Strain distributions are crucial criteria of cross-beams six-axis force/torque sensors. The conventional method for calculating the criteria is to utilize Finite Element Analysis (FEA) to get numerical solutions. This paper aims to obtain analytical solutions of strains under the effect of external force/torque in each dimension. Genetic mechanical models for cross-beams six-axis force/torque sensors are proposed, in which deformable cross elastic beams and compliant beams are modeled as quasi-static Timoshenko beam. A detailed description of model assumptions, model idealizations, application scope and model establishment is presented. The results are validated by both numerical FEA simulations and calibration experiments, and test results are found to be compatible with each other for a wide range of geometric properties. The proposed analytical solutions are demonstrated to be an accurate estimation algorithm with higher efficiency. PMID:23686144
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
Dynamic torsional response analysis of mechanoluminescent paint and its application to non-contacting automotive torque transducers

NASA Astrophysics Data System (ADS)

Kim, Gi-Woo; Kim, Ji-Sik

2014-01-01

This paper presents the result of a preliminary experimental study on the dynamic torsional response analysis of mechanoluminescent (ML) paint for potential development as a new type of non-contacting torque transducer. The torsional torque applied to a transmission shaft is measured by sensing the ML intensity emitting from an ML paint coating a transmission shaft. This study provides the fundamental knowledge for the development of new non-contacting torque sensing technology based on the ML intensity detection. The proposed measurement principle appears to offer potential applications in automotive torque measurement systems, even though the loading rate-dependent characteristics of the ML intensity needs to be examined further.
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.
Dynamics of aircraft antiskid braking systems. [conducted at the Langley aircraft landing loads and traction facility

NASA Technical Reports Server (NTRS)

Tanner, J. A.; Stubbs, S. M.; Dreher, R. C.; Smith, E. G.

1982-01-01

A computer study was performed to assess the accuracy of three brake pressure-torque mathematical models. The investigation utilized one main gear wheel, brake, and tire assembly of a McDonnell Douglas DC-9 series 10 airplane. The investigation indicates that the performance of aircraft antiskid braking systems is strongly influenced by tire characteristics, dynamic response of the antiskid control valve, and pressure-torque response of the brake. The computer study employed an average torque error criterion to assess the accuracy of the models. The results indicate that a variable nonlinear spring with hysteresis memory function models the pressure-torque response of the brake more accurately than currently used models.
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.
On-Command Force and Torque Impeding Devices (OC-FTID) Using ERF

NASA Technical Reports Server (NTRS)

Bar-Cohen, Yoseph; Badescu, Mircea; Sherrit, Stewart

2014-01-01

Various machines have been developed to address the need for countermeasures of bone and muscle deterioration when humans operate over extended time in space. Even though these machines are in use, each of them has many limitations that need to be addressed in an effort to prepare for human missions to distant bodies in the solar system. An exercise exoskeleton was conceived that performs on-demand resistivity by inducing force and torque impedance via ElectroRheological Fluid (ERF). The resistive elements consist of pistons that are moving inside ERF-filled cylinders or a donut-shaped cavity, and the fluid flows through the piston when the piston is moved. Tests of the operation of ERF against load showed the feasibility of this approach. ERF properties of high yield stress, low current density, and fast response (less than one millisecond) offer essential characteristics for the construction of the exoskeleton. ERFs can apply very high electrically controlled resistive forces or torque while their size (weight and geometric parameters) can be very small. Their long life and ability to function in a wide temperature range (from -40 to 200 C) allows for their use in extreme environments. ERFs are also nonabrasive, non-toxic, and nonpolluting (meet health and safety regulations). The technology is applicable as a compact exercise machine for astronauts' countermeasure of microgravity, an exercise machine for sport, or as a device for rehabilitation of patients with limb issues.
Two-micron Laser Atmospheric Wind Sounder (LAWS) pointing/tracking study

NASA Technical Reports Server (NTRS)

Manlief, Scott

1995-01-01

The objective of the study was to identify and model major sources of short-term pointing jitter for a free-flying, full performance 2 micron LAWS system and evaluate the impact of the short-term jitter on wind-measurement performance. A fast steering mirror controls system was designed for the short-term jitter compensation. The performance analysis showed that the short-term jitter performance of the controls system over the 5.2 msec round-trip time for a realistic spacecraft environment was = 0.3 micro rad, rms, within the specified value of less than 0.5 micro rad, rms, derived in a 2 micron LAWS System Study. Disturbance modes were defined for: (1) the Bearing and Power Transfer Assembly (BAPTA) scan bearing, (2) the spacecraft reaction wheel torques, and (3) the solar array drive torques. The scan bearing disturbance was found to be the greatest contributing noise source to the jitter performance. Disturbances from the fast steering mirror reaction torques and a boom-mounted cross-link antenna clocking were also considered but were judged to be small compared to the three principal disturbance sources above and were not included in the final controls analysis.
Accurate and fast creep test for viscoelastic fluids using disk-probe-type and quadrupole-arrangement-type electromagnetically spinning systems

NASA Astrophysics Data System (ADS)

Hirano, Taichi; Sakai, Keiji

2017-07-01

Viscoelasticity is a unique characteristic of soft materials and describes its dynamic response to mechanical stimulations. A creep test is an experimental method for measuring the strain ratio/rate against an applied stress, thereby assessing the viscoelasticity of the materials. We propose two advanced experimental systems suitable for the creep test, adopting our original electromagnetically spinning (EMS) technique. This technique can apply a constant torque by a noncontact mechanism, thereby allowing more sensitive and rapid measurements. The viscosity and elasticity of a semidilute wormlike micellar solution were determined using two setups, and the consistency between the results was assessed.
Modeling of the UAE Wind Turbine for Refinement of FAST{_}AD

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

Jonkman, J. M.

The Unsteady Aerodynamics Experiment (UAE) research wind turbine was modeled both aerodynamically and structurally in the FAST{_}AD wind turbine design code, and its response to wind inflows was simulated for a sample of test cases. A study was conducted to determine why wind turbine load magnitude discrepancies-inconsistencies in aerodynamic force coefficients, rotor shaft torque, and out-of-plane bending moments at the blade root across a range of operating conditions-exist between load predictions made by FAST{_}AD and other modeling tools and measured loads taken from the actual UAE wind turbine during the NASA-Ames wind tunnel tests. The acquired experimental test data representmore » the finest, most accurate set of wind turbine aerodynamic and induced flow field data available today. A sample of the FAST{_}AD model input parameters most critical to the aerodynamics computations was also systematically perturbed to determine their effect on load and performance predictions. Attention was focused on the simpler upwind rotor configuration, zero yaw error test cases. Inconsistencies in input file parameters, such as aerodynamic performance characteristics, explain a noteworthy fraction of the load prediction discrepancies of the various modeling tools.« less
Non-inductive Hybrid Scenario-Transport and Turbulence at Reduced Plasma Torque

NASA Astrophysics Data System (ADS)

Thome, K. E.; Petty, C. C.; Pace, D. C.; Turco, F.; Rhodes, T. L.

2016-10-01

As the neutral beam injection (NBI) torque is lowered in steady-state hybrid plasmas via counter-beam injection, increased turbulence and thermal transport is observed, particularly in the ion channel. These discharges require Pco-NBI = 11 MW and PECH = 3 MW to achieve zero surface loop voltage. As the beam torque is reduced from 8.5 N-m to 4 N-m with βN 3 and q95 6 , the global confinement decreases from H 98 y , 2 of 1.5 to 1.2 . Local transport analysis using TRANSP shows that the lower torque discharges have increased ion thermal diffusivity across the whole profile and increased electron thermal diffusivity localized to the ρ = 0.7 region. Similarly, Doppler Backscattering shows increased density fluctuations at intermediate wavenumbers at the lower torque. However, fast-ion transport caused by off-axis fishbones favorably decreases from 0.7m2 /s to 0.1m2 /s as the torque is lowered, partially offsetting the thermal transport reduction. These measured changes in turbulence and transport are being compared to plasma simulations using TGLF/GYRO to better predict the confinement of future steady-state hybrids that will be primarily RF-heated. Work supported by the US DOE under DE-FC02-04ER54698.
Twitch analysis as an approach to motor unit activation during electrical stimulation.

PubMed

Heyters, M; Carpentier, A; Duchateau, J; Hainaut, K

1994-12-01

The mechanical twitch in response to increasing electrical stimulus intensity, delivered both over the motor point and motor nerve, was recorded in the first dorsal interosseous (FDI) and the adductor pollicis (AP), and only over the motor point in the soleus (Sol), lateral (LG), and medial (MG) gastrocnemius muscles of human subjects. The relationship between intensity of electrical stimulation (ES) and twitch torque showed a positive linear regression in all muscles. In the FDI and AP the relationship was not significantly different when ES was applied at the motor point or over the motor nerve. At small intensities of activation, ES induced larger twitch torques in the MG and LG, which contain a roughly equal proportion of slow and fast motor units (MUs) compared to the Sol, which is composed mainly of slow type fibres. Moreover, the relationship between ES intensity and twitch time-to-peak is best fitted in all muscles by a power curve that shows a greater twitch time-to-peak range in its initial part for muscles containing a larger proportion of fast MUs (LG, MG) than for muscles mainly composed of slow MUs (Sol). In conclusion, these results induced by ES at the motor point and/or over the motor nerve confirm the concept of a reversed sequence of MU activation, as compared to voluntary contractions, and document this viewpoint in muscles of different function and composition. The reversed sequence of MU activation is more clearly evident during motor point ES.
Fast switching and signature of efficient domain wall motion driven by spin-orbit torques in a perpendicular anisotropy magnetic insulator/Pt bilayer

NASA Astrophysics Data System (ADS)

Avci, Can Onur; Rosenberg, Ethan; Baumgartner, Manuel; Beran, Lukáš; Quindeau, Andy; Gambardella, Pietro; Ross, Caroline A.; Beach, Geoffrey S. D.

2017-08-01

We report fast and efficient current-induced switching of a perpendicular anisotropy magnetic insulator thulium iron garnet by using spin-orbit torques (SOT) from the Pt overlayer. We first show that, with quasi-DC (10 ms) current pulses, SOT-induced switching can be achieved with an external field as low as 2 Oe, making TmIG an outstanding candidate to realize efficient switching in heterostructures that produce moderate stray fields without requiring an external field. We then demonstrate deterministic switching with fast current pulses (≤20 ns) with an amplitude of ˜1012 A/m2, similar to all-metallic structures. We reveal that, in the presence of an initially nucleated domain, the critical switching current is reduced by up to a factor of five with respect to the fully saturated initial state, implying efficient current-driven domain wall motion in this system. Based on measurements with 2 ns-long pulses, we estimate the domain wall velocity of the order of ˜400 m/s per j = 1012 A/m2.
Current-induced instability of domain walls in cylindrical nanowires

NASA Astrophysics Data System (ADS)

Wang, Weiwei; Zhang, Zhaoyang; Pepper, Ryan A.; Mu, Congpu; Zhou, Yan; Fangohr, Hans

2018-01-01

We study the current-driven domain wall (DW) motion in cylindrical nanowires using micromagnetic simulations by implementing the Landau-Lifshitz-Gilbert equation with nonlocal spin-transfer torque in a finite difference micromagnetic package. We find that in the presence of DW, Gaussian wave packets (spin waves) will be generated when the charge current is suddenly applied to the system. This effect is excluded when using the local spin-transfer torque. The existence of spin waves emission indicates that transverse domain walls can not move arbitrarily fast in cylindrical nanowires although they are free from the Walker limit. We establish an upper velocity limit for DW motion by analyzing the stability of Gaussian wave packets using the local spin-transfer torque. Micromagnetic simulations show that the stable region obtained by using nonlocal spin-transfer torque is smaller than that by using its local counterpart. This limitation is essential for multiple DWs since the instability of Gaussian wave packets will break the structure of multiple DWs.
Muscle Strength Imbalance in the Hip Joint Caused by Fast Movements

NASA Astrophysics Data System (ADS)

Pontaga, I.

2003-07-01

Eleven male sportsmen at the age of 24.3 ± 4.5 were examined. Their hip joint flexors and extensors were tested by an "REV-9000" Technogym dynamometer system during isokinetic movements at angular velocities of 100 (low) and 200 (high) °/s. The range of hip joint movements was from 30 (in flexion) to 130° (in extension). Torque values and their ratios for hip flexors and extensors at different angular positions were obtained and compared. It is shown that, at high speeds, the flexion movement significantly raises ( p < 0.001) the torque ratios of flexors and extensors in flexion positions of the hip (50 and 60°). These ratios approximately twofold exceed their values at moderate velocities. The weakness of hip joint extensors in extreme flexion positions of the hip may cause injury of this group of muscles at fast movements.
Provocative mechanical tests of the peripheral nervous system affect the joint torque-angle during passive knee motion.

PubMed

Andrade, R J; Freitas, S R; Vaz, J R; Bruno, P M; Pezarat-Correia, P

2015-06-01

This study aimed to determine the influence of the head, upper trunk, and foot position on the passive knee extension (PKE) torque-angle response. PKE tests were performed in 10 healthy subjects using an isokinetic dynamometer at 2°/s. Subjects lay in the supine position with their hips flexed to 90°. The knee angle, passive torque, surface electromyography (EMG) of the semitendinosus and quadriceps vastus medialis, and stretch discomfort were recorded in six body positions during PKE. The different maximal active positions of the cervical spine (neutral; flexion; extension), thoracic spine (neutral; flexion), and ankle (neutral; dorsiflexion) were passively combined for the tests. Visual analog scale scores and EMG were unaffected by body segment positioning. An effect of the ankle joint was verified on the peak torque and knee maximum angle when the ankle was in the dorsiflexion position (P < 0.05). Upper trunk positioning had an effect on the knee submaximal torque (P < 0.05), observed as an increase in the knee passive submaximal torque when the cervical and thoracic spines were flexed (P < 0.05). In conclusion, other apparently mechanical unrelated body segments influence torque-angle response since different positions of head, upper trunk, and foot induce dissimilar knee mechanical responses during passive extension. © 2014 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.
Evaluation of force-torque displays for use with space station telerobotic activities

NASA Technical Reports Server (NTRS)

Hendrich, Robert C.; Bierschwale, John M.; Manahan, Meera K.; Stuart, Mark A.; Legendre, A. Jay

1992-01-01

Recent experiments which addressed Space Station remote manipulation tasks found that tactile force feedback (reflecting forces and torques encountered at the end-effector through the manipulator hand controller) does not improve performance significantly. Subjective response from astronaut and non-astronaut test subjects indicated that force information, provided visually, could be useful. No research exists which specifically investigates methods of presenting force-torque information visually. This experiment was designed to evaluate seven different visual force-torque displays which were found in an informal telephone survey. The displays were prototyped in the HyperCard programming environment. In a within-subjects experiment, 14 subjects nullified forces and torques presented statically, using response buttons located at the bottom of the screen. Dependent measures included questionnaire data, errors, and response time. Subjective data generally demonstrate that subjects rated variations of pseudo-perspective displays consistently better than bar graph and digital displays. Subjects commented that the bar graph and digital displays could be used, but were not compatible with using hand controllers. Quantitative data show similar trends to the subjective data, except that the bar graph and digital displays both provided good performance, perhaps do to the mapping of response buttons to display elements. Results indicate that for this set of displays, the pseudo-perspective displays generally represent a more intuitive format for presenting force-torque information.
The role of vision, speed, and attention in overcoming directional biases during arm movements.

PubMed

Dounskaia, Natalia; Goble, Jacob A

2011-03-01

Previous research has revealed directional biases (preferences to select movements in specific directions) during horizontal arm movements with the use of a free-stroke drawing task. The biases were interpreted as a result of a tendency to generate motion at either the shoulder or elbow (leading joint) and move the other (subordinate) joint predominantly passively to avoid neural effort for control of interaction torque. Here, we examined influence of vision, movement speed, and attention on the directional biases. Participants performed the free-stroke drawing task, producing center-out strokes in randomly selected directions. Movements were performed with and without vision and at comfortable and fast pace. A secondary, cognitive task was used to distract attention. Preferred directions remained the same in all conditions. Bias strength mildly increased without vision, especially during fast movements. Striking increases in bias strength were caused by the secondary task, pointing to additional cognitive load associated with selection of movements in the non-preferred directions. Further analyses demonstrated that the tendency to minimize active interference with interaction torque at the subordinate joint matched directional biases in all conditions. This match supports the explanation of directional biases as a result of a tendency to minimize neural effort for interaction torque control. The cognitive load may enhance this tendency in two ways, directly, by reducing neural capacity for interaction torque control, and indirectly, by decreasing capacity of working memory that stores visited directions. The obtained results suggest strong directional biases during daily activities because natural arm movements usually subserve cognitive tasks.
Postfatigue potentiation of the paralyzed soleus muscle: evidence for adaptation with long-term electrical stimulation training

PubMed Central

Shields, Richard K.; Dudley-Javoroski, Shauna; Littmann, Andrew E.

2012-01-01

Understanding the torque output behavior of paralyzed muscle has important implications for the use of functional neuromuscular electrical stimulation systems. Postfatigue potentiation is an augmentation of peak muscle torque during repetitive activation after a fatigue protocol. The purposes of this study were 1) to quantify postfatigue potentiation in the acutely and chronically paralyzed soleus and 2) to determine the effect of long-term soleus electrical stimulation training on the potentiation characteristics of recently paralyzed soleus muscle. Five subjects with chronic paralysis (>2 yr) demonstrated significant postfatigue potentiation during a repetitive soleus activation protocol that induced low-frequency fatigue. Ten subjects with acute paralysis (<6 mo) demonstrated no torque potentiation in response to repetitive stimulation. Seven of these acute subjects completed 2 yr of home-based isometric soleus electrical stimulation training of one limb (compliance = 83%; 8,300 contractions/wk). With the early implementation of electrically stimulated training, potentiation characteristics of trained soleus muscles were preserved as in the acute postinjury state. In contrast, untrained limbs showed marked postfatigue potentiation at 2 yr after spinal cord injury (SCI). A single acute SCI subject who was followed longitudinally developed potentiation characteristics very similar to the untrained limbs of the training subjects. The results of the present investigation support that postfatigue potentiation is a characteristic of fast-fatigable muscle and can be prevented by timely neuromuscular electrical stimulation training. Potentiation is an important consideration in the design of functional electrical stimulation control systems for people with SCI. PMID:16575026
Postfatigue potentiation of the paralyzed soleus muscle: evidence for adaptation with long-term electrical stimulation training.

PubMed

Shields, Richard K; Dudley-Javoroski, Shauna; Littmann, Andrew E

2006-08-01

Understanding the torque output behavior of paralyzed muscle has important implications for the use of functional neuromuscular electrical stimulation systems. Postfatigue potentiation is an augmentation of peak muscle torque during repetitive activation after a fatigue protocol. The purposes of this study were 1) to quantify postfatigue potentiation in the acutely and chronically paralyzed soleus and 2) to determine the effect of long-term soleus electrical stimulation training on the potentiation characteristics of recently paralyzed soleus muscle. Five subjects with chronic paralysis (>2 yr) demonstrated significant postfatigue potentiation during a repetitive soleus activation protocol that induced low-frequency fatigue. Ten subjects with acute paralysis (<6 mo) demonstrated no torque potentiation in response to repetitive stimulation. Seven of these acute subjects completed 2 yr of home-based isometric soleus electrical stimulation training of one limb (compliance = 83%; 8,300 contractions/wk). With the early implementation of electrically stimulated training, potentiation characteristics of trained soleus muscles were preserved as in the acute postinjury state. In contrast, untrained limbs showed marked postfatigue potentiation at 2 yr after spinal cord injury (SCI). A single acute SCI subject who was followed longitudinally developed potentiation characteristics very similar to the untrained limbs of the training subjects. The results of the present investigation support that postfatigue potentiation is a characteristic of fast-fatigable muscle and can be prevented by timely neuromuscular electrical stimulation training. Potentiation is an important consideration in the design of functional electrical stimulation control systems for people with SCI.

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.
Self-consistent perturbed equilibrium with neoclassical toroidal torque in tokamaks

DOE PAGES

Park, Jong-Kyu; Logan, Nikolas C.

2017-03-01

Toroidal torque is one of the most important consequences of non-axisymmetric fields in tokamaks. The well-known neoclassical toroidal viscosity (NTV) is due to the second-order toroidal force from anisotropic pressure tensor in the presence of these asymmetries. This work shows that the first-order toroidal force originating from the same anisotropic pressure tensor, despite having no flux surface average, can significantly modify the local perturbed force balance and thus must be included in perturbed equilibrium self-consistent with NTV. The force operator with an anisotropic pressure tensor is not self-adjoint when the NTV torque is finite and thus is solved directly formore » each component. This approach yields a modified, non-self-adjoint Euler-Lagrange equation that can be solved using a variety of common drift-kinetic models in generalized tokamak geometry. The resulting energy and torque integral provides a unique way to construct a torque response matrix, which contains all the information of self-consistent NTV torque profiles obtainable by applying non-axisymmetric fields to the plasma. This torque response matrix can then be used to systematically optimize non-axisymmetric field distributions for desired NTV profiles. Published by AIP Publishing.« less
Influence of Drilling Parameters on Torque during Drilling of GFRP Composites Using Response Surface Methodology

NASA Astrophysics Data System (ADS)

Mohan, N. S.; Kulkarni, S. M.

2018-01-01

Polymer based composites have marked their valuable presence in the area of aerospace, defense and automotive industry. Components made of composite, are assembled to main structure by fastener, which require accurate, precise high quality holes to be drilled. Drilling the hole in composite with accuracy require control over various processes parameters viz., speed, feed, drill bit size and thickens of specimen. TRIAC VMC machining center is used to drill the hole and to relate the cutting and machining parameters on the torque. MINITAB 14 software is used to analyze the collected data. As a function of cutting and specimen parameters this method could be useful for predicting torque parameters. The purpose of this work is to investigate the effect of drilling parameters to get low torque value. Results show that thickness of specimen and drill bit size are significant parameters influencing the torque and spindle speed and feed rate have least influence and overlaid plot indicates a feasible and low region of torque is observed for medium to large sized drill bits for the range of spindle speed selected. Response surface contour plots indicate the sensitivity of the drill size and specimen thickness to the torque.
Evaluation of early bone response to fluoride-modified and anodically oxidized titanium implants through continuous removal torque analysis.

PubMed

Kwon, Taek-Ka; Lee, Hyo-Jung; Min, Seung-Ki; Yeo, In-Sung

2012-10-01

To compare between a bioactive and a bioinert implant with different geometries by continuous measurement of the removal torque and calculation of the angular momentum of each surfaced implant. Six New Zealand white rabbits were used in the study. Each rabbit received 2 implants. A bioactive fluoride-modified implant with a conical connection and microthread design was inserted into one tibia, and a bioinert anodically oxidized implant with an external connection design was inserted into the other. After 2 weeks of implant insertion, the removal torque values were continuously measured according to time. Using the time-torque curve resulting from the measurements, the maximum values were determined, and the angular momenta were calculated. The anodically oxidized implant had significantly higher peak removal torque and angular momentum values than the fluoride-modified implant (P < 0.05). The impact of the fluoride-modified bioactive implant on early bone response remains unclear. Considering the angular momentum of dental implants may assist in the elucidation of the effect of implant geometry on bone response.
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.
Effects of Velocity on Electromyographic, Mechanomyographic, and Torque Responses to Repeated Eccentric Muscle Actions.

PubMed

Hill, Ethan C; Housh, Terry J; Camic, Clayton L; Smith, Cory M; Cochrane, Kristen C; Jenkins, Nathaniel D M; Cramer, Joel T; Schmidt, Richard J; Johnson, Glen O

2016-06-01

The purposes of this study were to examine the effects of the velocity of repeated eccentric muscle actions on the torque and neuromuscular responses during maximal isometric and eccentric muscle actions. Twelve resistance-trained men performed 30 repeated, maximal, eccentric, isokinetic muscle actions at randomly ordered velocities of 60, 120, or 180°·s on separate days. Maximal voluntary isometric contractions (MVICs) were performed before (pretest) and after (posttest) the repeated eccentric muscle actions on each day. Eccentric isokinetic peak torque (EIPT) values were the averages of the first 3 and last 3 repetitions of the 30 repeated eccentric muscle actions. During the EIPT and MVIC muscle actions, electromyographic (EMG) and mechanomyographic (MMG) amplitude (EMG AMP and MMG AMP) and mean power frequency (EMG MPF and MMG MPF) values were assessed. These results indicated that the repeated eccentric muscle actions had no effects on EIPT, or the EMG AMP, EMG MPF, or MMG MPF values assessed during the EIPT muscle actions, but decreased MMG AMP. The repeated eccentric muscle actions, however, decreased MVIC torque, and also the EMG AMP and MMG MPF values assessed during the MVIC muscle actions, but increased MMG AMP. The results indicated that the velocity of the repeated eccentric muscle actions affected the MVIC torque responses, but not EIPT or any of the neuromuscular parameters. Furthermore, there are differences in the torque and neuromuscular responses for isometric vs. eccentric muscle actions after repeated eccentric muscle actions.
Effect of anisotropic thermal transport on the resistive plasma response to resonant magnetic perturbation field

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

Bai, Xue; Liu, Yueqiang; Gao, Zhe

Plasma response to the resonant magnetic perturbation (RMP) field is numerically investigated by an extended toroidal fluid model, which includes anisotropic thermal transport physics parallel and perpendicular to the total magnetic field. The thermal transport is found to be effective in eliminating the toroidal average curvature induced plasma screening (the so called Glasser-Green-Johnson, GGJ screening) at slow toroidal flow regime, whilst having minor effect on modifying the conventional plasma screening regimes at faster flow. Furthermore, this physics effect of interaction between thermal transport and GGJ screening is attributed to the modification of the radial structure of the shielding current, resultedmore » from the plasma response to the applied field. The modification of the plasma response (shielding current, response field, plasma displacement and the perturbed velocity) also has direct consequence on the toroidal torques produced by RMP. These modelling results show that thermal transport reduces the resonant electromagnetic torque as well as the torque associated with the Reynolds stress, but enhances the neoclassical toroidal viscous torque at slow plasma flow.« less
Effect of anisotropic thermal transport on the resistive plasma response to resonant magnetic perturbation field

DOE PAGES

Bai, Xue; Liu, Yueqiang; Gao, Zhe

2017-09-21

Plasma response to the resonant magnetic perturbation (RMP) field is numerically investigated by an extended toroidal fluid model, which includes anisotropic thermal transport physics parallel and perpendicular to the total magnetic field. The thermal transport is found to be effective in eliminating the toroidal average curvature induced plasma screening (the so called Glasser-Green-Johnson, GGJ screening) at slow toroidal flow regime, whilst having minor effect on modifying the conventional plasma screening regimes at faster flow. Furthermore, this physics effect of interaction between thermal transport and GGJ screening is attributed to the modification of the radial structure of the shielding current, resultedmore » from the plasma response to the applied field. The modification of the plasma response (shielding current, response field, plasma displacement and the perturbed velocity) also has direct consequence on the toroidal torques produced by RMP. These modelling results show that thermal transport reduces the resonant electromagnetic torque as well as the torque associated with the Reynolds stress, but enhances the neoclassical toroidal viscous torque at slow plasma flow.« less
Effect of anisotropic thermal transport on the resistive plasma response to resonant magnetic perturbation field

NASA Astrophysics Data System (ADS)

Bai, Xue; Liu, Yueqiang; Gao, Zhe

2017-10-01

Plasma response to the resonant magnetic perturbation (RMP) field is numerically investigated by an extended toroidal fluid model, which includes anisotropic thermal transport physics parallel and perpendicular to the total magnetic field. The thermal transport is found to be effective in eliminating the toroidal average curvature induced plasma screening (the so called Glasser-Green-Johnson, GGJ screening) in a slow toroidal flow regime, whilst having minor effect on modifying the conventional plasma screening regimes at faster flow. This physics effect of interaction between thermal transport and GGJ screening is attributed to the modification of the radial structure of the shielding current, which resulted from the plasma response to the applied field. The modification of the plasma response (shielding current, response field, plasma displacement, and the perturbed velocity) also has direct consequence on the toroidal torques produced by RMP. Modelling results show that thermal transport reduces the resonant electromagnetic torque as well as the torque associated with the Reynolds stress, but enhances the neoclassical toroidal viscous torque at slow plasma flow.
Gaseous spiral structure and mass drift in spiral galaxies

NASA Astrophysics Data System (ADS)

Kim, Yonghwi; Kim, Woong-Tae

2014-05-01

We use hydrodynamic simulations to investigate non-linear gas responses to an imposed stellar spiral potential in disc galaxies. The gaseous medium is assumed to be infinitesimally thin, isothermal, and unmagnetized. We consider various spiral-arm models with differing strength and pattern speed. We find that the extent and shapes of gaseous arms as well as the related mass drift rate depend rather sensitively on the arm pattern speed. In models where the arm pattern is rotating slow, the gaseous arms extend across the corotation resonance (CR) all the way to the outer boundary, with a pitch angle slightly smaller than that of the stellar counterpart. In models with a fast rotating pattern, on the other hand, spiral shocks are much more tightly wound than the stellar arms, and cease to exist in the regions near and outside the CR where mathcal {M}_perp /sin p_* gtrsim 25-40, with mathcal {M}_perp denoting the perpendicular Mach number of a rotating gas relative to the arms with pitch angle p*. Inside the CR, the arms drive mass inflows at a rate of ˜0.05-3.0 M⊙ yr-1 to the central region, with larger values corresponding to stronger and slower arms. The contribution of the shock dissipation, external torque, and self-gravitational torque to the mass inflow is roughly 50, 40, and 10 per cent, respectively. We demonstrate that the distributions of line-of-sight velocities and spiral-arm densities can be a useful diagnostic tool to distinguish if the spiral pattern is rotating fast or slow.
DOE Office of Scientific and Technical Information (OSTI.GOV)

Park, Jong-Kyu; Logan, Nikolas C.

Toroidal torque is one of the most important consequences of non-axisymmetric fields in tokamaks. The well-known neoclassical toroidal viscosity (NTV) is due to the second-order toroidal force from anisotropic pressure tensor in the presence of these asymmetries. This work shows that the first-order toroidal force originating from the same anisotropic pressure tensor, despite having no flux surface average, can significantly modify the local perturbed force balance and thus must be included in perturbed equilibrium self-consistent with NTV. The force operator with an anisotropic pressure tensor is not self-adjoint when the NTV torque is finite and thus is solved directly formore » each component. This approach yields a modified, non-self-adjoint Euler-Lagrange equation that can be solved using a variety of common drift-kinetic models in generalized tokamak geometry. The resulting energy and torque integral provides a unique way to construct a torque response matrix, which contains all the information of self-consistent NTV torque profiles obtainable by applying non-axisymmetric fields to the plasma. This torque response matrix can then be used to systematically optimize non-axisymmetric field distributions for desired NTV profiles. Published by AIP Publishing.« less
Design, characterization and control of the Unique Mobility Corporation robot

NASA Technical Reports Server (NTRS)

Velasco, Virgilio B., Jr.; Newman, Wyatt S.; Steinetz, Bruce; Kopf, Carlo; Malik, John

1994-01-01

Space and mass are at a premium on any space mission, and thus any machinery designed for space use should be lightweight and compact, without sacrificing strength. It is for this reason that NASA/LeRC contracted Unique Mobility Corporation to exploit their novel actuator designs to build a robot that would advance the present state of technology with respect to these requirements. Custom-designed motors are the key feature of this robot. They are compact, high-performance dc brushless servo motors with a high pole count and low inductance, thus permitting high torque generation and rapid phase commutation. Using a custom-designed digital signal processor-based controller board, the pulse width modulation power amplifiers regulate the fast dynamics of the motor currents. In addition, the programmable digital signal processor (DSP) controller permits implementation of nonlinear compensation algorithms to account for motoring vs. regeneration, torque ripple, and back-EMF. As a result, the motors produce a high torque relative to their size and weight, and can do so with good torque regulation and acceptably high velocity saturation limits. This paper presents the Unique Mobility Corporation robot prototype: its actuators, its kinematic design, its control system, and its experimental characterization. Performance results, including saturation torques, saturation velocities and tracking accuracy tests are included.
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
Kinetic analysis of the function of the upper body for elite race walkers during official men 20 km walking race.

PubMed

Hoga-Miura, Koji; Ae, Michiyoshi; Fujii, Norihisa; Yokozawa, Toshiharu

2016-10-01

This study investigated the function of the upper extremities of elite race walkers during official 20 km races, focusing on the angular momentum about the vertical axis and other parameters of the upper extremities. Sixteen walkers were analysed using the three-dimensional direct linear transformation method during three official men's 20 km walking races. The subjects, included participants at the Olympics and World Championships, who finished without disqualification and had not been disqualified during the two years prior to or following the races analysed in the present study. The angular momenta of the upper and lower body were counterbalanced as in running and normal walking. The momentum of the upper body was mainly generated by the upper extremities. The joint force moment of the right shoulder and the joint torque at the left shoulder just before right toe-off were significantly correlated with the walking speed. These were counterbalanced by other moments and torques to the torso torque, which worked to obtain a large mechanical energy flow from the recovery leg to the support leg in the final phase of the support phase. Therefore, a function of the shoulder torque was to counterbalance the torso torque to gain a fast walking speed with substantial mechanical energy flow.
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.
Fast wave direct electron heating in advanced inductive and ITER baseline scenario discharges in DIII-D

DOE PAGES

Pinsker, R. I.; Austin, M. E.; Diem, S. J.; ...

2014-02-12

Fast Wave (FW) heating and electron cyclotron heating (ECH) are used in the DIII-D tokamak to study plasmas with low applied torque and dominant electron heating characteristic of burning plasmas. FW heating via direct electron damping has reached the 2.5 MW level in high performance ELMy H-mode plasmas. In Advanced Inductive (AI) plasmas, core FW heating was found to be comparable to that of ECH, consistent with the excellent first-pass absorption of FWs predicted by ray-tracing models at high electron beta. FW heating at the ~2 MW level to ELMy H-mode discharges in the ITER Baseline Scenario (IBS) showed unexpectedlymore » strong absorption of FW power by injected neutral beam (NB) ions, indicated by significant enhancement of the D-D neutron rate, while the intended absorption on core electrons appeared rather weak. As a result, the AI and IBS discharges are compared in an effort to identify the causes of the different response to FWs.« less
Fast wave direct electron heating in advanced inductive and ITER baseline scenario discharges in DIII-D

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

Pinsker, R. I.; Jackson, G. L.; Luce, T. C.

Fast Wave (FW) heating and electron cyclotron heating (ECH) are used in the DIII-D tokamak to study plasmas with low applied torque and dominant electron heating characteristic of burning plasmas. FW heating via direct electron damping has reached the 2.5 MW level in high performance ELMy H-mode plasmas. In Advanced Inductive (AI) plasmas, core FW heating was found to be comparable to that of ECH, consistent with the excellent first-pass absorption of FWs predicted by ray-tracing models at high electron beta. FW heating at the ∼2 MW level to ELMy H-mode discharges in the ITER Baseline Scenario (IBS) showed unexpectedlymore » strong absorption of FW power by injected neutral beam (NB) ions, indicated by significant enhancement of the D-D neutron rate, while the intended absorption on core electrons appeared rather weak. The AI and IBS discharges are compared in an effort to identify the causes of the different response to FWs.« less
Fast wave direct electron heating in advanced inductive and ITER baseline scenario discharges in DIII-D

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

Pinsker, R. I.; Austin, M. E.; Diem, S. J.

Fast Wave (FW) heating and electron cyclotron heating (ECH) are used in the DIII-D tokamak to study plasmas with low applied torque and dominant electron heating characteristic of burning plasmas. FW heating via direct electron damping has reached the 2.5 MW level in high performance ELMy H-mode plasmas. In Advanced Inductive (AI) plasmas, core FW heating was found to be comparable to that of ECH, consistent with the excellent first-pass absorption of FWs predicted by ray-tracing models at high electron beta. FW heating at the ~2 MW level to ELMy H-mode discharges in the ITER Baseline Scenario (IBS) showed unexpectedlymore » strong absorption of FW power by injected neutral beam (NB) ions, indicated by significant enhancement of the D-D neutron rate, while the intended absorption on core electrons appeared rather weak. As a result, the AI and IBS discharges are compared in an effort to identify the causes of the different response to FWs.« less
Characteristics of fast voluntary and electrically evoked isometric knee extensions during 56 days of bed rest with and without exercise countermeasure

PubMed Central

Gerrits, K. H. L.; Rittweger, J.; Felsenberg, D.; Stegeman, D. F.; de Haan, A.

2008-01-01

The contractile characteristics of fast voluntary and electrically evoked unilateral isometric knee extensions were followed in 16 healthy men during 56 days of horizontal bed rest and assessed at bed rest days 4, 7, 10, 17, 24, 38 and 56. Subjects were randomized to either an inactive control group (Ctrl, n = 8) or a resistive vibration exercise countermeasure group (RVE, n = 8). No changes were observed in neural activation, indicated by the amplitude of the surface electromyogram, or the initial rate of voluntary torque development in either group during bed rest. In contrast, for Ctrl, the force oscillation amplitude at 10 Hz stimulation increased by 48% (P < 0.01), the time to reach peak torque at 300 Hz stimulation decreased by 7% (P < 0.01), and the half relaxation time at 150 Hz stimulation tended to be slightly reduced by 3% (P = 0.056) after 56 days of bed rest. No changes were observed for RVE. Torque production at 10 Hz stimulation relative to maximal (150 Hz) stimulation was increased after bed rest for both Ctrl (15%; P < 0.05) and RVE (41%; P < 0.05). In conclusion, bed rest without exercise countermeasure resulted in intrinsic speed properties of a faster knee extensor group, which may have partly contributed to the preserved ability to perform fast voluntary contractions. The changes in intrinsic contractile properties were prevented by resistive vibration exercise, and voluntary motor performance remained unaltered for RVE subjects as well. PMID:18386049

Ultrafast spin exchange-coupling torque via photo-excited charge-transfer processes

NASA Astrophysics Data System (ADS)

Ma, X.; Fang, F.; Li, Q.; Zhu, J.; Yang, Y.; Wu, Y. Z.; Zhao, H. B.; Lüpke, G.

2015-10-01

Optical control of spin is of central importance in the research of ultrafast spintronic devices utilizing spin dynamics at short time scales. Recently developed optical approaches such as ultrafast demagnetization, spin-transfer and spin-orbit torques open new pathways to manipulate spin through its interaction with photon, orbit, charge or phonon. However, these processes are limited by either the long thermal recovery time or the low-temperature requirement. Here we experimentally demonstrate ultrafast coherent spin precession via optical charge-transfer processes in the exchange-coupled Fe/CoO system at room temperature. The efficiency of spin precession excitation is significantly higher and the recovery time of the exchange-coupling torque is much shorter than for the demagnetization procedure, which is desirable for fast switching. The exchange coupling is a key issue in spin valves and tunnelling junctions, and hence our findings will help promote the development of exchange-coupled device concepts for ultrafast coherent spin manipulation.
Convectively driven decadal zonal accelerations in Earth's fluid core

NASA Astrophysics Data System (ADS)

More, Colin; Dumberry, Mathieu

2018-04-01

Azimuthal accelerations of cylindrical surfaces co-axial with the rotation axis have been inferred to exist in Earth's fluid core on the basis of magnetic field observations and changes in the length-of-day. These accelerations have a typical timescale of decades. However, the physical mechanism causing the accelerations is not well understood. Scaling arguments suggest that the leading order torque averaged over cylindrical surfaces should arise from the Lorentz force. Decadal fluctuations in the magnetic field inside the core, driven by convective flows, could then force decadal changes in the Lorentz torque and generate zonal accelerations. We test this hypothesis by constructing a quasi-geostrophic model of magnetoconvection, with thermally driven flows perturbing a steady, imposed background magnetic field. We show that when the Alfvén number in our model is similar to that in Earth's fluid core, temporal fluctuations in the torque balance are dominated by the Lorentz torque, with the latter generating mean zonal accelerations. Our model reproduces both fast, free Alfvén waves and slow, forced accelerations, with ratios of relative strength and relative timescale similar to those inferred for the Earth's core. The temporal changes in the magnetic field which drive the time-varying Lorentz torque are produced by the underlying convective flows, shearing and advecting the magnetic field on a timescale associated with convective eddies. Our results support the hypothesis that temporal changes in the magnetic field deep inside Earth's fluid core drive the observed decadal zonal accelerations of cylindrical surfaces through the Lorentz torque.
Special-Purpose High-Torque Permanent-Magnet Motors

NASA Technical Reports Server (NTRS)

Doane, George B., III

1995-01-01

Permanent-magnet brushless motors that must provide high commanded torques and satisfy unusual heat-removal requirement are developed. Intended for use as thrust-vector-control actuators in large rocket engines. Techniques and concepts used to design improved motors for special terrestrial applications. Conceptual motor design calls for use of rotor containing latest high-energy-product rare-earth permanent magnets so that motor produces required torque while drawing smallest possible currents from power supply. Torque generated by electromagnetic interaction between stator and permanent magnets in rotor when associated electronic circuits applied appropriately temporally and spatially phased currents to stator windings. Phase relationships needed to produce commanded torque computed in response to torque command and to electronically sensed angular position of rotor relative to stator.
The influence of sodium bicarbonate on maximal force and rates of force development in the triceps surae and brachii during fatiguing exercise.

PubMed

Siegler, Jason C; Mudie, Kurt; Marshall, Paul

2016-11-01

What is the central question of this study? Does metabolic alkalosis in humans, induced by sodium bicarbonate, affect rates of skeletal muscle fatigue differentially in muscle groups composed predominately of slow- and fast-twitch fibres? What is the main finding and its importance? Sodium bicarbonate exhibited no effect on the fatigue profile observed between triceps surae and brachii muscle groups during and after 2 min of tetanic stimulation. For the first time in exercising humans, we have profiled the effect of sodium bicarbonate on the voluntary and involuntary contractile characteristics of muscle groups representative of predominately slow- and fast-twitch fibres. The effect of metabolic alkalosis on fibre-specific maximal force production and rates of force development (RFD) has been investigated previously in animal models, with evidence suggesting an improved capacity to develop force rapidly in fast- compared with slow-twitch muscle. We have attempted to model in vivo the fatigue profile of voluntary and involuntary maximal force and RFD in the triceps surae and brachii after sodium bicarbonate (NaHCO 3 ) ingestion. In a double-blind, three-way repeated-measures design, participants (n = 10) ingested either 0.3 g kg -1 NaHCO 3 (ALK) or equivalent calcium carbonate (PLA) prior to 2 min of continuous (1 Hz) supramaximal stimulation (300 ms at 40 Hz) of the triceps surae or brachii, with maximal voluntary efforts (maximal voluntary torque) coupled with direct muscle stimulation also measured at baseline, 1 and 2 min. Metabolic alkalosis was achieved in both ALK trials but was not different between muscle groups. Regardless of the conditions, involuntary torque declined nearly 60% in the triceps brachii (P < 0.001) and ∼30% in the triceps surae (P < 0.001). In all trials, there was a significant decline in normalized involuntary RFD (P < 0.05). Maximal voluntary torque declined nearly 28% but was not different between conditions (P < 0.01), and although declining nearly 21% in voluntary RFD (P < 0.05) there was no difference between PLA and ALK in either muscle group (P = 0.93). Sodium bicarbonate exhibited no effect on the fatigue observed between representative fibre-type muscle groups on maximal voluntary and involuntary torque or rates of torque development during and after 2 min of tetanic stimulation. © 2016 The Authors. Experimental Physiology © 2016 The Physiological Society.
Muscle mechanics: adaptations with exercise-training.

PubMed

Fitts, R H; Widrick, J J

1996-01-01

Based on the MHC isoform pattern, adult mammalian limb skeletal muscles contain two and, in some species, three types of fast fibers (Type IIa, IIx, and IIb), and one slow fiber (Type I). Slow muscles, such as the soleus, contain primarily the slow Type I fiber, whereas fast-twitch muscles are composed primarily of a mixture of the fast myosin isozymes. Force generation involves cross-bridge interaction and transition from a weakly bound, low-force state (AM-ADP-P(i)) to the strongly bound, high-force state (AM-ADP). This transition is thought to be rate limiting in terms of dP/dt, and the high-force state is the dominant cross-bridge form during a peak isometric contraction. Intact fast and slow skeletal muscles generate approximately the same amount of peak force (Po) of between 200 and 250 kN.m-2. However, the rate of transition from the low- to high-force state shows Ca2+ sensitivity and is 7-fold higher in fast-twitch, as compared to slow-twitch, skeletal muscle fibers. Fiber Vo or the maximal cross-bridge cycle rate is highly correlated with and thought to be dependent on the specific activity of the myosin or myofibrillar ATPase. The hierarchy for Vo is the Type IIb > IIx > IIa > I. This functional difference for the fast fiber types explains the higher Vo observed in the predominantly Type IIb SVL vs. the mixed fast Type IIa and IIb EDL muscle. A plot of Vo vs. species size demonstrates that an inverse relationship exists between Vo and body mass. From the standpoint of work capacity, the important property is power output. An analysis of individual muscles indicates that peak power is obtained at loads considerably below 50% of Po. Individuals with a high percentage of fast-twitch fibers generate a greater torque and higher power at a given velocity than those with predominantly slow-twitch fibers. In humans, mean peak power occurred in a ratio of 10:5:1 for the Type IIb, IIa, and I fibers. The in vivo measurement of the torque-velocity relationship and Vmax in human muscle is difficult because of limitations inherent in the equipment used and the inability to study the large limb muscles independently. Nevertheless, the in vivo torque-velocity relationships are similar to those measured in vitro in animals. This observation suggests that little central nervous system inhibition exists and that healthy subjects are able to achieve maximal activation of their muscles. Although peak isometric tension is not dependent on fiber type distribution, a positive correlation exists between the percentage of fast fibers and peak torque output at moderate-to-high angular isokinetic velocities. Consequently, peak power output is substantially greater in subjects possessing a predominance of fast fibers. The mechanical properties of slow and fast muscles do adapt to programs of regular exercise. Endurance exercise training has been shown to increase the Vo of the slow soleus by 20%. This increase could have been caused by either a small increase in all, or most, of the fibers, or to a conversion of a few fibers from slow to fast. Recently, the increase was shown to be caused by the former, as the individual slow Type I fibers of the soleus showed a 20% increase in Vo, but there was little or no change in the percentage of fast fibers. The increased Vo was correlated with, and likely caused by, an increased fiber ATPase. We hypothesize that the increased ATPase and cross-bridge cycling speed might be attributable to an increased expression of fast MLCs in the slow Type I fibers (Fig. 14.10). This hypothesis is based on the fact that light chains have been shown to be involved in the power stroke, and removal of light chains depresses force and velocity. Regular endurance exercise training had no effect on fiber size, but with prolonged durations of daily training it depressed Po and peak power. When the training is maintained over prolonged periods, it may even induce atrophy of the slow Type I and fast Type IIa fibers. (ABSTRACT TRUNCATED)
Fast gravity, gravity partials, normalized gravity, gravity gradient torque and magnetic field: Derivation, code and data

NASA Technical Reports Server (NTRS)

Gottlieb, Robert G.

1993-01-01

Derivation of first and second partials of the gravitational potential is given in both normalized and unnormalized form. Two different recursion formulas are considered. Derivation of a general gravity gradient torque algorithm which uses the second partial of the gravitational potential is given. Derivation of the geomagnetic field vector is given in a form that closely mimics the gravitational algorithm. Ada code for all algorithms that precomputes all possible data is given. Test cases comparing the new algorithms with previous data are given, as well as speed comparisons showing the relative efficiencies of the new algorithms.
A surface acoustic wave response detection method for passive wireless torque sensor

NASA Astrophysics Data System (ADS)

Fan, Yanping; Kong, Ping; Qi, Hongli; Liu, Hongye; Ji, Xiaojun

2018-01-01

This paper presents an effective surface acoustic wave (SAW) response detection method for the passive wireless SAW torque sensor to improve the measurement accuracy. An analysis was conducted on the relationship between the response energy-entropy and the bandwidth of SAW resonator (SAWR). A self-correlation method was modified to suppress the blurred white noise and highlight the attenuation characteristic of wireless SAW response. The SAW response was detected according to both the variation and the duration of energy-entropy ascension of an acquired RF signal. Numerical simulation results showed that the SAW response can be detected even when the signal-to-noise ratio (SNR) is 6dB. The proposed SAW response detection method was evaluated with several experiments at different conditions. The SAW response can be well distinguished from the sinusoidal signal and the noise. The performance of the SAW torque measurement system incorporating the detection method was tested. The obtained repeatability error was 0.23% and the linearity was 0.9934, indicating the validity of the detection method.
Robust Fault Diagnosis in Electric Drives Using Machine Learning

DTIC Science & Technology

2004-09-08

detection of fault conditions of the inverter. A machine learning framework is developed to systematically select torque-speed domain operation points...were used to generate various fault condition data for machine learning . The technique is viable for accurate, reliable and fast fault detection in electric drives.
Fast response of mechatronics module for robotic

NASA Astrophysics Data System (ADS)

Bukhanov, S. S.; Gryzlov, A. A.; Tsirkunenko, A. T.

2018-05-01

The synthesis technique, the mathematical model and results of experimental investigation of the control system of the robotic complex mechatronic module are presented in the article. It is shown that in most cases the dynamic system can be approximated by the serial connection of two first-order aperiodic links, while the speed in the torque control loop can reach 200-300 rad/s. The specified speed of the system was achieved due to improved specific weight and dimensions parameters of the electric drive (element of the mechatronic system) made on the basis of a contactless motor. The obtained results indicate the possibility of successful application of the proposed mechatronic module for objects of robotized systems in which the reference signal changes at a frequency not exceeding 50 Hz.
DOE Office of Scientific and Technical Information (OSTI.GOV)

Winterbone, D.E.; Richards, P.

A microprocessor controlled test bed was built for steady state mapping of petrol engines using a sweep mapping technique. The addition of an electric motor to the fast acting dynamometer allowed rapid load changes to be applied at nominally constant speed. This made it possible to consider the dynamic behaviour of the power generation sub-system of the engine. The engine was initially subjected to ramp changes of torque but these did not give consistent results. PRBS signals were then used for the same variable and a mathematical transfer function model developed for the engine power system. The engine was consideredmore » both as a continuous and sample data system. Results will be presented which show fuel management has an appreciable effect on the engine dynamic response.« less
Mechanics of torque generation in the bacterial flagellar motor.

PubMed

Mandadapu, Kranthi K; Nirody, Jasmine A; Berry, Richard M; Oster, George

2015-08-11

The bacterial flagellar motor (BFM) is responsible for driving bacterial locomotion and chemotaxis, fundamental processes in pathogenesis and biofilm formation. In the BFM, torque is generated at the interface between transmembrane proteins (stators) and a rotor. It is well established that the passage of ions down a transmembrane gradient through the stator complex provides the energy for torque generation. However, the physics involved in this energy conversion remain poorly understood. Here we propose a mechanically specific model for torque generation in the BFM. In particular, we identify roles for two fundamental forces involved in torque generation: electrostatic and steric. We propose that electrostatic forces serve to position the stator, whereas steric forces comprise the actual "power stroke." Specifically, we propose that ion-induced conformational changes about a proline "hinge" residue in a stator α-helix are directly responsible for generating the power stroke. Our model predictions fit well with recent experiments on a single-stator motor. The proposed model provides a mechanical explanation for several fundamental properties of the flagellar motor, including torque-speed and speed-ion motive force relationships, backstepping, variation in step sizes, and the effects of key mutations in the stator.
Torque measurements reveal sequence-specific cooperative transitions in supercoiled DNA

PubMed Central

Oberstrass, Florian C.; Fernandes, Louis E.; Bryant, Zev

2012-01-01

B-DNA becomes unstable under superhelical stress and is able to adopt a wide range of alternative conformations including strand-separated DNA and Z-DNA. Localized sequence-dependent structural transitions are important for the regulation of biological processes such as DNA replication and transcription. To directly probe the effect of sequence on structural transitions driven by torque, we have measured the torsional response of a panel of DNA sequences using single molecule assays that employ nanosphere rotational probes to achieve high torque resolution. The responses of Z-forming d(pGpC)n sequences match our predictions based on a theoretical treatment of cooperative transitions in helical polymers. “Bubble” templates containing 50–100 bp mismatch regions show cooperative structural transitions similar to B-DNA, although less torque is required to disrupt strand–strand interactions. Our mechanical measurements, including direct characterization of the torsional rigidity of strand-separated DNA, establish a framework for quantitative predictions of the complex torsional response of arbitrary sequences in their biological context. PMID:22474350
Development of a Spoke Type Torque Sensor Using Painting Carbon Nanotube Strain Sensors.

PubMed

Kim, Sung Yong; Park, Se Hoon; Choi, Baek Gyu; Kang, In Hyuk; Park, Sang Wook; Shin, Jeong Woo; Kim, Jin Ho; Baek, Woon Kyung; Lim, Kwon Taek; Kim, Young-Ju; Song, Jae-Bok; Kang, Inpil

2018-03-01

This study reports a hub-spoke type joint torque sensor involving strain gauges made of multiwalled carbon nanotubes (MWCNT). We developed the novel joint torque sensor for robots by means of MWCNT/epoxy strain sensors (0.8 wt%, gauge factor 2) to overcome the limits of conventional foil strain gauges. Solution mixing process was hired to fabricate a liquid strain sensor that can easily be installed on any complicated surfaces. We painted the MWCNT/epoxy mixing liquid on the hub-spoke type joint torque sensor to form the piezoresistive strain gauges. The painted sensor converted its strain into torque by mean of the installed hub-spoke structure after signal processing. We acquired sufficient torque voltage responses from the painted MWCNT/epoxy strain sensor.
Validation of the model for ELM suppression with 3D magnetic fields using low torque ITER baseline scenario discharges in DIII-D

NASA Astrophysics Data System (ADS)

Moyer, R. A.; Paz-Soldan, C.; Nazikian, R.; Orlov, D. M.; Ferraro, N. M.; Grierson, B. A.; Knölker, M.; Lyons, B. C.; McKee, G. R.; Osborne, T. H.; Rhodes, T. L.; Meneghini, O.; Smith, S.; Evans, T. E.; Fenstermacher, M. E.; Groebner, R. J.; Hanson, J. M.; La Haye, R. J.; Luce, T. C.; Mordijck, S.; Solomon, W. M.; Turco, F.; Yan, Z.; Zeng, L.; DIII-D Team

2017-10-01

Experiments have been executed in the DIII-D tokamak to extend suppression of Edge Localized Modes (ELMs) with Resonant Magnetic Perturbations (RMPs) to ITER-relevant levels of beam torque. The results support the hypothesis for RMP ELM suppression based on transition from an ideal screened response to a tearing response at a resonant surface that prevents expansion of the pedestal to an unstable width [Snyder et al., Nucl. Fusion 51, 103016 (2011) and Wade et al., Nucl. Fusion 55, 023002 (2015)]. In ITER baseline plasmas with I/aB = 1.4 and pedestal ν * ˜ 0.15, ELMs are readily suppressed with co- I p neutral beam injection. However, reducing the beam torque from 5 Nm to ≤ 3.5 Nm results in loss of ELM suppression and a shift in the zero-crossing of the electron perpendicular rotation ω ⊥ e ˜ 0 deeper into the plasma. The change in radius of ω ⊥ e ˜ 0 is due primarily to changes to the electron diamagnetic rotation frequency ωe * . Linear plasma response modeling with the resistive MHD code m3d-c1 indicates that the tearing response location tracks the inward shift in ω ⊥ e ˜ 0. At pedestal ν * ˜ 1, ELM suppression is also lost when the beam torque is reduced, but the ω ⊥ e change is dominated by collapse of the toroidal rotation v T . The hypothesis predicts that it should be possible to obtain ELM suppression at reduced beam torque by also reducing the height and width of the ωe * profile. This prediction has been confirmed experimentally with RMP ELM suppression at 0 Nm of beam torque and plasma normalized pressure β N ˜ 0.7. This opens the possibility of accessing ELM suppression in low torque ITER baseline plasmas by establishing suppression at low beta and then increasing beta while relying on the strong RMP-island coupling to maintain suppression.
Temperature Dependences of Torque Generation and Membrane Voltage in the Bacterial Flagellar Motor

PubMed Central

Inoue, Yuichi; Baker, Matthew A.B.; Fukuoka, Hajime; Takahashi, Hiroto; Berry, Richard M.; Ishijima, Akihiko

2013-01-01

In their natural habitats bacteria are frequently exposed to sudden changes in temperature that have been shown to affect their swimming. With our believed to be new methods of rapid temperature control for single-molecule microscopy, we measured here the thermal response of the Na+-driven chimeric motor expressed in Escherichia coli cells. Motor torque at low load (0.35 μm bead) increased linearly with temperature, twofold between 15°C and 40°C, and torque at high load (1.0 μm bead) was independent of temperature, as reported for the H+-driven motor. Single cell membrane voltages were measured by fluorescence imaging and these were almost constant (∼120 mV) over the same temperature range. When the motor was heated above 40°C for 1–2 min the torque at high load dropped reversibly, recovering upon cooling below 40°C. This response was repeatable over as many as 10 heating cycles. Both increases and decreases in torque showed stepwise torque changes with unitary size ∼150 pN nm, close to the torque of a single stator at room temperature (∼180 pN nm), indicating that dynamic stator dissociation occurs at high temperature, with rebinding upon cooling. Our results suggest that the temperature-dependent assembly of stators is a general feature of flagellar motors. PMID:24359752
Dirac spin-orbit torques and charge pumping at the surface of topological insulators

NASA Astrophysics Data System (ADS)

Ndiaye, Papa B.; Akosa, C. A.; Fischer, M. H.; Vaezi, A.; Kim, E.-A.; Manchon, A.

2017-07-01

We address the nature of spin-orbit torques at the magnetic surfaces of topological insulators using the linear-response theory. We find that the so-called Dirac torques in such systems possess a different symmetry compared to their Rashba counterpart, as well as a high anisotropy as a function of the magnetization direction. In particular, the damping torque vanishes when the magnetization lies in the plane of the topological-insulator surface. We also show that the Onsager reciprocal of the spin-orbit torque, the charge pumping, induces an enhanced anisotropic damping. Via a macrospin model, we numerically demonstrate that these features have important consequences in terms of magnetization switching.
Precessional switching of antiferromagnets by electric field induced Dzyaloshinskii-Moriya torque

NASA Astrophysics Data System (ADS)

Kim, T. H.; Grünberg, P.; Han, S. H.; Cho, B. K.

2018-05-01

Antiferromagnetic insulators (AFIs) have attracted much interest from many researchers as promising candidates for use in ultrafast, ultralow-dissipation spintronic devices. As a fast method of reversing magnetization, precessional switching is realized when antiferromagnetic Néel orders l =(s1+s2 )/2 surmount the magnetic anisotropy or potential barrier in a given magnetic system, which is described well by the antiferromagnetic plane pendulum (APP) model. Here, we report that, as an alternative switching scenario, the direct coupling of an electric field with Dzyaloshinskii-Moriya (DM) interaction, which stems from spin-orbit coupling, is exploited for optimal switching. We derive the pendulum equation of motion of antiferromagnets, where DM torque is induced by a pulsed electric field. The temporal DM interaction is found to not only be in the form of magnetic torques (e.g., spin-orbit torque or magnetic field) but also modifies the magnetic potential that limits l 's activity; as a result, appropriate controls (e.g., direction, magnitude, and pulse shape) of the induced DM vector realize deterministic reversal in APP. The results present an approach for the control of a magnetic storage device by means of an electric field.
DOE Office of Scientific and Technical Information (OSTI.GOV)

Shi, Chang-Sheng; Zhang, Shuang-Nan; Li, Xiang-Dong, E-mail: zhangsn@ihep.ac.cn

We re-estimate the surface magnetic fields of neutron stars (NSs) in Be X-ray binaries (BeXBs) with different models of torque, improved beyond Klus et al. In particular, a new torque model is applied to three models of magnetosphere radius. Unlike the previous models, the new torque model does not lead to divergent results for any fastness parameter. The inferred surface magnetic fields of these NSs for the two compressed magnetosphere models are much higher than that for the uncompressed magnetosphere model. The new torque model using the compressed magnetosphere radius leads to unique solutions near spin equilibrium in all cases, unlike other modelsmore » that usually give two branches of solutions. Although our conclusions are still affected by the simplistic assumptions about the magnetosphere radius calculations, we show several groups of possible surface magnetic field values with our new models when the interaction between the magnetosphere and the infalling accretion plasma is considered. The estimated surface magnetic fields for NSs BeXBs in the Large Magellanic Cloud, the Small Magellanic Cloud and the Milk Way are between the quantum critical field and the maximum “virial” value by the spin equilibrium condition.« less
Frictional Torque Reduction in Taylor-Couette Flows with Riblet-Textured Rotors

NASA Astrophysics Data System (ADS)

Raayai, Shabnam; McKinley, Gareth

2017-11-01

Inspired by the riblets on the denticles of fast swimming shark species, periodic surface microtextures of different shapes have been studied under laminar and turbulent flow conditions to understand their drag reduction mechanism and to offer guides for designing optimized low-friction bio-inspired surfaces. Various reports over the past four decades have suggested that riblet surfaces can reduce the frictional drag force in high Reynolds number laminar and turbulent flow regimes. Here, we investigate the effect of streamwise riblets on torque reduction in steady flow between concentric cylinders, known as Taylor-Couette Flow. Using 3D printed riblet-textured rotors and a custom-built Taylor-Couette cell which can be mounted on a rheometer we measure the torque on the inner rotor as a function of three different dimensionless parameters; the Reynolds number of the flow, the sharpness of the riblets, and the size of the riblets with respect to the scale of the Taylor-Couette cell. Our experimental results in the laminar viscous flow regime show a reduction in torque up to 10% over a wide range of Reynolds numbers, that is a non-monotonic function of the aspect ratio and independent of Re. However, after transition to the Taylor vortex regime, the modification in torque becomes a function of the Reynolds number, while remaining a non-monotonic function of the aspect ratio. Using finite volume modelling of the geometry we discuss the changes in the Taylor-Couette flow in presence of the riblets compared to the case of smooth rotors and the resulting torque reduction as a function of the parameter space defined above.
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.

Dynamic Response of a Planetary Gear System Using a Finite Element/Contact Mechanics Model

NASA Technical Reports Server (NTRS)

Parker, Robert G.; Agashe, Vinayak; Vijayakar, Sandeep M.

2000-01-01

The dynamic response of a helicopter planetary gear system is examined over a wide range of operating speeds and torques. The analysis tool is a unique, semianalytical finite element formulation that admits precise representation of the tooth geometry and contact forces that are crucial in gear dynamics. Importantly, no a priori specification of static transmission error excitation or mesh frequency variation is required; the dynamic contact forces are evaluated internally at each time step. The calculated response shows classical resonances when a harmonic of mesh frequency coincides with a natural frequency. However, peculiar behavior occurs where resonances expected to be excited at a given speed are absent. This absence of particular modes is explained by analytical relationships that depend on the planetary configuration and mesh frequency harmonic. The torque sensitivity of the dynamic response is examined and compared to static analyses. Rotation mode response is shown to be more sensitive to input torque than translational mode response.
Current-driven second-harmonic domain wall resonance in ferromagnetic metal/nonmagnetic metal bilayers: A field-free method for spin Hall angle measurements

NASA Astrophysics Data System (ADS)

Hajiali, M. R.; Hamdi, M.; Roozmeh, S. E.; Mohseni, S. M.

2017-10-01

We study the ac current-driven domain wall motion in bilayer ferromagnetic metal (FM)/nonmagnetic metal (NM) nanowires. The solution of the modified Landau-Lifshitz-Gilbert equation including all the spin transfer torques is used to describe motion of the domain wall in the presence of the spin Hall effect. We show that the domain wall center has a second-harmonic frequency response in addition to the known first-harmonic excitation. In contrast to the experimentally observed second-harmonic response in harmonic Hall measurements of spin-orbit torque in magnetic thin films, this second-harmonic response directly originates from spin-orbit torque driven domain wall dynamics. Based on the spin current generated by domain wall dynamics, the longitudinal spin motive force generated voltage across the length of the nanowire is determined. The second-harmonic response introduces additionally a practical field-free and all-electrical method to probe the effective spin Hall angle for FM/NM bilayer structures that could be applied in experiments. Our results also demonstrate the capability of utilizing FM/NM bilayer structures in domain wall based spin-torque signal generators and resonators.
A Multiple Degree of Freedom Lower Extremity Isometric Device to Simultaneously Quantify Hip, Knee and Ankle Torques

PubMed Central

Sánchez, Natalia; Acosta, Ana Maria; Stienen, Arno H.A.

2015-01-01

Characterization of the joint torque coupling strategies used in the lower extremity to generate maximal and submaximal levels of torque at either the hip, knee or ankle is lacking. Currently, there are no available isometric devices that quantify all concurrent joint torques in the hip, knee and ankle of a single leg during maximum voluntary torque generation. Thus, joint-torque coupling strategies in the hip, knee and concurrent torques at ankle and/or coupling patterns at the hip and knee driven by the ankle have yet to be quantified. This manuscript describes the design, implementation and validation of a multiple degree of freedom, lower extremity isometric device (the MultiLEIT) that accurately quantifies simultaneous torques at the hip, knee and ankle. The system was mechanically validated and then implemented with two healthy control individuals and two post-stroke individuals to test usability and patient acceptance. Data indicated different joint torque coupling strategies used by both healthy individuals. In contrast, data showed the same torque coupling patterns in both post-stroke individuals, comparable to those described in the clinic. Successful implementation of the MultiLEIT can contribute to the understanding of the underlying mechanisms responsible for abnormal movement patterns and aid in the design of therapeutic interventions. PMID:25163064
Effects of fatiguing constant versus alternating intensity intermittent isometric muscle actions on maximal torque and neuromuscular responses

PubMed Central

Smith, C.M.; Housh, T.J.; Hill, E.C.; Cochrane, K.C.; Jenkins, N.D.M.; Schmidt, R.J.; Johnson, G.O.

2016-01-01

Objective: To determine the effects of constant versus alternating applications of torque during fatiguing, intermittent isometric muscle actions of the leg extensors on maximal voluntary isometric contraction (MVIC) torque and neuromuscular responses. Methods: Sixteen subjects performed two protocols, each consisting of 50 intermittent isometric muscle actions of the leg extensors with equal average load at a constant 60% MVIC or alternating 40 then 80% (40/80%) MVIC with a work-to-rest ratio of 6-s on and 2-s off. MVIC torque as well as electromyographic signals from the vastus lateralis (VL), vastus medialis (VM), and rectus femoris (RF) and mechanomyographic signals from the VL were recorded pretest, immediately posttest, and 5-min posttest. Results: The results indicated that there were no time-related differences between the 60% MVIC and 40/80% MVIC protocols. The MVIC torque decreased posttest (22 to 26%) and remained depressed 5-min posttest (9%). There were decreases in electromyographic frequency (14 to 19%) and mechanomyographic frequency (23 to 24%) posttest that returned to pretest levels 5-min posttest. There were no changes in electromyographic amplitude and mechanomyogrpahic amplitude. Conclusions: These findings suggested that these neuromuscular parameters did not track the fatigue-induced changes in MVIC torque after 5-min of recovery. PMID:27973384
Evidence for phonon skew scattering in the spin Hall effect of platinum

NASA Astrophysics Data System (ADS)

Karnad, G. V.; Gorini, C.; Lee, K.; Schulz, T.; Lo Conte, R.; Wells, A. W. J.; Han, D.-S.; Shahbazi, K.; Kim, J.-S.; Moore, T. A.; Swagten, H. J. M.; Eckern, U.; Raimondi, R.; Kläui, M.

2018-03-01

We measure and analyze the effective spin Hall angle of platinum in the low-residual resistivity regime by second-harmonic measurements of the spin-orbit torques for a multilayer of Pt |Co | AlOx . An angular-dependent study of the torques allows us to extract the effective spin Hall angle responsible for the damping-like torque in the system. We observe a strikingly nonmonotonic and reproducible temperature dependence of the torques. This behavior is compatible with recent theoretical predictions which include both intrinsic and extrinsic (impurities and phonons) contributions to the spin Hall effect at finite temperatures.
A mechanical jig for measuring ankle supination and pronation torque in vitro and in vivo.

PubMed

Fong, Daniel Tik-Pui; Chung, Mandy Man-Ling; Chan, Yue-Yan; Chan, Kai-Ming

2012-07-01

This study presents the design of a mechanical jig for evaluating the ankle joint torque on both cadaver and human ankles. Previous study showed that ankle sprain motion was a combination of plantarflexion and inversion. The device allows measurement of ankle supination and pronation torque with one simple axis in a single step motion. More importantly, the ankle orientation allows rotation starting from an anatomical position. Six cadaveric specimens and six human subjects were tested with simulated and voluntary rotation respectively. The presented mechanical jig makes possible the determination of supination torque for studying ankle sprain injury and the estimation of pronation torque for examining peroneal muscle response. Copyright © 2012 IPEM. Published by Elsevier Ltd. All rights reserved.
Ultrafast spin exchange-coupling torque via photo-excited charge-transfer processes

DOE PAGES

Ma, X.; Fang, F.; Li, Q.; ...

2015-10-28

In this study, optical control of spin is of central importance in the research of ultrafast spintronic devices utilizing spin dynamics at short time scales. Recently developed optical approaches such as ultrafast demagnetization, spin-transfer and spin-orbit torques open new pathways to manipulate spin through its interaction with photon, orbit, charge or phonon. However, these processes are limited by either the long thermal recovery time or the low-temperature requirement. Here we experimentally demonstrate ultrafast coherent spin precession via optical charge-transfer processes in the exchange-coupled Fe/CoO system at room temperature. The efficiency of spin precession excitation is significantly higher and the recoverymore » time of the exchange-coupling torque is much shorter than for the demagnetization procedure, which is desirable for fast switching. The exchange coupling is a key issue in spin valves and tunnelling junctions, and hence our findings will help promote the development of exchange-coupled device concepts for ultrafast coherent spin manipulation.« less
Ultrafast magnetization switching by spin-orbit torques

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

Garello, Kevin, E-mail: kevin.garello@mat.ethz.ch; Avci, Can Onur; Baumgartner, Manuel

2014-11-24

Spin-orbit torques induced by spin Hall and interfacial effects in heavy metal/ferromagnetic bilayers allow for a switching geometry based on in-plane current injection. Using this geometry, we demonstrate deterministic magnetization reversal by current pulses ranging from 180 ps to ms in Pt/Co/AlO{sub x} dots with lateral dimensions of 90 nm. We characterize the switching probability and critical current I{sub c} as a function of pulse length, amplitude, and external field. Our data evidence two distinct regimes: a short-time intrinsic regime, where I{sub c} scales linearly with the inverse of the pulse length, and a long-time thermally assisted regime, where I{sub c} variesmore » weakly. Both regimes are consistent with magnetization reversal proceeding by nucleation and fast propagation of domains. We find that I{sub c} is a factor 3–4 smaller compared to a single domain model and that the incubation time is negligibly small, which is a hallmark feature of spin-orbit torques.« less
Dynamics and inertia of a skyrmion in chiral magnets and interfaces: A linear response approach based on magnon excitations

DOE PAGES

Lin, Shi-Zeng

2017-07-06

We derive the skyrmion dynamics in response to a weak external drive, taking all the magnon modes into account. A skyrmion has rotational symmetry, and the magnon modes can be characterized by an angular momentum. For a weak distortion of a skyrmion, only the magnon modes with an angular momentum | m | = 1 govern the dynamics of skyrmion topological center. We also determine that the skyrmion inertia comes by way of the magnon modes in the continuum spectrum. For a skyrmion driven by a magnetic field gradient or by a spin transfer torque generated by a current, themore » dynamical response is practically instantaneous. This justifies the rigid skyrmion approximation used in Thiele's collective coordinate approach. For a skyrmion driven by a spin Hall torque, the torque couples to the skyrmion motion through the magnons in the continuum and damping; therefore the skyrmion dynamics shows sizable inertia in this case. The trajectory of a skyrmion is an ellipse for an ac drive of spin Hall torque.« less
Analytical stability and simulation response study for a coupled two-body system

NASA Technical Reports Server (NTRS)

Tao, K. M.; Roberts, J. R.

1975-01-01

An analytical stability study and a digital simulation response study of two connected rigid bodies are documented. Relative rotation of the bodies at the connection is allowed, thereby providing a model suitable for studying system stability and response during a soft-dock regime. Provisions are made of a docking port axes alignment torque and a despin torque capability for encountering spinning payloads. Although the stability analysis is based on linearized equations, the digital simulation is based on nonlinear models.
Transient Torque Method: A Fast and Nonintrusive 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.-H.; Lehoczky, S. L.; Zhu, S.

2004-01-01

A transient torque method was developed to rapidly and simultaneously determine the viscosity and electrical conductivity of liquid metals and molten semiconductors. The experimental setup of the transient torque method is similar to that of the oscillation cup method. 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 around its vertical 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 published data. The method is nonintrusive; 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 to measure just the viscosity of the melt or as a rotating magnetic field method to determine the electrical conductivity of a melt or a solid if desired.
Training-specific functional, neural, and hypertrophic adaptations to explosive- vs. sustained-contraction strength training.

PubMed

Balshaw, Thomas G; Massey, Garry J; Maden-Wilkinson, Thomas M; Tillin, Neale A; Folland, Jonathan P

2016-06-01

Training specificity is considered important for strength training, although the functional and underpinning physiological adaptations to different types of training, including brief explosive contractions, are poorly understood. This study compared the effects of 12 wk of explosive-contraction (ECT, n = 13) vs. sustained-contraction (SCT, n = 16) strength training vs. control (n = 14) on the functional, neural, hypertrophic, and intrinsic contractile characteristics of healthy young men. Training involved 40 isometric knee extension repetitions (3 times/wk): contracting as fast and hard as possible for ∼1 s (ECT) or gradually increasing to 75% of maximum voluntary torque (MVT) before holding for 3 s (SCT). Torque and electromyography during maximum and explosive contractions, torque during evoked octet contractions, and total quadriceps muscle volume (QUADSVOL) were quantified pre and post training. MVT increased more after SCT than ECT [23 vs. 17%; effect size (ES) = 0.69], with similar increases in neural drive, but greater QUADSVOL changes after SCT (8.1 vs. 2.6%; ES = 0.74). ECT improved explosive torque at all time points (17-34%; 0.54 ≤ ES ≤ 0.76) because of increased neural drive (17-28%), whereas only late-phase explosive torque (150 ms, 12%; ES = 1.48) and corresponding neural drive (18%) increased after SCT. Changes in evoked torque indicated slowing of the contractile properties of the muscle-tendon unit after both training interventions. These results showed training-specific functional changes that appeared to be due to distinct neural and hypertrophic adaptations. ECT produced a wider range of functional adaptations than SCT, and given the lesser demands of ECT, this type of training provides a highly efficient means of increasing function. Copyright © 2016 the American Physiological Society.
Robust Features Of Surface Electromyography Signal

NASA Astrophysics Data System (ADS)

Sabri, M. I.; Miskon, M. F.; Yaacob, M. R.

2013-12-01

Nowadays, application of robotics in human life has been explored widely. Robotics exoskeleton system are one of drastically areas in recent robotic research that shows mimic impact in human life. These system have been developed significantly to be used for human power augmentation, robotics rehabilitation, human power assist, and haptic interaction in virtual reality. This paper focus on solving challenges in problem using neural signals and extracting human intent. Commonly, surface electromyography signal (sEMG) are used in order to control human intent for application exoskeleton robot. But the problem lies on difficulty of pattern recognition of the sEMG features due to high noises which are electrode and cable motion artifact, electrode noise, dermic noise, alternating current power line interface, and other noise came from electronic instrument. The main objective in this paper is to study the best features of electromyography in term of time domain (statistical analysis) and frequency domain (Fast Fourier Transform).The secondary objectives is to map the relationship between torque and best features of muscle unit activation potential (MaxPS and RMS) of biceps brachii. This project scope use primary data of 2 male sample subject which using same dominant hand (right handed), age between 20-27 years old, muscle diameter 32cm to 35cm and using single channel muscle (biceps brachii muscle). The experiment conduct 2 times repeated task of contraction and relaxation of biceps brachii when lifting different load from no load to 3kg with ascending 1kg The result shows that Fast Fourier Transform maximum power spectrum (MaxPS) has less error than mean value of reading compare to root mean square (RMS) value. Thus, Fast Fourier Transform maximum power spectrum (MaxPS) show the linear relationship against torque experience by elbow joint to lift different load. As the conclusion, the best features is MaxPS because it has the lowest error than other features and show the linear relationship with torque experience by elbow joint to lift different load.
Method and apparatus for executing an asynchronous clutch-to-clutch shift in a hybrid transmission

DOEpatents

Demirovic, Besim; Gupta, Pinaki; Kaminsky, Lawrence A.; Naqvi, Ali K.; Heap, Anthony H.; Sah, Jy-Jen F.

2014-08-12

A hybrid transmission includes first and second electric machines. A method for operating the hybrid transmission in response to a command to execute a shift from an initial continuously variable mode to a target continuously variable mode includes increasing torque of an oncoming clutch associated with operating in the target continuously variable mode and correspondingly decreasing a torque of an off-going clutch associated with operating in the initial continuously variable mode. Upon deactivation of the off-going clutch, torque outputs of the first and second electric machines and the torque of the oncoming clutch are controlled to synchronize the oncoming clutch. Upon synchronization of the oncoming clutch, the torque for the oncoming clutch is increased and the transmission is operated in the target continuously variable mode.
Method and system for determining the torque required to launch a vehicle having a hybrid drive-train

DOEpatents

Hughes, Douglas A.

2006-04-04

A method and system are provided for determining the torque required to launch a vehicle having a hybrid drive-train that includes at least two independently operable prime movers. The method includes the steps of determining the value of at least one control parameter indicative of a vehicle operating condition, determining the torque required to launch the vehicle from the at least one determined control parameter, comparing the torque available from the prime movers to the torque required to launch the vehicle, and controlling operation of the prime movers to launch the vehicle in response to the comparing step. The system of the present invention includes a control unit configured to perform the steps of the method outlined above.
Effects of multiple resistive shells and transient electromagnetic torque on the dynamics of mode locking in reversed field pinch plasmas

NASA Astrophysics Data System (ADS)

Guo, S. C.; Chu, M. S.

2002-11-01

The effects of multiple resistive shells and transient electromagnetic torque on the dynamics of mode locking in the reversed field pinch (RFP) plasmas are studied. Most RFP machines are equipped with one or more metal shells outside of the vacuum vessel. These shells have finite resistivities. The eddy currents induced in each of the shells contribute to the braking electromagnetic (EM) torque which slows down the plasma rotation. In this work we study the electromagnetic torque acting on the plasma (tearing) modes produced by a system of resistive shells. These shells may consist of several nested thin shells or several thin shells enclosed within a thick shell. The dynamics of the plasma mode is investigated by balancing the EM torque from the resistive shells with the plasma viscous torque. Both the steady state theory and the time-dependent theory are developed. The steady state theory is shown to provide an accurate account of the resultant EM torque if (dω/dt)ω-2≪1 and the time scale of interest is much longer than the response (L/R) time of the shell. Otherwise, the transient theory should be adopted. As applications, the steady state theory is used to evaluate the changes of the EM torque response from the resistive shells in two variants of two RFP machines: (1) modification from Reversed Field Experiment (RFX) [Gnesotto et al., Fusion Eng. Des. 25, 335 (1995)] to the modified RFX: both of them are equipped with one thin shell plus one thick shell; (2) modification from Extrap T2 to Extrap T2R [Brunsell et al., Plasma Phys. Controlled Fusion 43, 1457 (2001)]: both of them are equipped with two thin shells. The transient theory has been applied numerically to study the time evolution of the EM torque during the unlocking of a locked tearing mode in the modified RFX.
Potential roles of force cues in human stance control.

PubMed

Cnyrim, Christian; Mergner, Thomas; Maurer, Christoph

2009-04-01

Human stance is inherently unstable. A small deviation from upright body orientation is enough to yield a gravitational component in the ankle joint torque, which tends to accelerate the body further away from upright ('gravitational torque'; magnitude is related to body-space lean angle). Therefore, to maintain a given body lean position, a corresponding compensatory torque must be generated. It is well known that subjects use kinematic sensory information on body-space lean from the vestibular system for this purpose. Less is known about kinetic cues from force/torque receptors. Previous work indicated that they are involved in compensating external contact forces such as a pull or push having impact on the body. In this study, we hypothesized that they play, in addition, a role when the vestibular estimate of the gravitational torque becomes erroneous. Reasons may be sudden changes in body mass, for instance by a load, or an impairment of the vestibular system. To test this hypothesis, we mimicked load effects on the gravitational torque in normal subjects and in patients with chronic bilateral vestibular loss (VL) with eyes closed. We added/subtracted extra torque to the gravitational torque by applying an external contact force (via cable winches and a body harness). The extra torque was referenced to body-space lean, using different proportionality factors. We investigated how it affected body-space lean responses that we evoked using sinusoidal tilts of the support surface (motion platform) with different amplitudes and frequencies (normals +/-1 degrees, +/-2 degrees, and +/-4 degrees at 0.05, 0.1, 0.2, and 0.4 Hz; patients +/-1 degrees and +/-2 degrees at 0.05 and 0.1 Hz). We found that added/subtracted extra torque scales the lean response in a systematic way, leading to increase/decrease in lean excursion. Expressing the responses in terms of gain and phase curves, we compared the experimental findings to predictions obtained from a recently published sensory feedback model. For the trials in which the extra torque tended to endanger stance control, predictions in normals were better when the model included force cues than without these cues. This supports our notion that force cues provide an automatic 'gravitational load compensation' upon changes in body mass in normals. The findings in the patients support our notion that the presumed force cue mechanism provides furthermore vestibular loss compensation. Patients showed a body-space stabilization that cannot be explained by ankle angle proprioception, but must involve graviception, most likely by force cues. Our findings suggest that force cues contribute considerably to the redundancy and robustness of the human stance control system.
Mechanics of torque generation in the bacterial flagellar motor

PubMed Central

Mandadapu, Kranthi K.; Nirody, Jasmine A.; Berry, Richard M.; Oster, George

2015-01-01

The bacterial flagellar motor (BFM) is responsible for driving bacterial locomotion and chemotaxis, fundamental processes in pathogenesis and biofilm formation. In the BFM, torque is generated at the interface between transmembrane proteins (stators) and a rotor. It is well established that the passage of ions down a transmembrane gradient through the stator complex provides the energy for torque generation. However, the physics involved in this energy conversion remain poorly understood. Here we propose a mechanically specific model for torque generation in the BFM. In particular, we identify roles for two fundamental forces involved in torque generation: electrostatic and steric. We propose that electrostatic forces serve to position the stator, whereas steric forces comprise the actual “power stroke.” Specifically, we propose that ion-induced conformational changes about a proline “hinge” residue in a stator α-helix are directly responsible for generating the power stroke. Our model predictions fit well with recent experiments on a single-stator motor. The proposed model provides a mechanical explanation for several fundamental properties of the flagellar motor, including torque–speed and speed–ion motive force relationships, backstepping, variation in step sizes, and the effects of key mutations in the stator. PMID:26216959
Voluntary muscle activation and evoked volitional-wave responses as a function of torque.

PubMed

Hight, Robert E; Quarshie, Alwyn T; Black, Christopher D

2018-08-01

This study employed a unique stimulation paradigm which allowed for the simultaneous assessment of voluntary activation levels (VA) via twitch-interpolation, and the evoked V-wave responses of the plantar flexors during submaximal and maximal contractions. Test-retest reliability was also examined. Fourteen participants repeated a stimulation protocol over four visits to assess VA and evoked V-wave amplitude across torque levels ranging from 20% to 100% MVC. MVC torque and EMG amplitude were also measured. VA increased nonlinearly with torque production and plateaued by 80% MVC. V-wave amplitude increased linearly from 20% to 100% MVC. There were no differences in any dependent variable across visits (p > 0.05). VA demonstrated moderate to substantial reliability across all torque levels (ICC = 0.76-0.91) while V-wave amplitude exhibited fair to moderate reliability from 40% to 100% (ICC = 0.48-0.74). We were able to reliably collect VA and the V-wave simultaneously in the plantar flexors. Collection of VA and V-wave during the same contraction provides distinct information regarding the contribution of motor-unit recruitment and descending cortico-spinal drive/excitability to force production. Copyright © 2018 Elsevier Ltd. All rights reserved.
Magnetic anisotropy of nickel nanorods and the mechanical torque in an elastic environment

NASA Astrophysics Data System (ADS)

Schopphoven, C.; Tschöpe, A.

2018-03-01

Nickel nanorods with average length L=340~nm and diameter D=20~nm were prepared by the anodic aluminum oxide (AAO)-template method, processed to a colloidal dispersion and embedded in a gelatine hydrogel matrix at low volume fraction φ ≤slant 10-4 . The large aspect ratio of these single-domain particles gives rise to a high magnetic shape anisotropy in combination with a significant anisotropic optical polarizability. The magnetic anisotropy enables exertion of a torque on nanorods without contact by applying a homogeneous magnetic field. In response, the nanorods rotate by an angle which is determined by the balance between the magnetic torque and the mechanical counter torque, caused by the elastic deformation of the surrounding matrix. This rotation was experimentally detected using optical transmission of linearly polarized light. We used the combination of magnetization and torque-driven rotation measurements to evaluate an adapted Stoner-Wohlfarth model of the orientation- and field-dependent magnetic torque on Ni nanorods in an elastic environment as base for optimization of torque-driven magnetic actuators.

Genetic polymorphisms to predict gains in maximal O2 uptake and knee peak torque after a high intensity training program in humans.

PubMed

Yoo, Jinho; Kim, Bo-Hyung; Kim, Soo-Hwan; Kim, Yangseok; Yim, Sung-Vin

2016-05-01

The study aimed to identify single nucleotide polymorphisms (SNPs) that significantly influenced the level of improvement of two kinds of training responses, including maximal O2 uptake (V'O2max) and knee peak torque of healthy adults participating in the high intensity training (HIT) program. The study also aimed to use these SNPs to develop prediction models for individual training responses. 79 Healthy volunteers participated in the HIT program. A genome-wide association study, based on 2,391,739 SNPs, was performed to identify SNPs that were significantly associated with gains in V'O2max and knee peak torque, following 9 weeks of the HIT program. To predict two training responses, two independent SNPs sets were determined using linear regression and iterative binary logistic regression analysis. False discovery rate analysis and permutation tests were performed to avoid false-positive findings. To predict gains in V'O2max, 7 SNPs were identified. These SNPs accounted for 26.0 % of the variance in the increment of V'O2max, and discriminated the subjects into three subgroups, non-responders, medium responders, and high responders, with prediction accuracy of 86.1 %. For the knee peak torque, 6 SNPs were identified, and accounted for 27.5 % of the variance in the increment of knee peak torque. The prediction accuracy discriminating the subjects into the three subgroups was estimated as 77.2 %. Novel SNPs found in this study could explain, and predict inter-individual variability in gains of V'O2max, and knee peak torque. Furthermore, with these genetic markers, a methodology suggested in this study provides a sound approach for the personalized training program.
DOE Office of Scientific and Technical Information (OSTI.GOV)

Lin, Shi-Zeng

We derive the skyrmion dynamics in response to a weak external drive, taking all the magnon modes into account. A skyrmion has rotational symmetry, and the magnon modes can be characterized by an angular momentum. For a weak distortion of a skyrmion, only the magnon modes with an angular momentum | m | = 1 govern the dynamics of skyrmion topological center. We also determine that the skyrmion inertia comes by way of the magnon modes in the continuum spectrum. For a skyrmion driven by a magnetic field gradient or by a spin transfer torque generated by a current, themore » dynamical response is practically instantaneous. This justifies the rigid skyrmion approximation used in Thiele's collective coordinate approach. For a skyrmion driven by a spin Hall torque, the torque couples to the skyrmion motion through the magnons in the continuum and damping; therefore the skyrmion dynamics shows sizable inertia in this case. The trajectory of a skyrmion is an ellipse for an ac drive of spin Hall torque.« less
Load compensating reactions to perturbations at wrist joint in normal man

NASA Technical Reports Server (NTRS)

Jaeger, R. J.; Agarwell, G. C.; Gottlieb, G. L.

1981-01-01

The electromyographic responses to step torque loads were studied in flexors and extensors at the human wrist. Based on temporal bursting patterns and functional behavior, the response was divided into four temporal components. Two early components, the myotatic (30-60 ms) late myotatic (60-120 ms) appears to be reflex response. The third postmyotatic component (120-200 ms) appear to be a triggered reaction, preceeding the fourth, stabilizing component (200-400 ms). A comparison of response at the wrist with similar data at the ankle provides the basis for a generalized classification of the response in various muscles to torque step perturbations.
Emergence of Huge Negative Spin-Transfer Torque in Atomically Thin Co layers

NASA Astrophysics Data System (ADS)

Je, Soong-Geun; Yoo, Sang-Cheol; Kim, Joo-Sung; Park, Yong-Keun; Park, Min-Ho; Moon, Joon; Min, Byoung-Chul; Choe, Sug-Bong

2017-04-01

Current-induced domain wall motion has drawn great attention in recent decades as the key operational principle of emerging magnetic memory devices. As the major driving force of the motion, the spin-orbit torque on chiral domain walls has been proposed and is currently extensively studied. However, we demonstrate here that there exists another driving force, which is larger than the spin-orbit torque in atomically thin Co films. Moreover, the direction of the present force is found to be the opposite of the prediction of the standard spin-transfer torque, resulting in the domain wall motion along the current direction. The symmetry of the force and its peculiar dependence on the domain wall structure suggest that the present force is, most likely, attributed to considerable enhancement of a negative nonadiabatic spin-transfer torque in ultranarrow domain walls. Careful measurements of the giant magnetoresistance manifest a negative spin polarization in the atomically thin Co films which might be responsible for the negative spin-transfer torque.
Split torque transmission load sharing

NASA Technical Reports Server (NTRS)

Krantz, T. L.; Rashidi, M.; Kish, J. G.

1992-01-01

Split torque transmissions are attractive alternatives to conventional planetary designs for helicopter transmissions. The split torque designs can offer lighter weight and fewer parts but have not been used extensively for lack of experience, especially with obtaining proper load sharing. Two split torque designs that use different load sharing methods have been studied. Precise indexing and alignment of the geartrain to produce acceptable load sharing has been demonstrated. An elastomeric torque splitter that has large torsional compliance and damping produces even better load sharing while reducing dynamic transmission error and noise. However, the elastomeric torque splitter as now configured is not capable over the full range of operating conditions of a fielded system. A thrust balancing load sharing device was evaluated. Friction forces that oppose the motion of the balance mechanism are significant. A static analysis suggests increasing the helix angle of the input pinion of the thrust balancing design. Also, dynamic analysis of this design predicts good load sharing and significant torsional response to accumulative pitch errors of the gears.
EMG-Torque Dynamics Change With Contraction Bandwidth.

PubMed

Golkar, Mahsa A; Jalaleddini, Kian; Kearney, Robert E

2018-04-01

An accurate model for ElectroMyoGram (EMG)-torque dynamics has many uses. One of its applications which has gained high attention among researchers is its use, in estimating the muscle contraction level for the efficient control of prosthesis. In this paper, the dynamic relationship between the surface EMG and torque during isometric contractions at the human ankle was studied using system identification techniques. Subjects voluntarily modulated their ankle torque in dorsiflexion direction, by activating their tibialis anterior muscle, while tracking a pseudo-random binary sequence in a torque matching task. The effects of contraction bandwidth, described by torque spectrum, on EMG-torque dynamics were evaluated by varying the visual command switching time. Nonparametric impulse response functions (IRF) were estimated between the processed surface EMG and torque. It was demonstrated that: 1) at low contraction bandwidths, the identified IRFs had unphysiological anticipatory (i.e., non-causal) components, whose amplitude decreased as the contraction bandwidth increased. We hypothesized that this non-causal behavior arose, because the EMG input contained a component due to feedback from the output torque, i.e., it was recorded from within a closed-loop. Vision was not the feedback source since the non-causal behavior persisted when visual feedback was removed. Repeating the identification using a nonparametric closed-loop identification algorithm yielded causal IRFs at all bandwidths, supporting this hypothesis. 2) EMG-torque dynamics became faster and the bandwidth of system increased as contraction modulation rate increased. Thus, accurate prediction of torque from EMG signals must take into account the contraction bandwidth sensitivity of this system.
Sensorless Load Torque Estimation and Passivity Based Control of Buck Converter Fed DC Motor

PubMed Central

Kumar, S. Ganesh; Thilagar, S. Hosimin

2015-01-01

Passivity based control of DC motor in sensorless configuration is proposed in this paper. Exact tracking error dynamics passive output feedback control is used for stabilizing the speed of Buck converter fed DC motor under various load torques such as constant type, fan type, propeller type, and unknown load torques. Under load conditions, sensorless online algebraic approach is proposed, and it is compared with sensorless reduced order observer approach. The former produces better response in estimating the load torque. Sensitivity analysis is also performed to select the appropriate control variables. Simulation and experimental results fully confirm the superiority of the proposed approach suggested in this paper. PMID:25893208
Longitudinal-bending mode micromotor using multilayer piezoelectric actuator.

PubMed

Yao, K; Koc, B; Uchino, K

2001-07-01

Longitudinal-bending mode ultrasonic motors with a diameter of 3 mm were fabricated using stacked multilayer piezoelectric actuators, which were self-developed from hard lead zirconate titanate (PZT) ceramic. A bending vibration was converted from a longitudinal vibration with a longitudinal-bending coupler. The motors could be bidirectionally operated by changing driving frequency. Their starting and braking torque were analyzed based on the transient velocity response. With a load of moment of inertia 2.5 x 10(-7) kgm2, the motor showed a maximum starting torque of 127.5 microNm. The braking torque proved to be a constant independent on the motor's driving conditions and was roughly equivalent to the maximum starting torque achievable with our micromotors.
Advanced torque converters for robotics and space applications

NASA Technical Reports Server (NTRS)

1985-01-01

This report describes the results of the evaluation of a novel torque converter concept. Features of the concept include: (1) automatic and rapid adjustment of effective gear ratio in response to changes in external torque (2) maintenance of output torque at zero output velocity without loading the input power source and (3) isolation of input power source from load. Two working models of the concept were fabricated and tested, and a theoretical analysis was performed to determine the limits of performance. It was found that the devices are apparently suited to certain types of tool driver applications, such as screwdrivers, nut drivers and valve actuators. However, quantiative information was insufficient to draw final conclusion as to robotic applications.
High frequency vibration characteristics of electric wheel system under in-wheel motor torque ripple

NASA Astrophysics Data System (ADS)

Mao, Yu; Zuo, Shuguang; Wu, Xudong; Duan, Xianglei

2017-07-01

With the introduction of in-wheel motor, the electric wheel system encounters new vibration problems brought by motor torque ripple excitation. In order to analyze new vibration characteristics of electric wheel system, torque ripple of in-wheel motor based on motor module and vector control system is primarily analyzed, and frequency/order features of the torque ripple are discussed. Then quarter vehicle-electric wheel system (QV-EWS) dynamics model based on the rigid ring tire assumption is established and the main parameters of the model are identified according to tire free modal test. Modal characteristics of the model are further analyzed. The analysis indicates that torque excitation of in-wheel motor is prone to arouse horizontal vibration, in which in-phase rotational, anti-phase rotational and horizontal translational modes of electric wheel system mainly participate. Based on the model, vibration responses of the QV-EWS under torque ripple are simulated. The results show that unlike vertical low frequency (lower than 20 Hz) vibration excited by road roughness, broadband torque ripple will arouse horizontal high frequency (50-100 Hz) vibration of electric wheel system due to participation of the three aforementioned modes. To verify the theoretical analysis, the bench experiment of electric wheel system is conducted and vibration responses are acquired. The experiment demonstrates the high frequency vibration phenomenon of electric wheel system and the measured order features as well as main resonant frequencies agree with simulation results. Through theoretical modeling, analysis and experiments this paper reveals and explains the high frequency vibration characteristics of electric wheel system, providing references for the dynamic analysis, optimal design of QV-EWS.
Real-time estimation of FES-induced joint torque with evoked EMG : Application to spinal cord injured patients.

PubMed

Li, Zhan; Guiraud, David; Andreu, David; Benoussaad, Mourad; Fattal, Charles; Hayashibe, Mitsuhiro

2016-06-22

Functional electrical stimulation (FES) is a neuroprosthetic technique for restoring lost motor function of spinal cord injured (SCI) patients and motor-impaired subjects by delivering short electrical pulses to their paralyzed muscles or motor nerves. FES induces action potentials respectively on muscles or nerves so that muscle activity can be characterized by the synchronous recruitment of motor units with its compound electromyography (EMG) signal is called M-wave. The recorded evoked EMG (eEMG) can be employed to predict the resultant joint torque, and modeling of FES-induced joint torque based on eEMG is an essential step to provide necessary prediction of the expected muscle response before achieving accurate joint torque control by FES. Previous works on FES-induced torque tracking issues were mainly based on offline analysis. However, toward personalized clinical rehabilitation applications, real-time FES systems are essentially required considering the subject-specific muscle responses against electrical stimulation. This paper proposes a wireless portable stimulator used for estimating/predicting joint torque based on real time processing of eEMG. Kalman filter and recurrent neural network (RNN) are embedded into the real-time FES system for identification and estimation. Prediction results on 3 able-bodied subjects and 3 SCI patients demonstrate promising performances. As estimators, both Kalman filter and RNN approaches show clinically feasible results on estimation/prediction of joint torque with eEMG signals only, moreover RNN requires less computational requirement. The proposed real-time FES system establishes a platform for estimating and assessing the mechanical output, the electromyographic recordings and associated models. It will contribute to open a new modality for personalized portable neuroprosthetic control toward consolidated personal healthcare for motor-impaired patients.
Method and system for determining formation porosity

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

Pittman, R.W.; Hermes, C.E.

1977-12-27

The invention discloses a method and/or system for measuring formation porosity from drilling response. It involves measuring a number of drilling parameters and includes determination of tooth dullness as well as determining a reference torque empirically. One of the drilling parameters is the torque applied to the drill string.
Validation of the model for ELM suppression with 3D magnetic fields using low torque ITER baseline scenario discharges in DIII-D

DOE PAGES

Moyer, Richard A.; Paz-Soldan, Carlos; Nazikian, Raffi; ...

2017-09-18

Here, experiments have been executed in the DIII-D tokamak to extend suppression of Edge Localized Modes (ELMs) with Resonant Magnetic Perturbations (RMPs) to ITER-relevant levels of beam torque. The results support the hypothesis for RMP ELM suppression based on transition from an ideal screened response to a tearing response at a resonant surface that prevents expansion of the pedestal to an unstable width.
Semidiurnal thermal tides in asynchronously rotating hot Jupiters

NASA Astrophysics Data System (ADS)

Auclair-Desrotour, P.; Leconte, J.

2018-05-01

Context. Thermal tides can torque the atmosphere of hot Jupiters into asynchronous rotation, while these planets are usually assumed to be locked into spin-orbit synchronization with their host star. Aims: In this work, our goal is to characterize the tidal response of a rotating hot Jupiter to the tidal semidiurnal thermal forcing of its host star by identifying the structure of tidal waves responsible for variation of mass distribution, their dependence on the tidal frequency, and their ability to generate strong zonal flows. Methods: We develop an ab initio global modelling that generalizes the early approach of Arras & Socrates (2010, ApJ, 714, 1) to rotating and non-adiabatic planets. We analytically derive the torque exerted on the body and the associated timescales of evolution, as well as the equilibrium tidal response of the atmosphere in the zero-frequency limit. Finally, we numerically integrate the equations of thermal tides for three cases, including dissipation and rotation step by step. Results: The resonances associated with tidally generated gravito-inertial waves significantly amplify the resulting tidal torque in the range 1-30 days. This torque can globally drive the atmosphere into asynchronous rotation, as its sign depends on the tidal frequency. The resonant behaviour of the tidal response is enhanced by rotation, which couples the forcing to several Hough modes in the general case, while the radiative cooling tends to regularize it and diminish its amplitude.
Step-to-Step Ankle Inversion/Eversion Torque Modulation Can Reduce Effort Associated with Balance.

PubMed

Kim, Myunghee; Collins, Steven H

2017-01-01

Below-knee amputation is associated with higher energy expenditure during walking, partially due to difficulty maintaining balance. We previously found that once-per-step push-off work control can reduce balance-related effort, both in simulation and in experiments with human participants. Simulations also suggested that changing ankle inversion/eversion torque on each step, in response to changes in body state, could assist with balance. In this study, we investigated the effects of ankle inversion/eversion torque modulation on balance-related effort among amputees ( N = 5) using a multi-actuated ankle-foot prosthesis emulator. In stabilizing conditions, changes in ankle inversion/eversion torque were applied so as to counteract deviations in side-to-side center-of-mass acceleration at the moment of intact-limb toe off; higher acceleration toward the prosthetic limb resulted in a corrective ankle inversion torque during the ensuing stance phase. Destabilizing controllers had the opposite effect, and a zero gain controller made no changes to the nominal inversion/eversion torque. To separate the balance-related effects of step-to-step control from the potential effects of changes in average mechanics, average ankle inversion/eversion torque and prosthesis work were held constant across conditions. High-gain stabilizing control lowered metabolic cost by 13% compared to the zero gain controller ( p = 0.05). We then investigated individual responses to subject-specific stabilizing controllers following an enforced exploration period. Four of five participants experienced reduced metabolic rate compared to the zero gain controller (-15, -14, -11, -6, and +4%) an average reduction of 9% ( p = 0.05). Average prosthesis mechanics were unchanged across all conditions, suggesting that improvements in energy economy might have come from changes in step-to-step corrections related to balance. Step-to-step modulation of inversion/eversion torque could be used in new, active ankle-foot prostheses to reduce walking effort associated with maintaining balance.
Spin-torque diode frequency tuning via soft exchange pinning of both magnetic layers

NASA Astrophysics Data System (ADS)

Khudorozhkov, A. A.; Skirdkov, P. N.; Zvezdin, K. A.; Vetoshko, P. M.; Popkov, A. F.

2017-12-01

A spin-torque diode, which is a magnetic tunnel junction with magnetic layers softly pinned at some tilt to each other, is proposed. The resonance operating frequency of such a dual exchange-pinned spin-torque diode can be significantly higher (up to 9.5 GHz) than that of a traditional free layer spin-torque diode, and, at the same time, the sensitivity remains rather high. Using micromagnetic modeling we show that the maximum microwave sensitivity of the considered diode is reached at the bias current densities slightly below the self-sustained oscillations initiating. The dependence of the resonance frequency and the sensitivity on the angle between pinning exchange fields is presented. Thus, a way of designing spin-torque diode with a given resonance response frequency in the microwave region in the absence of an external magnetic field is proposed.
Leveraging Disturbance Observer Based Torque Control for Improved Impedance Rendering with Series Elastic Actuators

NASA Technical Reports Server (NTRS)

Mehling, Joshua S.; Holley, James; O'Malley, Marcia K.

2015-01-01

The fidelity with which series elastic actuators (SEAs) render desired impedances is important. Numerous approaches to SEA impedance control have been developed under the premise that high-precision actuator torque control is a prerequisite. Indeed, the design of an inner torque compensator has a significant impact on actuator impedance rendering. The disturbance observer (DOB) based torque control implemented in NASA's Valkyrie robot is considered here and a mathematical model of this torque control, cascaded with an outer impedance compensator, is constructed. While previous work has examined the impact a disturbance observer has on torque control performance, little has been done regarding DOBs and impedance rendering accuracy. Both simulation and a series of experiments are used to demonstrate the significant improvements possible in an SEA's ability to render desired dynamic behaviors when utilizing a DOB. Actuator transparency at low impedances is improved, closed loop hysteresis is reduced, and the actuator's dynamic response to both commands and interaction torques more faithfully matches that of the desired model. All of this is achieved by leveraging DOB based control rather than increasing compensator gains, thus making improved SEA impedance control easier to achieve in practice.
The Effects of Racket Inertia Tensor on Elbow Loadings and Racket Behavior for Central and Eccentric Impacts

PubMed Central

Nesbit, Steven M.; Elzinga, Michael; Herchenroder, Catherine; Serrano, Monika

2006-01-01

This paper discusses the inertia tensors of tennis rackets and their influence on the elbow swing torques in a forehand motion, the loadings transmitted to the elbow from central and eccentric impacts, and the racket acceleration responses from central and eccentric impacts. Inertia tensors of various rackets with similar mass and mass center location were determined by an inertia pendulum and were found to vary considerably in all three orthogonal directions. Tennis swing mechanics and impact analyses were performed using a computer model comprised of a full-body model of a human, a parametric model of the racket, and an impact function. The swing mechanics analysis of a forehand motion determined that inertia values had a moderate linear effect on the pronation-supination elbow torques required to twist the racket, and a minor effect on the flexion-extension and valgus-varus torques. The impact analysis found that mass center inertia values had a considerable effect on the transmitted torques for both longitudinal and latitudinal eccentric impacts and significantly affected all elbow torque components. Racket acceleration responses to central and eccentric impacts were measured experimentally and found to be notably sensitive to impact location and mass center inertia values. Key Points Tennis biomechanics. Racket inertia tensor. Impact analysis. Full-body computer model. PMID:24260004
Magnetized, mass-loaded, rotating accretion flows

NASA Astrophysics Data System (ADS)

Toniazzo, T.; Hartquist, T. W.; Durisen, R. H.

2001-03-01

We present a semi-analytical investigation of a simple one-dimensional, steady-state model for a mass-loaded, rotating, magnetized, hydrodynamical flow. Our approach is analogous to one used in early studies of magnetized winds. The model represents the infall towards a central point mass of the gas generated in a cluster of stars surrounding it, as is likely to occur in some active nuclei and starburst galaxies. We describe the properties of the different classes of infall solutions. We find that the flow becomes faster than the fast-mode speed, and hence decoupled from the centre, only for a limited range of parameter values, and when magnetic stresses are ineffective. Such flow is slowed as it approaches a centrifugal barrier, implying the existence of an accretion disc. When the flow does not become super-fast and the magnetic torque is insufficient, no steady solution extending inward to the centre exists. Finally, with a larger magnetic torque, solutions representing steady sub-Alfvénic flows are found, which can resemble spherical hydrodynamical infall. Such solutions, if applicable, would imply that rotation is not important and that any accretion disc formed would be of very limited size.
Comparison of different passive knee extension torque-angle assessments.

PubMed

Freitas, Sandro R; Vaz, João R; Bruno, Paula M; Valamatos, Maria J; Mil-Homens, Pedro

2013-11-01

Previous studies have used isokinetic dynamometry to assess joint torques and angles during passive extension of the knee, often without reporting upon methodological errors and reliability outcomes. In addition, the reliability of the techniques used to measure passive knee extension torque-angle and the extent to which reliability may be affected by the position of the subjects is also unclear. Therefore, we conducted an analysis of the intra- and inter-session reliability of two methods of assessing passive knee extension: (A) a 2D kinematic analysis coupled to a custom-made device that enabled the direct measurement of resistance to stretch and (B) an isokinetic dynamometer used in two testing positions (with the non-tested thigh either flexed at 45° or in the neutral position). The intra-class correlation coefficients (ICCs) of torque, the slope of the torque-angle curve, and the parameters of the mathematical model that were fit to the torque-angle data for the above conditions were measured in sixteen healthy male subjects (age: 21.4 ± 2.1 yr; BMI: 22.6 ± 3.3 kg m(-2); tibial length: 37.4 ± 3.4 cm). The results found were: (1) methods A and B led to distinctly different torque-angle responses; (2) passive torque-angle relationship and stretch tolerance were influenced by the position of the non-tested thigh; and (3) ICCs obtained for torque were higher than for the slope and for the mathematical parameters that were fit to the torque-angle curve. In conclusion, the measurement method that is used and the positioning of subjects can influence the passive knee extension torque-angle outcome.

Torque Control During Intrusion on Upper Central Incisor in Labial and Lingual bracket System - A 3D Finite Element Study.

PubMed

Pol, Tejas R; Vandekar, Meghna; Patil, Anuradha; Desai, Sanjana; Shetty, Vikram; Hazarika, Saptarshi

2018-01-01

The aim of present study was to investigate the difference of torque control during intrusive force on upper central incisors with normal, under and high torque in lingual and labial orthodontic systems through 3D finite element analysis. Six 3D models of an upper right central incisor with different torque were designed in Solid Works 2006. Software ANSYS Version 16.0 was used to evaluate intrusive force on upper central incisor model . An intrusive force of 0.15 N was applied to the bracket slot in different torque models and the displacements along a path of nodes in the upper central incisor was assessed. On application of Intrusive force on under torqued upper central incisor in Labial system produce labial crown movement but in Lingual system caused lingual movement in the apical and incisal parts. The same intrusive force in normal-torqued central incisor led to a palatal movement in apical and labial displacement of incisal edge in Lingual system and a palatal displacement in apical area and a labial movement in the incisal edge in Labial systemin. In overtorqued upper central incisor, the labial crown displacement in Labial system is more than Lingual system. In labial and lingual system on application of the same forces in upper central incisor with different inclinations showed different responses. The magnitudes of torque Loss during intrusive loads in incisors with normal, under and over-torque were higher in Labial system than Lingual orthodontic appliances. Key words: FEM, lingual orthodontics, intrusion, torque control, labial bracket systems.
Torque decrease during submaximal evoked contractions of the quadriceps muscle is linked not only to muscle fatigue.

PubMed

Matkowski, Boris; Lepers, Romuald; Martin, Alain

2015-05-01

The aim of this study was to analyze the neuromuscular mechanisms involved in the torque decrease induced by submaximal electromyostimulation (EMS) of the quadriceps muscle. It was hypothesized that torque decrease after EMS would reflect the fatigability of the activated motor units (MUs), but also a reduction in the number of MUs recruited as a result of changes in axonal excitability threshold. Two experiments were performed on 20 men to analyze 1) the supramaximal twitch superimposed and evoked at rest during EMS (Experiment 1, n = 9) and 2) the twitch response and torque-frequency relation of the MUs activated by EMS (Experiment 2, n = 11). Torque loss was assessed by 15 EMS-evoked contractions (50 Hz; 6 s on/6 s off), elicited at a constant intensity that evoked 20% of the maximal voluntary contraction (MVC) torque. The same stimulation intensity delivered over the muscles was used to induce the torque-frequency relation and the single electrical pulse evoked after each EMS contraction (Experiment 2). In Experiment 1, supramaximal twitch was induced by femoral nerve stimulation. Torque decreased by ~60% during EMS-evoked contractions and by only ~18% during MVCs. This was accompanied by a rightward shift of the torque-frequency relation of MUs activated and an increase of the ratio between the superimposed and posttetanic maximal twitch evoked during EMS contraction. These findings suggest that the torque decrease observed during submaximal EMS-evoked contractions involved muscular mechanisms but also a reduction in the number of MUs recruited due to changes in axonal excitability. Copyright © 2015 the American Physiological Society.
Increased sensory noise and not muscle weakness explains changes in non-stepping postural responses following stance perturbations in healthy elderly.

PubMed

Afschrift, Maarten; De Groote, Friedl; Verschueren, Sabine; Jonkers, Ilse

2018-01-01

The response to stance perturbations changes with age. The shift from an ankle to a hip strategy with increasing perturbation magnitude occurs at lower accelerations in older than in young adults. This strategy shift has been related to age-related changes in muscle and sensory function. However, the effect of isolated changes in muscle or sensory function on the responses following stance perturbations cannot be determined experimentally since changes in muscle and sensory function occur simultaneously. Therefore, we used predictive simulations to estimate the effect of isolated changes in (rates of change in) maximal joint torques, functional base of support, and sensory noise on the response to backward platform translations. To evaluate whether these modeled changes in muscle and sensory function could explain the observed changes in strategy; simulated postural responses with a torque-driven double inverted pendulum model controlled using optimal state feedback were compared to measured postural responses in ten healthy young and ten healthy older adults. The experimentally observed peak hip angle during the response was significantly larger (5°) and the functional base of support was smaller (0.04m) in the older than in the young adults but peak joint torques and rates of joint torque were similar during the recovery. The addition of noise to the sensed states in the predictive simulations could explain the observed increase in peak hip angle in the elderly, whereas changes in muscle function could not. Hence, our results suggest that strength training alone might be insufficient to improve postural control in elderly. Copyright © 2017 Elsevier B.V. All rights reserved.
Temperature dependence of spin-orbit torques in W/CoFeB bilayers

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

Skowroński, Witold, E-mail: skowron@agh.edu.pl; Cecot, Monika; Kanak, Jarosław

We report on the temperature variation of spin-orbit torques in perpendicularly magnetized W/CoFeB bilayers. Harmonic Hall voltage measurements in perpendicularly magnetized CoFeB reveal increased longitudinal and transverse effective magnetic field components at low temperatures. The damping-like spin-orbit torque reaches an efficiency of 0.55 at 19 K. Scanning transmission electron microscopy and X-ray reflectivity measurements indicate that considerable interface mixing between W and CoFeB may be responsible for strong spin-orbit interactions.
Statistical mechanics of ribbons under bending and twisting torques.

PubMed

Sinha, Supurna; Samuel, Joseph

2013-11-20

We present an analytical study of ribbons subjected to an external torque. We first describe the elastic response of a ribbon within a purely mechanical framework. We then study the role of thermal fluctuations in modifying its elastic response. We predict the moment-angle relation of bent and twisted ribbons. Such a study is expected to shed light on the role of twist in DNA looping and on bending elasticity of twisted graphene ribbons. Our quantitative predictions can be tested against future single molecule experiments.
Kinematically stable bipedal locomotion using ionic polymer-metal composite actuators

NASA Astrophysics Data System (ADS)

Hosseinipour, Milad; Elahinia, Mohammad

2013-08-01

Ionic conducting polymer-metal composites (abbreviated as IPMCs) are interesting actuators that can act as artificial muscles in robotic and microelectromechanical systems. Various black or gray box models have modeled the electrochemical-mechanical behavior of these materials. In this study, the governing partial differential equation of the behavior of IPMCs is solved using finite element methods to find the critical actuation parameters, such as strain distribution, maximum strain, and response time. One-dimensional results of the FEM solution are then extended to 2D to find the tip displacement of a flap actuator and experimentally verified. A model of a seven-degree-of-freedom biped robot, actuated by IPMC flaps, is then introduced. The possibility of fast and stable bipedal locomotion using IPMC artificial muscles is the main motivation of this study. Considering the actuator limits, joint path trajectories are generated to achieve a fast and smooth motion. The stability of the proposed gait is then evaluated using the ZMP criterion and motion simulation. The fabrication parameters of each actuator, such as length, platinum plating thickness and installation angle, are then determined using the generated trajectories. A discussion on future studies on force-torque generation of IPMCs for biped locomotion concludes this paper.
Characteristics and Preliminary Observations of the Influence of Electromyostimulation on the Size and Function of Human Skeletal Muscle During 30 Days of Simulated Microgravity

NASA Technical Reports Server (NTRS)

Duvoisin, Marc R.; Convertino, Victor A; Buchanan, Paul; Gollinick, Philip D.; Dudley, Gary A.

1989-01-01

During 30 days (d) of bedrest, the practicality of using Elec- troMyoStimulation (EMS) as a deterrent to atrophy and strength loss of lower limb musculature was examined. An EMS system was developed that provided variable but quantifiable levels of EMS, and measured torque. The dominant log of three male subjects was stimulated twice daily in a 3-d on/1-d off cycle during bedrest. The non-dominant leg of each subject acted as a control. A stimulator, using a 0.3 ms monophasic 60 Hz pulse waveform, activated muscle tissue for 4 s. The output waveform from the stimulator was sequenced to the Knee Extensors (KE), Knee Flex- ors (KF), Ankle Extensors (AE), and Ankle Flexors (AF), and caused three isometric contractions of each muscle group per minute. Subject tolerance determined EMS Intensity. Each muscle group received four 5-min bouts of EMS each session with a 10 -min rest between bouts. EMS and torque levels for each muscle action were recorded directly an a computer. Overall average EMS Intensity was 197, 197, 195, and 188 mA for the KE, KF, AF, and AE, respectively. Overall average torque development for these muscle groups was 70, 16, 12, and 27 Nm, respectively. EMS intensity doubled during the study, and average torque increased 2.5 times. Average maximum torque throughout a session reached 54% of maximal voluntary for the KE and 29% for the KF. Reductions in leg volume, muscle compartment size, cross-sectional area of slow and fast-twitch fibers, strength, and aerobic enzyme activities, and increased log compliance were attenuated in the legs which received EMS during bedrest. These results indicate that similar EMS levels induce different torques among different muscle groups and that repeated exposure to EMS increases tolerance and torque development. Longer orien- tation periods, therefore, may enhance its effectiveness. Our preliminary data suggest that the efficacy of EMS as an effective countermeasure for muscle atrophy and strength loss during long duration space travel warrants further investigation.
The Influence of Internal and External Torques on Titan's Length-of-day Variations

NASA Astrophysics Data System (ADS)

van Hoolst, T.; Karatekin, O.; Rambaux, N.

2008-12-01

Cassini radar observations show that Titan's spin is slightly faster than synchronous spin. Angular momentum exchange between Titan and its atmosphere is the most likely cause of the observed non-synchronous rotation. We study the effect of Saturn's gravitational torque and torques between Titan's internal layers on the length-of-day (LOD) variations driven by the atmosphere. Those torques depend on the equatorial flattening of Titan resulting from static tides raised by Saturn. We calculate Titan's flattening under the assumption of hydrostatic equilibrium and show that the gravitational forcing by Saturn, due to misalignment of the long axis of Titan with the line joining the mass centers of Titan and Saturn, reduces the LOD variations with respect to those for a spherical Titan by an order of magnitude. Internal gravitational and pressure coupling between the ice shell and the interior beneath a putative ocean tends to diminish any differential rotation between shell and interior and reduces further the LOD variations by a few times. For the current estimate of the atmospheric torque, we obtain LOD variations of a hydrostatic Titan that are more than 50 times smaller than the observations indicate when a subsurface ocean exists and more than 100 times smaller when Titan has no ocean. Moreover, Saturn's torque causes the rotation to be slower than synchronous in contrast to the Cassini observations. Those large differences with the observations suggest that non-hydrostatic effects in Titan are important. In particular, we show that the amplitude and phase of the calculated rotation variations would be similar to the observed values if non-hydrostatic effects strongly reduce the equatorial flattening of the ice shell above an internal ocean. Alternatively, the calculated LOD variations could be increased if the atmospheric torque is larger than predicted or if fast viscous relaxation of the ice shell could reduce the gravitational coupling, but it remains to be studied if a two order of magnitude increase is possible and if these effects can explain the phase difference of the predicted rotation variations.
Impact of ghosts on the viscoelastic response of gelatinized corn starch dispersions subjected to small strain deformations.

PubMed

Carrillo-Navas, H; Avila-de la Rosa, G; Gómez-Luría, D; Meraz, M; Alvarez-Ramirez, J; Vernon-Carter, E J

2014-09-22

Corn starch dispersions (5.0% w/w) were gelatinized by heating at 90°C for 20 min using gentle stirring. Under these conditions, ghosts, which are insoluble material with high amylopectin content, were detected by optical microscopy. Strain sweep tests showed that the gelatinized starch dispersions (GSD) exhibited a loss modulus (G″) overshoot at relatively low strains (∼1%). In order to achieve a greater understanding as to the mechanisms giving rise to this uncharacteristic nonlinear response at low strains, very small constant torques (from 0.05 to 0.5 μN m) were applied in the bulk of the GSD with a rotating biconical disc. This resulted in small deformations exhibiting torque-dependent inertio-elastic damped oscillations which were subjected to phenomenological modelling. Inertial effects played an important role in the starch mechanical response. The model parameters varied with the magnitude of constant small applied torque and could be related to microstructural changes of ghosts and to the viscoelastic response of GSD. Copyright © 2014 Elsevier Ltd. All rights reserved.
Analysis of a Precambrian Resonance-Stabilized Day Length

NASA Astrophysics Data System (ADS)

Bartlett, B. C.; Stevenson, D. J.

2014-12-01

Calculations indicate the average rate of decrease of Earth's angular momentum must have been less than its present value in the past; otherwise, the Earth should have a longer day length. Existing stromatolite data suggests the Earth's rotational frequency would have been near that of the atmospheric resonance frequency toward the end of the Precambrian era, approximately 600Ma. The semidiurnal atmospheric tidal torque would have reached a maximum near this day length of 21hr. At this point, the atmospheric torque would have been comparable in magnitude but opposite in direction to the lunar torque, creating a stabilizing effect which could preserve a constant day length while trapped in this resonant state, as suggested by Zahnle and Walker (1987). We examine the hypothesis that this resonant stability was encountered and sustained for a large amount of time during the Precambrian era and was broken by a large and relatively fast increase in global temperature, possibly in the deglaciation period following a snowball event. Computational simulations of this problem were performed, indicating that a persistent increase in temperature larger than around 10K over a period of time less than 107 years will break resonance (though these values vary with Q), but that the resonant stability is not easily broken by random high-amplitude high-frequency atmospheric temperature fluctuation or other forms of thermal noise. Further work also indicates it is possible to escape resonance simply by increasing the lunar tidal torque on the much longer timescale of plate tectonics, particularly for low atmospheric Q-factors, or that resonance could have never formed in the first place, had the lunar torque been very high or Q been very low when the Earth's rotational frequency was near the atmospheric resonance frequency. However, the need to explain the present day length given the current lunar torque favors the interpretation we offer, in which Earth's length of day was stabilized for hundreds of millions of years, escaping this stability in the aftermath of a sudden global temperature change.
The effect of gravitational and pressure torques on Titan's length-of-day variations

NASA Astrophysics Data System (ADS)

Van Hoolst, T.; Rambaux, N.; Karatekin, Ö.; Baland, R.-M.

2009-03-01

Cassini radar observations show that Titan's spin is slightly faster than synchronous spin. Angular momentum exchange between Titan's surface and the atmosphere over seasonal time scales corresponding to Saturn's orbital period of 29.5 year is the most likely cause of the observed non-synchronous rotation. We study the effect of Saturn's gravitational torque and torques between internal layers on the length-of-day (LOD) variations driven by the atmosphere. Because static tides deform Titan into an ellipsoid with the long axis approximately in the direction to Saturn, non-zero gravitational and pressure torques exist that can change the rotation rate of Titan. For the torque calculation, we estimate the flattening of Titan and its interior layers under the assumption of hydrostatic equilibrium. The gravitational forcing by Saturn, due to misalignment of the long axis of Titan with the line joining the mass centers of Titan and Saturn, reduces the LOD variations with respect to those for a spherical Titan by an order of magnitude. Internal gravitational and pressure coupling between the ice shell and the interior beneath a putative ocean tends to reduce any differential rotation between shell and interior and reduces further the LOD variations by a few times. For the current estimate of the atmospheric torque, we obtain LOD variations of a hydrostatic Titan that are more than 100 times smaller than the observations indicate when Titan has no ocean as well as when a subsurface ocean exists. Moreover, Saturn's torque causes the rotation to be slower than synchronous in contrast to the Cassini observations. The calculated LOD variations could be increased if the atmospheric torque is larger than predicted and or if fast viscous relaxation of the ice shell could reduce the gravitational coupling, but it remains to be studied if a two order of magnitude increase is possible and if these effects can explain the phase difference of the predicted rotation variations. Alternatively, the large differences with the observations may suggest that non-hydrostatic effects in Titan are important. In particular, we show that the amplitude and phase of the calculated rotation variations are similar to the observed values if non-hydrostatic effects could strongly reduce the equatorial flattening of the ice shell above an internal ocean.
Influence of second-order bracket-archwire misalignments on loads generated during third-order archwire rotation in orthodontic treatment.

PubMed

Romanyk, Dan L; George, Andrew; Li, Yin; Heo, Giseon; Carey, Jason P; Major, Paul W

2016-05-01

To investigate the influence of a rotational second-order bracket-archwire misalignment on the loads generated during third-order torque procedures. Specifically, torque in the second- and third-order directions was considered. An orthodontic torque simulator (OTS) was used to simulate the third-order torque between Damon Q brackets and 0.019 × 0.025-inch stainless steel archwires. Second-order misalignments were introduced in 0.5° increments from a neutral position, 0.0°, up to 3.0° of misalignment. A sample size of 30 brackets was used for each misalignment. The archwire was then rotated in the OTS from its neutral position up to 30° in 3° increments and then unloaded in the same increments. At each position, all forces and torques were recorded. Repeated-measures analysis of variance was used to determine if the second-order misalignments significantly affected torque values in the second- and third-order directions. From statistical analysis of the experimental data, it was found that the only statistically significant differences in third-order torque between a misaligned state and the neutral position occurred for 2.5° and 3.0° of misalignment, with mean differences of 2.54 Nmm and 2.33 Nmm, respectively. In addition, in pairwise comparisons of second-order torque for each misalignment increment, statistical differences were observed in all comparisons except for 0.0° vs 0.5° and 1.5° vs 2.0°. The introduction of a second-order misalignment during third-order torque simulation resulted in statistically significant differences in both second- and third-order torque response; however, the former is arguably clinically insignificant.
The increase in the starting torque of PMSM motor by applying of FOC method

NASA Astrophysics Data System (ADS)

Plachta, Kamil

2017-05-01

The article presents field oriented control method of synchronous permanent magnet motor equipped in optical sensors. This method allows for a wide range regulation of torque and rotational speed of the electric motor. The paper presents mathematical model of electric motor and vector control method. Optical sensors have shorter time response as compared to the inductive sensors, which allow for faster response of the electronic control system to changes of motor loads. The motor driver is based on the digital signal processor which performs advanced mathematical operations in real time. The appliance of Clark and Park transformation in the software defines the angle of rotor position. The presented solution provides smooth adjustment of the rotational speed in the first operating zone and reduces the dead zone of the torque in the second and third operating zones.
Experiment K-7-33: Functional Neuromuscular Adaptation to Spaceflight

NASA Technical Reports Server (NTRS)

Edgerton, V. R.; Bodine-Fowler, S.; Hodgson, J. A.; Roy, R. R.; Kozlovskaya, I. B.

1994-01-01

The following data were collected from two Rhesus monkeys (782 and 2483) that were flown aboard a 14-day biosatellite mission (COSMOS 2044). The proposed study was designed to determine the effects of the absence of weight support on flexor and extensor muscles of the hindlimb. These effects were assessed morphologically and biochemically from muscle biopsies taken from a slow extensor, the soleus; a fast extensor, the medial gastrocnemius; and a fast flexor, the tibialis anterior. A second objective of this study was to determine the relative importance of activity (as determined by intramuscular electromyography, and force (as determined by joint torque) on the adaptation of muscle.
Power tong torque control

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

Buck, D.A.; James, R.N.

1987-10-20

Torque controlled powered pipe tongs, are described the apparatus comprises: (a) a power tong powered by a fluid motor; (b) a fluid power source connected to the motor; (c) a force conducting element attached to the power tong, situated to oppose reaction torque from the tongs when torque is applied to pipe; (d) force sensing means operatively associated with the force conducting element situated to sense at least part of the force experienced by the force conducting element, arranged to produce a pressure signal proportional to force sensed; and (e) a fluid by-pass valve, adjustably biased toward a closed position,more » responsive to the signal to tend to move toward an open position, the by-pass valve connected between the fluid power source and the motor.« less
VHDL-AMS modelling and simulation of a planar electrostatic micromotor

NASA Astrophysics Data System (ADS)

Endemaño, A.; Fourniols, J. Y.; Camon, H.; Marchese, A.; Muratet, S.; Bony, F.; Dunnigan, M.; Desmulliez, M. P. Y.; Overton, G.

2003-09-01

System level simulation results of a planar electrostatic micromotor, based on analytical models of the static and dynamic torque behaviours, are presented. A planar variable capacitance (VC) electrostatic micromotor designed, fabricated and tested at LAAS (Toulouse) in 1995 is simulated using the high level language VHDL-AMS (VHSIC (very high speed integrated circuits) hardware description language-analog mixed signal). The analytical torque model is obtained by first calculating the overlaps and capacitances between different electrodes based on a conformal mapping transformation. Capacitance values in the order of 10-16 F and torque values in the order of 10-11 N m have been calculated in agreement with previous measurements and simulations from this type of motor. A dynamic model has been developed for the motor by calculating the inertia coefficient and estimating the friction-coefficient-based values calculated previously for other similar devices. Starting voltage results obtained from experimental measurement are in good agreement with our proposed simulation model. Simulation results of starting voltage values, step response, switching response and continuous operation of the micromotor, based on the dynamic model of the torque, are also presented. Four VHDL-AMS blocks were created, validated and simulated for power supply, excitation control, micromotor torque creation and micromotor dynamics. These blocks can be considered as the initial phase towards the creation of intellectual property (IP) blocks for microsystems in general and electrostatic micromotors in particular.
Sex Comparisons for Relative Peak Torque and Electromyographic Mean Frequency during Fatigue

ERIC Educational Resources Information Center

Stock, Matt S.; Beck, Travis W.; DeFreitas, Jason M.; Ye, Xin

2013-01-01

Purpose: This study compared the relative peak torque and normalized electromyographic (EMG) mean frequency (MNF) responses during fatiguing isokinetic muscle actions for men versus women. Method: Twenty men M[subscript age] ± SD = 22 ± 2 years) and 20 women M[subscript age] ± SD = 22 ± 1 years) performed 50 maximal concentric isokinetic muscle…
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.
Variable loading roller

DOEpatents

Williams, Daniel M.

1989-01-01

An automatic loading roller for transmitting torque in traction drive devices in manipulator arm joints includes a two-part camming device having a first cam portion rotatable in place on a shaft by an input torque and a second cam portion coaxially rotatable and translatable having a rotating drive surface thereon for engaging the driven surface of an output roller with a resultant force proportional to the torque transmitted. Complementary helical grooves on the respective cam portions interconnected through ball bearings interacting with those grooves effect the rotation and translation of the second cam portion in response to rotation of the first.
Variable loading roller

DOEpatents

Williams, D.M.

1988-01-21

An automatic loading roller for transmitting torque in traction drive devices in manipulator arm joints includes a two-part camming device having a first cam portion rotatable in place on a shaft by an input torque and a second cam portion coaxially rotatable and translatable having a rotating drive surface thereon for engaging the driven surface of an output roller with a resultant force proportional to the torque transmitted. Complementary helical grooves in the respective cam portions interconnected through ball bearings interacting with those grooves effect the rotation and translation of the second cam portion in response to rotation of the first. 14 figs.

Dynamically variable negative stiffness structures.

PubMed

Churchill, Christopher B; Shahan, David W; Smith, Sloan P; Keefe, Andrew C; McKnight, Geoffrey P

2016-02-01

Variable stiffness structures that enable a wide range of efficient load-bearing and dexterous activity are ubiquitous in mammalian musculoskeletal systems but are rare in engineered systems because of their complexity, power, and cost. We present a new negative stiffness-based load-bearing structure with dynamically tunable stiffness. Negative stiffness, traditionally used to achieve novel response from passive structures, is a powerful tool to achieve dynamic stiffness changes when configured with an active component. Using relatively simple hardware and low-power, low-frequency actuation, we show an assembly capable of fast (<10 ms) and useful (>100×) dynamic stiffness control. This approach mitigates limitations of conventional tunable stiffness structures that exhibit either small (<30%) stiffness change, high friction, poor load/torque transmission at low stiffness, or high power active control at the frequencies of interest. We experimentally demonstrate actively tunable vibration isolation and stiffness tuning independent of supported loads, enhancing applications such as humanoid robotic limbs and lightweight adaptive vibration isolators.
Electromagnetic Forces on a Relativistic Spacecraft in the Interstellar Medium

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

Hoang, Thiem; Loeb, Abraham, E-mail: thiemhoang@kasi.re.kr, E-mail: aloeb@cfa.harvard.edu

2017-10-10

A relativistic spacecraft of the type envisioned by the Breakthrough Starshot initiative will inevitably become charged through collisions with interstellar particles and UV photons. Interstellar magnetic fields would therefore deflect the trajectory of the spacecraft. We calculate the expected deflection for typical interstellar conditions. We also find that the charge distribution of the spacecraft is asymmetric, producing an electric dipole moment. The interaction between the moving electric dipole and the interstellar magnetic field is found to produce a large torque, which can result in fast oscillation of the spacecraft around the axis perpendicular to the direction of motion, with amore » period of ∼0.5 hr. We then study the spacecraft rotation arising from impulsive torques by dust bombardment. Finally, we discuss the effect of the spacecraft rotation and suggest several methods to mitigate it.« less
Electromagnetic Forces on a Relativistic Spacecraft in the Interstellar Medium

NASA Astrophysics Data System (ADS)

Hoang, Thiem; Loeb, Abraham

2017-10-01

A relativistic spacecraft of the type envisioned by the Breakthrough Starshot initiative will inevitably become charged through collisions with interstellar particles and UV photons. Interstellar magnetic fields would therefore deflect the trajectory of the spacecraft. We calculate the expected deflection for typical interstellar conditions. We also find that the charge distribution of the spacecraft is asymmetric, producing an electric dipole moment. The interaction between the moving electric dipole and the interstellar magnetic field is found to produce a large torque, which can result in fast oscillation of the spacecraft around the axis perpendicular to the direction of motion, with a period of ˜0.5 hr. We then study the spacecraft rotation arising from impulsive torques by dust bombardment. Finally, we discuss the effect of the spacecraft rotation and suggest several methods to mitigate it.
Soft magnetic tweezers: a proof of principle.

PubMed

Mosconi, Francesco; Allemand, Jean François; Croquette, Vincent

2011-03-01

We present here the principle of soft magnetic tweezers which improve the traditional magnetic tweezers allowing the simultaneous application and measurement of an arbitrary torque to a deoxyribonucleic acid (DNA) molecule. They take advantage of a nonlinear coupling regime that appears when a fast rotating magnetic field is applied to a superparamagnetic bead immersed in a viscous fluid. In this work, we present the development of the technique and we compare it with other techniques capable of measuring the torque applied to the DNA molecule. In this proof of principle, we use standard electromagnets to achieve our experiments. Despite technical difficulties related to the present implementation of these electromagnets, the agreement of measurements with previous experiments is remarkable. Finally, we propose a simple way to modify the experimental design of electromagnets that should bring the performances of the device to a competitive level.
Spin-orbit torque induced magnetic vortex polarity reversal utilizing spin-Hall effect

NASA Astrophysics Data System (ADS)

Li, Cheng; Cai, Li; Liu, Baojun; Yang, Xiaokuo; Cui, Huanqing; Wang, Sen; Wei, Bo

2018-05-01

We propose an effective magnetic vortex polarity reversal scheme that makes use of spin-orbit torque introduced by spin-Hall effect in heavy-metal/ferromagnet multilayers structure, which can result in subnanosecond polarity reversal without endangering the structural stability. Micromagnetic simulations are performed to investigate the spin-Hall effect driven dynamics evolution of magnetic vortex. The mechanism of magnetic vortex polarity reversal is uncovered by a quantitative analysis of exchange energy density, magnetostatic energy density, and their total energy density. The simulation results indicate that the magnetic vortex polarity is reversed through the nucleation-annihilation process of topological vortex-antivortex pair. This scheme is an attractive option for ultra-fast magnetic vortex polarity reversal, which can be used as the guidelines for the choice of polarity reversal scheme in vortex-based random access memory.
A frequency and pulse-width co-modulation strategy for transcutaneous neuromuscular electrical stimulation based on sEMG time-domain features

NASA Astrophysics Data System (ADS)

Zhou, Yu-Xuan; Wang, Hai-Peng; Bao, Xue-Liang; Lü, Xiao-Ying; Wang, Zhi-Gong

2016-02-01

Objective. Surface electromyography (sEMG) is often used as a control signal in neuromuscular electrical stimulation (NMES) systems to enhance the voluntary control and proprioceptive sensory feedback of paralyzed patients. Most sEMG-controlled NMES systems use the envelope of the sEMG signal to modulate the stimulation intensity (current amplitude or pulse width) with a constant frequency. The aims of this study were to develop a strategy that co-modulates frequency and pulse width based on features of the sEMG signal and to investigate the torque-reproduction performance and the level of fatigue resistance achieved with our strategy. Approach. We examined the relationships between wrist torque and two stimulation parameters (frequency and pulse width) and between wrist torque and two sEMG time-domain features (mean absolute value (MAV) and number of slope sign changes (NSS)) in eight healthy volunteers. By using wrist torque as an intermediate variable, customized and generalized transfer functions were constructed to convert the two features of the sEMG signal into the two stimulation parameters, thereby establishing a MAV/NSS dual-coding (MNDC) algorithm. Wrist torque reproduction performance was assessed by comparing the torque generated by the algorithms with that originally recorded during voluntary contractions. Muscle fatigue was assessed by measuring the decline percentage of the peak torque and by comparing the torque time integral of the response to test stimulation trains before and after fatigue sessions. Main Results. The MNDC approach could produce a wrist torque that closely matched the voluntary wrist torque. In addition, a smaller decay in the wrist torque was observed after the MNDC-coded fatigue stimulation was applied than after stimulation using pulse-width modulation alone. Significance. Compared with pulse-width modulation stimulation strategies that are based on sEMG detection, the MNDC strategy is more effective for both voluntary muscle force reproduction and muscle fatigue reduction.
Muscle-Tendon Unit Properties during Eccentric Exercise Correlate with the Creatine Kinase Response

PubMed Central

Hicks, Kirsty M.; Onambele-Pearson, Gladys L.; Winwood, Keith; Morse, Christopher I.

2017-01-01

Aim: The aim of this paper was to determine whether; (1) patella tendon stiffness, (2) the magnitude of vastus lateralis fascicle lengthening, and (3) eccentric torque correlate with markers of exercise induced muscle damage. Method: Combining dynamometry and ultrasonography, patella tendon properties and vastus lateralis architectural properties were measured pre and during the first of six sets of 12 maximal voluntary eccentric knee extensions. Maximal isometric torque loss and creatine kinase activity were measured pre-damage (−48 h), 48, 96, and 168 h post-damage as markers of exercise-induced muscle damage. Results: A significant increase in creatine kinase (883 ± 667 UL) and a significant reduction in maximal isometric torque loss (21%) was reported post-eccentric contractions. Change in creatine kinase from pre to peak significantly correlated with the relative change in vastus lateralis fascicle length during eccentric contractions (r = 0.53, p = 0.02) and with eccentric torque (r = 0.50, p = 0.02). Additionally, creatine kinase tended to correlate with estimated patella tendon lengthening during eccentric contractions (p < 0.10). However, creatine kinase did not correlate with resting measures of patella tendon properties or vastus lateralis properties. Similarly, torque loss did not correlate with any patella tendon or vastus lateralis properties at rest or during eccentric contractions. Conclusion: The current study demonstrates that the extent of fascicle strain during eccentric contractions correlates with the magnitude of the creatine kinase response. Although at rest, there is no relationship between patella tendon properties and markers of muscle damage; during eccentric contractions however, the patella tendon may play a role in the creatine kinase response following EIMD. PMID:28974931
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.
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.
Advances towards high performance low-torque qmin > 2 operations with large-radius ITB on DIII-D

NASA Astrophysics Data System (ADS)

Xu, G. S.; Solomon, W. M.; Garofalo, A. M.; Ferron, J. R.; Hyatt, A. W.; Wang, Q.; Yan, Z.; McKee, G. R.; Holcomb, C. T.; EAST Team

2015-11-01

A joint DIII-D/EAST experiment was performed aimed at extending a fully noninductive scenario with high βP and qmin > 2 to inductive operation at lower torque and higher Ip (0.6 --> 0.8 MA) for better performance. Extremely high confinement was obtained, i.e., H98y2 ~ 2.1 at βN ~ 3, which was associated with a strong ITB at large minor radius (ρ ~ 0.7). Alfvén Eigenmodes and broadband turbulence were significantly suppressed in the core, and fast-ion confinement was improved. ITB collapses at 0.8 MA were induced by ELM-triggered n = 1 MHD modes at the ITB location, which is different from the ``relaxation oscillations'' associated with the steady-state plasmas at lower current (0.6 MA). This successful joint experiment may open up a new avenue towards high performance low-torque qmin > 2 plasmas with large-radius ITBs, which will be demonstrated on EAST in the near future. Work supported by NMCFSP 2015GB102000, 2015GB110001 and the US DOE under DE-AC02-09CH11466, DE-FC02-04ER54698, DE-FG02-89ER53296 and DE-AC52-07NA27344.
Hydrodynamic Torques and Rotations of Superparamagnetic Bead Dimers

NASA Astrophysics Data System (ADS)

Pease, Christopher; Etheridge, J.; Wijesinghe, H. S.; Pierce, C. J.; Prikockis, M. V.; Sooryakumar, R.

Chains of micro-magnetic particles are often rotated with external magnetic fields for many lab-on-a-chip technologies such as transporting beads or mixing fluids. These applications benefit from faster responses of the actuated particles. In a rotating magnetic field, the magnetization of superparamagnetic beads, created from embedded magnetic nano-particles within a polymer matrix, is largely characterized by induced dipoles mip along the direction of the field. In addition there is often a weak dipole mop that orients out-of-phase with the external rotating field. On a two-bead dimer, the simplest chain of beads, mop contributes a torque Γm in addition to the torque from mip. For dimers with beads unbound to each other, mop rotates individual beads which generate an additional hydrodynamic torque on the dimer. Whereas, mop directly torques bound dimers. Our results show that Γm significantly alters the average frequency-dependent dimer rotation rate for both bound and unbound monomers and, when mop exceeds a critical value, increases the maximum dimer rotation frequency. Models that include magnetic and hydrodynamics torques provide good agreement with the experimental findings over a range of field frequencies.
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.
Electromyographic analysis of exercise resulting in symptoms of muscle damage.

PubMed

McHugh, M P; Connolly, D A; Eston, R G; Gleim, G W

2000-03-01

Surface electromyographic (EMG) signals were recorded from the hamstring muscles during six sets of submaximal isokinetic (2.6 rad x s(-1)) eccentric (11 men, 9 women) or concentric (6 men, 4 women) contractions. The EMG per unit torque increased during eccentric (P < 0.01) but not during concentric exercise. Similarly, the median frequency increased during eccentric (P < 0.01) but not during concentric exercise. The EMG per unit torque was lower for submaximal eccentric than maximum isometric contractions (P < 0.001), and lower for submaximal concentric than maximum isometric contractions (P < 0.01). The EMG per unit torque was lower for eccentric than concentric contractions (P < 0.05). The median frequency was higher for submaximal eccentric than maximum isometric contractions (P < 0.001); it was similar, however, between submaximal concentric and maximum isometric contractions (P = 0.07). Eccentric exercise resulted in significant isometric strength loss (P < 0.01), pain (P < 0.01) and muscle tenderness (P < 0.05). The greatest strength loss was seen 1 day after eccentric exercise, while the most severe pain and muscle tenderness occurred 2 days after eccentric exercise. A lower EMG per unit torque is consistent with the selective recruitment of a small number of motor units during eccentric exercise. A higher median frequency during eccentric contractions may be explained by selective recruitment of fast-twitch motor units. The present results are consistent with the theory that muscle damage results from excessive stress on a small number of active fibres during eccentric contractions.
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.
Error field detection in DIII-D by magnetic steering of locked modes

DOE PAGES

Shiraki, Daisuke; La Haye, Robert J.; Logan, Nikolas C.; ...

2014-02-20

Optimal correction coil currents for the n = 1 intrinsic error field of the DIII-D tokamak are inferred by applying a rotating external magnetic perturbation to steer the phase of a saturated locked mode with poloidal/toroidal mode number m/n = 2/1. The error field is detected non-disruptively in a single discharge, based on the toroidal torque balance of the resonant surface, which is assumed to be dominated by the balance of resonant electromagnetic torques. This is equivalent to the island being locked at all times to the resonant 2/1 component of the total of the applied and intrinsic error fields,more » such that the deviation of the locked mode phase from the applied field phase depends on the existing error field. The optimal set of correction coil currents is determined to be those currents which best cancels the torque from the error field, based on fitting of the torque balance model. The toroidal electromagnetic torques are calculated from experimental data using a simplified approach incorporating realistic DIII-D geometry, and including the effect of the plasma response on island torque balance based on the ideal plasma response to external fields. This method of error field detection is demonstrated in DIII-D discharges, and the results are compared with those based on the onset of low-density locked modes in ohmic plasmas. Furthermore, this magnetic steering technique presents an efficient approach to error field detection and is a promising method for ITER, particularly during initial operation when the lack of auxiliary heating systems makes established techniques based on rotation or plasma amplification unsuitable.« less
Local mechanical response of cells to the controlled rotation of magnetic nanorods.

PubMed

Castillo, Matias; Ebensperger, Roberto; Wirtz, Denis; Walczak, Magdalena; Hurtado, Daniel E; Celedon, Alfredo

2014-11-01

The mechanical response of the cytoplasm was investigated by the intracellular implantation of magnetic nanorods and exposure to low-frequency rotatory magnetic fields. Nanorods (Pt-Ni, ∼200 nm diameter) fabricated by electrodeposition in templates of porous alumina with lengths of approximately 2 and 5 µm were inserted into NIH/3T3 fibroblasts and manipulated with a rotational magnetic field. Nanorod rotation was observed only for torques greater than 3.0 × 10(-16) Nm, suggesting a Bingham-type behavior of the cytoplasm. Higher torques produced considerable deformation of the intracellular material. The cell nucleus and cell membrane were significantly deformed by nanorods actuated by 4.5 × 10(-15) Nm torques. Our results demonstrate that nanorods under magnetic fields are an effective tool to mechanically probe the intracellular environment. We envision that our findings may contribute to the noninvasive and direct mechanical characterization of the cytoplasm. © 2014 Wiley Periodicals, Inc.
Local mechanical response of cells to the controlled rotation of magnetic nanorods

PubMed Central

Castillo, Matias; Ebensperger, Roberto; Wirtz, Denis; Walczak, Magdalena; Hurtado, Daniel E.; Celedon, Alfredo

2015-01-01

The mechanical response of the cytoplasm was investigated by the intracellular implantation of magnetic nanorods and exposure to low-frequency rotatory magnetic fields. Nanorods (Pt-Ni, ~200 nm diameter) fabricated by electrodeposition in templates of porous alumina with lengths of approximately 2 and 5 μm were inserted into NIH/ 3T3 fibroblasts and manipulated with a rotational magnetic field. Nanorod rotation was observed only for torques greater than 3.0 × 10−16 Nm, suggesting a Bingham-type behavior of the cytoplasm. Higher torques produced considerable deformation of the intracellular material. The cell nucleus and cell membrane were significantly deformed by nanorods actuated by 4.5 × 10−15 Nm torques. Our results demonstrate that nanorods under magnetic fields are an effective tool to mechanically probe the intracellular environment. We envision that our findings may contribute to the noninvasive and direct mechanical characterization of the cytoplasm. PMID:24700696
Development and performance characterization of an electric ground vehicle with independently actuated in-wheel motors

NASA Astrophysics Data System (ADS)

Wang, Rongrong; Chen, Yan; Feng, Daiwei; Huang, Xiaoyu; Wang, Junmin

This paper presents the development and experimental characterizations of a prototyping pure electric ground vehicle, which is equipped with four independently actuated in-wheel motors (FIAIWM) and is powered by a 72 V 200 Ah LiFeYPO 4 battery pack. Such an electric ground vehicle (EGV) employs four in-wheel (or hub) motors to independently drive/brake the four wheels and is one of the promising vehicle architectures primarily due to its actuation flexibility, energy efficiency, and performance potentials. Experimental data obtained from the EGV chassis dynamometer tests were employed to generate the in-wheel motor torque response and power efficiency maps in both driving and regenerative braking modes. A torque distribution method is proposed to show the potentials of optimizing the FIAIWM EGV operational energy efficiency by utilizing the actuation flexibility and the characterized in-wheel motor efficiency and torque response.
The relationship between control, kinematic and electromyographic variables in fast single-joint movements in humans.

PubMed

Feldman, A G; Adamovich, S V; Levin, M F

1995-01-01

Two versions of the hypothesis that discrete movements are produced by shifts in the system's equilibrium point are considered. The first suggests that shifts are monotonic and end near the peak velocity of movement, and the second presumes that they are nonmonotonic ("N-shaped") and proceed until the end of movement. The first version, in contrast to the second, predicts that movement time may be significantly reduced by opposing loads without changes in the control pattern. The purpose of the present study was to test the two hypotheses about the duration and shape of the shift in the equilibrium point based on their respective predictions concerning the effects of perturbations on kinematic and EMG patterns in fast elbow flexor movements. Subjects performed unopposed flexions of about 55-70 degrees (control trials) and, in random test trials, movements were opposed by spring-like loads generated by a torque motor. Subjects had no visual feedback and were instructed not to correct arm deflections in case of perturbations. After the end of the movement, the load was removed leading to a secondary movement to the same final position as that in control trials (equifinality). When the load was varied, the static arm positions before unloading and associated joint torques (ranging from 0 to 80-90% of maximum voluntary contraction) had a monotonic relationship. Test movements opposed by a high load (80-90% of maximal voluntary contraction) ended near the peak velocity of control movements. Phasic and tonic electromyographic patterns were load-dependent. In movements opposed by high loads, the first agonist burst was significantly prolonged and displayed a high level of tonic activity for as long as the load was maintained. In the same load conditions, the antagonist burst was suppressed during the dynamic and static phases of movement. The findings of suppression of the antagonist burst does not support the hypothesis of an N-shaped control signal. Equally, the substantial reduction in movement time by the introduction of an opposing load cannot be reconciled in this model. Instead, our data indicate that the shifts in the equilibrium point underlying fast flexor movements are of short duration, ending near the peak velocity of unopposed movement. This suggests that kinematic and electromyographic patterns represent a long-lasting oscillatory response of the system to the short-duration monotonic control pattern, external forces and proprioceptive feedback.
Variable-frequency inverter controls torque, speed, and braking in ac induction motors

NASA Technical Reports Server (NTRS)

Nola, F. J.

1974-01-01

Dc to ac inverter provides optimum frequency and voltage to ac induction motor, in response to different motor-load and speed requirements. Inverter varies slip frequency of motor in proportion to required torque. Inverter protects motor from high current surges, controls negative slip to apply braking, and returns energy stored in momentum of load to dc power source.

Detection of inter-turn short-circuit at start-up of induction machine based on torque analysis

NASA Astrophysics Data System (ADS)

Pietrowski, Wojciech; Górny, Konrad

2017-12-01

Recently, interest in new diagnostics methods in a field of induction machines was observed. Research presented in the paper shows the diagnostics of induction machine based on torque pulsation, under inter-turn short-circuit, during start-up of a machine. In the paper three numerical techniques were used: finite element analysis, signal analysis and artificial neural networks (ANN). The elaborated numerical model of faulty machine consists of field, circuit and motion equations. Voltage excited supply allowed to determine the torque waveform during start-up. The inter-turn short-circuit was treated as a galvanic connection between two points of the stator winding. The waveforms were calculated for different amounts of shorted-turns from 0 to 55. Due to the non-stationary waveforms a wavelet packet decomposition was used to perform an analysis of the torque. The obtained results of analysis were used as input vector for ANN. The response of the neural network was the number of shorted-turns in the stator winding. Special attention was paid to compare response of general regression neural network (GRNN) and multi-layer perceptron neural network (MLP). Based on the results of the research, the efficiency of the developed algorithm can be inferred.
Short Pulse Switches for Airborne High Power Supplies

DTIC Science & Technology

1973-10-01

IB 8. Rotary Mechanical Switch 20 9. Mechanical Switch, Essential Elements 24 10. Motor , Torsion Bar Electrodynamic Drive 28 11. Fast Acting...Gas Valve 31 12. Motor Test, Conductance, and Torque 33 13. Measured Motor Characteristics 34 14. Motor Structural Test Sample 36 15. Motor ...Fig. 42. Fig. 43. Fig. 44. Fig. 45. Fig. 46. Fig. 47. Fig. 48. Mechanical Switch 49 Arcing Contacts 51 Nonarcing Contacts 53 Motor
Neck Injury in Advanced Military Aircraft Environments

DTIC Science & Technology

1990-02-01

injury alibhis the Fast 2 nortbs In atstlitied by type of oihcrafr. This table demonstrates a statistirally significant trend in frequency (P- S5 aud...it appears that ransitional vertebrae aic relatively coarnon and equally distributed bhtweon the thoracico-lumbal (9.0%) and the lumbo- sacral area...unilateral contact of asymmetrical lumbar sacralization which increases torque forces with consequent strain on the spine and risk of disc herniation above
Role of spin-transfer torques on synchronization and resonance phenomena in stochastic magnetic oscillators

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

Accioly, Artur; Centre de Nanosciences et de Nanotechnologies, CNRS, Univ. Paris-Sud, Université Paris-Saclay, 91405 Orsay; Locatelli, Nicolas

2016-09-07

A theoretical study on how synchronization and resonance-like phenomena in superparamagnetic tunnel junctions can be driven by spin-transfer torques is presented. We examine the magnetization of a superparamagnetic free layer that reverses randomly between two well-defined orientations due to thermal fluctuations, acting as a stochastic oscillator. When subject to an external ac forcing, this system can present stochastic resonance and noise-enhanced synchronization. We focus on the roles of the mutually perpendicular damping-like and field-like torques, showing that the response of the system is very different at low and high frequencies. We also demonstrate that the field-like torque can increase themore » efficiency of the current-driven forcing, especially at sub-threshold electric currents. These results can be useful for possible low-power, more energy efficient applications.« less
Real time PI-backstepping induction machine drive with efficiency optimization.

PubMed

Farhani, Fethi; Ben Regaya, Chiheb; Zaafouri, Abderrahmen; Chaari, Abdelkader

2017-09-01

This paper describes a robust and efficient speed control of a three phase induction machine (IM) subjected to load disturbances. First, a Multiple-Input Multiple-Output (MIMO) PI-Backstepping controller is proposed for a robust and highly accurate tracking of the mechanical speed and rotor flux. Asymptotic stability of the control scheme is proven by Lyapunov Stability Theory. Second, an active online optimization algorithm is used to optimize the efficiency of the drive system. The efficiency improvement approach consists of adjusting the rotor flux with respect to the load torque in order to minimize total losses in the IM. A dSPACE DS1104 R&D board is used to implement the proposed solution. The experimental results released on 3kW squirrel cage IM, show that the reference speed as well as the rotor flux are rapidly achieved with a fast transient response and without overshoot. A good load disturbances rejection response and IM parameters variation are fairly handled. The improvement of drive system efficiency reaches up to 180% at light load. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.
Effect of strength and speed of torque development on balance recovery with the ankle strategy.

PubMed

Robinovitch, Stephen N; Heller, Britta; Lui, Andrew; Cortez, Jeffrey

2002-08-01

In the event of an unexpected disturbance to balance, the ability to recover a stable upright stance should depend not only on the magnitude of torque that can be generated by contraction of muscles spanning the lower extremity joints but also on how quickly these torques can be developed. In the present study, we used a combination of experimental and mathematical models of balance recovery by sway (feet in place responses) to test this hypothesis. Twenty-three young subjects participated in experiments in which they were supported in an inclined standing position by a horizontal tether and instructed to recover balance by contracting only their ankle muscles. The maximum lean angle where they could recover balance without release of the tether (static recovery limit) averaged 14.9 +/- 1.4 degrees (mean +/- SD). The maximum initial lean angle where they could recover balance after the tether was unexpectedly released and the ankles were initially relaxed (dynamic recovery limit) averaged 5.9 +/- 1.1 degrees, or 60 +/- 11% smaller than the static recovery limit. Peak ankle torque did not differ significantly between the two conditions (and averaged 116 +/- 32 Nm), indicating the strong effect on recovery ability of latencies in the onset and subsequent rates of torque generation (which averaged 99 +/- 13 ms and 372 +/- 267 N. m/s, respectively). Additional experiments indicated that dynamic recovery limits increased 11 +/- 14% with increases in the baseline ankle torques prior to release (from an average value of 31 +/- 18 to 54 +/- 24 N. m). These trends are in agreement with predictions from a computer simulation based on an inverted pendulum model, which illustrate the specific combinations of baseline ankle torque, rate of torque generation, and peak ankle torque that are required to attain target recovery limits.
Eccentric Torque-Producing Capacity is Influenced by Muscle Length in Older Healthy Adults.

PubMed

Melo, Ruth C; Takahashi, Anielle C M; Quitério, Robison J; Salvini, Tânia F; Catai, Aparecida M

2016-01-01

Considering the importance of muscle strength to functional capacity in the elderly, the study investigated the effects of age on isokinetic performance and torque production as a function of muscle length. Eleven younger (24.2 ± 2.9 years) and 16 older men (62.7 ± 2.5 years) were subjected to concentric and eccentric isokinetic knee extension/flexion at 60 and 120° · s(-1) through a functional range of motion. The older group presented lower peak torque (in newton-meters) than the young group for both isokinetic contraction types (age effect, p < 0.001). Peak torque deficits in the older group were near 30 and 29% for concentric and eccentric contraction, respectively. Concentric peak torque was lower at 120° · s(-1) than at 60° · s(-1) for both groups (angular velocity effect, p < 0.001). Eccentric knee extension torque was the only exercise tested that showed an interaction effect between age and muscle length (p < 0.001), which suggested different torque responses to the muscle length between groups. Compared with the young group, the eccentric knee extension torque was 22-56% lower in the older group, with the deficits being lower in the shortened muscle length (22-27%) and higher (33-56%) in the stretched muscle length. In older men, the production of eccentric knee strength seems to be dependent on the muscle length. At more stretched positions, older subjects lose the capacity to generate eccentric knee extension torque. More studies are needed to assess the mechanisms involved in eccentric strength preservation with aging and its relationship with muscle length.
Bilateral pedaling asymmetry during a simulated 40-km cycling time-trial.

PubMed

Carpes, F P; Rossato, M; Faria, I E; Bolli Mota, C

2007-03-01

This study investigated the pedaling asymmetry during a 40-km cycling time-trial (TT). Six sub-elite competitive male cyclists pedaled a SRM Training Systems cycle ergometer throughout a simulated 40-km TT. A SRM scientific crank dynamometer was used to measure the bilateral crank torque (N.m) and pedaling cadence (rpm). All data were analyzed into 4 stages with equal length obtained according to total time. Comparisons between each stage of the 40-km TT were made by an analysis of variance (ANOVA). Dominant (DO) and non-dominant (ND) crank peak torque asymmetry was determined by the equation: asymmetry index (AI%)=[(DO-ND)/DO] 100. Pearson correlation analysis was performed to verify the relationship between exercise intensity, mean and crank peak torque. The crank peak torque was significantly (P<0.05) greater in the 4th stage compared with other stages. During the stages 2 and 3, was observed the AI% of 13.51% and 17.28%, respectively. Exercise intensity (%VO(2max)) was greater for stage 4 (P<0.05) and was highly correlated with mean and crank peak torque (r=0.97 and r=0.92, respectively) for each stage. The DO limb was always responsible for the larger crank peak torque. It was concluded that pedaling asymmetry is present during a simulated 40-km TT and an increase on crank torque output and exercise intensity elicits a reduction in pedaling asymmetry.
An Adaptive Neuromuscular Controller for Assistive Lower-Limb Exoskeletons: A Preliminary Study on Subjects with Spinal Cord Injury

PubMed Central

Wu, Amy R.; Dzeladini, Florin; Brug, Tycho J. H.; Tamburella, Federica; Tagliamonte, Nevio L.; van Asseldonk, Edwin H. F.; van der Kooij, Herman; Ijspeert, Auke J.

2017-01-01

Versatility is important for a wearable exoskeleton controller to be responsive to both the user and the environment. These characteristics are especially important for subjects with spinal cord injury (SCI), where active recruitment of their own neuromuscular system could promote motor recovery. Here we demonstrate the capability of a novel, biologically-inspired neuromuscular controller (NMC) which uses dynamical models of lower limb muscles to assist the gait of SCI subjects. Advantages of this controller include robustness, modularity, and adaptability. The controller requires very few inputs (i.e., joint angles, stance, and swing detection), can be decomposed into relevant control modules (e.g., only knee or hip control), and can generate walking at different speeds and terrains in simulation. We performed a preliminary evaluation of this controller on a lower-limb knee and hip robotic gait trainer with seven subjects (N = 7, four with complete paraplegia, two incomplete, one healthy) to determine if the NMC could enable normal-like walking. During the experiment, SCI subjects walked with body weight support on a treadmill and could use the handrails. With controller assistance, subjects were able to walk at fast walking speeds for ambulatory SCI subjects—from 0.6 to 1.4 m/s. Measured joint angles and NMC-provided joint torques agreed reasonably well with kinematics and biological joint torques of a healthy subject in shod walking. Some differences were found between the torques, such as the lack of knee flexion near mid-stance, but joint angle trajectories did not seem greatly affected. The NMC also adjusted its torque output to provide more joint work at faster speeds and thus greater joint angles and step length. We also found that the optimal speed-step length curve observed in healthy humans emerged for most of the subjects, albeit with relatively longer step length at faster speeds. Therefore, with very few sensors and no predefined settings for multiple walking speeds or adjustments for subjects of differing anthropometry and walking ability, NMC enabled SCI subjects to walk at several speeds, including near healthy speeds, in a healthy-like manner. These preliminary results are promising for future implementation of neuromuscular controllers on wearable prototypes for real-world walking conditions. PMID:28676752
An Adaptive Neuromuscular Controller for Assistive Lower-Limb Exoskeletons: A Preliminary Study on Subjects with Spinal Cord Injury.

PubMed

Wu, Amy R; Dzeladini, Florin; Brug, Tycho J H; Tamburella, Federica; Tagliamonte, Nevio L; van Asseldonk, Edwin H F; van der Kooij, Herman; Ijspeert, Auke J

2017-01-01

Versatility is important for a wearable exoskeleton controller to be responsive to both the user and the environment. These characteristics are especially important for subjects with spinal cord injury (SCI), where active recruitment of their own neuromuscular system could promote motor recovery. Here we demonstrate the capability of a novel, biologically-inspired neuromuscular controller (NMC) which uses dynamical models of lower limb muscles to assist the gait of SCI subjects. Advantages of this controller include robustness, modularity, and adaptability. The controller requires very few inputs (i.e., joint angles, stance, and swing detection), can be decomposed into relevant control modules (e.g., only knee or hip control), and can generate walking at different speeds and terrains in simulation. We performed a preliminary evaluation of this controller on a lower-limb knee and hip robotic gait trainer with seven subjects ( N = 7, four with complete paraplegia, two incomplete, one healthy) to determine if the NMC could enable normal-like walking. During the experiment, SCI subjects walked with body weight support on a treadmill and could use the handrails. With controller assistance, subjects were able to walk at fast walking speeds for ambulatory SCI subjects-from 0.6 to 1.4 m/s. Measured joint angles and NMC-provided joint torques agreed reasonably well with kinematics and biological joint torques of a healthy subject in shod walking. Some differences were found between the torques, such as the lack of knee flexion near mid-stance, but joint angle trajectories did not seem greatly affected. The NMC also adjusted its torque output to provide more joint work at faster speeds and thus greater joint angles and step length. We also found that the optimal speed-step length curve observed in healthy humans emerged for most of the subjects, albeit with relatively longer step length at faster speeds. Therefore, with very few sensors and no predefined settings for multiple walking speeds or adjustments for subjects of differing anthropometry and walking ability, NMC enabled SCI subjects to walk at several speeds, including near healthy speeds, in a healthy-like manner. These preliminary results are promising for future implementation of neuromuscular controllers on wearable prototypes for real-world walking conditions.
Concurrent neuromechanical and functional gains following upper-extremity power training post-stroke

PubMed Central

2013-01-01

Background Repetitive task practice is argued to drive neural plasticity following stroke. However, current evidence reveals that hemiparetic weakness impairs the capacity to perform, and practice, movements appropriately. Here we investigated how power training (i.e., high-intensity, dynamic resistance training) affects recovery of upper-extremity motor function post-stroke. We hypothesized that power training, as a component of upper-extremity rehabilitation, would promote greater functional gains than functional task practice without deleterious consequences. Method Nineteen chronic hemiparetic individuals were studied using a crossover design. All participants received both functional task practice (FTP) and HYBRID (combined FTP and power training) in random order. Blinded evaluations performed at baseline, following each intervention block and 6-months post-intervention included: Wolf Motor Function Test (WMFT-FAS, Primary Outcome), upper-extremity Fugl-Meyer Motor Assessment, Ashworth Scale, and Functional Independence Measure. Neuromechanical function was evaluated using isometric and dynamic joint torques and concurrent agonist EMG. Biceps stretch reflex responses were evaluated using passive elbow stretches ranging from 60 to 180º/s and determining: EMG onset position threshold, burst duration, burst intensity and passive torque at each speed. Results Primary outcome: Improvements in WMFT-FAS were significantly greater following HYBRID vs. FTP (p = .049), regardless of treatment order. These functional improvements were retained 6-months post-intervention (p = .03). Secondary outcomes: A greater proportion of participants achieved minimally important differences (MID) following HYBRID vs. FTP (p = .03). MIDs were retained 6-months post-intervention. Ashworth scores were unchanged (p > .05). Increased maximal isometric joint torque, agonist EMG and peak power were significantly greater following HYBRID vs. FTP (p < .05) and effects were retained 6-months post-intervention (p’s < .05). EMG position threshold and burst duration were significantly reduced at fast speeds (≥120º/s) (p’s < 0.05) and passive torque was reduced post-washout (p < .05) following HYBRID. Conclusions Functional and neuromechanical gains were greater following HYBRID vs. FPT. Improved stretch reflex modulation and increased neuromuscular activation indicate potent neural adaptations. Importantly, no deleterious consequences, including exacerbation of spasticity or musculoskeletal complaints, were associated with HYBRID. These results contribute to an evolving body of contemporary evidence regarding the efficacy of high-intensity training in neurorehabilitation and the physiological mechanisms that mediate neural recovery. PMID:23336711
Concurrent neuromechanical and functional gains following upper-extremity power training post-stroke.

PubMed

Patten, Carolynn; Condliffe, Elizabeth G; Dairaghi, Christine A; Lum, Peter S

2013-01-21

Repetitive task practice is argued to drive neural plasticity following stroke. However, current evidence reveals that hemiparetic weakness impairs the capacity to perform, and practice, movements appropriately. Here we investigated how power training (i.e., high-intensity, dynamic resistance training) affects recovery of upper-extremity motor function post-stroke. We hypothesized that power training, as a component of upper-extremity rehabilitation, would promote greater functional gains than functional task practice without deleterious consequences. Nineteen chronic hemiparetic individuals were studied using a crossover design. All participants received both functional task practice (FTP) and HYBRID (combined FTP and power training) in random order. Blinded evaluations performed at baseline, following each intervention block and 6-months post-intervention included: Wolf Motor Function Test (WMFT-FAS, Primary Outcome), upper-extremity Fugl-Meyer Motor Assessment, Ashworth Scale, and Functional Independence Measure. Neuromechanical function was evaluated using isometric and dynamic joint torques and concurrent agonist EMG. Biceps stretch reflex responses were evaluated using passive elbow stretches ranging from 60 to 180º/s and determining: EMG onset position threshold, burst duration, burst intensity and passive torque at each speed. Improvements in WMFT-FAS were significantly greater following HYBRID vs. FTP (p = .049), regardless of treatment order. These functional improvements were retained 6-months post-intervention (p = .03). A greater proportion of participants achieved minimally important differences (MID) following HYBRID vs. FTP (p = .03). MIDs were retained 6-months post-intervention. Ashworth scores were unchanged (p > .05). Increased maximal isometric joint torque, agonist EMG and peak power were significantly greater following HYBRID vs. FTP (p < .05) and effects were retained 6-months post-intervention (p's < .05). EMG position threshold and burst duration were significantly reduced at fast speeds (≥120º/s) (p's < 0.05) and passive torque was reduced post-washout (p < .05) following HYBRID. Functional and neuromechanical gains were greater following HYBRID vs. FPT. Improved stretch reflex modulation and increased neuromuscular activation indicate potent neural adaptations. Importantly, no deleterious consequences, including exacerbation of spasticity or musculoskeletal complaints, were associated with HYBRID. These results contribute to an evolving body of contemporary evidence regarding the efficacy of high-intensity training in neurorehabilitation and the physiological mechanisms that mediate neural recovery.
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
Brake blending strategy for a hybrid vehicle

DOEpatents

Boberg, Evan S.

2000-12-05

A hybrid electric powertrain system is provided including a transmission for driving a pair of wheels of a vehicle and a heat engine and an electric motor/generator coupled to the transmission. A friction brake system is provided for applying a braking torque to said vehicle. A controller unit generates control signals to the electric motor/generator and the friction brake system for controllably braking the vehicle in response to a drivers brake command. The controller unit determines and amount of regenerative torque available and compares this value to a determined amount of brake torque requested for determining the control signals to the electric motor/generator and the friction brake system.
Variable frequency inverter for ac induction motors with torque, speed and braking control

NASA Technical Reports Server (NTRS)

Nola, F. J. (Inventor)

1975-01-01

A variable frequency inverter was designed for driving an ac induction motor which varies the frequency and voltage to the motor windings in response to varying torque requirements for the motor so that the applied voltage amplitude and frequency are of optimal value for any motor load and speed requirement. The slip frequency of the motor is caused to vary proportionally to the torque and feedback is provided so that the most efficient operating voltage is applied to the motor. Winding current surge is limited and a controlled negative slip causes motor braking and return of load energy to a dc power source.
Assessment of System Frequency Support Effect of PMSG-WTG Using Torque-Limit-Based Inertial Control

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

Wang, Xiao; Gao, Wenzhong; Wang, Jianhui

2017-02-16

To release the 'hidden inertia' of variable-speed wind turbines for temporary frequency support, a method of torque-limit based inertial control is proposed in this paper. This method aims to improve the frequency support capability considering the maximum torque restriction of a permanent magnet synchronous generator. The advantages of the proposed method are improved frequency nadir (FN) in the event of an under-frequency disturbance; and avoidance of over-deceleration and a second frequency dip during the inertial response. The system frequency response is different, with different slope values in the power-speed plane when the inertial response is performed. The proposed method ismore » evaluated in a modified three-machine, nine-bus system. The simulation results show that there is a trade-off between the recovery time and FN, such that a gradual slope tends to improve the FN and restrict the rate of change of frequency aggressively while causing an extension of the recovery time. These results provide insight into how to properly design such kinds of inertial control strategies for practical applications.« less
Immediate compensation for variations in self-generated Coriolis torques related to body dynamics and carried objects

PubMed Central

DiZio, Paul; Lackner, James R.

2013-01-01

We have previously shown that the Coriolis torques that result when an arm movement is performed during torso rotation do not affect movement trajectory. Our purpose in the present study was to examine whether torso motion-induced Coriolis and other interaction torques are counteracted during a turn and reach (T&R) movement when the effective mass of the hand is augmented, and whether the dominant arm has an advantage in coordinating intersegmental dynamics as predicted by the dynamic dominance hypothesis (Sainburg RL. Exp Brain Res 142: 241–258, 2002). Subjects made slow and fast T&R movements in the dark to just extinguished targets with either arm, while holding or not holding a 454-g object. Movement endpoints were equally accurate at both speeds, with either hand, and in both weight conditions, but subjects tended to angularly undershoot and produce more variable endpoints for targets requiring greater torso rotation. There were no changes in endpoint accuracy or trajectory deviation over repeated movements. The dominant right arm was more stable in its control of trajectory direction across targets, whereas the nondominant left arm had an improved ability to stop accurately on the target for higher levels of interaction torques. The trajectories to more eccentric targets were straighter when performed at higher speeds but slightly more deviated when subjects held the weight. Subjects did not slow their torso velocity or change the timing of the arm and torso velocities when holding the weight, although there was a slight decrease in their hand velocity relative to the torso. The delay between the onsets of torso and finger movements was almost twice as large for the right arm than the left, suggesting the right arm was better able to account for torso rotation in the arm movement. Holding the weight increased the peak Coriolis torque by 40% at the shoulder and 45% at the elbow and, for the most eccentric target, increased the peak net torque by 12% at the shoulder and 34% at the elbow. In accordance with Sainburg's dynamic dominance hypothesis, the right arm exhibited an advantage for coordinating intersegmental dynamics, showing a more stable finger velocity in relation to the torso across targets, decreasing error variability with movement speed, and more synchronized peaks of finger relative and torso angular velocities in conditions with greater joint torque requirements. The arm used had little effect on the movement path and the magnitude of the joint torques in any of the conditions. These results indicate that compensations for forthcoming Coriolis torque variations take into account the dynamic properties of the body and of external objects, as well as the planned velocities of the torso and arm. PMID:23803330
Immediate compensation for variations in self-generated Coriolis torques related to body dynamics and carried objects.

PubMed

Pigeon, Pascale; Dizio, Paul; Lackner, James R

2013-09-01

We have previously shown that the Coriolis torques that result when an arm movement is performed during torso rotation do not affect movement trajectory. Our purpose in the present study was to examine whether torso motion-induced Coriolis and other interaction torques are counteracted during a turn and reach (T&R) movement when the effective mass of the hand is augmented, and whether the dominant arm has an advantage in coordinating intersegmental dynamics as predicted by the dynamic dominance hypothesis (Sainburg RL. Exp Brain Res 142: 241-258, 2002). Subjects made slow and fast T&R movements in the dark to just extinguished targets with either arm, while holding or not holding a 454-g object. Movement endpoints were equally accurate at both speeds, with either hand, and in both weight conditions, but subjects tended to angularly undershoot and produce more variable endpoints for targets requiring greater torso rotation. There were no changes in endpoint accuracy or trajectory deviation over repeated movements. The dominant right arm was more stable in its control of trajectory direction across targets, whereas the nondominant left arm had an improved ability to stop accurately on the target for higher levels of interaction torques. The trajectories to more eccentric targets were straighter when performed at higher speeds but slightly more deviated when subjects held the weight. Subjects did not slow their torso velocity or change the timing of the arm and torso velocities when holding the weight, although there was a slight decrease in their hand velocity relative to the torso. The delay between the onsets of torso and finger movements was almost twice as large for the right arm than the left, suggesting the right arm was better able to account for torso rotation in the arm movement. Holding the weight increased the peak Coriolis torque by 40% at the shoulder and 45% at the elbow and, for the most eccentric target, increased the peak net torque by 12% at the shoulder and 34% at the elbow. In accordance with Sainburg's dynamic dominance hypothesis, the right arm exhibited an advantage for coordinating intersegmental dynamics, showing a more stable finger velocity in relation to the torso across targets, decreasing error variability with movement speed, and more synchronized peaks of finger relative and torso angular velocities in conditions with greater joint torque requirements. The arm used had little effect on the movement path and the magnitude of the joint torques in any of the conditions. These results indicate that compensations for forthcoming Coriolis torque variations take into account the dynamic properties of the body and of external objects, as well as the planned velocities of the torso and arm.
Spin-torque resonant expulsion of the vortex core for an efficient radiofrequency detection scheme.

PubMed

Jenkins, A S; Lebrun, R; Grimaldi, E; Tsunegi, S; Bortolotti, P; Kubota, H; Yakushiji, K; Fukushima, A; de Loubens, G; Klein, O; Yuasa, S; Cros, V

2016-04-01

It has been proposed that high-frequency detectors based on the so-called spin-torque diode effect in spin transfer oscillators could eventually replace conventional Schottky diodes due to their nanoscale size, frequency tunability and large output sensitivity. Although a promising candidate for information and communications technology applications, the output voltage generated from this effect has still to be improved and, more pertinently, reduces drastically with decreasing radiofrequency (RF) current. Here we present a scheme for a new type of spintronics-based high-frequency detector based on the expulsion of the vortex core in a magnetic tunnel junction (MTJ). The resonant expulsion of the core leads to a large and sharp change in resistance associated with the difference in magnetoresistance between the vortex ground state and the final C-state configuration. Interestingly, this reversible effect is independent of the incoming RF current amplitude, offering a fast real-time RF threshold detector.
Numerical verification of bounce-harmonic resonances in neoclassical toroidal viscosity for tokamaks.

PubMed

Kim, Kimin; Park, Jong-Kyu; Boozer, Allen H

2013-05-03

This Letter presents the first numerical verification for the bounce-harmonic (BH) resonance phenomena of the neoclassical transport in a tokamak perturbed by nonaxisymmetric magnetic fields. The BH resonances were predicted by analytic theories of neoclassical toroidal viscosity (NTV), as the parallel and perpendicular drift motions can be resonant and result in a great enhancement of the radial momentum transport. A new drift-kinetic δf guiding-center particle code, POCA, clearly verified that the perpendicular drift motions can reduce the transport by phase-mixing, but in the BH resonances the motions can form closed orbits and particles radially drift out fast. The POCA calculations on resulting NTV torque are largely consistent with analytic calculations, and show that the BH resonances can easily dominate the NTV torque when a plasma rotates in the perturbed tokamak and therefore, is a critical physics for predicting the rotation and stability in the International Thermonuclear Experimental Reactor.

Spin-orbit torque in a three-dimensional topological insulator-ferromagnet heterostructure: Crossover between bulk and surface transport

NASA Astrophysics Data System (ADS)

Ghosh, S.; Manchon, A.

2018-04-01

Current-driven spin-orbit torques are investigated in a heterostructure composed of a ferromagnet deposited on top of a three-dimensional topological insulator using the linear response formalism. We develop a tight-binding model of the heterostructure adopting a minimal interfacial hybridization scheme that promotes induced magnetic exchange on the topological surface states, as well as induced Rashba-like spin-orbit coupling in the ferromagnet. Therefore our model accounts for the spin Hall effect from bulk states together with inverse spin galvanic and magnetoelectric effects at the interface on equal footing. By varying the transport energy across the band structure, we uncover a crossover from surface-dominated to bulk-dominated transport regimes. We show that the spin density profile and the nature of the spin-orbit torques differ substantially in both regimes. Our results, which compare favorably with experimental observations, demonstrate that the large dampinglike torque reported recently is more likely attributed to the Berry curvature of interfacial states, while spin Hall torque remains small even in the bulk-dominated regime.
Feasibility of a Hydraulic Power Assist System for Use in Hybrid Neuroprostheses

PubMed Central

Foglyano, Kevin M.; Kobetic, Rudi; To, Curtis S.; Bulea, Thomas C.; Schnellenberger, John R.; Audu, Musa L.; Nandor, Mark J.; Quinn, Roger D.; Triolo, Ronald J.

2015-01-01

Feasibility of using pressurized hydraulic fluid as a source of on-demand assistive power for hybrid neuroprosthesis combining exoskeleton with functional neuromuscular stimulation was explored. Hydraulic systems were selected as an alternative to electric motors for their high torque/mass ratio and ability to be located proximally on the exoskeleton and distribute power distally to assist in moving the joints. The power assist system (PAS) was designed and constructed using off-the-shelf components to test the feasibility of using high pressure fluid from an accumulator to provide assistive torque to an exoskeletal hip joint. The PAS was able to provide 21 Nm of assistive torque at an input pressure of 3171 kPa with a response time of 93 ms resulting in 32° of hip flexion in an able-bodied test. The torque output was independent of initial position of the joint and was linearly related to pressure. Thus, accumulator pressure can be specified to provide assistive torque as needed in exoskeletal devices for walking or stair climbing beyond those possible either volitionally or with electrical stimulation alone. PMID:27017963
Attitude control system design using a flywheel suspended by two gimbals

NASA Astrophysics Data System (ADS)

Peres, R. W.; Ricci, M. C.

2015-10-01

This work presents the attitude control system design procedures for a three axis stabilized satellite in geostationary orbit, which contains a flywheel suspended by two gimbals. The use of a flywheel with two DOFs is an interesting option because with only one device it's possible to control the torques about vehicle's three axes; through the wheel speed control and gyrotorquing phenomenon with two DOFs. If the wheel size and speed are determined properly it's possible to cancel cyclic torques using gas jets only periodically to cancel secular disturbance torques. The system, based on a flywheel, takes only one pitch/roll (earth) sensor to maintain precise attitude, unlike mass expulsion based control systems, which uses propellants continuously, beyond roll, pitch and yaw sensors. It is considered the satellite is in nominal orbit and, therefore, that the attitude's acquisition phase has already elapsed. Control laws and system parameters are determined in order to cancel the solar pressure radiation disturbance torque and the torque due to misalignment of the thrusters. Stability is analyzed and step and cyclic responses are obtained.
Migration of accreting planets in radiative discs from dynamical torques

NASA Astrophysics Data System (ADS)

Pierens, A.; Raymond, S. N.

2016-11-01

We present the results of hydrodynamical simulations of the orbital evolution of planets undergoing runaway gas accretion in radiative discs. We consider accreting disc models with constant mass flux through the disc, and where radiative cooling balances the effect of viscous heating and stellar irradiation. We assume that 20-30 M⊕ giant planet cores are formed in the region where viscous heating dominates and migrate outward under the action of a strong entropy-related corotation torque. In the case where gas accretion is neglected and for an α viscous stress parameter α = 2 × 10-3, we find evidence for strong dynamical torques in accreting discs with accretion rates {dot{M}}≳ 7× 10^{-8} M_{⊙} yr{}^{-1}. Their main effect is to increase outward migration rates by a factor of ˜2 typically. In the presence of gas accretion, however, runaway outward migration is observed with the planet passing through the zero-torque radius and the transition between the viscous heating and stellar heating dominated regimes. The ability for an accreting planet to enter a fast migration regime is found to depend strongly on the planet growth rate, but can occur for values of the mass flux through the disc of {dot{M}}≳ 5× 10^{-8} M_{⊙} yr{}^{-1}. We find that an episode of runaway outward migration can cause an accreting planet formed in the 5-10 au region to temporarily orbit at star-planet separations as large as ˜60-70 au. However, increase in the amplitude of the Lindblad torque associated with planet growth plus change in the streamline topology near the planet systematically cause the direction of migration to be reversed. Subsequent evolution corresponds to the planet migrating inward rapidly until it becomes massive enough to open a gap in the disc and migrate in the type II regime. Our results indicate that a planet can reach large orbital distances under the combined effect of dynamical torques and gas accretion, but an alternative mechanism is required to explain the presence of massive planets on wide orbits.
Skill transfer from symmetric and asymmetric bimanual training using a robotic system to single limb performance

PubMed Central

2012-01-01

Background Humans are capable of fast adaptation to new unknown dynamics that affect their movements. Such motor learning is also believed to be an important part of motor rehabilitation. Bimanual training can improve post-stroke rehabilitation outcome and is associated with interlimb coordination between both limbs. Some studies indicate partial transfer of skills among limbs of healthy individuals. Another aspect of bimanual training is the (a)symmetry of bimanual movements and how these affect motor learning and possibly post-stroke rehabilitation. Methods A novel bimanual 2-DOF robotic system was used for both bimanual and unimanual reaching movements. 35 young healthy adults participated in the study. They were divided into 5 test groups that performed movements under different conditions (bimanual or unimanual movements and symmetric or asymmetric bimanual arm loads). The subjects performed a simple tracking exercise with the bimanual system. The exercise was developed to stimulate motor learning by applying a velocity-dependent disturbance torque to the handlebar. Each subject performed 255 trials divided into three phases: baseline without disturbance torque, training phase with disturbance torque and evaluation phase with disturbance torque. Results Performance was assessed with the maximal values of rotation errors of the handlebar. After exposure to disturbance torque, the errors decreased for both unimanual and bimanual training. Errors in unimanual evaluation following the bimanual training phase were not significantly different from errors in unimanual evaluation following unimanual training. There was no difference in performance following symmetric or asymmetric training. Changing the arm force symmetry during bimanual movements from asymmetric to symmetric had little influence on performance. Conclusions Subjects could adapt to an unknown disturbance torque that was changing the dynamics of the movements. The learning effect was present during both unimanual and bimanual training. Transfer of learned skills from bimanual training to unimanual movements was also observed, as bimanual training also improved single limb performance with the dominant arm. Changes of force symmetry did not have an effect on motor learning. As motor learning is believed to be an important mechanism of rehabilitation, our findings could be tested for future post-stroke rehabilitation systems. PMID:22805223
Adaptations of human skeletal muscle fibers to spaceflight

NASA Technical Reports Server (NTRS)

Day, M. Kathleen; Allen, David L.; Mohajerani, Laleh; Greenisen, Michael C.; Roy, Roland R.; Edgerton, V. Reggie

1995-01-01

Human skeletal muscle fibers seem to share most of the same interrelationships among myosin ATPase activity, myosin heavy chain (MHC) phenotype, mitochondrial enzyme activities, glycolytic enzyme activities, and cross-sectional area (CSA) as found in rat, cat, and other species. One difference seems to be that fast fibers with high mitochrondrial content occur less frequently in humans than in the rat or cat. Recently, we have reported that the type of MHC expressed and the size of the muscle fibers in humans that have spent 11 days in space change significantly. Specifically, about 8% more fibers express fast MHCs and all phenotypes atrophy in the vastus lateralis (VL) post compared to preflight. In the present paper we examine the relationships among the population of myonuclei, MHC type, and CSA of single human muscle fibers before and after spaceflight. These are the first data that define the relationship among the types of MHC expressed, myonuclei number, and myonuclei domain of single fibers in human muscle. We then compare these data to similar measures in the cat. In addition, the maximal torque that can be generated by the knee extensors and their fatigability before and after spaceflight are examined. These data provide some indication of the potential physiologica consequences of the muscle adaptations that occur in humans in response to spaceflight.
DOE Office of Scientific and Technical Information (OSTI.GOV)

Fang, Xiao; Blazek, Jonathan A.; McEwen, Joseph E.

Cosmological perturbation theory is a powerful tool to predict the statistics of large-scale structure in the weakly non-linear regime, but even at 1-loop order it results in computationally expensive mode-coupling integrals. Here we present a fast algorithm for computing 1-loop power spectra of quantities that depend on the observer's orientation, thereby generalizing the FAST-PT framework (McEwen et al., 2016) that was originally developed for scalars such as the matter density. This algorithm works for an arbitrary input power spectrum and substantially reduces the time required for numerical evaluation. We apply the algorithm to four examples: intrinsic alignments of galaxies inmore » the tidal torque model; the Ostriker-Vishniac effect; the secondary CMB polarization due to baryon flows; and the 1-loop matter power spectrum in redshift space. Code implementing this algorithm and these applications is publicly available at https://github.com/JoeMcEwen/FAST-PT.« less
Natural remanent magnetization acquisition in bioturbated sediment: General theory and implications for relative paleointensity reconstructions

NASA Astrophysics Data System (ADS)

Egli, R.; Zhao, X.

2015-04-01

We present a general theory for the acquisition of natural remanent magnetizations (NRM) in sediment under the influence of (a) magnetic torques, (b) randomizing torques, and (c) torques resulting from interaction forces. Dynamic equilibrium between (a) and (b) in the water column and at the sediment-water interface generates a detrital remanent magnetization (DRM), while much stronger randomizing torques may be provided by bioturbation inside the mixed layer. These generate a so-called mixed remanent magnetization (MRM), which is stabilized by mechanical interaction forces. During the time required to cross the surface mixed layer, DRM is lost and MRM is acquired at a rate that depends on bioturbation intensity. Both processes are governed by a MRM lock-in function. The final NRM intensity is controlled mainly by a single parameter γ that is defined as the product of rotational diffusion and mixed-layer thickness, divided by sedimentation rate. This parameter defines three regimes: (1) slow mixing (γ < 0.2) leading to DRM preservation and insignificant MRM acquisition, (2) fast mixing (γ > 10) with MRM acquisition and full DRM randomization, and (3) intermediate mixing. Because the acquisition efficiency of DRM is larger than that of MRM, NRM intensity is particularly sensitive to γ in case of mixed regimes, generating variable NRM acquisition efficiencies. This model explains (1) lock-in delays that can be matched with empirical reconstructions from paleomagnetic records, (2) the existence of small lock-in depths that lead to DRM preservation, (3) specific NRM acquisition efficiencies of magnetofossil-rich sediments, and (4) some relative paleointensity artifacts.
Development of a low-cost, low micro-vibration CMG for small agile satellite applications

NASA Astrophysics Data System (ADS)

Kawak, B. J.

2017-02-01

The agility of the spacecraft which refers to the spacecraft's ability to execute fast and accurate manoeuvers within a fixed period of time, is a key satellite parameter. The spacecraft' s agility is directly proportional to the spacecraft actuators' output torque. For high torque inertial actuators (>0.5 Nm), Control Moment Gyroscope (CMG) exhibits better performances in terms of mass and electrical power consumption than reaction wheels. However, in addition to the complex steering law required to avoid CMG singularities, one of the reasons why CMGs are not widely used is also due to their high micro-vibration emission which may interfere and disrupt the spacecraft' s sensitive instruments such as optical payloads. In this paper, an innovative two-stage viscoelastic isolation system has been designed and implemented in a new low micro-vibration CMG prototype. The first stage of the damping system acts at bearing level to attenuate the possible shock vibrations while the second stage acts at mechanism level to attenuate the structural resonances and motor noise. The developed CMG enables to combine high actuator output torque with a low micro-vibration signature. The viscoelastic damping system is cost effective as it is a fully passive system which requires no thermal control and no electronics. Furthermore, the attenuation provided by this innovative two stage damping system can reach a slope up to -80 dB/dec which leads to a Mini-CMG micro-vibration signature lower than similar output torque reaction wheels not equipped with a damping system.
Mixing behavior of a model cellulosic biomass slurry during settling and resuspension

DOE PAGES

Crawford, Nathan C.; Sprague, Michael A.; Stickel, Jonathan J.

2016-01-29

Thorough mixing during biochemical deconstruction of biomass is crucial for achieving maximum process yields and economic success. However, due to the complex morphology and surface chemistry of biomass particles, biomass mixing is challenging and currently it is not well understood. This study investigates the bulk rheology of negatively buoyant, non-Brownian α-cellulose particles during settling and resuspension. The torque signal of a vane mixer across two distinct experimental setups (vane-in-cup and vane-in-beaker) was used to understand how mixing conditions affect the distribution of biomass particles. During experimentation, a bifurcated torque response as a function of vane speed was observed, indicating thatmore » the slurry transitions from a “settling-dominant” regime to a “suspension-dominant” regime. The torque response of well-characterized fluids (i.e., DI water) were then used to empirically identify when sufficient mixing turbulence was established in each experimental setup. The predicted critical mixing speeds were in agreement with measured values, suggesting that secondary flows are required in order to keep the cellulose particles fully suspended. In addition, a simple scaling relationship was developed to model the entire torque signal of the slurry throughout settling and resuspension. Furthermore, qualitative and semi-quantitative agreement between the model and experimental results was observed.« less
Muscle- and Mode-Specific Responses of the Forearm Flexors to Fatiguing, Concentric Muscle Actions

PubMed Central

Hill, Ethan; Housh, Terry; Smith, Cory; Schmidt, Richard; Johnson, Glen

2016-01-01

Background: Electromyographic (EMG) and mechanomyographic (MMG) studies of fatigue have generally utilized maximal isometric or dynamic muscle actions, but sport- and work-related activities involve predominately submaximal movements. Therefore, the purpose of the present investigation was to examine the torque, EMG, and MMG responses as a result of submaximal, concentric, isokinetic, forearm flexion muscle actions. Methods: Twelve men performed concentric peak torque (PT) and isometric PT trials before (pretest) and after (posttest) performing 50 submaximal (65% of concentric PT), concentric, isokinetic (60°·s−1), forearm flexion muscle actions. Surface EMG and MMG signals were simultaneously recorded from the biceps brachii and brachioradialis muscles. Results: The results of the present study indicated similar decreases during both the concentric PT and isometric PT measurements for torque, EMG mean power frequency (MPF), and MMG MPF following the fatiguing workbout, but no changes in EMG amplitude (AMP) or MMG AMP. Conclusions: These findings suggest that decreases in torque as a result of fatiguing, dynamic muscle actions may have been due to the effects of metabolic byproducts on excitation–contraction coupling as indicated by the decreases in EMG MPF and MMG MPF, but lack of changes in EMG AMP and MMG AMP from both the biceps brachii and brachioradialis muscles.
Thermally induced magnonic spin current, thermomagnonic torques, and domain-wall dynamics in the presence of Dzyaloshinskii-Moriya interaction

NASA Astrophysics Data System (ADS)

Wang, X.-G.; Chotorlishvili, L.; Guo, G.-H.; Sukhov, A.; Dugaev, V.; Barnaś, J.; Berakdar, J.

2016-09-01

Thermally activated domain-wall (DW) motion in magnetic insulators has been considered theoretically, with a particular focus on the role of Dzyaloshinskii-Moriya interaction (DMI) and thermomagnonic torques. The thermally assisted DW motion is a consequence of the magnonic spin current due to the applied thermal bias. In addition to the exchange magnonic spin current and the exchange adiabatic and the entropic spin transfer torques, we also consider the DMI-induced magnonic spin current, thermomagnonic DMI fieldlike torque, and the DMI entropic torque. Analytical estimations are supported by numerical calculations. We found that the DMI has a substantial influence on the size and the geometry of DWs, and that the DWs become oriented parallel to the long axis of the nanostrip. Increasing the temperature smoothes the DWs. Moreover, the thermally induced magnonic current generates a torque on the DWs, which is responsible for their motion. From our analysis it follows that for a large enough DMI the influence of DMI-induced fieldlike torque is much stronger than that of the DMI and the exchange entropic torques. By manipulating the strength of the DMI constant, one can control the speed of the DW motion, and the direction of the DW motion can be switched, as well. We also found that DMI not only contributes to the total magnonic current, but also it modifies the exchange magnonic spin current, and this modification depends on the orientation of the steady-state magnetization. The observed phenomenon can be utilized in spin caloritronics devices, for example in the DMI based thermal diodes. By switching the magnetization direction, one can rectify the total magnonic spin current.
Forces Generated by Vastus Lateralis and Vastus Medialis Decrease with Increasing Stair Descent Speed.

PubMed

Caruthers, Elena J; Oxendale, Kassandra K; Lewis, Jacqueline M; Chaudhari, Ajit M W; Schmitt, Laura C; Best, Thomas M; Siston, Robert A

2018-04-01

Stair descent (SD) is a common, difficult task for populations who are elderly or have orthopaedic pathologies. Joint torques of young, healthy populations during SD increase at the hip and ankle with increasing speed but not at the knee, contrasting torque patterns during gait. To better understand the sources of the knee torque pattern, we used dynamic simulations to estimate knee muscle forces and how they modulate center of mass (COM) acceleration across SD speeds (slow, self-selected, and fast) in young, healthy adults. The vastus lateralis and vastus medialis forces decreased from slow to self-selected speeds as the individual lowered to the next step. Since the vasti are primary contributors to vertical support during SD, they produced lower forces at faster speeds due to the lower need for vertical COM support observed at faster speeds. In contrast, the semimembranosus and rectus femoris forces increased across successive speeds, allowing the semimembranosus to increase acceleration downward and forward and the rectus femoris to provide more vertical support and resistance to forward progression as SD speed increased. These results demonstrate the utility of dynamic simulations to extend beyond traditional inverse dynamics analyses to gain further insight into muscle mechanisms during tasks like SD.
An Experimental Study on the Darrieus-Savonius Turbine for the Tidal Current Power Generation

NASA Astrophysics Data System (ADS)

Kyozuka, Yusaku

The Darrieus turbine is popular for tidal current power generation in Japan. It is simple in structure with straight wings rotating around a vertical axis, so that it has no directionality against the motion of tidal flow which changes its direction twice a day. However, there is one defect in the Darrieus turbine; its small starting torque. Once it stops, a Darrieus turbine is hard to re-start until a fairly fast current is exerted on it. To improve the starting torque of the Darrieus turbine used for tidal power generation, a hybrid turbine, composed of a Darrieus turbine and a Savonius rotor is proposed. Hydrodynamic characteristics of a semi-circular section used for the Savonius bucket were measured in a wind tunnel. The torque of a two bucket Savonius rotor was measured in a circulating water channel, where four different configurations of the bucket were compared. A combined Darrieus and Savonius turbine was tested in the circulating water channel, where the effect of the attaching angle between Darrieus wing and Savonius rotor was studied. Finally, power generation experiments using a 48 pole electric generator were conducted in a towing tank and the power coefficients were compared with the results of experiments obtained in the circulating water channel.
Dual-loop self-optimizing robust control of wind power generation with Doubly-Fed Induction Generator.

PubMed

Chen, Quan; Li, Yaoyu; Seem, John E

2015-09-01

This paper presents a self-optimizing robust control scheme that can maximize the power generation for a variable speed wind turbine with Doubly-Fed Induction Generator (DFIG) operated in Region 2. A dual-loop control structure is proposed to synergize the conversion from aerodynamic power to rotor power and the conversion from rotor power to the electrical power. The outer loop is an Extremum Seeking Control (ESC) based generator torque regulation via the electric power feedback. The ESC can search for the optimal generator torque constant to maximize the rotor power without wind measurement or accurate knowledge of power map. The inner loop is a vector-control based scheme that can both regulate the generator torque requested by the ESC and also maximize the conversion from the rotor power to grid power. An ℋ(∞) controller is synthesized for maximizing, with performance specifications defined based upon the spectrum of the rotor power obtained by the ESC. Also, the controller is designed to be robust against the variations of some generator parameters. The proposed control strategy is validated via simulation study based on the synergy of several software packages including the TurbSim and FAST developed by NREL, Simulink and SimPowerSystems. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.
Whole-body isometric force/torque measurements for functional assessment in neuro-rehabilitation: platform design, development and verification.

PubMed

Mazzoleni, Stefano; Toth, Andras; Munih, Marko; Van Vaerenbergh, Jo; Cavallo, Giuseppe; Micera, Silvestro; Dario, Paolo; Guglielmelli, Eugenio

2009-10-30

One of the main scientific and technological challenges of rehabilitation bioengineering is the development of innovative methodologies, based on the use of appropriate technological devices, for an objective assessment of patients undergoing a rehabilitation treatment. Such tools should be as fast and cheap to use as clinical scales, which are currently the daily instruments most widely used in the routine clinical practice. A human-centered approach was used in the design and development of a mechanical structure equipped with eight force/torque sensors that record quantitative data during the initiation of a predefined set of Activities of Daily Living (ADL) tasks, in isometric conditions. Preliminary results validated the appropriateness, acceptability and functionality of the proposed platform, that has become now a tool used for clinical research in three clinical centres. This paper presented the design and development of an innovative platform for whole-body force and torque measurements on human subjects. The platform has been designed to perform accurate quantitative measurements in isometric conditions with the specific aim to address the needs for functional assessment tests of patients undergoing a rehabilitation treatment as a consequence of a stroke.The versatility of the system also enlightens several other interesting possible areas of application for therapy in neurorehabilitation, for research in basic neuroscience, and more.
Correlation between the knee adduction torque and medial contact force for a variety of gait patterns.

PubMed

Zhao, Dong; Banks, Scott A; Mitchell, Kim H; D'Lima, Darryl D; Colwell, Clifford W; Fregly, Benjamin J

2007-06-01

The external knee adduction torque has been proposed as a surrogate measure for medial compartment load during gait. However, a direct link between these two quantities has not been demonstrated using in vivo measurement of medial compartment load. This study uses in vivo data collected from a single subject with an instrumented knee implant to evaluate this link. The subject performed five different overground gait motions (normal, fast, slow, wide, and toe-out) with simultaneous collection of instrumented implant, video motion, and ground reaction data. For each trial, the knee adduction torque was measured externally while the total axial force applied to the tibial insert was measured internally. Based on data collected from the same subject performing treadmill gait under fluoroscopic motion analysis, a regression equation was developed to calculate medial contact force from the implant load cell measurements. Correlation analyses were performed for the stance phase and entire gait cycle to quantify the relationship between the knee adduction torque and both the medial contact force and the medial to total contact force ratio. When the entire gait cycle was analyzed, R(2) for medial contact force was 0.77 when all gait trials were analyzed together and between 0.69 and 0.93 when each gait trial was analyzed separately (p < 0.001 in all cases). For medial to total force ratio, R(2) was 0.69 for all trials together and between 0.54 and 0.90 for each trial separately (p < 0.001 in all cases). When only the stance phase was analyzed, R(2) values were slightly lower. These results support the hypothesis that the knee adduction torque is highly correlated with medial compartment contact force and medial to total force ratio during gait. (c) 2007 Orthopaedic Research Society. Published by Wiley Periodicals, Inc.
Modelling and validation of magnetorheological brake responses using parametric approach

NASA Astrophysics Data System (ADS)

Z, Zainordin A.; A, Abdullah M.; K, Hudha

2013-12-01

Magnetorheological brake (MR Brake) is one x-by-wire systems which performs better than conventional brake systems. MR brake consists of a rotating disc that is immersed with Magnetorheological Fluid (MR Fluid) in an enclosure of an electromagnetic coil. The applied magnetic field will increase the yield strength of the MR fluid where this fluid was used to decrease the speed of the rotating shaft. The purpose of this paper is to develop a mathematical model to represent MR brake with a test rig. The MR brake model is developed based on actual torque characteristic which is coupled with motion of a test rig. Next, the experimental are performed using MR brake test rig and obtained three output responses known as angular velocity response, torque response and load displacement response. Furthermore, the MR brake was subjected to various current. Finally, the simulation results of MR brake model are then verified with experimental results.
Pumping of magnons in a Dzyaloshinskii-Moriya ferromagnet

NASA Astrophysics Data System (ADS)

Kovalev, Alexey A.; Zyuzin, Vladimir A.; Li, Bo

2017-04-01

We formulate a microscopic linear response theory of magnon pumping applicable to multiple-magnonic-band uniform ferromagnets with Dzyaloshinskii-Moriya interactions. From the linear response theory, we identify the extrinsic and intrinsic contributions where the latter is expressed via the Berry curvature of magnonic bands. We observe that in the presence of a time-dependent magnetization Dzyaloshinskii-Moriya interactions can act as fictitious electric fields acting on magnons. We study various current responses to this fictitious field and analyze the role of Berry curvature. In particular, we obtain an analog of the Hall-like response in systems with nontrivial Berry curvature of magnon bands. After identifying the magnon-mediated contribution to the equilibrium Dzyaloshinskii-Moriya interaction, we also establish the Onsager reciprocity between the magnon mediated thermal torques and heat pumping. We apply our theory to the magnonic heat pumping and torque responses in honeycomb and kagome lattice ferromagnets.
Improving the position control of a two degrees of freedom robotic sensing antenna using fractional-order controllers

NASA Astrophysics Data System (ADS)

Feliu-Talegon, D.; Feliu-Batlle, V.

2017-06-01

Flexible links combined with force and torque sensors can be used to detect obstacles in mobile robotics, as well as for surface and object recognition. These devices, called sensing antennae, perform an active sensing strategy in which a servomotor system moves the link back and forth until it hits an object. At this instant, information of the motor angles combined with force and torque measurements allow calculating the positions of the hitting points, which are valuable information about the object surface. In order to move the antenna fast and accurately, this article proposes a new closed-loop control for driving this flexible link-based sensor. The control strategy is based on combining a feedforward term and a feedback phase-lag compensator of fractional order. We demonstrate that some drawbacks of the control of these sensing devices like the apparition of spillover effects when a very fast positioning of the antenna tip is desired, and actuator saturation caused by high-frequency sensor noise, can be significantly reduced by using our newly proposed fractional-order controllers. We have applied these controllers to the position control of a prototype of sensing antenna and experiments have shown the improvements attained with this technique in the accurate and vibration free motion of its tip (the fractional-order controller reduced ten times the residual vibration obtained with the integer-order controller).

Analysis of Vibration and Acoustic Noise in Permanent Magnet Motors.

NASA Astrophysics Data System (ADS)

Hwang, Sangmoon

The drive motor is a frequent source of vibration and acoustic noise in many precision spindle motors. One of the electromagnetic sources of vibration in permanent magnet motors is the torque ripple, consisting of the reluctance torque and electromagnetic torque fluctuation. This type of vibration is becoming more serious with the advent of new high-grade magnets with increased flux density. Acoustic noise of electromagnetic origin is difficult to predict and its exact mechanism is unclear. The mechanism of noise generation should be revealed to design a quieter motor which is the modern customer's demand. For motor operation at low speeds and loads, torque ripple due to the reluctance torque is often a source of vibration and control difficulty. The reluctance torque in a motor was calculated from the flux density by a finite element method and the Maxwell stress method. Effects of design parameters, such as stator slot width, permanent slot width, airgap length and magnetization direction, were investigated. Magnet pole shaping, by gradually decreasing the magnet thickness toward edges, yields a sinusoidal shape of the reluctance torque with reduced harmonics, thus reducing the vibration. This dissertation also presents two motor design techniques: stator tooth notching and rotor pole skewing with magnet pole shaping, and the effect of each method on the output torque. The analysis shows that the reluctance torque can be nearly eliminated by the suggested designs, with minimal sacrifice of the output torque. In permanent magnet DC motors, the most popular design type is the trapezoidal back electro-motive force (BEMF), for switched DC controllers. It is demonstrated that the output torque profile of one phase energized is qualitatively equivalent to the BEMF profile for motors with reduced reluctance torque. It implies that design of BEMF profile is possible by magnetic modeling of a motor, without expensive and time-consuming experiments for different designs. The effect of various design parameters on the output torque and torque ripple are discussed. Design parameters include winding patterns, magnetization direction, magnet arc length, number of segments in poles and magnet pole shaping. New designs of trapezoidal BEMF motors are proposed to reduce the electromagnetic torque ripple. Magnet stepping and magnet edge shaping with reduced arc length, significantly reduce torque ripple, with minimal sacrifice of the maximum output torque. Acoustic noise of electromagnetic origin is investigated using a magnetic frame which emulates a DC motor. The driving electromagnetic force is calculated using finite element analysis and the resulting vibration and acoustic noise is measured. Acoustic noise of purely electromagnetic origin was also tested with a DC brushless motor to confirm the results of the magnetic frame. The mechanism of noise generation in a DC motor is a quasi-static response of a stator not only at the fundamental frequency but also at higher harmonic frequencies of alternating switched DC, which is a current characteristic of a DC motor. Noise generation is significantly aggravated when some of those harmonics are close to the resonant frequencies of the stator. Therefore, acoustic noise is highly dependent upon the excitation current shape, as higher harmonics may match with resonant frequencies of the stator.
Work capacity and metabolic and morphologic characteristics of the human quadriceps muscle in response to unloading

NASA Technical Reports Server (NTRS)

Berg, H. E.; Dudley, G. A.; Hather, B.; Tesch, P. A.

1993-01-01

The response of skeletal muscle to unweighting was studied in six healthy males who were subjected to four weeks of lowerlimb suspension. They performed three bouts of 30 consecutive maximal concentric knee extensions, before unloading and the day after (POST 1), 4 days after (POST 2) and 7 weeks after (REC) resumed weight-bearing. Peak torque of each contraction was recorded and work was calculated as the mean of the average peak torque for the three bouts and fatigability was measured as the decline in average peak torque over bouts. Needle biopsies were obtained from m. vastus lateralis of each limb before and at POST 1. Muscle fibre type composition and area, capillarity and the enzyme activities of citrate synthase (CS) and phosphofructokinase (PFK) were subsequently analysed. Mean average peak torque for the three bouts at POST1, POST2 and REC was reduced (P < 0.05) by 17, 13 and 7%, respectively. Fatigability was greater (P < 0.05) at POST2 than before unloading. Type I, IIA and IIB percentage, Type I and II area and capillaries per fibre of Type I and II did not change (P > 0.05) in response to unloading. The activity of CS, but not PFK, decreased (P < 0.05) after unloading. The weight-bearing limb showed no changes in the variables measured. The results of this study suggest that this human lowerlimb suspension model produces substantial impairments of work and oxidative capacity of skeletal muscle. The performance decrements are most likely induced by lack of weight-bearing.
Time-elapsed screw insertion with microCT imaging.

PubMed

Ryan, M K; Mohtar, A A; Cleek, T M; Reynolds, K J

2016-01-25

Time-elapsed analysis of bone is an innovative technique that uses sequential image data to analyze bone mechanics under a given loading regime. This paper presents the development of a novel device capable of performing step-wise screw insertion into excised bone specimens, within the microCT environment, whilst simultaneously recording insertion torque, compression under the screw head and rotation angle. The system is computer controlled and screw insertion is performed in incremental steps of insertion torque. A series of screw insertion tests to failure were performed (n=21) to establish a relationship between the torque at head contact and stripping torque (R(2)=0.89). The test-device was then used to perform step-wise screw insertion, stopping at intervals of 20%, 40%, 60% and 80% between screw head contact and screw stripping. Image data-sets were acquired at each of these time-points as well as at head contact and post-failure. Examination of the image data revealed the trabecular deformation as a result of increased insertion torque was restricted to within 1mm of the outer diameter of the screw thread. Minimal deformation occurred prior to the step between the 80% time-point and post-failure. The device presented has allowed, for the first time, visualization of the micro-mechanical response in the peri-implant bone with increased tightening torque. Further testing on more samples is expected to increase our understanding of the effects of increased tightening torque at the micro-structural level, and the failure mechanisms of trabeculae. Copyright © 2015 Elsevier Ltd. All rights reserved.
Shortening-induced torque depression in old men: implications for age-related power loss.

PubMed

Power, Geoffrey A; Makrakos, Demetri P; Stevens, Daniel E; Herzog, Walter; Rice, Charles L; Vandervoort, Anthony A

2014-09-01

Following active muscle shortening, the steady-state isometric torque at the final muscle length is lower than the steady-state torque obtained for a purely isometric contraction at that same final muscle length. This well-documented property of skeletal muscle is termed shortening-induced torque depression (TD). Despite many investigations into the mechanisms of weakness and power loss in old age, the influence of muscle shortening on the history dependence of isometric torque production remains to be elucidated. Thus, it is unclear whether older adults are disadvantaged for torque and power production following a dynamic shortening contraction. The purpose of this study was to evaluate shortening-induced TD in older adults, and to determine whether shortening-induced TD is related to power loss. Maximal voluntary isometric dorsiflexion contractions (MVC; 10s) in 8 young (25.5±3.7years) and 9 old (76.1±5.4years) men were performed on a HUMAC NORM dynamometer as a reference, and then again following an active shortening of 40° joint excursion (40°PF-0°PF) at angular velocities of 15°/s and 120°/s. Work and instantaneous power were derived during shortening. Shortening-induced TD was calculated and expressed as a percentage by determining the mean torque value over 1s during the isometric steady state of the MVC following shortening, divided by the mean torque value for the same 1s time period during the isometric reference MVC. To assess muscle activation, electromyography (root mean square; EMGRMS) of the tibialis anterior (TA) and soleus (SOL) was calculated at identical time points used in assessing shortening-induced TD, and voluntary activation (VA) was assessed using the interpolated twitch technique. Old were 18% weaker than young for MVC, and ~40% less powerful for 15°/s and 120°/s of shortening. Old produced 37% and 21% less work for 15°/s and 120°/s than young, respectively. Furthermore, old experienced 60% and 70% greater shortening-induced TD than young for 15°/s and 120°/s, respectively with similar EMGRMS and VA across all conditions. A significant relationship between shortening-induced TD and instantaneous power was found only at the fast angular velocity for both the old (R(2)=0.32) and young (R(2)=0.45) men. The older men experienced greater shortening-induced TD than young while maintaining similar levels of voluntary activation. This previously unaccounted for history-dependent property of muscle may provide insight into power loss in old age. Copyright © 2014 Elsevier Inc. All rights reserved.
Effects of structural offset, axial shortening, and gravitational torque on the slewing of a flexible spacecraft

NASA Technical Reports Server (NTRS)

Li, Feiyue; Bainum, Peter M.

1990-01-01

The large-angle maneuvering of a Shuttle-beam-reflector spacecraft in the plane of a circular earth orbit is examined by considering the effects of the structural offset connection, the axial shortening, and the gravitational torque on the slewing motion. The offset effect is analyzed by changing the attachment point of the reflector to the beam. As the attachment point is moved away from the mass center of the reflector, the responses of the nonlinear system deviate from those of the linearized system. The axial geometric shortening effect induced by the deformation of the beam contributes to the system equations through second order terms in the modal amplitudes and rates. The gravitational torque effect is relatively small.
A predictive control framework for torque-based steering assistance to improve safety in highway driving

NASA Astrophysics Data System (ADS)

Ercan, Ziya; Carvalho, Ashwin; Tseng, H. Eric; Gökaşan, Metin; Borrelli, Francesco

2018-05-01

Haptic shared control framework opens up new perspectives on the design and implementation of the driver steering assistance systems which provide torque feedback to the driver in order to improve safety. While designing such a system, it is important to account for the human-machine interactions since the driver feels the feedback torque through the hand wheel. The controller should consider the driver's impact on the steering dynamics to achieve a better performance in terms of driver's acceptance and comfort. In this paper we present a predictive control framework which uses a model of driver-in-the-loop steering dynamics to optimise the torque intervention with respect to the driver's neuromuscular response. We first validate the system in simulations to compare the performance of the controller in nominal and model mismatch cases. Then we implement the controller in a test vehicle and perform experiments with a human driver. The results show the effectiveness of the proposed system in avoiding hazardous situations under different driver behaviours.
Dependence of neoclassical toroidal viscosity on the poloidal spectrum of applied nonaxisymmetric fields

DOE PAGES

Logan, Nikolas C.; Park, Jong -Kyu; Paz-Soldan, Carloa; ...

2016-02-05

This paper presents a single mode model that accurately predicts the coupling of applied nonaxisymmetric fields to the plasma response that induces neoclassical toroidal viscosity (NTV) torque in DIII-D H-mode plasmas. The torque is measured and modeled to have a sinusoidal dependence on the relative phase of multiple nonaxisymmetric field sources, including a minimum in which large amounts of nonaxisymmetric drive is decoupled from the NTV torque. This corresponds to the coupling and decoupling of the applied field to a NTV-driving mode spectrum. Modeling using the perturbed equilibrium nonambipolar transport (PENT) code confirms an effective single mode coupling between themore » applied field and the resultant torque, despite its inherent nonlinearity. Lastly, the coupling to the NTV mode is shown to have a similar dependence on the relative phasing as that of the IPEC dominant mode, providing a physical basis for the efficacy of this linear metric in predicting error field correction optima in NTV dominated regimes.« less
Dependence of neoclassical toroidal viscosity on the poloidal spectrum of applied nonaxisymmetric fields

NASA Astrophysics Data System (ADS)

Logan, N. C.; Park, J.-K.; Paz-Soldan, C.; Lanctot, M. J.; Smith, S. P.; Burrell, K. H.

2016-03-01

This paper presents a single mode model that accurately predicts the coupling of applied nonaxisymmetric fields to the plasma response that induces neoclassical toroidal viscosity (NTV) torque in DIII-D H-mode plasmas. The torque is measured and modeled to have a sinusoidal dependence on the relative phase of multiple nonaxisymmetric field sources, including a minimum in which large amounts of nonaxisymmetric drive is decoupled from the NTV torque. This corresponds to the coupling and decoupling of the applied field to a NTV-driving mode spectrum. Modeling using the perturbed equilibrium nonambipolar transport (PENT) code confirms an effective single mode coupling between the applied field and the resultant torque, despite its inherent nonlinearity. The coupling to the NTV mode is shown to have a similar dependence on the relative phasing as that of the IPEC dominant mode, providing a physical basis for the efficacy of this linear metric in predicting error field correction optima in NTV dominated regimes.
Tetherless mobile micrograsping using a magnetic elastic composite material

NASA Astrophysics Data System (ADS)

Zhang, Jiachen; Diller, Eric

2016-11-01

In this letter, we propose and characterize a new type of tetherless mobile microgripper for micrograsping that is made of a magnetic elastic composite material. Its magnetically-programmable material and structures make it the first three-dimensional (3D) mobile microgripper that is directly actuated and controlled by magnetic forces and torques. With a symmetric four-limb structure, the microgripper is 3.5 mm long from tip to tip when it is open and 30 μm thick. It forms an approximate 700 μm cube when it is closed. The orientation and 3D shape of the microgripper are determined by the direction and strength of the applied magnetic field, respectively. As a mobile device, the microgripper can be moved through aqueous environments for precise grasping and transportation of micro-objects, pulled by magnetic gradients directly or rolled in rotating magnetic fields. The deformation of the microgripper under magnetic actuation is characterized by modeling and confirmed experimentally. Being directly controlled by magnetic forces and torques, the microgripper is easier and more intuitive to control than other magnetic microgrippers that require other inputs such as thermal and chemical responses. In addition, the microgripper is capable of performing fast repeatable grasping motions, requiring no more than 25 ms to change from fully open to fully closed in water at room temperature. As a result of its large-amplitude 3D deformation, the microgripper can accommodate cargoes with a wide range of geometries and dimensions. A pick-and-place experiment demonstrates the efficacy of the microgripper and its potentials in biomedical, microfluidic, and microrobotic applications.
Effect of spaceflight on the isotonic contractile properties of single skeletal muscle fibers in the rhesus monkey

NASA Technical Reports Server (NTRS)

Fitts, R. H.; Romatowski, J. G.; Blaser, C.; De La Cruz, L.; Gettelman, G. J.; Widrick, J. J.

2000-01-01

Experiments from both Cosmos and Space Shuttle missions have shown weightlessness to result in a rapid decline in the mass and force of rat hindlimb extensor muscles. Additionally, despite an increased maximal shortening velocity, peak power was reduced in rat soleus muscle post-flight. In humans, declines in voluntary peak isometric ankle extensor torque ranging from 15-40% have been reported following long- and short-term spaceflight and prolonged bed rest. Complete understanding of the cellular events responsible for the fiber atrophy and the decline in force, as well as the development of effective countermeasures, will require detailed knowledge of how the physiological and biochemical processes of muscle function are altered by spaceflight. The specific purpose of this investigation was to determine the extent to which the isotonic contractile properties of the slow- and fast-twitch fiber types of the soleus and gastrocnemius muscles of rhesus monkeys (Macaca mulatta) were altered by a 14-day spaceflight.
Serially-Connected Compensator for Eliminating the Unbalanced Three-Phase Voltage Impact on Wind Turbine Generators: Preprint

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

Wu, Z.; Hsu, P.; Muljadi, E.

2015-04-06

Untransposed transmission lines, unbalanced tap changer operations, and unbalanced loading in weak distribution lines can cause unbalanced-voltage conditions. The resulting unbalanced voltage at the point of interconnection affects proper gird integration and reduces the lifetime of wind turbines due to power oscillations, torque pulsations, mechanical stresses, energy losses, and uneven and overheating of the generator stator winding. This work investigates the dynamic impact of unbalanced voltage on the mechanical and electrical components of integrated Fatigue, Aerodynamics, Structures, and Turbulence (FAST) wind turbine generation systems (WTGs) of Type 1 (squirrel-cage induction generator) and Type 3 (doubly-fed induction generator). To alleviate thismore » impact, a serially-connected compensator for a three-phase power line is proposed to balance the wind turbine-side voltage. Dynamic simulation studies are conducted in MATLAB/Simulink to compare the responses of these two types of wind turbine models under normal and unbalanced-voltage operation conditions and demonstrate the effectiveness of the proposed compensator.« less
A Serially-Connected Compensator for Eliminating the Unbalanced Three-Phase Voltage Impact on Wind Turbine Generators

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

Wu, Ziping; Hsu, Ping; Muljadi, Eduard

2015-10-05

Untransposed transmission lines, unbalanced tap changer operations, and unbalanced loading in weak distribution lines can cause unbalanced-voltage conditions. The resulting unbalanced voltage at the point of interconnection affects proper gird integration and reduces the lifetime of wind turbines due to power oscillations, torque pulsations, mechanical stresses, energy losses, and uneven and overheating of the generator stator winding. This work investigates the dynamic impact of unbalanced voltage on the mechanical and electrical components of integrated Fatigue, Aerodynamics, Structures, and Turbulence (FAST) wind turbine generation systems (WTGs) of Type 1 (squirrel-cage induction generator) and Type 3 (doubly-fed induction generator). To alleviate thismore » impact, a serially-connected compensator for a three-phase power line is proposed to balance the wind turbine-side voltage. Dynamic simulation studies are conducted in MATLAB/Simulink to compare the responses of these two types of wind turbine models under normal and unbalanced-voltage operation conditions and demonstrate the effectiveness of the proposed compensator.« less
Electrical switching of antiferromagnets via strongly spin-orbit coupled materials

NASA Astrophysics Data System (ADS)

Li, Xi-Lai; Duan, Xiaopeng; Semenov, Yuriy G.; Kim, Ki Wook

2017-01-01

Electrically controlled ultra-fast switching of an antiferromagnet (AFM) is shown to be realizable by interfacing it with a material of strong spin-orbit coupling. The proximity interaction between the sublattice magnetic moments of a layered AFM and the spin-polarized free electrons at the interface offers an efficient way to manipulate antiferromagnetic states. A quantitative analysis, using the combination with a topological insulator as an example, demonstrates highly reliable 90° and 180° rotations of AFM magnetic states under two different mechanisms of effective torque generation at the interface. The estimated switching speed and energy requirement are in the ps and aJ ranges, respectively, which are about two-three orders of magnitude better than the ferromagnetic counterparts. The observed differences in the magnetization dynamics may explain the disparate characteristic responses. Unlike the usual precessional/chiral motions in the ferromagnets, those of the AFMs can essentially be described as a damped oscillator with a more direct path. The impact of random thermal fluctuations is also examined.
Dynamically variable negative stiffness structures

PubMed Central

Churchill, Christopher B.; Shahan, David W.; Smith, Sloan P.; Keefe, Andrew C.; McKnight, Geoffrey P.

2016-01-01

Variable stiffness structures that enable a wide range of efficient load-bearing and dexterous activity are ubiquitous in mammalian musculoskeletal systems but are rare in engineered systems because of their complexity, power, and cost. We present a new negative stiffness–based load-bearing structure with dynamically tunable stiffness. Negative stiffness, traditionally used to achieve novel response from passive structures, is a powerful tool to achieve dynamic stiffness changes when configured with an active component. Using relatively simple hardware and low-power, low-frequency actuation, we show an assembly capable of fast (<10 ms) and useful (>100×) dynamic stiffness control. This approach mitigates limitations of conventional tunable stiffness structures that exhibit either small (<30%) stiffness change, high friction, poor load/torque transmission at low stiffness, or high power active control at the frequencies of interest. We experimentally demonstrate actively tunable vibration isolation and stiffness tuning independent of supported loads, enhancing applications such as humanoid robotic limbs and lightweight adaptive vibration isolators. PMID:26989771
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)
Measurement of the force and torque produced in the calcium response of reactivated rat sperm flagella.

PubMed

Moritz, M J; Schmitz, K A; Lindemann, C B

2001-05-01

Rat sperm that are demembranated with Triton X-100 and reactivated with Mg-ATP show a strong mechanical response to the presence of free calcium ion. At pCa < 4, the midpiece region of the flagellum develops a strong and sustained curvature that gives the cell the overall appearance of a fishhook [Lindemann and Goltz, 1988: Cell Motil. Cytoskeleton 10:420-431]. In the present study, the force and torque that maintain the calcium-induced hook have been examined quantitatively. In addition, full-length and shortened flagella were manipulated to evaluate the plasticity of the hooks and determined the critical length necessary for maintaining the curvature. The hooks were found to be highly resilient, returning to their original configuration (>95%) after being straightened and released. The results from manipulating the shortened flagella suggest that the force holding the hook in the curved configuration is generated in the basal 60 microm of the flagellum. The force required to straighten the calcium-induced hooks was measured with force-calibrated glass microprobes, and the bending torque was calculated from the measured force. The force and torque required to straighten the flagellum were found to be proportional to the change in curvature of the hooked region of the flagellum, suggesting an elastic-like behavior. The average torque to open the hooks to a straight position was 2.6 (+/-1.4) x 10(-7) dyne x cm (2.6 x 10(-14) N x m) and the apparent stiffness was 4.3 (+/-1.3) x 10(-10) dyne x cm(2) (4.3 x 10(-19) N x m(2)). The stiffness of the hook was determined to be approximately one quarter the rigor stiffness of a rat sperm flagellum measured under comparable conditions.
Decentralized digital adaptive control of robot motion

NASA Technical Reports Server (NTRS)

Tarokh, M.

1990-01-01

A decentralized model reference adaptive scheme is developed for digital control of robot manipulators. The adaptation laws are derived using hyperstability theory, which guarantees asymptotic trajectory tracking despite gross robot parameter variations. The control scheme has a decentralized structure in the sense that each local controller receives only its joint angle measurement to produce its joint torque. The independent joint controllers have simple structures and can be programmed using a very simple and computationally fast algorithm. As a result, the scheme is suitable for real-time motion control.
Anomalous Thermal Conductivity and Magnetic Torque Response in the Honeycomb Magnet α -RuCl3

NASA Astrophysics Data System (ADS)

Leahy, Ian A.; Pocs, Christopher A.; Siegfried, Peter E.; Graf, David; Do, S.-H.; Choi, Kwang-Yong; Normand, B.; Lee, Minhyea

2017-05-01

We report on the unusual behavior of the in-plane thermal conductivity κ and torque τ response in the Kitaev-Heisenberg material α -RuCl3 . κ shows a striking enhancement with linear growth beyond H =7 T , where magnetic order disappears, while τ for both of the in-plane symmetry directions shows an anomaly at the same field. The temperature and field dependence of κ are far more complex than conventional phonon and magnon contributions, and require us to invoke the presence of unconventional spin excitations whose properties are characteristic of a field-induced spin-liquid phase related to the enigmatic physics of the Kitaev model in an applied magnetic field.
Human torque velocity adaptations to sprint, endurance, or combined modes of training

NASA Technical Reports Server (NTRS)

Shealy, M. J.; Callister, R.; Dudley, G. A.; Fleck, S. J.

1992-01-01

We had groups of athletes perform sprint and endurance run training independently or concurrently for 8 weeks to examine the voluntary in vivo mechanical responses to each type of training. Pre- and posttraining angle-specific peak torque during knee extension and flexion were determined at 0, 0.84, 1.65, 2.51, 3.35, 4.19, and 5.03 radian.sec-1 and normalized for lean body mass. Knee extension torque in the sprint-trained group increased across all test velocities, the endurance-trained group increased at 2.51, 3.34, 4.19, and 5.03 radian.sec-1, and the group performing the combined training showed no change at any velocity. Knee flexion torque of the sprint and combined groups decreased at 0.84, 1.65, and 2.51 radian.sec-1. Knee flexion torque in the sprint-trained group also decreased at 0 radian.sec-1 and in the combined group at 3.34 radian.sec-1. Knee flexion torque in the endurance-trained group showed no change at any velocity of contraction. Mean knee flexion:extension ratios across the test velocities significantly decreased in the sprint-trained group. Knee extension endurance during 30 seconds of maximal contractions significantly increased in all groups. Only the sprint-trained group showed a significant increase in endurance of the knee flexors. These data suggest that changes in the voluntary in vivo mechanical characteristics of knee extensor and flexor skeletal muscles are specific to the type of run training performed.
Coupled vibrations of rectangular buildings subjected to normally-incident random wind loads

USGS Publications Warehouse

Safak, E.; Foutch, D.A.

1987-01-01

A method for analyzing the three-directional coupled dynamic response of wind-excited buildings is presented. The method is based on a random vibration concept and is parallel to those currently used for analyzing alongwind response. Only the buildings with rectangular cross-section and normally-incident wind are considered. The alongwind pressures and their correlations are represented by the well-known expressions that are available in the literature. The acrosswind forces are assumed to be mainly due to vortex shedding. The torque acting on the building is taken as the sum of the torque due to random alongwind forces plus the torque due to asymmetric acrosswind forces. The study shows the following: (1) amplitude of acrosswind vibrations can be several times greater than that of alongwind vibrations; (2) torsional vibrations are significant if the building has large frontal width, and/or it is asymmetric, and/or its torsional natural frequency is low; (3) even a perfectly symmetric structure with normally incident wind can experience significant torsional vibrations due to the randomness of wind pressures. ?? 1987.

Computer controlled synchronous shifting of an automatic transmission

DOEpatents

Davis, Roy I.; Patil, Prabhakar B.

1989-01-01

A multiple forward speed automatic transmission produces its lowest forward speed ratio when a hydraulic clutch and hydraulic brake are disengaged and a one-way clutch connects a ring gear to the transmission casing. Second forward speed ratio results when the hydraulic clutch is engaged to connect the ring gear to the planetary carrier of a second gear set. Reverse drive and regenerative operation result when an hydraulic brake fixes the planetary and the direction of power flow is reversed. Various sensors produce signals representing the torque at the output of the transmission or drive wheels, the speed of the power source, and the hydraulic pressure applied to a clutch and brake. A control algorithm produces input data representing a commanded upshift, a commanded downshift, a commanded transmission output torque, and commanded power source speed. A microprocessor processes the inputs and produces a response to them in accordance with the execution of a control algorithm. Output or response signals cause selective engagement and disengagement of the clutch and brake at a rate that satisfies the requirements for a short gear ratio change and smooth torque transfer between the friction elements.
Effects of Structural Deformations of the Crank-Slider Mechanism on the Estimation of the Instantaneous Engine Friction Torque

NASA Astrophysics Data System (ADS)

CHALHOUB, N. G.; NEHME, H.; HENEIN, N. A.; BRYZIK, W.

1999-07-01

The focus on the current study is to assess the effects of structural deformations of the crankshaft/connecting-rod/piston mechanism on the computation of the instantaneous engine friction torque. This study is performed in a fully controlled environment in order to isolate the effects of structural deformations from those of measurement errors or noise interference. Therefore, a detailed model, accounting for the rigid and flexible motions of the crank-slider mechanism and including engine component friction formulations, is considered in this study. The model is used as a test bed to generate the engine friction torque,Tfa, and to predict the rigid and flexible motions of the system in response to the cylinder gas pressure. The torsional vibrations and the rigid body angular velocity of the crankshaft, as predicted by the detailed model of the crank-slider mechanism, are used along with the engine load torque and the cylinder gas pressure in the (P-ω) method to estimate the engine friction torque,Tfe. This method is well suited for the purpose of this study because its formulation is based on the rigid body model of the crank-slider mechanism. The digital simulation results demonstrate that the exclusion of the structural deformations of the crank-slider mechanism from the formulation of the (P-ω) method leads to an overestimation of the engine friction torque near the top-dead-center (TDC) position of the piston under firing conditions. Moreover, for the remainder of the engine cycle, the estimated friction torque exhibits large oscillations and takes on positive numerical values as if it is inducing energy into the system. Thus, the adverse effects of structural deformations of the crank-slider mechanism on the estimation of the engine friction torque greatly differ in their nature from one phase of the engine cycle to another.
New Technique of High-Performance Torque Control Developed for Induction Machines

NASA Technical Reports Server (NTRS)

Kenny, Barbara H.

2003-01-01

Two forms of high-performance torque control for motor drives have been described in the literature: field orientation control and direct torque control. Field orientation control has been the method of choice for previous NASA electromechanical actuator research efforts with induction motors. Direct torque control has the potential to offer some advantages over field orientation, including ease of implementation and faster response. However, the most common form of direct torque control is not suitable for the highspeed, low-stator-flux linkage induction machines designed for electromechanical actuators with the presently available sample rates of digital control systems (higher sample rates are required). In addition, this form of direct torque control is not suitable for the addition of a high-frequency carrier signal necessary for the "self-sensing" (sensorless) position estimation technique. This technique enables low- and zero-speed position sensorless operation of the machine. Sensorless operation is desirable to reduce the number of necessary feedback signals and transducers, thus improving the reliability and reducing the mass and volume of the system. This research was directed at developing an alternative form of direct torque control known as a "deadbeat," or inverse model, solution. This form uses pulse-width modulation of the voltage applied to the machine, thus reducing the necessary sample and switching frequency for the high-speed NASA motor. In addition, the structure of the deadbeat form allows the addition of the high-frequency carrier signal so that low- and zero-speed sensorless operation is possible. The new deadbeat solution is based on using the stator and rotor flux as state variables. This choice of state variables leads to a simple graphical representation of the solution as the intersection of a constant torque line with a constant stator flux circle. Previous solutions have been expressed only in complex mathematical terms without a method to clearly visualize the solution. The graphical technique allows a more insightful understanding of the operation of the machine under various conditions.
Stability phase diagram of a perpendicular magnetic tunnel junction in noncollinear geometry

NASA Astrophysics Data System (ADS)

Strelkov, N.; Timopheev, A.; Sousa, R. C.; Chshiev, M.; Buda-Prejbeanu, L. D.; Dieny, B.

2017-05-01

Experimental measurements performed on MgO-based perpendicular magnetic tunnel junctions show a strong dependence of the stability voltage-field diagrams as a function of the direction of the magnetic field with respect to the plane of the sample. When the magnetic field is applied in-plane, systematic nonlinear phase boundaries are observed for various lateral sizes. The simulation results based on the phenomenological Landau-Lifshitz-Gilbert equation including the in-plane and out-of-plane spin transfer torques are consistent with the measurements if a second-order anisotropy contribution is considered. Furthermore, performing the stability analysis in linear approximation allowed us to analytically extract the critical switching voltage at zero temperature in the presence of an in-plane field. This study indicates that in the noncollinear geometry investigations are suitable to detect the presence of the second-order term in the anisotropy. Such higher order anisotropy term can yield an easy-cone anisotropy which reduces the thermal stability factor but allows for more reproducible spin transfer torque switching due to a reduced stochasticity of the switching. As a result, the energy per write event decreases much faster than the thermal stability factor as the second-order anisotropy becomes more negative. Easy-cone anisotropy can be useful for fast-switching spin transfer torque magnetic random access memories provided the thermal stability can be maintained above the required value for a given memory specification.
Design of a 4-DOF MR haptic master for application to robot surgery: virtual environment work

NASA Astrophysics Data System (ADS)

Oh, Jong-Seok; Choi, Seung-Hyun; Choi, Seung-Bok

2014-09-01

This paper presents the design and control performance of a novel type of 4-degrees-of-freedom (4-DOF) haptic master in cyberspace for a robot-assisted minimally invasive surgery (RMIS) application. By using a controllable magnetorheological (MR) fluid, the proposed haptic master can have a feedback function for a surgical robot. Due to the difficulty in utilizing real human organs in the experiment, the cyberspace that features the virtual object is constructed to evaluate the performance of the haptic master. In order to realize the cyberspace, a volumetric deformable object is represented by a shape-retaining chain-linked (S-chain) model, which is a fast volumetric model and is suitable for real-time applications. In the haptic architecture for an RMIS application, the desired torque and position induced from the virtual object of the cyberspace and the haptic master of real space are transferred to each other. In order to validate the superiority of the proposed master and volumetric model, a tracking control experiment is implemented with a nonhomogenous volumetric cubic object to demonstrate that the proposed model can be utilized in real-time haptic rendering architecture. A proportional-integral-derivative (PID) controller is then designed and empirically implemented to accomplish the desired torque trajectories. It has been verified from the experiment that tracking the control performance for torque trajectories from a virtual slave can be successfully achieved.
Control of repulsive force in a virtual environment using an electrorheological haptic master for a surgical robot application

NASA Astrophysics Data System (ADS)

Oh, Jong-Seok; Choi, Seung-Hyun; Choi, Seung-Bok

2014-01-01

This paper presents control performances of a new type of four-degrees-of-freedom (4-DOF) haptic master that can be used for robot-assisted minimally invasive surgery (RMIS). By adopting a controllable electrorheological (ER) fluid, the function of the proposed master is realized as a haptic feedback as well as remote manipulation. In order to verify the efficacy of the proposed master and method, an experiment is conducted with deformable objects featuring human organs. Since the use of real human organs is difficult for control due to high cost and moral hazard, an excellent alternative method, the virtual reality environment, is used for control in this work. In order to embody a human organ in the virtual space, the experiment adopts a volumetric deformable object represented by a shape-retaining chain linked (S-chain) model which has salient properties such as fast and realistic deformation of elastic objects. In haptic architecture for RMIS, the desired torque/force and desired position originating from the object of the virtual slave and operator of the haptic master are transferred to each other. In order to achieve the desired torque/force trajectories, a sliding mode controller (SMC) which is known to be robust to uncertainties is designed and empirically implemented. Tracking control performances for various torque/force trajectories from the virtual slave are evaluated and presented in the time domain.
Online Fault Detection of Permanent Magnet Demagnetization for IPMSMs by Nonsingular Fast Terminal-Sliding-Mode Observer

PubMed Central

Zhao, Kai-Hui; Chen, Te-Fang; Zhang, Chang-Fan; He, Jing; Huang, Gang

2014-01-01

To prevent irreversible demagnetization of a permanent magnet (PM) for interior permanent magnet synchronous motors (IPMSMs) by flux-weakening control, a robust PM flux-linkage nonsingular fast terminal-sliding-mode observer (NFTSMO) is proposed to detect demagnetization faults. First, the IPMSM mathematical model of demagnetization is presented. Second, the construction of the NFTSMO to estimate PM demagnetization faults in IPMSM is described, and a proof of observer stability is given. The fault decision criteria and fault-processing method are also presented. Finally, the proposed scheme was simulated using MATLAB/Simulink and implemented on the RT-LAB platform. A number of robustness tests have been carried out. The scheme shows good performance in spite of speed fluctuations, torque ripples and the uncertainties of stator resistance. PMID:25490582
Online fault detection of permanent magnet demagnetization for IPMSMs by nonsingular fast terminal-sliding-mode observer.

PubMed

Zhao, Kai-Hui; Chen, Te-Fang; Zhang, Chang-Fan; He, Jing; Huang, Gang

2014-12-05

To prevent irreversible demagnetization of a permanent magnet (PM) for interior permanent magnet synchronous motors (IPMSMs) by flux-weakening control, a robust PM flux-linkage nonsingular fast terminal-sliding-mode observer (NFTSMO) is proposed to detect demagnetization faults. First, the IPMSM mathematical model of demagnetization is presented. Second, the construction of the NFTSMO to estimate PM demagnetization faults in IPMSM is described, and a proof of observer stability is given. The fault decision criteria and fault-processing method are also presented. Finally, the proposed scheme was simulated using MATLAB/Simulink and implemented on the RT-LAB platform. A number of robustness tests have been carried out. The scheme shows good performance in spite of speed fluctuations, torque ripples and the uncertainties of stator resistance.
Structure-dependent magnetoresistance and spin-transfer torque in antiferromagnetic Fe |MgO |FeMn |Cu tunnel junctions

NASA Astrophysics Data System (ADS)

Jia, Xingtao; Tang, Huimin; Wang, Shizhuo; Qin, Minghui

2017-02-01

We predict large magnetoresistance (MR) and spin transfer torque (STT) in antiferromagnetic Fe |MgO |FeMn |Cu tunnel junctions based on first-principles scattering theory. MR as large as ˜100 % is found in one junction. Magnetic dynamic simulations show that STT acting on the antiferromagnetic order parameter dominates the spin dynamics, and an electronic bias of order 10-1mV and current density of order 105Acm-2 can switches a junction of three-layer MgO, they are about one order smaller than that in Fe |MgO |Fe junction with the same barrier thickness, respectively. The multiple scattering in the antiferromagnetic region is considered to be responsible for the enhanced spin torque and smaller switching current density.
Theory verification and numerical benchmarking on neoclassical toroidal viscosity

NASA Astrophysics Data System (ADS)

Wang, Z. R.; Park, J.-K.; Liu, Y. Q.; Logan, N. C.; Menard, J. E.

2013-10-01

Systematic verification and numerical benchmarking has been successfully carried out among three different approaches of neoclassical toroidal viscosity (NTV) theory and the corresponding codes: IPEC-PENT is developed based on the combined NTV theory but without geometric simplifications; MARS-K originally calculating the kinetic energy is upgraded to calculate the NTV torque based on the equivalence between kinetic energy and NTV torque; MARS-Q includes smoothly connected NTV formula. The derivation and numerical results both indicate that the imaginary part of kinetic energy calculated by MARS-K is equivalent to the NTV torque in IPEC-PENT. In the benchmark of precession resonance between MARS-Q and MARS-K/IPEC-PENT, it is first time to show the agreement and the correlation between the connected NTV formula and the combined NTV theory in different collisional region. Additionally, both IPEC-PENT and MARS-K indicates the importance of the bounce harmonic resonance which could greatly enhance the NTV torque when E cross B drift frequency reaches the bounce resonance condition. Since MARS-K also has the capability to calculate the plasma response including the kinetic effect self-consistently, the self-consistent NTV torque calculations have also been tested. This work is supported by DOE Contract No. DE-AC02-09CH11466.
Matching initial torque with different stimulation parameters influences skeletal muscle fatigue.

PubMed

Bickel, C Scott; Gregory, Chris M; Azuero, Andres

2012-01-01

A fundamental barrier to using electrical stimulation in the clinical setting is an inability to maintain torque production secondary to muscle fatigue. Electrical stimulation parameters are manipulated to influence muscle torque production, and they may also influence fatigability during repetitive stimulation. Our purpose was to determine the response of the quadriceps femoris to three different fatigue protocols using the same initial torque obtained by altering stimulator parameter settings. Participants underwent fatigue protocols in which either pulse frequency (lowHz), pulse duration (lowPD), or voltage (lowV) was manipulated to obtain an initial torque that equaled 25% of maximum voluntary isometric contraction. Muscle soreness was reported on a visual analog scale 48 h after each fatigue test. The lowHz protocol resulted in the least fatigue (25% +/- 14%); the lowPD (50% +/- 13%) and lowV (48% +/- 14%) protocols had similar levels of fatigue. The lowHz protocol resulted in significantly less muscle soreness than the higher frequency protocols. Stimulation protocols that use a lower frequency coupled with long pulse durations and high voltages result in lesser amounts of muscle fatigue and perceived soreness. The identification of optimal stimulation patterns to maximize muscle performance will reduce the effect of muscle fatigue and potentially improve clinical efficacy.
The design and analysis of single flank transmission error tester for loaded gears

NASA Technical Reports Server (NTRS)

Bassett, Duane E.; Houser, Donald R.

1987-01-01

To strengthen the understanding of gear transmission error and to verify mathematical models which predict them, a test stand that will measure the transmission error of gear pairs under design loads has been investigated. While most transmission error testers have been used to test gear pairs under unloaded conditions, the goal of this report was to design and perform dynamic analysis of a unique tester with the capability of measuring the transmission error of gears under load. This test stand will have the capability to continuously load a gear pair at torques up to 16,000 in-lb at shaft speeds from 0 to 5 rpm. Error measurement will be accomplished with high resolution optical encoders and the accompanying signal processing unit from an existing unloaded transmission error tester. Input power to the test gear box will be supplied by a dc torque motor while the load will be applied with a similar torque motor. A dual input, dual output control system will regulate the speed and torque of the system. This control system's accuracy and dynamic response were analyzed and it was determined that proportional plus derivative speed control is needed in order to provide the precisely constant torque necessary for error-free measurement.
Treadmill vs. overground walking: different response to physical interaction.

PubMed

Ochoa, Julieth; Sternad, Dagmar; Hogan, Neville

2017-10-01

Rehabilitation of human motor function is an issue of growing significance, and human-interactive robots offer promising potential to meet the need. For the lower extremity, however, robot-aided therapy has proven challenging. To inform effective approaches to robotic gait therapy, it is important to better understand unimpaired locomotor control: its sensitivity to different mechanical contexts and its response to perturbations. The present study evaluated the behavior of 14 healthy subjects who walked on a motorized treadmill and overground while wearing an exoskeletal ankle robot. Their response to a periodic series of ankle plantar flexion torque pulses, delivered at periods different from, but sufficiently close to, their preferred stride cadence, was assessed to determine whether gait entrainment occurred, how it differed across conditions, and if the adapted motor behavior persisted after perturbation. Certain aspects of locomotor control were exquisitely sensitive to walking context, while others were not. Gaits entrained more often and more rapidly during overground walking, yet, in all cases, entrained gaits synchronized the torque pulses with ankle push-off, where they provided assistance with propulsion. Furthermore, subjects entrained to perturbation periods that required an adaption toward slower cadence, even though the pulses acted to accelerate gait, indicating a neural adaptation of locomotor control. Lastly, during 15 post-perturbation strides, the entrained gait period was observed to persist more frequently during overground walking. This persistence was correlated with the number of strides walked at the entrained gait period (i.e., longer exposure), which also indicated a neural adaptation. NEW & NOTEWORTHY We show that the response of human locomotion to physical interaction differs between treadmill and overground walking. Subjects entrained to a periodic series of ankle plantar flexion torque pulses that shifted their gait cadence, synchronizing ankle push-off with the pulses (so that they assisted propulsion) even when gait cadence slowed. Entrainment was faster overground and, on removal of torque pulses, the entrained gait period persisted more prominently overground, indicating a neural adaptation of locomotor control. Copyright © 2017 the American Physiological Society.
Rate of utilization of a given fraction of W' (the curvature constant of the power-duration relationship) does not affect fatigue during severe-intensity exercise.

PubMed

de Souza, Kristopher Mendes; Dekerle, Jeanne; Salvador, Paulo Cesar do Nascimento; de Lucas, Ricardo Dantas; Guglielmo, Luiz Guilherme Antonacci; Greco, Camila Coelho; Denadai, Benedito Sérgio

2016-04-01

What is the central question of this study? Does the rate of utilization of W' (the curvature constant of the power-duration relationship) affect fatigue during severe-intensity exercise? What is the main finding and its importance? The magnitude of fatigue after two severe-intensity exercises designed to deplete the same fraction of W' (70%) at two different rates of utilization (fast versus slow) was similar after both exercises. Moreover, the magnitude of fatigue was related to critical power (CP), supporting the contention that CP is a key determinant in fatigue development during high-intensity exercise. Thus, the CP model is a suitable approach to investigate fatigue mechanisms during high-intensity exercise. The depletion of W' (the curvature constant of the power-duration relationship) seems to contribute to fatigue during severe-intensity exercise. Therefore, the aim of this study was to determine the effect of a fast versus a slow rate of utilization of W' on the occurrence of fatigue within the severe-intensity domain. Fifteen healthy male subjects performed tests to determine the critical power, W' and peak torque in the control condition (TCON ) and immediately after two fatiguing work rates (THREE and TEN) set to deplete 70% W' in either 3 (TTHREE ) or 10 min (TTEN ). The TTHREE and TTEN were significantly reduced (F = 19.68, P = 0.01) in comparison to TCON . However, the magnitude of reduction in peak torque (TTHREE = -19.8 ± 10.1% versus TTEN = -16.8 ± 13.3%) was the same in the two fatiguing exercises (t = -0.76, P = 0.46). There was a significant inverse relationship between the critical power and the reduction in peak torque during both THREE (r = -0.49, P = 0.03) and TEN (r = -0.62, P = 0.02). In contrast, the W' was not significantly correlated with the reduction in peak torque during both THREE (r = -0.14, P = 0.33) and TEN (r = -0.30, P = 0.10). Thus, fatigue following severe-intensity exercises performed at different rates of utilization of W' was similar when the same work was done above the critical power (i.e. same amount of W' used). © 2016 The Authors. Experimental Physiology © 2016 The Physiological Society.
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.
Acute muscle and joint mechanical responses following a high-intensity stretching protocol.

PubMed

Freitas, Sandro R; Andrade, Ricardo J; Nordez, Antoine; Mendes, Bruno; Mil-Homens, Pedro

2016-08-01

A previous study observed a joint passive torque increase above baseline ~30 min after a high-intensity stretching. This study examined the effect of a high-intensity stretching on ankle dorsiflexion passive torque, medial gastrocnemius (MG) shear modulus, and plantar flexors maximal voluntary isometric force (MVIC). Participants (n = 11, age 27.2 ± 6.5 years, height 172.0 ± 10.0 cm, weight 69.5 ± 10.4 kg) underwent two stretching sessions with plantar flexors isometric contractions performed: (1) 5 min before, 1 min after, and every 10 min after stretching (MVC session); (2) 5 min before, and 60 min after the stretching (no-MVC session). In both sessions, no changes were observed for MG shear modulus (p > 0.109). In the no-MVC session, passive torque decreased 1 min after stretching (-7.5 ± 8.4 %, p = 0.015), but increased above baseline 30 min after stretching (+6.3 ± 9.3 %, p = 0.049). In the MVC session, passive torque decreased at 1 min (-10.1 ± 6.3 %, p < 0.001), 10 min (-6.3 ± 8.2 %, p = 0.03), 20 min (-8.0 ± 9.2 %, p = 0.017), and 60 min (-9.2 ± 12.4 %, p = 0.034) after the stretching, whereas the MVIC decreased at 1 min (-5.0 ± 9.3 %, p = 0.04) and 10 min (-6.7 ± 8.7 %, p = 0.02) after stretching. The ankle passive torque increase 30 min following the stretch was not due to the MG shear modulus response; consequently, response may be due to changes in surrounding connective tissue mechanical properties.
Investigating spin-transfer torques induced by thermal gradients in magnetic tunnel junctions by using micro-cavity ferromagnetic resonance

NASA Astrophysics Data System (ADS)

Cansever, H.; Narkowicz, R.; Lenz, K.; Fowley, C.; Ramasubramanian, L.; Yildirim, O.; Niesen, A.; Huebner, T.; Reiss, G.; Lindner, J.; Fassbender, J.; Deac, A. M.

2018-06-01

Similar to electrical currents flowing through magnetic multilayers, thermal gradients applied across the barrier of a magnetic tunnel junction may induce pure spin-currents and generate ‘thermal’ spin-transfer torques large enough to induce magnetization dynamics in the free layer. In this study, we describe a novel experimental approach to observe spin-transfer torques induced by thermal gradients in magnetic multilayers by studying their ferromagnetic resonance response in microwave cavities. Utilizing this approach allows for measuring the magnetization dynamics on micron/nano-sized samples in open-circuit conditions, i.e. without the need of electrical contacts. We performed first experiments on magnetic tunnel junctions patterned into 6 × 9 µm2 ellipses from Co2FeAl/MgO/CoFeB stacks. We conducted microresonator ferromagnetic resonance (FMR) under focused laser illumination to induce thermal gradients in the layer stack and compared them to measurements in which the sample was globally heated from the backside of the substrate. Moreover, we carried out broadband FMR measurements under global heating conditions on the same extended films the microstructures were later on prepared from. The results clearly demonstrate the effect of thermal spin-torque on the FMR response and thus show that the microresonator approach is well suited to investigate thermal spin-transfer-driven processes for small temperatures gradients, far below the gradients required for magnetic switching.
The Influence of a Bout of Exertion on Novice Barefoot Running Dynamics

PubMed Central

Hashish, Rami; Samarawickrame, Sachithra D.; Baker, Lucinda; Salem, George J.

2016-01-01

Barefoot, forefoot strike (FFS) running has recently risen in popularity. Relative to shod, rear-foot strike (RFS) running, employing a FFS is associated with heightened triceps surae muscle activation and ankle mechanical demand. Novice to this pattern, it is plausible that habitually shod RFS runners exhibit fatigue to the triceps surae when acutely transitioning to barefoot running, thereby limiting their ability to attenuate impact. Therefore, the purpose was to determine how habitually shod RFS runners respond to an exertion bout of barefoot running, operationally defined as a barefoot run 20% of mean daily running distance. Twenty-one RFS runners performed novice barefoot running, before and after exertion. Ankle peak torque, triceps surae EMG median frequency, foot-strike patterns, joint energy absorption, and loading rates were evaluated. Of the 21 runners, 6 maintained a RFS, 10 adopted a mid-foot strike (MFS), and 5 adopted a FFS during novice barefoot running. In-response to exertion, MFS and FFS runners demonstrated reductions in peak torque, median frequency, and ankle energy absorption, and an increase in loading rate. RFS runners demonstrated reductions in peak torque and loading rate. These results indicate that a short bout of running may elicit fatigue to novice barefoot runners, limiting their ability to attenuate impact. Key points In response to exertion, novice barefoot runners demonstrate fatigue to their soleus. In response to exertion, novice barefoot runners demonstrate a reduction in ankle energy absorption In response to exertion, novice barefoot runners demonstrate an increase in loading rate PMID:27274672
The Influence of a Bout of Exertion on Novice Barefoot Running Dynamics.

PubMed

Hashish, Rami; Samarawickrame, Sachithra D; Baker, Lucinda; Salem, George J

2016-06-01

Barefoot, forefoot strike (FFS) running has recently risen in popularity. Relative to shod, rear-foot strike (RFS) running, employing a FFS is associated with heightened triceps surae muscle activation and ankle mechanical demand. Novice to this pattern, it is plausible that habitually shod RFS runners exhibit fatigue to the triceps surae when acutely transitioning to barefoot running, thereby limiting their ability to attenuate impact. Therefore, the purpose was to determine how habitually shod RFS runners respond to an exertion bout of barefoot running, operationally defined as a barefoot run 20% of mean daily running distance. Twenty-one RFS runners performed novice barefoot running, before and after exertion. Ankle peak torque, triceps surae EMG median frequency, foot-strike patterns, joint energy absorption, and loading rates were evaluated. Of the 21 runners, 6 maintained a RFS, 10 adopted a mid-foot strike (MFS), and 5 adopted a FFS during novice barefoot running. In-response to exertion, MFS and FFS runners demonstrated reductions in peak torque, median frequency, and ankle energy absorption, and an increase in loading rate. RFS runners demonstrated reductions in peak torque and loading rate. These results indicate that a short bout of running may elicit fatigue to novice barefoot runners, limiting their ability to attenuate impact. Key pointsIn response to exertion, novice barefoot runners demonstrate fatigue to their soleus.In response to exertion, novice barefoot runners demonstrate a reduction in ankle energy absorptionIn response to exertion, novice barefoot runners demonstrate an increase in loading rate.
Role of magnetic exchange interaction due to magnetic anisotropy on inverse spin Hall voltage at FeSi3%/Pt thin film bilayer interface

NASA Astrophysics Data System (ADS)

Shah, Jyoti; Ahmad, Saood; Chaujar, Rishu; Puri, Nitin K.; Negi, P. S.; Kotnala, R. K.

2017-12-01

In our recent studies inverse spin Hall voltage (ISHE) was investigated by ferromagnetic resonance (FMR) using bilayer FeSi3%/Pt thin film prepared by pulsed laser deposition (PLD) technique. In ISHE measurement microwave signal was applied on FeSi3% film along with DC magnetic field. Higher magnetization value along the film-plane was measured by magnetic hysteresis (M-H) loop. Presence of magnetic anisotropy has been obtained by M-H loop which showed easy direction of magnetization when applied magnetic field is parallel to the film plane. The main result of this study is that FMR induced inverse spin Hall voltage 12.6 μV at 1.0 GHz was obtained across Pt layer. Magnetic exchange field at bilayer interface responsible for field torque was measured 6 × 1014 Ω-1 m-2 by spin Hall magnetoresistance. The damping torque and spin Hall angle have been evaluated as 0.084 and 0.071 respectively. Presence of Si atom in FeSi3% inhomogenize the magnetic exchange field among accumulated spins at bilayer interface and feebly influenced by spin torque of FeSi3% layer. Weak field torque suppresses the spin pumping to Pt layer thus low value of inverse spin Hall voltage is obtained. This study provides an excellent opportunity to investigate spin transfer torque effect, thus motivating a more intensive experimental effort for its utilization at maximum potential. The improvement in spin transfer torque may be useful in spin valve, spin battery and spin transistor application.

Central excitability contributes to supramaximal volitional contractions in human incomplete spinal cord injury

PubMed Central

Thompson, Christopher K; Lewek, Michael D; Jayaraman, Arun; Hornby, T George

2011-01-01

Abstract Despite greater muscle fatigue in individuals with spinal cord injury (SCI) when compared to neurologically intact subjects using neuromuscular electrical stimulation (NMES) protocols, few studies have investigated the extent of volitional fatigue in motor incomplete SCI. Using an established protocol of 20 repeated, intermittent, maximal volitional effort (MVE) contractions, we previously demonstrated that subjects with incomplete SCI unexpectedly demonstrated a 15% increase in peak knee extensor torques within the first five MVEs with minimal evidence of fatigue after 20 contraction. In the present study, we investigated potential segmental mechanisms underlying this supramaximal torque generation. Changes in twitch properties and maximum compound muscle action potentials (M-waves) were assessed prior to and following one, three and five MVEs, revealing a significant 17% increase only in maximum twitch torques after a single MVE. Despite this post-activation potentiation of the muscle, use of conventional NMES protocols to elicit repeated muscular contractions resulted in a significant decrease in evoked torque generation, suggesting limited the muscular contributions to the observed phenomenon. To evaluate potential central mechanisms underlying the augmented torques, non-linear responses to wide-pulse width (1 ms), low-intensity, variable-frequency (25–100 Hz) NMES were also tested prior to and following repeated MVEs. When variable-frequency NMES was applied following the repeated MVEs, augmented and prolonged torques were observed and accompanied by sustained quadriceps electromyographic activity often lasting >2s after stimulus termination. Such data suggest a potential contribution of elevated spinal excitability to the reserve in volitional force generation in incomplete SCI. PMID:21610138
Fault tolerant operation of switched reluctance machine

NASA Astrophysics Data System (ADS)

Wang, Wei

The energy crisis and environmental challenges have driven industry towards more energy efficient solutions. With nearly 60% of electricity consumed by various electric machines in industry sector, advancement in the efficiency of the electric drive system is of vital importance. Adjustable speed drive system (ASDS) provides excellent speed regulation and dynamic performance as well as dramatically improved system efficiency compared with conventional motors without electronics drives. Industry has witnessed tremendous grow in ASDS applications not only as a driving force but also as an electric auxiliary system for replacing bulky and low efficiency auxiliary hydraulic and mechanical systems. With the vast penetration of ASDS, its fault tolerant operation capability is more widely recognized as an important feature of drive performance especially for aerospace, automotive applications and other industrial drive applications demanding high reliability. The Switched Reluctance Machine (SRM), a low cost, highly reliable electric machine with fault tolerant operation capability, has drawn substantial attention in the past three decades. Nevertheless, SRM is not free of fault. Certain faults such as converter faults, sensor faults, winding shorts, eccentricity and position sensor faults are commonly shared among all ASDS. In this dissertation, a thorough understanding of various faults and their influence on transient and steady state performance of SRM is developed via simulation and experimental study, providing necessary knowledge for fault detection and post fault management. Lumped parameter models are established for fast real time simulation and drive control. Based on the behavior of the faults, a fault detection scheme is developed for the purpose of fast and reliable fault diagnosis. In order to improve the SRM power and torque capacity under faults, the maximum torque per ampere excitation are conceptualized and validated through theoretical analysis and experiments. With the proposed optimal waveform, torque production is greatly improved under the same Root Mean Square (RMS) current constraint. Additionally, position sensorless operation methods under phase faults are investigated to account for the combination of physical position sensor and phase winding faults. A comprehensive solution for position sensorless operation under single and multiple phases fault are proposed and validated through experiments. Continuous position sensorless operation with seamless transition between various numbers of phase fault is achieved.
Eccentric and concentric muscle performance following 7 days of simulated weightlessness

NASA Technical Reports Server (NTRS)

Hayes, Judith C.; Roper, Mary L.; Mazzocca, Augustus D.; Mcbrine, John J.; Barrows, Linda H.; Harris, Bernard A.; Siconolfi, Steven F.

1992-01-01

Changes in skeletal muscle strength occur in response to chronic disuse or insufficient functional loading. The purpose of this study was to examine changes in muscle performance of the lower extremity and torso prior to and immediately after 7 days of simulated weightlessness (horizontal bed rest). A Biodex was used to determine concentric and eccentric peak torque and angle at peak torque for the back, abdomen, quadriceps, hamstring, soleus, and tibialis anterior. A reference angle of 0 degrees was set at full extension. Data were analyzed by ANOVA.
Thermophoretic torque in colloidal particles with mass asymmetry

NASA Astrophysics Data System (ADS)

Olarte-Plata, Juan; Rubi, J. Miguel; Bresme, Fernando

2018-05-01

We investigate the response of anisotropic colloids suspended in a fluid under a thermal field. Using nonequilibrium molecular dynamics computer simulations and nonequilibrium thermodynamics theory, we show that an anisotropic mass distribution inside the colloid rectifies the rotational Brownian motion and the colloids experience transient torques that orient the colloid along the direction of the thermal field. This physical effect gives rise to distinctive changes in the dependence of the Soret coefficient with colloid mass, which features a maximum, unlike the monotonic increase of the thermophoretic force with mass observed in homogeneous colloids.
Are insertion torque and early osseointegration proportional? A histologic evaluation.

PubMed

Campos, Felipe E B; Jimbo, Ryo; Bonfante, Estevam A; Barbosa, Darceny Z; Oliveira, Maiolino T F; Janal, Malvin N; Coelho, Paulo G

2015-11-01

The objective of this histologic study was to determine the effect of three drilling protocols (oversized, intermediate, and undersized) on biologic responses to a single implant type at early healing periods (2 weeks in vivo) in a beagle dog model. Ten beagle dogs were acquired and subjected to surgeries in the tibia 2 weeks before euthanasia. During surgery, each dog received three Unitite implants, 4 mm in diameter by 10 mm in length, in bone sites drilled to 3.5, 3.75, and 4.0 mm in final diameter. The insertion torque was recorded during surgery, and bone-to-implant contact (BIC), and bone area fraction occupied (BAFO) measured from the histology. Each outcome measure was compared between treatment conditions with the Wilcoxon signed-rank test. Bonferroni-corrected statistical significance was set to 95%. Insertion torque increased as an inverse function of drilling diameter, as indicated by significant differences in torque levels between each pair of conditions (P = 0.005). BIC and BAFO levels were highest and statistically similar in the recommended and undersized conditions and significantly reduced in the oversized condition (P < 0.01). Reduced drilling dimensions resulted in increased insertion torque (primary stability). While BIC and BAFO were maximized when drilling the recommended diameter hole, only the oversized hole resulted in evidence of statistically reduced integration. © 2014 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.
Computer controllable synchronous shifting of an automatic transmission

DOEpatents

Davis, R.I.; Patil, P.B.

1989-08-08

A multiple forward speed automatic transmission produces its lowest forward speed ratio when a hydraulic clutch and hydraulic brake are disengaged and a one-way clutch connects a ring gear to the transmission casing. Second forward speed ratio results when the hydraulic clutch is engaged to connect the ring gear to the planetary carrier of a second gear set. Reverse drive and regenerative operation result when an hydraulic brake fixes the planetary and the direction of power flow is reversed. Various sensors produce signals representing the torque at the output of the transmission or drive wheels, the speed of the power source, and the hydraulic pressure applied to a clutch and brake. A control algorithm produces input data representing a commanded upshift, a commanded downshift, a commanded transmission output torque, and commanded power source speed. A microprocessor processes the inputs and produces a response to them in accordance with the execution of a control algorithm. Output or response signals cause selective engagement and disengagement of the clutch and brake at a rate that satisfies the requirements for a short gear ratio change and smooth torque transfer between the friction elements. 6 figs.
Lack of Hypertonia in Thumb Muscles After Stroke

PubMed Central

Kamper, Derek G.; Rymer, William Z.

2010-01-01

Despite the importance of the thumb to hand function, little is known about the origins of thumb impairment poststroke. Accordingly, the primary purpose of this study was to assess whether thumb flexors have heightened stretch reflexes (SRs) following stroke-induced hand impairment. The secondary purpose was to compare SR characteristics of thumb flexors in relation to those of finger flexors since it is unclear whether SR properties of both muscle groups are similarly affected poststroke. Stretch reflexes in thumb and finger flexors were assessed at rest on the paretic side in each of 12 individuals with chronic, severe, stroke-induced hand impairment and in the dominant thumb in each of eight control subjects also at rest. Muscle activity and passive joint flexion torques were measured during imposed slow (SS) and fast stretches (FS) of the flexors that span the metacarpophalangeal joints. Putative spasticity was then quantified in terms of the peak difference between FS and SS joint torques and electromyographic changes. For both the hemiparetic and control groups, the mean normalized peak torque differences (PTDs) measured in thumb flexors were statistically indistinguishable (P = 0.57). In both groups, flexor muscles were primarily unresponsive to rapid stretching. For 10 of 12 hemiparetic subjects, PTDs in thumb flexors were less than those in finger flexors (P = 0.03). Paretic finger flexor muscle reflex activity was consistently elicited during rapid stretching. These results may reflect an important difference between thumb and finger flexors relating to properties of the involved muscle afferents and spinal motoneurons. PMID:20668270
Evolution of angular velocity for defunct satellites as a result of YORP: An initial study

NASA Astrophysics Data System (ADS)

Albuja, Antonella A.; Scheeres, Daniel J.; McMahon, Jay W.

2015-07-01

Observations of defunct satellites show that these objects are generally rotating, with some having very fast rotation rates, yet the cause of these rapid rates is unknown. The observed secular change in the spin rate and spin axis orientation of asteroids is known to be caused by the Yarkovsky-O'Keefe-Radzievskii-Paddack (YORP) effect, however, its effect on inactive satellites in Earth orbit remains unexplored. This paper applies the YORP effect to defunct satellites and analyzes its effect on the spin rate and obliquity of these objects. This work uses two different satellite geometries to explore the secular change of the spin rate and obliquity caused by the YORP effect for inactive Geostationary Earth Orbit (GEO) satellites. One of the model satellites has an asymmetric geometry, which leads to the classical YORP effect as originally formulated for asteroids. The other model satellite is geometrically symmetric, but relies on mass distribution asymmetry to generate the YORP effect. For both models the secular change is explored with averaged dynamics, and the solutions of the averaged theory are compared with numerical integrations of the non-averaged equations of motion. Additionally, previously published observations of inactive GEO satellites are used to estimate the YORP torque acting on those bodies. A comparison between this torque and the expected torque on a defunct satellite shows that the two are of the same order of magnitude. These results motivate further study on the YORP effect in the realm of inactive satellites.
Tennis in hot and cool conditions decreases the rapid muscle torque production capacity of the knee extensors but not of the plantar flexors

PubMed Central

Girard, Olivier; Racinais, Sébastien; Périard, Julien D

2014-01-01

Objectives To assess the time course of changes in rapid muscle force/torque production capacity and neuromuscular activity of lower limb muscles in response to prolonged (∼2 h) match-play tennis under heat stress. Methods The rates of torque development (RTD) and electromyographic activity (EMG; ie, root mean square) rise were recorded from 0 to 30, –50, –100 and –200 ms during brief (3–5 s) explosive maximal isometric voluntary contractions (MVC) of the knee extensors (KE) and plantar flexors (PF), along with the peak RTD within the entirety of the torque-time curve. These values were recorded in 12 male tennis players before (prematch) and after (postmatch, 24 and 48 h) match-play in HOT (∼37°C) and COOL (∼22°C) conditions. Results The postmatch core temperature was greater in the HOT (∼39.4°C) vs COOL (∼38.7°C) condition (p<0.05). Reductions in KE RTD occurred within the 0–200 ms epoch after contraction onset postmatch and at 24 h, compared with prematch, independent of environmental conditions (p<0.05). A similar reduction in the KE peak RTD was also observed postmatch relative to prematch (p<0.05). No differences in KE RTD values were observed after normalisation to MVC torque. Furthermore, the rate of KE EMG activity rise remained unchanged. Conversely, the PF contractile RTD and rate of EMG activity rise were unaffected by the exercise or environmental conditions. Conclusions In the KE, a reduction in maximal torque production capacity following prolonged match-play tennis appears to account for the decrease in the rate of torque development, independent of environmental conditions, while remaining unchanged in the PF. PMID:24668381
Effect of insertion torque on titanium implant osseointegration: an animal experimental study.

PubMed

Duyck, Joke; Roesems, Rutger; Cardoso, Marcio V; Ogawa, Toru; De Villa Camargos, Germana; Vandamme, Katleen

2015-02-01

To evaluate the effect of implant insertion torque on the peri-implant bone healing and implant osseointegration. Bilaterally in the tibia of five adult New Zealand white rabbits, 20 implants were installed, subdivided into four groups, corresponding to two insertion torque conditions (low, < 10 Ncm vs. high > 50 Ncm) and 2 experimental periods (2 weeks vs. 4 weeks of healing). The implant insertion torque was determined by the surgical drill diameter relative to the implant diameter. Implant osseointegration was evaluated by quantitative histology (bone-to-implant contact with host bone [BIC-host], with neoformed bone [BIC-de novo], with both bone types [BIC-total], and peri-implant bone [BA/TA]). Every response was modelled over time using GEE (general estimation equation) with an unstructured variance-covariance matrix to correct for dependency between the measurements from one animal. The statistical significance level of α = 0.05 was applied. Significantly, more BIC-host and BIC-total were recorded for H implants compared with L implants after 2 week of healing (P = 0.010 and P = 0.0001, respectively). However, this result was no longer found for the extended healing period. Furthermore, BIC-total significantly increased over time for L implants (P < 0.00001). In contrast, the significant increase in BA/TA over time was found for H implants (P < 0.01). Finally, H insertion torque led to an increased BA/TA after 4 week of healing (P < 0.02) compared with the L insertion protocol. L insertion torque implants installed in the rabbit tibial bone osseointegrate with considerable de novo bone formation. This bone neoformation enables L implants to catch up, already during the early osseointegration stage, the initial inferior amount BIC contact compared with that of H implants. A negative impact of the created strain environment accompanying H insertion torque implant installation on the biological process of osseointegration could not be observed, at least not at tissue level. © 2013 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.
Using the attitude response of aerostable spacecraft to measure thermospheric wind

NASA Astrophysics Data System (ADS)

Virgili-Llop, Josep; Roberts, Peter C. E.; Hao, Zhou

2018-03-01

In situ measurements of the thermospheric wind can be obtained by observing the attitude response of an aerostable spacecraft. In the proposed method, the aerostable spacecraft is left uncontrolled, freely reacting to the aerodynamic torques, and oscillating around its equilibrium attitude. The wind's magnitude and direction is determined by combining the attitude observations with estimates of the other perturbing torques, atmospheric density, and spacecraft's aerodynamic properties. The spatial resolution of the measurements is proportional to the natural frequency of the attitude's oscillation. Spacecraft with high aerodynamic stiffness to inertia ratios operating at low altitudes exhibit higher natural frequencies, making them particularly suited for this method. A one degree-of-freedom case is used to present and illustrate the proposed method as well as to analyze its performance.
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.
Giant magneto-spin-Seebeck effect and magnon transfer torques in insulating spin valves

NASA Astrophysics Data System (ADS)

Cheng, Yihong; Chen, Kai; Zhang, Shufeng

2018-01-01

We theoretically study magnon transport in an insulating spin valve (ISV) made of an antiferromagnetic insulator sandwiched between two ferromagnetic insulator (FI) layers. In the conventional metal-based spin valve, the electron spins propagate between two metallic ferromagnetic layers, giving rise to giant magnetoresistance and spin transfer torque. Here, the incoherent magnons in the ISV serve as angular momentum carriers and are responsible for the angular momentum transport between two FI layers across the antiferromagnetic spacer. We predict two transport phenomena in the presence of the temperature gradient: a giant magneto-spin-Seebeck effect in which the output voltage signal is controlled by the relative orientation of the two FI layers and magnon transfer torque that can be used for switching the magnetization of the FI layers with a temperature gradient of the order of 0.1 Kelvin per nanometer.
Bidirectional helical motility of cytoplasmic dynein around microtubules

PubMed Central

Can, Sinan; Dewitt, Mark A; Yildiz, Ahmet

2014-01-01

Cytoplasmic dynein is a molecular motor responsible for minus-end-directed cargo transport along microtubules (MTs). Dynein motility has previously been studied on surface-immobilized MTs in vitro, which constrains the motors to move in two dimensions. In this study, we explored dynein motility in three dimensions using an MT bridge assay. We found that dynein moves in a helical trajectory around the MT, demonstrating that it generates torque during cargo transport. Unlike other cytoskeletal motors that produce torque in a specific direction, dynein generates torque in either direction, resulting in bidirectional helical motility. Dynein has a net preference to move along a right-handed helical path, suggesting that the heads tend to bind to the closest tubulin binding site in the forward direction when taking sideways steps. This bidirectional helical motility may allow dynein to avoid roadblocks in dense cytoplasmic environments during cargo transport. DOI: http://dx.doi.org/10.7554/eLife.03205.001 PMID:25069614
Magnetic actuation and feedback cooling of a cavity optomechanical torque sensor.

PubMed

Kim, P H; Hauer, B D; Clark, T J; Fani Sani, F; Freeman, M R; Davis, J P

2017-11-07

Cavity optomechanics has demonstrated remarkable capabilities, such as measurement and control of mechanical motion at the quantum level. Yet many compelling applications of optomechanics-such as microwave-to-telecom wavelength conversion, quantum memories, materials studies, and sensing applications-require hybrid devices, where the optomechanical system is coupled to a separate, typically condensed matter, system. Here, we demonstrate such a hybrid optomechanical system, in which a mesoscopic ferromagnetic needle is integrated with an optomechanical torsional resonator. Using this system we quantitatively extract the magnetization of the needle, not known a priori, demonstrating the potential of this system for studies of nanomagnetism. Furthermore, we show that we can magnetically dampen its torsional mode from room-temperature to 11.6 K-improving its mechanical response time without sacrificing torque sensitivity. Future extensions will enable studies of high-frequency spin dynamics and broadband wavelength conversion via torque mixing.
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.
Constant strain rate experiments and constitutive modeling for a class of bitumen

NASA Astrophysics Data System (ADS)

Reddy, Kommidi Santosh; Umakanthan, S.; Krishnan, J. Murali

2012-08-01

The mechanical properties of bitumen vary with the nature of the crude source and the processing methods employed. To understand the role of the processing conditions played in the mechanical properties, bitumen samples derived from the same crude source but processed differently (blown and blended) are investigated. The samples are subjected to constant strain rate experiments in a parallel plate rheometer. The torque applied to realize the prescribed angular velocity for the top plate and the normal force applied to maintain the gap between the top and bottom plate are measured. It is found that when the top plate is held stationary, the time taken by the torque to be reduced by a certain percentage of its maximum value is different from the time taken by the normal force to decrease by the same percentage of its maximum value. Further, the time at which the maximum torque occurs is different from the time at which the maximum normal force occurs. Since the existing constitutive relations for bitumen cannot capture the difference in the relaxation times for the torque and normal force, a new rate type constitutive model, incorporating this response, is proposed. Although the blended and blown bitumen samples used in this study correspond to the same grade, the mechanical responses of the two samples are not the same. This is also reflected in the difference in the values of the material parameters in the model proposed. The differences in the mechanical properties between the differently processed bitumen samples increase further with aging. This has implications for the long-term performance of the pavement.
Spinal circuits can accommodate interaction torques during multijoint limb movements.

PubMed

Buhrmann, Thomas; Di Paolo, Ezequiel A

2014-01-01

The dynamic interaction of limb segments during movements that involve multiple joints creates torques in one joint due to motion about another. Evidence shows that such interaction torques are taken into account during the planning or control of movement in humans. Two alternative hypotheses could explain the compensation of these dynamic torques. One involves the use of internal models to centrally compute predicted interaction torques and their explicit compensation through anticipatory adjustment of descending motor commands. The alternative, based on the equilibrium-point hypothesis, claims that descending signals can be simple and related to the desired movement kinematics only, while spinal feedback mechanisms are responsible for the appropriate creation and coordination of dynamic muscle forces. Partial supporting evidence exists in each case. However, until now no model has explicitly shown, in the case of the second hypothesis, whether peripheral feedback is really sufficient on its own for coordinating the motion of several joints while at the same time accommodating intersegmental interaction torques. Here we propose a minimal computational model to examine this question. Using a biomechanics simulation of a two-joint arm controlled by spinal neural circuitry, we show for the first time that it is indeed possible for the neuromusculoskeletal system to transform simple descending control signals into muscle activation patterns that accommodate interaction forces depending on their direction and magnitude. This is achieved without the aid of any central predictive signal. Even though the model makes various simplifications and abstractions compared to the complexities involved in the control of human arm movements, the finding lends plausibility to the hypothesis that some multijoint movements can in principle be controlled even in the absence of internal models of intersegmental dynamics or learned compensatory motor signals.
Induction motors airgap-eccentricity detection through the discrete wavelet transform of the apparent power signal under non-stationary operating conditions.

PubMed

Yahia, K; Cardoso, A J M; Ghoggal, A; Zouzou, S E

2014-03-01

Fast Fourier transform (FFT) analysis has been successfully used for fault diagnosis in induction machines. However, this method does not always provide good results for the cases of load torque, speed and voltages variation, leading to a variation of the motor-slip and the consequent FFT problems that appear due to the non-stationary nature of the involved signals. In this paper, the discrete wavelet transform (DWT) of the apparent-power signal for the airgap-eccentricity fault detection in three-phase induction motors is presented in order to overcome the above FFT problems. The proposed method is based on the decomposition of the apparent-power signal from which wavelet approximation and detail coefficients are extracted. The energy evaluation of a known bandwidth permits to define a fault severity factor (FSF). Simulation as well as experimental results are provided to illustrate the effectiveness and accuracy of the proposed method presented even for the case of load torque variations. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.
Constant Switching Frequency DTC for Matrix Converter Fed Speed Sensorless Induction Motor Drive

NASA Astrophysics Data System (ADS)

Mir, Tabish Nazir; Singh, Bhim; Bhat, Abdul Hamid

2018-05-01

The paper presents a constant switching frequency scheme for speed sensorless Direct Torque Control (DTC) of Matrix Converter fed Induction Motor Drive. The use of matrix converter facilitates improved power quality on input as well as motor side, along with Input Power Factor control, besides eliminating the need for heavy passive elements. Moreover, DTC through Space Vector Modulation helps in achieving a fast control over the torque and flux of the motor, with added benefit of constant switching frequency. A constant switching frequency aids in maintaining desired power quality of AC mains current even at low motor speeds, and simplifies input filter design of the matrix converter, as compared to conventional hysteresis based DTC. Further, stator voltage estimation from sensed input voltage, and subsequent stator (and rotor) flux estimation is done. For speed sensorless operation, a Model Reference Adaptive System is used, which emulates the speed dependent rotor flux equations of the induction motor. The error between conventionally estimated rotor flux (reference model) and the rotor flux estimated through the adaptive observer is processed through PI controller to generate the rotor speed estimate.

Full-order observer for direct torque control of induction motor based on constant V/F control technique.

PubMed

Pimkumwong, Narongrit; Wang, Ming-Shyan

2018-02-01

This paper presents another control method for the three-phase induction motor that is direct torque control based on constant voltage per frequency control technique. This method uses the magnitude of stator flux and torque errors to generate the stator voltage and phase angle references for controlling the induction motor by using constant voltage per frequency control method. Instead of hysteresis comparators and optimum switching table, the PI controllers and space vector modulation technique are used to reduce torque and stator-flux ripples and achieve constant switching frequency. Moreover, the coordinate transformations are not required. To implement this control method, a full-order observer is used to estimate stator flux and overcome the problems from drift and saturation in using pure integrator. The feedback gains are designed by simple manner to improve the convergence of stator flux estimation, especially in low speed range. Furthermore, the necessary conditions to maintain the stability for feedback gain design are introduced. The simulation and experimental results show accurate and stable operation of the introduced estimator and good dynamic response of the proposed control method. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.
Finite element and analytical models for twisted and coiled actuator

NASA Astrophysics Data System (ADS)

Tang, Xintian; Liu, Yingxiang; Li, Kai; Chen, Weishan; Zhao, Jianguo

2018-01-01

Twisted and coiled actuator (TCA) is a class of recently discovered artificial muscle, which is usually made by twisting and coiling polymer fibers into spring-like structures. It has been widely studied since discovery due to its impressive output characteristics and bright prospects. However, its mathematical models describing the actuation in response to the temperature are still not fully developed. It is known that the large tensile stroke is resulted from the untwisting of the twisted fiber when heated. Thus, the recovered torque during untwisting is a key parameter in the mathematical model. This paper presents a simplified model for the recovered torque of TCA. Finite element method is used for evaluating the thermal stress of the twisted fiber. Based on the results of the finite element analyses, the constitutive equations of twisted fibers are simplified to develop an analytic model of the recovered torque. Finally, the model of the recovered torque is used to predict the deformation of TCA under varying temperatures and validated against experimental results. This work will enhance our understanding of the deformation mechanism of TCAs, which will pave the way for the closed-loop position control.
Massive Gas Injection Valve Development for NSTX-U

DOE Data Explorer

Raman, R. [Princeton Plasma Physics Lab. (PPPL), Princeton, NJ (United States); Plunkett, G. J. [Princeton Plasma Physics Lab. (PPPL), Princeton, NJ (United States); Way, W.-S. [Princeton Plasma Physics Lab. (PPPL), Princeton, NJ (United States)

2016-05-01

NSTX-U research will offer new insight by studying gas assimilation efficiencies for MGI injection from different poloidal locations using identical gas injection systems. In support of this activity, an electromagnetic MGI valve has been built and tested. The valve operates by repelling two conductive disks due to eddy currents induced on them by a rapidly changing magnetic field created by a pancake disk solenoid positioned beneath the circular disk attached to a piston. The current is driven in opposite directions in the two solenoids, which creates a cancelling torque when the valve is operated in an ambient magnetic field, as would be required in a tokamak installation. The valve does not use ferromagnetic materials. Results from the operation of the valve, including tests conducted in 1 T external magnetic fields, are described. The pressure rise in the test chamber is measured directly using a fast time response baratron gauge. At a plenum pressure of just 1.38 MPa (~200 psig), the valve injects 27 Pa.m^3 (~200 Torr.L) of nitrogen with a pressure rise time of 3 ms.
Independently Controlled Wing Stroke Patterns in the Fruit Fly Drosophila melanogaster

PubMed Central

Chakraborty, Soma; Bartussek, Jan; Fry, Steven N.; Zapotocky, Martin

2015-01-01

Flies achieve supreme flight maneuverability through a small set of miniscule steering muscles attached to the wing base. The fast flight maneuvers arise from precisely timed activation of the steering muscles and the resulting subtle modulation of the wing stroke. In addition, slower modulation of wing kinematics arises from changes in the activity of indirect flight muscles in the thorax. We investigated if these modulations can be described as a superposition of a limited number of elementary deformations of the wing stroke that are under independent physiological control. Using a high-speed computer vision system, we recorded the wing motion of tethered flying fruit flies for up to 12 000 consecutive wing strokes at a sampling rate of 6250 Hz. We then decomposed the joint motion pattern of both wings into components that had the minimal mutual information (a measure of statistical dependence). In 100 flight segments measured from 10 individual flies, we identified 7 distinct types of frequently occurring least-dependent components, each defining a kinematic pattern (a specific deformation of the wing stroke and the sequence of its activation from cycle to cycle). Two of these stroke deformations can be associated with the control of yaw torque and total flight force, respectively. A third deformation involves a change in the downstroke-to-upstroke duration ratio, which is expected to alter the pitch torque. A fourth kinematic pattern consists in the alteration of stroke amplitude with a period of 2 wingbeat cycles, extending for dozens of cycles. Our analysis indicates that these four elementary kinematic patterns can be activated mutually independently, and occur both in isolation and in linear superposition. The results strengthen the available evidence for independent control of yaw torque, pitch torque, and total flight force. Our computational method facilitates systematic identification of novel patterns in large kinematic datasets. PMID:25710715
Independently controlled wing stroke patterns in the fruit fly Drosophila melanogaster.

PubMed

Chakraborty, Soma; Bartussek, Jan; Fry, Steven N; Zapotocky, Martin

2015-01-01

Flies achieve supreme flight maneuverability through a small set of miniscule steering muscles attached to the wing base. The fast flight maneuvers arise from precisely timed activation of the steering muscles and the resulting subtle modulation of the wing stroke. In addition, slower modulation of wing kinematics arises from changes in the activity of indirect flight muscles in the thorax. We investigated if these modulations can be described as a superposition of a limited number of elementary deformations of the wing stroke that are under independent physiological control. Using a high-speed computer vision system, we recorded the wing motion of tethered flying fruit flies for up to 12,000 consecutive wing strokes at a sampling rate of 6250 Hz. We then decomposed the joint motion pattern of both wings into components that had the minimal mutual information (a measure of statistical dependence). In 100 flight segments measured from 10 individual flies, we identified 7 distinct types of frequently occurring least-dependent components, each defining a kinematic pattern (a specific deformation of the wing stroke and the sequence of its activation from cycle to cycle). Two of these stroke deformations can be associated with the control of yaw torque and total flight force, respectively. A third deformation involves a change in the downstroke-to-upstroke duration ratio, which is expected to alter the pitch torque. A fourth kinematic pattern consists in the alteration of stroke amplitude with a period of 2 wingbeat cycles, extending for dozens of cycles. Our analysis indicates that these four elementary kinematic patterns can be activated mutually independently, and occur both in isolation and in linear superposition. The results strengthen the available evidence for independent control of yaw torque, pitch torque, and total flight force. Our computational method facilitates systematic identification of novel patterns in large kinematic datasets.
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.
Plasma Rotation During Neutral Beam Injection In MST

NASA Astrophysics Data System (ADS)

Hudson, Ben; Ding, W.; Fiksel, G.; Prager, S.; Yates, T.

2006-10-01

The effect of fast ions from neutral beam injection (20 keV, 30 A, 1.5 ms) on plasma rotation and magnetic tearing modes is studied. We observe that during co-injected NBI (with the injection in the same direction as the plasma and mode rotation) the rotation of the core-resonant n = 5 magnetic mode decreases and in many instances lock to the vessel wall. There is an associated drop in the poloidal component of n = 5 magnetic mode amplitude. The drop in the mode velocity suggests a counter-directed torque, perhaps due to modification of the radial electric field. The rotation slows during the injection phase, then restores itself on the timescale of the fast ion slowing down time (5 ms @ Te = 100 eV). The fluctuation-induced j x b Maxwell stress is measured using MST's FIR diagnostic and presented for comparison. Equilibrium reconstruction suggests a small increase in on-axis J||, consistent with the presence of a localized fast ion population moving in the direction of the plasma current. Mode rotation during NBI counter-injection is also presented.
Control of fast elbow movement: a study of electromyographic patterns during movements against unexpectedly decreased inertial load.

PubMed

Latash, M L

1994-01-01

Predictions of three models of single-joint motor control were compared with experimental observations of the changes in electromyographic (EMG) patterns during fast voluntary movements against an unexpectedly reduced inertial load. The subjects performed elbow flexions over 40 degrees "as fast as possible" in two series. During the first series, an approximately 40% decrease in inertia, simulated by a torque-motor, might occur unpredictably on half of the trials (unloaded trials). During the second series, all the trials were unloaded. The major findings are: (1) no differences in the antagonist burst latency in unexpectedly unloaded and unperturbed trials; (2) a decrease in the antagonist latency during expected unloadings; (3) a small, statistically non significant decrease in the first agonist burst EMG integral; and (4) a larger, statistically significant increase in the antagonist burst EMG integral in unexpectedly unloaded trials as compared to unperturbed trials. The data are in good correspondence with a version of the equilibrium-point hypothesis that assumes central programming of the beginning of the antagonist burst and incorporates the possibility of reflex-induced changes in EMG amplitudes.
Relative differences in strength and power from slow to fast isokinetic velocities may reflect dynapenia.

PubMed

Jenkins, Nathaniel D M; Housh, Terry J; Palmer, Ty B; Cochrane, Kristen C; Bergstrom, Haley C; Johnson, Glen O; Schmidt, Richard J; Cramer, Joel T

2015-07-01

We compared absolute and normalized values for peak torque (PT), mean power (MP), rate of velocity development, and electromyography (EMG) amplitude during maximal isometric and concentric isokinetic leg extension muscle actions, as well as the %decrease in PT and %increase in MP from 1.05 to 3.14 rad·s(-1) in younger versus older men. Measurements were performed twice for reliability. Isokinetic measurements were normalized to the isometric muscle actions. Absolute isometric PT, isokinetic PT and MP, and EMG amplitudes at 1.05 and 3.14 rad·s(-1) were greater in the younger men, although normalizing to isometric PT eliminated the age differences. The older men exhibited greater %decrease in PT (37.2% vs. 31.3%) and lower %increase in MP (87.6% vs. 126.4%) regardless of normalization. Normalization eliminated absolute differences in isokinetic strength and power, but the relative differences from slow to fast velocities may reflect dynapenia characterized by age-related decreases in fast-twitch fiber function. © 2014 Wiley Periodicals, Inc.
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.
Envelope detection using temporal magnetization dynamics of resonantly interacting spin-torque oscillator

NASA Astrophysics Data System (ADS)

Nakamura, Y.; Nishikawa, M.; Osawa, H.; Okamoto, Y.; Kanao, T.; Sato, R.

2018-05-01

In this article, we propose the detection method of the recorded data pattern by the envelope of the temporal magnetization dynamics of resonantly interacting spin-torque oscillator on the microwave assisted magnetic recording for three-dimensional magnetic recording. We simulate the envelope of the waveform from recorded dots with the staggered magnetization configuration, which are calculated by using a micromagnetic simulation. We study the data detection methods for the envelope and propose a soft-output Viterbi algorithm (SOVA) for partial response (PR) system as a signal processing system for three dimensional magnetic recording.
Asymmetry in the clockwise and counterclockwise rotation of the bacterial flagellar motor

PubMed Central

Yuan, Junhua; Fahrner, Karen A.; Turner, Linda; Berg, Howard C.

2010-01-01

Cells of Escherichia coli are able to swim up gradients of chemical attractants by modulating the direction of rotation of their flagellar motors, which spin alternately clockwise (CW) and counterclockwise (CCW). Rotation in either direction has been thought to be symmetric and exhibit the same torques and speeds. The relationship between torque and speed is one of the most important measurable characteristics of the motor, used to distinguish specific mechanisms of motor rotation. Previous measurements of the torque–speed relationship have been made with cells lacking the response regulator CheY that spin their motors exclusively CCW. In this case, the torque declines slightly up to an intermediate speed called the “knee speed” after which it falls rapidly to zero. This result is consistent with a “power-stroke” mechanism for torque generation. Here, we measure the torque–speed relationship for cells that express large amounts of CheY and only spin their motors CW. We find that the torque decreases linearly with speed, a result remarkably different from that for CCW rotation. We obtain similar results for wild-type cells by reexamining data collected in previous work. We speculate that CCW rotation might be optimized for runs, with higher speeds increasing the ability of cells to sense spatial gradients, whereas CW rotation might be optimized for tumbles, where the object is to change cell trajectories. But why a linear torque–speed relationship might be optimum for the latter purpose we do not know. PMID:20615986
The comparison respond of braking torque control between PID and SMC controller for electric powered wheelchair descending on slope condition

NASA Astrophysics Data System (ADS)

Asyraf, S. M.; Heerwan, P. M.; Izhar, I. M.

2018-04-01

During descending on a slope, the speed of Electric Powered Wheelchair (EPW) tends to changed rapidly. Normally, most EPW is provided with mechanical braking system which transfers human pulling force of the lever creating friction at the tire. However, the task is difficult for the users are elderly or paralyses. However, even for normal user with good strength, in fear condition they tend to give sudden braking which leads to tire locking up and skidding, eventually EPW unstable. These problems will cause accident and injuries to the users if speed does not properly control. In this paper, the automated braking torque control method was proposed in EPW as alternative to solve this problem and increase the mobility and stability especially during descending on slope in other to help the user of the EPW as their daily transportation. In this research, Proportional-Integral-Derivative and Sliding Mode Control controller are compared to determine the best response for torque braking control. The rapid change of speed can be controlled by the braking torque using proposed controllers based on the desired constant speed set by the control designer. Moreover, the sudden braking that caused tire to lock up and skid can be avoided. Furthermore, result from SMC shows this controller have good time respond to maintain the speed based on desired value when descending at slope condition by controlling the braking torque compared to the PID controller.
Exploratory factor analysis for differentiating sensory and mechanical variables related to muscle-tendon unit elongation

PubMed Central

Chagas, Mauro H.; Magalhães, Fabrício A.; Peixoto, Gustavo H. C.; Pereira, Beatriz M.; Andrade, André G. P.; Menzel, Hans-Joachim K.

2016-01-01

ABSTRACT Background Stretching exercises are able to promote adaptations in the muscle-tendon unit (MTU), which can be tested through physiological and biomechanical variables. Identifying the key variables in MTU adaptations is crucial to improvements in training. Objective To perform an exploratory factor analysis (EFA) involving the variables often used to evaluate the response of the MTU to stretching exercises. Method Maximum joint range of motion (ROMMAX), ROM at first sensation of stretching (FSTROM), peak torque (torqueMAX), passive stiffness, normalized stiffness, passive energy, and normalized energy were investigated in 36 participants during passive knee extension on an isokinetic dynamometer. Stiffness and energy values were normalized by the muscle cross-sectional area and their passive mode assured by monitoring the EMG activity. Results EFA revealed two major factors that explained 89.68% of the total variance: 53.13% was explained by the variables torqueMAX, passive stiffness, normalized stiffness, passive energy, and normalized energy, whereas the remaining 36.55% was explained by the variables ROMMAX and FSTROM. Conclusion This result supports the literature wherein two main hypotheses (mechanical and sensory theories) have been suggested to describe the adaptations of the MTU to stretching exercises. Contrary to some studies, in the present investigation torqueMAX was significantly correlated with the variables of the mechanical theory rather than those of the sensory theory. Therefore, a new approach was proposed to explain the behavior of the torqueMAX during stretching exercises. PMID:27437715
Coordinated turn-and-reach movements. II. Planning in an external frame of reference

NASA Technical Reports Server (NTRS)

Pigeon, Pascale; Bortolami, Simone B.; DiZio, Paul; Lackner, James R.

2003-01-01

The preceding study demonstrated that normal subjects compensate for the additional interaction torques generated when a reaching movement is made during voluntary trunk rotation. The present paper assesses the influence of trunk rotation on finger trajectories and on interjoint coordination and determines whether simultaneous turn-and-reach movements are most simply described relative to a trunk-based or an external reference frame. Subjects reached to targets requiring different extents of arm joint and trunk rotation at a natural pace and quickly in normal lighting and in total darkness. We first examined whether the larger interaction torques generated during rapid turn-and-reach movements perturb finger trajectories and interjoint coordination and whether visual feedback plays a role in compensating for these torques. These issues were addressed using generalized Procrustes analysis (GPA), which attempts to overlap a group of configurations (e.g., joint trajectories) through translations and rotations in multi-dimensional space. We first used GPA to identify the mean intrinsic patterns of finger and joint trajectories (i.e., their average shape irrespective of location and orientation variability in the external and joint workspaces) from turn-and-reach movements performed in each experimental condition and then calculated their curvatures. We then quantified the discrepancy between each finger or joint trajectory and the intrinsic pattern both after GPA was applied individually to trajectories from a pair of experimental conditions and after GPA was applied to the same trajectories pooled together. For several subjects, joint trajectories but not finger trajectories were more curved in fast than slow movements. The curvature of both joint and finger trajectories of turn-and-reach movements was relatively unaffected by the vision conditions. Pooling across speed conditions significantly increased the discrepancy between joint but not finger trajectories for most subjects, indicating that subjects used different patterns of interjoint coordination in slow and fast movements while nevertheless preserving the shape of their finger trajectory. Higher movement speeds did not disrupt the arm joint rotations despite the larger interaction torques generated. Rather, subjects used the redundant degrees of freedom of the arm/trunk system to achieve similar finger trajectories with differing joint configurations. We examined finger movement patterns and velocity profiles to determine the frame of reference in which turn-and-reach movements could be most simply described. Finger trajectories of turn-and-reach movements had much larger curvatures and their velocity profiles were less smooth and less bell-like in trunk-based coordinates than in external coordinates. Taken together, these results support the conclusion that turn-and-reach movements are controlled in an external frame of reference.
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.
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.
Control of large wind turbine generators connected to utility networks

NASA Technical Reports Server (NTRS)

Hinrichsen, E. N.

1983-01-01

This is an investigation of the control requirements for variable pitch wind turbine generators connected to electric power systems. The requirements include operation in very small as well as very large power systems. Control systems are developed for wind turbines with synchronous, induction, and doubly fed generators. Simulation results are presented. It is shown how wind turbines and power system controls can be integrated. A clear distinction is made between fast control of turbine torque, which is a peculiarity of wind turbines, and slow control of electric power, which is a traditional power system requirement.
Field alignment of bent-core smectic liquid crystals for analog optical phase modulation

NASA Astrophysics Data System (ADS)

Shen, Y.; Goodhew, L.; Shao, R.; Moran, M.; Korblova, E.; Walba, D. M.; Clark, N. A.; Maclennan, J. E.; Rudquist, P.

2015-05-01

A general method for aligning bent-core smectic liquid crystal materials is described. Alternating electric fields between interdigitated electrodes patterned on one cell surface create torques on the liquid crystal that result in uniform "bookshelf" orientation of the smectic layers. The aligned cell can then be driven in the conventional way by applying an electric field between all of the stripe electrodes connected together and a monolithic electrode on the other cell surface. Fast, analog, optical phase-only modulation is demonstrated in a device containing a polar, bent-core SmAPF material aligned using this technique.

Influence of Magnetic Field Ripple on the Intrinsic Rotation of Tokamak Plasmas

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

Nave, M. F. F.; Johnson, T.; Eriksson, L.-G.

Using the unique capability of JET to monotonically change the amplitude of the magnetic field ripple, without modifying other relevant equilibrium conditions, the effect of the ripple on the angular rotation frequency of the plasma column was investigated under the conditions of no external momentum input. The ripple amplitude was varied from 0.08% to 1.5% in Ohmic and ion-cyclotron radio-frequency (ICRF) heated plasmas. In both cases the ripple causes counterrotation, indicating a strong torque due to nonambipolar transport of thermal ions and in the case of ICRF also fast ions.
Angular momentum and torques in a simulation of the atmosphere's response to the 1982-83 El Nino

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

Ponte, R.M.; Rosen, R.D.; Boer, G.J.

Anomalies in the angular momentum of the atmosphere (M) during the 1982-83 El Nino event and the torques responsible for these anomalies are investigated using output from the Canadian Climate Centre general circulation model. Model values of M during the year of the event are generally larger than those for the model climatology, thereby capturing the observed tendency toward higher values of M during El Nino. Differences exist between the model and observations in the timing and amplitude of the largest anomalies, but these differences may be due to natural variability and not necessarily directly associated with the 1982-83 Elmore » Nino conditions. In late September and October 1982, the model atmosphere acquires momentum more rapidly than usual, leading to the development of the largest deviations from mean conditions at the end of October. A secondary maximum in the departure from mean M values occurs in January 1983 and is related to a general strengthening of westerly momentum anomalies over the model's tropical and midlatitude regions. Both mountain and tangential stress torques are involved in this episode, but no particular mechanism or region dominates the anomalous exchange of momentum. 24 refs., 10 figs., 1 tab.« less
Effect of Low Nickel Dopant on Torque Transducer Response Function in High-Chromium Content ESR Stainless Tool Steels

NASA Astrophysics Data System (ADS)

Wiewel, Joseph L.; Hecox, Bryan G.; Orris, Jason T.; Boley, Mark S.

2007-03-01

The change in magnetoelastic torque transducer response was investigated as a low nickel content (up to 0.2%) is alloyed into an ESR (Electro-Slag-Refining) stainless tool steel with a chromium content of around 13%, which our previous studies have proven to be the ideal level of chromium content for optimal transducer performance. Two separate hollow steel 3/4-inch diameter shafts were prepared from ESR 416 and ESR 420 steel, respectively, the first having no nickel content and the second having 0.2% nickel content. The heat treatment of these steels consisted of a hardening process conducted in a helium atmosphere at 1038^oC, followed by an annealing at 871^oC for 5h and a 15^oC cool down rate. Prior and subsequent to the heat treatment processes, the circumferential and axial magnetic hysteresis properties of the samples were measured and their external field signals were mapped over the magnetically polarized regions both with and without applied shear stress up to 2500 psi on the samples. It was found that the effect of the low nickel dopant was to improve torque transducer sensitivity and linearity, but heat treatment worsened the performance of both samples.
DOE Office of Scientific and Technical Information (OSTI.GOV)

Wang, Xiao; Gao, Wenzhong; Wang, Jianhui

To release the 'hidden inertia' of variable-speed wind turbines for temporary frequency support, a method of torque-limit based inertial control is proposed in this paper. This method aims to improve the frequency support capability considering the maximum torque restriction of a permanent magnet synchronous generator. The advantages of the proposed method are improved frequency nadir (FN) in the event of an under-frequency disturbance; and avoidance of over-deceleration and a second frequency dip during the inertial response. The system frequency response is different, with different slope values in the power-speed plane when the inertial response is performed. The proposed method ismore » evaluated in a modified three-machine, nine-bus system. The simulation results show that there is a trade-off between the recovery time and FN, such that a gradual slope tends to improve the FN and restrict the rate of change of frequency aggressively while causing an extension of the recovery time. These results provide insight into how to properly design such kinds of inertial control strategies for practical applications.« less
DOE Office of Scientific and Technical Information (OSTI.GOV)

Wang, Xiao; Gao, Wenzhong; Wang, Jianhui

To release the 'hidden inertia' of variable-speed wind turbines for temporary frequency support, a method of torque-limit-based inertial control is proposed in this paper. This method aims to improve the frequency support capability considering the maximum torque restriction of a permanent magnet synchronous generator. The advantages of the proposed method are improved frequency nadir (FN) in the event of an under-frequency disturbance; and avoidance of over-deceleration and a second frequency dip during the inertial response. The system frequency response is different, with different slope values in the power-speed plane when the inertial response is performed. The proposed method is evaluatedmore » in a modified three-machine, nine-bus system. The simulation results show that there is a trade-off between the recovery time and FN, such that a gradual slope tends to improve the FN and restrict the rate of change of frequency aggressively while causing an extension of the recovery time. These results provide insight into how to properly design such kinds of inertial control strategies for practical applications.« less
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.
Response of vestibular-nerve afferents to active and passive rotations under normal conditions and after unilateral labyrinthectomy.

PubMed

Sadeghi, Soroush G; Minor, Lloyd B; Cullen, Kathleen E

2007-02-01

We investigated the possible contribution of signals carried by vestibular-nerve afferents to long-term processes of vestibular compensation after unilateral labyrinthectomy. Semicircular canal afferents were recorded from the contralesional nerve in three macaque monkeys before [horizontal (HC) = 67, anterior (AC) = 66, posterior (PC) = 50] and 1-12 mo after (HC = 192, AC = 86, PC = 57) lesion. Vestibular responses were evaluated using passive sinusoidal rotations with frequencies of 0.5-15 Hz (20-80 degrees /s) and fast whole-body rotations reaching velocities of 500 degrees /s. Sensitivities to nonvestibular inputs were tested by: 1) comparing responses during active and passive head movements, 2) rotating the body with the head held stationary to activate neck proprioceptors, and 3) encouraging head-restrained animals to attempt to make head movements that resulted in the production of neck torques of < or =2 Nm. Mean resting discharge rate before and after the lesion did not differ for the regular, D (dimorphic)-irregular, or C (calyx)-irregular afferents. In response to passive rotations, afferents showed no change in sensitivity and phase, inhibitory cutoff, and excitatory saturation after unilateral labyrinthectomy. Moreover, head sensitivities were similar during voluntary and passive head rotations and responses were not altered by neck proprioceptive or efference copy signals before or after the lesion. The only significant change was an increase in the proportion of C-irregular units postlesion, accompanied by a decrease in the proportion of regular afferents. Taken together, our findings show that changes in response properties of the vestibular afferent population are not likely to play a major role in the long-term changes associated with compensation after unilateral labyrinthectomy.
Decoupling analysis for a powertrain mounting system with a combination of hydraulic mounts

NASA Astrophysics Data System (ADS)

Hu, Jinfang; Chen, Wuwei; Huang, He

2013-07-01

The existing torque roll axis(TRA) decoupling theories for a powertrain mounting system assume that the stiffness and viscous damping properties are constant. However, real-life mounts exhibit considerable spectrally varying stiffness and damping characteristics, and the influence of the spectrally-varying properties of the hydraulic mounts on the powertrain system cannot be ignored. To overcome the deficiency, an analytical quasi-linear model of the hydraulic mount and the coupled properties of the powertrain and hydraulic mounts system are formulated. The influence of the hydraulic mounts on the TRA decoupling of a powertrain system is analytically examined in terms of eigensolutions, frequency, and impulse responses, and then a new analytical axiom is proposed based on the TRA decoupling indices. With the experimental setup of a fixed decoupler hydraulic mount in the context of non-resonant dynamic stiffness testing procedure, the quasi-linear model of the hydraulic mount is verified by comparing the predictions with the measurement. And the quasi-linear formulation of the coupled system is also verified by comparing the frequency responses with the numerical results obtained by the direct inversion method. Finally, the mounting system with a combination of hydraulic mounts is redesigned in terms of the stiffness, damping and mount locations by satisfying the new axiom. The frequency and time domain results of the redesigned system demonstrate that the torque roll axis of the redesigned powertrain mounting system is indeed decoupled in the presence of hydraulic mounts (given oscillating torque or impulsive torque excitation). The proposed research provides an important basis and method for the research on a powertrain system with spectrally-varying mount properties, especially for the TRA decoupling.
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.
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.
Effect of muscle length on strength and dexterity after stroke.

PubMed

Ada, L; Canning, C; Dwyer, T

2000-02-01

The effect of muscle length on strength and dexterity after stroke was investigated. The aim was to determine if poor function at a particular muscle length could be attributed solely to differential weakness at this joint angle or whether an additional problem of differential dexterity exists. This descriptive research study measured elbow flexor and extensor strength as well as dexterity at three elbow joint angles: 30 degrees , 60 degrees and 90 degrees flexion. Dexterity was measured independently of strength. Fifteen (seven female, eight male) chronic stroke patients (mean age 67 years) who could actively flex and extend their affected elbow participated. Ten neurologically normal control subjects (mean age 67 years) acted as controls. Strength was measured as peak elbow flexor and extensor torque at three angles; and dexterity was measured as coherence for slow and fast tracking also at three angles. Dexterity was not affected by muscle length but strength was and this finding was the same for both stroke and controls. While the magnitude of the torque-angle curves was not significantly different between stroke and controls, the shape of torque-angle curves was altered after stroke so that both the elbow flexors (p < 0.05) and extensors (p < 0.05) tested weaker in the testing position where they were shortest. Since there was no differential loss of dexterity, it appears that differential loss of strength, especially in the shortened range, may explain the clinical observation of poorer function at one muscle length than another after stroke. Specific training to strengthen the muscles in these ranges is therefore of clinical importance for rehabilitation.
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.
Investigation of frequency-response characteristics of engine speed for a typical turbine-propeller engine

NASA Technical Reports Server (NTRS)

Taylor, Burt L , III; Oppenheimer, Frank L

1951-01-01

Experimental frequency-response characteristics of engine speed for a typical turbine-propeller engine are presented. These data were obtained by subjecting the engine to sinusoidal variations of fuel flow and propeller-blade-angle inputs. Correlation is made between these experimental data and analytical frequency-response characteristics obtained from a linear differential equation derived from steady-state torque-speed relations.
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.
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.
Optimal current waveforms for brushless permanent magnet motors

NASA Astrophysics Data System (ADS)

Moehle, Nicholas; Boyd, Stephen

2015-07-01

In this paper, we give energy-optimal current waveforms for a permanent magnet synchronous motor that result in a desired average torque. Our formulation generalises previous work by including a general back-electromotive force (EMF) wave shape, voltage and current limits, an arbitrary phase winding connection, a simple eddy current loss model, and a trade-off between power loss and torque ripple. Determining the optimal current waveforms requires solving a small convex optimisation problem. We show how to use the alternating direction method of multipliers to find the optimal current in milliseconds or hundreds of microseconds, depending on the processor used, which allows the possibility of generating optimal waveforms in real time. This allows us to adapt in real time to changes in the operating requirements or in the model, such as a change in resistance with winding temperature, or even gross changes like the failure of one winding. Suboptimal waveforms are available in tens or hundreds of microseconds, allowing for quick response after abrupt changes in the desired torque. We demonstrate our approach on a simple numerical example, in which we give the optimal waveforms for a motor with a sinusoidal back-EMF, and for a motor with a more complicated, nonsinusoidal waveform, in both the constant-torque region and constant-power region.
Torsional Vibration in the National Wind Technology Center’s 2.5-Megawatt Dynamometer

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

Sethuraman, Latha; Keller, Jonathan; Wallen, Robb

2016-08-31

This report documents the torsional drivetrain dynamics of the NWTC's 2.5-megawatt dynamometer as identified experimentally and as calculated using lumped parameter models using known inertia and stiffness parameters. The report is presented in two parts beginning with the identification of the primary torsional modes followed by the investigation of approaches to damp the torsional vibrations. The key mechanical parameters for the lumped parameter models and justification for the element grouping used in the derivation of the torsional modes are presented. The sensitivities of the torsional modes to different test article properties are discussed. The oscillations observed from the low-speed andmore » generator torque measurements were used to identify the extent of damping inherently achieved through active and passive compensation techniques. A simplified Simulink model of the dynamometer test article integrating the electro-mechanical power conversion and control features was established to emulate the torque behavior that was observed during testing. The torque response in the high-speed, low-speed, and generator shafts were tested and validated against experimental measurements involving step changes in load with the dynamometer operating under speed-regulation mode. The Simulink model serves as a ready reference to identify the torque sensitivities to various system parameters and to explore opportunities to improve torsional damping under different conditions.« less

Assessment of eccentric exercise-induced muscle damage of the elbow flexors by tensiomyography.

PubMed

Hunter, Angus M; Galloway, Stuart D R; Smith, Iain J; Tallent, Jamie; Ditroilo, Massimiliano; Fairweather, Malcolm M; Howatson, Glyn

2012-06-01

Exercise induced muscle damage (EIMD) impairs maximal torque production which can cause a decline in athletic performance and/or mobility. EIMD is commonly assessed by using maximal voluntary contraction (MVC), creatine kinase (CK) and muscle soreness. We propose as an additional technique, tensiomyography (TMG), recently introduced to measure mechanical and muscle contractile characteristics. The purpose of this study was to determine the validity of TMG in detecting changes in maximal torque following EIMD. Nineteen participants performed eccentric elbow flexions to achieve EIMD on the non- dominant arm and used the dominant elbow flexor as a control. TMG parameters, MVC and rate of torque development (RTD) were measured prior to EIMD and repeated for another six consecutive days. Creatine kinase, muscle soreness and limb girth were also measured during this period. Twenty four hours after inducing EIMD, MVC torque, RTD and TMG maximal displacement had significantly (p<0.01) declined by 37%, 44% and 31%, respectively. By day 6 MVC, RTD and TMG recovered to 12%, 24% and 17% of respective pre-EIMD values. In conclusion, as hypothesised TMG maximal displacement significantly followed other standard EIMD responses. This could therefore be useful in detecting muscle damage from impaired muscle function and its recovery following EIMD. Copyright © 2012 Elsevier Ltd. All rights reserved.
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.
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.
State feedback integral control for a rotary direct drive servo valve using a Lyapunov function approach.

PubMed

Yu, Jue; Zhuang, Jian; Yu, Dehong

2015-01-01

This paper concerns a state feedback integral control using a Lyapunov function approach for a rotary direct drive servo valve (RDDV) while considering parameter uncertainties. Modeling of this RDDV servovalve reveals that its mechanical performance is deeply influenced by friction torques and flow torques; however, these torques are uncertain and mutable due to the nature of fluid flow. To eliminate load resistance and to achieve satisfactory position responses, this paper develops a state feedback control that integrates an integral action and a Lyapunov function. The integral action is introduced to address the nonzero steady-state error; in particular, the Lyapunov function is employed to improve control robustness by adjusting the varying parameters within their value ranges. This new controller also has the advantages of simple structure and ease of implementation. Simulation and experimental results demonstrate that the proposed controller can achieve higher control accuracy and stronger robustness. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.
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.
Biomechanical evaluation of dental implants with three different designs: Removal torque and resonance frequency analysis in rabbits.

PubMed

Gehrke, Sergio Alexandre; Marin, Giovanni Wiel

2015-05-01

The objective of this study was to investigate the effect of implant design on stability and resistance to reverse torque in the tibia of rabbits. Three test groups were prepared using the different characteristics of each implant model: square threads with progressive depth to the apex, a cervical portion without threads and a self-tapping system that is quite pronounced and aggressive (Group 1); triangular threads with flat tips with increasing thread depth from the cervical portion to the apex and a small self-tapping portion with a short thread pitch (Group 2); long thread pitch, progressive thread depth, an apical area with a small self-tapping portion (Group 3). For the two last groups, a final single-use drill was provided for each implant. Nine rabbits received 54 conical implants with a same surface treatment. The resonance frequency was analysed four times (0, 6, 8 and 12 weeks), and removal torque values were measured at three time intervals after the implantations (6, 8 and 12 weeks). In comparing the implant stability quotient at the four time points, highly significant statistic differences were found (p = 1.29(-10)). The reverse torque at the three time points was also significantly different among the groups (p = 0.00015). The implants of Group 2, with seemingly less aggressive design, more quickly reached high values of stability and removal torque. Under the limitations of this study, however, it is possible that in cases in which there may be low osseointegration response, the implant design should be evaluated. Copyright © 2014 Elsevier GmbH. All rights reserved.
Determination of torque-limits for human and cat lumbar spine specimens during displacement-controlled physiological motions.

PubMed

Ianuzzi, Allyson; Pickar, Joel G; Khalsa, Partap S

2009-01-01

Quadruped animal models have been validated and used as biomechanical models for the lumbar spine. The biomechanics of the cat lumbar spine has not been well characterized, even though it is a common model used in neuromechanical studies. Compare the physiological ranges of motion and determine torque-limits for cat and human lumbar spine specimens during physiological motions. Biomechanics study. Cat and human lumbar spine specimens. Intervertebral angle (IVA), joint moment, yield point, torque-limit, and correlation coefficients. Cat (L2-sacrum) and human (T12-sacrum) lumbar spine specimens were mechanically tested to failure during displacement-controlled extension (E), lateral bending (LB), and axial rotation (AR). Single trials consisted of 10 cycles (10mm/s or 5 degrees /s) to a target displacement where the magnitude of the target displacement was increased for subsequent trials until failure occurred. Whole-lumbar stiffness, torque at yield point, and joint stiffness were determined. Scaling relationships were established using equations analogous to those that describe the load response of elliptically shaped beams. IVA magnitudes for cat and human lumbar spines were similar during physiological motions. Human whole-lumbar and joint stiffness magnitudes were significantly greater than those for cat spine specimens (p<.05). Torque-limits were also greater for humans compared with cats. Scaling relationships with high correlation (R(2) greater than 0.77) were established during later LB and AR. The current study defined "physiological ranges of movement" for human and cat lumbar spine specimens during displacement-controlled testing, and should be observed in future biomechanical studies conducted under displacement control.
Torque Enhancement, Spin Equilibrium, and Jet Power from Disk-Induced Opening of Pulsar Magnetic Fields

NASA Astrophysics Data System (ADS)

Parfrey, Kyle; Spitkovsky, Anatoly; Beloborodov, Andrei M.

2016-05-01

The interaction of a rotating star’s magnetic field with a surrounding plasma disk lies at the heart of many questions posed by neutron stars in X-ray binaries. We consider the opening of stellar magnetic flux due to differential rotation along field lines coupling the star and disk, using a simple model for the disk-opened flux, the torques exerted on the star by the magnetosphere, and the power extracted by the electromagnetic wind. We examine the conditions under which the system enters an equilibrium spin state, in which the accretion torque is instantaneously balanced by the pulsar wind torque alone. For magnetic moments, spin frequencies, and accretion rates relevant to accreting millisecond pulsars, the spin-down torque from this enhanced pulsar wind can be substantially larger than that predicted by existing models of the disk-magnetosphere interaction, and is in principle capable of maintaining spin equilibrium at frequencies less than 1 kHz. We speculate that this mechanism may account for the non-detection of frequency increases during outbursts of SAX J1808.4-3658 and XTE J1814-338, and may be generally responsible for preventing spin-up to sub-millisecond periods. If the pulsar wind is collimated by the surrounding environment, the resulting jet can satisfy the power requirements of the highly relativistic outflows from Cir X-1 and Sco X-1. In this framework, the jet power scales relatively weakly with accretion rate, {L}{{j}}\\propto {\\dot{M}}4/7, and would be suppressed at high accretion rates only if the stellar magnetic moment is sufficiently low.
Skid Prevention for EVs Based on the Emulation of Torque Reduction Characteristics of Separately-excited DC Motor

NASA Astrophysics Data System (ADS)

Kodama, Shinya; Hori, Yoichi

It is well-known that the separately-excited DC motor has effective torque (current) reduction characteristics in response to rapid increase in the rotational speed of the motor. These characteristics have been utilized in adhesion control of electric railway trains with separately-excited DC motor. Up to now, we have proposed a new skid prevention method for EVs, utilizing these characteristics and have made experiments with the hardware skid simulator “Motor-Generator setup”. In this paper, we applied this skid prevention control to our new vehicle “UOT CADWELL EV" equipped with BLDC motors and showed its effectiveness.
Noncontact Measurement Of Shaft Speed, Torque, And Power

NASA Technical Reports Server (NTRS)

Madzsar, George C.

1993-01-01

Noncontact fiber-optic sensor and associated electronic equipment measure twist and speed of rotation of shaft. Measurements determine torque and power. Response of sensor remains linear even at cryogenic temperatures. Reflective strips on rotating shaft reflect two series of light pulses back into optical system. Bidirectional coupler in each of two optical fiber paths separates reflected light from incident light, sending it to photodiode for output to analog-to-digital converter and computer. Sensor requires no slip rings or telemetry to transfer signals from shaft. Well suited for providing data on performances of turbopumps for such cryogenic fluids as liquid oxygen and liquid hydrogen.
Design of spoke type motor and magnetizer for improving efficiency based rare-earth-free permanent-magnet motor

NASA Astrophysics Data System (ADS)

Kim, Young Hyun; Cheon, Byung Chul; Lee, Jung Ho

2018-05-01

This study proposes criteria for both optimal-shape and magnetizer-system designs to be used for a high-output spoke-type motor. The study also examines methods of reducing high-cogging torque and torque ripple, to prevent noise and vibration. The optimal design of the stator and rotor can be enhanced using both a response surface method and finite element method. In addition, a magnetizer system is optimally designed for the magnetization of permanent magnets for use in the motor. Finally, this study verifies that the proposed motor can efficiently replace interior permanent magnet synchronous motor in many industries.
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.
High-speed trains subject to abrupt braking

NASA Astrophysics Data System (ADS)

Tran, Minh Thi; Ang, Kok Keng; Luong, Van Hai; Dai, Jian

2016-12-01

The dynamic response of high-speed train subject to braking is investigated using the moving element method. Possible sliding of wheels over the rails is accounted for. The train is modelled as a 15-DOF system comprising of a car body, two bogies and four wheels interconnected by spring-damping units. The rail is modelled as a Euler-Bernoulli beam resting on a two-parameter elastic damped foundation. The interaction between the moving train and track-foundation is accounted for through the normal and tangential wheel-rail contact forces. The effects of braking torque, wheel-rail contact condition, initial train speed and severity of railhead roughness on the dynamic response of the high-speed train are investigated. For a given initial train speed and track irregularity, the study revealed that there is an optimal braking torque that would result in the smallest braking distance with no occurrence of wheel sliding, representing a good compromise between train instability and safety.
Applied Joint-Space Torque and Stiffness Control of Tendon-Driven Fingers

NASA Technical Reports Server (NTRS)

Abdallah, Muhammad E.; Platt, Robert, Jr.; Wampler, Charles W.; Hargrave, Brian

2010-01-01

Existing tendon-driven fingers have applied force control through independent tension controllers on each tendon, i.e. in the tendon-space. The coupled kinematics of the tendons, however, cause such controllers to exhibit a transient coupling in their response. This problem can be resolved by alternatively framing the controllers in the joint-space of the manipulator. This work presents a joint-space torque control law that demonstrates both a decoupled and significantly faster response than an equivalent tendon-space formulation. The law also demonstrates greater speed and robustness than comparable PI controllers. In addition, a tension distribution algorithm is presented here to allocate forces from the joints to the tendons. It allocates the tensions so that they satisfy both an upper and lower bound, and it does so without requiring linear programming or open-ended iterations. The control law and tension distribution algorithm are implemented on the robotic hand of Robonaut-2.
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.
DOE Office of Scientific and Technical Information (OSTI.GOV)

Moyer, Richard A.; Paz-Soldan, Carlos; Nazikian, Raffi

Here, experiments have been executed in the DIII-D tokamak to extend suppression of Edge Localized Modes (ELMs) with Resonant Magnetic Perturbations (RMPs) to ITER-relevant levels of beam torque. The results support the hypothesis for RMP ELM suppression based on transition from an ideal screened response to a tearing response at a resonant surface that prevents expansion of the pedestal to an unstable width.
Direct Measurement of Helical Cell Motion of the Spirochete Leptospira

PubMed Central

Nakamura, Shuichi; Leshansky, Alexander; Magariyama, Yukio; Namba, Keiichi; Kudo, Seishi

2014-01-01

Leptospira are spirochete bacteria distinguished by a short-pitch coiled body and intracellular flagella. Leptospira cells swim in liquid with an asymmetric morphology of the cell body; the anterior end has a long-pitch spiral shape (S-end) and the posterior end is hook-shaped (H-end). Although the S-end and the coiled cell body called the protoplasmic cylinder are thought to be responsible for propulsion together, most observations on the motion mechanism have remained qualitative. In this study, we analyzed the swimming speed and rotation rate of the S-end, protoplasmic cylinder, and H-end of individual Leptospira cells by one-sided dark-field microscopy. At various viscosities of media containing different concentrations of Ficoll, the rotation rate of the S-end and protoplasmic cylinder showed a clear correlation with the swimming speed, suggesting that these two helical parts play a central role in the motion of Leptospira. In contrast, the H-end rotation rate was unstable and showed much less correlation with the swimming speed. Forces produced by the rotation of the S-end and protoplasmic cylinder showed that these two helical parts contribute to propulsion at nearly equal magnitude. Torque generated by each part, also obtained from experimental motion parameters, indicated that the flagellar motor can generate torque >4000 pN nm, twice as large as that of Escherichia coli. Furthermore, the S-end torque was found to show a markedly larger fluctuation than the protoplasmic cylinder torque, suggesting that the unstable H-end rotation might be mechanically related to changes in the S-end rotation rate for torque balance of the entire cell. Variations in torque at the anterior and posterior ends of the Leptospira cell body could be transmitted from one end to the other through the cell body to coordinate the morphological transformations of the two ends for a rapid change in the swimming direction. PMID:24411236
Direct measurement of helical cell motion of the spirochete leptospira.

PubMed

Nakamura, Shuichi; Leshansky, Alexander; Magariyama, Yukio; Namba, Keiichi; Kudo, Seishi

2014-01-07

Leptospira are spirochete bacteria distinguished by a short-pitch coiled body and intracellular flagella. Leptospira cells swim in liquid with an asymmetric morphology of the cell body; the anterior end has a long-pitch spiral shape (S-end) and the posterior end is hook-shaped (H-end). Although the S-end and the coiled cell body called the protoplasmic cylinder are thought to be responsible for propulsion together, most observations on the motion mechanism have remained qualitative. In this study, we analyzed the swimming speed and rotation rate of the S-end, protoplasmic cylinder, and H-end of individual Leptospira cells by one-sided dark-field microscopy. At various viscosities of media containing different concentrations of Ficoll, the rotation rate of the S-end and protoplasmic cylinder showed a clear correlation with the swimming speed, suggesting that these two helical parts play a central role in the motion of Leptospira. In contrast, the H-end rotation rate was unstable and showed much less correlation with the swimming speed. Forces produced by the rotation of the S-end and protoplasmic cylinder showed that these two helical parts contribute to propulsion at nearly equal magnitude. Torque generated by each part, also obtained from experimental motion parameters, indicated that the flagellar motor can generate torque >4000 pN nm, twice as large as that of Escherichia coli. Furthermore, the S-end torque was found to show a markedly larger fluctuation than the protoplasmic cylinder torque, suggesting that the unstable H-end rotation might be mechanically related to changes in the S-end rotation rate for torque balance of the entire cell. Variations in torque at the anterior and posterior ends of the Leptospira cell body could be transmitted from one end to the other through the cell body to coordinate the morphological transformations of the two ends for a rapid change in the swimming direction. Copyright © 2014 Biophysical Society. Published by Elsevier Inc. All rights reserved.
Estimation of Time-Varying, Intrinsic and Reflex Dynamic Joint Stiffness during Movement. Application to the Ankle Joint

PubMed Central

Guarín, Diego L.; Kearney, Robert E.

2017-01-01

Dynamic joint stiffness determines the relation between joint position and torque, and plays a vital role in the control of posture and movement. Dynamic joint stiffness can be quantified during quasi-stationary conditions using disturbance experiments, where small position perturbations are applied to the joint and the torque response is recorded. Dynamic joint stiffness is composed of intrinsic and reflex mechanisms that act and change together, so that nonlinear, mathematical models and specialized system identification techniques are necessary to estimate their relative contributions to overall joint stiffness. Quasi-stationary experiments have demonstrated that dynamic joint stiffness is heavily modulated by joint position and voluntary torque. Consequently, during movement, when joint position and torque change rapidly, dynamic joint stiffness will be Time-Varying (TV). This paper introduces a new method to quantify the TV intrinsic and reflex components of dynamic joint stiffness during movement. The algorithm combines ensemble and deterministic approaches for estimation of TV systems; and uses a TV, parallel-cascade, nonlinear system identification technique to separate overall dynamic joint stiffness into intrinsic and reflex components from position and torque records. Simulation studies of a stiffness model, whose parameters varied with time as is expected during walking, demonstrated that the new algorithm accurately tracked the changes in dynamic joint stiffness using as little as 40 gait cycles. The method was also used to estimate the intrinsic and reflex dynamic ankle stiffness from an experiment with a healthy subject during which ankle movements were imposed while the subject maintained a constant muscle contraction. The method identified TV stiffness model parameters that predicted the measured torque very well, accounting for more than 95% of its variance. Moreover, both intrinsic and reflex dynamic stiffness were heavily modulated through the movement in a manner that could not be predicted from quasi-stationary experiments. The new method provides the tool needed to explore the role of dynamic stiffness in the control of movement. PMID:28649196

Mechanical evaluation of external skeletal fixator-intramedullary pin tie-in configurations applied to cadaveral humeri from red-tailed hawks (Buteo jamaicensis).

PubMed

Van Wettere, Arnaud J; Redig, Patrick T; Wallace, Larry J; Bourgeault, Craig A; Bechtold, Joan E

2009-12-01

Use of external skeletal fixator-intramedullary pin (ESF-IM) tie-in fixators is an adjustable and effective method of fracture fixation in birds. The objective of this study was to determine the contribution of each of the following parameters to the compressive and torsional rigidity of an ESF-IM pin tie-in applied to avian bones with an osteotomy gap: (1) varying the fixation pin position in the proximal bone segment and (2) increasing the number of fixation pins in one or both bone segments. ESF-IM pin tie-in constructs were applied to humeri harvested from red-tailed hawks (Buteo jamaicensis) (n=24) that had been euthanatized for clinical reasons. Constructs with a variation in the placement of the proximal fixation pin and with 2, 3, or 4 fixation pins applied to avian bone with an osteotomy gap were loaded to a defined displacement in torque and axial compression. Response variables were determined from resulting load-displacement curves (construct stiffness, load at 1-mm displacement). Increasing the number of fixation pins from 1 to 2 per bone segment significantly increased the stiffness in torque (110%) and compression (60%), and the safe load in torque (107%) and compression (50%). Adding a fixation pin to the distal bone segment to form a 3-pin fixator significantly increased the stiffness (27%) and safe load (20%) in torque but not in axial compression. In the configuration with 2 fixation pins, placing the proximal pin distally in the proximal bone segment significantly increased the stiffness in torque (28%), and the safe load in torque (23%) and in axial compression (32%). Results quantified the relative importance of specific parameters affecting the rigidity of ESF-IM pin tie-in constructs as applied to unstable bone fracture models in birds.
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.
High Torque-to-Inertia Servo System for Stabilizing Sensor Systems. Candidate Systems Include Missile Guidance, Surveillance, and Tracking

DTIC Science & Technology

1980-04-01

specifications ... 3-10 25. Typical isolation curve ... 3-12 26. Servo amp/motor/load frequency response (inner gimbal) ... 4-3 27. Slave loop ( open loop...slave loop ( open loop) frequency response (inner gimbal) . . . 4-4 30. Slave loop (closed loop) frequency response (inner gimbal) ... 4-5 3 . Slave...loop inner gimbal time response ... 4-5 32. Servo amp/motor/load frequency response (outer gimbal) ... 4-6 33. Slave loop ( open loop) uncompensated
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.
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.
Towards autonomous locomotion: CPG-based control of smooth 3D slithering gait transition of a snake-like robot.

PubMed

Bing, Zhenshan; Cheng, Long; Chen, Guang; Röhrbein, Florian; Huang, Kai; Knoll, Alois

2017-04-04

Snake-like robots with 3D locomotion ability have significant advantages of adaptive travelling in diverse complex terrain over traditional legged or wheeled mobile robots. Despite numerous developed gaits, these snake-like robots suffer from unsmooth gait transitions by changing the locomotion speed, direction, and body shape, which would potentially cause undesired movement and abnormal torque. Hence, there exists a knowledge gap for snake-like robots to achieve autonomous locomotion. To address this problem, this paper presents the smooth slithering gait transition control based on a lightweight central pattern generator (CPG) model for snake-like robots. First, based on the convergence behavior of the gradient system, a lightweight CPG model with fast computing time was designed and compared with other widely adopted CPG models. Then, by reshaping the body into a more stable geometry, the slithering gait was modified, and studied based on the proposed CPG model, including the gait transition of locomotion speed, moving direction, and body shape. In contrast to sinusoid-based method, extensive simulations and prototype experiments finally demonstrated that smooth slithering gait transition can be effectively achieved using the proposed CPG-based control method without generating undesired locomotion and abnormal torque.
Development of Torsional and Linear Piezoelectrically Driven Motors

NASA Technical Reports Server (NTRS)

Duong, Khanh; Newton, David; Garcia, Ephrahim

1996-01-01

The development of rotary and linear inchworm-motors using piezoelectric actuators is presented. The motors' design has the advantage of a macro and micro stepper motor with high load and speed. The torsional design is capable of fast angular positioning with micro level accuracy. Additionally, the rotary motor, as designed, can be used as a clutch/brake mechanism. Constructed prototype motors of both types along with their characteristics are presented. The torsional motor consists of a torsional section that provides angular displacement and torque, and two alternating clamping sections which provide the holding force. The motor relies on the principal piezoelectric coupling coefficient (d33) with no torsional elements, increasing its torque capability. The linear motor consists of a longitudinal vibrator that provides displacement and load, and two alternating clamping sections which provide the holding force. This design eliminates bending moment, tension and shear applied to the actuator elements, increase its load capability and life. Innovative flexure designs have been introduced for both motor types. Critical issues that affect the design and performance of the motors are explored and discussed. Experiments are performed demonstrating the motor prototypes based on the aforementioned design considerations.
Thrusting maneuver control of a small spacecraft via only gimbaled-thruster scheme

NASA Astrophysics Data System (ADS)

Kabganian, Mansour; Kouhi, Hamed; Shahravi, Morteza; Fani Saberi, Farhad

2018-05-01

The thrust vector control (TVC) scheme is a powerful method in spacecraft attitude control. Since the control of a small spacecraft is being studied here, a solid rocket motor (SRM) should be used instead of a liquid propellant motor. Among the TVC methods, gimbaled-TVC as an efficient method is employed in this paper. The spacecraft structure is composed of a body and a gimbaled-SRM where common attitude control systems such as reaction control system (RCS) and spin-stabilization are not presented. A nonlinear two-body model is considered for the characterization of the gimbaled-thruster spacecraft where, the only control input is provided by a gimbal actuator. The attitude of the spacecraft is affected by a large exogenous disturbance torque which is generated by a thrust vector misalignment from the center of mass (C.M). A linear control law is designed to stabilize the spacecraft attitude while rejecting the mentioned disturbance torque. A semi-analytical formulation of the region of attraction (RoA) is developed to ensure the local stability and fast convergence of the nonlinear closed-loop system. Simulation results of the 3D maneuvers are included to show the applicability of this method for use in a small spacecraft.
Disentangling the contribution of the paretic and non-paretic ankle to balance control in stroke patients.

PubMed

van Asseldonk, Edwin H F; Buurke, Jaap H; Bloem, Bastiaan R; Renzenbrink, Gerbert J; Nene, Anand V; van der Helm, Frans C T; van der Kooij, Herman

2006-10-01

During stroke recovery, restoration of the paretic ankle and compensation in the non-paretic ankle may contribute to improved balance maintenance. We examine a new approach to disentangle these recovery mechanisms by objectively quantifying the contribution of each ankle to balance maintenance. Eight chronic hemiparetic patients were included. Balance responses were elicited by continuous random platform movements. We measured body sway and ground reaction forces below each foot to calculate corrective ankle torques in each leg. These measurements yielded the Frequency Response Function (FRF) of the stabilizing mechanisms, which expresses the amount and timing of the generated corrective torque in response to sway at the specified frequencies. The FRFs were used to calculate the relative contribution of the paretic and non-paretic ankle to the total amount of generated corrective torque to correct sway. All patients showed a clear asymmetry in the balance contribution in favor of the non-paretic ankle. Paretic balance contribution was significantly smaller than the contribution of the paretic leg to weight bearing, and did not show a clear relation with the contribution to weight bearing. In contrast, a group of healthy subjects instructed to distribute their weight asymmetrically showed a one-on-one relation between the contribution to weight bearing and to balance. We conclude that the presented approach objectively quantifies the contribution of each ankle to balance maintenance. Application of this method in longitudinal surveys of balance rehabilitation makes it possible to disentangle the different recovery mechanisms. Such insights will be critical for the development and evaluation of rehabilitation strategies.
Comparison of quasi-static and dynamic squats: a three-dimensional kinematic, kinetic and electromyographic study of the lower limbs.

PubMed

Clément, Julien; Hagemeister, Nicola; Aissaoui, Rachid; de Guise, Jacques A

2014-01-01

Numerous studies have described 3D kinematics, 3D kinetics and electromyography (EMG) of the lower limbs during quasi-static or dynamic squatting activities. One study compared these two squatting conditions but only at low speed on healthy subjects, and provided no information on kinetics and EMG of the lower limbs. The purpose of the present study was to contrast simultaneous recordings of 3D kinematics, 3D kinetics and EMG of the lower limbs during quasi-stat ic and fast-dynamic squats in healthy and pathological subjects. Ten subjects were recruited: five healthy and five osteoarthritis subjects. A motion-capture system, force plate, and surface electrodes respectively recorded 3D kinematics, 3D kinetics and EMG of the lower limbs. Each subject performed a quasi-static squat and several fast-dynamic squats from 0° to 70° of knee flexion. The two squatting conditions were compared for positions where quasi-static and fast-dynamic knee flexion-extension angles were similar. Mean differences between quasi-static and fast-dynamic squats were 1.5° for rotations, 1.9 mm for translations, 2.1% of subjects' body weight for ground reaction forces, 6.6 Nm for torques, 11.2 mm for center of pressure, and 6.3% of maximum fast-dynamic electromyographic activities for EMG. Some significant differences (p<0.05) were found in internal rotation, anterior translation, vertical force and EMG. All differences between quasi-static and fast-dynamic squats were small. 69.5% of compared data were equivalent. In conclusion, this study showed that quasi-static and fast-dynamic squatting activities are comparable in terms of 3D kinematics, 3D kinetics and EMG, although some reservations still remain. Copyright © 2014 Elsevier B.V. All rights reserved.
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.
Shoulder motor performance assessment in the sagittal plane in children with hemiplegia during single joint pointing tasks.

PubMed

Formica, Domenico; Petrarca, Maurizio; Rossi, Stefano; Zollo, Loredana; Guglielmelli, Eugenio; Cappa, Paolo

2014-07-29

Pointing is a motor task extensively used during daily life activities and it requires complex visuo-motor transformation to select the appropriate movement strategy. The study of invariant characteristics of human movements has led to several theories on how the brain solves the redundancy problem, but the application of these theories on children affected by hemiplegia is limited. This study aims at giving a quantitative assessment of the shoulder motor behaviour in children with hemiplegia during pointing tasks. Eight children with hemiplegia were involved in the study and were asked to perform movements on the sagittal plane with both arms, at low and high speed. Subject movements were recorded using an optoelectronic system; a 4-DOF model of children arm has been developed to calculate kinematic and dynamic variables. A set of evaluation indexes has been extracted in order to quantitatively assess whether and how children modify their motor control strategies when perform movements with the more affected or less affected arm. In low speed movements, no differences can be seen in terms of movement duration and peak velocity between the More Affected arm (MA) and the Less Affected arm (LA), as well as in the main characteristics of movement kinematics and dynamics. As regards fast movements, remarkable differences in terms of strategies of motor control can be observed: while movements with LA did not show any significant difference in Dimensionless Jerk Index (JI) and Dimensionless Torque-change Cost index (TC) between the elevation and lowering phases, suggesting that motor control optimization is similar for movements performed with or against gravity, movements with MA showed a statistically significant increase of both JI and TC during lowering phase. Results suggest the presence of a different control strategy for fast movements in particular during lowering phase. Results suggest that motor control is not able to optimize Jerk and Torque-change cost functions in the same way when controls the two arms, suggesting that children with hemiplegia do not actively control MA lowering fast movements, in order to take advantage of the passive inertial body properties, rather than to attempt its optimal control.
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
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
[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.
Effect of rotation zero-crossing on single-fluid plasma response to three-dimensional magnetic perturbations

NASA Astrophysics Data System (ADS)

Lyons, B. C.; Ferraro, N. M.; Paz-Soldan, C.; Nazikian, R.; Wingen, A.

2017-04-01

In order to understand the effect of rotation on the response of a plasma to three-dimensional magnetic perturbations, we perform a systematic scan of the zero-crossing of the rotation profile in a DIII-D ITER-similar shape equilibrium using linear, time-independent modeling with the M3D-C1 extended magnetohydrodynamics code. We confirm that the local resonant magnetic field generally increases as the rotation decreases at a rational surface. Multiple peaks in the resonant field are observed near rational surfaces, however, and the maximum resonant field does not always correspond to zero rotation at the surface. Furthermore, we show that non-resonant current can be driven at zero-crossings not aligned with rational surfaces if there is sufficient shear in the rotation profile there, leading to amplification of near-resonant Fourier harmonics of the perturbed magnetic field and a decrease in the far-off-resonant harmonics. The quasilinear electromagnetic torque induced by this non-resonant plasma response provides drive to flatten the rotation, possibly allowing for increased transport in the pedestal by the destabilization of turbulent modes. In addition, this torque acts to drive the rotation zero-crossing to dynamically stable points near rational surfaces, which would allow for increased resonant penetration. By one or both of these mechanisms, this torque may play an important role in bifurcations into suppression of edge-localized modes. Finally, we discuss how these changes to the plasma response could be detected by tokamak diagnostics. In particular, we show that the changes to the resonant field discussed here have a significant impact on the external perturbed magnetic field, which should be observable by magnetic sensors on the high-field side of tokamaks but not on the low-field side. In addition, TRIP3D-MAFOT simulations show that none of the changes to the plasma response described here substantially affects the divertor footprint structure.
Effect of rotation zero-crossing on single-fluid plasma response to three-dimensional magnetic perturbations

DOE PAGES

Lyons, Brendan C.; Ferraro, Nathaniel M.; Paz-Soldan, Carlos A.; ...

2017-02-14

In order to understand the effect of rotation on the plasma's response to three-dimensional magnetic perturbations, we perform a systematic scan of the zero-crossing of the rotation profile in a DIII-D ITER-similar shape equilibrium using linear, time-independent modeling with the M3D-C1 extended magnetohydrodynamics code. We confirm that the local resonant magnetic field generally increases as the rotation decreases at a rational surface. Multiple peaks in the resonant field are observed near rational surfaces, however, and the maximum resonant field does not always correspond to zero rotation at the surface. Furthermore, we show that non-resonant current can be driven at zero-more » crossings not aligned with rational surfaces if there is sufficient shear in the rotation profile there, leading to an amplification of near-resonant Fourier harmonics of the perturbed magnetic field and a decrease in the far-off -resonant harmonics. The quasilinear electromagnetic torque induced by this non-resonant plasma response provides drive to flatten the rotation, possibly allowing for increased transport in the pedestal by the destabilization of turbulent modes. In addition, this torque acts to drive the rotation zero-crossing to dynamically stable points near rational surfaces, which would allow for increased resonant penetration. By one or both of these mechanisms, this torque may play an important role in bifurcations into ELM suppression. Finally, we discuss how these changes to the plasma response could be detected by tokamak diagnostics. In particular, we show that the changes to the resonant field discussed here have a significant impact on the external perturbed magnetic field, which should be observable by magnetic sensors on the high-field side of tokamaks, but not on the low-field side. In addition, TRIP3D-MAFOT simulations show that none of the changes to the plasma response described here substantially affects the divertor footprint structure.« less

An experimental investigation on fluid dynamics of an automotive torque converter

NASA Astrophysics Data System (ADS)

Dong, Yu

The objective of the automotive torque converter fluid dynamics experimental investigation is to understand the flow field inside the torque converter, improve the performance, and increase the fuel economy of vehicles. A high-frequency response five-hole probe was developed for the unsteady flow measurement. The dynamic performance of this probe was examined, and the corresponding data processing technique was also developed. The accuracy of this probe unsteady flow measurement was assessed using a hot-film sensor and a high-frequency response total pressure Pitot probe. The pump passage relative flow field was measured by a rotating five-hole probe system at three chord-wise locations. The rotating probe system is designed and developed for both pump and turbine flow measurement, and it was proved to be accurate and successful. A strong secondary flow is observed to dominate the flow structure at the pump mid-chord. At the pump 3/4 chord, the flow concentration on the pressure side is clearly observed. The secondary flow is found to change direction of rotation between the 3/4 chord and the 4/4 chord. High losses are found in the core-suction corner "wake" flow. The pump exit and turbine exit unsteady flow fields were measured by a high-frequency response five-hole probe in the stationary frame. At the pump exit, the flow is concentrated on the pressure side due to the strong secondary flow in the pump passage. A strong secondary flow is observed. At the turbine exit, a fully developed flow is found caused by the turbulent mixing. The stator exit steady flow was measured by a conventional five-hole probe. A strong secondary flow is found due to the inlet vorticity and axial velocity deficit near the core. The radially inward velocity and the secondary flow produce a large radial transport of mass flow in the stator passage. The stator passage flow is found to be turbulent at the normal operating condition by the measurement using the surface hot-film sensors mounted on the stator blade surface. Based on the experimental data and analysis, recommendations are proposed for the hydraulic design and the fluid dynamics research of the torque converter.
MIGRATION OF SMALL MOONS IN SATURN's RINGS

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

Bromley, Benjamin C.; Kenyon, Scott J., E-mail: bromley@physics.utah.edu, E-mail: skenyon@cfa.harvard.edu

2013-02-20

The motions of small moons through Saturn's rings provide excellent tests of radial migration models. In theory, torque exchange between these moons and ring particles leads to radial drift. We predict that moons with Hill radii r {sub H} {approx} 2-24 km should migrate through the A ring in 1000 yr. In this size range, moons orbiting in an empty gap or in a full ring eventually migrate at the same rate. Smaller moons or moonlets-such as the propellers-are trapped by diffusion of disk material into corotating orbits, creating inertial drag. Larger moons-such as Pan or Atlas-do not migrate becausemore » of their own inertia. Fast migration of 2-24 km moons should eliminate intermediate-size bodies from the A ring and may be responsible for the observed large-radius cutoff of r {sub H} {approx} 1-2 km in the size distribution of the A ring's propeller moonlets. Although the presence of Daphnis (r {sub H} Almost-Equal-To 5 km) inside the Keeler gap challenges this scenario, numerical simulations demonstrate that orbital resonances and stirring by distant, larger moons (e.g., Mimas) may be important factors. For Daphnis, stirring by distant moons seems the most promising mechanism to halt fast migration. Alternatively, Daphnis may be a recent addition to the ring that is settling into a low inclination orbit in {approx}10{sup 3} yr prior to a phase of rapid migration. We provide predictions of observational constraints required to discriminate among possible scenarios for Daphnis.« less
Model of head-neck joint fast movements in the frontal plane.

PubMed

Pedrocchi, A; Ferrigno, G

2004-06-01

The objective of this work is to develop a model representing the physiological systems driving fast head movements in frontal plane. All the contributions occurring mechanically in the head movement are considered: damping, stiffness, physiological limit of range of motion, gravitational field, and muscular torques due to voluntary activation as well as to stretch reflex depending on fusal afferences. Model parameters are partly derived from the literature, when possible, whereas undetermined block parameters are determined by optimising the model output, fitting to real kinematics data acquired by a motion capture system in specific experimental set-ups. The optimisation for parameter identification is performed by genetic algorithms. Results show that the model represents very well fast head movements in the whole range of inclination in the frontal plane. Such a model could be proposed as a tool for transforming kinematics data on head movements in 'neural equivalent data', especially for assessing head control disease and properly planning the rehabilitation process. In addition, the use of genetic algorithms seems to fit well the problem of parameter identification, allowing for the use of a very simple experimental set-up and granting model robustness.
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)
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.
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.
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".
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.
Serum brain-derived neurotrophic factor and interleukin-6 response to high-volume mechanically demanding exercise.

PubMed

Verbickas, Vaidas; Kamandulis, Sigitas; Snieckus, Audrius; Venckunas, Tomas; Baranauskiene, Neringa; Brazaitis, Marius; Satkunskiene, Danguole; Unikauskas, Alvydas; Skurvydas, Albertas

2018-01-01

The aim of this study was to follow circulating brain-derived neurotrophic factor (BDNF) and interleukin-6 (IL-6) levels in response to severe muscle-damaging exercise. Young healthy men (N = 10) performed a bout of mechanically demanding stretch-shortening cycle exercise consisting of 200 drop jumps. Voluntary and electrically induced knee extension torque, serum BDNF levels, and IL-6 levels were measured before and for up to 7 days after exercise. Muscle force decreased by up to 40% and did not recover by 24 hours after exercise. Serum BDNF was decreased 1 hour and 24 hours after exercise, whereas IL-6 increased immediately and 1 hour after but recovered to baseline by 24 hours after exercise. IL-6 and 100-Hz stimulation torque were correlated (r = -0.64, P < 0.05) 24 hours after exercise. In response to acute, severe muscle-damaging exercise, serum BDNF levels decrease, whereas IL-6 levels increase and are associated with peripheral fatigue. Muscle Nerve 57: E46-E51, 2018. © 2017 Wiley Periodicals, Inc.
Impulsive response of an automatic transmission system with multiple clearances: Formulation, simulation and experiment

NASA Astrophysics Data System (ADS)

Crowther, Ashley R.; Singh, Rajendra; Zhang, Nong; Chapman, Chris

2007-10-01

Impulsive responses in geared systems with multiple clearances are studied when the mean torque excitation and system load change abruptly, with application to a vehicle driveline with an automatic transmission. First, torsional lumped-mass models of the planetary and differential gear sets are formulated using matrix elements. The model is then reduced to address tractable nonlinear problems while successfully retaining the main modes of interest. Second, numerical simulations for the nonlinear model are performed for transient conditions and a typical driving situation that induces an impulsive behaviour simulated. However, initial conditions and excitation and load profiles have to be carefully defined before the model can be numerically solved. It is shown that the impacts within the planetary or differential gears may occur under combinations of engine, braking and vehicle load transients. Our analysis shows that the shaping of the engine transient by the torque converter before reaching the clearance locations is more critical. Third, a free vibration experiment is developed for an analogous driveline with multiple clearances and three experiments that excite different response regimes have been carried out. Good correlations validate the proposed methodology.

Potentiation and recovery following low- and high-speed isokinetic contractions in boys.

PubMed

Chaouachi, Anis; Haddad, Monoem; Castagna, Carlo; Wong, Del P; Kaouech, Fathi; Chamari, Karim; Behm, David G

2011-02-01

The objective of this study was to examine the response and recovery to a single set of maximal, low and high angular velocity isokinetic leg extension-flexion contractions with boys. Sixteen boys (11-14 yrs) performed 10 isokinetic contractions at 60°.s-1 (Isok60) and 300°.s-1 (Isok300). Three contractions at both velocities, blood lactate and ratings of perceived exertion were monitored pretest and at 2, 3, 4, and 5 min of recovery (RI). Participants were tested in a random counterbalanced order for each velocity and recovery period. Only a single contraction velocity (300°.s-1 or 60°.s-1) was tested during recovery at each session to remove confounding influences between the recovery intervals. Recovery results showed no change in quadriceps' power at 300°.s-1, quadriceps' power, work and torque at 60°.s-1 and hamstrings' power and work with 60°.s-1. There was an increase during the 2 min RI in hamstrings' power, work and torque and quadriceps' torque with isokinetic contractions at 300°.s-1 suggesting a potentiating effect. Performance impairments during recovery occurred for the hamstrings torque at 60°.s-1 and quadriceps work with 300°.s-1. In conclusion, 10 repetitions of either low or high velocity isokinetic contractions (Isok60 or Isok300) resulted in full recovery or potentiation of most measures within 2 min in boys. The potentiation effect predominantly occurred following the hamstrings Isok300 which might be attributed to a greater agonist-antagonist torque balance and less metabolic stress associated with the shorter duration higher velocity contractions.
Tunable magnetotransport in Fe/hBN/graphene/hBN/Pt(Fe) epitaxial multilayers

NASA Astrophysics Data System (ADS)

Magnus Ukpong, Aniekan

2018-03-01

Theoretical and computational analysis of the magnetotransport properties and spin-transfer torque field-induced switching of magnetization density in vertically-stacked multilayers is presented. Using epitaxially-capped free layers of Pt and Fe, atom-resolved magnetic moments and spin-transfer torques are computed at finite bias. The calculations are performed within linear response approximation to the spin-density reformulation of the van der Waals density functional theory. Dynamical spin excitations are computed as a function of a spin-transfer torque induced magnetic field along the magnetic easy axis, and the corresponding spin polarization perpendicular to the easy axis is obtained. Bias-dependent giant anisotropic magnetoresistance of up to 3200% is obtained in the nonmagnetic-metal-capped Fe/hBN/graphene/hBN/Pt multilayer architecture. Since this specific heterostructure is not yet fabricated and characterized, the predicted high performance has not been demonstrated experimentally. Nevertheless, similar calculations performed on the Fe/hBN/Co stack show that the tunneling magnetoresistance obtained at the Fermi-level is in excellent agreement with results of recent magnetotransport measurements on magnetic tunnel junctions that contain the monolayer hBN tunnel region. The magnitude of the spin-transfer torque is found to increase as the tunneling spin current increases, and this activates the magnetization switching process due to increased charge accumulation. This mechanism causes substantial spin backflow, which manifests as rapid undulations in the bias-dependent tunneling spin currents. The implication of these findings on the design of nanoscale spintronic devices with spin-transfer torque tunable magnetization density is discussed. Insights derived from this study are expected to enhance the prospects for developing and integrating artificially assembled van der Waals multilayer heterostructures as the preferred material platform for efficient engineering of spin switches for spintronic applications.
The C-terminal periplasmic domain of MotB is responsible for load-dependent control of the number of stators of the bacterial flagellar motor.

PubMed

Castillo, David J; Nakamura, Shuichi; Morimoto, Yusuke V; Che, Yong-Suk; Kami-Ike, Nobunori; Kudo, Seishi; Minamino, Tohru; Namba, Keiichi

2013-01-01

The bacterial flagellar motor is made of a rotor and stators. In Salmonella it is thought that about a dozen MotA/B complexes are anchored to the peptidoglycan layer around the motor through the C-terminal peptidoglycan-binding domain of MotB to become active stators as well as proton channels. MotB consists of 309 residues, forming a single transmembrane helix (30-50), a stalk (51-100) and a C-terminal peptidoglycan-binding domain (101-309). Although the stalk is dispensable for torque generation by the motor, it is required for efficient motor performance. Residues 51 to 72 prevent premature proton leakage through the proton channel prior to stator assembly into the motor. However, the role of residues 72-100 remains unknown. Here, we analyzed the torque-speed relationship of the MotB(Δ72-100) motor. At a low speed near stall, this mutant motor produced torque at the wild-type level. Unlike the wild-type motor, however, torque dropped off drastically by slight decrease in external load and then showed a slow exponential decay over a wide range of load by its further reduction. Since it is known that the stator is a mechano-sensor and that the number of active stators changes in a load-dependent manner, we interpreted this unusual torque-speed relationship as anomaly in load-dependent control of the number of active stators. The results suggest that residues 72-100 of MotB is required for proper load-dependent control of the number of active stators around the rotor.
Prehension Synergies in Three Dimensions

PubMed Central

Shim, Jae Kun; Latash, Mark L.; Zatsiorsky, Vladimir M.

2010-01-01

The goal of this study was to investigate the conjoint changes of digit forces/moments in 3 dimensions during static prehension under external torques acting on the object in one plane. The experimental paradigm was similar to holding a book vertically in the air where the center of mass of the book is located farther from the hand than the points of digit contacts. Three force and 3 moment components from each digit were recorded during static prehension of a customized handle. Subjects produced forces and moments in all 3 directions, although the external torques were exerted on the handheld object about only the Z-axis. The 3-dimensional response to a 2-dimensional task was explained by the cause– effect chain effects prompted by the noncollinearity of the normal forces of the thumb and the 4 fingers (represented by the “virtual finger”). Because the forces are not collinear (not along the same line), they generate moments of force about X- and Y-axes that are negated by the finger forces along the Y- and X-directions. The magnitudes of forces produced by lateral fingers (index and little) with longer moment arms were larger compared with the central fingers (middle and ring). At the virtual finger (an imaginary digit whose mechanical action is equivalent to the summed action of the 4 fingers) level, the relative contribution of different fractions of the resistive moment produced by subjects did not depend on the torque magnitude. We conclude that the CNS 1) solves a planar prehension task by producing forces and moments in all 3 directions, 2) uses mechanical advantage of fingers, and 3) shares the total torque among finger forces and moments in a particular way disregarding the torque magnitude. PMID:15456799
A review of wind turbine-oriented active flow control strategies

NASA Astrophysics Data System (ADS)

Aubrun, Sandrine; Leroy, Annie; Devinant, Philippe

2017-10-01

To reduce the levelized cost of energy, the energy production, robustness and lifespan of horizontal axis wind turbines (HAWTs) have to be improved to ensure optimal energy production and operational availability during periods longer than 15-20 years. HAWTs are subject to unsteady wind loads that generate combinations of unsteady mechanical loads with characteristic time scales from seconds to minutes. This can be reduced by controlling the aerodynamic performance of the wind turbine rotors in real time to compensate the overloads. Mitigating load fluctuations and optimizing the aerodynamic performance at higher time scales need the development of fast-response active flow control (AFC) strategies located as close as possible to the torque generation, i.e., directly on the blades. The most conventional actuators currently used in HAWTs are mechanical flaps/tabs (similar to aeronautical accessories), but some more innovative concepts based on fluidic and plasma actuators are very promising since they are devoid of mechanical parts, have a fast response and can be driven in unsteady modes to influence natural instabilities of the flow. In this context, the present paper aims at giving a state-of-the-art review of current research in wind turbine-oriented flow control strategies applied at the blade scale. It provides an overview of research conducted in the last decade dealing with the actuators and devices devoted to developing AFC on rotor blades, focusing on the flow phenomena that they cause and that can lead to aerodynamic load increase or decrease. After providing some general background on wind turbine blade aerodynamics and on the atmospheric flows in which HAWTs operate, the review focuses on flow separation control and circulation control mainly through experimental investigations. It is followed by a discussion about the overall limitations of current studies in the wind energy context, with a focus on a few studies that attempt to provide a global efficiency assessment and wind energy-oriented energy balance.
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
Rotational Dynamics of Inactive Satellites as a Result of the YORP Effect

NASA Astrophysics Data System (ADS)

Albuja, Antonella A.

Observations of inactive satellites in Earth orbit show that these objects are generally rotating, some with very fast rotation rates. In addition, observations indicate that the rotation rate at which defunct satellites spin tends to evolve over time. However, the cause for this behavior is unknown. The observed secular change in the spin rate and spin axis orientation of asteroids is known to be caused by the Yarkovsky-O'Keefe-Radzievskii-Paddack (YORP) effect, which results in a torque that is created from reflected thermal energy and sunlight from the surface of an asteroid. This thesis explores the effect of YORP on defunct satellites in Earth orbit and offers this as a potential cause for the observed rotation states of inactive satellites. In this work, several different satellite models are developed to represent inactive satellites in Geostationary Earth Orbit (GEO). The evolution of the spin rate and obliquity for each satellite is then explored using Euler's equations of motion as well as spin and year averaged dynamics. This results in the dynamics being analyzed to understand the secular changes that occur, as well as the variations that result from short period terms over the course of a year. Some of the model satellites have asymmetric geometries, leading to the classical YORP effect as originally formulated for asteroids. One model satellite is geometrically symmetric, but relies on mass distribution asymmetry to generate the YORP effect. Because the YORP effect is directly dependent on geometric, optical and thermal properties of the satellite, varying these parameters can lead to different long-term rotational behavior. A sensitivity study is done by varying these parameters and analyzing its effect on the long-term dynamics of a satellite. Additionally, available observation data of inactive GEO satellites are used to estimate the YORP torque acting on those bodies. A comparison between this torque and the expected torque on a defunct satellite shows that the two are of the same order of magnitude, demonstrating that YORP could be a cause for the observed behavior.
Whole-body vibration training induces hypertrophy of the human patellar tendon.

PubMed

Rieder, F; Wiesinger, H-P; Kösters, A; Müller, E; Seynnes, O R

2016-08-01

Animal studies suggest that regular exposure to whole-body vibration (WBV) induces an anabolic response in bone and tendon. However, the effects of this type of intervention on human tendon properties and its influence on the muscle-tendon unit function have never been investigated. The aim of this study was to investigate the effect of WBV training on the patellar tendon mechanical, material and morphological properties, the quadriceps muscle architecture and the knee extension torque-angle relationship. Fifty-five subjects were randomized into either a vibration, an active control, or an inactive control group. The active control subjects performed isometric squats on a vibration platform without vibration. Muscle and tendon properties were measured using ultrasonography and dynamometry. Vibration training induced an increase in proximal (6.3%) and mean (3.8%) tendon cross-sectional area, without any appreciable change in tendon stiffness and modulus or in muscle architectural parameters. Isometric torque at a knee angle of 90° increased in active controls (6.7%) only and the torque-angle relation remained globally unchanged in all groups. The present protocol did not appreciably alter knee extension torque production or the musculo-tendinous parameters underpinning this function. Nonetheless, this study shows for the first time that WBV elicits tendon hypertrophy in humans. © 2015 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.
Sonomyographic responses during voluntary isometric ramp contraction of the human rectus femoris muscle.

PubMed

Chen, Xin; Zheng, Yong-Ping; Guo, Jing-Yi; Zhu, Zhenyu; Chan, Shing-Chow; Zhang, Zhiguo

2012-07-01

This paper aims to investigate the relationship between torque and muscle morphological change, which is derived from ultrasound image sequence and termed as sonomyography (SMG), during isometric ramp contraction of the rectus femoris (RF) muscle, and to further compare SMG with the electromyography (EMG) and mechanomyography (MMG), which represent the electrical and mechanical activities of the muscle. Nine subjects performed isometric ramp contraction of knee up to 90% of the maximal voluntary contraction (MVC) at speeds of 45, 22.5 and 15% MVC/s, and EMG, MMG and ultrasonography were simultaneously recorded from the RF muscle. Cross-sectional area, which was referred to as SMG, was automatically extracted from continuously captured ultrasound images using a newly developed image tracking algorithm. Polynomial regression analyses were applied to fit the EMG/MMG/SMG-to-torque relationships, and the regression coefficients of EMG, MMG, and SMG were compared. Moreover, the effect of contraction speed on SMG/EMG/MMG-to-torque relationships was tested by pair-wise comparisons of the mean relationship curves at different speeds for EMG, MMG and SMG. The results show that continuous SMG could provide important morphological parameters of continuous muscle contraction. Compared with EMG and MMG, SMG exhibits different changing patterns with the increase of torque during voluntary isometric ramp contraction, and it is less influenced by the contraction speed.
Alterations of the In Vivo Torque-Velocity Relationship of Human Skeletal Muscle Following 30 Days Exposure to Simulated Microgravity

NASA Technical Reports Server (NTRS)

Dudley, Gary A.; Duvoisin, Marc R.; Convertino, Victor A.; Buchanan, Paul

1989-01-01

The purpose of this study was to examine the effect of 30 d of 6 deg headdown bedrest (BR) on the in vivo strength of skeletal muscle. Peak angle specific (0.78 rad below horizontal) torque of the knee extensor (KE) and flexor (KF) muscle groups of both limbs was assessed during unilateral efforts at four speeds (0.52, 1.74, 2.97 and 4.19 rad/s) during concentric and at three speeds (0.52, 1.74 and 2.97 rad/s) during eccentric actions. The average decrease (P less than 0.05) of peak angle specific torque directly post-BR for the KE across speeds of concentric and eccentric actions was about 19% (n = 7). Recovery for 30 d following BR markedly improved strength to about 92% (P greater than 0.05) of 'normal'. Strength of the KF was not altered (P greater than 0.05) by BR (about a 6% decrease independent of speed and type of muscle action). Changes of strength were not affected by the type or speed of muscle action. The results indicate that strength of ex-tensor more than of flexor muscle groups of the lower limb is decreased by 30 d of bedrest and that this response does not alter the nature of the in vivo torque-velocity relation.
Slip-additive migration, surface morphology, and performance on injection moulded high-density polyethylene closures.

PubMed

Dulal, Nabeen; Shanks, Robert; Gengenbach, Thomas; Gill, Harsharn; Chalmers, David; Adhikari, Benu; Pardo Martinez, Isaac

2017-11-01

The amount and distribution of slip agents, erucamide, and behenamide, on the surface of high-density polyethene, is determined by integral characteristics of slip agent structure and polymer morphology. A suite of surface analysis techniques was applied to correlate physicochemical properties with slip-additive migration behaviour and their surface morphology. The migration, surface morphology and physicochemical properties of the slip additives, crystallinity and orientation of polyethene spherulites and interaction between slip additives and high-density polyethene influence the surface characteristics. The high-density polyethene closures were produced with erucamide and behenamide separately and stored until they produced required torque. Surface composition was determined employing spectroscopy and gas chromatography. The distribution of additives was observed under optical, scanning electron and atomic force microscopes. The surface energy, crystallinity and application torque were measured using contact angle, differential scanning calorimeter and a torque force tester respectively. Each slip additive produced a characteristic amide peak at 1645cm -1 in infrared spectroscopy and peaks of oxygen and nitrogen in X-ray photoelectron spectroscopy, suggesting their presence on the surface. The erucamide produced placoid scale-like structures and behenamide formed denticulate structures. The surface erucamide and behenamide responsible for reducing the torque was found to be 15.7µg/cm 2 and 1.7µg/cm 2 . Copyright © 2017 Elsevier Inc. All rights reserved.
Investigation of Sideband Index Response to Prototype Gear Tooth Damage

NASA Technical Reports Server (NTRS)

Dempsey, Paula J.

2013-01-01

The objective of this analysis was to evaluate the ability of gear condition indicators (CI) to detect contact fatigue damage on spiral bevel gear teeth. Tests were performed in the NASA Glenn Spiral Bevel Gear Fatigue Rig on eight prototype gear sets (pinion/gear). Damage was initiated and progressed on the gear and pinion teeth. Vibration data was measured during damage progression at varying torque values while varying damage modes to the gear teeth were observed and documented with inspection photos. Sideband indexes (SI) and root mean square (RMS) CIs were calculated from the time synchronous averaged vibration data. Results found that both CIs respond differently to varying torque levels, damage levels and damage modes
Natural remananent magnetization acquisition through sediment mixing: theory and implications for relative paleointensity

NASA Astrophysics Data System (ADS)

Egli, Ramon; Zhao, Xiangyu

2015-04-01

We present a general theory on the acquisition of natural remanent magnetizations (NRM) in sediment under the influence of (a) magnetic torques, (b) randomizing torques (e.g. from bioturbation), and (c) torques resulting from interaction forces between remanence carriers and other particles. Dynamic equilibrium between (a) and (b) in the water column and sediment-water interface produce a detrital remanent magnetization (DRM), while much stronger randomizing forces occur in the mixed layer of sediment due to bioturbation forces. These generate a so-called mixing remanent magnetization (MRM), which is stabilized by interaction forces. During the time required to cross the mixed layer, DRM is lost and MRM is acquired at a rate that depends on bioturbation intensity. Both processes are governed by the same MRM lock-in function. The final NRM intensity is controlled mainly by a single parameter defined as the product of rotational diffusion constant and mixed layer thickness, divided by the sedimentation rate. This parameter defines three regimes: (1) slow mixing, leading to DRM preservation and insignificant MRM acquisition, (2) fast mixing with MRM acquisition and full randomization of the original DRM, and (3) intermediate mixing. Because the acquisition efficiency of DRM is expectedly larger than that of a MRM, MRM is particularly sensitive to the mixing rate in case of intermediate regimes, and generates variable NRM acquisition efficiencies. Our model explains (1) lock-in delays that can be matched with empirical reconstructions from paleomagnetic records, (2) the existence of small lock-in depths leading to DRM preservation, (3) NRM acquisition efficiencies of magnetofossil-rich sediments, and (4) relative paleointensity artifacts reported in some recent studies.
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.
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.
Influence of reverse torque values in abutments with or without internal hexagon indexes.

PubMed

Cerutti-Kopplin, Daiane; Rodrigues Neto, Dimas João; Lins do Valle, Accácio; Pereira, Jefferson Ricardo

2014-10-01

The mechanical stability of the implant-abutment connection is of fundamental importance for successful implant-supported restorations. Therefore, understanding removal torque values is essential. The purpose of this study was to evaluate the reverse torque values of indexed and nonindexed abutments of the Morse Taper system. Twelve Morse taper implants with their respective abutments were divided into 2 groups (n=6): group NI, nonindexed abutments; and group IN, indexed abutments. Each abutment received a sequence of 2 consecutive torques for insertion (15 Ncm) at an interval of 10 minutes, and 1 reverse torque, all measured with a digital torque wrench. The Student t test with a 5% significance level was used to evaluate the data. Statistical analysis showed no significant difference in reverse torque values between nonindexed and indexed abutments (P=.57). When comparing insertion torque and reverse torque values between the groups, group NI presented a mean torque loosening percentage of 8% (P=.013), whereas group IN presented a loosening of 15.33% (P<.001). The use of indexed abutments for the Morse taper system presented similar biomechanical stability when compared with nonindexed abutments, both with a significant reduction in reverse torque values. Copyright © 2014 Editorial Council for the Journal of Prosthetic Dentistry. Published by Elsevier Inc. All rights reserved.

Technical Errors May Affect Accuracy of Torque Limiter in Locking Plate Osteosynthesis.

PubMed

Savin, David D; Lee, Simon; Bohnenkamp, Frank C; Pastor, Andrew; Garapati, Rajeev; Goldberg, Benjamin A

2016-01-01

In locking plate osteosynthesis, proper surgical technique is crucial in reducing potential pitfalls, and use of a torque limiter makes it possible to control insertion torque. We conducted a study of the ways in which different techniques can alter the accuracy of torque limiters. We tested 22 torque limiters (1.5 Nm) for accuracy using hand and power tools under different rotational scenarios: hand power at low and high velocity and drill power at low and high velocity. We recorded the maximum torque reached after each torque-limiting event. Use of torque limiters under hand power at low velocity and high velocity resulted in significantly (P < .0001) different mean (SD) measurements: 1.49 (0.15) Nm and 3.73 (0.79) Nm. Use under drill power at controlled low velocity and at high velocity also resulted in significantly (P < .0001) different mean (SD) measurements: 1.47 (0.14) Nm and 5.37 (0.90) Nm. Maximum single measurement obtained was 9.0 Nm using drill power at high velocity. Locking screw insertion with improper technique may result in higher than expected torque and subsequent complications. For torque limiters, the most reliable technique involves hand power at slow velocity or drill power with careful control of insertion speed until 1 torque-limiting event occurs.
Understanding movement control in infants through the analysis of limb intersegmental dynamics.

PubMed

Schneider, K; Zernicke, R F; Ulrich, B D; Jensen, J L; Thelen, E

1990-12-01

One important component in the understanding of the control of limb movements is the way in which the central nervous system accounts for joint forces and torques that may be generated not only by muscle actions but by gravity and by passive reactions related to the movements of limb segments. In this study, we asked how the neuromotor system of young infants controls a range of active and passive forces to produce a stereotypic, nonintentional movement. We specifically analyzed limb intersegmental dynamics in spontaneous, cyclic leg movements (kicking) of varying intensity in supine 3-month-old human infants. Using inverse dynamics, we calculated the contributions of active (muscular) and passive (motion-dependent and gravitational) torque components at the hip, knee, and ankle joints from three-dimensional limb kinematics. To calculate joint torques, accurate estimates were needed of the limb's anthropometric parameters, which we determined using a model of the human body. Our analysis of limb intersegmental dynamics explicitly quantified the complex interplay of active and passive forces producing the simple, involuntary kicking movements commonly seen in 3-month-old infants. our results revealed that in nonvigorous kicks, hip joint reversal was the result of an extensor torque due to gravity, opposed by the combined flexor effect of the muscle torque and the total motion-dependent torque. The total motion-dependent torque increased as a hip flexor torque in more vigorous kicks; an extensor muscle torque was necessary to counteract the flexor influences of the total motion-dependent torque and, in the case of large ranges of motion, a flexor gravity torque as well. Thus, with changing passive torque influences due to motions of the linked segments, the muscle torques were adjusted to produce a net torque to reverse the kicking motion. As a consequence, despite considerable heterogeneity in the intensity, range of motion, coordination, and movement context of each kick, smooth trajectories resulted from the muscle torque, counteracting and complementing not only gravity but also the motion-dependent torques generated by movement of the linked segments.
Steam sterilization effect on the accuracy of friction-style mechanical torque limiting devices.

PubMed

Sadr, Seyed Jalil; Fayyaz, Ali; Mahshid, Minoo; Saboury, Aboulfazl; Ansari, Ghassem

2014-01-01

This study was aimed to evaluate the effect of steam sterilization on the accuracy (within 10%) of friction-style mechanical torque limiting devices (F-S MTLDs) to achieve their target torque values. Fifteen new F-S MTLDs were selected from Astra Tech (25 Ncm, Hader SA, La Chaux-de-Fonds, Switzerland), BioHorizons (30 Ncm, Dynatorq ITL, Irvine, California, USA), Dr. Idhe (15-60 Ncm, Dr. Idhe Dental, Eching/Munich, Germany). Every peak torque measurement was tested ten times before steam sterilization using Tohnichi torque gauge (6Tohnichi-BTG (-S), Japan). Steam sterilization was performed using a 100 cycle autoclave. Preparation steps were carried out for the devices before each autoclave sterilization cycle. Peak torque measurements were repeated after every sterilization cycle. Mean difference between the measured and the targeted torque values were evaluated before and after aging. Repeated-measures of ANOVA were used to compare the differences of accuracy between subjects. Bonferroni post-hoc test was used for pairwise comparison. Autoclaving resulted in an increase in the error values (the difference between peak torque and target torque values) in all the three groups studied (P < 0.05), with only Astra Tech devices showing >10% (maximum 12%) difference from their torque values in 5% of the measurements. Steam sterilization effect differs between target torque and measured peak values with an increase trend. The peak torque values showed a significant decrease for BioHorizons, while a significant increase was noted for Astra Tech and no significant change in Dr. Idhe group after sterilization. Within the limitation of this study the torque output of each individual device deviated in varying degrees from target torque values. However, the majority of the new frictional-style devices tested in this study, delivered fairly consistent torque output within 10% of their preset target values after sterilization. Astra Tech devices were the only one showing more than 10% difference from their torque values in 5% of the measurements. Combined effects of sterilization and aging still needs to be determined.
Age-related reduction of trunk muscle torque and prevalence of trunk sarcopenia in community-dwelling elderly: Validity of a portable trunk muscle torque measurement instrument and its application to a large sample cohort study

PubMed Central

Sasaki, Shizuka; Chiba, Daisuke; Yamamoto, Yuji; Nawata, Atsushi; Tsuda, Eiichi; Nakaji, Shigeyuki; Ishibashi, Yasuyuki

2018-01-01

Trunk muscle weakness and imbalance are risk factors for postural instability, low back pain, and poor postoperative outcomes. The association between trunk muscle strength and aging is poorly understood, and establishing normal reference values is difficult. We aimed to establish the validity of a novel portable trunk muscle torque measurement instrument (PTMI). We then estimated reference data for healthy young adults and elucidated age-related weakness in trunk muscle strength. Twenty-four university students were enrolled to validate values for PTMI, and 816 volunteers from the general population who were recruited to the Iwaki Health Promotion Project were included to estimate reference data for trunk muscle strength. Trunk flexion and extension torque were measured with PTMI and KinCom, and interclass correlation coefficients (ICC) were estimated to evaluate the reliability of PTMI values. Furthermore, from the young adult reference, the age-related reduction in trunk muscle torque and the prevalence of sarcopenia among age-sex groups were estimated. The ICC in flexion and extension torque were 0.807 (p<0.001) and 0.789 (p<0.001), respectively. The prevalence of sarcopenia increased with age, and the prevalence due to flexion torque was double that of extension torque. Flexion torque decreased significantly after 60 years of age, and extension torque decreased after 70 years of age. In males over age 80, trunk muscle torque decreased to 49.1% in flexion and 63.5% in extension. In females over age 80, trunk muscle torque decreased to 60.7% in flexion and 68.4% in extension. The validity of PTMI was confirmed by correlation with KinCom. PTMI produced reference data for healthy young adults, and demonstrated age-related reduction in trunk muscle torque. Trunk sarcopenia progressed with aging, and the loss of flexion torque began earlier than extension torque. At age 80, trunk muscle torque had decreased 60% compared with healthy young adults. PMID:29471310
Age-related reduction of trunk muscle torque and prevalence of trunk sarcopenia in community-dwelling elderly: Validity of a portable trunk muscle torque measurement instrument and its application to a large sample cohort study.

PubMed

Sasaki, Eiji; Sasaki, Shizuka; Chiba, Daisuke; Yamamoto, Yuji; Nawata, Atsushi; Tsuda, Eiichi; Nakaji, Shigeyuki; Ishibashi, Yasuyuki

2018-01-01

Trunk muscle weakness and imbalance are risk factors for postural instability, low back pain, and poor postoperative outcomes. The association between trunk muscle strength and aging is poorly understood, and establishing normal reference values is difficult. We aimed to establish the validity of a novel portable trunk muscle torque measurement instrument (PTMI). We then estimated reference data for healthy young adults and elucidated age-related weakness in trunk muscle strength. Twenty-four university students were enrolled to validate values for PTMI, and 816 volunteers from the general population who were recruited to the Iwaki Health Promotion Project were included to estimate reference data for trunk muscle strength. Trunk flexion and extension torque were measured with PTMI and KinCom, and interclass correlation coefficients (ICC) were estimated to evaluate the reliability of PTMI values. Furthermore, from the young adult reference, the age-related reduction in trunk muscle torque and the prevalence of sarcopenia among age-sex groups were estimated. The ICC in flexion and extension torque were 0.807 (p<0.001) and 0.789 (p<0.001), respectively. The prevalence of sarcopenia increased with age, and the prevalence due to flexion torque was double that of extension torque. Flexion torque decreased significantly after 60 years of age, and extension torque decreased after 70 years of age. In males over age 80, trunk muscle torque decreased to 49.1% in flexion and 63.5% in extension. In females over age 80, trunk muscle torque decreased to 60.7% in flexion and 68.4% in extension. The validity of PTMI was confirmed by correlation with KinCom. PTMI produced reference data for healthy young adults, and demonstrated age-related reduction in trunk muscle torque. Trunk sarcopenia progressed with aging, and the loss of flexion torque began earlier than extension torque. At age 80, trunk muscle torque had decreased 60% compared with healthy young adults.
Fourth-order acoustic torque in intense sound fields

NASA Technical Reports Server (NTRS)

Wang, T. G.; Kanber, H.; Olli, E. E.

1978-01-01

The observation of a fourth-order acoustic torque in intense sound fields is reported. The torque was determined by measuring the acoustically induced angular deflection of a polished cylinder suspended by a torsion fiber. This torque was measured in a sound field of amplitude greater than that in which first-order acoustic torque has been observed.
Gravitational Waves from Rotating Neutron Stars and Evaluation of fast Chirp Transform Techniques

NASA Technical Reports Server (NTRS)

Strohmayer, Tod E.; White, Nicholas E. (Technical Monitor)

2000-01-01

X-ray observations suggest that neutron stars in low mass X-ray binaries (LMXB) are rotating with frequencies from 300 - 600 Hz. These spin rates are significantly less than the break-up rates for essentially all realistic neutron star equations of state, suggesting that some process may limit the spin frequencies of accreting neutron stars to this range. If the accretion induced spin up torque is in equilibrium with gravitational radiation losses, these objects could be interesting sources of gravitational waves. I present a brief summary of current measurements of neutron star spins in LMXBs based on the observations of high-Q oscillations during thermonuclear bursts (so called 'burst oscillations'). Further measurements of neutron star spins will be important in exploring the gravitational radiation hypothesis in more detail. To this end I also present a study of fast chirp transform (FCT) techniques as described by Jenet and Prince in the context of searching for the chirping signals observed during X-ray bursts.
The biomechanical effect of artificial and human bone density on stopping and stripping torque during screw insertion.

PubMed

Tsuji, Matthew; Crookshank, Meghan; Olsen, Michael; Schemitsch, Emil H; Zdero, Rad

2013-06-01

Orthopedic surgeons apply torque to metal screws manually by "subjective feel" to obtain adequate fracture fixation, i.e. stopping torque, and attempt to avoid accidental over-tightening that leads to screw-bone interface failure, i.e. stripping torque. Few studies have quantified stripping torque in human bone, and only one older study from 1980 reported stopping/ stripping torque ratio. The present aim was to measure stopping and stripping torque of cortical and cancellous screws in artificial and human bone over a wide range of densities. Sawbone blocks were obtained having densities from 0.08 to 0.80g/cm(3). Sixteen fresh-frozen human femurs of known standardized bone mineral density (sBMD) were also used. Using a torque screwdriver, 3.5-mm diameter cortical screws and 6.5-mm diameter cancellous screws were inserted for adequate tightening as determined subjectively by an orthopedic surgeon, i.e. stopping torque, and then further tightened until failure of the screw-bone interface, i.e. stripping torque. There were weak (R=0.25) to strong (R=0.99) linear correlations of absolute and normalized torque vs. density or sBMD. Maximum stopping torques normalized by screw thread area engaged by the host material were 15.2N/mm (cortical screws) and 13.4N/mm (cancellous screws) in sawbone blocks and 20.9N/mm (cortical screws) and 6.1N/mm (cancellous screws) in human femurs. Maximum stripping torques normalized by screw thread area engaged by the host material were 23.4N/mm (cortical screws) and 16.8N/mm (cancellous screws) in sawbone blocks and 29.3N/mm (cortical screws) and 8.3N/mm (cancellous screws) in human femurs. Combined average stopping/ stripping torque ratios were 80.8% (cortical screws) and 76.8% (cancellous screws) in sawbone blocks, as well as 66.6% (cortical screws) and 84.5% (cancellous screws) in human femurs. Surgeons should be aware of stripping torque limits for human femurs and monitor stopping torque during surgery. This is the first study of the effect of sawbone density or human bone sBMD on stopping and stripping torque. Copyright © 2013 Elsevier Ltd. All rights reserved.
Braking due to non-resonant magnetic perturbations and comparison with neoclassical toroidal viscosity torque in EXTRAP T2R

NASA Astrophysics Data System (ADS)

Frassinetti, L.; Sun, Y.; Fridström, R.; Menmuir, S.; Olofsson, K. E. J.; Brunsell, P. R.; Khan, M. W. M.; Liang, Y.; Drake, J. R.

2015-09-01

The non-resonant magnetic perturbation (MP) braking is studied in the EXTRAP T2R reversed-field pinch (RFP) and the experimental braking torque is compared with the torque expected by the neoclassical toroidal viscosity (NTV) theory. The EXTRAP T2R active coils can apply magnetic perturbations with a single harmonic, either resonant or non-resonant. The non-resonant MP produces velocity braking with an experimental torque that affects a large part of the core region. The experimental torque is clearly related to the plasma displacement, consistent with a quadratic dependence as expected by the NTV theory. The work show a good qualitative agreement between the experimental torque in a RFP machine and NTV torque concerning both the torque density radial profile and the dependence on the non-resonant MP harmonic.
Eccentric knee flexor torque following anterior cruciate ligament surgery.

PubMed

Osternig, L R; James, C R; Bercades, D T

1996-10-01

The purposes of this study were to compare eccentric knee flexor torque and muscle activation in the limbs of normal (NOR) subjects and in subjects who had undergone unilateral ACI, autograft surgical reconstruction (INJ) and to assess the effect of movement speed on EMG/ torque ratios and eccentric-concentric actions. Fourteen subjects (7 NOR and 7 INJ) were tested for knee eccentric flexor torque and EMG activity at four isokinetic speeds (15 degrees, 30 degrees, 45 degrees and 60 degrees.s-1). Results revealed that post-surgical limbs (ACL) produced significantly less (P < 0.05) eccentric torque and flexor EMG activity at 60 degrees.s-1 than uninjured (UNI) contralateral limbs. Eccentric torque rose significantly as speed increased from 45 degrees to 60 degrees.s-1 for surgical group uninjured limbs and NOR group left and right limbs. Eccentric flexor torque increased with speed for both groups and approximated equality with concentric extensor torque at 60 degrees.s-1 for INJ group ACL and UNI limbs. Concentric flexor muscle EMG/torque ratios were 30-191% greater than eccentric muscle actions across groups and speeds. The results suggest that ACL dysfunction may result in reduced eccentric flexor torque at rapid movement speeds, that eccentric flexor torque increases with movement speed and may have the capacity to counter forceful extensor concentric torque, and that eccentric muscle actions produce less muscle activation per unit force than concentric actions which may reflect reduced energy cost.
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.
Assessment of cold welding properties of the internal conical interface of two commercially available implant systems.

PubMed

Norton, M R

1999-02-01

The cone-screw abutment has been shown to diminish micromovement by reducing the burden of component loosening and fracture. However, anecdotal concern for cold welding of cone-screw joints in implant design has been identified as a potential source for lack of retrievability. This comparative study evaluated the loosening torque, as a percentage of tightening torque, for the ITI Straumann and Astra Tech (3.5 and 4.0 mm diameters) implant systems, which use an 8-degree and 11-degree internal cone, respectively. Implants and abutments from each system were mounted in a torque device, and a range of tightening torques was applied. Loosening torques were then measured, and the influence of conus angle, interfacial surface area, saliva contamination, and time delay to loosening were all assessed. The loosening torque only exceeded tightening torque at the highest levels, just before component failure, when plastic deformation was expected. For all clinically relevant levels of torque, both in a dry environment and with components bathed in artificial saliva at 37 degrees C, loosening torque was always seen to be 80% to 90% of tightening torque, demonstrating that cold welding does not occur. There was a high correlation between loosening and tightening torque for all systems tested, but no statistical difference when comparing wet versus dry or comparing individual data for each system. It can be concluded that for clinically relevant levels of tightening torque, no problems are anticipated with respect to retrievability.
The Anterolateral Capsule of the Knee Behaves Like a Sheet of Fibrous Tissue.

PubMed

Guenther, Daniel; Rahnemai-Azar, Amir A; Bell, Kevin M; Irarrázaval, Sebastián; Fu, Freddie H; Musahl, Volker; Debski, Richard E

2017-03-01

The function of the anterolateral capsule of the knee has not been clearly defined. However, the contribution of this region of the capsule to knee stability in comparison with other anterolateral structures can be determined by the relative force that each structure carries during loading of the knee. Purpose/Hypothesis: The purpose of this study was to determine the forces in the anterolateral structures of the intact and anterior cruciate ligament (ACL)-deficient knee in response to an anterior tibial load and internal tibial torque. It was hypothesized that the anterolateral capsule would not function like a traditional ligament (ie, transmitting forces only along its longitudinal axis). Controlled laboratory study. Loads (134-N anterior tibial load and 7-N·m internal tibial torque) were applied continuously during flexion to 7 fresh-frozen cadaveric knees in the intact and ACL-deficient state using a robotic testing system. The lateral collateral ligament (LCL) and the anterolateral capsule were separated from the surrounding tissue and from each other. This was done by performing 3 vertical incisions: lateral to the LCL, medial to the LCL, and lateral to the Gerdy tubercle. Attachments of the LCL and anterolateral capsule were detached from the underlying tissue (ie, meniscus), leaving the insertions and origins intact. The force distribution in the anterolateral capsule, ACL, and LCL was then determined at 30°, 60°, and 90° of knee flexion using the principle of superposition. In the intact knee, the force in the ACL in response to an anterior tibial load was greater than that in the other structures ( P < .001). However, in response to an internal tibial torque, no significant differences were found between the ACL, LCL, and forces transmitted between each region of the anterolateral capsule after capsule separation. The anterolateral capsule experienced smaller forces (~50% less) compared with the other structures ( P = .048). For the ACL-deficient knee in response to an anterior tibial load, the force transmitted between each region of the anterolateral capsule was 434% greater than was the force in the anterolateral capsule ( P < .001) and 54% greater than the force in the LCL ( P = .036) at 30° of flexion. In response to an internal tibial torque at 30°, 60°, or 90° of knee flexion, no significant differences were found between the force transmitted between each region of the anterolateral capsule and the LCL. The force in the anterolateral capsule was significantly smaller than that in the other structures at all knee flexion angles for both loading conditions ( P = .004 for anterior tibial load and P = .04 for internal tibial torque). The anterolateral capsule carries negligible forces in the longitudinal direction, and the forces transmitted between regions of the capsule were similar to the forces carried by the other structures at the knee, suggesting that it does not function as a traditional ligament. Thus, the anterolateral capsule should be considered a sheet of tissue. Surgical repair techniques for the anterolateral capsule should restore the ability of the tissue to transmit forces between adjacent regions of the capsule rather than along its longitudinal axis.
Self-oscillation in spin torque oscillator stabilized by field-like torque

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

Taniguchi, Tomohiro; Tsunegi, Sumito; Kubota, Hitoshi

2014-04-14

The effect of the field-like torque on the self-oscillation of the magnetization in spin torque oscillator with a perpendicularly magnetized free layer was studied theoretically. A stable self-oscillation at zero field is excited for negative β while the magnetization dynamics stops for β = 0 or β > 0, where β is the ratio between the spin torque and the field-like torque. The reason why only the negative β induces the self-oscillation was explained from the view point of the energy balance between the spin torque and the damping. The oscillation power and frequency for various β were also studied by numerical simulation.
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.
Development of a Portable Torque Wrench Tester

NASA Astrophysics Data System (ADS)

Wang, Y.; Zhang, Q.; Gou, C.; Su, D.

2018-03-01

A portable torque wrench tester (PTWT) with calibration range from 0.5 Nm to 60 Nm has been developed and evaluated for periodic or on-site calibration of setting type torque wrenches, indicating type torque wrenches and hand torque screwdrivers. The PTWT is easy to carry with weight about 10 kg, simple and efficient operation and energy saving with an automatic loading and calibrating system. The relative expanded uncertainty of torque realized by the PTWT was estimated to be 0.8%, with the coverage factor k=2. A comparison experiment has been done between the PTWT and a reference torque standard at our laboratory. The consistency between these two devices under the claimed uncertainties was verified.
A comparison of torque expression between stainless steel, titanium molybdenum alloy, and copper nickel titanium wires in metallic self-ligating brackets.

PubMed

Archambault, Amy; Major, Thomas W; Carey, Jason P; Heo, Giseon; Badawi, Hisham; Major, Paul W

2010-09-01

The force moment providing rotation of the tooth around the x-axis (buccal-lingual) is referred to as torque expression in orthodontic literature. Many factors affect torque expression, including the wire material characteristics. This investigation aims to provide an experimental study into and comparison of the torque expression between wire types. With a worm-gear-driven torquing apparatus, wire was torqued while a bracket mounted on a six-axis load cell was engaged. Three 0.019 x 0.0195 inch wire (stainless steel, titanium molybdenum alloy [TMA], copper nickel titanium [CuNiTi]), and three 0.022 inch slot bracket combinations (Damon 3MX, In-Ovation-R, SPEED) were compared. At low twist angles (<12 degrees), the differences in torque expression between wires were not statistically significant. At twist angles over 24 degrees, stainless steel wire yielded 1.5 to 2 times the torque expression of TMA and 2.5 to 3 times that of nickel titanium (NiTi). At high angles of torsion (over 40 degrees) with a stiff wire material, loss of linear torque expression sometimes occurred. Stainless steel has the largest torque expression, followed by TMA and then NiTi.
Stance control knee mechanism for lower-limb support in hybrid neuroprosthesis

PubMed Central

To, Curtis S.; Kobetic, Rudi; Bulea, Thomas C.; Audu, Musa L.; Schnellenberger, John R.; Pinault, Gilles; Triolo, Ronald J.

2014-01-01

A hydraulic stance control knee mechanism (SCKM) was developed to fully support the knee against flexion during stance and allow uninhibited motion during swing for individuals with paraplegia using functional neuromuscular stimulation (FNS) for gait assistance. The SCKM was optimized for maximum locking torque for body-weight support and minimum resistance when allowing for free knee motion. Ipsilateral and contralateral position and force feedback were used to control the SCKM. Through bench and nondisabled testing, the SCKM was shown to be capable of supporting up to 70 N-m, require no more than 13% of the torque achievable with FNS to facilitate free motion, and responsively and repeatedly unlock under an applied flexion knee torque of up to 49 N-m. Preliminary tests of the SCKM with an individual with paraplegia demonstrated that it could support the body and maintain knee extension during stance without the stimulation of the knee extensor muscles. This was achieved without adversely affecting gait, and knee stability was comparable to gait assisted by knee extensor stimulation during stance. PMID:21938668
Optimal design of disc-type magneto-rheological brake for mid-sized motorcycle: experimental evaluation

NASA Astrophysics Data System (ADS)

Sohn, Jung Woo; Jeon, Juncheol; Nguyen, Quoc Hung; Choi, Seung-Bok

2015-08-01

In this paper, a disc-type magneto-rheological (MR) brake is designed for a mid-sized motorcycle and its performance is experimentally evaluated. The proposed MR brake consists of an outer housing, a rotating disc immersed in MR fluid, and a copper wire coiled around a bobbin to generate a magnetic field. The structural configuration of the MR brake is first presented with consideration of the installation space for the conventional hydraulic brake of a mid-sized motorcycle. The design parameters of the proposed MR brake are optimized to satisfy design requirements such as the braking torque, total mass of the MR brake, and cruising temperature caused by the magnetic-field friction of the MR fluid. In the optimization procedure, the braking torque is calculated based on the Herschel-Bulkley rheological model, which predicts MR fluid behavior well at high shear rate. An optimization tool based on finite element analysis is used to obtain the optimized dimensions of the MR brake. After manufacturing the MR brake, mechanical performances regarding the response time, braking torque and cruising temperature are experimentally evaluated.

A design procedure for active control of beam vibrations

NASA Technical Reports Server (NTRS)

Dickerson, S. L.; Jarocki, G.

1983-01-01

The transverse vibrations of beams is discussed and a methodology for the design of an active damping device is given. The Bernoulli-Euler equation is used to derive a transcendental transfer function, which relates a torque applied at one end of the beam to the rotational position and velocity at that point. The active damping device consists of a wire, a linear actuator and a short torque arm attached to one end of the beam. The action of the actuator varies a tension in the wire and creates a torque which opposes the rotation of the beam and thus damps vibration. A design procedure for such an active damper is given. This procedure shows the relationships and trade-offs between the actuator stroke, power required, stress levels in the wire and beam and the geometry of the beam and wire. It is shown that by consideration of the frequency response at the beam natural frequencies, the aforementioned relationships can be greatly simplified. Similarly, a simple way of estimating the effective damping ratios and eigenvalue locations of actively controlled beams is presented.
Passive and active floating torque during swimming.

PubMed

Kjendlie, Per-Ludvik; Stallman, Robert Keig; Stray-Gundersen, James

2004-10-01

The purpose of this study was to examine the effect of passive underwater torque on active body angle with the horizontal during front crawl swimming and to assess the effect of body size on passive torque and active body angle. Additionally, the effects of passive torque, body angle and hydrostatic lift on maximal sprinting performance were addressed. Ten boys [aged 11.7 (0.8) years] and 12 male adult [aged 21.4 (3.7) years] swimmers volunteered to participate. Their body angle with the horizontal was measured at maximal velocity, and at two submaximal velocities using an underwater video camera system. Passive torque and hydrostatic lift were measured during an underwater weighing procedure, and the center of mass and center of volume were determined. The results showed that passive torque correlated significantly with the body angle at a velocity 63% of v(max) ( alpha(63) r=-0.57), and that size-normalized passive torque correlated significantly with the alpha(63) and alpha(77) (77% of v(max)) with r=-0.59 and r=-0.54 respectively. Hydrostatic lift correlated with alpha(63) with r=-0.45. The negative correlation coefficients are suggested to be due to the adults having learned to overcome passive torque when swimming at submaximal velocities by correcting their body angle. It is concluded that at higher velocities the passive torque and hydrostatic lift do not influence body angle during swimming. At a velocity of 63% of v(max), hydrostatic lift and passive torque influences body angle. Passive torque and size-normalized passive torque increases with body size. When corrected for body size, hydrostatic lift and passive torque did not influence the maximal sprinting velocity.
A universal ankle-foot prosthesis emulator for human locomotion experiments.

PubMed

Caputo, Joshua M; Collins, Steven H

2014-03-01

Robotic prostheses have the potential to significantly improve mobility for people with lower-limb amputation. Humans exhibit complex responses to mechanical interactions with these devices, however, and computational models are not yet able to predict such responses meaningfully. Experiments therefore play a critical role in development, but have been limited by the use of product-like prototypes, each requiring years of development and specialized for a narrow range of functions. Here we describe a robotic ankle-foot prosthesis system that enables rapid exploration of a wide range of dynamical behaviors in experiments with human subjects. This emulator comprises powerful off-board motor and control hardware, a flexible Bowden cable tether, and a lightweight instrumented prosthesis, resulting in a combination of low mass worn by the human (0.96 kg) and high mechatronic performance compared to prior platforms. Benchtop tests demonstrated closed-loop torque bandwidth of 17 Hz, peak torque of 175 Nm, and peak power of 1.0 kW. Tests with an anthropomorphic pendulum "leg" demonstrated low interference from the tether, less than 1 Nm about the hip. This combination of low worn mass, high bandwidth, high torque, and unrestricted movement makes the platform exceptionally versatile. To demonstrate suitability for human experiments, we performed preliminary tests in which a subject with unilateral transtibial amputation walked on a treadmill at 1.25 ms-1 while the prosthesis behaved in various ways. These tests revealed low torque tracking error (RMS error of 2.8 Nm) and the capacity to systematically vary work production or absorption across a broad range (from -5 to 21 J per step). These results support the use of robotic emulators during early stage assessment of proposed device functionalities and for scientific study of fundamental aspects of human-robot interaction. The design of simple, alternate end-effectors would enable studies at other joints or with additional degrees of freedom.
Tactical Satellite-3 Mission Overview and Initial Lessons Learned (Postprint)

DTIC Science & Technology

2013-03-01

current buses. The spacecraft bus includes the main structure; attitude control system (reaction wheels and torque rods); the thermal protection...Specific key areas are the relatively rapid checkout of the spacecraft and lessons from the responsive space development. 15. SUBJECT TERMS...relatively rapid checkout of the spacecraft and lessons from the responsive space development. INTRODUCTION The Tactical Satellite 3 mission was a
Bevel gear driver and method having torque limit selection

NASA Technical Reports Server (NTRS)

Cook, Joseph S., Jr. (Inventor)

1994-01-01

This invention comprises a torque drive mechanism utilizing axially translatable, mutually engageable transmission members having mating crown gears, driven and driving members with a three-element drive train being biased together by resilient means or by a fluid actuator system, the apparatus being operable to transmit a precisely controlled degree of torque to a driven member. The apparatus is applicable for use in hand tools and as a replacement for impact torque drivers, torque wrenches, motorized screw drivers, or the like, wherein the applied torque must be precisely controlled or limited. The bevel torque drive includes a drive gear which is axially displaceable and rotatable within cylindrical driver housing, a rotatable intermediate gear, and an output gear. Key rotationally secures displaceable gear with respect to input shaft but permits axial movement therebetween. A thrust bearing is preferably connected to the lower end of shaft for support to reduce play and friction between shaft and a transmission joint disc during rotation of the gear train. Coaxially mounted coiled spring is footed against displaceable gear for biasing the displaceable gear toward and into engagement with the intermediate gear for driving intermediate gear and output gear. Torque control is achieved by the use of straight or spiral beveled gears which are of configurations adapted to withdraw from mutual engagement upon the torque exceeding a predetermined limit. The novel, advantageous features of the invention include the configuration of the mating, crown gear sets and the axially translatable, slidable drive gear. The mechanism is capable of transmitting a high degree of torque within a narrow, compact transmission housing. The compact size and narrow, elongated configuration of the housing is particularly applicable for use in hand tools and in multiple torque driver mechanisms in which it is necessary to drive multiple fasteners which are located in close proximity. Prior torque drivers such as 'click-type' torque wrenches do not actually limit torque application but only provide an audible warning that the limit has been reached.
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.
Intrinsic domain wall flexing from current-induced spin torque

NASA Astrophysics Data System (ADS)

Golovatski, Elizabeth; Flatté, Michael

2012-02-01

Spin torque generated by coherent carrier transport in domain walls [1] is a major component in the development of spintronic devices [2]. We model spin torque in N'eel walls [3] using a piecewise linear transfer-matrix method [4] to calculate spin torque on interior wall segments. For a π wall with a total positive torque (current left-to-right), we find the largest positive and negative spin torques left of the central region, 4-5 orders of magnitude larger than the center. The wall's rightward push comes from the back of the wall; all other significant regions pull to the left. Adding a second wall (both walls with positive total torque) changes the first wall little, but produces spin torques in the second wall with large canceling torques on the left, and the push rightward from a smaller torque on the right. The gradient of torque across the wall generates an intrinsic domain wall flexing (distinct from extrinsic wall flexing from pinning centers [5]). Work supported by an ARO MURI.[4pt] [1] M. Yamanouchi et al., Nature 428, 539 (2004).[0pt] [2] S. Parkin et al., Science 320, 190 (2008)[0pt] [3] G. Vignale and M. Flatt'e, Phys. Rev. Lett. 89, 098302 (2002)[0pt] [4] E. Golovatski and M. Flatt'e, Phys. Rev. B, 84, 115210 (2011)[0pt] [5] A. Balk et al., Phys. Rev. Lett. 107, 077205 (2011).
Strength After Bouts of Eccentric or Concentric Actions

NASA Technical Reports Server (NTRS)

Golden, Catherine L.; Dudley, Gary A.

1992-01-01

This study examined the influence of an initial bout of eccentric or concentric actions and a subsequent bout of eccentric actions on muscular strength. Twenty-four healthy males, 24-45 yr old, were placed in three groups that performed eccentric actions in bouts 1 and 2 (ECC/ECC, N = 8), concentric actions in bout 1, and eccentric actions in bout 2 (CON/ECC, N = 8) or served as controls (N = 8). Bouts involved unilateral actions with the left and right quadriceps femoris. Ten sets of 10 repetitions with an initial resistance equal to 85% of the eccentric or concentric one repetition maximum (1 RM) were performed for each bout. Three minutes of rest were given between sets and 3 wk between bouts. Two weeks before bout 1 and 1, 4, 7, and 10 d after bouts 1 and 2, eccentric and concentric 1 RM were measured for the right quadriceps femoris and a speed-torque relation established for the left quadriceps femoris. Eccentric and concentric 1 RM decreased (P less than 0.05) 32% 1 d after bout 1 for group ECC/ECC. The speed-torque relation was down-shifted (P less than 0.05) 38%. Eccentric 1 RM and eccentric and isometric torque returned to normal 6 d later. Concentric 1 RM and torque at 3.14 rad-s(exp -1) had not recovered on day 10 (-7% for both, P less than 0.05). Decreases in strength after bout 2 for group ECC/ECC only occurred on day 1 (-9% for concentric 1 RM and 16% downshift of the speed- torque relation). Group CONIECC showed the opposite responses; marked decreases in strength after bout 2 but not bout 1. The results indicate that the initial decrease in strength after performance of a novel bout of eccentric exercise is comparable for eccentric, concentric and isometric muscle actions. Recovery of strength, however, appears to occur more rapidly for eccentric and isometric actions. They suggest that performance of a prior bout of eccentric but not concentric actions, as done in this study, can essentially eradicate decreases in strength after a subsequent bout of eccentric exercise. It is suggested that neural factors are, in part, responsible for adaptations to eccentric exercise.
A self-calibrating multicomponent force/torque measuring system

NASA Astrophysics Data System (ADS)

Marangoni, Rafael R.; Schleichert, Jan; Rahneberg, Ilko; Hilbrunner, Falko; Fröhlich, Thomas

2018-07-01

A multicomponent self-calibrating force and torque sensor is presented. In this system, the principle of a Kibble balance is adapted for the traceable force and torque measurement in three orthogonal directions. The system has two operating modes: the velocity mode and the force/torque sensing mode. In the velocity mode, the calibration of the sensor is performed, while in the force/torque sensing mode, forces and torques are measured by using the principle of the electromagnetic force compensation. Details about the system are provided, with the main components of the sensor and a description of the operational procedure. A prototype of the system is currently being implemented for measuring forces and torques in a range of ±2 N and ±0.1 N · m respectively. A maximal relative expanded measurement uncertainty (k = 2) of 1 · 10‑4 is expected for the force and torque measurements.
Displaceable Spur Gear Torque Controlled Driver and Method

NASA Technical Reports Server (NTRS)

Cook, Joseph S., Jr. (Inventor)

1996-01-01

Methods and apparatus are provided for a torque driver including a laterally displaceable gear support member to carry an output spur gear. A biasing assembly biases the output spur gear into engagement with a pinion to which is applied an input torque greater than a desired output torque limit for a threaded fastener such as a nut or screw. A coiled output linkage connects the output spur gear with a 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. A gauged selector mechanism is provided to laterally displace multiple driven members for fasteners arranged in differing configurations. The torque limit is selectably adjustable and may be different for fasteners within the same fastener configuration.
Displaceable spur gear torque controlled driver 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 laterally displaceable gear support member to carry an output spur gear. A biasing assembly biases the output spur gear into engagement with a pinion to which is applied an input torque greater than a desired output torque limit for a threaded fastener such as a nut or screw. A coiled output linkage connects the output spur gear with a 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. A gauged selector mechanism is provided to laterally displace multiple driver members for fasteners arranged in differing configurations. The torque limit is selectably adjustable and may be different for fasteners within the same fastener configuration.
Responsive Copolymers for Enhanced Petroleum Recovery

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

McCormick, C.; Hester, R.

The objectives of this work was to: synthesize responsive copolymer systems; characterize molecular structure and solution behavior; measure rheological properties of aqueous fluids in fixed geometry flow profiles; and to tailor final polymer compositions for in situ rheology control under simulated conditions. This report focuses on the synthesis and characterization of novel stimuli responsive copolymers, the investigation of dilute polymer solutions in extensional flow and the design of a rheometer capable of measuring very dilute aqueous polymer solutions at low torque.
Effects of exercise-induced muscle damage on resting metabolic rate, sub-maximal running and post-exercise oxygen consumption.

PubMed

Burt, Dean Gareth; Lamb, Kevin; Nicholas, Ceri; Twist, Craig

2014-01-01

Exercise-induced muscle damage (EIMD), described as the acute weakness of the musculature after unaccustomed eccentric exercise, increases oxidative metabolism at rest and during endurance exercise. However, it is not known whether oxygen uptake during recovery from endurance exercise is increased when experiencing symptoms of EIMD. Therefore, the purpose of this study was to investigate the effects of EIMD on physiological and metabolic responses before, during and after sub-maximal running. After a 12 h fast, eight healthy male participants completed baseline measurements comprising resting metabolic rate (RMR), indirect markers of EIMD, 10 min of sub-maximal running and 30 min of recovery to ascertain excess post-exercise oxygen consumption (EPOC). Measurements were then repeated at 24 and 48 h after 100 Smith-machine squats. Data analysis revealed significant (P<0.05) increases in muscle soreness and creatine kinase (CK) and decreases in peak knee extensor torque at 24 and 48 h after squatting exercise. Moreover, RMR, physiological, metabolic and perceptual responses during sub-maximal running and EPOC were increased in the two days after squatting exercise (P<0.05). It is suggested that the elevated RMR was a consequence of a raised energy requirement for the degradation and resynthesis of damaged muscle fibres. The increased oxygen demand during sub-maximal running after muscle damage was responsible for the increase in EPOC. Individuals engaging in unaccustomed resistance exercise that results in muscle damage should be mindful of the increases in resting energy expenditure and increased metabolic demand to exercise in the days that follow.
Tool for Coupling a Torque Wrench to a Round Cable Connector

NASA Technical Reports Server (NTRS)

Hacker, Scott C.; Dean, Richard J.; Burge, Scott W.

2006-01-01

A tool makes it possible to couple a torque wrench to an externally knurled, internally threaded, round cable connector. The purpose served by the tool is to facilitate the tightening of multiple such connectors (or the repeated tightening of the same connector) to repeatable torques. The design of a prior cable-connector/ torque-wrench coupling tool provided for application of the torque-wrench jaws to a location laterally offset from the axis of rotation of the cable connector, making it necessary to correct the torque reading for the offset. Unlike the design of the prior tool, the design of the present tool provides for application of the torque-wrench jaws to a location on the axis of rotation, obviating correction of the torque reading for offset. The present tool (see figure) consists of a split collet containing a slot that provides clearance for inserting and bending the cable, a collet-locking sleeve, a collet-locking nut, and a torque-wrench adaptor that is press-fit onto the collet. Once the collet is positioned on the cable connector, the collet-locking nut is turned to force the collet-locking sleeve over the collet, compressing the collet through engagement of tapered surfaces on the outside of the collet and the inside of the locking sleeve. Because the collet is split and therefore somewhat flexible, this compression forces the collet inward to grip the connector securely. The torque wrench is then applied to the torque-wrench adaptor in the usual manner for torquing a nut or a bolt.
Precision grip responses to unexpected rotational perturbations scale with axis of rotation.

PubMed

De Gregorio, Michael; Santos, Veronica J

2013-04-05

It has been established that rapid, pulse-like increases in precision grip forces ("catch-up responses") are elicited by unexpected translational perturbations and that response latency and strength scale according to the direction of linear slip relative to the hand as well as gravity. To determine if catch-up responses are elicited by unexpected rotational perturbations and are strength-, axis-, and/or direction-dependent, we imposed step torque loads about each of two axes which were defined relative to the subject's hand: the distal-proximal axis away from and towards the subject's palm, and the grip axis which connects the two fingertips. Precision grip responses were dominated initially by passive mechanics and then by active, unimodal catch-up responses. First dorsal interosseous activity, marking the start of the catch-up response, began 71-89 ms after the onset of perturbation. The onset latency, shape, and duration (217-231 ms) of the catch-up response were not affected by the axis, direction, or magnitude of the rotational perturbation, while strength was scaled by axis of rotation and slip conditions. Rotations about the grip axis that tilted the object away from the palm and induced rotational slip elicited stronger catch-up responses than rotations about the distal-proximal axis that twisted the object between the digits. To our knowledge, this study is the first to investigate grip responses to unexpected torque loads and to show characteristic, yet axis-dependent, catch-up responses for conditions other than pure linear slip. Copyright © 2013 Elsevier Ltd. All rights reserved.
Determination of torque speed current characteristics of a brushless DC motor by utilizing back-EMF of non-energized phase

NASA Astrophysics Data System (ADS)

Jang, G. H.; Yeom, J. H.; Kim, M. G.

2007-03-01

This paper presents a method to determine the torque constant and the torque-speed-current characteristics of a brushless DC (BLDC) motor by utilizing back-EMF variation of nonenergized phase. It also develops a BLDC motor controller with a digital signal processor (DSP) to monitor its current, voltage and speed in real time. Torque-speed-current characteristics of a BLDC motor are determined by using the proposed method and the developed controller. They are compared with the torque-speed-current characteristics measured by dynamometer experimentally. This research shows that the proposed method is an effective method to determine the torque constant and the torque-speed-current characteristics of the BLDC motor without using dynamometer.
Bevel Gear Driver and Method Having Torque Limit Selection

NASA Technical Reports Server (NTRS)

Cook, Joseph S., Jr. (Inventor)

1997-01-01

Methods and apparatus are provided for a torque driver including an axially displaceable gear with a biasing assembly to bias the displaceable gear into an engagement position. A rotatable cap is provided with a micrometer dial to select a desired output torque. An intermediate bevel gear assembly is disposed between an input gear and an output gear. A gear tooth profile provides a separation force that overcomes the bias to limit torque at a desired torque limit. The torque limit is adjustable and may be adjusted manually or automatically depending on the type of biasing assembly provided. A clutch assembly automatically limits axial force applied to a fastener by the operator to avoid alteration of the desired torque limit.
Effect of insertion torque on bone screw pullout strength.

PubMed

Lawson, K J; Brems, J

2001-05-01

The effect of insertion torque on the holding strength of 4.5-mm ASIF/AO cortical bone screws was studied in vitro. Screw holding strength was determined using an Instron materials testing machine (Bristol, United Kingdom) on 55 lamb femora and 30 human tibiocortical bone sections. Holding strength was defined as tensile stress at pullout with rapid loading to construct failure. Different insertion torques were tested, normalizing to the thickness of cortical bone specimen engaged. These represented low, intermediate, high, and thread-damaging insertion torque. All screws inserted with thread-damaging torque and single cortex engaging screws inserted to high torque tightening moments showed diminished holding strength. This loss of strength amounted to 40%-50% less than screws inserted with less torque.
The dominancy of damping like torque for the current induced magnetization switching in Pt/Co/W multilayers

NASA Astrophysics Data System (ADS)

Bekele, Zelalem Abebe; Meng, Kangkang; Miao, Jun; Xu, Xiaoguang; Jiang, Yong

2018-06-01

Two classes of spin-orbit coupling (SOC) mechanisms have been considered as candidate sources for the spin orbit torque (SOT): the spin Hall Effect (SHE) in heavy metals with strong SOC and the Rashba effect arising from broken inversion symmetry at material surfaces and interfaces. In this work, we have investigated the SOT in perpendicularly magnetized Pt/Co/W films, which is compared with the results in Pt/Co/AlOx films. Using the harmonic measurements, we have characterized the effective fields corresponding to the damping like torque and the field like torque. Theoretically, in the case of the asymmetrical Pt/Co/W trilayers with opposite sign of spin Hall angle, both damping like torque and field like torque due to the SHE and the Rashba effect will be enhanced, but we have found the dominancy of damping like torque in the Pt/Co/W films. It is much different from the results in the Pt/Co/AlOx films, in which both the damping like torque and the field like torque are evident.
Spin-Orbit Torques and Anisotropic Magnetization Damping in Skyrmion Crystals

NASA Astrophysics Data System (ADS)

Hals, Kjetil; Brataas, Arne

2014-03-01

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 non-relativistic 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.

A torque, tension and stress corrosion evaluation of high strength A286 bolts

NASA Technical Reports Server (NTRS)

Montano, J. W.

1986-01-01

The problems associated with overtorque applied to the Booster Separation Motor (BSM) Igniter Adapter high strength 200 KSI (1379 Mpa) A286 CRES bolts and the threaded holes of the 7075-T73 aluminum alloy BSM cases are addressed. The evaluation included torque, tensile, and stress corrosion tests incorporating the A286 CRES bolts and the 7075-T73 aluminum alloy BSM cases. The tensile test data includes ultimate tensile load (UTL), Johnson's 2/3 yield load (J2/3YL), proportional limit load (PLL), and total bolt stretch. Torque tension data includes torque, torque induced load, and positive and negative break-away torque. Stress corrosion test data reflect the overtorque and the resulting torque induced loads sustained by the A286 CRES bolts torqued into a 7075-T73 aluminum alloy forged dome with threaded holes. After 60 days of salt fog exposure, the positive and the negative break-away torques, the subsequent mechanical property tensile test results, and the BSM dome threaded hole axial tensile pullout loads are reported.
Advantages and disadvantages of new torque-controlled endodontic motors and low-torque NiTi rotary instrumentation.

PubMed

Gambarini, G

2001-12-01

The main problem with the NiTi rotary instrumentation technique is instrument failure. During shaping procedures, rotary instruments might lock and/or screw into canals and, consequently, be subjected to high levels of stress. This may frequently lead to instrument separation or deformation. If a high-torque motor is used, the applied forces are usually very high and the instrument-fracture limit is often exceeded, thus increasing the risk of intracanal failure. A possible solution of this problem is to use a low-torque endodontic motor, which operates below the maximum permissible torque limit of each and every rotary instrument. During clinical instrumentation of root canals, if a torque-controlled motor is loaded right up to the instrument-specific torque, the motor stops momentarily and/or starts rotating counter-clockwise (auto-reverse function) to disengage the locked instrument. These safety mechanisms were developed to reduce the risk of instrument fracture. The author fully discusses the rationale for selecting lower torque values in everyday endodontic practice, and provides clinicians with useful information on the advantages and disadvantages of new endodontic motors with torque control.
The effect of 3 torque delivery systems on gold screw preload at the gold cylinder-abutment screw joint.

PubMed

Tan, Keson B; Nicholls, Jack I

2002-01-01

This study measured the gold screw preload at the gold cylinder-abutment screw joint interface obtained by 3 torque delivery systems. Using a precalibrated, strain-gauged standard abutment as the load cell, 3 torque delivery systems tested were shown to have significant differences in gold screw preload when a gold cylinder was attached. Mean preloads measured were 291.2 N for hand torque drivers set at 10 Ncm, 340.3 N for electronic torque controllers at low setting/10 Ncm, 384.4 N for electronic torque controllers at high setting/10 Ncm; and 140.8 N for hand-tightening with a prosthetic slot screwdriver. Significant differences in screw preload were also found between operators using a hand torque driver. Hand-tightening delivered insufficient preload and cannot be recommended for final gold screw tightening. Different electronic torque controller units set at 10 Ncm induced mean gold screw preloads that ranged from 264.1 N to as high as 501.2 N. Electronic torque controllers should be regularly recalibrated to ensure optimal output.
Relationship between magnitude of applied torque in pre-swing phase and gait change for prevention of trip in elderly people.

PubMed

Miyake, Tamon; Tsukune, Mariko; Kobayashi, Yo; Sugano, Shigeki; Fujie, Masakatsu G

2016-08-01

Elderly people are at risk of tripping because of their narrow range of articular motion. To avoid tripping, gait training that improves their range of articular motion would be beneficial. In this study we propose a gait-training robot that applies a torque during the pre-swing phase to achieve this goal. We investigated the relationship between magnitude of applied torque and change in the range of knee-articular motion while walking before and after the application of this torque. We developed a wearable robot and carried out an experiment on human participants in which a motor pulls a string embedded on the robotic frame, applying torque in the pre-swing phase for a period of 20 [s]. Before and after applying torque the participant walked normally for 15 [s] without interference from the robot. We found that knee flexion angle increased after applying the torque if the torque was within the range of approximately 6-8 [Nm]. Therefore, we were able to verify that a new range of knee articular motion can be learned through application of torque.
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.
Free vibrations of a pultruded GFRP frame with different rotational stiffnesses of bolted joints

NASA Astrophysics Data System (ADS)

Boscato, G.; Russo, S.

2013-01-01

Experimental and numerical results for the dynamic response of an all-FRP (fiber-reinforced polymer) twodimensional frame in free vibration are presented. The frame was assembled of pultruded glass-fiber-reinforced polymer (GFRP) profiles and bolted beam-to-column connections with GFRP angles. To give a variable rotational stiffness to the four beam-to-column major-axis joints, all bolts were tightened by a constant torque of 10, 25, or 40 N · m. Experimental measurements were performed on the three configurations to identify the natural frequencies of the first vibration mode in the plane of the frame and to determine the ability of each structure to dissipate the initial acceleration imposed on it through damping. The results obtained are compared with analytical and finite-element calculations. It was found that an increased bolt torque improved the dynamic response of the GFRP frame by reducing its vibration time and maximum displacements and by enhancing its dissipation capacity.
Two-Component Noncollinear Time-Dependent Spin Density Functional Theory for Excited State Calculations.

PubMed

Egidi, Franco; Sun, Shichao; Goings, Joshua J; Scalmani, Giovanni; Frisch, Michael J; Li, Xiaosong

2017-06-13

We present a linear response formalism for the description of the electronic excitations of a noncollinear reference defined via Kohn-Sham spin density functional methods. A set of auxiliary variables, defined using the density and noncollinear magnetization density vector, allows the generalization of spin density functional kernels commonly used in collinear DFT to noncollinear cases, including local density, GGA, meta-GGA and hybrid functionals. Working equations and derivations of functional second derivatives with respect to the noncollinear density, required in the linear response noncollinear TDDFT formalism, are presented in this work. This formalism takes all components of the spin magnetization into account independent of the type of reference state (open or closed shell). As a result, the method introduced here is able to afford a nonzero local xc torque on the spin magnetization while still satisfying the zero-torque theorem globally. The formalism is applied to a few test cases using the variational exact-two-component reference including spin-orbit coupling to illustrate the capabilities of the method.
Resonance measurement of nonlocal spin torque in a three-terminal magnetic device.

PubMed

Xue, Lin; Wang, Chen; Cui, Yong-Tao; Liu, Luqiao; Swander, A; Sun, J Z; Buhrman, R A; Ralph, D C

2012-04-06

A pure spin current generated within a nonlocal spin valve can exert a spin-transfer torque on a nanomagnet. This nonlocal torque enables new design schemes for magnetic memory devices that do not require the application of large voltages across tunnel barriers that can suffer electrical breakdown. Here we report a quantitative measurement of this nonlocal spin torque using spin-torque-driven ferromagnetic resonance. Our measurement agrees well with the prediction of an effective circuit model for spin transport. Based on this model, we suggest strategies for optimizing the strength of nonlocal torque. © 2012 American Physical Society
History dependence of the EMG-torque relationship.

PubMed

Paquin, James; Power, Geoffrey A

2018-05-28

The influence of active lengthening (residual force enhancement: RFE) and shortening (force depression: FD) on the electromyography (EMG)-torque relationship was investigated by matching torque and activation at 20%, 40%, 60%, 80% and 100% maximal voluntary contraction (MVC). Sixteen males performed lengthening and shortening contractions of the dorsiflexors over 25° into an isometric steady-state. There was 5% greater torque, with no change in agonist EMG during the RFE condition as compared to the isometric condition. Sub-maximally, in the force enhanced state, there was less agonist EMG during the torque clamp at all intensities relative to isometric, and greater torque during the activation clamps relative to isometric was observed across all intensities except 20% MVC. During the FD state compared to isometric, there was less torque produced during MVC (∼15%) with no change in agonist EMG. Sub-maximally, in the FD state, there was greater agonist EMG during the torque clamp and less torque during the activation clamp relative to the isometric condition across all intensities. The EMG-torque relationship was bilinear for all contraction types but was shifted to the left and right for FD and RFE, respectively as compared with isometric, indicating altered neuromuscular activation strategies in the history-dependent states of RFE and FD. Copyright © 2018. Published by Elsevier Ltd.
Loosening torque of Universal Abutment screws after cyclic loading: influence of tightening technique and screw coating.

PubMed

Bacchi, Atais; Regalin, Alexandre; Bhering, Claudia Lopes Brilhante; Alessandretti, Rodrigo; Spazzin, Aloisio Oro

2015-10-01

The purpose of this study was to evaluate the influence of tightening technique and the screw coating on the loosening torque of screws used for Universal Abutment fixation after cyclic loading. Forty implants (Titamax Ti Cortical, HE, Neodent) (n=10) were submerged in acrylic resin and four tightening techniques for Universal Abutment fixation were evaluated: A - torque with 32 Ncm (control); B - torque with 32 Ncm holding the torque meter for 20 seconds; C - torque with 32 Ncm and retorque after 10 minutes; D - torque (32 Ncm) holding the torque meter for 20 seconds and retorque after 10 minutes as initially. Samples were divided into subgroups according to the screw used: conventional titanium screw or diamond like carbon-coated (DLC) screw. Metallic crowns were fabricated for each abutment. Samples were submitted to cyclic loading at 10(6) cycles and 130 N of force. Data were analyzed by two-way ANOVA and Tukey's test (5%). The tightening technique did not show significant influence on the loosening torque of screws (P=.509). Conventional titanium screws showed significant higher loosening torque values than DLC (P=.000). The use of conventional titanium screw is more important than the tightening techniques employed in this study to provide long-term stability to Universal Abutment screws.
The Accuracy of New and Aged Mechanical Torque Devices Employed in Five Dental Implant Systems.

PubMed

Erdem, Mehmet Ali; Karatasli, Burcin; Dinçer Kose, Onur; Kose, Taha Emre; Çene, Erhan; Aydın Aya, Serhan; Cankaya, Abdulkadir Burak

2017-01-01

Friction-style and spring-style torque wrenches are used to tighten implant abutments and prosthetic screws. The mechanical stability of these torque wrenches is crucial for the implant-abutment connection. The purposes of this study were to assess the performance of five brands (Straumann, Zimmer, Implant KA, Bredent, and Biohorizons) of wrench and to evaluate possible changes in applied torque values of aged wrenches. Five new and aged wrenches that had been used approximately 250 times in a 1-year period were tested. The torque applied by friction- and spring-style wrenches was measured with a specially designed strain gauge indicator. Descriptive statistics, the one-sample t -test, and the independent-samples t -test were used to analyze values obtained from all torque wrenches. The accuracy of new and aged torque devices of all brands except Bredent differed significantly from the target values, but the mean values for aged and new wrenches did not differ significantly from each other ( p > 0.05). Values for the spring- and friction-type torque wrenches deviated from the target values by 11.6% and 10.2%, respectively. The accuracy of aged torque wrenches is adequate for prosthetic screw tightening, but that of new torque wrenches is unsatisfactory and must be examined carefully before delivery.
DOE Office of Scientific and Technical Information (OSTI.GOV)

Lyons, Brendan C.; Ferraro, Nathaniel M.; Paz-Soldan, Carlos A.

In order to understand the effect of rotation on the plasma's response to three-dimensional magnetic perturbations, we perform a systematic scan of the zero-crossing of the rotation profile in a DIII-D ITER-similar shape equilibrium using linear, time-independent modeling with the M3D-C1 extended magnetohydrodynamics code. We confirm that the local resonant magnetic field generally increases as the rotation decreases at a rational surface. Multiple peaks in the resonant field are observed near rational surfaces, however, and the maximum resonant field does not always correspond to zero rotation at the surface. Furthermore, we show that non-resonant current can be driven at zero-more » crossings not aligned with rational surfaces if there is sufficient shear in the rotation profile there, leading to an amplification of near-resonant Fourier harmonics of the perturbed magnetic field and a decrease in the far-off -resonant harmonics. The quasilinear electromagnetic torque induced by this non-resonant plasma response provides drive to flatten the rotation, possibly allowing for increased transport in the pedestal by the destabilization of turbulent modes. In addition, this torque acts to drive the rotation zero-crossing to dynamically stable points near rational surfaces, which would allow for increased resonant penetration. By one or both of these mechanisms, this torque may play an important role in bifurcations into ELM suppression. Finally, we discuss how these changes to the plasma response could be detected by tokamak diagnostics. In particular, we show that the changes to the resonant field discussed here have a significant impact on the external perturbed magnetic field, which should be observable by magnetic sensors on the high-field side of tokamaks, but not on the low-field side. In addition, TRIP3D-MAFOT simulations show that none of the changes to the plasma response described here substantially affects the divertor footprint structure.« less
Immediate effects of whole body vibration on patellar tendon properties and knee extension torque.

PubMed

Rieder, F; Wiesinger, H-P; Kösters, A; Müller, E; Seynnes, O R

2016-03-01

Reports about the immediate effects of whole body vibration (WBV) exposure upon torque production capacity are inconsistent. However, the changes in the torque-angle relationship observed by some authors after WBV may hinder the measurement of torque changes at a given angle. Acute changes in tendon mechanical properties do occur after certain types of exercise but this hypothesis has never been tested after a bout of WBV. The purpose of the present study was to investigate whether tendon compliance is altered immediately after WBV, effectively shifting the optimal angle of peak torque towards longer muscle length. Twenty-eight subjects were randomly assigned to either a WBV (n = 14) or a squatting control group (n = 14). Patellar tendon CSA, stiffness and Young's modulus and knee extension torque-angle relationship were measured using ultrasonography and dynamometry 1 day before and directly after the intervention. Tendon CSA was additionally measured 24 h after the intervention to check for possible delayed onset of swelling. The vibration intervention had no effects on patellar tendon CSA, stiffness and Young's modulus or the torque-angle relationship. Peak torque was produced at ~70° knee angle in both groups at pre- and post-test. Additionally, the knee extension torque globally remained unaffected with the exception of a small (-6%) reduction in isometric torque at a joint angle of 60°. The present results indicate that a single bout of vibration exposure does not substantially alter patellar tendon properties or the torque-angle relationship of knee extensors.
Fatigue affects peak joint torque angle in hamstrings but not in quadriceps.

PubMed

Coratella, Giuseppe; Bellin, Giuseppe; Beato, Marco; Schena, Federico

2015-01-01

Primary aim of this study was to investigate peak joint torque angle (i.e. the angle of peak torque) changes recorded during an isokinetic test before and after a fatiguing soccer match simulation. Secondarily we want to investigate functional Hecc:Qconc and conventional Hconc:Qconc ratio changes due to fatigue. Before and after a standardised soccer match simulation, twenty-two healthy male amateur soccer players performed maximal isokinetic strength tests both for hamstrings and for quadriceps muscles at 1.05 rad · s(‒1), 3.14 rad · s(‒1) and 5.24 rad · s(‒1). Peak joint torque angle, peak torque and both functional Hecc:Qconc and conventional Hconc:Qconc ratios were examined. Both dominant and non-dominant limbs were tested. Peak joint torque angle significantly increased only in knee flexors. Both eccentric and concentric contractions resulted in such increment, which occurred in both limbs. No changes were found in quadriceps peak joint torque angle. Participants experienced a significant decrease in torque both in hamstrings and in quadriceps. Functional Hecc:Qconc ratio was lower only in dominant limb at higher velocities, while Hconc:Qconc did not change. This study showed after specific fatiguing task changes in hamstrings only torque/angle relationship. Hamstrings injury risk could depend on altered torque when knee is close to extension, coupled with a greater peak torque decrement compared to quadriceps. These results suggest the use eccentric based training to prevent hamstrings shift towards shorter length.
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?
Low Handicap Golfers Generate More Torque at the Shoe-Natural Grass Interface When Using a Driver

PubMed Central

Worsfold, Paul; Smith, Neal A.; Dyson, Rosemary J.

2008-01-01

The aim was to determine the rotational torque occurring at the shoe-natural grass interface during golf swing performance with different clubs, and to determine the influence of handicap and golf shoe design. Twenty-four golfers (8 low 0-7; 8 medium 8-14; and 8 high 15+) performed 5 shots with a driver, 3-iron and 7-iron when 3 shoes were worn: a modern 8 mm metal 7-spike shoe, an alternative 7-spike shoe and a flat soled shoe. Torque was measured at the front and back foot by grass covered force platforms in an outdoor field. Torque at the shoe- natural turf interface was similar at the front foot when using a driver, 3-iron and 7-iron with maximum mean torque (Tzmax 17-19 Nm) and torque generation in the entire backswing and downswing approximately 40 Nm. At the back foot, torque was less than at the front foot when using the driver, 3-iron and 7-iron. At the back foot Tzmax was 6-7 Nm, and torque generation was 10-16 Nm, with a trend for greater torque generation when using the driver rather than the irons. The metal spike shoe allowed significantly more back foot torque generation when using a driver than a flat- soled shoe (p < 0.05). There was no significant difference between the metal and alternative spike shoes for any torque measure (p > 0.05), although back foot mean torques generated tended to be greater for the metal spike shoe. The golf shot outcomes were similar for low, medium and high handicappers in both metal and alternative spike shoes (metal: 87%; 76%; 54%; alternative: 85%; 74%; 54% respectively). The better, low handicap golfers generated significantly more back foot torque (metal spike: 18.2 Nm; alternative: 15.8 Nm; p < 0.05) when using a driver. Further research should consider back foot shoe-grass interface demands during driver usage by low handicap and lighter body-weight golfers. Key pointsShoe to natural turf torque generation is an important component in performing a golf swing with a driver club.Torque at the shoe to natural turf interface was similar at the front foot when using a driver, 3-iron and 7-iron with Tzmax (17-19 Nm approx) and torque generation in the entire backswing and downswing of 40 Nm.Torque at the back foot was less than at the front foot when using the driver, 3-iron and 7-iron; Tzmax was 6-7 Nm, and torque generation 10-16 Nm with a trend to be greater when the driver was used.Low handicap golfers generated significantly more torque at the back foot than the medium or high handicappers (P<0.05) when using a driver.The metal spike shoe on natural turf allowed significantly more torque generation at the back foot than a flat-soled golf shoe when using a driver. Results have implications for golf shoe design. PMID:24149910
Improved Force-And-Torque Sensor Assembly

NASA Technical Reports Server (NTRS)

Bamford, Robert M.

1991-01-01

Improved sensor assembly measures forces and torques of interaction between supporting and supported object. Measures all three components of force and all three components of torque. Force measurements uncoupled from torque measurements. Price for improved measurement capability, complexity and flexibility, excessive in some applications.
40 CFR 1066.240 - Torque transducer verification.

Code of Federal Regulations, 2014 CFR

2014-07-01

... POLLUTION CONTROLS VEHICLE-TESTING PROCEDURES Dynamometer Specifications § 1066.240 Torque transducer verification. Verify torque-measurement systems by performing the verifications described in §§ 1066.270 and... 40 Protection of Environment 33 2014-07-01 2014-07-01 false Torque transducer verification. 1066...
Deformation of fluctuating chiral ribbons

NASA Astrophysics Data System (ADS)

Panyukov, Sergey

2003-03-01

We find analytical solution of the model of a fluctuating filament with a spontaneously twisted noncircular cross section in the presence of external force and torque. We show that when such ribbon is subjected to a sufficiently strong extensional force, it exhibits an asymmetric response to large degrees of overwinding and unwinding. We construct the stability diagram that describes the buckling transition of such ribbons under the opposing action of force and torque and show that all the observed behaviors can be understood in terms of continuous transformations between straight and spiral states of the ribbon. The relation between our results and experimental observations on DNA is discussed and a new reentrant spiral to rod transition is predicted at intermediate values of twist rigidity and applied force.
Neutron star dynamics under time dependent external torques

NASA Astrophysics Data System (ADS)

Alpar, M. A.; Gügercinoğlu, E.

2017-12-01

The two component model of neutron star dynamics describing the behaviour of the observed crust coupled to the superfluid interior has so far been applied to radio pulsars for which the external torques are constant on dynamical timescales. We recently solved this problem under arbitrary time dependent external torques. Our solutions pertain to internal torques that are linear in the rotation rates, as well as to the extremely non-linear internal torques of the vortex creep model. Two-component models with linear or nonlinear internal torques can now be applied to magnetars and to neutron stars in binary systems, with strong variability and timing noise. Time dependent external torques can be obtained from the observed spin-down (or spin-up) time series, \\dot Ω ≤ft( t \\right).

Accuracy and precision of as-received implant torque wrenches.

PubMed

Britton-Vidal, Eduardo; Baker, Philip; Mettenburg, Donald; Pannu, Darshanjit S; Looney, Stephen W; Londono, Jimmy; Rueggeberg, Frederick A

2014-10-01

Previous implant torque evaluation did not determine if the target value fell within a confidence interval for the population mean of the test groups, disallowing determination of whether a specific type of wrench met a standardized goal value. The purpose of this study was to measure both the accuracy and precision of 2 different configurations (spring style and peak break) of as-received implant torque wrenches and compare the measured values to manufacturer-stated values. Ten wrenches from 4 manufacturers, representing a variety of torque-limiting mechanisms and specificity of use (with either a specific brand or universally with any brand of implant product). Drivers were placed into the wrench, and tightening torque was applied to reach predetermined values using a NIST-calibrated digital torque wrench. Five replications of measurement were made for each wrench and averaged to provide a single value from that instrument. The target torque value for each wrench brand was compared to the 95% confidence interval for the true population mean of measured values to see if it fell within the measured range. Only 1 wrench brand (Nobel Biocare) demonstrated the target torque value falling within the 95% confidence interval for the true population mean. For others, the targeted torque value fell above the 95% confidence interval (Straumann and Imtec) or below (Salvin Torq). Neither type of torque-limiting mechanism nor designation of a wrench to be used as a dedicated brand-only product or to be used as a universal product on many brands affected the ability of a wrench to deliver torque values where the true population mean included the target torque level. Copyright © 2014 Editorial Council for the Journal of Prosthetic Dentistry. Published by Elsevier Inc. All rights reserved.
Evaluation of the Accuracy and Related Factors of the Mechanical Torque-Limiting Device for Dental Implants

PubMed Central

Kazemi, Mahmood; Rohanian, Ahmad; Monzavi, Abbas; Nazari, Mohammad Sadegh

2013-01-01

Objective: Accurate delivery of torque to implant screws is critical to generate ideal preload in the screw joint and to offer protection against screw loosening. Mechanical torque-limiting devices (MTLDs) are available for this reason. In this study, the accuracy of one type of friction-style and two types of spring-style MTLDs at baseline, following fatigue conditions and sterilization processes were determined. Materials and Methods: Five unused MTLDs were selected from each of Straumann (ITI), Astra TECH and CWM systems. To measure the output of each MTLD, a digital torque gauge with a 3-jaw chuck was used to hold the driver. Force was applied to the MTLDs until either the friction styles released at a pre-calibrated torque value or the spring styles flexed to a pre-calibrated limit (target torque value). The peak torque value was recorded and the procedure was repeated 5 times for each MTLD. Then MTLDs were subjected to fatigue conditions at 500 and 1000 times and steam sterilization processes at 50 and 100 times and the peak torque value was recorded again at each stage. Results: Adjusted difference between measured torque values and target torque values differed significantly between stages for all 3 systems. Adjusted difference did not differ significantly between systems at all stages, but differed significantly between two different styles at baseline and 500 times fatigue stages. Conclusion: Straumann (ITI) devices differed minimally from target torque values at all stages. MTLDs with Spring-style were significantly more accurate than Friction-style device in achieving their target torque values at baseline and 500 times fatigue. PMID:23724209
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.
Planar rotational magnetic micromotors with integrated shaft encoder and magnetic rotor levitation

NASA Technical Reports Server (NTRS)

Guckel, Henry; Christenson, T. R.; Skrobis, K. J.; Klein, J.; Karnowsky, M.

1994-01-01

Deep x-ray lithography and electroplating may be combined to form a fabrication tool for micromechanical devices with large structural heights, to 500 micron, and extreme edge acuities, less than 0.1 micron-run-out per 100 micron of height. This process concept which originated in Germany as LIGA may be further extended by adding surface micromachining. This extension permits the fabrication of precision metal and plastic parts which may be assembled into three-dimensional micromechanical components and systems. The processing tool may be used to fabricate devices from ferromagnetic material such as nickel and nickel-iron alloys. These materials when properly heat treated exhibit acceptable magnetic behavior for current to flux conversion and marginal behavior for permanent magnet applications. The tool and materials have been tested via planar, magnetic, rotational micromotor fabrication. Three phase reluctance machines of the 6:4 configuration with 280 micron diameter rotors have been tested and analyzed. Stable rotational speeds to 34,000 rpm with output torques above 10 x 10(exp -9) N-m have been obtained. The behavior is monitored with integrated shaft encoders which are photodiodes which measure the rotor response. Magnetic levitation of the rotor via reluctance forces has been achieved and has reduced frictional torque losses to less than 1 percent of the available torque. The results indicate that high speed limits of these actuators are related to torque ripple. Hysteresis motors with magnetic bearings are under consideration and will produce high speed rotational machines with excellent sensor application potential.
Decreased muscle endurance associated with diabetic neuropathy may be attributed partially to neuromuscular transmission failure

PubMed Central

Kimpinski, Kurt; Doherty, Timothy J.; Rice, Charles L.

2015-01-01

Diabetic polyneuropathy (DPN) can cause muscle atrophy, weakness, contractile slowing, and neuromuscular transmission instability. Our objective was to assess the response of the impaired neuromuscular system of DPN in humans when stressed with a sustained maximal voluntary contraction (MVC). Baseline MVC and evoked dorsiflexor contractile properties were assessed in DPN patients (n = 10) and controls (n = 10). Surface electromyography was used to record tibialis anterior evoked maximal compound muscle action potentials (CMAPs) and neuromuscular activity during MVCs. Participants performed a sustained isometric dorsiflexion MVC for which task termination was determined by the inability to sustain ≥60% MVC torque. The fatigue protocol was immediately followed by a maximal twitch, with additional maximal twitches and MVCs assessed at 30 s and 2 min postfatigue. DPN patients fatigued ∼21% more quickly than controls (P < 0.05) and featured less relative electromyographic activity during the first one-third of the fatigue protocol compared with controls (P < 0.05). Immediately following fatigue, maximal twitch torque was reduced similarly (∼20%) in both groups, and concurrently CMAPs were reduced (∼12%) in DPN patients, whereas they were unaffected in controls (P > 0.05). Twitch torque and CMAP amplitude recovered to baseline 30 s postfatigue. Additionally, at 30 s postfatigue, both groups had similar (∼10%) reductions in MVC torque relative to baseline, and MVC strength recovered by 2 min postfatigue. We conclude DPN patients possess less endurance than controls, and neuromuscular transmission failure may contribute to this greater fatigability. PMID:25663671
Spin-orbit-torque driven magnetoimpedance in Pt-layer/magnetic-ribbon heterostructures

NASA Astrophysics Data System (ADS)

Hajiali, M. R.; Mohseni, S. Morteza; Jamilpanah, L.; Hamdi, M.; Roozmeh, S. E.; Mohseni, S. Majid

2017-11-01

When a flow of electrons passes through a paramagnetic layer with strong spin-orbit-coupling such as platinum (Pt), a net spin current is produced via the spin Hall effect (SHE). This spin current can exert a torque on the magnetization of an adjacent ferromagnetic layer which can be probed via magnetization dynamic responses, e.g., spin-torque ferromagnetic resonance. Nevertheless, that effect in the lower frequency magnetization dynamic regime where the skin effect occurs in high permeability ferromagnetic conductors, namely, the magneto-impedance (MI) effect, can be fundamentally important, and has not been studied so far. Here, by utilizing the MI effect in the magnetic-ribbon/Pt heterostructure with high transvers magnetic permeability that allows the ac current effectively confined at the skin depth of ˜100 nm thickness, the effect of spin-orbit-torque (SOT) induced by the SHE probed via the MI measurement is investigated. We observed a systematic MI frequency shift that increases by increasing the applied current amplitude and thickness of the Pt layer (varying from 0 nm to 20 nm). In addition, the role of the Pt layer in the ribbon/Pt heterostructure is evaluated with the ferromagnetic resonance effect representing a standard Gilbert damping increase as a result of the presence of the SHE. Our results unveil the role of SOT in dynamic control of the transverse magnetic permeability probed by impedance spectroscopy as a useful and valuable technique for detection of future SHE devices.
Contact acoustic nonlinearity (CAN)-based continuous monitoring of bolt loosening: Hybrid use of high-order harmonics and spectral sidebands

NASA Astrophysics Data System (ADS)

Zhang, Zhen; Liu, Menglong; Liao, Yaozhong; Su, Zhongqing; Xiao, Yi

2018-03-01

The significance of evaluating bolt tightness in engineering structures, preferably in a continuous manner, cannot be overemphasized. With hybrid use of high-order harmonics (HOH) and spectral sidebands, a contact acoustic nonlinearity (CAN)-based monitoring framework is developed for detecting bolt loosening and subsequently evaluating the residual torque on a loose bolt. Low-frequency pumping vibration is introduced into the bolted joint to produce a "breathing" effect at the joining interface that modulates the propagation characteristics of a high-frequency probing wave when it traverses the bolt, leading to the generation of HOH and vibro-acoustic nonlinear distortions (manifested as sidebands in the signal spectrum). To gain insight into the mechanism of CAN generation and to correlate the acquired nonlinear responses of a loose joint with the residual torque remaining on the bolt, an analytical model based on micro-contact theory is established. Two types of nonlinear index, respectively exploiting the induced HOH and spectral sidebands, are defined without dependence on excitation intensity and are experimentally demonstrated to be effective in continuously monitoring bolt loosening in both aluminum-aluminum and composite-composite bolted joints. Taking a step further, variation of the index pair is quantitatively associated with the residual torque on a loose bolt. The approach developed provides a reliable method of continuous evaluation of bolt tightness in both composite and metallic joints, regardless of their working conditions, from early awareness of bolt loosening at an embryonic stage to quantitative estimation of residual torque.
Titanium alloy vs. stainless steel miniscrews: an in vivo split-mouth study.

PubMed

Bollero, P; Di Fazio, V; Pavoni, C; Cordaro, M; Cozza, P; Lione, R

2018-04-01

To compare in vivo Titanium Alloy (TiA) with Stainless Steel (SS) miniscrews Temporary Anchorage Devices (TADs) using removal torque and Scanning Electron Microscopic (SEM) analysis. 15 subjects (6 males and 9 females) who required maximum anchorage were recruited. For each patient, a TiA TAD and a SS TAD with same length and width were implanted following a randomized split-mouth study design. Retraction was carried out with nickel-titanium spring ligated directly from the anterior hooks of the archwire to the TADs to produce 90 to 100 g of force. When no further anchorage supplementation was needed, the TADs were removed. The removal torque values were registered with a digital screwdriver. After removal, the TADs were collected in a fixed solution and examined using SEM and X-ray microanalysis. All TADs remained intact, with a 100% success rate. There was no difference in removal torque between TiA and SS miniscrews (4.4 ± 1.3 N-cm and 5.1 ± 0.7 N-cm, respectively). All specimens' loss of gloss with signs of biological contaminations resulted in a dull implant surface. SEM photomicrographs of TiA miniscrews showed predominantly blood cells while SS miniscrews showed the precipitation of an amorphous layer with low cellular component. There was no difference in spectroscopic analysis between TiA and SS miniscrews. TiA and SS miniscrews had comparable removal torque values. SEM photomicrographs showed no evidence of osseointegration with both TADs having similar biological responses.
Identification of the contribution of the ankle and hip joints to multi-segmental balance control

PubMed Central

2013-01-01

Background Human stance involves multiple segments, including the legs and trunk, and requires coordinated actions of both. A novel method was developed that reliably estimates the contribution of the left and right leg (i.e., the ankle and hip joints) to the balance control of individual subjects. Methods The method was evaluated using simulations of a double-inverted pendulum model and the applicability was demonstrated with an experiment with seven healthy and one Parkinsonian participant. Model simulations indicated that two perturbations are required to reliably estimate the dynamics of a double-inverted pendulum balance control system. In the experiment, two multisine perturbation signals were applied simultaneously. The balance control system dynamic behaviour of the participants was estimated by Frequency Response Functions (FRFs), which relate ankle and hip joint angles to joint torques, using a multivariate closed-loop system identification technique. Results In the model simulations, the FRFs were reliably estimated, also in the presence of realistic levels of noise. In the experiment, the participants responded consistently to the perturbations, indicated by low noise-to-signal ratios of the ankle angle (0.24), hip angle (0.28), ankle torque (0.07), and hip torque (0.33). The developed method could detect that the Parkinson patient controlled his balance asymmetrically, that is, the right ankle and hip joints produced more corrective torque. Conclusion The method allows for a reliable estimate of the multisegmental feedback mechanism that stabilizes stance, of individual participants and of separate legs. PMID:23433148
Sensorimotor adaptations to microgravity in humans.

PubMed

Edgerton, V R; McCall, G E; Hodgson, J A; Gotto, J; Goulet, C; Fleischmann, K; Roy, R R

2001-09-01

Motor function is altered by microgravity, but little detail is available as to what these changes are and how changes in the individual components of the sensorimotor system affect the control of movement. Further, there is little information on whether the changes in motor performance reflect immediate or chronic adaptations to changing gravitational environments. To determine the effects of microgravity on the neural control properties of selected motor pools, four male astronauts from the NASA STS-78 mission performed motor tasks requiring the maintenance of either ankle dorsiflexor or plantarflexor torque. Torques of 10 or 50% of a maximal voluntary contraction (MVC) were requested of the subjects during 10 degrees peak-to-peak sinusoidal movements at 0.5 Hz. When 10% MVC of the plantarflexors was requested, the actual torques generated in-flight were similar to pre-flight values. Post-flight torques were higher than pre- and in-flight torques. The actual torques when 50% MVC was requested were higher in- and post-flight than pre-flight. Soleus (Sol) electromyographic (EMG) amplitudes during plantarflexion were higher in-flight than pre- or post-flight for both the 10 and 50% MVC tasks. No differences in medial gastrocnemius (MG) EMG amplitudes were observed for either the 10 or 50% MVC tasks. The EMG amplitudes of the tibialis anterior (TA), an antagonist to plantarflexion, were higher in- and post-flight than pre-flight for the 50% MVC task. During the dorsiflexion tasks, the torques generated in both the 10 and 50% MVC tasks did not differ pre-, in- and post-flight. TA EMG amplitudes were significantly higher in- than pre-flight for both the 10 or 50% MVC tasks, and remained elevated post-flight for the 50% MVC test. Both the Sol and MG EMG amplitudes were significantly higher in-flight than either pre- or post-flight for both the 10 and 50% MVC tests. These data suggest that the most consistent response to space flight was an elevation in the level of contractions of agonists and antagonists when attempting to maintain constant torques at a given level of MVC. Also, the chronic levels of EMG activity in selected ankle flexor and extensor muscles during space flight and during routine activities on Earth were recorded. Compared with pre- and post-flight values, there was a marked increase in the total EMG activity of the TA and the Sol and no change in the MG EMG activity in-flight. These data indicate that space flight, as occurs on shuttle missions, is a model of elevated activation of both flexor and extensor muscles, probably reflecting the effects of programmed work schedules in flight rather than a direct effect of microgravity.
Sensorimotor adaptations to microgravity in humans

NASA Technical Reports Server (NTRS)

Edgerton, V. R.; McCall, G. E.; Hodgson, J. A.; Gotto, J.; Goulet, C.; Fleischmann, K.; Roy, R. R.

2001-01-01

Motor function is altered by microgravity, but little detail is available as to what these changes are and how changes in the individual components of the sensorimotor system affect the control of movement. Further, there is little information on whether the changes in motor performance reflect immediate or chronic adaptations to changing gravitational environments. To determine the effects of microgravity on the neural control properties of selected motor pools, four male astronauts from the NASA STS-78 mission performed motor tasks requiring the maintenance of either ankle dorsiflexor or plantarflexor torque. Torques of 10 or 50% of a maximal voluntary contraction (MVC) were requested of the subjects during 10 degrees peak-to-peak sinusoidal movements at 0.5 Hz. When 10% MVC of the plantarflexors was requested, the actual torques generated in-flight were similar to pre-flight values. Post-flight torques were higher than pre- and in-flight torques. The actual torques when 50% MVC was requested were higher in- and post-flight than pre-flight. Soleus (Sol) electromyographic (EMG) amplitudes during plantarflexion were higher in-flight than pre- or post-flight for both the 10 and 50% MVC tasks. No differences in medial gastrocnemius (MG) EMG amplitudes were observed for either the 10 or 50% MVC tasks. The EMG amplitudes of the tibialis anterior (TA), an antagonist to plantarflexion, were higher in- and post-flight than pre-flight for the 50% MVC task. During the dorsiflexion tasks, the torques generated in both the 10 and 50% MVC tasks did not differ pre-, in- and post-flight. TA EMG amplitudes were significantly higher in- than pre-flight for both the 10 or 50% MVC tasks, and remained elevated post-flight for the 50% MVC test. Both the Sol and MG EMG amplitudes were significantly higher in-flight than either pre- or post-flight for both the 10 and 50% MVC tests. These data suggest that the most consistent response to space flight was an elevation in the level of contractions of agonists and antagonists when attempting to maintain constant torques at a given level of MVC. Also, the chronic levels of EMG activity in selected ankle flexor and extensor muscles during space flight and during routine activities on Earth were recorded. Compared with pre- and post-flight values, there was a marked increase in the total EMG activity of the TA and the Sol and no change in the MG EMG activity in-flight. These data indicate that space flight, as occurs on shuttle missions, is a model of elevated activation of both flexor and extensor muscles, probably reflecting the effects of programmed work schedules in flight rather than a direct effect of microgravity.
Dynamic Torque and Vertical Force Analysis during Nickel-titanium Rotary Root Canal Preparation with Different Modes of Reciprocal Rotation.

PubMed

Tokita, Daisuke; Ebihara, Arata; Nishijo, Miki; Miyara, Kana; Okiji, Takashi

2017-10-01

The purpose of the present study was to compare 2 modes of reciprocal movement (torque-sensitive and time-dependent reciprocal rotation) with continuous rotation in terms of torque and apical force generation during nickel-titanium rotary root canal instrumentation. A custom-made automated root canal instrumentation and torque/force analyzing device was used to prepare simulated canals in resin blocks and monitor the torque and apical force generated in the blocks during preparation. Experimental groups (n = 7, each) consisted of (1) torque-sensitive reciprocal rotation with torque-sensitive vertical movement (group TqR), (2) time-dependent reciprocal rotation with time-dependent vertical movement (group TmR), and (3) continuous rotation with time-dependent vertical movement (group CR). The canals were instrumented with TF Adaptive SM1 and SM2 rotary files (SybronEndo, Orange, CA), and the torque and apical force were measured during instrumentation with SM2. The mean and maximum torque and apical force values were statistically analyzed using 1-way analysis of variance and the Tukey test (α = 0.05). The recordings showed intermittent increases of upward apical force and clockwise torque, indicating the generation and release of screw-in forces. The maximum upward apical force values in group TmR were significantly smaller than those in group CR (P < .05). The maximum torque values in clockwise and counterclockwise directions in groups TqR and TmR were significantly smaller than those in group CR (P < .05). Under the present experimental conditions using TF Adaptive instruments, both torque-sensitive and time-dependent reciprocal rotation generated significantly lower maximum torque and may have advantages in reducing stress generation caused by screw-in forces when compared with continuous rotation. Copyright © 2017 American Association of Endodontists. Published by Elsevier Inc. All rights reserved.
Effect of the Glide Path Establishment on the Torque Generation to the Files during Instrumentation: An In Vitro Measurement.

PubMed

Kwak, Sang Won; Ha, Jung-Hong; Cheung, Gary Shun-Pan; Kim, Hyeon-Cheol; Kim, Sung Kyo

2018-03-01

The purpose of this study was to compare in vitro torque generation during instrumentation with or without glide path establishment. Endo-training resin blocks with J-shaped canals were randomly divided into 2 groups according to glide path establishment (with or without) and subdivided into 2 subgroups with shaping instruments (WaveOne [Dentsply Maillefer, Ballaigues, Switzerland] or WaveOne Gold [Dentsply Maillefer]) (n = 15). For the glide path-established group, the glide path was prepared using ProGlider (Dentsply Maillefer). During the instrumentation with WaveOne or WaveOne Gold, in vitro torque was measured. The acquired data were analyzed with software. The maximum torque and total torque (the sum of the generated torque) were calculated. The data were statistically evaluated using 2-way analysis of variance and the Duncan post hoc comparison to examine any correlation of torque generation with glide path establishment and nickel-titanium instruments. The significance level was set at 95%. The generated total torque by WaveOne Gold was significantly reduced by glide path establishment (P < .05), whereas glide path establishment did not induce significant changes in the maximum torque for both file systems. WaveOne Gold with a glide path showed the lowest total torque generation among all groups (P < .05). WaveOne generated a higher maximum torque than WaveOne Gold regardless of the establishment of a glide path (P < .05). Under the limitations of this study, glide path establishment and the mechanical property of instruments have a significant influence on torque generation. It is recommended to create the glide path and use a flexible file to reduce torque generation and, consequently, the risk of file fracture and root dentin damage. Copyright © 2017 American Association of Endodontists. Published by Elsevier Inc. All rights reserved.
40 CFR 1066.240 - Torque transducer verification and calibration.

Code of Federal Regulations, 2013 CFR

2013-07-01

...) AIR POLLUTION CONTROLS VEHICLE-TESTING PROCEDURES Dynamometer Specifications § 1066.240 Torque transducer verification and calibration. Calibrate torque-measurement systems as described in 40 CFR 1065.310. ... 40 Protection of Environment 34 2013-07-01 2013-07-01 false Torque transducer verification and...
40 CFR 1066.240 - Torque transducer verification and calibration.

Code of Federal Regulations, 2012 CFR

2012-07-01

...) AIR POLLUTION CONTROLS VEHICLE-TESTING PROCEDURES Dynamometer Specifications § 1066.240 Torque transducer verification and calibration. Calibrate torque-measurement systems as described in 40 CFR 1065.310. ... 40 Protection of Environment 34 2012-07-01 2012-07-01 false Torque transducer verification and...
A new instantaneous torque control of PM synchronous motor for high-performance direct-drive applications

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

Chung, S.K.; Kim, H.S.; Kim, C.G.

1998-05-01

a new instantaneous torque-control strategy is presented for high-performance control of a permanent magnet (PM) synchronous motor. In order to deal with the torque pulsating problem of a PM synchronous motor in a low-speed region, new torque estimation and control techniques are proposed. The linkage flux of a PM synchronous motor is estimated using a model reference adaptive system technique, and the developed torque is instantaneously controlled by the proposed torque controller combining a variable structure control (VSC) with a space-vector pulse-width modulation (PWM). The proposed control provides the advantage of reducing the torque pulsation caused by the nonsinusoidal fluxmore » distribution. This control strategy is applied to the high-torque PM synchronous motor drive system for direct-drive applications and implemented by using a software of the digital signal processor (DSP) TMS320C30. The simulations and experiments are carried out for this system, and the results well demonstrate the effectiveness of the proposed control.« less
Torque Control of a Rehabilitation Teaching Robot Using Magneto-Rheological Fluid Clutches

NASA Astrophysics Data System (ADS)

Hakogi, Hokuto; Ohaba, Motoyoshi; Kuramochi, Naimu; Yano, Hidenori

A new robot that makes use of MR-fluid clutches for simulating torque is proposed to provide an appropriate device for training physical therapy students in knee-joint rehabilitation. The feeling of torque provided by the robot is expected to correspond to the torque performance obtained by physical therapy experts in a clinical setting. The torque required for knee-joint rehabilitation, which is a function of the rotational angle and the rotational angular velocity of a knee movement, is modeled using a mechanical system composed of typical spring-mass-damper elements. The robot consists of two MR-fluid clutches, two induction motors, and a feedback control system. In the torque experiments, output torque is controlled using the spring and damper coefficients separately. The values of these coefficients are determined experimentally. The experimental results show that the robot would be suitable for training physical therapy students to experience similar torque feelings as needed in a clinical situation.
Detecting Casimir torque with an optically levitated nanorod

NASA Astrophysics Data System (ADS)

Xu, Zhujing; Li, Tongcang

2017-09-01

The linear momentum and angular momentum of virtual photons of quantum vacuum fluctuations can induce the Casimir force and the Casimir torque, respectively. While the Casimir force has been measured extensively, the Casimir torque has not been observed experimentally though it was predicted over 40 years ago. Here we propose to detect the Casimir torque with an optically levitated nanorod near a birefringent plate in vacuum. The axis of the nanorod tends to align with the polarization direction of the linearly polarized optical tweezer. When its axis is not parallel or perpendicular to the optical axis of the birefringent crystal, it will experience a Casimir torque that shifts its orientation slightly. We calculate the Casimir torque and Casimir force acting on a levitated nanorod near a birefringent crystal. We also investigate the effects of thermal noise and photon recoils on the torque and force detection. We prove that a levitated nanorod in vacuum will be capable of detecting the Casimir torque under realistic conditions, and will be an important tool in precision measurements.
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.
Isometric hip-rotator torque production at varying degrees of hip flexion.

PubMed

Johnson, Sam; Hoffman, Mark

2010-02-01

Hip torque production is associated with certain knee injuries. The hip rotators change function depending on hip angle. To compare hip-rotator torque production between 3 angles of hip flexion, limbs, and sexes. Descriptive. University sports medicine research laboratory. 15 men and 15 women, 19-39 y. Three 6-s maximal isometric contractions of the hip external and internal rotators at 10 degrees, 40 degrees, and 90 degrees of hip flexion on both legs. Average torque normalized to body mass. Internal-rotation torque was greatest at 90 degrees of hip flexion, followed by 40 degrees of hip flexion and finally 10 degrees of hip flexion. External-rotation torque was not different based on hip flexion. The nondominant leg's external rotators were stronger than the dominant leg's, but the reverse was true for internal rotators. Finally, the men had more overall rotator torque. Hip-rotation torque production varies between flexion angle, leg, and sex. Clinicians treating lower extremity problems need to be aware of these differences.

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