Error analysis of high-rate GNSS precise point positioning for seismic wave measurement

NASA Astrophysics Data System (ADS)

Shu, Yuanming; Shi, Yun; Xu, Peiliang; Niu, Xiaoji; Liu, Jingnan

2017-06-01

High-rate GNSS precise point positioning (PPP) has been playing a more and more important role in providing precise positioning information in fast time-varying environments. Although kinematic PPP is commonly known to have a precision of a few centimeters, the precision of high-rate PPP within a short period of time has been reported recently with experiments to reach a few millimeters in the horizontal components and sub-centimeters in the vertical component to measure seismic motion, which is several times better than the conventional kinematic PPP practice. To fully understand the mechanism of mystified excellent performance of high-rate PPP within a short period of time, we have carried out a theoretical error analysis of PPP and conducted the corresponding simulations within a short period of time. The theoretical analysis has clearly indicated that the high-rate PPP errors consist of two types: the residual systematic errors at the starting epoch, which affect high-rate PPP through the change of satellite geometry, and the time-varying systematic errors between the starting epoch and the current epoch. Both the theoretical error analysis and simulated results are fully consistent with and thus have unambiguously confirmed the reported high precision of high-rate PPP, which has been further affirmed here by the real data experiments, indicating that high-rate PPP can indeed achieve the millimeter level of precision in the horizontal components and the sub-centimeter level of precision in the vertical component to measure motion within a short period of time. The simulation results have clearly shown that the random noise of carrier phases and higher order ionospheric errors are two major factors to affect the precision of high-rate PPP within a short period of time. The experiments with real data have also indicated that the precision of PPP solutions can degrade to the cm level in both the horizontal and vertical components, if the geometry of satellites is rather poor with a large DOP value.

High speed precision motion strategies for lightweight structures

NASA Technical Reports Server (NTRS)

Book, Wayne J.

1987-01-01

Work during the recording period proceeded along the lines of the proposal, i.e., three aspects of high speed motion planning and control of flexible structures were explored: fine motion control, gross motion planning and control, and automation using light weight arms. In addition, modeling the large manipulator arm to be used in experiments and theory has lead to some contributions in that area. These aspects are reported below. Conference, workshop and journal submissions, and presentations related to this work were seven in number, and are listed. Copies of written papers and abstracts are included.

Precise Aperture-Dependent Motion Compensation with Frequency Domain Fast Back-Projection Algorithm.

PubMed

Zhang, Man; Wang, Guanyong; Zhang, Lei

2017-10-26

Precise azimuth-variant motion compensation (MOCO) is an essential and difficult task for high-resolution synthetic aperture radar (SAR) imagery. In conventional post-filtering approaches, residual azimuth-variant motion errors are generally compensated through a set of spatial post-filters, where the coarse-focused image is segmented into overlapped blocks concerning the azimuth-dependent residual errors. However, image domain post-filtering approaches, such as precise topography- and aperture-dependent motion compensation algorithm (PTA), have difficulty of robustness in declining, when strong motion errors are involved in the coarse-focused image. In this case, in order to capture the complete motion blurring function within each image block, both the block size and the overlapped part need necessary extension leading to degeneration of efficiency and robustness inevitably. Herein, a frequency domain fast back-projection algorithm (FDFBPA) is introduced to deal with strong azimuth-variant motion errors. FDFBPA disposes of the azimuth-variant motion errors based on a precise azimuth spectrum expression in the azimuth wavenumber domain. First, a wavenumber domain sub-aperture processing strategy is introduced to accelerate computation. After that, the azimuth wavenumber spectrum is partitioned into a set of wavenumber blocks, and each block is formed into a sub-aperture coarse resolution image via the back-projection integral. Then, the sub-aperture images are straightforwardly fused together in azimuth wavenumber domain to obtain a full resolution image. Moreover, chirp-Z transform (CZT) is also introduced to implement the sub-aperture back-projection integral, increasing the efficiency of the algorithm. By disusing the image domain post-filtering strategy, robustness of the proposed algorithm is improved. Both simulation and real-measured data experiments demonstrate the effectiveness and superiority of the proposal.

In-vivo measurement of dynamic joint motion using high speed biplane radiography and CT: application to canine ACL deficiency.

PubMed

Tashman, Scott; Anderst, William

2003-04-01

Dynamic assessment of three-dimensional (3D) skeletal kinematics is essential for understanding normal joint function as well as the effects of injury or disease. This paper presents a novel technique for measuring in-vivo skeletal kinematics that combines data collected from high-speed biplane radiography and static computed tomography (CT). The goals of the present study were to demonstrate that highly precise measurements can be obtained during dynamic movement studies employing high frame-rate biplane video-radiography, to develop a method for expressing joint kinematics in an anatomically relevant coordinate system and to demonstrate the application of this technique by calculating canine tibio-femoral kinematics during dynamic motion. The method consists of four components: the generation and acquisition of high frame rate biplane radiographs, identification and 3D tracking of implanted bone markers, CT-based coordinate system determination, and kinematic analysis routines for determining joint motion in anatomically based coordinates. Results from dynamic tracking of markers inserted in a phantom object showed the system bias was insignificant (-0.02 mm). The average precision in tracking implanted markers in-vivo was 0.064 mm for the distance between markers and 0.31 degree for the angles between markers. Across-trial standard deviations for tibio-femoral translations were similar for all three motion directions, averaging 0.14 mm (range 0.08 to 0.20 mm). Variability in tibio-femoral rotations was more dependent on rotation axis, with across-trial standard deviations averaging 1.71 degrees for flexion/extension, 0.90 degree for internal/external rotation, and 0.40 degree for varus/valgus rotation. Advantages of this technique over traditional motion analysis methods include the elimination of skin motion artifacts, improved tracking precision and the ability to present results in a consistent anatomical reference frame.

Proper motion and secular variations of Keplerian orbital elements

NASA Astrophysics Data System (ADS)

Butkevich, Alexey G.

2018-05-01

High-precision observations require accurate modelling of secular changes in the orbital elements in order to extrapolate measurements over long time intervals, and to detect deviation from pure Keplerian motion caused, for example, by other bodies or relativistic effects. We consider the evolution of the Keplerian elements resulting from the gradual change of the apparent orbit orientation due to proper motion. We present rigorous formulae for the transformation of the orbit inclination, longitude of the ascending node and argument of the pericenter from one epoch to another, assuming uniform stellar motion and taking radial velocity into account. An approximate treatment, accurate to the second-order terms in time, is also given. The proper motion effects may be significant for long-period transiting planets. These theoretical results are applicable to the modelling of planetary transits and precise Doppler measurements as well as analysis of pulsar and eclipsing binary timing observations.

High Precision Motion Control System for the Two-Stage Light Gas Gun at the Dynamic Compression Sector

NASA Astrophysics Data System (ADS)

Zdanowicz, E.; Guarino, V.; Konrad, C.; Williams, B.; Capatina, D.; D'Amico, K.; Arganbright, N.; Zimmerman, K.; Turneaure, S.; Gupta, Y. M.

2017-06-01

The Dynamic Compression Sector (DCS) at the Advanced Photon Source (APS), located at Argonne National Laboratory (ANL), has a diverse set of dynamic compression drivers to obtain time resolved x-ray data in single event, dynamic compression experiments. Because the APS x-ray beam direction is fixed, each driver at DCS must have the capability to move through a large range of linear and angular motions with high precision to accommodate a wide variety of scientific needs. Particularly challenging was the design and implementation of the motion control system for the two-stage light gas gun, which rests on a 26' long structure and weighs over 2 tons. The target must be precisely positioned in the x-ray beam while remaining perpendicular to the gun barrel axis to ensure one-dimensional loading of samples. To accommodate these requirements, the entire structure can pivot through 60° of angular motion and move 10's of inches along four independent linear directions with 0.01° and 10 μm resolution, respectively. This presentation will provide details of how this system was constructed, how it is controlled, and provide examples of the wide range of x-ray/sample geometries that can be accommodated. Work supported by DOE/NNSA.

Precision of working memory for visual motion sequences and transparent motion surfaces

PubMed Central

Zokaei, Nahid; Gorgoraptis, Nikos; Bahrami, Bahador; Bays, Paul M; Husain, Masud

2012-01-01

Recent studies investigating working memory for location, colour and orientation support a dynamic resource model. We examined whether this might also apply to motion, using random dot kinematograms (RDKs) presented sequentially or simultaneously. Mean precision for motion direction declined as sequence length increased, with precision being lower for earlier RDKs. Two alternative models of working memory were compared specifically to distinguish between the contributions of different sources of error that corrupt memory (Zhang & Luck (2008) vs. Bays et al (2009)). The latter provided a significantly better fit for the data, revealing that decrease in memory precision for earlier items is explained by an increase in interference from other items in a sequence, rather than random guessing or a temporal decay of information. Misbinding feature attributes is an important source of error in working memory. Precision of memory for motion direction decreased when two RDKs were presented simultaneously as transparent surfaces, compared to sequential RDKs. However, precision was enhanced when one motion surface was prioritized, demonstrating that selective attention can improve recall precision. These results are consistent with a resource model that can be used as a general conceptual framework for understanding working memory across a range of visual features. PMID:22135378

Periscopic Spine Surgery

DTIC Science & Technology

2005-03-01

Guided Technologies, Boulder, CO; motion path built from three orthogonal sinusoidal paths is Optotrak , Northern Digital, Waterloo, ON) optical tracking...Hopkins University using an Optotrak to evaluate the simulated motions. The Optotrak (Northern Digital, Inc.) is an optical high- precision 3-D motion...verify the accuracy of the RMS, tests were carried out using the Optotrak , which was placed about 2 m from the simulator. For each test, two sets of data

Memory of Gender and Gait Direction from Biological Motion: Gender Fades Away but Directions Stay

ERIC Educational Resources Information Center

Poom, Leo

2012-01-01

The delayed discrimination methodology has been used to demonstrate a high-fidelity nondecaying visual short-term memory (VSTM) for so-called preattentive basic features. In the current Study, I show that the nondecaying high VSTM precision is not restricted to basic features by using the same method to measure memory precision for gait direction…

High precision applications of the global positioning system

NASA Technical Reports Server (NTRS)

Lichten, Stephen M.

1991-01-01

The Global Positioning System (GPS) is a constellation of U.S. defense navigation satellites which can be used for military and civilian positioning applications. A wide variety of GPS scientific applications were identified and precise positioning capabilities with GPS were already demonstrated with data available from the present partial satellite constellation. Expected applications include: measurements of Earth crustal motion, particularly in seismically active regions; measurements of the Earth's rotation rate and pole orientation; high-precision Earth orbiter tracking; surveying; measurements of media propagation delays for calibration of deep space radiometric data in support of NASA planetary missions; determination of precise ground station coordinates; and precise time transfer worldwide.

Performance Evaluation of the Honeywell GG1308 Miniature Ring Laser Gyroscope

DTIC Science & Technology

1993-01-01

information. The final display line provides the current DSB configuration status. An external strobe was established between the Contraves motion...components and systems. The core of the facility is a Contraves -Goerz Model 57CD 2-axis motion simulator capable of highly precise position, rate and

A comparison of force and acoustic emission sensors in monitoring precision cylindrical grinding; Technical Digest

NASA Astrophysics Data System (ADS)

Marsh, Eric R.; Couey, Jeremiah A.; Knapp, Byron R.; Vallance, R. R.

2005-05-01

Aerostatic spindles are used in precision grinding applications requiring high stiffness and very low error motions (5 to 25 nm). Forces generated during precision grinding are small and present challenges for accurate and reliable process monitoring. These challenges are met by incorporating non-contact displacement sensors into an aerostatic spindle that are calibrated to measure grinding forces from rotor motion. Four experiments compare this force-sensing approach to acoustic emission (AE) in detecting workpiece contact, process monitoring with small depths of cut, detecting workpiece defects, and evaluating abrasive wheel wear/loading. Results indicate that force measurements are preferable to acoustic emission in precision grinding since the force sensor offers improved contact sensitivity, higher resolution, and is capable of detecting events occurring within a single revolution of the grinding wheel.

High-precision register error control using active-motion-based roller in roll-to-roll gravure printing

NASA Astrophysics Data System (ADS)

Jung, Hoeryong; Nguyen, Ho Anh Duc; Choi, Jaeho; Yim, Hongsik; Shin, Kee-Hyun

2018-05-01

The roll-to-roll (R2R) gravure printing method is increasingly being utilized to fabricate electronic devices such as organic thin-film transistor (OTFT), radio-frequency identification (RFID) tags, and flexible PCB owing to its characteristics of high throughput and large area. High precision registration is crucial to satisfy the demand for device miniaturization, the improvement of resolution and accuracy. This paper presents a novel register control method that uses an active motion-based roller (AMBR) to reduce register error in R2R gravure printing. Instead of shifting the phase of the downstream printing roller, which leads to undesired tension disturbance, the 1 degree-of-freedom (1-DOF) mechanical device AMBR is used to compensate for web elongation by controlling its motion according to the register error. The performance of the proposed control method is verified through simulations and experiments, and the results show that the proposed register control method using the AMBR could maintain a register error under ±15 µm.

Precise Method for Investigation of Lissajous Generalized Figures

ERIC Educational Resources Information Center

Bednarek, Stanislaw

2014-01-01

This article describes the Lissajous generalized figure and the original instrument for its investigation. Two specially prepared electrodynamic loudspeakers--a horizontal and a vertical--cause oscillations in two mirrors. It is possible to precisely control the motion of the mirrors, achieve a high frequency of oscillation and investigate…

Precision of working memory for visual motion sequences and transparent motion surfaces.

PubMed

Zokaei, Nahid; Gorgoraptis, Nikos; Bahrami, Bahador; Bays, Paul M; Husain, Masud

2011-12-01

Recent studies investigating working memory for location, color, and orientation support a dynamic resource model. We examined whether this might also apply to motion, using random dot kinematograms (RDKs) presented sequentially or simultaneously. Mean precision for motion direction declined as sequence length increased, with precision being lower for earlier RDKs. Two alternative models of working memory were compared specifically to distinguish between the contributions of different sources of error that corrupt memory (W. Zhang & S. J. Luck, 2008 vs. P. M. Bays, R. F. G. Catalao, & M. Husain, 2009). The latter provided a significantly better fit for the data, revealing that decrease in memory precision for earlier items is explained by an increase in interference from other items in a sequence rather than random guessing or a temporal decay of information. Misbinding feature attributes is an important source of error in working memory. Precision of memory for motion direction decreased when two RDKs were presented simultaneously as transparent surfaces, compared to sequential RDKs. However, precision was enhanced when one motion surface was prioritized, demonstrating that selective attention can improve recall precision. These results are consistent with a resource model that can be used as a general conceptual framework for understanding working memory across a range of visual features.

Nano-level instrumentation for analyzing the dynamic accuracy of a rolling element bearing

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

Yang, Z.; Hong, J.; Zhang, J.

2013-12-15

The rotational performance of high-precision rolling bearings is fundamental to the overall accuracy of complex mechanical systems. A nano-level instrument to analyze rotational accuracy of high-precision bearings of machine tools under working conditions was developed. In this instrument, a high-precision (error motion < 0.15 μm) and high-stiffness (2600 N axial loading capacity) aerostatic spindle was applied to spin the test bearing. Operating conditions could be simulated effectively because of the large axial loading capacity. An air-cylinder, controlled by a proportional pressure regulator, was applied to drive an air-bearing subjected to non-contact and precise loaded axial forces. The measurement results onmore » axial loading and rotation constraint with five remaining degrees of freedom were completely unconstrained and uninfluenced by the instrument's structure. Dual capacity displacement sensors with 10 nm resolution were applied to measure the error motion of the spindle using a double-probe error separation method. This enabled the separation of the spindle's error motion from the measurement results of the test bearing which were measured using two orthogonal laser displacement sensors with 5 nm resolution. Finally, a Lissajous figure was used to evaluate the non-repetitive run-out (NRRO) of the bearing at different axial forces and speeds. The measurement results at various axial loadings and speeds showed the standard deviations of the measurements’ repeatability and accuracy were less than 1% and 2%. Future studies will analyze the relationship between geometrical errors and NRRO, such as the ball diameter differences of and the geometrical errors in the grooves of rings.« less

Nano-level instrumentation for analyzing the dynamic accuracy of a rolling element bearing.

PubMed

Yang, Z; Hong, J; Zhang, J; Wang, M Y; Zhu, Y

2013-12-01

The rotational performance of high-precision rolling bearings is fundamental to the overall accuracy of complex mechanical systems. A nano-level instrument to analyze rotational accuracy of high-precision bearings of machine tools under working conditions was developed. In this instrument, a high-precision (error motion < 0.15 μm) and high-stiffness (2600 N axial loading capacity) aerostatic spindle was applied to spin the test bearing. Operating conditions could be simulated effectively because of the large axial loading capacity. An air-cylinder, controlled by a proportional pressure regulator, was applied to drive an air-bearing subjected to non-contact and precise loaded axial forces. The measurement results on axial loading and rotation constraint with five remaining degrees of freedom were completely unconstrained and uninfluenced by the instrument's structure. Dual capacity displacement sensors with 10 nm resolution were applied to measure the error motion of the spindle using a double-probe error separation method. This enabled the separation of the spindle's error motion from the measurement results of the test bearing which were measured using two orthogonal laser displacement sensors with 5 nm resolution. Finally, a Lissajous figure was used to evaluate the non-repetitive run-out (NRRO) of the bearing at different axial forces and speeds. The measurement results at various axial loadings and speeds showed the standard deviations of the measurements' repeatability and accuracy were less than 1% and 2%. Future studies will analyze the relationship between geometrical errors and NRRO, such as the ball diameter differences of and the geometrical errors in the grooves of rings.

Experimental validation of flexible robot arm modeling and control

NASA Technical Reports Server (NTRS)

Ulsoy, A. Galip

1989-01-01

Flexibility is important for high speed, high precision operation of lightweight manipulators. Accurate dynamic modeling of flexible robot arms is needed. Previous work has mostly been based on linear elasticity with prescribed rigid body motions (i.e., no effect of flexible motion on rigid body motion). Little or no experimental validation of dynamic models for flexible arms is available. Experimental results are also limited for flexible arm control. Researchers include the effects of prismatic as well as revolute joints. They investigate the effect of full coupling between the rigid and flexible motions, and of axial shortening, and consider the control of flexible arms using only additional sensors.

Innovative laser based solar cell scribing

NASA Astrophysics Data System (ADS)

Frei, Bruno; Schneeberger, Stefan; Witte, Reiner

2011-03-01

The solar photovoltaic market is continuously growing utilizing boths crystalline silicon (c-Si) as well as thin film technologies. This growth is directly dependant on the manufacturing costs for solar cells. Factors for cost reduction are innovative ideas for an optimization of precision and throughput. Lasers are excellent tools to provide highly efficient processes with impressive accuracy. They need to be used in combination with fast and precise motion systems for a maximum gain in the manufacturing process, yielding best cost of ownership. In this article such an innovative solution is presented for laser scribing in thin film Si modules. A combination of a new glass substrate holding system combined with a fast and precise motion system is the foundation for a cost effective scribing machine. In addition, the advantages of fiber lasers in beam delivery and beam quality guarantee not only shorter setup and down times but also high resolution and reproducibility for the scribing processes P1, P2 and P3. The precision of the whole system allows to reduce the dead zone to a minimum and therefore to improve the efficiency of the modules.

Ferroelectric Zinc Oxide Nanowire Embedded Flexible Sensor for Motion and Temperature Sensing.

PubMed

Shin, Sung-Ho; Park, Dae Hoon; Jung, Joo-Yun; Lee, Min Hyung; Nah, Junghyo

2017-03-22

We report a simple method to realize multifunctional flexible motion sensor using ferroelectric lithium-doped ZnO-PDMS. The ferroelectric layer enables piezoelectric dynamic sensing and provides additional motion information to more precisely discriminate different motions. The PEDOT:PSS-functionalized AgNWs, working as electrode layers for the piezoelectric sensing layer, resistively detect a change of both movement or temperature. Thus, through the optimal integration of both elements, the sensing limit, accuracy, and functionality can be further expanded. The method introduced here is a simple and effective route to realize a high-performance flexible motion sensor with integrated multifunctionalities.

Analysis of photopole data reduction models

NASA Technical Reports Server (NTRS)

Cheek, James B.

1987-01-01

An analysis of the total impulse obtained from a buried explosive charge can be calculated from displacement versus time points taken from successive film frames of high speed motion pictures of the explosive event. The indicator of that motion is a pole and baseplate (photopole), which is placed on or within the soil overburden. Here, researchers are concerned with the precision of the impulse calculation and ways to improve that precision. Also examined here is the effect of each initial condition on the curve fitting process. It is shown that the zero initial velocity criteria should not be applied due to the linear acceleration versus time character of the cubic power series. The applicability of the new method to photopole data records whose early time motions are obscured is illustrated.

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

NASA Technical Reports Server (NTRS)

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

1974-01-01

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

Precise Image-Based Motion Estimation for Autonomous Small Body Exploration

NASA Technical Reports Server (NTRS)

Johnson, Andrew E.; Matthies, Larry H.

1998-01-01

Space science and solar system exploration are driving NASA to develop an array of small body missions ranging in scope from near body flybys to complete sample return. This paper presents an algorithm for onboard motion estimation that will enable the precision guidance necessary for autonomous small body landing. Our techniques are based on automatic feature tracking between a pair of descent camera images followed by two frame motion estimation and scale recovery using laser altimetry data. The output of our algorithm is an estimate of rigid motion (attitude and position) and motion covariance between frames. This motion estimate can be passed directly to the spacecraft guidance and control system to enable rapid execution of safe and precise trajectories.

Three axis electronic flight motion simulator real time control system design and implementation

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

Gao, Zhiyuan; Miao, Zhonghua, E-mail: zhonghua-miao@163.com; Wang, Xiaohua

2014-12-15

A three axis electronic flight motion simulator is reported in this paper including the modelling, the controller design as well as the hardware implementation. This flight motion simulator could be used for inertial navigation test and high precision inertial navigation system with good dynamic and static performances. A real time control system is designed, several control system implementation problems were solved including time unification with parallel port interrupt, high speed finding-zero method of rotary inductosyn, zero-crossing management with continuous rotary, etc. Tests were carried out to show the effectiveness of the proposed real time control system.

Three axis electronic flight motion simulator real time control system design and implementation.

PubMed

Gao, Zhiyuan; Miao, Zhonghua; Wang, Xuyong; Wang, Xiaohua

2014-12-01

A three axis electronic flight motion simulator is reported in this paper including the modelling, the controller design as well as the hardware implementation. This flight motion simulator could be used for inertial navigation test and high precision inertial navigation system with good dynamic and static performances. A real time control system is designed, several control system implementation problems were solved including time unification with parallel port interrupt, high speed finding-zero method of rotary inductosyn, zero-crossing management with continuous rotary, etc. Tests were carried out to show the effectiveness of the proposed real time control system.

A high-precision instrument for analyzing nonlinear dynamic behavior of bearing cage.

PubMed

Yang, Z; Chen, H; Yu, T; Li, B

2016-08-01

The high-precision ball bearing is fundamental to the performance of complex mechanical systems. As the speed increases, the cage behavior becomes a key factor in influencing the bearing performance, especially life and reliability. This paper develops a high-precision instrument for analyzing nonlinear dynamic behavior of the bearing cage. The trajectory of the rotational center and non-repetitive run-out (NRRO) of the cage are used to evaluate the instability of cage motion. This instrument applied an aerostatic spindle to support and spin test the bearing to decrease the influence of system error. Then, a high-speed camera is used to capture images when the bearing works at high speeds. A 3D trajectory tracking software tema Motion is used to track the spot which marked the cage surface. Finally, by developing the matlab program, a Lissajous' figure was used to evaluate the nonlinear dynamic behavior of the cage with different speeds. The trajectory of rotational center and NRRO of the cage with various speeds are analyzed. The results can be used to predict the initial failure and optimize cage structural parameters. In addition, the repeatability precision of instrument is also validated. In the future, the motorized spindle will be applied to increase testing speed and image processing algorithms will be developed to analyze the trajectory of the cage.

A high-precision instrument for analyzing nonlinear dynamic behavior of bearing cage

NASA Astrophysics Data System (ADS)

Yang, Z.; Chen, H.; Yu, T.; Li, B.

2016-08-01

The high-precision ball bearing is fundamental to the performance of complex mechanical systems. As the speed increases, the cage behavior becomes a key factor in influencing the bearing performance, especially life and reliability. This paper develops a high-precision instrument for analyzing nonlinear dynamic behavior of the bearing cage. The trajectory of the rotational center and non-repetitive run-out (NRRO) of the cage are used to evaluate the instability of cage motion. This instrument applied an aerostatic spindle to support and spin test the bearing to decrease the influence of system error. Then, a high-speed camera is used to capture images when the bearing works at high speeds. A 3D trajectory tracking software tema Motion is used to track the spot which marked the cage surface. Finally, by developing the matlab program, a Lissajous' figure was used to evaluate the nonlinear dynamic behavior of the cage with different speeds. The trajectory of rotational center and NRRO of the cage with various speeds are analyzed. The results can be used to predict the initial failure and optimize cage structural parameters. In addition, the repeatability precision of instrument is also validated. In the future, the motorized spindle will be applied to increase testing speed and image processing algorithms will be developed to analyze the trajectory of the cage.

A high-precision instrument for analyzing nonlinear dynamic behavior of bearing cage

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

Yang, Z., E-mail: zhaohui@nwpu.edu.cn; Yu, T.; Chen, H.

2016-08-15

The high-precision ball bearing is fundamental to the performance of complex mechanical systems. As the speed increases, the cage behavior becomes a key factor in influencing the bearing performance, especially life and reliability. This paper develops a high-precision instrument for analyzing nonlinear dynamic behavior of the bearing cage. The trajectory of the rotational center and non-repetitive run-out (NRRO) of the cage are used to evaluate the instability of cage motion. This instrument applied an aerostatic spindle to support and spin test the bearing to decrease the influence of system error. Then, a high-speed camera is used to capture images whenmore » the bearing works at high speeds. A 3D trajectory tracking software TEMA Motion is used to track the spot which marked the cage surface. Finally, by developing the MATLAB program, a Lissajous’ figure was used to evaluate the nonlinear dynamic behavior of the cage with different speeds. The trajectory of rotational center and NRRO of the cage with various speeds are analyzed. The results can be used to predict the initial failure and optimize cage structural parameters. In addition, the repeatability precision of instrument is also validated. In the future, the motorized spindle will be applied to increase testing speed and image processing algorithms will be developed to analyze the trajectory of the cage.« less

Real-time animation software for customized training to use motor prosthetic systems.

PubMed

Davoodi, Rahman; Loeb, Gerald E

2012-03-01

Research on control of human movement and development of tools for restoration and rehabilitation of movement after spinal cord injury and amputation can benefit greatly from software tools for creating precisely timed animation sequences of human movement. Despite their ability to create sophisticated animation and high quality rendering, existing animation software are not adapted for application to neural prostheses and rehabilitation of human movement. We have developed a software tool known as MSMS (MusculoSkeletal Modeling Software) that can be used to develop models of human or prosthetic limbs and the objects with which they interact and to animate their movement using motion data from a variety of offline and online sources. The motion data can be read from a motion file containing synthesized motion data or recordings from a motion capture system. Alternatively, motion data can be streamed online from a real-time motion capture system, a physics-based simulation program, or any program that can produce real-time motion data. Further, animation sequences of daily life activities can be constructed using the intuitive user interface of Microsoft's PowerPoint software. The latter allows expert and nonexpert users alike to assemble primitive movements into a complex motion sequence with precise timing by simply arranging the order of the slides and editing their properties in PowerPoint. The resulting motion sequence can be played back in an open-loop manner for demonstration and training or in closed-loop virtual reality environments where the timing and speed of animation depends on user inputs. These versatile animation utilities can be used in any application that requires precisely timed animations but they are particularly suited for research and rehabilitation of movement disorders. MSMS's modeling and animation tools are routinely used in a number of research laboratories around the country to study the control of movement and to develop and test neural prostheses for patients with paralysis or amputations.

Analysis on the multi-dimensional spectrum of the thrust force for the linear motor feed drive system in machine tools

NASA Astrophysics Data System (ADS)

Yang, Xiaojun; Lu, Dun; Ma, Chengfang; Zhang, Jun; Zhao, Wanhua

2017-01-01

The motor thrust force has lots of harmonic components due to the nonlinearity of drive circuit and motor itself in the linear motor feed drive system. What is more, in the motion process, these thrust force harmonics may vary with the position, velocity, acceleration and load, which affects the displacement fluctuation of the feed drive system. Therefore, in this paper, on the basis of the thrust force spectrum obtained by the Maxwell equation and the electromagnetic energy method, the multi-dimensional variation of each thrust harmonic is analyzed under different motion parameters. Then the model of the servo system is established oriented to the dynamic precision. The influence of the variation of the thrust force spectrum on the displacement fluctuation is discussed. At last the experiments are carried out to verify the theoretical analysis above. It can be found that the thrust harmonics show multi-dimensional spectrum characteristics under different motion parameters and loads, which should be considered to choose the motion parameters and optimize the servo control parameters in the high-speed and high-precision machine tools equipped with the linear motor feed drive system.

Gated Sensor Fusion: A way to Improve the Precision of Ambulatory Human Body Motion Estimation.

PubMed

Olivares, Alberto; Górriz, J M; Ramírez, J; Olivares, Gonzalo

2014-01-01

Human body motion is usually variable in terms of intensity and, therefore, any Inertial Measurement Unit attached to a subject will measure both low and high angular rate and accelerations. This can be a problem for the accuracy of orientation estimation algorithms based on adaptive filters such as the Kalman filter, since both the variances of the process noise and the measurement noise are set at the beginning of the algorithm and remain constant during its execution. Setting fixed noise parameters burdens the adaptation capability of the filter if the intensity of the motion changes rapidly. In this work we present a conjoint novel algorithm which uses a motion intensity detector to dynamically vary the noise statistical parameters of different approaches of the Kalman filter. Results show that the precision of the estimated orientation in terms of the RMSE can be improved up to 29% with respect to the standard fixed-parameters approaches.

A T-Type Capacitive Sensor Capable of Measuring 5-DOF Error Motions of Precision Spindles

PubMed Central

Xiang, Kui; Qiu, Rongbo; Mei, Deqing; Chen, Zichen

2017-01-01

The precision spindle is a core component of high-precision machine tools, and the accurate measurement of its error motions is important for improving its rotation accuracy as well as the work performance of the machine. This paper presents a T-type capacitive sensor (T-type CS) with an integrated structure. The proposed sensor can measure the 5-degree-of-freedom (5-DOF) error motions of a spindle in-situ and simultaneously by integrating electrode groups in the cylindrical bore of the stator and the outer end face of its flange, respectively. Simulation analysis and experimental results show that the sensing electrode groups with differential measurement configuration have near-linear output for the different types of rotor displacements. What’s more, the additional capacitance generated by fringe effects has been reduced about 90% with the sensing electrode groups fabricated based on flexible printed circuit board (FPCB) and related processing technologies. The improved signal processing circuit has also been increased one times in the measuring performance and makes the measured differential output capacitance up to 93% of the theoretical values. PMID:28846631

Heliostat calibration using attached cameras and artificial targets

NASA Astrophysics Data System (ADS)

Burisch, Michael; Sanchez, Marcelino; Olarra, Aitor; Villasante, Cristobal

2016-05-01

The efficiency of the solar field greatly depends on the ability of the heliostats to precisely reflect solar radiation onto a central receiver. To control the heliostats with such a precision requires the accurate knowledge of the motion of each of them. The motion of each heliostat can be described by a set of parameters, most notably the position and axis configuration. These parameters have to be determined individually for each heliostat during a calibration process. With the ongoing development of small sized heliostats, the ability to automatically perform such a calibration becomes more and more crucial as possibly hundreds of thousands of heliostats are involved. Furthermore, efficiency becomes an important factor as small sized heliostats potentially have to be recalibrated far more often, due to the limited stability of the components. In the following we present an automatic calibration procedure using cameras attached to each heliostat which are observing different targets spread throughout the solar field. Based on a number of observations of these targets under different heliostat orientations, the parameters describing the heliostat motion can be estimated with high precision.

SAGITTARIUS STREAM THREE-DIMENSIONAL KINEMATICS FROM SLOAN DIGITAL SKY SURVEY STRIPE 82

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

Koposov, Sergey E.; Belokurov, Vasily; Evans, N. Wyn

2013-04-01

Using multi-epoch observations of the Stripe 82 region from the Sloan Digital Sky Survey (SDSS), we measure precise statistical proper motions of the stars in the Sagittarius (Sgr) stellar stream. The multi-band photometry and SDSS radial velocities allow us to efficiently select Sgr members and thus enhance the proper-motion precision to {approx}0.1 mas yr{sup -1}. We measure separately the proper motion of a photometrically selected sample of the main-sequence turn-off stars, as well as spectroscopically selected Sgr giants. The data allow us to determine the proper motion separately for the two Sgr streams in the south found in Koposov etmore » al. Together with the precise velocities from SDSS, our proper motions provide exquisite constraints of the three-dimensional motions of the stars in the Sgr streams.« less

Note: high precision angle generator using multiple ultrasonic motors and a self-calibratable encoder.

PubMed

Kim, Jong-Ahn; Kim, Jae Wan; Kang, Chu-Shik; Jin, Jonghan; Eom, Tae Bong

2011-11-01

We present an angle generator with high resolution and accuracy, which uses multiple ultrasonic motors and a self-calibratable encoder. A cylindrical air bearing guides a rotational motion, and the ultrasonic motors achieve high resolution over the full circle range with a simple configuration. The self-calibratable encoder can compensate the scale error of a divided circle (signal period: 20") effectively by applying the equal-division-averaged method. The angle generator configures a position feedback control loop using the readout of the encoder. By combining the ac and dc operation mode, the angle generator produced stepwise angular motion with 0.005" resolution. We also evaluated the performance of the angle generator using a precision angle encoder and an autocollimator. The expanded uncertainty (k = 2) in the angle generation was estimated less than 0.03", which included the calibrated scale error and the nonlinearity error. © 2011 American Institute of Physics

Advanced structural design for precision radial velocity instruments

NASA Astrophysics Data System (ADS)

Baldwin, Dan; Szentgyorgyi, Andrew; Barnes, Stuart; Bean, Jacob; Ben-Ami, Sagi; Brennan, Patricia; Budynkiewicz, Jamie; Chun, Moo-Young; Conroy, Charlie; Crane, Jeffrey D.; Epps, Harland; Evans, Ian; Evans, Janet; Foster, Jeff; Frebel, Anna; Gauron, Thomas; Guzman, Dani; Hare, Tyson; Jang, Bi-Ho; Jang, Jeong-Gyun; Jordan, Andres; Kim, Jihun; Kim, Kang-Min; Mendes de Oliveira, Claudia; Lopez-Morales, Mercedes; McCracken, Kenneth; McMuldroch, Stuart; Miller, Joseph; Mueller, Mark; Oh, Jae Sok; Ordway, Mark; Park, Byeong-Gon; Park, Chan; Park, Sung-Joon; Paxson, Charles; Phillips, David; Plummer, David; Podgorski, William; Seifahrt, Andreas; Stark, Daniel; Steiner, Joao; Uomoto, Alan; Walsworth, Ronald; Yu, Young-Sam

2016-07-01

The GMT-Consortium Large Earth Finder (G-CLEF) is an echelle spectrograph with precision radial velocity (PRV) capability that will be a first light instrument for the Giant Magellan Telescope (GMT). G-CLEF has a PRV precision goal of 40 cm/sec (10 cm/s for multiple measurements) to enable detection of Earth-like exoplanets in the habitable zones of sun-like stars1. This precision is a primary driver of G-CLEF's structural design. Extreme stability is necessary to minimize image motions at the CCD detectors. Minute changes in temperature, pressure, and acceleration environments cause structural deformations, inducing image motions which degrade PRV precision. The instrument's structural design will ensure that the PRV goal is achieved under the environments G-CLEF will be subjected to as installed on the GMT azimuth platform, including: Millikelvin (0.001 °K) thermal soaks and gradients 10 millibar changes in ambient pressure Changes in acceleration due to instrument tip/tilt and telescope slewing Carbon fiber/cyanate composite was selected for the optical bench structure in order to meet performance goals. Low coefficient of thermal expansion (CTE) and high stiffness-to-weight are key features of the composite optical bench design. Manufacturability and serviceability of the instrument are also drivers of the design. In this paper, we discuss analyses leading to technical choices made to minimize G-CLEF's sensitivity to changing environments. Finite element analysis (FEA) and image motion sensitivity studies were conducted to determine PRV performance under operational environments. We discuss the design of the optical bench structure to optimize stiffness-to-weight and minimize deformations due to inertial and pressure effects. We also discuss quasi-kinematic mounting of optical elements and assemblies, and optimization of these to ensure minimal image motion under thermal, pressure, and inertial loads expected during PRV observations.

Analysis of achievable disturbance attenuation in a precision magnetically-suspended motion control system

NASA Technical Reports Server (NTRS)

Kuzin, Alexander V.; Holmes, Michael L.; Behrouzjou, Roxana; Trumper, David L.

1994-01-01

The results of the analysis of the achievable disturbance attenuation to get an Angstrom motion control resolution and macroscopic travel in a precision magnetically-suspended motion control system are presented in this paper. Noise sources in the transducers, electronics, and mechanical vibrations are used to develop the control design.

Multisensory Self-Motion Compensation During Object Trajectory Judgments

PubMed Central

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

2015-01-01

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

Pixel-wise deblurring imaging system based on active vision for structural health monitoring at a speed of 100 km/h

NASA Astrophysics Data System (ADS)

Hayakawa, Tomohiko; Moko, Yushi; Morishita, Kenta; Ishikawa, Masatoshi

2018-04-01

In this paper, we propose a pixel-wise deblurring imaging (PDI) system based on active vision for compensation of the blur caused by high-speed one-dimensional motion between a camera and a target. The optical axis is controlled by back-and-forth motion of a galvanometer mirror to compensate the motion. High-spatial-resolution image captured by our system in high-speed motion is useful for efficient and precise visual inspection, such as visually judging abnormal parts of a tunnel surface to prevent accidents; hence, we applied the PDI system for structural health monitoring. By mounting the system onto a vehicle in a tunnel, we confirmed significant improvement in image quality for submillimeter black-and-white stripes and real tunnel-surface cracks at a speed of 100 km/h.

Cervical motion testing: methodology and clinical implications.

PubMed

Prushansky, Tamara; Dvir, Zeevi

2008-09-01

Measurement of cervical motion (CM) is probably the most commonly applied functional outcome measure in assessing the status of patients with cervical pathology. In general terms, CM refers to motion of the head relative to the trunk as well as conjunct motions within the cervical spine. Multiple techniques and instruments have been used for assessing CM. These were associated with a wide variety of parameters relating to accuracy, reproducibility, and validity. Modern measurement systems enable recording, processing, and documentation of CM with a high degree of precision. Cervical motion measures provide substantial information regarding the severity of motion limitation and level of effort in cervically involved patients. They may also be used for following up performance during and after conservative or invasive interventions.

The instantaneous linear motion information measurement method based on inertial sensors for ships

NASA Astrophysics Data System (ADS)

Yang, Xu; Huang, Jing; Gao, Chen; Quan, Wei; Li, Ming; Zhang, Yanshun

2018-05-01

Ship instantaneous line motion information is the important foundation for ship control, which needs to be measured accurately. For this purpose, an instantaneous line motion measurement method based on inertial sensors is put forward for ships. By introducing a half-fixed coordinate system to realize the separation between instantaneous line motion and ship master movement, the instantaneous line motion acceleration of ships can be obtained with higher accuracy. Then, the digital high-pass filter is applied to suppress the velocity error caused by the low frequency signal such as schuler period. Finally, the instantaneous linear motion displacement of ships can be measured accurately. Simulation experimental results show that the method is reliable and effective, and can realize the precise measurement of velocity and displacement of instantaneous line motion for ships.

Identification of Nonlinear Micron-Level Mechanics for a Precision Deployable Joint

NASA Technical Reports Server (NTRS)

Bullock, S. J.; Peterson, L. D.

1994-01-01

The experimental identification of micron-level nonlinear joint mechanics and dynamics for a pin-clevis joint used in a precision, adaptive, deployable space structure are investigated. The force-state mapping method is used to identify the behavior of the joint under a preload. The results of applying a single tension-compression cycle to the joint under a tensile preload are presented. The observed micron-level behavior is highly nonlinear and involves all six rigid body motion degrees-of-freedom of the joint. it is also suggests that at micron levels of motion modelling of the joint mechanics and dynamics must include the interactions between all internal components, such as the pin, bushings, and the joint node.

Development of laser interferometric high-precision geometry monitor for JASMINE

NASA Astrophysics Data System (ADS)

Niwa, Yoshito; Arai, Koji; Ueda, Akitoshi; Sakagami, Masaaki; Gouda, Naoteru; Kobayashi, Yukiyasu; Yamada, Yoshiyuki; Yano, Taihei

2008-07-01

The telescope geometry of JASMINE should be stabilized and monitored with the accuracy of about 10 to 100 picometer or 10 to 100 picoradian in root-mean-square over about 10 hours. For this purpose, a high-precision interferometric laser metrology system is employed. One of useful techniques for measuring displacements in extremely minute scales is the heterodyne interferometrical method. Experiment for verification of multi degree of freedom measurement was performed and mirror motions were successfully monitored with three degree of freedom.

Near-IR trigonometric parallaxes of nearby stars in the Galactic plane using the VVV survey

NASA Astrophysics Data System (ADS)

Beamín, J. C.; Mendez, R. A.; Smart, R. L.; Jara, R.; Kurtev, R.; Gromadzki, M.; Villanueva, V.; Minniti, D.; Smith, L. C.; Lucas, P. W.

2018-01-01

We used VVV multi-epoch KS band observations, over a ˜ 5 years baseline to obtain milli and sub-milli arcsec precision astrometry for a sample of 18 previously known high proper motion sources, including precise parallaxes for the first time. Five of these systems are most likely very low mass stars (VLMS) belonging to the galactic halo based on their tangential velocities. This proves the capability of the VVV project to measure high precision trigonometric parallaxes for VLMS up to distances of ˜ 400 pc reaching farther than most other ground based surveys or space missions for these types of stars.

Quantitative inference of population response properties across eccentricity from motion-induced maps in macaque V1

PubMed Central

Chen, Ming; Wu, Si; Lu, Haidong D.; Roe, Anna W.

2013-01-01

Interpreting population responses in the primary visual cortex (V1) remains a challenge especially with the advent of techniques measuring activations of large cortical areas simultaneously with high precision. For successful interpretation, a quantitatively precise model prediction is of great importance. In this study, we investigate how accurate a spatiotemporal filter (STF) model predicts average response profiles to coherently drifting random dot motion obtained by optical imaging of intrinsic signals in V1 of anesthetized macaques. We establish that orientation difference maps, obtained by subtracting orthogonal axis-of-motion, invert with increasing drift speeds, consistent with the motion streak effect. Consistent with perception, the speed at which the map inverts (the critical speed) depends on cortical eccentricity and systematically increases from foveal to parafoveal. We report that critical speeds and response maps to drifting motion are excellently reproduced by the STF model. Our study thus suggests that the STF model is quantitatively accurate enough to be used as a first model of choice for interpreting responses obtained with intrinsic imaging methods in V1. We show further that this good quantitative correspondence opens the possibility to infer otherwise not easily accessible population receptive field properties from responses to complex stimuli, such as drifting random dot motions. PMID:23197457

Active depth-guiding handheld micro-forceps for membranectomy based on CP-SSOCT

NASA Astrophysics Data System (ADS)

Cheon, Gyeong Woo; Lee, Phillip; Gonenc, Berk; Gehlbach, Peter L.; Kang, Jin U.

2016-03-01

In this study, we demonstrate a handheld motion-compensated micro-forceps system using common-path swept source optical coherence tomography with highly accurate depth-targeting and depth-locking for Epiretinal Membrane Peeling. Two motors and a touch sensor were used to separate the two independent motions: motion compensation and tool-tip manipulation. A smart motion monitoring and guiding algorithm was devised for precise and intuitive freehand control. Ex-vivo bovine eye experiments were performed to evaluate accuracy in a bovine retina retinal membrane peeling model. The evaluation demonstrates system capabilities of 40 um accuracy when peeling the epithelial layer of bovine retina.

Learning to play the violin: motor control by freezing, not freeing degrees of freedom.

PubMed

Konczak, Jürgen; Vander Velden, Heidi; Jaeger, Lukas

2009-05-01

Playing a violin requires precise patterns of limb coordination that are acquired over years of practice. In the present study, the authors investigated how motion at proximal arm joints influenced the precision of bow movements in novice learners and experts. The authors evaluated the performances of 11 children (4-12 years old), 3 beginning-to-advanced level adult players, and 2 adult concert violinists, using a musical work that all had mastered as their first violin piece. The authors found that learning to play the violin was not associated with a release or freeing of joint degrees of freedom. Instead, learning was characterized by an experience-dependent suppression of sagittal shoulder motion, as documented by an observed reduction in joint angular amplitude. This reduction in the amplitude of shoulder flexion-extension correlated highly with a decrease of bow-movement variability. The remaining mechanical degrees of freedom at the elbow and shoulder showed patterns of neither suppression nor freeing. Only violinists with more than 700 practice hr achieved sagittal shoulder range of motion comparable to experts. The findings imply that restricting joint amplitude at selected joint degrees of freedom, while leaving other degrees of freedom unconstrained, constitutes an appropriate strategy for learning complex, high-precision motor patterns in children and adults. The findings also highlight that mastering even seemingly simple bowing movements constitutes a prolonged learning process.

An intelligent control scheme for precise tip-motion control in atomic force microscopy.

PubMed

Wang, Yanyan; Hu, Xiaodong; Xu, Linyan

2016-01-01

The paper proposes a new intelligent control method to precisely control the tip motion of the atomic force microscopy (AFM). The tip moves up and down at a high rate along the z direction during scanning, requiring the utilization of a rapid feedback controller. The standard proportional-integral (PI) feedback controller is commonly used in commercial AFMs to enable topography measurements. The controller's response performance is determined by the set of the proportional (P) parameter and the integral (I) parameter. However, the two parameters cannot be automatically altered simultaneously according to the scanning speed and the surface topography during continuors scanning, leading to an inaccurate measurement. Thus a new intelligent controller combining the fuzzy controller and the PI controller is put forward in the paper. The new controller automatically selects the most appropriate PI parameters to achieve a fast response rate on basis of the tracking errors. In the experimental setup, the new controller is realized with a digital signal process (DSP) system, implemented in a conventional AFM system. Experiments are carried out by comparing the new method with the standard PI controller. The results demonstrate that the new method is more robust and effective for the precise tip motion control, corresponding to the achievement of a highly qualified image by shortening the response time of the controller. © Wiley Periodicals, Inc.

Coordinated X-Y stage apparatus

DOEpatents

Morimoto, Alan K.; Kozlowski, David M.; Charles, Steven T.; Spalding, James A.

2000-01-01

An apparatus based on precision X-Y stages that are stacked. Attached to arms projecting from each X-Y stage are a set of two axis gimbals. Attached to the gimbals is a rod, which provides motion along the axis of the rod and rotation around its axis. A dual-planar apparatus that provides six degrees of freedom of motion precise to within microns of motion.

Is digital photography an accurate and precise method for measuring range of motion of the hip and knee?

PubMed

Russo, Russell R; Burn, Matthew B; Ismaily, Sabir K; Gerrie, Brayden J; Han, Shuyang; Alexander, Jerry; Lenherr, Christopher; Noble, Philip C; Harris, Joshua D; McCulloch, Patrick C

2017-09-07

Accurate measurements of knee and hip motion are required for management of musculoskeletal pathology. The purpose of this investigation was to compare three techniques for measuring motion at the hip and knee. The authors hypothesized that digital photography would be equivalent in accuracy and show higher precision compared to the other two techniques. Using infrared motion capture analysis as the reference standard, hip flexion/abduction/internal rotation/external rotation and knee flexion/extension were measured using visual estimation, goniometry, and photography on 10 fresh frozen cadavers. These measurements were performed by three physical therapists and three orthopaedic surgeons. Accuracy was defined by the difference from the reference standard, while precision was defined by the proportion of measurements within either 5° or 10°. Analysis of variance (ANOVA), t-tests, and chi-squared tests were used. Although two statistically significant differences were found in measurement accuracy between the three techniques, neither of these differences met clinical significance (difference of 1.4° for hip abduction and 1.7° for the knee extension). Precision of measurements was significantly higher for digital photography than: (i) visual estimation for hip abduction and knee extension, and (ii) goniometry for knee extension only. There was no clinically significant difference in measurement accuracy between the three techniques for hip and knee motion. Digital photography only showed higher precision for two joint motions (hip abduction and knee extension). Overall digital photography shows equivalent accuracy and near-equivalent precision to visual estimation and goniometry.

Is digital photography an accurate and precise method for measuring range of motion of the shoulder and elbow?

PubMed

Russo, Russell R; Burn, Matthew B; Ismaily, Sabir K; Gerrie, Brayden J; Han, Shuyang; Alexander, Jerry; Lenherr, Christopher; Noble, Philip C; Harris, Joshua D; McCulloch, Patrick C

2018-03-01

Accurate measurements of shoulder and elbow motion are required for the management of musculoskeletal pathology. The purpose of this investigation was to compare three techniques for measuring motion. The authors hypothesized that digital photography would be equivalent in accuracy and show higher precision compared to the other two techniques. Using infrared motion capture analysis as the reference standard, shoulder flexion/abduction/internal rotation/external rotation and elbow flexion/extension were measured using visual estimation, goniometry, and digital photography on 10 fresh frozen cadavers. These measurements were performed by three physical therapists and three orthopaedic surgeons. Accuracy was defined by the difference from the reference standard (motion capture analysis), while precision was defined by the proportion of measurements within the authors' definition of clinical significance (10° for all motions except for elbow extension where 5° was used). Analysis of variance (ANOVA), t-tests, and chi-squared tests were used. Although statistically significant differences were found in measurement accuracy between the three techniques, none of these differences met the authors' definition of clinical significance. Precision of the measurements was significantly higher for both digital photography (shoulder abduction [93% vs. 74%, p < 0.001], shoulder internal rotation [97% vs. 83%, p = 0.001], and elbow flexion [93% vs. 65%, p < 0.001]) and goniometry (shoulder abduction [92% vs. 74%, p < 0.001] and shoulder internal rotation [94% vs. 83%, p = 0.008]) than visual estimation. Digital photography was more precise than goniometry for measurements of elbow flexion only [93% vs. 76%, p < 0.001]. There was no clinically significant difference in measurement accuracy between the three techniques for shoulder and elbow motion. Digital photography showed higher measurement precision compared to visual estimation for shoulder abduction, shoulder internal rotation, and elbow flexion. However, digital photography was only more precise than goniometry for measurements of elbow flexion. Overall digital photography shows equivalent accuracy to visual estimation and goniometry, but with higher precision than visual estimation. Copyright © 2017. Published by Elsevier B.V.

Very High Dose-Rate Radiobiology and Radiation Therapy for Lung Cancer

DTIC Science & Technology

2015-02-01

most dramatic example is stereotactic ablative radiotherapy ( SABR )/ stereotactic body radiation therapy (SBRT), highly focused and accurate...significant motion, thus increasing the precision and accuracy of lung SABR /SBRT. Objective: We propose to develop a new type of RT system for early stage

Optical head tracking for functional magnetic resonance imaging using structured light.

PubMed

Zaremba, Andrei A; MacFarlane, Duncan L; Tseng, Wei-Che; Stark, Andrew J; Briggs, Richard W; Gopinath, Kaundinya S; Cheshkov, Sergey; White, Keith D

2008-07-01

An accurate motion-tracking technique is needed to compensate for subject motion during functional magnetic resonance imaging (fMRI) procedures. Here, a novel approach to motion metrology is discussed. A structured light pattern specifically coded for digital signal processing is positioned onto a fiduciary of the patient. As the patient undergoes spatial transformations in 6 DoF (degrees of freedom), a high-resolution CCD camera captures successive images for analysis on a computing platform. A high-speed image processing algorithm is used to calculate spatial transformations in a time frame commensurate with patient movements (10-100 ms) and with a precision of at least 0.5 microm for translations and 0.1 deg for rotations.

Simulation on measurement of five-DOF motion errors of high precision spindle with cylindrical capacitive sensor

NASA Astrophysics Data System (ADS)

Zhang, Min; Wang, Wen; Xiang, Kui; Lu, Keqing; Fan, Zongwei

2015-02-01

This paper describes a novel cylindrical capacitive sensor (CCS) to measure the spindle five degree-of-freedom (DOF) motion errors. The operating principle and mathematical models of the CCS are presented. Using Ansoft Maxwell software to calculate the different capacitances in different configurations, structural parameters of end face electrode are then investigated. Radial, axial and tilt motions are also simulated by making comparisons with the given displacements and the simulation values respectively. It could be found that the proposed CCS has a high accuracy for measuring radial motion error when the average eccentricity is about 15 μm. Besides, the maximum relative error of axial displacement is 1.3% when the axial motion is within [0.7, 1.3] mm, and the maximum relative error of the tilt displacement is 1.6% as rotor tilts around a single axis within [-0.6, 0.6]°. Finally, the feasibility of the CCS for measuring five DOF motion errors is verified through simulation and analysis.

Precision displacement reference system

DOEpatents

Bieg, Lothar F.; Dubois, Robert R.; Strother, Jerry D.

2000-02-22

A precision displacement reference system is described, which enables real time accountability over the applied displacement feedback system to precision machine tools, positioning mechanisms, motion devices, and related operations. As independent measurements of tool location is taken by a displacement feedback system, a rotating reference disk compares feedback counts with performed motion. These measurements are compared to characterize and analyze real time mechanical and control performance during operation.

Multi-sensor system for in situ shape monitoring and damage identification of high-speed composite rotors

NASA Astrophysics Data System (ADS)

Philipp, K.; Filippatos, A.; Kuschmierz, R.; Langkamp, A.; Gude, M.; Fischer, A.; Czarske, J.

2016-08-01

Glass fibre-reinforced polymer (GFRP) composites offer a higher stiffness-to-weight ratio than conventional rotor materials used in turbomachinery. However, the material behaviour of GFRP high-speed rotors is difficult to predict due to the complexity of the composite material and the dynamic loading conditions. Consequently dynamic expansion measurements of GRFP rotors are required in situ and with micron precision. However, the whirling motion amplitude is about two orders of magnitude higher than the desired precision. To overcome this problem, a multi-sensor system capable of separating rotor expansion and whirling motion is proposed. High measurement rates well above the rotational frequency and micron uncertainty are achieved at whirling amplitudes up to 120μm and surface velocities up to 300 m/s. The dynamic elliptical expansion of a GFRP rotor is investigated in a rotor loading test rig under vacuum conditions. In situ measurements identified not only the introduced damage but also damage initiation and propagation.

EOP and scale from continuous VLBI observing: CONT campaigns to future VGOS networks

NASA Astrophysics Data System (ADS)

MacMillan, D. S.

2017-07-01

Continuous (CONT) VLBI campaigns have been carried out about every 3 years since 2002. The basic idea of these campaigns is to acquire state-of-the-art VLBI data over a continuous time period of about 2 weeks to demonstrate the highest accuracy of which the current VLBI system is capable. In addition, these campaigns support scientific studies such as investigations of high-resolution Earth rotation, reference frame stability, and daily to sub-daily site motions. The size of the CONT networks and the observing data rate have increased steadily since 1994. Performance of these networks based on reference frame scale precision and polar motion/LOD comparison with global navigation satellite system (GNSS) earth orientation parameters (EOP) has been substantially better than the weekly operational R1 and R4 series. The precisions of CONT EOP and scale have improved by more than a factor of two since 2002. Polar motion precision based on the WRMS difference between VLBI and GNSS for the most recent CONT campaigns is at the 30 μas level, which is comparable to that of GNSS. The CONT campaigns are a natural precursor to the planned future VLBI observing networks, which are expected to observe continuously. We compare the performance of the most recent CONT campaigns in 2011 and 2014 with the expected performance of the future VLBI global observing system network using simulations. These simulations indicate that the expected future precision of scale and EOP will be at least 3 times better than the current CONT precision.

Very Long Baseline Interferometry Applied to Polar Motion, Relativity and Geodesy. Ph.D. Thesis - Maryland Univ.

NASA Technical Reports Server (NTRS)

Ma, C.

1978-01-01

The causes and effects of diurnal polar motion are described. An algorithm is developed for modeling the effects on very long baseline interferometry observables. Five years of radio-frequency very long baseline interferometry data from stations in Massachusetts, California, and Sweden are analyzed for diurnal polar motion. It is found that the effect is larger than predicted by McClure. Corrections to the standard nutation series caused by the deformability of the earth have a significant effect on the estimated diurnal polar motion scaling factor and the post-fit residual scatter. Simulations of high precision very long baseline interferometry experiments taking into account both measurement uncertainty and modeled errors are described.

Research on motion model for the hypersonic boost-glide aircraft

NASA Astrophysics Data System (ADS)

Xu, Shenda; Wu, Jing; Wang, Xueying

2015-11-01

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

Smartphone photography utilized to measure wrist range of motion.

PubMed

Wagner, Eric R; Conti Mica, Megan; Shin, Alexander Y

2018-02-01

The purpose was to determine if smartphone photography is a reliable tool in measuring wrist movement. Smartphones were used to take digital photos of both wrists in 32 normal participants (64 wrists) at extremes of wrist motion. The smartphone measurements were compared with clinical goniometry measurements. There was a very high correlation between the clinical goniometry and smartphone measurements, as the concordance coefficients were high for radial deviation, ulnar deviation, wrist extension and wrist flexion. The Pearson coefficients also demonstrated the high precision of the smartphone measurements. The Bland-Altman plots demonstrated 29-31 of 32 smartphone measurements were within the 95% confidence interval of the clinical measurements for all positions of the wrists. There was high reliability between the photography taken by the volunteer and researcher, as well as high inter-observer reliability. Smartphone digital photography is a reliable and accurate tool for measuring wrist range of motion. II.

Correction of mid-spatial-frequency errors by smoothing in spin motion for CCOS

NASA Astrophysics Data System (ADS)

Zhang, Yizhong; Wei, Chaoyang; Shao, Jianda; Xu, Xueke; Liu, Shijie; Hu, Chen; Zhang, Haichao; Gu, Haojin

2015-08-01

Smoothing is a convenient and efficient way to correct mid-spatial-frequency errors. Quantifying the smoothing effect allows improvements in efficiency for finishing precision optics. A series experiments in spin motion are performed to study the smoothing effects about correcting mid-spatial-frequency errors. Some of them use a same pitch tool at different spinning speed, and others at a same spinning speed with different tools. Introduced and improved Shu's model to describe and compare the smoothing efficiency with different spinning speed and different tools. From the experimental results, the mid-spatial-frequency errors on the initial surface were nearly smoothed out after the process in spin motion and the number of smoothing times can be estimated by the model before the process. Meanwhile this method was also applied to smooth the aspherical component, which has an obvious mid-spatial-frequency error after Magnetorheological Finishing processing. As a result, a high precision aspheric optical component was obtained with PV=0.1λ and RMS=0.01λ.

NGC 2548: clumpy spatial and kinematic structure in an intermediate-age Galactic cluster

NASA Astrophysics Data System (ADS)

Vicente, Belén; Sánchez, Néstor; Alfaro, Emilio J.

2016-09-01

NGC 2548 is a ˜400-500 Myr old open cluster with evidence of spatial substructures likely caused by its interaction with the Galactic disc. In this work we use precise astrometric data from the Carte du Ciel - San Fernando (CdC-SF) catalogue to study the clumpy structure in this cluster. We confirm the fragmented structure of NGC 2548 but, additionally, the relatively high precision of our kinematic data lead us to the first detection of substructures in the proper motion space of a stellar cluster. There are three spatially separated cores each of which has its own counterpart in the proper motion distribution. The two main cores lie nearly parallel to the Galactic plane whereas the third one is significantly fainter than the others and it moves towards the Galactic plane separating from the rest of the cluster. We derive core positions and proper motions, as well as the stars belonging to each core.

The effects of SENSE on PROPELLER imaging.

PubMed

Chang, Yuchou; Pipe, James G; Karis, John P; Gibbs, Wende N; Zwart, Nicholas R; Schär, Michael

2015-12-01

To study how sensitivity encoding (SENSE) impacts periodically rotated overlapping parallel lines with enhanced reconstruction (PROPELLER) image quality, including signal-to-noise ratio (SNR), robustness to motion, precision of motion estimation, and image quality. Five volunteers were imaged by three sets of scans. A rapid method for generating the g-factor map was proposed and validated via Monte Carlo simulations. Sensitivity maps were extrapolated to increase the area over which SENSE can be performed and therefore enhance the robustness to head motion. The precision of motion estimation of PROPELLER blades that are unfolded with these sensitivity maps was investigated. An interleaved R-factor PROPELLER sequence was used to acquire data with similar amounts of motion with and without SENSE acceleration. Two neuroradiologists independently and blindly compared 214 image pairs. The proposed method of g-factor calculation was similar to that provided by the Monte Carlo methods. Extrapolation and rotation of the sensitivity maps allowed for continued robustness of SENSE unfolding in the presence of motion. SENSE-widened blades improved the precision of rotation and translation estimation. PROPELLER images with a SENSE factor of 3 outperformed the traditional PROPELLER images when reconstructing the same number of blades. SENSE not only accelerates PROPELLER but can also improve robustness and precision of head motion correction, which improves overall image quality even when SNR is lost due to acceleration. The reduction of SNR, as a penalty of acceleration, is characterized by the proposed g-factor method. © 2014 Wiley Periodicals, Inc.

Precision slew/settle technologies for flexible spacecraft

NASA Technical Reports Server (NTRS)

Manning, R. A.; Spector, Victor A.

1993-01-01

Many spacecraft missions in the next decade will require both a high degree of agility and precision pointing. Agility includes both rotational maneuvering for retargeting and translational motion for orbit adjustment and threat avoidance. The major challenge associated with such missions is the need for control over a wide range of amplitudes and frequencies, ranging from tens of degrees at less than 1 Hz to a few micron radians at hundreds of Hz. TRW's internally funded Precision Control of Agile Spacecraft (PCAS) project is concerned with developing and validating in hardware the tools necessary to successfully complete the combined agile maneuvering/precision pointing missions. Development has been undertaken on a number of fronts for quietly slewing flexible structures. Various methods for designing slew torque profiles have been investigated. Prime candidates for slew/settle scenarios include Inverse Dynamics and Parameterized Function Space. Joint work with Processor Bayo at the University of California, Santa Barbara and Professor Flashner at the University of Southern California has led to promising torque profile design methods. Active and passive vibration suppression techniques also play a key role for rapid slew/settle mission scenarios. Active members with local control loops and passive members with high loss factor viscoelastic material have been selected for hardware verification. Progress in each of these areas produces large gains in the quiet slewing of flexible spacecraft. The main thrust of the effort to date has been the development of a modular testbed for hardware validation of the precision control concepts. The testbed is a slewing eighteen foot long flexible truss. Active and passive members can be interchanged with the baseline aluminum members to augment the inherent damping in the system. For precision control the active members utilize control laws running on a high speed digital structural control processor. Tip and midspan motions of the truss are determined using optical sensors while accelerometers can be used to monitor the motions of other points of interest. Preliminary results indicate that a mix of technologies produces the greatest benefit. For example, shaping the torque profile produces large improvements in slew/settle performance, but without added damping settling times may still be excessive. With the introduction of moderate amounts of damping, slew/settle performance is vastly improved. On the other hand, introducing damping without shaping the torque profile may not yield the desired level of performance.

Magnetic navigation system for the precise helical and translational motions of a microrobot in human blood vessels

NASA Astrophysics Data System (ADS)

Jeon, S. M.; Jang, G. H.; Choi, H. C.; Park, S. H.; Park, J. O.

2012-04-01

Different magnetic navigation systems (MNSs) have been investigated for the wireless manipulation of microrobots in human blood vessels. Here we propose a MNS and methodology for generation of both the precise helical and translational motions of a microrobot to improve its maneuverability in complex human blood vessel. We then present experiments demonstrating the helical and translational motions of a spiral-type microrobot to verify the proposed MNS.

Cygnus OB2 DANCe: A high-precision proper motion study of the Cygnus OB2 association

NASA Astrophysics Data System (ADS)

Wright, Nicholas J.; Bouy, Herve; Drew, Janet E.; Sarro, Luis Manuel; Bertin, Emmanuel; Cuillandre, Jean-Charles; Barrado, David

2016-08-01

We present a high-precision proper motion study of 873 X-ray and spectroscopically selected stars in the massive OB association Cygnus OB2 as part of the DANCe project. These were calculated from images spanning a 15 yr baseline and have typical precisions <1 mas yr-1. We calculate the velocity dispersion in the two axes to be σ _α (c) = 13.0^{+0.8}_{-0.7} and σ _δ (c) = 9.1^{+0.5}_{-0.5} km s-1, using a two-component, two-dimensional model that takes into account the uncertainties on the measurements. This gives a three-dimensional velocity dispersion of σ3D = 17.8 ± 0.6 km s-1 implying a virial mass significantly larger than the observed stellar mass, confirming that the association is gravitationally unbound. The association appears to be dynamically unevolved, as evidenced by considerable kinematic substructure, non-isotropic velocity dispersions and a lack of energy equipartition. The proper motions show no evidence for a global expansion pattern, with approximately the same amount of kinetic energy in expansion as there is in contraction, which argues against the association being an expanded star cluster disrupted by process such as residual gas expulsion or tidal heating. The kinematic substructures, which appear to be close to virial equilibrium and have typical masses of 40-400 M⊙, also do not appear to have been affected by the expulsion of the residual gas. We conclude that Cyg OB2 was most likely born highly substructured and globally unbound, with the individual subgroups born in (or close to) virial equilibrium, and that the OB association has not experienced significant dynamical evolution since then.

A highly precise frequency-based method for estimating the tension of an inclined cable with unknown boundary conditions

NASA Astrophysics Data System (ADS)

Ma, Lin

2017-11-01

This paper develops a method for precisely determining the tension of an inclined cable with unknown boundary conditions. First, the nonlinear motion equation of an inclined cable is derived, and a numerical model of the motion of the cable is proposed using the finite difference method. The proposed numerical model includes the sag-extensibility, flexural stiffness, inclination angle and rotational stiffness at two ends of the cable. Second, the influence of the dynamic parameters of the cable on its frequencies is discussed in detail, and a method for precisely determining the tension of an inclined cable is proposed based on the derivatives of the eigenvalues of the matrices. Finally, a multiparameter identification method is developed that can simultaneously identify multiple parameters, including the rotational stiffness at two ends. This scheme is applicable to inclined cables with varying sag, varying flexural stiffness and unknown boundary conditions. Numerical examples indicate that the method provides good precision. Because the parameters of cables other than tension (e.g., the flexural stiffness and rotational stiffness at the ends) are not accurately known in practical engineering, the multiparameter identification method could further improve the accuracy of cable tension measurements.

The United States Naval Observatory (USNO) - Naval Oceanography Portal

Science.gov Websites

section Advanced Search... Sections Home Time Earth Orientation Astronomy Meteorology Oceanography Ice You Orientation Precise Time James M. Gilliss Library News, Tours & Events About Us Info The United States positions and motion of celestial bodies, motions of the Earth, and precise time. USNO provides tailored

Influence of Running on Pistol Shot Hit Patterns.

PubMed

Kerkhoff, Wim; Bolck, Annabel; Mattijssen, Erwin J A T

2016-01-01

In shooting scene reconstructions, risk assessment of the situation can be important for the legal system. Shooting accuracy and precision, and thus risk assessment, might be correlated with the shooter's physical movement and experience. The hit patterns of inexperienced and experienced shooters, while shooting stationary (10 shots) and in running motion (10 shots) with a semi-automatic pistol, were compared visually (with confidence ellipses) and statistically. The results show a significant difference in precision (circumference of the hit patterns) between stationary shots and shots fired in motion for both inexperienced and experienced shooters. The decrease in precision for all shooters was significantly larger in the y-direction than in the x-direction. The precision of the experienced shooters is overall better than that of the inexperienced shooters. No significant change in accuracy (shift in the hit pattern center) between stationary shots and shots fired in motion can be seen for all shooters. © 2015 American Academy of Forensic Sciences.

Lens positioner with five degrees of freedom

DOEpatents

Kobierecki, Marian W.; Rienecker, Jr., Frederick

1978-01-01

A device for positioning lenses precisely with five degrees of freedom (three translations and two angular rotations). The unique features of the device are its compact design, large clear aperture, and high degree of positioning accuracy combined with five degrees of freedom in axis motion. Thus, the device provides precision and flexibility in positioning of optical components. BACKGROUND OF THE INVENTION The invention described herein was made in the course of, or under, Contract No. AT(29-1)-1183, with the United States Energy Research and Development Administration.

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

Zawisza, I; Yan, H; Yin, F

Purpose: To assure that tumor motion is within the radiation field during high-dose and high-precision radiosurgery, real-time imaging and surrogate monitoring are employed. These methods are useful in providing real-time tumor/surrogate motion but no future information is available. In order to anticipate future tumor/surrogate motion and track target location precisely, an algorithm is developed and investigated for estimating surrogate motion multiple-steps ahead. Methods: The study utilized a one-dimensional surrogate motion signal divided into three components: (a) training component containing the primary data including the first frame to the beginning of the input subsequence; (b) input subsequence component of the surrogatemore » signal used as input to the prediction algorithm: (c) output subsequence component is the remaining signal used as the known output of the prediction algorithm for validation. The prediction algorithm consists of three major steps: (1) extracting subsequences from training component which best-match the input subsequence according to given criterion; (2) calculating weighting factors from these best-matched subsequence; (3) collecting the proceeding parts of the subsequences and combining them together with assigned weighting factors to form output. The prediction algorithm was examined for several patients, and its performance is assessed based on the correlation between prediction and known output. Results: Respiratory motion data was collected for 20 patients using the RPM system. The output subsequence is the last 50 samples (∼2 seconds) of a surrogate signal, and the input subsequence was 100 (∼3 seconds) frames prior to the output subsequence. Based on the analysis of correlation coefficient between predicted and known output subsequence, the average correlation is 0.9644±0.0394 and 0.9789±0.0239 for equal-weighting and relative-weighting strategies, respectively. Conclusion: Preliminary results indicate that the prediction algorithm is effective in estimating surrogate motion multiple-steps in advance. Relative-weighting method shows better prediction accuracy than equal-weighting method. More parameters of this algorithm are under investigation.« less

Note: Compact and light displacement sensor for a precision measurement system in large motion

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

Lee, Sang Heon, E-mail: shlee@andong.ac.kr

We developed a compact and light displacement sensor applicable to systems that require wide range motions of its sensing device. The proposed sensor utilized the optical pickup unit of the optical disk drive, which has been used applied to atomic force microscopy (AFM) because of its compactness and lightness as well as its high performance. We modified the structure of optical pickup unit and made the compact sensor driver attachable to a probe head of AFM to make large rotation. The feasibilities of the developed sensor for a general probe-moving measurement device and for probe-rotating AFM were verified. Moreover, amore » simple and precise measurement of alignment between centers of rotator and probe tip in probe-rotation AFM was experimentally demonstrated using the developed sensor.« less

Applications of High-speed motion analysis system on Solid Rocket Motor (SRM)

NASA Astrophysics Data System (ADS)

Liu, Yang; He, Guo-qiang; Li, Jiang; Liu, Pei-jin; Chen, Jian

2007-01-01

High-speed motion analysis system could record images up to 12,000fps and analyzed with the image processing system. The system stored data and images directly in electronic memory convenient for managing and analyzing. The high-speed motion analysis system and the X-ray radiography system were established the high-speed real-time X-ray radiography system, which could diagnose and measure the dynamic and high-speed process in opaque. The image processing software was developed for improve quality of the original image for acquiring more precise information. The typical applications of high-speed motion analysis system on solid rocket motor (SRM) were introduced in the paper. The research of anomalous combustion of solid propellant grain with defects, real-time measurement experiment of insulator eroding, explosion incision process of motor, structure and wave character of plume during the process of ignition and flameout, measurement of end burning of solid propellant, measurement of flame front and compatibility between airplane and missile during the missile launching were carried out using high-speed motion analysis system. The significative results were achieved through the research. Aim at application of high-speed motion analysis system on solid rocket motor, the key problem, such as motor vibrancy, electrical source instability, geometry aberrance, and yawp disturbance, which damaged the image quality, was solved. The image processing software was developed which improved the capability of measuring the characteristic of image. The experimental results showed that the system was a powerful facility to study instantaneous and high-speed process in solid rocket motor. With the development of the image processing technique, the capability of high-speed motion analysis system was enhanced.

Mechanisms of time-based figure-ground segregation.

PubMed

Kandil, Farid I; Fahle, Manfred

2003-11-01

Figure-ground segregation can rely on purely temporal information, that is, on short temporal delays between positional changes of elements in figure and ground (Kandil, F.I. & Fahle, M. (2001) Eur. J. Neurosci., 13, 2004-2008). Here, we investigate the underlying mechanisms by measuring temporal segregation thresholds for various kinds of motion cues. Segregation can rely on monocular first-order motion (based on luminance modulation) and second-order motion cues (contrast modulation) with a high temporal resolution of approximately 20 ms. The mechanism can also use isoluminant motion with a reduced temporal resolution of 60 ms. Figure-ground segregation can be achieved even at presentation frequencies too high for human subjects to inspect successive frames individually. In contrast, when stimuli are presented dichoptically, i.e. separately to both eyes, subjects are unable to perceive any segregation, irrespective of temporal frequency. We propose that segregation in these displays is detected by a mechanism consisting of at least two stages. On the first level, standard motion or flicker detectors signal local positional changes (flips). On the second level, a segregation mechanism combines the local activities of the low-level detectors with high temporal precision. Our findings suggest that the segregation mechanism can rely on monocular detectors but not on binocular mechanisms. Moreover, the results oppose the idea that segregation in these displays is achieved by motion detectors of a higher order (motion-from-motion), but favour mechanisms sensitive to short temporal delays even without activation of higher-order motion detectors.

VLBI Phase-Referenced Observations on Southern Hemisphere HIPPARCOS Radio Start

NASA Technical Reports Server (NTRS)

Guirado, J. C.; Preston, R. A.; Jones, D. L.; Lestrade, J. F.; Reynolds, J. E.; Jauncey, D. L.; Tzioumis, A. K.; Ferris, R. H.; King, E. A.; Lovell, J. E. J.;

Near-IR trigonometric parallaxes of nearby stars in the Galactic plane using the VVV survey

NASA Astrophysics Data System (ADS)

Beamín, J. C.; Mendez, R. A.; Smart, R. L.; Jara, R.; Kurtev, R.; Gromadzki, M.; Villanueva, V.; Minniti, D.; Smith, L. C.; Lucas, P. W.

2017-07-01

We use the multi-epoch KS band observations, covering a ˜ 5 years baseline to obtain milli and sub-milli arcsec precision astrometry for a sample of eighteen previously known high proper motion sources, including precise parallaxes for these sources for the first time. In this pioneer study we show the capability of the VVV project to measure high precision trigonometric parallaxes for very low mass stars (VLMS) up to distances of ˜ 400 pc reaching farther than most other ground based surveys or space missions for these types of stars. Two stars in our sample are low mass companions to sources in the TGAS catalog, the VVV astrometry of the fainter source is consistent within 1-σ with the astrometry for the primary source in TGAS catalog, confirming the excellent astrometric quality of the VVV data even nearby of saturated sources, as in these cases. Additionally, we used spectral energy distribution to search for evidence of unresolved binary systems and cool sub-dwarfs. We detected five systems that are most likely VLMS belonging to the Galactic halo based on their tangential velocities, and four objects within 60 pc that are likely members of the thick disk. A more comprehensive study of high proper motion sources and parallaxes of VLMS and brown dwarfs with the VVV is ongoing, including thousands of newly discovered objects (Kurtev et al. 2016).

Organ motion due to respiration: the state of the art and applications in interventional radiology and radiation oncology

NASA Astrophysics Data System (ADS)

Cleary, Kevin R.; Mulcahy, Maureen; Piyasena, Rohan; Zhou, Tong; Dieterich, Sonja; Xu, Sheng; Banovac, Filip; Wong, Kenneth H.

2005-04-01

Tracking organ motion due to respiration is important for precision treatments in interventional radiology and radiation oncology, among other areas. In interventional radiology, the ability to track and compensate for organ motion could lead to more precise biopsies for applications such as lung cancer screening. In radiation oncology, image-guided treatment of tumors is becoming technically possible, and the management of organ motion then becomes a major issue. This paper will review the state-of-the-art in respiratory motion and present two related clinical applications. Respiratory motion is an important topic for future work in image-guided surgery and medical robotics. Issues include how organs move due to respiration, how much they move, how the motion can be compensated for, and what clinical applications can benefit from respiratory motion compensation. Technology that can be applied for this purpose is now becoming available, and as that technology evolves, the subject will become an increasingly interesting and clinically valuable topic of research.

Comparison of different detection methods for persistent multiple hypothesis tracking in wide area motion imagery

NASA Astrophysics Data System (ADS)

Hartung, Christine; Spraul, Raphael; Schuchert, Tobias

2017-10-01

Wide area motion imagery (WAMI) acquired by an airborne multicamera sensor enables continuous monitoring of large urban areas. Each image can cover regions of several square kilometers and contain thousands of vehicles. Reliable vehicle tracking in this imagery is an important prerequisite for surveillance tasks, but remains challenging due to low frame rate and small object size. Most WAMI tracking approaches rely on moving object detections generated by frame differencing or background subtraction. These detection methods fail when objects slow down or stop. Recent approaches for persistent tracking compensate for missing motion detections by combining a detection-based tracker with a second tracker based on appearance or local context. In order to avoid the additional complexity introduced by combining two trackers, we employ an alternative single tracker framework that is based on multiple hypothesis tracking and recovers missing motion detections with a classifierbased detector. We integrate an appearance-based similarity measure, merge handling, vehicle-collision tests, and clutter handling to adapt the approach to the specific context of WAMI tracking. We apply the tracking framework on a region of interest of the publicly available WPAFB 2009 dataset for quantitative evaluation; a comparison to other persistent WAMI trackers demonstrates state of the art performance of the proposed approach. Furthermore, we analyze in detail the impact of different object detection methods and detector settings on the quality of the output tracking results. For this purpose, we choose four different motion-based detection methods that vary in detection performance and computation time to generate the input detections. As detector parameters can be adjusted to achieve different precision and recall performance, we combine each detection method with different detector settings that yield (1) high precision and low recall, (2) high recall and low precision, and (3) best f-score. Comparing the tracking performance achieved with all generated sets of input detections allows us to quantify the sensitivity of the tracker to different types of detector errors and to derive recommendations for detector and parameter choice.

A Novel Motion Compensation Method for Random Stepped Frequency Radar with M-sequence

NASA Astrophysics Data System (ADS)

Liao, Zhikun; Hu, Jiemin; Lu, Dawei; Zhang, Jun

2018-01-01

The random stepped frequency radar is a new kind of synthetic wideband radar. In the research, it has been found that it possesses a thumbtack-like ambiguity function which is considered to be the ideal one. This also means that only a precise motion compensation could result in the correct high resolution range profile. In this paper, we will introduce the random stepped frequency radar coded by M-sequence firstly and briefly analyse the effect of relative motion between target and radar on the distance imaging, which is called defocusing problem. Then, a novel motion compensation method, named complementary code cancellation, will be put forward to solve this problem. Finally, the simulated experiments will demonstrate its validity and the computational analysis will show up its efficiency.

High speed, precision motion strategies for lightweight structures

NASA Technical Reports Server (NTRS)

Book, Wayne J.

1987-01-01

Abstracts of published papers and dissertations generated during the reporting period are compiled. Work on fine motion control was completed. Specifically, real time control of flexible manipulator vibrations were experimentally investigated. A linear model based on the application of Lagrangian dynamics to a rigid body mode and a series of separable flexible modes was examined with respect to model order requirements, and modal candidate selection. State feedback control laws were implemented based upon linear quadratic regulator design. Specification of the closed loop poles in the regulator design process was obtained by inclusion of a prescribed degree of stability in the manipulator model. Work on gross motion planning and control is also summarized. A systematic method to symbolically derive the full nonlinear dynamic equations of motion of multi-link flexible manipulators was developed.

Temporal Control and Hand Movement Efficiency in Skilled Music Performance

PubMed Central

Goebl, Werner; Palmer, Caroline

2013-01-01

Skilled piano performance requires considerable movement control to accomplish the high levels of timing and force precision common among professional musicians, who acquire piano technique over decades of practice. Finger movement efficiency in particular is an important factor when pianists perform at very fast tempi. We document the finger movement kinematics of highly skilled pianists as they performed a five-finger melody at very fast tempi. A three-dimensional motion-capture system tracked the movements of finger joints, the hand, and the forearm of twelve pianists who performed on a digital piano at successively faster tempi (7–16 tones/s) until they decided to stop. Joint angle trajectories computed for all adjacent finger phalanges, the hand, and the forearm (wrist angle) indicated that the metacarpophalangeal joint contributed most to the vertical fingertip motion while the proximal and distal interphalangeal joints moved slightly opposite to the movement goal (finger extension). An efficiency measure of the combined finger joint angles corresponded to the temporal accuracy and precision of the pianists’ performances: Pianists with more efficient keystroke movements showed higher precision in timing and force measures. Keystroke efficiency and individual joint contributions remained stable across tempo conditions. Individual differences among pianists supported the view that keystroke efficiency is required for successful fast performance. PMID:23300946

Synchronized motion control and precision positioning compensation of a 3-DOFs macro-micro parallel manipulator fully actuated by piezoelectric actuators

NASA Astrophysics Data System (ADS)

Zhang, Quan; Li, Chaodong; Zhang, Jiantao; Zhang, Xu

2017-11-01

The macro-micro combined approach, as an effective way to realize trans-scale nano-precision positioning with multi-dimensions and high velocity, plays a significant role in integrated circuit manufacturing field. A 3-degree-of-freedoms (3-DOFs) macro-micro manipulator is designed and analyzed to compromise the conflictions among the large stroke, high precision and multi-DOFs. The macro manipulator is a 3-Prismatic-Revolute-Revolute (3-PRR) structure parallel manipulator which is driven by three linear ultrasonic motors. The dynamic model and the cross-coupling error based synchronized motion controller of the 3-PRR parallel manipulator are theoretical analyzed and experimental tested. To further improve the positioning accuracy, a 3-DOFs monolithic compliant manipulator actuated by three piezoelectric stack actuators is designed. Then a multilayer BP neural network based inverse kinematic model identifier is developed to perform the positioning control. Finally, by forming the macro-micro structure, the dual stage manipulator successfully achieved the positioning task from the point (2 mm, 2 mm, 0 rad) back to the original point (0 mm, 0 mm, 0 rad) with the translation errors in X and Y directions less than ±50 nm and the rotation error around Z axis less than ±1 μrad, respectively.

Accuracy and precision of a custom camera-based system for 2D and 3D motion tracking during speech and nonspeech motor tasks

PubMed Central

Feng, Yongqiang; Max, Ludo

2014-01-01

Purpose Studying normal or disordered motor control requires accurate motion tracking of the effectors (e.g., orofacial structures). The cost of electromagnetic, optoelectronic, and ultrasound systems is prohibitive for many laboratories, and limits clinical applications. For external movements (lips, jaw), video-based systems may be a viable alternative, provided that they offer high temporal resolution and sub-millimeter accuracy. Method We examined the accuracy and precision of 2D and 3D data recorded with a system that combines consumer-grade digital cameras capturing 60, 120, or 240 frames per second (fps), retro-reflective markers, commercially-available computer software (APAS, Ariel Dynamics), and a custom calibration device. Results Overall mean error (RMSE) across tests was 0.15 mm for static tracking and 0.26 mm for dynamic tracking, with corresponding precision (SD) values of 0.11 and 0.19 mm, respectively. The effect of frame rate varied across conditions, but, generally, accuracy was reduced at 240 fps. The effect of marker size (3 vs. 6 mm diameter) was negligible at all frame rates for both 2D and 3D data. Conclusion Motion tracking with consumer-grade digital cameras and the APAS software can achieve sub-millimeter accuracy at frame rates that are appropriate for kinematic analyses of lip/jaw movements for both research and clinical purposes. PMID:24686484

An analysis of the precision and reliability of the leap motion sensor and its suitability for static and dynamic tracking.

PubMed

Guna, Jože; Jakus, Grega; Pogačnik, Matevž; Tomažič, Sašo; Sodnik, Jaka

2014-02-21

We present the results of an evaluation of the performance of the Leap Motion Controller with the aid of a professional, high-precision, fast motion tracking system. A set of static and dynamic measurements was performed with different numbers of tracking objects and configurations. For the static measurements, a plastic arm model simulating a human arm was used. A set of 37 reference locations was selected to cover the controller's sensory space. For the dynamic measurements, a special V-shaped tool, consisting of two tracking objects maintaining a constant distance between them, was created to simulate two human fingers. In the static scenario, the standard deviation was less than 0.5 mm. The linear correlation revealed a significant increase in the standard deviation when moving away from the controller. The results of the dynamic scenario revealed the inconsistent performance of the controller, with a significant drop in accuracy for samples taken more than 250 mm above the controller's surface. The Leap Motion Controller undoubtedly represents a revolutionary input device for gesture-based human-computer interaction; however, due to its rather limited sensory space and inconsistent sampling frequency, in its current configuration it cannot currently be used as a professional tracking system.

An Analysis of the Precision and Reliability of the Leap Motion Sensor and Its Suitability for Static and Dynamic Tracking

PubMed Central

Guna, Jože; Jakus, Grega; Pogačnik, Matevž; Tomažič, Sašo; Sodnik, Jaka

2014-01-01

We present the results of an evaluation of the performance of the Leap Motion Controller with the aid of a professional, high-precision, fast motion tracking system. A set of static and dynamic measurements was performed with different numbers of tracking objects and configurations. For the static measurements, a plastic arm model simulating a human arm was used. A set of 37 reference locations was selected to cover the controller's sensory space. For the dynamic measurements, a special V-shaped tool, consisting of two tracking objects maintaining a constant distance between them, was created to simulate two human fingers. In the static scenario, the standard deviation was less than 0.5 mm. The linear correlation revealed a significant increase in the standard deviation when moving away from the controller. The results of the dynamic scenario revealed the inconsistent performance of the controller, with a significant drop in accuracy for samples taken more than 250 mm above the controller's surface. The Leap Motion Controller undoubtedly represents a revolutionary input device for gesture-based human-computer interaction; however, due to its rather limited sensory space and inconsistent sampling frequency, in its current configuration it cannot currently be used as a professional tracking system. PMID:24566635

Method for the numerical integration of equations of perturbed satellite motion in problems of space geodesy

NASA Astrophysics Data System (ADS)

Plakhov, Iu. V.; Mytsenko, A. V.; Shel'Pov, V. A.

A numerical integration method is developed that is more accurate than Everhart's (1974) implicit single-sequence approach for integrating orbits. This method can be used to solve problems of space geodesy based on the use of highly precise laser observations.

Seeing cilia: imaging modalities for ciliary motion and clinical connections.

PubMed

Peabody, Jacelyn E; Shei, Ren-Jay; Bermingham, Brent M; Phillips, Scott E; Turner, Brett; Rowe, Steven M; Solomon, George M

2018-06-01

The respiratory tract is lined with multiciliated epithelial cells that function to move mucus and trapped particles via the mucociliary transport apparatus. Genetic and acquired ciliopathies result in diminished mucociliary clearance, contributing to disease pathogenesis. Recent innovations in imaging technology have advanced our understanding of ciliary motion in health and disease states. Application of imaging modalities including transmission electron microscopy, high-speed video microscopy, and micron-optical coherence tomography could improve diagnostics and be applied for precision medicine. In this review, we provide an overview of ciliary motion, imaging modalities, and ciliopathic diseases of the respiratory system including primary ciliary dyskinesia, cystic fibrosis, chronic obstructive pulmonary disease, and idiopathic pulmonary fibrosis.

Data-Driven Based Asynchronous Motor Control for Printing Servo Systems

NASA Astrophysics Data System (ADS)

Bian, Min; Guo, Qingyun

Modern digital printing equipment aims to the environmental-friendly industry with high dynamic performances and control precision and low vibration and abrasion. High performance motion control system of printing servo systems was required. Control system of asynchronous motor based on data acquisition was proposed. Iterative learning control (ILC) algorithm was studied. PID control was widely used in the motion control. However, it was sensitive to the disturbances and model parameters variation. The ILC applied the history error data and present control signals to approximate the control signal directly in order to fully track the expect trajectory without the system models and structures. The motor control algorithm based on the ILC and PID was constructed and simulation results were given. The results show that data-driven control method is effective dealing with bounded disturbances for the motion control of printing servo systems.

High-bandwidth and flexible tracking control for precision motion with application to a piezo nanopositioner.

PubMed

Feng, Zhao; Ling, Jie; Ming, Min; Xiao, Xiao-Hui

2017-08-01

For precision motion, high-bandwidth and flexible tracking are the two important issues for significant performance improvement. Iterative learning control (ILC) is an effective feedforward control method only for systems that operate strictly repetitively. Although projection ILC can track varying references, the performance is still limited by the fixed-bandwidth Q-filter, especially for triangular waves tracking commonly used in a piezo nanopositioner. In this paper, a wavelet transform-based linear time-varying (LTV) Q-filter design for projection ILC is proposed to compensate high-frequency errors and improve the ability to tracking varying references simultaneously. The LVT Q-filter is designed based on the modulus maximum of wavelet detail coefficients calculated by wavelet transform to determine the high-frequency locations of each iteration with the advantages of avoiding cross-terms and segmenting manually. The proposed approach was verified on a piezo nanopositioner. Experimental results indicate that the proposed approach can locate the high-frequency regions accurately and achieve the best performance under varying references compared with traditional frequency-domain and projection ILC with a fixed-bandwidth Q-filter, which validates that through implementing the LTV filter on projection ILC, high-bandwidth and flexible tracking can be achieved simultaneously by the proposed approach.

Fidelity of the ensemble code for visual motion in primate retina.

PubMed

Frechette, E S; Sher, A; Grivich, M I; Petrusca, D; Litke, A M; Chichilnisky, E J

2005-07-01

Sensory experience typically depends on the ensemble activity of hundreds or thousands of neurons, but little is known about how populations of neurons faithfully encode behaviorally important sensory information. We examined how precisely speed of movement is encoded in the population activity of magnocellular-projecting parasol retinal ganglion cells (RGCs) in macaque monkey retina. Multi-electrode recordings were used to measure the activity of approximately 100 parasol RGCs simultaneously in isolated retinas stimulated with moving bars. To examine how faithfully the retina signals motion, stimulus speed was estimated directly from recorded RGC responses using an optimized algorithm that resembles models of motion sensing in the brain. RGC population activity encoded speed with a precision of approximately 1%. The elementary motion signal was conveyed in approximately 10 ms, comparable to the interspike interval. Temporal structure in spike trains provided more precise speed estimates than time-varying firing rates. Correlated activity between RGCs had little effect on speed estimates. The spatial dispersion of RGC receptive fields along the axis of motion influenced speed estimates more strongly than along the orthogonal direction, as predicted by a simple model based on RGC response time variability and optimal pooling. on and off cells encoded speed with similar and statistically independent variability. Simulation of downstream speed estimation using populations of speed-tuned units showed that peak (winner take all) readout provided more precise speed estimates than centroid (vector average) readout. These findings reveal how faithfully the retinal population code conveys information about stimulus speed and the consequences for motion sensing in the brain.

Accuracy of an optical active-marker system to track the relative motion of rigid bodies.

PubMed

Maletsky, Lorin P; Sun, Junyi; Morton, Nicholas A

2007-01-01

The measurement of relative motion between two moving bones is commonly accomplished for in vitro studies by attaching to each bone a series of either passive or active markers in a fixed orientation to create a rigid body (RB). This work determined the accuracy of motion between two RBs using an Optotrak optical motion capture system with active infrared LEDs. The stationary noise in the system was quantified by recording the apparent change in position with the RBs stationary and found to be 0.04 degrees and 0.03 mm. Incremental 10 degrees rotations and 10-mm translations were made using a more precise tool than the Optotrak. Increasing camera distance decreased the precision or increased the range of values observed for a set motion and increased the error in rotation or bias between the measured and actual rotation. The relative positions of the RBs with respect to the camera-viewing plane had a minimal effect on the kinematics and, therefore, for a given distance in the volume less than or close to the precalibrated camera distance, any motion was similarly reliable. For a typical operating set-up, a 10 degrees rotation showed a bias of 0.05 degrees and a 95% repeatability limit of 0.67 degrees. A 10-mm translation showed a bias of 0.03 mm and a 95% repeatability limit of 0.29 mm. To achieve a high level of accuracy it is important to keep the distance between the cameras and the markers near the distance the cameras are focused to during calibration.

A Surface-Coupled Optical Trap with 1-bp Precision via Active Stabilization

PubMed Central

Okoniewski, Stephen R.; Carter, Ashley R.; Perkins, Thomas T.

2017-01-01

Optical traps can measure bead motions with Å-scale precision. However, using this level of precision to infer 1-bp motion of molecular motors along DNA is difficult, since a variety of noise sources degrade instrumental stability. In this chapter, we detail how to improve instrumental stability by (i) minimizing laser pointing, mode, polarization, and intensity noise using an acousto-optical-modulator mediated feedback loop and (ii) minimizing sample motion relative to the optical trap using a 3-axis piezo-electric-stage mediated feedback loop. These active techniques play a critical role in achieving a surface stability of 1 Å in 3D over tens of seconds and a 1-bp stability and precision in a surface-coupled optical trap over a broad bandwidth (Δf = 0.03–2 Hz) at low force (6 pN). These active stabilization techniques can also aid other biophysical assays that would benefit from improved laser stability and/or Å-scale sample stability, such as atomic force microscopy and super-resolution imaging. PMID:27844426

Injection-depth-locking axial motion guided handheld micro-injector using CP-SSOCT.

PubMed

Cheon, Gyeong Woo; Huang, Yong; Kwag, Hye Rin; Kim, Ki-Young; Taylor, Russell H; Gehlbach, Peter L; Kang, Jin U

2014-01-01

This paper presents a handheld micro-injector system using common-path swept source optical coherence tomography (CP-SSOCT) as a distal sensor with highly accurate injection-depth-locking. To achieve real-time, highly precise, and intuitive freehand control, the system used graphics processing unit (GPU) to process the oversampled OCT signal with high throughput and a smart customized motion monitoring control algorithm. A performance evaluation was conducted with 60-insertions and fluorescein dye injection tests to show how accurately the system can guide the needle and lock to the target depth. The evaluation tests show our system can guide the injection needle into the desired depth with 4.12 um average deviation error while injecting 50 nl of fluorescein dye.

Towards frameless maskless SRS through real-time 6DoF robotic motion compensation.

PubMed

Belcher, Andrew H; Liu, Xinmin; Chmura, Steven; Yenice, Kamil; Wiersma, Rodney D

2017-11-13

Stereotactic radiosurgery (SRS) uses precise dose placement to treat conditions of the CNS. Frame-based SRS uses a metal head ring fixed to the patient's skull to provide high treatment accuracy, but patient comfort and clinical workflow may suffer. Frameless SRS, while potentially more convenient, may increase uncertainty of treatment accuracy and be physiologically confining to some patients. By incorporating highly precise robotics and advanced software algorithms into frameless treatments, we present a novel frameless and maskless SRS system where a robot provides real-time 6DoF head motion stabilization allowing positional accuracies to match or exceed those of traditional frame-based SRS. A 6DoF parallel kinematics robot was developed and integrated with a real-time infrared camera in a closed loop configuration. A novel compensation algorithm was developed based on an iterative closest-path correction approach. The robotic SRS system was tested on six volunteers, whose motion was monitored and compensated for in real-time over 15 min simulated treatments. The system's effectiveness in maintaining the target's 6DoF position within preset thresholds was determined by comparing volunteer head motion with and without compensation. Comparing corrected and uncorrected motion, the 6DoF robotic system showed an overall improvement factor of 21 in terms of maintaining target position within 0.5 mm and 0.5 degree thresholds. Although the system's effectiveness varied among the volunteers examined, for all volunteers tested the target position remained within the preset tolerances 99.0% of the time when robotic stabilization was used, compared to 4.7% without robotic stabilization. The pre-clinical robotic SRS compensation system was found to be effective at responding to sub-millimeter and sub-degree cranial motions for all volunteers examined. The system's success with volunteers has demonstrated its capability for implementation with frameless and maskless SRS treatments, potentially able to achieve the same or better treatment accuracies compared to traditional frame-based approaches.

Towards frameless maskless SRS through real-time 6DoF robotic motion compensation

NASA Astrophysics Data System (ADS)

Belcher, Andrew H.; Liu, Xinmin; Chmura, Steven; Yenice, Kamil; Wiersma, Rodney D.

2017-12-01

Stereotactic radiosurgery (SRS) uses precise dose placement to treat conditions of the CNS. Frame-based SRS uses a metal head ring fixed to the patient’s skull to provide high treatment accuracy, but patient comfort and clinical workflow may suffer. Frameless SRS, while potentially more convenient, may increase uncertainty of treatment accuracy and be physiologically confining to some patients. By incorporating highly precise robotics and advanced software algorithms into frameless treatments, we present a novel frameless and maskless SRS system where a robot provides real-time 6DoF head motion stabilization allowing positional accuracies to match or exceed those of traditional frame-based SRS. A 6DoF parallel kinematics robot was developed and integrated with a real-time infrared camera in a closed loop configuration. A novel compensation algorithm was developed based on an iterative closest-path correction approach. The robotic SRS system was tested on six volunteers, whose motion was monitored and compensated for in real-time over 15 min simulated treatments. The system’s effectiveness in maintaining the target’s 6DoF position within preset thresholds was determined by comparing volunteer head motion with and without compensation. Comparing corrected and uncorrected motion, the 6DoF robotic system showed an overall improvement factor of 21 in terms of maintaining target position within 0.5 mm and 0.5 degree thresholds. Although the system’s effectiveness varied among the volunteers examined, for all volunteers tested the target position remained within the preset tolerances 99.0% of the time when robotic stabilization was used, compared to 4.7% without robotic stabilization. The pre-clinical robotic SRS compensation system was found to be effective at responding to sub-millimeter and sub-degree cranial motions for all volunteers examined. The system’s success with volunteers has demonstrated its capability for implementation with frameless and maskless SRS treatments, potentially able to achieve the same or better treatment accuracies compared to traditional frame-based approaches.

Sustainable Cooperative Robotic Technologies for Human and Robotic Outpost Infrastructure Construction and Maintenance

NASA Technical Reports Server (NTRS)

Stroupe, Ashley W.; Okon, Avi; Robinson, Matthew; Huntsberger, Terry; Aghazarian, Hrand; Baumgartner, Eric

2004-01-01

Robotic Construction Crew (RCC) is a heterogeneous multi-robot system for autonomous acquisition, transport, and precision mating of components in construction tasks. RCC minimizes resources constrained in a space environment such as computation, power, communication and, sensing. A behavior-based architecture provides adaptability and robustness despite low computational requirements. RCC successfully performs several construction related tasks in an emulated outdoor environment despite high levels of uncertainty in motions and sensing. Quantitative results are provided for formation keeping in component transport, precision instrument placement, and construction tasks.

Ultra precision machining

NASA Astrophysics Data System (ADS)

Debra, Daniel B.; Hesselink, Lambertus; Binford, Thomas

1990-05-01

There are a number of fields that require or can use to advantage very high precision in machining. For example, further development of high energy lasers and x ray astronomy depend critically on the manufacture of light weight reflecting metal optical components. To fabricate these optical components with machine tools they will be made of metal with mirror quality surface finish. By mirror quality surface finish, it is meant that the dimensions tolerances on the order of 0.02 microns and surface roughness of 0.07. These accuracy targets fall in the category of ultra precision machining. They cannot be achieved by a simple extension of conventional machining processes and techniques. They require single crystal diamond tools, special attention to vibration isolation, special isolation of machine metrology, and on line correction of imperfection in the motion of the machine carriages on their way.

Experimental investigation of strain errors in stereo-digital image correlation due to camera calibration

NASA Astrophysics Data System (ADS)

Shao, Xinxing; Zhu, Feipeng; Su, Zhilong; Dai, Xiangjun; Chen, Zhenning; He, Xiaoyuan

2018-03-01

The strain errors in stereo-digital image correlation (DIC) due to camera calibration were investigated using precisely controlled numerical experiments and real experiments. Three-dimensional rigid body motion tests were conducted to examine the effects of camera calibration on the measured results. For a fully accurate calibration, rigid body motion causes negligible strain errors. However, for inaccurately calibrated camera parameters and a short working distance, rigid body motion will lead to more than 50-μɛ strain errors, which significantly affects the measurement. In practical measurements, it is impossible to obtain a fully accurate calibration; therefore, considerable attention should be focused on attempting to avoid these types of errors, especially for high-accuracy strain measurements. It is necessary to avoid large rigid body motions in both two-dimensional DIC and stereo-DIC.

Motion compensation in digital subtraction angiography using graphics hardware.

PubMed

Deuerling-Zheng, Yu; Lell, Michael; Galant, Adam; Hornegger, Joachim

2006-07-01

An inherent disadvantage of digital subtraction angiography (DSA) is its sensitivity to patient motion which causes artifacts in the subtraction images. These artifacts could often reduce the diagnostic value of this technique. Automated, fast and accurate motion compensation is therefore required. To cope with this requirement, we first examine a method explicitly designed to detect local motions in DSA. Then, we implement a motion compensation algorithm by means of block matching on modern graphics hardware. Both methods search for maximal local similarity by evaluating a histogram-based measure. In this context, we are the first who have mapped an optimizing search strategy on graphics hardware while paralleling block matching. Moreover, we provide an innovative method for creating histograms on graphics hardware with vertex texturing and frame buffer blending. It turns out that both methods can effectively correct the artifacts in most case, as the hardware implementation of block matching performs much faster: the displacements of two 1024 x 1024 images can be calculated at 3 frames/s with integer precision or 2 frames/s with sub-pixel precision. Preliminary clinical evaluation indicates that the computation with integer precision could already be sufficient.

High-resolution imaging optomechatronics for precise liquid crystal display module bonding automated optical inspection

NASA Astrophysics Data System (ADS)

Ni, Guangming; Liu, Lin; Zhang, Jing; Liu, Juanxiu; Liu, Yong

2018-01-01

With the development of the liquid crystal display (LCD) module industry, LCD modules become more and more precise with larger sizes, which demands harsh imaging requirements for automated optical inspection (AOI). Here, we report a high-resolution and clearly focused imaging optomechatronics for precise LCD module bonding AOI inspection. It first presents and achieves high-resolution imaging for LCD module bonding AOI inspection using a line scan camera (LSC) triggered by a linear optical encoder, self-adaptive focusing for the whole large imaging region using LSC, and a laser displacement sensor, which reduces the requirements of machining, assembly, and motion control of AOI devices. Results show that this system can directly achieve clearly focused imaging for AOI inspection of large LCD module bonding with 0.8 μm image resolution, 2.65-mm scan imaging width, and no limited imaging width theoretically. All of these are significant for AOI inspection in the LCD module industry and other fields that require imaging large regions with high resolution.

Electron kinetic effects on interferometry, polarimetry and Thomson scattering measurements in burning plasmas (invited).

PubMed

Mirnov, V V; Brower, D L; Den Hartog, D J; Ding, W X; Duff, J; Parke, E

2014-11-01

At anticipated high electron temperatures in ITER, the effects of electron thermal motion on Thomson scattering (TS), toroidal interferometer/polarimeter (TIP), and poloidal polarimeter (PoPola) diagnostics will be significant and must be accurately treated. The precision of the previous lowest order linear in τ = Te/mec(2) model may be insufficient; we present a more precise model with τ(2)-order corrections to satisfy the high accuracy required for ITER TIP and PoPola diagnostics. The linear model is extended from Maxwellian to a more general class of anisotropic electron distributions that allows us to take into account distortions caused by equilibrium current, ECRH, and RF current drive effects. The classical problem of the degree of polarization of incoherent Thomson scattered radiation is solved analytically exactly without any approximations for the full range of incident polarizations, scattering angles, and electron thermal motion from non-relativistic to ultra-relativistic. The results are discussed in the context of the possible use of the polarization properties of Thomson scattered light as a method of Te measurement relevant to ITER operational scenarios.

Discrimination of Human Forearm Motions on the Basis of Myoelectric Signals by Using Adaptive Fuzzy Inference System

NASA Astrophysics Data System (ADS)

Kiso, Atsushi; Seki, Hirokazu

This paper describes a method for discriminating of the human forearm motions based on the myoelectric signals using an adaptive fuzzy inference system. In conventional studies, the neural network is often used to estimate motion intention by the myoelectric signals and realizes the high discrimination precision. On the other hand, this study uses the fuzzy inference for a human forearm motion discrimination based on the myoelectric signals. This study designs the membership function and the fuzzy rules using the average value and the standard deviation of the root mean square of the myoelectric potential for every channel of each motion. In addition, the characteristics of the myoelectric potential gradually change as a result of the muscle fatigue. Therefore, the motion discrimination should be performed by taking muscle fatigue into consideration. This study proposes a method to redesign the fuzzy inference system such that dynamic change of the myoelectric potential because of the muscle fatigue will be taken into account. Some experiments carried out using a myoelectric hand simulator show the effectiveness of the proposed motion discrimination method.

Practical controller design for ultra-precision positioning of stages with a pneumatic artificial muscle actuator

NASA Astrophysics Data System (ADS)

Tang, T. F.; Chong, S. H.

2017-06-01

This paper presents a practical controller design method for ultra-precision positioning of pneumatic artificial muscle actuator stages. Pneumatic artificial muscle (PAM) actuators are safe to use and have numerous advantages which have brought these actuators to wide applications. However, PAM exhibits strong non-linear characteristics, and these limitations lead to low controllability and limit its application. In practice, the non-linear characteristics of PAM mechanism are difficult to be precisely modeled, and time consuming to model them accurately. The purpose of the present study is to clarify a practical controller design method that emphasizes a simple design procedure that does not acquire plants parameters modeling, and yet is able to demonstrate ultra-precision positioning performance for a PAM driven stage. The practical control approach adopts continuous motion nominal characteristic trajectory following (CM NCTF) control as the feedback controller. The constructed PAM driven stage is in low damping characteristic and causes severe residual vibration that deteriorates motion accuracy of the system. Therefore, the idea to increase the damping characteristic by having an acceleration feedback compensation to the plant has been proposed. The effectiveness of the proposed controller was verified experimentally and compared with a classical PI controller in point-to-point motion. The experiment results proved that the CM NCTF controller demonstrates better positioning performance in smaller motion error than the PI controller. Overall, the CM NCTF controller has successfully to reduce motion error to 3µm, which is 88.7% smaller than the PI controller.

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

PubMed

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

2017-12-12

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

Near-Field, On-Chip Optical Brownian Ratchets.

PubMed

Wu, Shao-Hua; Huang, Ningfeng; Jaquay, Eric; Povinelli, Michelle L

2016-08-10

Nanoparticles in aqueous solution are subject to collisions with solvent molecules, resulting in random, Brownian motion. By breaking the spatiotemporal symmetry of the system, the motion can be rectified. In nature, Brownian ratchets leverage thermal fluctuations to provide directional motion of proteins and enzymes. In man-made systems, Brownian ratchets have been used for nanoparticle sorting and manipulation. Implementations based on optical traps provide a high degree of tunability along with precise spatiotemporal control. Here, we demonstrate an optical Brownian ratchet based on the near-field traps of an asymmetrically patterned photonic crystal. The system yields over 25 times greater trap stiffness than conventional optical tweezers. Our technique opens up new possibilities for particle manipulation in a microfluidic, lab-on-chip environment.

Stochastic precision analysis of 2D cardiac strain estimation in vivo

NASA Astrophysics Data System (ADS)

Bunting, E. A.; Provost, J.; Konofagou, E. E.

2014-11-01

Ultrasonic strain imaging has been applied to echocardiography and carries great potential to be used as a tool in the clinical setting. Two-dimensional (2D) strain estimation may be useful when studying the heart due to the complex, 3D deformation of the cardiac tissue. Increasing the framerate used for motion estimation, i.e. motion estimation rate (MER), has been shown to improve the precision of the strain estimation, although maintaining the spatial resolution necessary to view the entire heart structure in a single heartbeat remains challenging at high MERs. Two previously developed methods, the temporally unequispaced acquisition sequence (TUAS) and the diverging beam sequence (DBS), have been used in the past to successfully estimate in vivo axial strain at high MERs without compromising spatial resolution. In this study, a stochastic assessment of 2D strain estimation precision is performed in vivo for both sequences at varying MERs (65, 272, 544, 815 Hz for TUAS; 250, 500, 1000, 2000 Hz for DBS). 2D incremental strains were estimated during left ventricular contraction in five healthy volunteers using a normalized cross-correlation function and a least-squares strain estimator. Both sequences were shown capable of estimating 2D incremental strains in vivo. The conditional expected value of the elastographic signal-to-noise ratio (E(SNRe|ɛ)) was used to compare strain estimation precision of both sequences at multiple MERs over a wide range of clinical strain values. The results here indicate that axial strain estimation precision is much more dependent on MER than lateral strain estimation, while lateral estimation is more affected by strain magnitude. MER should be increased at least above 544 Hz to avoid suboptimal axial strain estimation. Radial and circumferential strain estimations were influenced by the axial and lateral strain in different ways. Furthermore, the TUAS and DBS were found to be of comparable precision at similar MERs.

On the correlation between motion data captured from low-cost gaming controllers and high precision encoders.

PubMed

Purkayastha, Sagar N; Byrne, Michael D; O'Malley, Marcia K

2012-01-01

Gaming controllers are attractive devices for research due to their onboard sensing capabilities and low-cost. However, a proper quantitative analysis regarding their suitability for use in motion capture, rehabilitation and as input devices for teleoperation and gesture recognition has yet to be conducted. In this paper, a detailed analysis of the sensors of two of these controllers, the Nintendo Wiimote and the Sony Playstation 3 Sixaxis, is presented. The acceleration and angular velocity data from the sensors of these controllers were compared and correlated with computed acceleration and angular velocity data derived from a high resolution encoder. The results show high correlation between the sensor data from the controllers and the computed data derived from the position data of the encoder. From these results, it can be inferred that the Wiimote is more consistent and better suited for motion capture applications and as an input device than the Sixaxis. The applications of the findings are discussed with respect to potential research ventures.

The effect of concurrent hand movement on estimated time to contact in a prediction motion task.

PubMed

Zheng, Ran; Maraj, Brian K V

2018-04-27

In many activities, we need to predict the arrival of an occluded object. This action is called prediction motion or motion extrapolation. Previous researchers have found that both eye tracking and the internal clocking model are involved in the prediction motion task. Additionally, it is reported that concurrent hand movement facilitates the eye tracking of an externally generated target in a tracking task, even if the target is occluded. The present study examined the effect of concurrent hand movement on the estimated time to contact in a prediction motion task. We found different (accurate/inaccurate) concurrent hand movements had the opposite effect on the eye tracking accuracy and estimated TTC in the prediction motion task. That is, the accurate concurrent hand tracking enhanced eye tracking accuracy and had the trend to increase the precision of estimated TTC, but the inaccurate concurrent hand tracking decreased eye tracking accuracy and disrupted estimated TTC. However, eye tracking accuracy does not determine the precision of estimated TTC.

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

NASA Astrophysics Data System (ADS)

Schwalbe, Ellen; Maas, Hans-Gerd

2017-12-01

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

Measurements of Long-range Electronic Correlations During Femtosecond Diffraction Experiments Performed on Nanocrystals of Buckminsterfullerene

PubMed Central

Ryan, Rebecca A.; Williams, Sophie; Martin, Andrew V.; Dilanian, Ruben A.; Darmanin, Connie; Putkunz, Corey T.; Wood, David; Streltsov, Victor A.; Jones, Michael W.M.; Gaffney, Naylyn; Hofmann, Felix; Williams, Garth J.; Boutet, Sebastien; Messerschmidt, Marc; Seibert, M. Marvin; Curwood, Evan K.; Balaur, Eugeniu; Peele, Andrew G.; Nugent, Keith A.; Quiney, Harry M.; Abbey, Brian

2017-01-01

The precise details of the interaction of intense X-ray pulses with matter are a topic of intense interest to researchers attempting to interpret the results of femtosecond X-ray free electron laser (XFEL) experiments. An increasing number of experimental observations have shown that although nuclear motion can be negligible, given a short enough incident pulse duration, electronic motion cannot be ignored. The current and widely accepted models assume that although electrons undergo dynamics driven by interaction with the pulse, their motion could largely be considered 'random'. This would then allow the supposedly incoherent contribution from the electronic motion to be treated as a continuous background signal and thus ignored. The original aim of our experiment was to precisely measure the change in intensity of individual Bragg peaks, due to X-ray induced electronic damage in a model system, crystalline C60. Contrary to this expectation, we observed that at the highest X-ray intensities, the electron dynamics in C60 were in fact highly correlated, and over sufficiently long distances that the positions of the Bragg reflections are significantly altered. This paper describes in detail the methods and protocols used for these experiments, which were conducted both at the Linac Coherent Light Source (LCLS) and the Australian Synchrotron (AS) as well as the crystallographic approaches used to analyse the data. PMID:28872125

Measurements of Long-range Electronic Correlations During Femtosecond Diffraction Experiments Performed on Nanocrystals of Buckminsterfullerene

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

Ryan, Rebecca A.; Williams, Sophie; Martin, Andrew V.

The precise details of the interaction of intense X-ray pulses with matter are a topic of intense interest to researchers attempting to interpret the results of femtosecond X-ray free electron laser (XFEL) experiments. An increasing number of experimental observations have shown that although nuclear motion can be negligible, given a short enough incident pulse duration, electronic motion cannot be ignored. The current and widely accepted models assume that although electrons undergo dynamics driven by interaction with the pulse, their motion could largely be considered 'random'. This would then allow the supposedly incoherent contribution from the electronic motion to be treatedmore » as a continuous background signal and thus ignored. The original aim of our experiment was to precisely measure the change in intensity of individual Bragg peaks, due to X-ray induced electronic damage in a model system, crystalline C 60. Contrary to this expectation, we observed that at the highest X-ray intensities, the electron dynamics in C 60 were in fact highly correlated, and over sufficiently long distances that the positions of the Bragg reflections are significantly altered. Our paper describes in detail the methods and protocols used for these experiments, which were conducted both at the Linac Coherent Light Source (LCLS) and the Australian Synchrotron (AS) as well as the crystallographic approaches used to analyse the data.« less

Specificity of postural sway to the demands of a precision task at sea.

PubMed

Chen, Fu-Chen; Stoffregen, Thomas A

2012-06-01

Mariners actively adjust their body orientation in response to ship motion. On a ship at sea, we evaluated relations between standing postural activity and the performance of a precision aiming task. Standing participants (experienced mariners) maintained the beam from a handheld laser on a target. Targets were large or small, thereby varying the difficulty of the aiming task. Targets were located in front of the participant or to the participant's right (requiring participants to look over the right shoulder), thereby varying the functional consequences (for the aiming task) of postural activity in different body axes. The torso was oriented toward the bow or toward the ship's side (athwartship), thereby varying the effects on postural activity of differential motion of the ship in its different axes. The weather was rough, producing high magnitudes of ship motion, which sometimes caused participants to step or stagger. Our manipulations influenced the magnitude and dynamics of head and torso movements, as well as the organization of movement in different axes. The results provide the first empirical confirmation that postural activity can be influenced by orientation of the torso relative to a ship. Despite powerful effects of ship motion, postural activity was influenced by variations in target location and in the difficulty of the aiming task, replicating subtle effects that have been observed on land. We discuss implications for hull design and the placement of workstations on ships.

A novel validation and calibration method for motion capture systems based on micro-triangulation.

PubMed

Nagymáté, Gergely; Tuchband, Tamás; Kiss, Rita M

2018-06-06

Motion capture systems are widely used to measure human kinematics. Nevertheless, users must consider system errors when evaluating their results. Most validation techniques for these systems are based on relative distance and displacement measurements. In contrast, our study aimed to analyse the absolute volume accuracy of optical motion capture systems by means of engineering surveying reference measurement of the marker coordinates (uncertainty: 0.75 mm). The method is exemplified on an 18 camera OptiTrack Flex13 motion capture system. The absolute accuracy was defined by the root mean square error (RMSE) between the coordinates measured by the camera system and by engineering surveying (micro-triangulation). The original RMSE of 1.82 mm due to scaling error was managed to be reduced to 0.77 mm while the correlation of errors to their distance from the origin reduced from 0.855 to 0.209. A simply feasible but less accurate absolute accuracy compensation method using tape measure on large distances was also tested, which resulted in similar scaling compensation compared to the surveying method or direct wand size compensation by a high precision 3D scanner. The presented validation methods can be less precise in some respects as compared to previous techniques, but they address an error type, which has not been and cannot be studied with the previous validation methods. Copyright © 2018 Elsevier Ltd. All rights reserved.

Measurements of Long-range Electronic Correlations During Femtosecond Diffraction Experiments Performed on Nanocrystals of Buckminsterfullerene

DOE PAGES

Ryan, Rebecca A.; Williams, Sophie; Martin, Andrew V.; ...

2017-08-22

The precise details of the interaction of intense X-ray pulses with matter are a topic of intense interest to researchers attempting to interpret the results of femtosecond X-ray free electron laser (XFEL) experiments. An increasing number of experimental observations have shown that although nuclear motion can be negligible, given a short enough incident pulse duration, electronic motion cannot be ignored. The current and widely accepted models assume that although electrons undergo dynamics driven by interaction with the pulse, their motion could largely be considered 'random'. This would then allow the supposedly incoherent contribution from the electronic motion to be treatedmore » as a continuous background signal and thus ignored. The original aim of our experiment was to precisely measure the change in intensity of individual Bragg peaks, due to X-ray induced electronic damage in a model system, crystalline C 60. Contrary to this expectation, we observed that at the highest X-ray intensities, the electron dynamics in C 60 were in fact highly correlated, and over sufficiently long distances that the positions of the Bragg reflections are significantly altered. Our paper describes in detail the methods and protocols used for these experiments, which were conducted both at the Linac Coherent Light Source (LCLS) and the Australian Synchrotron (AS) as well as the crystallographic approaches used to analyse the data.« less

Design and Optimization of Ultrasonic Vibration Mechanism using PZT for Precision Laser Machining

NASA Astrophysics Data System (ADS)

Kim, Woo-Jin; Lu, Fei; Cho, Sung-Hak; Park, Jong-Kweon; Lee, Moon G.

As the aged population grows around the world, many medical instruments and devices have been developed recently. Among the devices, a drug delivery stent is a medical device which requires precision machining. Conventional drug delivery stent has problems of residual polymer and decoating because the drug is coated on the surface of stent with the polymer. If the drug is impregnated in the micro sized holes on the surface, the problems can be overcome because there is no need to use the polymer anymore. Micro sized holes are generally fabricated by laser machining; however, the fabricated holes do not have a high aspect ratio or a good surface finish. To overcome these problems, we propose a vibration-assisted machining mechanism with PZT (Piezoelectric Transducers) for the fabrication of micro sized holes. If the mechanism vibrates the eyepiece of the laser machining head, the laser spot on the workpiece will vibrate vertically because objective lens in the eyepiece shakes by the mechanism's vibration. According to the former researches, the vibrating frequency over 20 kHz and amplitude over 500 nm are preferable. The vibration mechanism has cylindrical guide, hollowed PZT and supports. In the cylinder, the eyepiece is mounted. The cylindrical guide has upper and low plates and side wall. The shape of plates and side wall are designed to have high resonating frequency and large amplitude of motion. The PZT is also selected to have high actuating force and high speed of motion. The support has symmetrical and rigid configuration. The mechanism secures linear motion of the eyepiece. This research includes sensitivity analysis and design of ultrasonic vibration mechanism. As a result of design, the requirements of high frequency and large amplitude are achieved.

Motion of a liquid bridge between nonparallel surfaces.

PubMed

Ataei, Mohammadmehdi; Tang, Tian; Amirfazli, Alidad

2017-04-15

Bulk motion of a liquid bridge between two nonparallel identical solid surfaces undergoing multiple loading cycles (compressing and stretching) was investigated numerically and experimentally. The effects of the following governing parameters were studied: the dihedral angle between the two surfaces (ψ), the amount of compressing and stretching (Δh), and wettability parameters i.e. the advancing contact angle (θ a ) and Contact Angle Hysteresis (CAH). Experiments were done using various combinations of ψ, Δh and on surfaces with different wettabilities to understand the effect of each parameter individually. Additionally, a numerical model using Surface Evolver software was developed to augment the experimental data and extract information about the shape of the bridge. An empirical function was proposed and validated to calculate the minimum amount of Δh needed to initiate the bulk motion (i.e. to overcome the initial lag of the motion in response to the compressing of the bridge), at a given dihedral angle ψ. The effect of governing parameters on magnitude and precision of the motion was investigated. The magnitude of the motion was found to be increased by increasing ψ and Δh, and/or by decreasing θ a and CAH. We demonstrated the possibility of modulating the precision of the motion with θ a . Additionally, it was shown that the magnitude of the motion (in one loading cycle) increases after each loading cycle, if the contact lines depin only on the narrower side of the bridge during compressing and only on the wider side during stretching (asymmetric depinning). Whereas, depinning on both sides of the bridge (symmetric depinning) reduced the magnitude of bridge motion in each cycle under cyclic loading. A larger ψ was found to convert symmetric depinning into asymmetric depinning. These findings not only enhance the understanding of bridge motion between nonparallel surfaces, but also are beneficial in controlling magnitude, precision, and lag of the motion in practical applications. Copyright © 2016 Elsevier Inc. All rights reserved.

Hydrostatic Level Sensors as High Precision Ground Motion Instrumentation for Tevatron and Other Energy Frontier Accelerators

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

Volk, James; Hansen, Sten; Johnson, Todd

2012-01-01

Particle accelerators require very tight tolerances on the alignment and stability of their elements: magnets, accelerating cavities, vacuum chambers, etc. In this article we describe the Hydrostatic Level Sensors (HLS) for very low frequency measurements used in a variety of facilities at Fermilab. We present design features of the sensors, outline their technical parameters, describe their test and calibration procedures, discuss different regimes of operation and give few illustrative examples of the experimental data. Detail experimental results of the ground motion measurements with these detectors will be presented in subsequent papers.

Hilbert-Huang transform analysis of dynamic and earthquake motion recordings

USGS Publications Warehouse

Zhang, R.R.; Ma, S.; Safak, E.; Hartzell, S.

2003-01-01

This study examines the rationale of Hilbert-Huang transform (HHT) for analyzing dynamic and earthquake motion recordings in studies of seismology and engineering. In particular, this paper first provides the fundamentals of the HHT method, which consist of the empirical mode decomposition (EMD) and the Hilbert spectral analysis. It then uses the HHT to analyze recordings of hypothetical and real wave motion, the results of which are compared with the results obtained by the Fourier data processing technique. The analysis of the two recordings indicates that the HHT method is able to extract some motion characteristics useful in studies of seismology and engineering, which might not be exposed effectively and efficiently by Fourier data processing technique. Specifically, the study indicates that the decomposed components in EMD of HHT, namely, the intrinsic mode function (IMF) components, contain observable, physical information inherent to the original data. It also shows that the grouped IMF components, namely, the EMD-based low- and high-frequency components, can faithfully capture low-frequency pulse-like as well as high-frequency wave signals. Finally, the study illustrates that the HHT-based Hilbert spectra are able to reveal the temporal-frequency energy distribution for motion recordings precisely and clearly.

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

Edmunds, D; Donovan, E

Purpose: To determine whether the Microsoft Kinect Version 2 (Kinect v2), a commercial off-the-shelf (COTS) depth sensors designed for entertainment purposes, were robust to the radiotherapy treatment environment and could be suitable for monitoring of voluntary breath-hold compliance. This could complement current visual monitoring techniques, and be useful for heart sparing left breast radiotherapy. Methods: In-house software to control Kinect v2 sensors, and capture output information, was developed using the free Microsoft software development kit, and the Cinder creative coding C++ library. Each sensor was used with a 12m USB 3.0 active cable. A solid water block was used asmore » the object. The depth accuracy and precision of the sensors was evaluated by comparing Kinect reported distance to the object with a precision laser measurement across a distance range of 0.6m to 2.0 m. The object was positioned on a high-precision programmable motion platform and moved in two programmed motion patterns and Kinect reported distance logged. Robustness to the radiation environment was tested by repeating all measurements with a linear accelerator operating over a range of pulse repetition frequencies (6Hz to 400Hz) and dose rates 50 to 1500 monitor units (MU) per minute. Results: The complex, consistent relationship between true and measured distance was unaffected by the radiation environment, as was the ability to detect motion. Sensor precision was < 1 mm and the accuracy between 1.3 mm and 1.8 mm when a distance correction was applied. Both motion patterns were tracked successfully with a root mean squared error (RMSE) of 1.4 and 1.1 mm respectively. Conclusion: Kinect v2 sensors are capable of tracking pre-programmed motion patterns with an accuracy <2 mm and appear robust to the radiotherapy treatment environment. A clinical trial using Kinect v2 sensor for monitoring voluntary breath hold has ethical approval and is open to recruitment. The authors are supported by a National Institute of Health Research (NIHR) Career Development Fellowship (CDF-2013-06-005). Microsoft Corporation donated three sensors. The views expressed in this publication are those of the author(s) and not necessarily those of the NHS, the National Institute for Health Research or the Department of Health.« less

Feasibility evaluation of a motion detection system with face images for stereotactic radiosurgery.

PubMed

Yamakawa, Takuya; Ogawa, Koichi; Iyatomi, Hitoshi; Kunieda, Etsuo

2011-01-01

In stereotactic radiosurgery we can irradiate a targeted volume precisely with a narrow high-energy x-ray beam, and thus the motion of a targeted area may cause side effects to normal organs. This paper describes our motion detection system with three USB cameras. To reduce the effect of change in illuminance in a tracking area we used an infrared light and USB cameras that were sensitive to the infrared light. The motion detection of a patient was performed by tracking his/her ears and nose with three USB cameras, where pattern matching between a predefined template image for each view and acquired images was done by an exhaustive search method with a general-purpose computing on a graphics processing unit (GPGPU). The results of the experiments showed that the measurement accuracy of our system was less than 0.7 mm, amounting to less than half of that of our previous system.

Generalized Arcsine Laws for Fractional Brownian Motion

NASA Astrophysics Data System (ADS)

Sadhu, Tridib; Delorme, Mathieu; Wiese, Kay Jörg

2018-01-01

The three arcsine laws for Brownian motion are a cornerstone of extreme-value statistics. For a Brownian Bt starting from the origin, and evolving during time T , one considers the following three observables: (i) the duration t+ the process is positive, (ii) the time tlast the process last visits the origin, and (iii) the time tmax when it achieves its maximum (or minimum). All three observables have the same cumulative probability distribution expressed as an arcsine function, thus the name arcsine laws. We show how these laws change for fractional Brownian motion Xt, a non-Markovian Gaussian process indexed by the Hurst exponent H . It generalizes standard Brownian motion (i.e., H =1/2 ). We obtain the three probabilities using a perturbative expansion in ɛ =H -1/2 . While all three probabilities are different, this distinction can only be made at second order in ɛ . Our results are confirmed to high precision by extensive numerical simulations.

Master-slave micromanipulator apparatus

DOEpatents

Morimoto, A.K.; Kozlowski, D.M.; Charles, S.T.; Spalding, J.A.

1999-08-31

An apparatus is disclosed based on precision X-Y stages that are stacked. Attached to arms projecting from each X-Y stage are a set of two axis gimbals. Attached to the gimbals is a rod, which provides motion along the axis of the rod and rotation around its axis. A dual-planar apparatus that provides six degrees of freedom of motion precise to within microns of motion. Precision linear stages along with precision linear motors, encoders, and controls provide a robotics system. The motors can be positioned in a remote location by incorporating a set of bellows on the motors and can be connected through a computer controller that will allow one to be a master and the other one to be a slave. Position information from the master can be used to control the slave. Forces of interaction of the slave with its environment can be reflected back to the motor control of the master to provide a sense of force sensed by the slave. Forces import onto the master by the operator can be fed back into the control of the slave to reduce the forces required to move it. 12 figs.

Master-slave micromanipulator method

DOEpatents

Morimoto, Alan K.; Kozlowski, David M.; Charles, Steven T.; Spalding, James A.

1999-01-01

A method based on precision X-Y stages that are stacked. Attached to arms projecting from each X-Y stage are a set of two axis gimbals. Attached to the gimbals is a rod, which provides motion along the axis of the rod and rotation around its axis. A dual-planar apparatus that provides six degrees of freedom of motion precise to within microns of motion. Precision linear stages along with precision linear motors, encoders, and controls provide a robotics system. The motors can be remotized by incorporating a set of bellows on the motors and can be connected through a computer controller that will allow one to be a master and the other one to be a slave. Position information from the master can be used to control the slave. Forces of interaction of the slave with its environment can be reflected back to the motor control of the master to provide a sense of force sensed by the slave. Forces import onto the master by the operator can be fed back into the control of the slave to reduce the forces required to move it.

Master-slave micromanipulator apparatus

DOEpatents

Morimoto, Alan K.; Kozlowski, David M.; Charles, Steven T.; Spalding, James A.

1999-01-01

An apparatus based on precision X-Y stages that are stacked. Attached to arms projecting from each X-Y stage are a set of two axis gimbals. Attached to the gimbals is a rod, which provides motion along the axis of the rod and rotation around its axis. A dual-planar apparatus that provides six degrees of freedom of motion precise to within microns of motion. Precision linear stages along with precision linear motors, encoders, and controls provide a robotics system. The motors can be positioned in a remote location by incorporating a set of bellows on the motors and can be connected through a computer controller that will allow one to be a master and the other one to be a slave. Position information from the master can be used to control the slave. Forces of interaction of the slave with its environment can be reflected back to the motor control of the master to provide a sense of force sensed by the slave. Forces import onto the master by the operator can be fed back into the control of the slave to reduce the forces required to move it.

A Surface-Coupled Optical Trap with 1-bp Precision via Active Stabilization.

PubMed

Okoniewski, Stephen R; Carter, Ashley R; Perkins, Thomas T

2017-01-01

Optical traps can measure bead motions with Å-scale precision. However, using this level of precision to infer 1-bp motion of molecular motors along DNA is difficult, since a variety of noise sources degrade instrumental stability. In this chapter, we detail how to improve instrumental stability by (1) minimizing laser pointing, mode, polarization, and intensity noise using an acousto-optical-modulator mediated feedback loop and (2) minimizing sample motion relative to the optical trap using a three-axis piezo-electric-stage mediated feedback loop. These active techniques play a critical role in achieving a surface stability of 1 Å in 3D over tens of seconds and a 1-bp stability and precision in a surface-coupled optical trap over a broad bandwidth (Δf = 0.03-2 Hz) at low force (6 pN). These active stabilization techniques can also aid other biophysical assays that would benefit from improved laser stability and/or Å-scale sample stability, such as atomic force microscopy and super-resolution imaging.

High-precision tracking of brownian boomerang colloidal particles confined in quasi two dimensions.

PubMed

Chakrabarty, Ayan; Wang, Feng; Fan, Chun-Zhen; Sun, Kai; Wei, Qi-Huo

2013-11-26

In this article, we present a high-precision image-processing algorithm for tracking the translational and rotational Brownian motion of boomerang-shaped colloidal particles confined in quasi-two-dimensional geometry. By measuring mean square displacements of an immobilized particle, we demonstrate that the positional and angular precision of our imaging and image-processing system can achieve 13 nm and 0.004 rad, respectively. By analyzing computer-simulated images, we demonstrate that the positional and angular accuracies of our image-processing algorithm can achieve 32 nm and 0.006 rad. Because of zero correlations between the displacements in neighboring time intervals, trajectories of different videos of the same particle can be merged into a very long time trajectory, allowing for long-time averaging of different physical variables. We apply this image-processing algorithm to measure the diffusion coefficients of boomerang particles of three different apex angles and discuss the angle dependence of these diffusion coefficients.

International Conference on the Mechanical Technology of Inertial Devices, University of Newcastle-upon-Tyne, England, Apr. 7-9, 1987, Proceedings

NASA Astrophysics Data System (ADS)

Various papers on the mechanical technology of inertial devices are presented. The topics addressed include: development of a directional gyroscope for remotely piloted vehicles and similar applications; a two-degree-of-freedom gyroscope with frictionless inner and outer gimbal pickoffs; oscillogyro design, manufacture, and performance; development of miniature two-axis rate gyroscope; mechanical design aspects of the electrostatically suspended gyroscope; role of gas-lubricated bearings in current and future sensors; development of a new microporous retainer material for precision ball bearings; design study for a high-stability, large-centrifuge test bed; evaluation of a two-axis rate gyro; operating principles of a two-axis angular rate transducer; and nutation frequency analysis. Also considered are: triaxial laser gyro; mechanical design considerations for a ring laser gyro dither mechanism; environmental considerations in the design of fiberoptic gyroscopes; manufacturing aspects of some critical high-precision mechanical components of inertial devices; dynamics and control of a gyroscopic force measurement system; high precision and high performance motion systems; use of multiple acceleration references to obtain high precision centrifuge data at low cost; gyro testing and evaluation at the Communications Research Centre; review of the mechanical design and development of a high-performance accelerometer; and silicon microengineering for accelerometers.

A brain phantom for motion-corrected PROPELLER showing image contrast and construction similar to those of in vivo MRI.

PubMed

Saotome, Kousaku; Matsushita, Akira; Matsumoto, Koji; Kato, Yoshiaki; Nakai, Kei; Murata, Koichi; Yamamoto, Tetsuya; Sankai, Yoshiyuki; Matsumura, Akira

2017-02-01

A fast spin-echo sequence based on the Periodically Rotated Overlapping Parallel Lines with Enhanced Reconstruction (PROPELLER) technique is a magnetic resonance (MR) imaging data acquisition and reconstruction method for correcting motion during scans. Previous studies attempted to verify the in vivo capabilities of motion-corrected PROPELLER in real clinical situations. However, such experiments are limited by repeated, stray head motion by research participants during the prescribed and precise head motion protocol of a PROPELLER acquisition. Therefore, our purpose was to develop a brain phantom set for motion-corrected PROPELLER. The profile curves of the signal intensities on the in vivo T 2 -weighted image (T 2 WI) and 3-D rapid prototyping technology were used to produce the phantom. In addition, we used a homemade driver system to achieve in-plane motion at the intended timing. We calculated the Pearson's correlation coefficient (R 2 ) between the signal intensities of the in vivo T 2 WI and the phantom T 2 WI and clarified the rotation precision of the driver system. In addition, we used the phantom set to perform initial experiments to show the rotational angle and frequency dependences of PROPELLER. The in vivo and phantom T 2 WIs were visually congruent, with a significant correlation (R 2 ) of 0.955 (p<.001). The rotational precision of the driver system was within 1 degree of tolerance. The experiment on the rotational angle dependency showed image discrepancies between the rotational angles. The experiment on the rotational frequency dependency showed that the reconstructed images became increasingly blurred by the corruption of the blades as the number of motions increased. In this study, we developed a phantom that showed image contrasts and construction similar to the in vivo T 2 WI. In addition, our homemade driver system achieved precise in-plane motion at the intended timing. Our proposed phantom set could perform systematic experiments with a real clinical MR image, which to date has not been possible in in vivo studies. Further investigation should focus on the improvement of the motion-correction algorithm in PROPELLER using our phantom set for what would traditionally be considered problematic patients (children, emergency patients, elderly, those with dementia, and so on). Copyright © 2016 Elsevier Inc. All rights reserved.

Brownian motion of arbitrarily shaped particles in two dimensions.

PubMed

Chakrabarty, Ayan; Konya, Andrew; Wang, Feng; Selinger, Jonathan V; Sun, Kai; Wei, Qi-Huo

2014-11-25

We implement microfabricated boomerang particles with unequal arm lengths as a model for nonsymmetric particles and study their Brownian motion in a quasi-two-dimensional geometry by using high-precision single-particle motion tracking. We show that because of the coupling between translation and rotation, the mean squared displacements of a single asymmetric boomerang particle exhibit a nonlinear crossover from short-time faster to long-time slower diffusion, and the mean displacements for fixed initial orientation are nonzero and saturate out at long times. The measured anisotropic diffusion coefficients versus the tracking point position indicate that there exists one unique point, i.e., the center of hydrodynamic stress (CoH), at which all coupled diffusion coefficients vanish. This implies that in contrast to motion in three dimensions where the CoH exists only for high-symmetry particles, the CoH always exists for Brownian motion in two dimensions. We develop an analytical model based on Langevin theory to explain the experimental results and show that among the six anisotropic diffusion coefficients only five are independent because the translation-translation coupling originates from the translation-rotation coupling. Finally, we classify the behavior of two-dimensional Brownian motion of arbitrarily shaped particles into four groups based on the particle shape symmetry group and discussed potential applications of the CoH in simplifying understanding of the circular motions of microswimmers.

Hand Motion Classification Using a Multi-Channel Surface Electromyography Sensor

PubMed Central

Tang, Xueyan; Liu, Yunhui; Lv, Congyi; Sun, Dong

2012-01-01

The human hand has multiple degrees of freedom (DOF) for achieving high-dexterity motions. Identifying and replicating human hand motions are necessary to perform precise and delicate operations in many applications, such as haptic applications. Surface electromyography (sEMG) sensors are a low-cost method for identifying hand motions, in addition to the conventional methods that use data gloves and vision detection. The identification of multiple hand motions is challenging because the error rate typically increases significantly with the addition of more hand motions. Thus, the current study proposes two new methods for feature extraction to solve the problem above. The first method is the extraction of the energy ratio features in the time-domain, which are robust and invariant to motion forces and speeds for the same gesture. The second method is the extraction of the concordance correlation features that describe the relationship between every two channels of the multi-channel sEMG sensor system. The concordance correlation features of a multi-channel sEMG sensor system were shown to provide a vast amount of useful information for identification. Furthermore, a new cascaded-structure classifier is also proposed, in which 11 types of hand gestures can be identified accurately using the newly defined features. Experimental results show that the success rate for the identification of the 11 gestures is significantly high. PMID:22438703

Hand motion classification using a multi-channel surface electromyography sensor.

PubMed

Tang, Xueyan; Liu, Yunhui; Lv, Congyi; Sun, Dong

2012-01-01

The human hand has multiple degrees of freedom (DOF) for achieving high-dexterity motions. Identifying and replicating human hand motions are necessary to perform precise and delicate operations in many applications, such as haptic applications. Surface electromyography (sEMG) sensors are a low-cost method for identifying hand motions, in addition to the conventional methods that use data gloves and vision detection. The identification of multiple hand motions is challenging because the error rate typically increases significantly with the addition of more hand motions. Thus, the current study proposes two new methods for feature extraction to solve the problem above. The first method is the extraction of the energy ratio features in the time-domain, which are robust and invariant to motion forces and speeds for the same gesture. The second method is the extraction of the concordance correlation features that describe the relationship between every two channels of the multi-channel sEMG sensor system. The concordance correlation features of a multi-channel sEMG sensor system were shown to provide a vast amount of useful information for identification. Furthermore, a new cascaded-structure classifier is also proposed, in which 11 types of hand gestures can be identified accurately using the newly defined features. Experimental results show that the success rate for the identification of the 11 gestures is significantly high.

Motion behavior of water droplets driven by triboelectric nanogenerator

NASA Astrophysics Data System (ADS)

Nie, Jinhui; Jiang, Tao; Shao, Jiajia; Ren, Zewei; Bai, Yu; Iwamoto, Mitsumasa; Chen, Xiangyu; Wang, Zhong Lin

2018-04-01

By integrating a triboelectric nanogenerator (TENG) and a simple circuit board, the motion of water droplets can be controlled by the output of the TENG, which demonstrates a self-powered microfluidic system toward various practical applications in the fields of microfluidic system and soft robotics. This paper describes a method to construct a physical model for this self-powered system on the basis of electrostatic induction theory. The model can precisely simulate the detailed motion behavior of the droplet under driving of TENG, and it can also reveal the influences of surface hydrophobicity on the motion of the droplet, which can help us to better understand the key parameters that decide the performance of the system. The experimental observation of the dynamic performance of the droplet has also been done with a high speed camera system. A comparison between simulation results and real measurements confirms that the proposed model can predict the velocity and position of the water droplet driven by high voltage source as well as TENG. Hence, the proposed model in this work could serve as a guidance for optimizing the self-powered systems in future studies.

Challenges and opportunities in patient-specific, motion-managed and PET/CT-guided radiation therapy of lung cancer: review and perspective

PubMed Central

2012-01-01

The increasing interest in combined positron emission tomography (PET) and computed tomography (CT) to guide lung cancer radiation therapy planning has been well documented. Motion management strategies during treatment simulation PET/CT imaging and treatment delivery have been proposed to improve the precision and accuracy of radiotherapy. In light of these research advances, why has translation of motion-managed PET/CT to clinical radiotherapy been slow and infrequent? Solutions to this problem are as complex as they are numerous, driven by large inter-patient variability in tumor motion trajectories across a highly heterogeneous population. Such variation dictates a comprehensive and patient-specific incorporation of motion management strategies into PET/CT-guided radiotherapy rather than a one-size-fits-all tactic. This review summarizes challenges and opportunities for clinical translation of advances in PET/CT-guided radiotherapy, as well as in respiratory motion-managed radiotherapy of lung cancer. These two concepts are then integrated into proposed patient-specific workflows that span classification schemes, PET/CT image formation, treatment planning, and adaptive image-guided radiotherapy delivery techniques. PMID:23369522

Spin motion determination of the Envisat satellite through laser ranging measurements from a single pass measured by a single station

NASA Astrophysics Data System (ADS)

Pittet, Jean-Noël; Šilha, Jiří; Schildknecht, Thomas

2018-02-01

The Satellite Laser Ranging (SLR) technology is used to accurately determine the position of space objects equipped with so-called retro-reflectors or retro-reflector arrays (RRA). This type of measurement allows to measure the range to the spacecraft with high precision, which leads to determination of very accurate orbits for these targets. Non-active spacecraft, which are not attitude controlled any longer, tend to start to spin or tumble under influence of the external and internal torques and forces. If the return signal is measured for a non-spherical non-active rotating object, the signal in the range residuals with respect to the reference orbit is more complex. For rotating objects the return signal shows an oscillating pattern or patterns caused by the RRA moving around the satellite's centre of mass. This behaviour is projected onto the radial component measured by the SLR. In our work, we demonstrate how the SLR ranging technique from one sensor to a satellite equipped with a RRA can be used to precisely determine its spin motion during one passage. Multiple SLR measurements of one target over time allow to accurately monitor spin motion changes which can be further used for attitude predictions. We show our solutions of the spin motion determined for the non-active ESA satellite Envisat obtained from measurements acquired during years 2013-2015 by the Zimmerwald SLR station, Switzerland. All the necessary parameters are defined for our own so-called point-like model which describes the motion of a point in space around the satellite centre of mass.

High Precision Spectroscopy of CH_5^+ Using Nice-Ohvms

NASA Astrophysics Data System (ADS)

Hodges, James N.; Perry, Adam J.; McCall, Benjamin J.

2013-06-01

The elusive methonium ion, CH_5^+, is of great interest due to its highly fluxional nature. The only published high-resolution infrared spectrum remains completely unassigned to this date. The primary challenge in understanding the CH_5^+ spectrum is that traditional spectroscopic approaches rely on a molecule having only small (or even large) amplitude motions about a well-defined reference geometry, and this is not the case with CH_5^+. We are in the process of re-scanning Oka's spectrum, in the original Black Widow discharge cell, using the new technique of Noise Immune Cavity Enhanced Optical Heterodyne Velocity Modulation Spectroscopy (NICE-OHVMS). The high precision afforded by optical saturation in conjunction with a frequency comb allows transition line centers to be determined with sub-MHz accuracy and precision -- a substantial improvement over the 90 MHz precision of Oka's work. With a high-precision linelist in hand, we plan to search for four line combination differences to directly determine the spacings between rotational energy levels. Such a search is currently infeasible due to the large number of false positives resulting from the relatively low precision and high spectral density of Oka's spectrum. The resulting combination differences, in conjunction with state-of-the-art theoretical calculations from Tucker Carrington, may provide the first insight into the rotational structure of this unique molecular system. E. T. White, J. Tang, T. Oka, Science (1999) 284, 135--137. B. M. Siller, et al. Opt. Express (2011), 19, 24822--24827. K. N. Crabtree, et al. Chem. Phys. Lett. (2012), 551, 1--6. X. Wang, T. Carrington, J. Chem. Phys., (2008), 129, 234102.

High-precision numerical integration of equations in dynamics

NASA Astrophysics Data System (ADS)

Alesova, I. M.; Babadzanjanz, L. K.; Pototskaya, I. Yu.; Pupysheva, Yu. Yu.; Saakyan, A. T.

2018-05-01

An important requirement for the process of solving differential equations in Dynamics, such as the equations of the motion of celestial bodies and, in particular, the motion of cosmic robotic systems is high accuracy at large time intervals. One of effective tools for obtaining such solutions is the Taylor series method. In this connection, we note that it is very advantageous to reduce the given equations of Dynamics to systems with polynomial (in unknowns) right-hand sides. This allows us to obtain effective algorithms for finding the Taylor coefficients, a priori error estimates at each step of integration, and an optimal choice of the order of the approximation used. In the paper, these questions are discussed and appropriate algorithms are considered.

Motion compensation using origin ensembles in awake small animal positron emission tomography

NASA Astrophysics Data System (ADS)

Gillam, John E.; Angelis, Georgios I.; Kyme, Andre Z.; Meikle, Steven R.

2017-02-01

In emission tomographic imaging, the stochastic origin ensembles algorithm provides unique information regarding the detected counts given the measured data. Precision in both voxel and region-wise parameters may be determined for a single data set based on the posterior distribution of the count density allowing uncertainty estimates to be allocated to quantitative measures. Uncertainty estimates are of particular importance in awake animal neurological and behavioral studies for which head motion, unique for each acquired data set, perturbs the measured data. Motion compensation can be conducted when rigid head pose is measured during the scan. However, errors in pose measurements used for compensation can degrade the data and hence quantitative outcomes. In this investigation motion compensation and detector resolution models were incorporated into the basic origin ensembles algorithm and an efficient approach to computation was developed. The approach was validated against maximum liklihood—expectation maximisation and tested using simulated data. The resultant algorithm was then used to analyse quantitative uncertainty in regional activity estimates arising from changes in pose measurement precision. Finally, the posterior covariance acquired from a single data set was used to describe correlations between regions of interest providing information about pose measurement precision that may be useful in system analysis and design. The investigation demonstrates the use of origin ensembles as a powerful framework for evaluating statistical uncertainty of voxel and regional estimates. While in this investigation rigid motion was considered in the context of awake animal PET, the extension to arbitrary motion may provide clinical utility where respiratory or cardiac motion perturb the measured data.

High precision pulsar timing and spin frequency second derivatives

NASA Astrophysics Data System (ADS)

Liu, X. J.; Bassa, C. G.; Stappers, B. W.

2018-05-01

We investigate the impact of intrinsic, kinematic and gravitational effects on high precision pulsar timing. We present an analytical derivation and a numerical computation of the impact of these effects on the first and second derivative of the pulsar spin frequency. In addition, in the presence of white noise, we derive an expression to determine the expected measurement uncertainty of a second derivative of the spin frequency for a given timing precision, observing cadence and timing baseline and find that it strongly depends on the latter (∝t-7/2). We show that for pulsars with significant proper motion, the spin frequency second derivative is dominated by a term dependent on the radial velocity of the pulsar. Considering the data sets from three Pulsar Timing Arrays, we find that for PSR J0437-4715 a detectable spin frequency second derivative will be present if the absolute value of the radial velocity exceeds 33 km s-1. Similarly, at the current timing precision and cadence, continued timing observations of PSR J1909-3744 for about another eleven years, will allow the measurement of its frequency second derivative and determine the radial velocity with an accuracy better than 14 km s-1. With the ever increasing timing precision and observing baselines, the impact of the, largely unknown, radial velocities of pulsars on high precision pulsar timing can not be neglected.

SOLARIS 3-axis high load, low profile, high precision motorized positioner

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

Acome, Eric; Van Every, Eric; Deyhim, Alex, E-mail: adc@adc9001.com

A 3-axis optical table, shown in Figure 1, was designed, fabricated, and assembled for the SOLARIS synchrotron facility at the Jagiellonian University in Krakow, Poland. To accommodate the facility, the table was designed to be very low profile, as seen in Figure 2, and bear a high load. The platform has degrees of freedom in the vertical (Z) direction as well as horizontal transversal (X and Y) directions. The table is intended to sustain loads as large as 1500 kg which will be sufficient to support a variety of equipment to measure and facilitate synchrotron radiation. After assembly, the tablemore » was tested and calibrated to find its position error in the vertical direction. ADC has extensive experience designing and building custom complex high precision motion systems [1,2].« less

Sustained attention to objects' motion sharpens position representations: Attention to changing position and attention to motion are distinct.

PubMed

Howard, Christina J; Rollings, Victoria; Hardie, Amy

2017-06-01

In tasks where people monitor moving objects, such the multiple object tracking task (MOT), observers attempt to keep track of targets as they move amongst distracters. The literature is mixed as to whether observers make use of motion information to facilitate performance. We sought to address this by two means: first by superimposing arrows on objects which varied in their informativeness about motion direction and second by asking observers to attend to motion direction. Using a position monitoring task, we calculated mean error magnitudes as a measure of the precision with which target positions are represented. We also calculated perceptual lags versus extrapolated reports, which are the times at which positions of targets best match position reports. We find that the presence of motion information in the form of superimposed arrows made no difference to position report precision nor perceptual lag. However, when we explicitly instructed observers to attend to motion, we saw facilitatory effects on position reports and in some cases reports that best matched extrapolated rather than lagging positions for small set sizes. The results indicate that attention to changing positions does not automatically recruit attention to motion, showing a dissociation between sustained attention to changing positions and attention to motion. Copyright © 2017 Elsevier Ltd. All rights reserved.

Kinematics Simulation Analysis of Packaging Robot with Joint Clearance

NASA Astrophysics Data System (ADS)

Zhang, Y. W.; Meng, W. J.; Wang, L. Q.; Cui, G. H.

2018-03-01

Considering the influence of joint clearance on the motion error, repeated positioning accuracy and overall position of the machine, this paper presents simulation analysis of a packaging robot — 2 degrees of freedom(DOF) planar parallel robot based on the characteristics of high precision and fast speed of packaging equipment. The motion constraint equation of the mechanism is established, and the analysis and simulation of the motion error are carried out in the case of turning the revolute clearance. The simulation results show that the size of the joint clearance will affect the movement accuracy and packaging efficiency of the packaging robot. The analysis provides a reference point of view for the packaging equipment design and selection criteria and has a great significance on the packaging industry automation.

High-precision planar magnetic levitation

NASA Astrophysics Data System (ADS)

Kim, Won-Jong

1997-11-01

This thesis presents the design and implementation of a high-precision magnetically levitated stage with large planar motion capability. This stage is the first which is capable of providing all the motions required for photolithography in semiconductor manufacturing with only one moving part, namely the platen. The platen is driven in all six-degree-of-freedom motions with small adjustments for focusing and alignment and with large planar motions for positioning across the wafer surface. The underlying electromechanical modeling and analysis, mechanical and electrical design, and real-time control of such a high-precision planar magnetic levitator are presented. The platen is levitated without contact by four novel permanent-magnet linear motors that provide both suspension and drive forces. The linear motors consist of Halbach-type magnet arrays attached to the underside of the levitated platen, and coil sets attached to the fixed machine platform. Since all the motor coils are fixed, no wires need to be connected to the moving part. The platen mass of 5.6 kg is supported against gravity by the combined forces of the four motors. Each motor consumes about 5.4 W to lift the platen. Two of the motors drive the stage in the x-direction, and the two other motors drive in the y-direction. The motor forces are coordinated appropriately to control the remaining four degrees of freedom. The present design has a travel of 50 mm in x and y, a travel of 400 μm in z, and is capable of milliradian-scale rotations about each of these three axes. The stage position in the plane is measured with three laser interferometers with sub-nanometer resolution. The stage position out of the plane is measured by three capacitance probes with nanometer resolution. The stage operates with a position noise of 5 nm rms in x and y, and is demonstrating acceleration capabilities in excess of 10 m/s2 (1 g). The control bandwidth of the system is 50 Hz. This design can readily be scaled to travel on the order of 300 mm for the future needs of lithographic systems. (Copies available exclusively from MIT Libraries, Rm. 14-0551, Cambridge, MA 02139-4307. Ph. 617-253-5668; Fax 617-253-1690.)

A New Unified Approach to Determine Geocenter Motion Using Space Geodesy and GRACE Gravity Data

NASA Astrophysics Data System (ADS)

Wu, X.; Kusche, J.; Landerer, F. W.

2016-12-01

Spherical harmonic expansions of Earth's surface mass variations start from three degree-1 terms. These longest-wavelength terms induce geocenter motion between the center-of-mass of the total Earth system (CM) and the center-of-figure of the solid Earth surface (CF), and a degree-1 surface deformation field. For complete spectral coverage and robust assessment of geographic mass budget using GRACE data, very accurate knowledge of geocenter motion between CM and CF is required with precision goals of 0.2 mm in annual amplitude and 0.2 mm/yr leading to equivalent degree-1 coefficients. However, GRACE's K-band ranging data system is not sensitive to these variation modes. Although satellite laser ranging (SLR) system is thought to have the most reliable sensitivity to CM, its surface network is very sparse and can only deliver motion between CM and the center of a changing network (CN) of roughly 20 unevenly distributed stations. Recently, the network has been extended to include 82 stations with their geocentric displacements derived by transferring SLR's CM sensitivity to other technique networks through local tie and co-motion constraints. The CM-CN motion of this network has a better agreement with the geocenter motion result from a global inversion of relative GPS, GRACE, and the ECCO ocean bottom pressure (OBP) model. Still, there is no guarantee that such a CM-CN motion is the same as the CM-CF motion. Also, the global inversion result is subject to the impact of unknown errors in the OBP model. To improve reliability of geocenter motion determination, we use a new unified approach to geocenter motion determination by combining geocentric displacements of ground stations with GRACE gravity data. Both translational and deformational signatures will be exploited for retrieval of the degree-1 surface mass variation coefficients. Higher degree terms are estimated simultaneously using GRACE gravity data, which further improves CF knowledge and reduces aliasing effects. Such a data combination also uses full covariance matrices of all data types to facilitate a reliable variance component estimation. High-precision results for non-linear geocenter motion have been achieved and will be reported. We will also discuss challenges and strategies for improving geocenter velocity determination.

Observation and analysis of high-speed human motion with frequent occlusion in a large area

NASA Astrophysics Data System (ADS)

Wang, Yuru; Liu, Jiafeng; Liu, Guojun; Tang, Xianglong; Liu, Peng

2009-12-01

The use of computer vision technology in collecting and analyzing statistics during sports matches or training sessions is expected to provide valuable information for tactics improvement. However, the measurements published in the literature so far are either unreliably documented to be used in training planning due to their limitations or unsuitable for studying high-speed motion in large area with frequent occlusions. A sports annotation system is introduced in this paper for tracking high-speed non-rigid human motion over a large playing area with the aid of motion camera, taking short track speed skating competitions as an example. The proposed system is composed of two sub-systems: precise camera motion compensation and accurate motion acquisition. In the video registration step, a distinctive invariant point feature detector (probability density grads detector) and a global parallax based matching points filter are used, to provide reliable and robust matching across a large range of affine distortion and illumination change. In the motion acquisition step, a two regions' relationship constrained joint color model and Markov chain Monte Carlo based joint particle filter are emphasized, by dividing the human body into two relative key regions. Several field tests are performed to assess measurement errors, including comparison to popular algorithms. With the help of the system presented, the system obtains position data on a 30 m × 60 m large rink with root-mean-square error better than 0.3975 m, velocity and acceleration data with absolute error better than 1.2579 m s-1 and 0.1494 m s-2, respectively.

A detector interferometric calibration experiment for high precision astrometry

NASA Astrophysics Data System (ADS)

Crouzier, A.; Malbet, F.; Henault, F.; Léger, A.; Cara, C.; LeDuigou, J. M.; Preis, O.; Kern, P.; Delboulbe, A.; Martin, G.; Feautrier, P.; Stadler, E.; Lafrasse, S.; Rochat, S.; Ketchazo, C.; Donati, M.; Doumayrou, E.; Lagage, P. O.; Shao, M.; Goullioud, R.; Nemati, B.; Zhai, C.; Behar, E.; Potin, S.; Saint-Pe, M.; Dupont, J.

2016-11-01

Context. Exoplanet science has made staggering progress in the last two decades, due to the relentless exploration of new detection methods and refinement of existing ones. Yet astrometry offers a unique and untapped potential of discovery of habitable-zone low-mass planets around all the solar-like stars of the solar neighborhood. To fulfill this goal, astrometry must be paired with high precision calibration of the detector. Aims: We present a way to calibrate a detector for high accuracy astrometry. An experimental testbed combining an astrometric simulator and an interferometric calibration system is used to validate both the hardware needed for the calibration and the signal processing methods. The objective is an accuracy of 5 × 10-6 pixel on the location of a Nyquist sampled polychromatic point spread function. Methods: The interferometric calibration system produced modulated Young fringes on the detector. The Young fringes were parametrized as products of time and space dependent functions, based on various pixel parameters. The minimization of function parameters was done iteratively, until convergence was obtained, revealing the pixel information needed for the calibration of astrometric measurements. Results: The calibration system yielded the pixel positions to an accuracy estimated at 4 × 10-4 pixel. After including the pixel position information, an astrometric accuracy of 6 × 10-5 pixel was obtained, for a PSF motion over more than five pixels. In the static mode (small jitter motion of less than 1 × 10-3 pixel), a photon noise limited precision of 3 × 10-5 pixel was reached.

Base line estimation using single passes of laser data

NASA Technical Reports Server (NTRS)

Dunn, P. J.; Torrence, M.; Smith, D. E.; Kolenkiewicz, R.

1979-01-01

The laser data of the GEOS 3 satellite passes observed by four stations at Greenbelt (Maryland), Bermuda, Grand Turk Island (Bahamas) and Patrick Air Force Base (Florida), were employed to determine precise interstation base lines and relative heights in short orbital arcs of no more than 12-min duration. No more than five arcs of data are required to define the interstation base lines to 30-cm precision. Base lines running parallel to the orbital motion can be defined to submeter precision from a single short arc of data. Combining arcs of different orbital geometry in a common adjustment of two or more stations relative to the base station helps to compensate for weak base line definition in any single arc. This technique can be used for tracking such spacecraft as Lageos, a high-altitude retroreflector-carrying satellite designed for precise laser ranging studies.

New inverse synthetic aperture radar algorithm for translational motion compensation

NASA Astrophysics Data System (ADS)

Bocker, Richard P.; Henderson, Thomas B.; Jones, Scott A.; Frieden, B. R.

1991-10-01

Inverse synthetic aperture radar (ISAR) is an imaging technique that shows real promise in classifying airborne targets in real time under all weather conditions. Over the past few years a large body of ISAR data has been collected and considerable effort has been expended to develop algorithms to form high-resolution images from this data. One important goal of workers in this field is to develop software that will do the best job of imaging under the widest range of conditions. The success of classifying targets using ISAR is predicated upon forming highly focused radar images of these targets. Efforts to develop highly focused imaging computer software have been challenging, mainly because the imaging depends on and is affected by the motion of the target, which in general is not precisely known. Specifically, the target generally has both rotational motion about some axis and translational motion as a whole with respect to the radar. The slant-range translational motion kinematic quantities must be first accurately estimated from the data and compensated before the image can be focused. Following slant-range motion compensation, the image is further focused by determining and correcting for target rotation. The use of the burst derivative measure is proposed as a means to improve the computational efficiency of currently used ISAR algorithms. The use of this measure in motion compensation ISAR algorithms for estimating the slant-range translational motion kinematic quantities of an uncooperative target is described. Preliminary tests have been performed on simulated as well as actual ISAR data using both a Sun 4 workstation and a parallel processing transputer array. Results indicate that the burst derivative measure gives significant improvement in processing speed over the traditional entropy measure now employed.

Neural control and precision of flight muscle activation in Drosophila.

PubMed

Lehmann, Fritz-Olaf; Bartussek, Jan

2017-01-01

Precision of motor commands is highly relevant in a large context of various locomotor behaviors, including stabilization of body posture, heading control and directed escape responses. While posture stability and heading control in walking and swimming animals benefit from high friction via ground reaction forces and elevated viscosity of water, respectively, flying animals have to cope with comparatively little aerodynamic friction on body and wings. Although low frictional damping in flight is the key to the extraordinary aerial performance and agility of flying birds, bats and insects, it challenges these animals with extraordinary demands on sensory integration and motor precision. Our review focuses on the dynamic precision with which Drosophila activates its flight muscular system during maneuvering flight, considering relevant studies on neural and muscular mechanisms of thoracic propulsion. In particular, we tackle the precision with which flies adjust power output of asynchronous power muscles and synchronous flight control muscles by monitoring muscle calcium and spike timing within the stroke cycle. A substantial proportion of the review is engaged in the significance of visual and proprioceptive feedback loops for wing motion control including sensory integration at the cellular level. We highlight that sensory feedback is the basis for precise heading control and body stability in flies.

The analysis and compensation of errors of precise simple harmonic motion control under high speed and large load conditions based on servo electric cylinder

NASA Astrophysics Data System (ADS)

Ma, Chen-xi; Ding, Guo-qing

2017-10-01

Simple harmonic waves and synthesized simple harmonic waves are widely used in the test of instruments. However, because of the errors caused by clearance of gear and time-delay error of FPGA, it is difficult to control servo electric cylinder in precise simple harmonic motion under high speed, high frequency and large load conditions. To solve the problem, a method of error compensation is proposed in this paper. In the method, a displacement sensor is fitted on the piston rod of the electric cylinder. By using the displacement sensor, the real-time displacement of the piston rod is obtained and fed back to the input of servo motor, then a closed loop control is realized. There is compensation of pulses in the next period of the synthetic waves. This paper uses FPGA as the processing core. The software mainly comprises a waveform generator, an Ethernet module, a memory module, a pulse generator, a pulse selector, a protection module, an error compensation module. A durability of shock absorbers is used as the testing platform. The durability mainly comprises a single electric cylinder, a servo motor for driving the electric cylinder, and the servo motor driver.

Novel AC Servo Rotating and Linear Composite Driving Device for Plastic Forming Equipment

NASA Astrophysics Data System (ADS)

Liang, Jin-Tao; Zhao, Sheng-Dun; Li, Yong-Yi; Zhu, Mu-Zhi

2017-07-01

The existing plastic forming equipment are mostly driven by traditional AC motors with long transmission chains, low efficiency, large size, low precision and poor dynamic response are the common disadvantages. In order to realize high performance forming processes, the driving device should be improved, especially for complicated processing motions. Based on electric servo direct drive technology, a novel AC servo rotating and linear composite driving device is proposed, which features implementing both spindle rotation and feed motion without transmission, so that compact structure and precise control can be achieved. Flux switching topology is employed in the rotating drive component for strong robustness, and fractional slot is employed in the linear direct drive component for large force capability. Then the mechanical structure for compositing rotation and linear motion is designed. A device prototype is manufactured, machining of each component and the whole assembly are presented respectively. Commercial servo amplifiers are utilized to construct the control system of the proposed device. To validate the effectiveness of the proposed composite driving device, experimental study on the dynamic test benches are conducted. The results indicate that the output torque can attain to 420 N·m and the dynamic tracking errors are less than about 0.3 rad in the rotating drive. the dynamic tracking errors are less than about 1.6 mm in the linear feed. The proposed research provides a method to construct high efficiency and accuracy direct driving device in plastic forming equipment.

When Did Midcontinent Rift Volcanism End and Where Was Laurentia at that Time?

NASA Astrophysics Data System (ADS)

Fairchild, L. M.; Swanson-Hysell, N.; Ramezani, J.; Sprain, C. J.; Gaastra, K. M.; Bowring, S. A.

2015-12-01

Data from the North American Midcontinent Rift provide a robust record of Laurentia's (cratonic North America's) paleogeographic position from ca. 1110 to 1080 Ma. The resulting apparent polar wander path (APWP) reveals rapid motion of the continent towards the equator throughout the rift's lifetime. Constraints on the age of the youngest volcanics within the rift and on the paleolatitude of Laurentia at that time are important for quantifying the rate of this motion and its apparent deceleration in the late stage of rift development. Furthermore, precise calibration of the APWP enhances the robustness of paleogeographic reconstructions. The three rift successions with ca. 1090 to 1085 Ma late stage volcanics are the Lake Shore Traps of Michigan, the Michipicoten Island Formation of Ontario and the Schroeder-Lutsen basalts of Minnesota. In past studies, paleomagnetic data from the Schroeder-Lutsen basalts have been grouped with results from the North Shore Volcanic Group, which it unconformably overlies. In this study, we separate these data and add newly developed results from 40 additional flows. New data from the Michipicoten Island Formation allow for a well constrained pole that now includes data from more than 25 flows. High quality paleomagnetic data are published for the Lake Shore Traps, and we complement these with a newly developed high precision U-Pb zircon date as an update to current constraints. Taken altogether, these data strengthen our understanding of the rift's demise and the rate of Laurentia's motion as rift volcanism gave way to post-rift sedimentation.

Motion-oriented high speed 3-D measurements by binocular fringe projection using binary aperiodic patterns.

PubMed

Feng, Shijie; Chen, Qian; Zuo, Chao; Tao, Tianyang; Hu, Yan; Asundi, Anand

2017-01-23

Fringe projection is an extensively used technique for high speed three-dimensional (3-D) measurements of dynamic objects. To precisely retrieve a moving object at pixel level, researchers prefer to project a sequence of fringe images onto its surface. However, the motion often leads to artifacts in reconstructions due to the sequential recording of the set of patterns. In order to reduce the adverse impact of the movement, we present a novel high speed 3-D scanning technique combining the fringe projection and stereo. Firstly, promising measuring speed is achieved by modifying the traditional aperiodic sinusoidal patterns so that the fringe images can be cast at kilohertz with the widely used defocusing strategy. Next, a temporal intensity tracing algorithm is developed to further alleviate the influence of motion by accurately tracing the ideal intensity for stereo matching. Then, a combined cost measure is suggested to robustly estimate the cost for each pixel and lastly a three-step framework of refinement follows not only to eliminate outliers caused by the motion but also to obtain sub-pixel disparity results for 3-D reconstructions. In comparison with the traditional method where the effect of motion is not considered, experimental results show that the reconstruction accuracy for dynamic objects can be improved by an order of magnitude with the proposed method.

Design and Validation of Exoskeleton Actuated by Soft Modules toward Neurorehabilitation-Vision-Based Control for Precise Reaching Motion of Upper Limb.

PubMed

Oguntosin, Victoria W; Mori, Yoshiki; Kim, Hyejong; Nasuto, Slawomir J; Kawamura, Sadao; Hayashi, Yoshikatsu

2017-01-01

We demonstrated the design, production, and functional properties of the Exoskeleton Actuated by the Soft Modules (EAsoftM). Integrating the 3D printed exoskeleton with passive joints to compensate gravity and with active joints to rotate the shoulder and elbow joints resulted in ultra-light system that could assist planar reaching motion by using the vision-based control law. The EAsoftM can support the reaching motion with compliance realized by the soft materials and pneumatic actuation. In addition, the vision-based control law has been proposed for the precise control over the target reaching motion within the millimeter scale. Aiming at rehabilitation exercise for individuals, typically soft actuators have been developed for relatively small motions, such as grasping motion, and one of the challenges has been to extend their use for a wider range reaching motion. The proposed EAsoftM presented one possible solution for this challenge by transmitting the torque effectively along the anatomically aligned with a human body exoskeleton. The proposed integrated systems will be an ideal solution for neurorehabilitation where affordable, wearable, and portable systems are required to be customized for individuals with specific motor impairments.

Design and Validation of Exoskeleton Actuated by Soft Modules toward Neurorehabilitation—Vision-Based Control for Precise Reaching Motion of Upper Limb

PubMed Central

Oguntosin, Victoria W.; Mori, Yoshiki; Kim, Hyejong; Nasuto, Slawomir J.; Kawamura, Sadao; Hayashi, Yoshikatsu

2017-01-01

We demonstrated the design, production, and functional properties of the Exoskeleton Actuated by the Soft Modules (EAsoftM). Integrating the 3D printed exoskeleton with passive joints to compensate gravity and with active joints to rotate the shoulder and elbow joints resulted in ultra-light system that could assist planar reaching motion by using the vision-based control law. The EAsoftM can support the reaching motion with compliance realized by the soft materials and pneumatic actuation. In addition, the vision-based control law has been proposed for the precise control over the target reaching motion within the millimeter scale. Aiming at rehabilitation exercise for individuals, typically soft actuators have been developed for relatively small motions, such as grasping motion, and one of the challenges has been to extend their use for a wider range reaching motion. The proposed EAsoftM presented one possible solution for this challenge by transmitting the torque effectively along the anatomically aligned with a human body exoskeleton. The proposed integrated systems will be an ideal solution for neurorehabilitation where affordable, wearable, and portable systems are required to be customized for individuals with specific motor impairments. PMID:28736514

Lateral vibration control of a precise machine using magneto-rheological mounts featuring multiple directional damping effect

NASA Astrophysics Data System (ADS)

Kim, Hyung Tae; Jeong, An Mok; Kim, Hyo Young; An, Jong Wook; Kim, Cheol Ho; Jin, Kyung Chan; Choi, Seung-Bok

2018-03-01

In a previous work, magneto-rheological (MR) dampers were originally designed and implemented for reducing the vertical low-frequency vibration occurring in precise semi-conductor manufacturing equipment. To reduce the vibrations, an isolator levitated the manufacturing machine from the floor using pneumatic pressure which cut off the external vibration, while the MR damper was used to decrease the transient response of the isolator. However, it has been found that the MR damper also provides a damping effect on the lateral vibration induced by the high-speed plane motions. Therefore, in this work both vertical and lateral vibrations are controlled using the yield and shear stresses of the lateral directions generated from the MR fluids by applying a magnetic field. After deriving a vibration control model, an overall control logic is formulated considering both vertical and lateral vibrations. In this control strategy, a feedback loop associated with the laser sensor is used for vertical vibration control, while a feed-forward loop with the motion information is used for lateral vibration control. The experimental results show that the proposed concept is highly effective for lateral vibration control using the damping effect on multiple directions.

Electron kinetic effects on interferometry, polarimetry and Thomson scattering measurements in burning plasmas (invited)

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

Mirnov, V. V.; Hartog, D. J. Den; Duff, J.

2014-11-15

At anticipated high electron temperatures in ITER, the effects of electron thermal motion on Thomson scattering (TS), toroidal interferometer/polarimeter (TIP), and poloidal polarimeter (PoPola) diagnostics will be significant and must be accurately treated. The precision of the previous lowest order linear in τ = T{sub e}/m{sub e}c{sup 2} model may be insufficient; we present a more precise model with τ{sup 2}-order corrections to satisfy the high accuracy required for ITER TIP and PoPola diagnostics. The linear model is extended from Maxwellian to a more general class of anisotropic electron distributions that allows us to take into account distortions caused bymore » equilibrium current, ECRH, and RF current drive effects. The classical problem of the degree of polarization of incoherent Thomson scattered radiation is solved analytically exactly without any approximations for the full range of incident polarizations, scattering angles, and electron thermal motion from non-relativistic to ultra-relativistic. The results are discussed in the context of the possible use of the polarization properties of Thomson scattered light as a method of T{sub e} measurement relevant to ITER operational scenarios.« less

A rotational and axial motion system load frame insert for in situ high energy x-ray studies

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

Shade, Paul A., E-mail: paul.shade.1@us.af.mil; Schuren, Jay C.; Turner, Todd J.

2015-09-15

High energy x-ray characterization methods hold great potential for gaining insight into the behavior of materials and providing comparison datasets for the validation and development of mesoscale modeling tools. A suite of techniques have been developed by the x-ray community for characterizing the 3D structure and micromechanical state of polycrystalline materials; however, combining these techniques with in situ mechanical testing under well characterized and controlled boundary conditions has been challenging due to experimental design requirements, which demand new high-precision hardware as well as access to high-energy x-ray beamlines. We describe the design and performance of a load frame insert withmore » a rotational and axial motion system that has been developed to meet these requirements. An example dataset from a deforming titanium alloy demonstrates the new capability.« less

uvby photometry in McCormick proper motion fields

NASA Technical Reports Server (NTRS)

Degewij, J.

1982-01-01

The Danish 50 cm telescope at the European Southern Observatory was used to obtain high-precision uvby photometry for 50 F2 to G2 stars, with V values in the 9.4-12.3 mag range, which were selected in the southern galactic polar regions of the McCormick proper motion fields and measured on six different nights. The brighter stars are found to systematically exhibit smaller m(1) indices, of about 0.02 mag, upon comparison with the earlier data of Blaauw et al (1976). Single measurements are given for 98 stars in eight McCormick fields at intermediate southern galactic latitudes.

Experimental evaluation of active-member control of precision structures

NASA Technical Reports Server (NTRS)

Fanson, James; Blackwood, Gary; Chu, Cheng-Chih

1989-01-01

The results of closed loop experiments that use piezoelectric active-members to control the flexible motion of a precision truss structure are described. These experiments are directed toward the development of high-performance structural systems as part of the Control/Structure Interaction (CSI) program at JPL. The focus of CSI activity at JPL is to develop the technology necessary to accurately control both the shape and vibration levels in the precision structures from which proposed large space-based observatories will be built. Structural error budgets for these types of structures will likely be in the sub-micron regime; optical tolerances will be even tighter. In order to achieve system level stability and local positioning at this level, it is generally expected that some form of active control will be required.

Building large mosaics of confocal edomicroscopic images using visual servoing.

PubMed

Rosa, Benoît; Erden, Mustafa Suphi; Vercauteren, Tom; Herman, Benoît; Szewczyk, Jérôme; Morel, Guillaume

2013-04-01

Probe-based confocal laser endomicroscopy provides real-time microscopic images of tissues contacted by a small probe that can be inserted in vivo through a minimally invasive access. Mosaicking consists in sweeping the probe in contact with a tissue to be imaged while collecting the video stream, and process the images to assemble them in a large mosaic. While most of the literature in this field has focused on image processing, little attention has been paid so far to the way the probe motion can be controlled. This is a crucial issue since the precision of the probe trajectory control drastically influences the quality of the final mosaic. Robotically controlled motion has the potential of providing enough precision to perform mosaicking. In this paper, we emphasize the difficulties of implementing such an approach. First, probe-tissue contacts generate deformations that prevent from properly controlling the image trajectory. Second, in the context of minimally invasive procedures targeted by our research, robotic devices are likely to exhibit limited quality of the distal probe motion control at the microscopic scale. To cope with these problems visual servoing from real-time endomicroscopic images is proposed in this paper. It is implemented on two different devices (a high-accuracy industrial robot and a prototype minimally invasive device). Experiments on different kinds of environments (printed paper and ex vivo tissues) show that the quality of the visually servoed probe motion is sufficient to build mosaics with minimal distortion in spite of disturbances.

Highly accurate analytic formulae for projectile motion subjected to quadratic drag

NASA Astrophysics Data System (ADS)

Turkyilmazoglu, Mustafa

2016-05-01

The classical phenomenon of motion of a projectile fired (thrown) into the horizon through resistive air charging a quadratic drag onto the object is revisited in this paper. No exact solution is known that describes the full physical event under such an exerted resistance force. Finding elegant analytical approximations for the most interesting engineering features of dynamical behavior of the projectile is the principal target. Within this purpose, some analytical explicit expressions are derived that accurately predict the maximum height, its arrival time as well as the flight range of the projectile at the highest ascent. The most significant property of the proposed formulas is that they are not restricted to the initial speed and firing angle of the object, nor to the drag coefficient of the medium. In combination with the available approximations in the literature, it is possible to gain information about the flight and complete the picture of a trajectory with high precision, without having to numerically simulate the full governing equations of motion.

Computer-aided target tracking in motion analysis studies

NASA Astrophysics Data System (ADS)

Burdick, Dominic C.; Marcuse, M. L.; Mislan, J. D.

1990-08-01

Motion analysis studies require the precise tracking of reference objects in sequential scenes. In a typical situation, events of interest are captured at high frame rates using special cameras, and selected objects or targets are tracked on a frame by frame basis to provide necessary data for motion reconstruction. Tracking is usually done using manual methods which are slow and prone to error. A computer based image analysis system has been developed that performs tracking automatically. The objective of this work was to eliminate the bottleneck due to manual methods in high volume tracking applications such as the analysis of crash test films for the automotive industry. The system has proven to be successful in tracking standard fiducial targets and other objects in crash test scenes. Over 95 percent of target positions which could be located using manual methods can be tracked by the system, with a significant improvement in throughput over manual methods. Future work will focus on the tracking of clusters of targets and on tracking deformable objects such as airbags.

Two-dimensional flow nanometry of biological nanoparticles for accurate determination of their size and emission intensity

NASA Astrophysics Data System (ADS)

Block, Stephan; Fast, Björn Johansson; Lundgren, Anders; Zhdanov, Vladimir P.; Höök, Fredrik

2016-09-01

Biological nanoparticles (BNPs) are of high interest due to their key role in various biological processes and use as biomarkers. BNP size and composition are decisive for their functions, but simultaneous determination of both properties with high accuracy remains challenging. Optical microscopy allows precise determination of fluorescence/scattering intensity, but not the size of individual BNPs. The latter is better determined by tracking their random motion in bulk, but the limited illumination volume for tracking this motion impedes reliable intensity determination. Here, we show that by attaching BNPs to a supported lipid bilayer, subjecting them to hydrodynamic flows and tracking their motion via surface-sensitive optical imaging enable determination of their diffusion coefficients and flow-induced drifts, from which accurate quantification of both BNP size and emission intensity can be made. For vesicles, the accuracy of this approach is demonstrated by resolving the expected radius-squared dependence of their fluorescence intensity for radii down to 15 nm.

Error mechanism analyses of an ultra-precision stage for high speed scan motion over a large stroke

NASA Astrophysics Data System (ADS)

Wang, Shaokai; Tan, Jiubin; Cui, Jiwen

2015-02-01

Reticle Stage (RS) is designed to complete scan motion with high speed in nanometer-scale over a large stroke. Comparing with the allowable scan accuracy of a few nanometers, errors caused by any internal or external disturbances are critical and must not be ignored. In this paper, RS is firstly introduced in aspects of mechanical structure, forms of motion, and controlling method. Based on that, mechanisms of disturbances transferred to final servo-related error in scan direction are analyzed, including feedforward error, coupling between the large stroke stage (LS) and the short stroke stage (SS), and movement of measurement reference. Especially, different forms of coupling between SS and LS are discussed in detail. After theoretical analysis above, the contributions of these disturbances to final error are simulated numerically. The residual positioning error caused by feedforward error in acceleration process is about 2 nm after settling time, the coupling between SS and LS about 2.19 nm, and the movements of MF about 0.6 nm.

Brain responses to biological motion predict treatment outcome in young adults with autism receiving Virtual Reality Social Cognition Training: Preliminary findings.

PubMed

Yang, Y J Daniel; Allen, Tandra; Abdullahi, Sebiha M; Pelphrey, Kevin A; Volkmar, Fred R; Chapman, Sandra B

2017-06-01

Autism Spectrum Disorder (ASD) is characterized by remarkable heterogeneity in social, communication, and behavioral deficits, creating a major barrier in identifying effective treatments for a given individual with ASD. To facilitate precision medicine in ASD, we utilized a well-validated biological motion neuroimaging task to identify pretreatment biomarkers that can accurately forecast the response to an evidence-based behavioral treatment, Virtual Reality-Social Cognition Training (VR-SCT). In a preliminary sample of 17 young adults with high-functioning ASD, we identified neural predictors of change in emotion recognition after VR-SCT. The predictors were characterized by the pretreatment brain activations to biological vs. scrambled motion in the neural circuits that support (a) language comprehension and interpretation of incongruent auditory emotions and prosody, and (b) processing socio-emotional experience and interpersonal affective information, as well as emotional regulation. The predictive value of the findings for individual adults with ASD was supported by regression-based multivariate pattern analyses with cross validation. To our knowledge, this is the first pilot study that shows neuroimaging-based predictive biomarkers for treatment effectiveness in adults with ASD. The findings have potentially far-reaching implications for developing more precise and effective treatments for ASD. Copyright © 2017 The Authors. Published by Elsevier Ltd.. All rights reserved.

Demonstration of precise estimation of polar motion parameters with the global positioning system: Initial results

NASA Technical Reports Server (NTRS)

Lichten, S. M.

1991-01-01

Data from the Global Positioning System (GPS) were used to determine precise polar motion estimates. Conservatively calculated formal errors of the GPS least squares solution are approx. 10 cm. The GPS estimates agree with independently determined polar motion values from very long baseline interferometry (VLBI) at the 5 cm level. The data were obtained from a partial constellation of GPS satellites and from a sparse worldwide distribution of ground stations. The accuracy of the GPS estimates should continue to improve as more satellites and ground receivers become operational, and eventually a near real time GPS capability should be available. Because the GPS data are obtained and processed independently from the large radio antennas at the Deep Space Network (DSN), GPS estimation could provide very precise measurements of Earth orientation for calibration of deep space tracking data and could significantly relieve the ever growing burden on the DSN radio telescopes to provide Earth platform calibrations.

Characterization of a piezoelectric MEMS actuator surface toward motion-enabled reconfigurable RF circuits

NASA Astrophysics Data System (ADS)

Tellers, M. C.; Pulskamp, J. S.; Bedair, S. S.; Rudy, R. Q.; Kierzewski, I. M.; Polcawich, R. G.; Bergbreiter, S. E.

2018-03-01

As an alternative to highly constrained hard-wired reconfigurable RF circuits, a motion-enabled reconfigurable circuit (MERC) offers freedom from transmission line losses and homogeneous materials selection. The creation of a successful MERC requires a precise mechanical mechanism for relocating components. In this work, a piezoelectric MEMS actuator array is modeled and experimentally characterized to assess its viability as a solution to the MERC concept. Actuation and design parameters are evaluated, and the repeatability of high quality on-axis motion at greater than 1 mm s-1 is demonstrated with little positional error. Finally, an initial proof-of-concept circuit reconfiguration has been demonstrated using off-the-shelf RF filter components. Although initial feasibility tests show filter performance degradation with an additional insertion loss of 0.3 dB per contact, out-of-band rejection degradation as high as 10 dB, and ripple performance reduction from 0.25 dB to 1.5 dB, MERC is proven here as an alternative to traditional approaches used in reconfigurable RF circuit applications.

Proto-Flight Manipulator Arm (P-FMA)

NASA Technical Reports Server (NTRS)

Britton, W. R.

1977-01-01

The technical development of the Proto-Flight Manipulator Arm (P-FMA) which is a seven-degree-of-freedom general-purpose arm capable of being remotely operated in an earth orbital environment is discussed. The P-FMA is a unique manipulator, combining the capabilities of significant dexterity, high tip forces, precise motion control, gear backdriveability, high end effector grip forces and torques, and the quality of flightworthiness. The 2.4-meter (8-foot) arm weighs 52.2 kilograms (115 pounds).

Dynamic alignment, tolerances, and metrology fundamentals at the nano and micro scales

NASA Astrophysics Data System (ADS)

Silberman, Donn M.

2015-09-01

Although the terms "micropositioning" and "nanopositioning" refer to different classes of positioning systems, "nanopositioning" is often used mistakenly to describe micropositioning systems. Micropositioning systems are typically motor-driven stages with travel ranges of a few millimeters up to a few hundred millimeters. Because the guiding systems in such stages — usually bearings of some kind — generate frictional forces, their resolution and repeatability are typically limited to 0.1 μm. The guiding system working principle also adds errors that are typically in the micrometer range. Nanopositioning systems are typically based on frictionless drives and guiding systems such as piezo actuators and flexures. These systems can achieve resolutions and guiding accuracies down to the sub-nanometer level. Both of these classes of precision positioning and motion systems are used extensively in precision optical and photonic systems to achieve desired performance specifications of instruments and experimental research projects. Currently, many precision positioning and motion systems have been design and implemented to cross over from the micro to the nano ranges with excellent results. This paper will describe some of the fundamental performance parameters and tolerances typical of these systems, some of the metrology used to confirm specifications and a few high end applications of general interest.

Instrument Pointing Control System for the Stellar Interferometry Mission - Planet Quest

NASA Technical Reports Server (NTRS)

Brugarolas, Paul B.; Kang, Bryan

2006-01-01

This paper describes the high precision Instrument Pointing Control System (PCS) for the Stellar Interferometry Mission (SIM) - Planet Quest. The PCS system provides front-end pointing, compensation for spacecraft motion, and feedforward stabilization, which are needed for proper interference. Optical interferometric measurements require very precise pointing (0.03 as, 1-(sigma) radial) for maximizing the interference pattern visibility. This requirement is achieved by fine pointing control of articulating pointing mirrors with feedback from angle tracking cameras. The overall pointing system design concept is presentcd. Functional requirements and an acquisition concept are given. Guide and Science pointing control loops are discussed. Simulation analyses demonstrate the feasibility of the design.

A new ultrasonic method for measuring minute motion activities of rats.

PubMed

Young, C W; Young, M S; Li, Y C; Lin, M T

1996-12-01

A new ultrasonic method is presented for measuring the minute motion activities of rats. A pair of low-cost 40 kHz ultrasonic transducers are used to transmit ultrasound toward a rat and receive the ultrasound reflected from the rat. The relative motion of the rat modulates the phase difference between the transmitted and received ultrasound signals. An 8-bit digital phase meter was designed to record the phase difference signal which was used to reconstruct the relative motion waveform of the rat in an 8751 single-chip microcomputer. The reconstructed data are then sent to a PC-AT microcomputer for further processing. This method employs a spectrum analysis for the reconstructed data and can measure three minute motion activities including locomotor activity (LMA), tremor and myoclonia. Finally, the method has been tested with real animal experiments. The main advantages of this new method are that it is non-invasive, non-contact, low cost and high precision. This new method could also be profitably employed for other behavioral studies and offer potential for research in basic medicine.

A reactionless precision pointing actuator

NASA Technical Reports Server (NTRS)

Wiktor, Peter

1987-01-01

The applications, design, control and testing of an actuator that provides the precise motion control of a gimbal platform without torquing against the basebody to which it is attached are described. The reactionless actuator described was given the name reactuator.

Real-time method for motion-compensated MR thermometry and MRgHIFU treatment in abdominal organs.

PubMed

Celicanin, Zarko; Auboiroux, Vincent; Bieri, Oliver; Petrusca, Lorena; Santini, Francesco; Viallon, Magalie; Scheffler, Klaus; Salomir, Rares

2014-10-01

Magnetic resonance-guided high-intensity focused ultrasound is considered to be a promising treatment for localized cancer in abdominal organs such as liver, pancreas, or kidney. Abdominal motion, anatomical arrangement, and required sustained sonication are the main challenges. MR acquisition consisted of thermometry performed with segmented gradient-recalled echo echo-planar imaging, and a segment-based one-dimensional MR navigator parallel to the main axis of motion to track the organ motion. This tracking information was used in real-time for: (i) prospective motion correction of MR thermometry and (ii) HIFU focal point position lock-on target. Ex vivo experiments were performed on a sheep liver and a turkey pectoral muscle using a motion demonstrator, while in vivo experiments were conducted on two sheep liver. Prospective motion correction of MR thermometry yielded good signal-to-noise ratio (range, 25 to 35) and low geometric distortion due to the use of segmented EPI. HIFU focal point lock-on target yielded isotropic in-plane thermal build-up. The feasibility of in vivo intercostal liver treatment was demonstrated in sheep. The presented method demonstrated in moving phantoms and breathing sheep accurate motion-compensated MR thermometry and precise HIFU focal point lock-on target using only real-time pencil-beam navigator tracking information, making it applicable without any pretreatment data acquisition or organ motion modeling. Copyright © 2013 Wiley Periodicals, Inc.

A customized protocol to assess bone quality in the metacarpal head, metacarpal shaft and distal radius: a high resolution peripheral quantitative computed tomography precision study.

PubMed

Feehan, Lynne; Buie, Helen; Li, Linda; McKay, Heather

2013-12-24

High Resolution-Peripheral Quantitative Computed Tomography (HR-pQCT) is an emerging technology for evaluation of bone quality in Rheumatoid Arthritis (RA). However, there are limitations with standard HR-pQCT imaging protocols for examination of regions of bone commonly affected in RA. We developed a customized protocol for evaluation of volumetric bone mineral density (vBMD) and microstructure at the metacarpal head (MH), metacarpal shaft (MS) and ultra-ultra-distal (UUD) radius; three sites commonly affected in RA. The purpose was to evaluate short-term measurement precision for bone density and microstructure at these sites. 12 non-RA participants, individuals likely to have no pre-existing bone damage, consented to participate [8 females, aged 23 to 71 y [median (IQR): 44 (28) y]. The custom protocol includes more comfortable/stable positioning and adapted cortical segmentation and direct transformation analysis methods. Dominant arm MH, MS and UUD radius scans were completed on day one; repeated twice (with repositioning) three to seven days later. Short-term precision for repeated measures was explored using intraclass correlational coefficient (ICC), mean coefficient of variation (CV%), root mean square coefficient of variation (RMSCV%) and least significant change (LSC%95). Bone density and microstructure precision was excellent: ICCs varied from 0.88 (MH2 trabecular number) to .99 (MS3 polar moment of inertia); CV% varied from < 1 (MS2 vBMD) to 6 (MS3 marrow space diameter); RMSCV% varied from < 1 (MH2 full bone vBMD) to 7 (MS3 marrow space diameter); and LSC%95 varied from 2 (MS2 full bone vBMD to 21 (MS3 marrow space diameter). Cortical porosity measures were the exception; RMSCV% varying from 19 (MS3) to 42 (UUD). No scans were stopped for discomfort. 5% (5/104) were repeated due to motion during imaging. 8% (8/104) of final images had motion artifact graded > 3 on 5 point scale. In our facility, this custom protocol extends the potential for in vivo HR-pQCT imaging to assess, with high precision, regional differences in bone quality at three sites commonly affected in RA. Our methods are easy to adopt and we recommend other users of HR-pQCT consider this protocol for further evaluations of its precision and feasibility in their imaging facilities.

Generalized Arcsine Laws for Fractional Brownian Motion.

PubMed

Sadhu, Tridib; Delorme, Mathieu; Wiese, Kay Jörg

2018-01-26

The three arcsine laws for Brownian motion are a cornerstone of extreme-value statistics. For a Brownian B_{t} starting from the origin, and evolving during time T, one considers the following three observables: (i) the duration t_{+} the process is positive, (ii) the time t_{last} the process last visits the origin, and (iii) the time t_{max} when it achieves its maximum (or minimum). All three observables have the same cumulative probability distribution expressed as an arcsine function, thus the name arcsine laws. We show how these laws change for fractional Brownian motion X_{t}, a non-Markovian Gaussian process indexed by the Hurst exponent H. It generalizes standard Brownian motion (i.e., H=1/2). We obtain the three probabilities using a perturbative expansion in ϵ=H-1/2. While all three probabilities are different, this distinction can only be made at second order in ϵ. Our results are confirmed to high precision by extensive numerical simulations.

Tracking Perfluorocarbon Nanoemulsion Delivery by 19F MRI for Precise High Intensity Focused Ultrasound Tumor Ablation

PubMed Central

Shin, Soo Hyun; Park, Eun-Joo; Min, Changki; Choi, Sun Il; Jeon, Soyeon; Kim, Yun-Hee; Kim, Daehong

2017-01-01

Perfluorocarbon nanoemulsions (PFCNEs) have recently been undergoing rigorous study to investigate their ability to improve the therapeutic efficacy of tumor ablation by high intensity focused ultrasound (HIFU). For precise control of PFCNE delivery and thermal ablation, their accumulation and distribution in a tumor should be quantitatively analyzed. Here, we used fluorine-19 (19F) magnetic resonance imaging (MRI) to quantitatively track PFCNE accumulation in a tumor, and analyzed how intra-tumoral PFCNE quantities affect the therapeutic efficacy of HIFU treatment. Ablation outcomes were assessed by intra-voxel incoherent motion analysis and bioluminescent imaging up to 14 days after the procedure. Assessment of PFCNE delivery and treatment outcomes showed that 2-3 mg/mL of PFCNE in a tumor produces the largest ablation volume under the same HIFU insonation conditions. Histology showed varying degrees of necrosis depending on the amount of PFCNE delivered. 19F MRI promises to be a valuable platform for precisely guiding PFCNE-enhanced HIFU ablation of tumors. PMID:28255351

Fabrication of an infrared Shack-Hartmann sensor by combining high-speed single-point diamond milling and precision compression molding processes.

PubMed

Zhang, Lin; Zhou, Wenchen; Naples, Neil J; Yi, Allen Y

2018-05-01

A novel fabrication method by combining high-speed single-point diamond milling and precision compression molding processes for fabrication of discontinuous freeform microlens arrays was proposed. Compared with slow tool servo diamond broaching, high-speed single-point diamond milling was selected for its flexibility in the fabrication of true 3D optical surfaces with discontinuous features. The advantage of single-point diamond milling is that the surface features can be constructed sequentially by spacing the axes of a virtual spindle at arbitrary positions based on the combination of rotational and translational motions of both the high-speed spindle and linear slides. By employing this method, each micro-lenslet was regarded as a microstructure cell by passing the axis of the virtual spindle through the vertex of each cell. An optimization arithmetic based on minimum-area fabrication was introduced to the machining process to further increase the machining efficiency. After the mold insert was machined, it was employed to replicate the microlens array onto chalcogenide glass. In the ensuing optical measurement, the self-built Shack-Hartmann wavefront sensor was proven to be accurate in detecting an infrared wavefront by both experiments and numerical simulation. The combined results showed that precision compression molding of chalcogenide glasses could be an economic and precision optical fabrication technology for high-volume production of infrared optics.

Precision Isotope Shift Measurements in Calcium Ions Using Quantum Logic Detection Schemes.

PubMed

Gebert, Florian; Wan, Yong; Wolf, Fabian; Angstmann, Christopher N; Berengut, Julian C; Schmidt, Piet O

2015-07-31

We demonstrate an efficient high-precision optical spectroscopy technique for single trapped ions with nonclosed transitions. In a double-shelving technique, the absorption of a single photon is first amplified to several phonons of a normal motional mode shared with a cotrapped cooling ion of a different species, before being further amplified to thousands of fluorescence photons emitted by the cooling ion using the standard electron shelving technique. We employ this extension of the photon recoil spectroscopy technique to perform the first high precision absolute frequency measurement of the 2D(3/2)→2P(1/2) transition in calcium, resulting in a transition frequency of f=346 000 234 867(96)  kHz. Furthermore, we determine the isotope shift of this transition and the 2S(1/2)→2P(1/2) transition for 42Ca+, 44Ca+, and 48Ca+ ions relative to 40Ca+ with an accuracy below 100 kHz. Improved field and mass shift constants of these transitions as well as changes in mean square nuclear charge radii are extracted from this high resolution data.

MO-B-201-00: Motion Management in Current Stereotactic Body Radiation Therapy (SBRT) Practice

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

NONE

The motion management in stereotactic body radiation therapy (SBRT) is a key to success for a SBRT program, and still an on-going challenging task. A major factor is that moving structures behave differently than standing structures when examined by imaging modalities, and thus require special considerations and employments. Understanding the motion effects to these different imaging processes is a prerequisite for a decent motion management program. The commonly used motion control techniques to physically restrict tumor motion, if adopted correctly, effectively increase the conformity and accuracy of hypofractionated treatment. The effective application of such requires one to understand the mechanicsmore » of the application and the related physiology especially related to respiration. The image-guided radiation beam control, or tumor tracking, further realized the endeavor for precision-targeting. During tumor tracking, the respiratory motion is often constantly monitored by non-ionizing beam sources using the body surface as its surrogate. This then has to synchronize with the actual internal tumor motion. The latter is often accomplished by stereo X-ray imaging or similar techniques. With these advanced technologies, one may drastically reduce the treated volume and increase the clinicians’ confidence for a high fractional ablative radiation dose. However, the challenges in implementing the motion management may not be trivial and is dependent on each clinic case. This session of presentations is intended to provide an overview of the current techniques used in managing the tumor motion in SBRT, specifically for routine lung SBRT, proton based treatments, and newly-developed MR guided RT. Learning Objectives: Through this presentation, the audience will understand basic roles of commonly used imaging modalities for lung cancer studies; familiarize the major advantages and limitations of each discussed motion control methods; familiarize the major advantages and limitations of each discussed radiation beam control methodology and tumor tacking method; understand the key points in motion management for a high quality SBRT program.« less

MO-B-201-01: Overcoming the Challenges of Motion Management in Current Lung SBRT Practice

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

Shang, C.

The motion management in stereotactic body radiation therapy (SBRT) is a key to success for a SBRT program, and still an on-going challenging task. A major factor is that moving structures behave differently than standing structures when examined by imaging modalities, and thus require special considerations and employments. Understanding the motion effects to these different imaging processes is a prerequisite for a decent motion management program. The commonly used motion control techniques to physically restrict tumor motion, if adopted correctly, effectively increase the conformity and accuracy of hypofractionated treatment. The effective application of such requires one to understand the mechanicsmore » of the application and the related physiology especially related to respiration. The image-guided radiation beam control, or tumor tracking, further realized the endeavor for precision-targeting. During tumor tracking, the respiratory motion is often constantly monitored by non-ionizing beam sources using the body surface as its surrogate. This then has to synchronize with the actual internal tumor motion. The latter is often accomplished by stereo X-ray imaging or similar techniques. With these advanced technologies, one may drastically reduce the treated volume and increase the clinicians’ confidence for a high fractional ablative radiation dose. However, the challenges in implementing the motion management may not be trivial and is dependent on each clinic case. This session of presentations is intended to provide an overview of the current techniques used in managing the tumor motion in SBRT, specifically for routine lung SBRT, proton based treatments, and newly-developed MR guided RT. Learning Objectives: Through this presentation, the audience will understand basic roles of commonly used imaging modalities for lung cancer studies; familiarize the major advantages and limitations of each discussed motion control methods; familiarize the major advantages and limitations of each discussed radiation beam control methodology and tumor tacking method; understand the key points in motion management for a high quality SBRT program.« less

MO-B-201-02: Motion Management for Proton Lung SBR

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

Flampouri, S.

The motion management in stereotactic body radiation therapy (SBRT) is a key to success for a SBRT program, and still an on-going challenging task. A major factor is that moving structures behave differently than standing structures when examined by imaging modalities, and thus require special considerations and employments. Understanding the motion effects to these different imaging processes is a prerequisite for a decent motion management program. The commonly used motion control techniques to physically restrict tumor motion, if adopted correctly, effectively increase the conformity and accuracy of hypofractionated treatment. The effective application of such requires one to understand the mechanicsmore » of the application and the related physiology especially related to respiration. The image-guided radiation beam control, or tumor tracking, further realized the endeavor for precision-targeting. During tumor tracking, the respiratory motion is often constantly monitored by non-ionizing beam sources using the body surface as its surrogate. This then has to synchronize with the actual internal tumor motion. The latter is often accomplished by stereo X-ray imaging or similar techniques. With these advanced technologies, one may drastically reduce the treated volume and increase the clinicians’ confidence for a high fractional ablative radiation dose. However, the challenges in implementing the motion management may not be trivial and is dependent on each clinic case. This session of presentations is intended to provide an overview of the current techniques used in managing the tumor motion in SBRT, specifically for routine lung SBRT, proton based treatments, and newly-developed MR guided RT. Learning Objectives: Through this presentation, the audience will understand basic roles of commonly used imaging modalities for lung cancer studies; familiarize the major advantages and limitations of each discussed motion control methods; familiarize the major advantages and limitations of each discussed radiation beam control methodology and tumor tacking method; understand the key points in motion management for a high quality SBRT program.« less

Shape matters: Near-field fluid mechanics dominate the collective motions of ellipsoidal squirmers.

PubMed

Kyoya, K; Matsunaga, D; Imai, Y; Omori, T; Ishikawa, T

2015-12-01

Microswimmers show a variety of collective motions. Despite extensive study, questions remain regarding the role of near-field fluid mechanics in collective motion. In this paper, we describe precisely the Stokes flow around hydrodynamically interacting ellipsoidal squirmers in a monolayer suspension. The results showed that various collective motions, such as ordering, aggregation, and whirls, are dominated by the swimming mode and the aspect ratio. The collective motions are mainly induced by near-field fluid mechanics, despite Stokes flow propagation over a long range. These results emphasize the importance of particle shape in collective motion.

Fabrication of micro-lens array on convex surface by meaning of micro-milling

NASA Astrophysics Data System (ADS)

Zhang, Peng; Du, Yunlong; Wang, Bo; Shan, Debin

2014-08-01

In order to develop the application of the micro-milling technology, and to fabricate ultra-precision optical surface with complex microstructure, in this paper, the primary experimental research on micro-milling complex microstructure array is carried out. A complex microstructure array surface with vary parameters is designed, and the mathematic model of the surface is set up and simulated. For the fabrication of the designed microstructure array surface, a micro three-axis ultra-precision milling machine tool is developed, aerostatic guideway drove directly by linear motor is adopted in order to guarantee the enough stiffness of the machine, and novel numerical control strategy with linear encoders of 5nm resolution used as the feedback of the control system is employed to ensure the extremely high motion control accuracy. With the help of CAD/CAM technology, convex micro lens array on convex spherical surface with different scales on material of polyvinyl chloride (PVC) and pure copper is fabricated using micro tungsten carbide ball end milling tool based on the ultra-precision micro-milling machine. Excellent nanometer-level micro-movement performance of the axis is proved by motion control experiment. The fabrication is nearly as the same as the design, the characteristic scale of the microstructure is less than 200μm and the accuracy is better than 1μm. It prove that ultra-precision micro-milling technology based on micro ultra-precision machine tool is a suitable and optional method for micro manufacture of microstructure array surface on different kinds of materials, and with the development of micro milling cutter, ultraprecision micro-milling complex microstructure surface will be achieved in future.

Incompressible Deformation Estimation Algorithm (IDEA) from Tagged MR Images

PubMed Central

Liu, Xiaofeng; Abd-Elmoniem, Khaled Z.; Stone, Maureen; Murano, Emi Z.; Zhuo, Jiachen; Gullapalli, Rao P.; Prince, Jerry L.

2013-01-01

Measuring the three-dimensional motion of muscular tissues, e.g., the heart or the tongue, using magnetic resonance (MR) tagging is typically carried out by interpolating the two-dimensional motion information measured on orthogonal stacks of images. The incompressibility of muscle tissue is an important constraint on the reconstructed motion field and can significantly help to counter the sparsity and incompleteness of the available motion information. Previous methods utilizing this fact produced incompressible motions with limited accuracy. In this paper, we present an incompressible deformation estimation algorithm (IDEA) that reconstructs a dense representation of the three-dimensional displacement field from tagged MR images and the estimated motion field is incompressible to high precision. At each imaged time frame, the tagged images are first processed to determine components of the displacement vector at each pixel relative to the reference time. IDEA then applies a smoothing, divergence-free, vector spline to interpolate velocity fields at intermediate discrete times such that the collection of velocity fields integrate over time to match the observed displacement components. Through this process, IDEA yields a dense estimate of a three-dimensional displacement field that matches our observations and also corresponds to an incompressible motion. The method was validated with both numerical simulation and in vivo human experiments on the heart and the tongue. PMID:21937342

Conditional spectrum computation incorporating multiple causal earthquakes and ground-motion prediction models

USGS Publications Warehouse

Lin, Ting; Harmsen, Stephen C.; Baker, Jack W.; Luco, Nicolas

2013-01-01

The conditional spectrum (CS) is a target spectrum (with conditional mean and conditional standard deviation) that links seismic hazard information with ground-motion selection for nonlinear dynamic analysis. Probabilistic seismic hazard analysis (PSHA) estimates the ground-motion hazard by incorporating the aleatory uncertainties in all earthquake scenarios and resulting ground motions, as well as the epistemic uncertainties in ground-motion prediction models (GMPMs) and seismic source models. Typical CS calculations to date are produced for a single earthquake scenario using a single GMPM, but more precise use requires consideration of at least multiple causal earthquakes and multiple GMPMs that are often considered in a PSHA computation. This paper presents the mathematics underlying these more precise CS calculations. Despite requiring more effort to compute than approximate calculations using a single causal earthquake and GMPM, the proposed approach produces an exact output that has a theoretical basis. To demonstrate the results of this approach and compare the exact and approximate calculations, several example calculations are performed for real sites in the western United States. The results also provide some insights regarding the circumstances under which approximate results are likely to closely match more exact results. To facilitate these more precise calculations for real applications, the exact CS calculations can now be performed for real sites in the United States using new deaggregation features in the U.S. Geological Survey hazard mapping tools. Details regarding this implementation are discussed in this paper.

An empirical investigation of motion effects in eMRI of interictal epileptiform spikes.

PubMed

Sundaram, Padmavathi; Mulkern, Robert V; Wells, William M; Triantafyllou, Christina; Loddenkemper, Tobias; Bubrick, Ellen J; Orbach, Darren B

2011-12-01

We recently developed a functional neuroimaging technique called encephalographic magnetic resonance imaging (eMRI). Our method acquires rapid single-shot gradient-echo echo-planar MRI (repetition time=47 ms); it attempts to measure an MR signal more directly linked to neuronal electromagnetic activity than existing methods. To increase the likelihood of detecting such an MR signal, we recorded concurrent MRI and scalp electroencephalography (EEG) during fast (20-200 ms), localized, high-amplitude (>50 μV on EEG) cortical discharges in a cohort of focal epilepsy patients. Seen on EEG as interictal spikes, these discharges occur in between seizures and induced easily detectable MR magnitude and phase changes concurrent with the spikes with a lag of milliseconds to tens of milliseconds. Due to the time scale of the responses, localized changes in blood flow or hemoglobin oxygenation are unlikely to cause the MR signal changes that we observed. While the precise underlying mechanisms are unclear, in this study, we empirically investigate one potentially important confounding variable - motion. Head motion in the scanner affects both EEG and MR recording. It can produce brief "spike-like" artifacts on EEG and induce large MR signal changes similar to our interictal spike-related signal changes. In order to explore the possibility that interictal spikes were associated with head motions (although such an association had never been reported), we had previously tracked head position in epilepsy patients during interictal spikes and explicitly demonstrated a lack of associated head motion. However, that study was performed outside the MR scanner, and the root-mean-square error in the head position measurement was 0.7 mm. The large inaccuracy in this measurement therefore did not definitively rule out motion as a possible signal generator. In this study, we instructed healthy subjects to make deliberate brief (<500 ms) head motions inside the MR scanner and imaged these head motions with concurrent EEG and MRI. We compared these artifactual MR and EEG data to genuine interictal spikes. While per-voxel MR and per-electrode EEG time courses for the motion case can mimic the corresponding time courses associated with a genuine interictal spike, head motion can be unambiguously differentiated from interictal spikes via scalp EEG potential maps. Motion induces widespread changes in scalp potential, whereas interictal spikes are localized and have a regional fall-off in amplitude. These findings make bulk head motion an unlikely generator of the large spike-related MR signal changes that we had observed. Further work is required to precisely identify the underlying mechanisms. Copyright © 2011 Elsevier Inc. All rights reserved.

Suppression of biodynamic interference in head-tracked teleoperation

NASA Technical Reports Server (NTRS)

Lifshitz, S.; Merhav, S. J.; Grunwald, A. J.; Tucker, G. E.; Tischler, M. B.

1991-01-01

The utility of helmet-tracked sights to provide pointing commands for teleoperation of cameras, lasers, or antennas in aircraft is degraded by the presence of uncommanded, involuntary heat motion, referred to as biodynamic interference. This interference limits the achievable precision required in pointing tasks. The noise contributions due to biodynamic interference consists of an additive component which is correlated with aircraft vibration and an uncorrelated, nonadditive component, referred to as remnant. An experimental simulation study is described which investigated the improvements achievable in pointing and tracking precision using dynamic display shifting in the helmet-mounted display. The experiment was conducted in a six degree of freedom motion base simulator with an emulated helmet-mounted display. Highly experienced pilot subjects performed precision head-pointing tasks while manually flying a visual flight-path tracking task. Four schemes using adaptive and low-pass filtering of the head motion were evaluated to determine their effects on task performance and pilot workload in the presence of whole-body vibration characteristic of helicopter flight. The results indicate that, for tracking tasks involving continuously moving targets, improvements of up to 70 percent can be achieved in percent on-target dwelling time and of up to 35 percent in rms tracking error, with the adaptive plus low-pass filter configuration. The results with the same filter configuration for the task of capturing randomly-positioned, stationary targets show an increase of up to 340 percent in the number of targets captured and an improvement of up to 24 percent in the average capture time. The adaptive plus low-pass filter combination was considered to exhibit the best overall display dynamics by each of the subjects.

Two-point motional Stark effect diagnostic for Madison Symmetric Torus

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

Ko, J.; Den Hartog, D. J.; Caspary, K. J.

2010-10-15

A high-precision spectral motional Stark effect (MSE) diagnostic provides internal magnetic field measurements for Madison Symmetric Torus (MST) plasmas. Currently, MST uses two spatial views - on the magnetic axis and on the midminor (off-axis) radius, the latter added recently. A new analysis scheme has been developed to infer both the pitch angle and the magnitude of the magnetic field from MSE spectra. Systematic errors are reduced by using atomic data from atomic data and analysis structure in the fit. Reconstructed current density and safety factor profiles are more strongly and globally constrained with the addition of the off-axis radiusmore » measurement than with the on-axis one only.« less

A tilt and roll device for automated correction of rotational setup errors.

PubMed

Hornick, D C; Litzenberg, D W; Lam, K L; Balter, J M; Hetrick, J; Ten Haken, R K

1998-09-01

A tilt and roll device has been developed to add two additional degrees of freedom to an existing treatment table. This device allows computer-controlled rotational motion about the inferior-superior and left-right patient axes. The tilt and roll device comprises three supports between the tabletop and base. An automotive type universal joint welded to the end of a steel pipe supports the center of the table. Two computer-controlled linear electric actuators utilizing high accuracy stepping motors support the foot of table and control the tilt and roll of the tabletop. The current system meets or exceeds all pre-design specifications for precision, weight capacity, rigidity, and range of motion.

Development and evaluation of a hybrid averaged orbit generator

NASA Technical Reports Server (NTRS)

Mcclain, W. D.; Long, A. C.; Early, L. W.

1978-01-01

A rapid orbit generator based on a first-order application of the Generalized Method of Averaging has been developed for the Research and Development (R&D) version of the Goddard Trajectory Determination System (GTDS). The evaluation of the averaged equations of motion can use both numerically averaged and recursively evaluated, analytically averaged perturbation models. These equations are numerically integrated to obtain the secular and long-period motion. Factors affecting efficient orbit prediction are discussed and guidelines are presented for treatment of each major perturbation. Guidelines for obtaining initial mean elements compatible with the theory are presented. An overview of the orbit generator is presented and comparisons with high precision methods are given.

Measuring molecular motions inside single cells with improved analysis of single-particle trajectories

NASA Astrophysics Data System (ADS)

Rowland, David J.; Biteen, Julie S.

2017-04-01

Single-molecule super-resolution imaging and tracking can measure molecular motions inside living cells on the scale of the molecules themselves. Diffusion in biological systems commonly exhibits multiple modes of motion, which can be effectively quantified by fitting the cumulative probability distribution of the squared step sizes in a two-step fitting process. Here we combine this two-step fit into a single least-squares minimization; this new method vastly reduces the total number of fitting parameters and increases the precision with which diffusion may be measured. We demonstrate this Global Fit approach on a simulated two-component system as well as on a mixture of diffusing 80 nm and 200 nm gold spheres to show improvements in fitting robustness and localization precision compared to the traditional Local Fit algorithm.

Accuracy and precision of smartphone applications and commercially available motion sensors in multiple sclerosis

PubMed Central

Balto, Julia M; Kinnett-Hopkins, Dominique L

2016-01-01

Background There is increased interest in the application of smartphone applications and wearable motion sensors among multiple sclerosis (MS) patients. Objective This study examined the accuracy and precision of common smartphone applications and motion sensors for measuring steps taken by MS patients while walking on a treadmill. Methods Forty-five MS patients (Expanded Disability Status Scale (EDSS) = 1.0–5.0) underwent two 500-step walking trials at comfortable walking speed on a treadmill. Participants wore five motion sensors: the Digi-Walker SW-200 pedometer (Yamax), the UP2 and UP Move (Jawbone), and the Flex and One (Fitbit). The smartphone applications were Health (Apple), Health Mate (Withings), and Moves (ProtoGeo Oy). Results The Fitbit One had the best absolute (mean = 490.6 steps, 95% confidence interval (CI) = 485.6–495.5 steps) and relative accuracy (1.9% error), and absolute (SD = 16.4) and relative precision (coefficient of variation (CV) = 0.0), for the first 500-step walking trial; this was repeated with the second trial. Relative accuracy was correlated with slower walking speed for the first (rs = −.53) and second (rs = −.53) trials. Conclusion The results suggest that the waist-worn Fitbit One is the most precise and accurate sensor for measuring steps when walking on a treadmill, but future research is needed (testing the device across a broader range of disability, at different speeds, and in real-life walking conditions) before inclusion in clinical research and practice with MS patients. PMID:28607720

Accuracy and precision of smartphone applications and commercially available motion sensors in multiple sclerosis.

PubMed

Balto, Julia M; Kinnett-Hopkins, Dominique L; Motl, Robert W

2016-01-01

There is increased interest in the application of smartphone applications and wearable motion sensors among multiple sclerosis (MS) patients. This study examined the accuracy and precision of common smartphone applications and motion sensors for measuring steps taken by MS patients while walking on a treadmill. Forty-five MS patients (Expanded Disability Status Scale (EDSS) = 1.0-5.0) underwent two 500-step walking trials at comfortable walking speed on a treadmill. Participants wore five motion sensors: the Digi-Walker SW-200 pedometer (Yamax), the UP2 and UP Move (Jawbone), and the Flex and One (Fitbit). The smartphone applications were Health (Apple), Health Mate (Withings), and Moves (ProtoGeo Oy). The Fitbit One had the best absolute (mean = 490.6 steps, 95% confidence interval (CI) = 485.6-495.5 steps) and relative accuracy (1.9% error), and absolute (SD = 16.4) and relative precision (coefficient of variation (CV) = 0.0), for the first 500-step walking trial; this was repeated with the second trial. Relative accuracy was correlated with slower walking speed for the first ( r s  =  -.53) and second ( r s  =  -.53) trials. The results suggest that the waist-worn Fitbit One is the most precise and accurate sensor for measuring steps when walking on a treadmill, but future research is needed (testing the device across a broader range of disability, at different speeds, and in real-life walking conditions) before inclusion in clinical research and practice with MS patients.

Development of a digital mobile solar tracker

NASA Astrophysics Data System (ADS)

Baidar, S.; Kille, N.; Ortega, I.; Sinreich, R.; Thomson, D.; Hannigan, J.; Volkamer, R.

2015-11-01

We have constructed and deployed a fast digital solar tracker aboard a moving ground-based platform. The tracker consists of two rotating mirrors, a lens, an imaging camera, and a motion compensation system that provides the Euler angles of the mobile platform in real time. The tracker can be simultaneously coupled to UV-Vis and FTIR spectrometers making it a versatile tool to measure the absorption of trace gases using solar incoming radiation. The integrated system allows the tracker to operate autonomously while the mobile laboratory is in motion. Mobile direct sun Differential Optical Absorption Spectroscopy (mobile DS-DOAS) observations using this tracker were conducted during summer 2014 as part of the Front Range Photochemistry and Pollution Experiment (FRAPPE) in Colorado, USA. We demonstrate an angular precision of 0.052° (about 1/10 of the solar disk diameter) during research drives, and verify this tracking precision from measurements of the center to limb darkening (CLD, the changing appearance of Fraunhofer lines) in the mobile DS-DOAS spectra. The high photon flux from direct sun observation enables measurements of nitrogen dioxide (NO2) slant columns with high temporal resolution, and reveals spatial detail in the variations of NO2 vertical column densities (VCDs). The NO2 VCD from DS-DOAS is compared with a co-located MAX-DOAS instrument. Overall good agreement is observed amid a highly heterogeneous air mass.

Development of a digital mobile solar tracker

NASA Astrophysics Data System (ADS)

Baidar, Sunil; Kille, Natalie; Ortega, Ivan; Sinreich, Roman; Thomson, David; Hannigan, James; Volkamer, Rainer

2016-03-01

We have constructed and deployed a fast digital solar tracker aboard a moving ground-based platform. The tracker consists of two rotating mirrors, a lens, an imaging camera, and a motion compensation system that provides the Euler angles of the mobile platform in real time. The tracker can be simultaneously coupled to UV-Vis and Fourier transform infrared spectrometers, making it a versatile tool to measure the absorption of trace gases using solar incoming radiation. The integrated system allows the tracker to operate autonomously while the mobile laboratory is in motion. Mobile direct sun differential optical absorption spectroscopy (mobile DS-DOAS) observations using this tracker were conducted during summer 2014 as part of the Front Range Air Pollution and Photochemistry Experiment (FRAPPE) in Colorado, USA. We demonstrate an angular precision of 0.052° (about 1/10 of the solar disk diameter) during research drives and verify this tracking precision from measurements of the center to limb darkening (CLD, the changing appearance of Fraunhofer lines) in the mobile DS-DOAS spectra. The high photon flux from direct sun observation enables measurements of nitrogen dioxide (NO2) slant columns with high temporal resolution and reveals spatial detail in the variations of NO2 vertical column densities (VCDs). The NO2 VCD from DS-DOAS is compared with a co-located MAX-DOAS instrument. Overall good agreement is observed amid a highly heterogeneous air mass.

Evaluation of a telerobotic system to assist surgeons in microsurgery

NASA Technical Reports Server (NTRS)

Das, H.; Zak, H.; Johnson, J.; Crouch, J.; Frambach, D.

1999-01-01

A tool was developed that assists surgeons in manipulating surgical instruments more precisely than is possible manually. The tool is a telemanipulator that scales down the surgeon's hand motion and filters tremor in the motion. The signals measured from the surgeon's hand are transformed and used to drive a six-degrees-of-freedom robot to position the surgical instrument mounted on its tip. A pilot study comparing the performance of the telemanipulator system against manual instrument positioning was conducted at the University of Southern California School of Medicine. The results show that a telerobotic tool can improve the performance of a microsurgeon by increasing the precision with which he can position surgical instruments, but this is achieved at the cost of increased time in performing the task. We believe that this technology will extend the capabilities of microsurgeons and allow more surgeons to perform highly skilled procedures currently performed only by the best surgeons. It will also enable performance of new surgical procedures that are beyond the capabilities of even the most skilled surgeons. Copyright 1999 Wiley-Liss, Inc.

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

Luo, Shaohua; School of Automation, Chongqing University, Chongqing 400044; Sun, Quanping

This paper addresses chaos control of the micro-electro- mechanical resonator by using adaptive dynamic surface technology with extended state observer. To reveal the mechanism of the micro- electro-mechanical resonator, the phase diagrams and corresponding time histories are given to research the nonlinear dynamics and chaotic behavior, and Homoclinic and heteroclinic chaos which relate closely with the appearance of chaos are presented based on the potential function. To eliminate the effect of chaos, an adaptive dynamic surface control scheme with extended state observer is designed to convert random motion into regular motion without precise system model parameters and measured variables. Puttingmore » tracking differentiator into chaos controller solves the ‘explosion of complexity’ of backstepping and poor precision of the first-order filters. Meanwhile, to obtain high performance, a neural network with adaptive law is employed to approximate unknown nonlinear function in the process of controller design. The boundedness of all the signals of the closed-loop system is proved in theoretical analysis. Finally, numerical simulations are executed and extensive results illustrate effectiveness and robustness of the proposed scheme.« less

Ultra-precision engineering in lithographic exposure equipment for the semiconductor industry.

PubMed

Schmidt, Robert-H Munnig

2012-08-28

The developments in lithographic tools for the production of an integrated circuit (IC) are ruled by 'Moore's Law': the density of components on an IC doubles in about every two years. The corresponding size reduction of the smallest detail in an IC entails several technological breakthroughs. The wafer scanner, the exposure system that defines those details, is the determining factor in these developments. This review deals with those aspects of the positioning systems inside these wafer scanners that enable the extension of Moore's Law into the future. The design of these systems is increasingly difficult because of the accuracy levels in the sub-nanometre range coupled with motion velocities of several metres per second. In addition to the use of feedback control for the reduction of errors, high-precision model-based feed-forward control is required with an almost ideally reproducible motion-system behaviour and a strict limitation of random disturbing events. The full mastering of this behaviour even includes material drift on an atomic scale and is decisive for the future success of these machines.

Fast cine-magnetic resonance imaging point tracking for prostate cancer radiation therapy planning

NASA Astrophysics Data System (ADS)

Dowling, J.; Dang, K.; Fox, Chris D.; Chandra, S.; Gill, Suki; Kron, T.; Pham, D.; Foroudi, F.

2014-03-01

The analysis of intra-fraction organ motion is important for improving the precision of radiation therapy treatment delivery. One method to quantify this motion is for one or more observers to manually identify anatomic points of interest (POIs) on each slice of a cine-MRI sequence. However this is labour intensive and inter- and intra- observer variation can introduce uncertainty. In this paper a fast method for non-rigid registration based point tracking in cine-MRI sagittal and coronal series is described which identifies POIs in 0.98 seconds per sagittal slice and 1.35 seconds per coronal slice. The manual and automatic points were highly correlated (r>0.99, p<0.001) for all organs and the difference generally less than 1mm. For prostate planning peristalsis and rectal gas can result in unpredictable out of plane motion, suggesting the results may require manual verification.

Topography-Dependent Motion Compensation: Application to UAVSAR Data

NASA Technical Reports Server (NTRS)

Jones, Cathleen E.; Hensley, Scott; Michel, Thierry

2009-01-01

The UAVSAR L-band synthetic aperture radar system has been designed for repeat track interferometry in support of Earth science applications that require high-precision measurements of small surface deformations over timescales from hours to years. Conventional motion compensation algorithms, which are based upon assumptions of a narrow beam and flat terrain, yield unacceptably large errors in areas with even moderate topographic relief, i.e., in most areas of interest. This often limits the ability to achieve sub-centimeter surface change detection over significant portions of an acquired scene. To reduce this source of error in the interferometric phase, we have implemented an advanced motion compensation algorithm that corrects for the scene topography and radar beam width. Here we discuss the algorithm used, its implementation in the UAVSAR data processor, and the improvement in interferometric phase and correlation achieved in areas with significant topographic relief.

Rotary fast tool servo system and methods

DOEpatents

Montesanti, Richard C.; Trumper, David L.

2007-10-02

A high bandwidth rotary fast tool servo provides tool motion in a direction nominally parallel to the surface-normal of a workpiece at the point of contact between the cutting tool and workpiece. Three or more flexure blades having all ends fixed are used to form an axis of rotation for a swing arm that carries a cutting tool at a set radius from the axis of rotation. An actuator rotates a swing arm assembly such that a cutting tool is moved in and away from the lathe-mounted, rotating workpiece in a rapid and controlled manner in order to machine the workpiece. A pair of position sensors provides rotation and position information for a swing arm to a control system. A control system commands and coordinates motion of the fast tool servo with the motion of a spindle, rotating table, cross-feed slide, and in-feed slide of a precision lathe.

Rotary fast tool servo system and methods

DOEpatents

Montesanti, Richard C [Cambridge, MA; Trumper, David L [Plaistow, NH; Kirtley, Jr., James L.

2009-08-18

A high bandwidth rotary fast tool servo provides tool motion in a direction nominally parallel to the surface-normal of a workpiece at the point of contact between the cutting tool and workpiece. Three or more flexure blades having all ends fixed are used to form an axis of rotation for a swing arm that carries a cutting tool at a set radius from the axis of rotation. An actuator rotates a swing arm assembly such that a cutting tool is moved in and away from the lathe-mounted, rotating workpiece in a rapid and controlled manner in order to machine the workpiece. One or more position sensors provides rotation and position information for a swing arm to a control system. A control system commands and coordinates motion of the fast tool servo with the motion of a spindle, rotating table, cross-feed slide, and in-feed slide of a precision lathe.

Transponder-aided joint calibration and synchronization compensation for distributed radar systems.

PubMed

Wang, Wen-Qin

2015-01-01

High-precision radiometric calibration and synchronization compensation must be provided for distributed radar system due to separate transmitters and receivers. This paper proposes a transponder-aided joint radiometric calibration, motion compensation and synchronization for distributed radar remote sensing. As the transponder signal can be separated from the normal radar returns, it is used to calibrate the distributed radar for radiometry. Meanwhile, the distributed radar motion compensation and synchronization compensation algorithms are presented by utilizing the transponder signals. This method requires no hardware modifications to both the normal radar transmitter and receiver and no change to the operating pulse repetition frequency (PRF). The distributed radar radiometric calibration and synchronization compensation require only one transponder, but the motion compensation requires six transponders because there are six independent variables in the distributed radar geometry. Furthermore, a maximum likelihood method is used to estimate the transponder signal parameters. The proposed methods are verified by simulation results.

Global Positioning System offers evidence of plate motions in eastern Mediterranean

NASA Astrophysics Data System (ADS)

Burc Oral, M.; Reilinger, Robert E.; Nafi Toksöz, M.; King, Robert W.; Aykut Barka, A.; Kinik, Ibrahim; Lenk, Onur

Geophysicists are using the Global Positioning System (GPS), a highly precise satellite navigation system, to monitor the slow movements (cm/yr) of the crustal plates composing the Earth's surface and the deformations where such plates interact. We report the results of repeated GPS measurements in the complex zone of interaction between the Eurasian, Arabian, and African plates in Turkey. The GPS observations made between 1988 and 1992 indicate that western, central, and east central Turkey are decoupled from the Eurasian plate and are moving as a more or less coherent unit about an axis located north of the Sinai peninsula. Other space-based measurements of crustal motion in Greece and along the Hellenic arc [Smith et al., 1994] suggest that this coherent motion includes southern Greece and the south central Aegean Sea. We refer to this region (shaded in Figure 1) as the Anatolian plate.

Novel catalytic micromotor of porous zeolitic imidazolate framework-67 for precise drug delivery.

PubMed

Wang, Linlin; Zhu, Hongli; Shi, Ying; Ge, You; Feng, Xiaomiao; Liu, Ruiqing; Li, Yi; Ma, Yanwen; Wang, Lianhui

2018-06-07

Micromotors hold promise as drug carriers for targeted drug delivery owing to the characteristics of self-propulsion and directional navigation. However, several defects still exist, including high cost, short movement life, low drug loading and slow release rate. Herein, a novel catalytic micromotor based on porous zeolitic imidazolate framework-67 (ZIF-67) synthesized by a greatly simplified wet chemical method assisted with ultrasonication is described as an efficient anticancer drug carrier. These porous micromotors display effective autonomous motion in hydrogen peroxide and long durable movement life of up to 90 min. Moreover, the multifunctional micromotor ZIF-67/Fe3O4/DOX exhibits excellent performance in precise drug delivery under external magnetic field with high drug loading capacity of fluorescent anticancer drug DOX up to 682 μg mg-1 owing to its porous nature, high surface area and rapid drug release based on dual stimulus of catalytic reaction and solvent effects. Therefore, these porous ZIF-67-based catalytic micromotors combine the domains of metal-organic frameworks (MOFs) and micomotors, thus developing potential resources for micromotors and holding great potential as label-free and precisely controlled high-quality candidates of drug delivery systems for biomedical applications.

Hybrid Orientation Based Human Limbs Motion Tracking Method

PubMed Central

Glonek, Grzegorz; Wojciechowski, Adam

2017-01-01

One of the key technologies that lays behind the human–machine interaction and human motion diagnosis is the limbs motion tracking. To make the limbs tracking efficient, it must be able to estimate a precise and unambiguous position of each tracked human joint and resulting body part pose. In recent years, body pose estimation became very popular and broadly available for home users because of easy access to cheap tracking devices. Their robustness can be improved by different tracking modes data fusion. The paper defines the novel approach—orientation based data fusion—instead of dominating in literature position based approach, for two classes of tracking devices: depth sensors (i.e., Microsoft Kinect) and inertial measurement units (IMU). The detailed analysis of their working characteristics allowed to elaborate a new method that let fuse more precisely limbs orientation data from both devices and compensates their imprecisions. The paper presents the series of performed experiments that verified the method’s accuracy. This novel approach allowed to outperform the precision of position-based joints tracking, the methods dominating in the literature, of up to 18%. PMID:29232832

Seismic Motion Stability, Measurement and Precision Control.

DTIC Science & Technology

1979-12-01

tiltmeter . Tilt was corrected by changing air pressure in one bank of isolators to maintain the reference tiltmeter at null well within the 0.1 arcsecond...frequency rotations (0-0.1 Hz), a high quality, two-axis tiltmeter is used. The azimuth orientation angle could be measured with a four-position gyro...compassing system with considerably less accuracy than the tiltmeters . However, it would provide a continuous automatic azimuth determination update every

Two Mathematical Models of Nonlinear Vibrations

NASA Technical Reports Server (NTRS)

Brugarolas, Paul; Bayard, David; Spanos, John; Breckenridge, William

2007-01-01

Two innovative mathematical models of nonlinear vibrations, and methods of applying them, have been conceived as byproducts of an effort to develop a Kalman filter for highly precise estimation of bending motions of a large truss structure deployed in outer space from a space-shuttle payload bay. These models are also applicable to modeling and analysis of vibrations in other engineering disciplines, on Earth as well as in outer space.

Steering and positioning targets for HWIL IR testing at cryogenic conditions

NASA Astrophysics Data System (ADS)

Perkes, D. W.; Jensen, G. L.; Higham, D. L.; Lowry, H. S.; Simpson, W. R.

2006-05-01

In order to increase the fidelity of hardware-in-the-loop ground-truth testing, it is desirable to create a dynamic scene of multiple, independently controlled IR point sources. ATK-Mission Research has developed and supplied the steering mirror systems for the 7V and 10V Space Simulation Test Chambers at the Arnold Engineering Development Center (AEDC), Air Force Materiel Command (AFMC). A portion of the 10V system incorporates multiple target sources beam-combined at the focal point of a 20K cryogenic collimator. Each IR source consists of a precision blackbody with cryogenic aperture and filter wheels mounted on a cryogenic two-axis translation stage. This point source target scene is steered by a high-speed steering mirror to produce further complex motion. The scene changes dynamically in order to simulate an actual operational scene as viewed by the System Under Test (SUT) as it executes various dynamic look-direction changes during its flight to a target. Synchronization and real-time hardware-in-the-loop control is accomplished using reflective memory for each subsystem control and feedback loop. This paper focuses on the steering mirror system and the required tradeoffs of optical performance, precision, repeatability and high-speed motion as well as the complications of encoder feedback calibration and operation at 20K.

Chaotic Motion in the Solar System and Beyond

NASA Technical Reports Server (NTRS)

Lissauer, Jack; DeVincenzi, Donald (Technical Monitor)

2001-01-01

The motion of planetary bodies is the archetypal clockwork system. Indeed, clocks and calendars were developed to keep track of the relative motions of the Earth, the Sun and the Moon. However, studies over the past few decades imply that this predictable regularity does not extend to small bodies, nor does it apply to the precise trajectories of the planets themselves over long timescale.s. Various examples of chaotic motion within our Solar System and, extrasolar planetary systems will be discussed.

A novel AFM-based 5-axis nanoscale machine tool for fabrication of nanostructures on a micro ball

NASA Astrophysics Data System (ADS)

Geng, Yanquan; Wang, Yuzhang; Yan, Yongda; Zhao, Xuesen

2017-11-01

This paper presents a novel atomic force microscopy (AFM)-based 5-axis nanoscale machine tool developed to fabricate nanostructures on different annuli of the micro ball. Different nanostructures can be obtained by combining the scratching trajectory of the AFM tip with the movement of the high precision air-bearing spindle. The center of the micro ball is aligned to be coincided with the gyration center of the high precision to guarantee the machining process during the rotating of the air-bearing spindle. Processing on different annuli of the micro ball is achieved by controlling the distance between the center of the micro ball and the rotation center of the AFM head. Nanostructures including square cavities, circular cavities, triangular cavities, and an annular nanochannel are machined successfully on the three different circumferences of a micro ball with a diameter of 1500 μm. Moreover, the influences of the error motions of the high precision air-bearing spindle and the eccentric between the micro ball and the gyration center of the high precision air-bearing spindle on the processing position error on the micro ball are also investigated. This proposed machining method has the potential to prepare the inertial confinement fusion target with the expected dimension defects, which would advance the application of the AFM tip-based nanomachining approach.

SeismoGeodesy: Combination of High Rate, Real-time GNSS and Accelerometer Observations and Rapid Seismic Event Notification for Earth Quake Early Warning and Volcano Monitoring

NASA Astrophysics Data System (ADS)

Jackson, Michael; Zimakov, Leonid; Moessmer, Matthias

2015-04-01

Scientific GNSS networks are moving towards a model of real-time data acquisition, epoch-by-epoch storage integrity, and on-board real-time position and displacement calculations. This new paradigm allows the integration of real-time, high-rate GNSS displacement information with acceleration and velocity data to create very high-rate displacement records. The mating of these two instruments allows the creation of a new, very high-rate (200 Hz) displacement observable that has the full-scale displacement characteristics of GNSS and high-precision dynamic motions of seismic technologies. It is envisioned that these new observables can be used for earthquake early warning studies, volcano monitoring, and critical infrastructure monitoring applications. Our presentation will focus on the characteristics of GNSS, seismic, and strong motion sensors in high dynamic environments, including historic earthquakes replicated on a shake table over a range of displacements and frequencies. We will explore the optimum integration of these sensors from a filtering perspective including simple harmonic impulses over varying frequencies and amplitudes and under the dynamic conditions of various earthquake scenarios. We will also explore the tradeoffs between various GNSS processing schemes including real-time precise point positioning (PPP) and real-time kinematic (RTK) as applied to seismogeodesy. In addition we will discuss implementation of a Rapid Seismic Event Notification System that provides quick delivery of digital data from seismic stations to the acquisition and processing center and a full data integrity model for real-time earthquake notification that provides warning prior to significant ground shaking.

Bringing Hometown Relevance to Introductory Geology Courses

NASA Astrophysics Data System (ADS)

Goodell, L. P.

2008-12-01

An abundance of on-line data and content is increasingly available, especially for the U.S., and can easily bring a "hometown touch" to geoscience courses. This is particularly valuable at the introductory level where student engagement can be a challenge. Students are naturally drawn to material with which they have a personal connection, and this connection can be exploited to instantly engage students in course content. For example, most students have never really thought about the topography of their hometowns and are fascinated to examine topographic maps that cover the areas in which they grew up. The theory of plate tectonics becomes real as students use high-precision GPS data to show near real-time plate motions of where they live (and GPS is something more and more students are familiar with). At Princeton and other institutions drawing students from a wide geographic area, students get the added benefit of being able to compare and contrast characteristics of each other's hometowns. Applications of hometown perspective include: 1) Hometown map exercises: obtain USGS 1:24000 topographic quadrangle maps of students' hometown areas. These can be inexpensively ordered from a variety of sources or printed from downloaded digital scans. 2) Hometown stream projects: students choose streams of personal interest, download NWIS discharge data and discover typical discharge patterns, examine unusual events such as floods or droughts, perform flood frequency analyses, and see changes over time (e.g. due to development or stream exploitation). 3) Hometown plate motions: students can use several independent methods to track both short-term and long-term average plate motions. They can download high-precision GPS data from stations near their hometowns to get near real-time plate motions. These can be compared to independent long-term averages from various "plate motion calculators" that are based on geologic data. 4) Hometown earthquakes: use USGS or IRIS seismic monitors to look at earthquake patterns in hometown regions. 5) Hometown seismic data: analyze remote earthquakes using seismograph data from stations near students' hometowns. 6) Hometown climate change: examine historic temperature and precipitation records from stations or regions near students' hometowns and analyze changes over time.

Numerical simulation of the Earth satellites motion using parallel computing. accounting of weak disturbances. (Russian Title: Прогнозирование движения ИСЗ с использованием параллельных вычислений. учет слабых возмущений)

NASA Astrophysics Data System (ADS)

Chuvashov, I. N.

2010-12-01

The features of high-precision numerical simulation of the Earth satellite motion using parallel computing are discussed on example the implementation of the cluster "Skiff Cyberia" software complex "Numerical model of the motion of system satellites". It is shown that the use of 128 bit word length allows considering weak perturbations from the high-order harmonics in the expansion of the geopotential and the effect of strain geopotential harmonics arising due to the combination of tidal perturbations associated with exposure to the moon and sun on the solid Earth and its oceans.

Fast forward kinematics algorithm for real-time and high-precision control of the 3-RPS parallel mechanism

NASA Astrophysics Data System (ADS)

Wang, Yue; Yu, Jingjun; Pei, Xu

2018-06-01

A new forward kinematics algorithm for the mechanism of 3-RPS (R: Revolute; P: Prismatic; S: Spherical) parallel manipulators is proposed in this study. This algorithm is primarily based on the special geometric conditions of the 3-RPS parallel mechanism, and it eliminates the errors produced by parasitic motions to improve and ensure accuracy. Specifically, the errors can be less than 10-6. In this method, only the group of solutions that is consistent with the actual situation of the platform is obtained rapidly. This algorithm substantially improves calculation efficiency because the selected initial values are reasonable, and all the formulas in the calculation are analytical. This novel forward kinematics algorithm is well suited for real-time and high-precision control of the 3-RPS parallel mechanism.

SU-F-T-255: Accuracy and Precision of Dynamic Tracking Irradiation with VERO-4DRT System

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

Hayashi, N; Takada, Y; Mizuno, T

2016-06-15

Purpose: The VERO-4DRT system is able to provide dynamic tracking irradiation (DTI) for the target with respiratory motion. This technique requires enough commissioning for clinical implementation. The purpose of this study is to make sure the accuracy and precision of DTI using VERO- 4DRT through commissioning from fundamental evaluation to end-to-end test. Method: We evaluated several contents for DTI commissioning: the accuracy of absorption dose at isocenter in DTI, the field size and penumbra of DTI, the accuracy of 4D modeling in DTI. All evaluations were performed by respiratory motion phantom (Quasar phantom). These contents were compared the results betweenmore » static irradiation and DTI. The shape of radiation field was set to square from 3 cm × 3 cm to 10 cm × 10 cm. The micro 3D chamber and Gafchromic EBT3 film were used for absorbed dose and relative dose distribution measurement, respectively. The sine and irregular shaped waves were used for demonstrative respiratory motion. The visicoil was implanted into the phantom for guidance of respiratory motion. The respiration patterns of frequency and motion amount were set to 10–15 BPM and 1–2 cm, respectively. Results: As the result of absorbed dose of DTI in comparison with static irradiation, the average dose error at isocenter was 0.5% even though various respiratory patterns were set on. As the result of relative dose distribution, the field size (set it on 50% dose line) was not significantly changed in all respiratory patterns. However, the penumbra was larger in greater respiratory motion (up to 4.1 mm). The 4D modeling coincidence between actual and created waves was within 1%. Conclusion: The DTI using VERO-4DRT can provide sufficient accuracy and precision in absorbed dose and distribution. However, the patientspecific quantitative internal margin corresponding respiratory motion should be taken into consideration with image guidance.« less

Digital stereophotogrammetry based on circular markers and zooming cameras: evaluation of a method for 3D analysis of small motions in orthopaedic research

PubMed Central

2011-01-01

Background Orthopaedic research projects focusing on small displacements in a small measurement volume require a radiation free, three dimensional motion analysis system. A stereophotogrammetrical motion analysis system can track wireless, small, light-weight markers attached to the objects. Thereby the disturbance of the measured objects through the marker tracking can be kept at minimum. The purpose of this study was to develop and evaluate a non-position fixed compact motion analysis system configured for a small measurement volume and able to zoom while tracking small round flat markers in respect to a fiducial marker which was used for the camera pose estimation. Methods The system consisted of two web cameras and the fiducial marker placed in front of them. The markers to track were black circles on a white background. The algorithm to detect a centre of the projected circle on the image plane was described and applied. In order to evaluate the accuracy (mean measurement error) and precision (standard deviation of the measurement error) of the optical measurement system, two experiments were performed: 1) inter-marker distance measurement and 2) marker displacement measurement. Results The first experiment of the 10 mm distances measurement showed a total accuracy of 0.0086 mm and precision of ± 0.1002 mm. In the second experiment, translations from 0.5 mm to 5 mm were measured with total accuracy of 0.0038 mm and precision of ± 0.0461 mm. The rotations of 2.25° amount were measured with the entire accuracy of 0.058° and the precision was of ± 0.172°. Conclusions The description of the non-proprietary measurement device with very good levels of accuracy and precision may provide opportunities for new, cost effective applications of stereophotogrammetrical analysis in musculoskeletal research projects, focusing on kinematics of small displacements in a small measurement volume. PMID:21284867

Anisotropic field-of-view shapes for improved PROPELLER imaging☆

PubMed Central

Larson, Peder E.Z.; Lustig, Michael S.; Nishimura, Dwight G.

2010-01-01

The Periodically Rotated Overlapping ParallEL Lines with Enhanced Reconstruction (PROPELLER) method for magnetic resonance imaging data acquisition and reconstruction has the highly desirable property of being able to correct for motion during the scan, making it especially useful for imaging pediatric or uncooperative patients and diffusion imaging. This method nominally supports a circular field of view (FOV), but tailoring the FOV for noncircular shapes results in more efficient, shorter scans. This article presents new algorithms for tailoring PROPELLER acquisitions to the desired FOV shape and size that are flexible and precise. The FOV design also allows for rotational motion which provides better motion correction and reduced aliasing artifacts. Some possible FOV shapes demonstrated are ellipses, ovals and rectangles, and any convex, pi-symmetric shape can be designed. Standard PROPELLER reconstruction is used with minor modifications, and results with simulated motion presented confirm the effectiveness of the motion correction with these modified FOV shapes. These new acquisition design algorithms are simple and fast enough to be computed for each individual scan. Also presented are algorithms for further scan time reductions in PROPELLER echo-planar imaging (EPI) acquisitions by varying the sample spacing in two directions within each blade. PMID:18818039

Preliminary Study on Continuous Recognition of Elbow Flexion/Extension Using sEMG Signals for Bilateral Rehabilitation

PubMed Central

Song, Zhibin; Zhang, Songyuan

2016-01-01

Surface electromyography (sEMG) signals are closely related to the activation of human muscles and the motion of the human body, which can be used to estimate the dynamics of human limbs in the rehabilitation field. They also have the potential to be used in the application of bilateral rehabilitation, where hemiplegic patients can train their affected limbs following the motion of unaffected limbs via some rehabilitation devices. Traditional methods to process the sEMG focused on motion pattern recognition, namely, discrete patterns, which are not satisfactory for use in bilateral rehabilitation. In order to overcome this problem, in this paper, we built a relationship between sEMG signals and human motion in elbow flexion and extension on the sagittal plane. During the conducted experiments, four participants were required to perform elbow flexion and extension on the sagittal plane smoothly with only an inertia sensor in their hands, where forearm dynamics were not considered. In these circumstances, sEMG signals were weak compared to those with heavy loads or high acceleration. The contrastive experimental results show that continuous motion can also be obtained within an acceptable precision range. PMID:27775573

Preliminary Study on Continuous Recognition of Elbow Flexion/Extension Using sEMG Signals for Bilateral Rehabilitation.

PubMed

Song, Zhibin; Zhang, Songyuan

2016-10-19

Surface electromyography (sEMG) signals are closely related to the activation of human muscles and the motion of the human body, which can be used to estimate the dynamics of human limbs in the rehabilitation field. They also have the potential to be used in the application of bilateral rehabilitation, where hemiplegic patients can train their affected limbs following the motion of unaffected limbs via some rehabilitation devices. Traditional methods to process the sEMG focused on motion pattern recognition, namely, discrete patterns, which are not satisfactory for use in bilateral rehabilitation. In order to overcome this problem, in this paper, we built a relationship between sEMG signals and human motion in elbow flexion and extension on the sagittal plane. During the conducted experiments, four participants were required to perform elbow flexion and extension on the sagittal plane smoothly with only an inertia sensor in their hands, where forearm dynamics were not considered. In these circumstances, sEMG signals were weak compared to those with heavy loads or high acceleration. The contrastive experimental results show that continuous motion can also be obtained within an acceptable precision range.

Fine-resolution repeat topographic surveying of dryland landscapes using UAS-based structure-from-motion photogrammetry: Assessing accuracy and precision against traditional ground-based erosion measurements

USGS Publications Warehouse

Gillian, Jeffrey K.; Karl, Jason W.; Elaksher, Ahmed; Duniway, Michael C.

2017-01-01

Structure-from-motion (SfM) photogrammetry from unmanned aerial system (UAS) imagery is an emerging tool for repeat topographic surveying of dryland erosion. These methods are particularly appealing due to the ability to cover large landscapes compared to field methods and at reduced costs and finer spatial resolution compared to airborne laser scanning. Accuracy and precision of high-resolution digital terrain models (DTMs) derived from UAS imagery have been explored in many studies, typically by comparing image coordinates to surveyed check points or LiDAR datasets. In addition to traditional check points, this study compared 5 cm resolution DTMs derived from fixed-wing UAS imagery with a traditional ground-based method of measuring soil surface change called erosion bridges. We assessed accuracy by comparing the elevation values between DTMs and erosion bridges along thirty topographic transects each 6.1 m long. Comparisons occurred at two points in time (June 2014, February 2015) which enabled us to assess vertical accuracy with 3314 data points and vertical precision (i.e., repeatability) with 1657 data points. We found strong vertical agreement (accuracy) between the methods (RMSE 2.9 and 3.2 cm in June 2014 and February 2015, respectively) and high vertical precision for the DTMs (RMSE 2.8 cm). Our results from comparing SfM-generated DTMs to check points, and strong agreement with erosion bridge measurements suggests repeat UAS imagery and SfM processing could replace erosion bridges for a more synoptic landscape assessment of shifting soil surfaces for some studies. However, while collecting the UAS imagery and generating the SfM DTMs for this study was faster than collecting erosion bridge measurements, technical challenges related to the need for ground control networks and image processing requirements must be addressed before this technique could be applied effectively to large landscapes.

Online compensation for target motion with scanned particle beams: simulation environment.

PubMed

Li, Qiang; Groezinger, Sven Oliver; Haberer, Thomas; Rietzel, Eike; Kraft, Gerhard

2004-07-21

Target motion is one of the major limitations of each high precision radiation therapy. Using advanced active beam delivery techniques, such as the magnetic raster scanning system for particle irradiation, the interplay between time-dependent beam and target position heavily distorts the applied dose distribution. This paper presents a simulation environment in which the time-dependent effect of target motion on heavy-ion irradiation can be calculated with dynamically scanned ion beams. In an extension of the existing treatment planning software for ion irradiation of static targets (TRiP) at GSI, the expected dose distribution is calculated as the sum of several sub-distributions for single target motion states. To investigate active compensation for target motion by adapting the position of the therapeutic beam during irradiation, the planned beam positions can be altered during the calculation. Applying realistic parameters to the planned motion-compensation methods at GSI, the effect of target motion on the expected dose uniformity can be simulated for different target configurations and motion conditions. For the dynamic dose calculation, experimentally measured profiles of the beam extraction in time were used. Initial simulations show the feasibility and consistency of an active motion compensation with the magnetic scanning system and reveal some strategies to improve the dose homogeneity inside the moving target. The simulation environment presented here provides an effective means for evaluating the dose distribution for a moving target volume with and without motion compensation. It contributes a substantial basis for the experimental research on the irradiation of moving target volumes with scanned ion beams at GSI which will be presented in upcoming papers.

Robotic Surgery

NASA Technical Reports Server (NTRS)

2000-01-01

The Automated Endoscopic System for Optimal Positioning, or AESOP, was developed by Computer Motion, Inc. under a SBIR contract from the Jet Propulsion Lab. AESOP is a robotic endoscopic positioning system used to control the motion of a camera during endoscopic surgery. The camera, which is mounted at the end of a robotic arm, previously had to be held in place by the surgical staff. With AESOP the robotic arm can make more precise and consistent movements. AESOP is also voice controlled by the surgeon. It is hoped that this technology can be used in space repair missions which require precision beyond human dexterity. A new generation of the same technology entitled the ZEUS Robotic Surgical System can make endoscopic procedures even more successful. ZEUS allows the surgeon control various instruments in its robotic arms, allowing for the precision the procedure requires.

Technical aspects of real time positron emission tracking for gated radiotherapy

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

Chamberland, Marc; Xu, Tong, E-mail: txu@physics.carleton.ca; McEwen, Malcolm R.

2016-02-15

Purpose: Respiratory motion can lead to treatment errors in the delivery of radiotherapy treatments. Respiratory gating can assist in better conforming the beam delivery to the target volume. We present a study of the technical aspects of a real time positron emission tracking system for potential use in gated radiotherapy. Methods: The tracking system, called PeTrack, uses implanted positron emission markers and position sensitive gamma ray detectors to track breathing motion in real time. PeTrack uses an expectation–maximization algorithm to track the motion of fiducial markers. A normalized least mean squares adaptive filter predicts the location of the markers amore » short time ahead to account for system response latency. The precision and data collection efficiency of a prototype PeTrack system were measured under conditions simulating gated radiotherapy. The lung insert of a thorax phantom was translated in the inferior–superior direction with regular sinusoidal motion and simulated patient breathing motion (maximum amplitude of motion ±10 mm, period 4 s). The system tracked the motion of a {sup 22}Na fiducial marker (0.34 MBq) embedded in the lung insert every 0.2 s. The position of the was marker was predicted 0.2 s ahead. For sinusoidal motion, the equation used to model the motion was fitted to the data. The precision of the tracking was estimated as the standard deviation of the residuals. Software was also developed to communicate with a Linac and toggle beam delivery. In a separate experiment involving a Linac, 500 monitor units of radiation were delivered to the phantom with a 3 × 3 cm photon beam and with 6 and 10 MV accelerating potential. Radiochromic films were inserted in the phantom to measure spatial dose distribution. In this experiment, the period of motion was set to 60 s to account for beam turn-on latency. The beam was turned off when the marker moved outside of a 5-mm gating window. Results: The precision of the tracking in the IS direction was 0.53 mm for a sinusoidally moving target, with an average count rate ∼250 cps. The average prediction error was 1.1 ± 0.6 mm when the marker moved according to irregular patient breathing motion. Across all beam deliveries during the radiochromic film measurements, the average prediction error was 0.8 ± 0.5 mm. The maximum error was 2.5 mm and the 95th percentile error was 1.5 mm. Clear improvement of the dose distribution was observed between gated and nongated deliveries. The full-width at halfmaximum of the dose profiles of gated deliveries differed by 3 mm or less than the static reference dose distribution. Monitoring of the beam on/off times showed synchronization with the location of the marker within the latency of the system. Conclusions: PeTrack can track the motion of internal fiducial positron emission markers with submillimeter precision. The system can be used to gate the delivery of a Linac beam based on the position of a moving fiducial marker. This highlights the potential of the system for use in respiratory-gated radiotherapy.« less

Determination of Stability and Translation in a Boundary Layer

NASA Technical Reports Server (NTRS)

Crepeau, John; Tobak, Murray

1996-01-01

Reducing the infinite degrees of freedom inherent in fluid motion into a manageable number of modes to analyze fluid motion is presented. The concepts behind the center manifold technique are used. Study of the Blasius boundary layer and a precise description of stability within the flow field are discussed.

Visual Neuroscience: Unique Neural System for Flight Stabilization in Hummingbirds.

PubMed

Ibbotson, M R

2017-01-23

The pretectal visual motion processing area in the hummingbird brain is unlike that in other birds: instead of emphasizing detection of horizontal movements, it codes for motion in all directions through 360°, possibly offering precise visual stability control during hovering. Copyright © 2017 Elsevier Ltd. All rights reserved.

Cavity cooling of an optically levitated submicron particle

PubMed Central

Kiesel, Nikolai; Blaser, Florian; Delić, Uroš; Grass, David; Kaltenbaek, Rainer; Aspelmeyer, Markus

2013-01-01

The coupling of a levitated submicron particle and an optical cavity field promises access to a unique parameter regime both for macroscopic quantum experiments and for high-precision force sensing. We report a demonstration of such controlled interactions by cavity cooling the center-of-mass motion of an optically trapped submicron particle. This paves the way for a light–matter interface that can enable room-temperature quantum experiments with mesoscopic mechanical systems. PMID:23940352

Experimental investigation of shaping disturbance observer design for motion control of precision mechatronic stages with resonances

NASA Astrophysics Data System (ADS)

Yang, Jin; Hu, Chuxiong; Zhu, Yu; Wang, Ze; Zhang, Ming

2017-08-01

In this paper, shaping disturbance observer (SDOB) is investigated for precision mechatronic stages with middle-frequency zero/pole type resonance to achieve good motion control performance in practical manufacturing situations. Compared with traditional standard disturbance observer (DOB), in SDOB a pole-zero cancellation based shaping filter is cascaded to the mechatronic stage plant to meet the challenge of motion control performance deterioration caused by actual resonance. Noting that pole-zero cancellation is inevitably imperfect and the controller may even consequently become unstable in practice, frequency domain stability analysis is conducted to find out how each parameter of the shaping filter affects the control stability. Moreover, the robust design criterion of the shaping filter, and the design procedure of SDOB, are both proposed to guide the actual design and facilitate practical implementation. The SDOB with the proposed design criterion is applied to a linear motor driven stage and a voice motor driven stage, respectively. Experimental results consistently validate the effectiveness nature of the proposed SDOB scheme in practical mechatronics motion applications. The proposed SDOB design actually could be an effective unit in the controller design for motion stages of mechanical manufacture equipments.

Controllable High-Speed Rotation of Nanowires

NASA Astrophysics Data System (ADS)

Fan, D. L.; Zhu, F. Q.; Cammarata, R. C.; Chien, C. L.

2005-06-01

We report a versatile method for executing controllable high-speed rotation of nanowires by ac voltages applied to multiple electrodes. The rotation of the nanowires can be instantly switched on or off with precisely controlled rotation speed (to at least 1800 rpm), definite chirality, and total angle of rotation. We have determined the torque due to the fluidic drag force on nanowire of different lengths. We also demonstrate a micromotor using a rotating nanowire driving a dust particle into circular motion. This method has been used to rotate magnetic and nonmagnetic nanowires as well as carbon nanotubes.

Two Decades of Advances in High-Resolution Spectroscopy of Large-Amplitude Motions in N-Fold Potential Wells, as Illustrated by Methanol

NASA Astrophysics Data System (ADS)

Xu, Li-Hong

2016-06-01

Methanol is a simple and intensively studied organic molecule possessing one large-amplitude torsional motion. It has, for nearly a century, been a favorite of researchers in many fields, e.g., instrument builders, for whom methanol is often the first molecule chosen for testing an improved or a newly built instrument (including HIFI, the Heterodyne Instrument for the Far Infrared on board the Herschel space mission); theorists and/or dynamicists studying the challenging effects of a large-amplitude motion coupling with small-amplitude motions to enhance intramolecular vibrational energy redistribution; astronomers who have elevated methanol to their #1 interstellar weed because of its rich and omnipresent spectrum in the interstellar garden, where it serves as a unique probe for diagnosing conditions in star-forming regions; astrochemists studying isotopic ratios as clues to the chemical evolution of the universe; and fundamentalists seeking possible time variation of the proton/electron mass ratio in the standard model; just to name a few. From high-resolution to high-precision spectroscopy, the large-amplitude internal rotation of the methyl top against its OH framework in methanol has never failed to produce new surprises in spectral regions from the microwave all the way to the near IR. The very recent observation of completely unexpected large methanol hyperfine splittings is a vivid testimonial that the large-amplitude torsional motion can still lead us to unexplored landscapes. This talk will focus on the complicated vibration-torsion-rotation energy networks and interactions deduced from high resolution spectra; our efforts to understand some of them using ab-initio-assisted approaches and the modeling of torsion-rotation and torsionally mediated spin-rotation hyperfine splittings in methanol. These topics represent one part of the much larger fascinating world inhabited by methanolics.

Long-term orbit prediction for the Venus Radar Mapper Mission using an averaging method

NASA Technical Reports Server (NTRS)

Kwok, J. H.

1984-01-01

A set of singly averaged equations of motion are presented and applied to long-term orbit prediction of an orbiting spacecraft around a slowly rotating planet, using the Venus Radar Mapper Mission as an example. The equations of motion used are valid for all eccentricities less than one. The disturbing potentials used include nonsphericity of the Venus gravity field and third-body effects due to the sun. Recursive relationships are used in the expansion and evaluation of these potentials and their respective partial derivatives. Special care is taken to optimize computational efficiency. The averaging method is compared with high precision Cowell's method using a desktop microcomputer and shows computational saving of about two orders of magnitude.

Interferometric Scattering Microscopy for the Study of Molecular Motors

PubMed Central

Andrecka, J.; Takagi, Y.; Mickolajczyk, K.J.; Lippert, L.G.; Sellers, J.R.; Hancock, W.O.; Goldman, Y.E.; Kukura, P.

2016-01-01

Our understanding of molecular motor function has been greatly improved by the development of imaging modalities, which enable real-time observation of their motion at the single-molecule level. Here, we describe the use of a new method, interferometric scattering microscopy, for the investigation of motor protein dynamics by attaching and tracking the motion of metallic nanoparticle labels as small as 20 nm diameter. Using myosin-5, kinesin-1, and dynein as examples, we describe the basic assays, labeling strategies, and principles of data analysis. Our approach is relevant not only for motor protein dynamics but also provides a general tool for single-particle tracking with high spatiotemporal precision, which overcomes the limitations of single-molecule fluorescence methods. PMID:27793291

Bayesian noise-reduction in Arabia/Somalia and Nubia/Arabia finite rotations since ˜20 Ma: Implications for Nubia/Somalia relative motion

NASA Astrophysics Data System (ADS)

Iaffaldano, Giampiero; Hawkins, Rhys; Sambridge, Malcolm

2014-04-01

Knowledge of Nubia/Somalia relative motion since the Early Neogene is of particular importance in the Earth Sciences, because it (i) impacts on inferences on African dynamic topography; and (ii) allows us to link plate kinematics within the Indian realm with those within the Atlantic basin. The contemporary Nubia/Somalia motion is well known from geodetic observations. Precise estimates of the past-3.2-Myr average motion are also available from paleo-magnetic observations. However, little is known of the Nubia/Somalia motion prior to ˜3.2 Ma, chiefly because the Southwest Indian Ridge spread slowly, posing a challenge to precisely identify magnetic lineations. This also makes the few observations available particularly prone to noise. Here we reconstruct Nubia/Somalia relative motions since ˜20 Ma from the alternative plate-circuit Nubia-Arabia-Somalia. We resort to trans-dimensional hierarchical Bayesian Inference, which has proved effective in reducing finite-rotation noise, to unravel the Arabia/Somalia and Arabia/Nubia motions. We combine the resulting kinematics to reconstruct the Nubia/Somalia relative motion since ˜20 Ma. We verify the validity of the approach by comparing our reconstruction with the available record for the past ˜3.2 Myr, obtained through Antarctica. Results indicate that prior to ˜11 Ma the total motion between Nubia and Somalia was faster than today. Furthermore, it featured a significant strike-slip component along the Nubia/Somalia boundary. It is only since ˜11 Ma that Nubia diverges away from Somalia at slower rates, comparable to the present-day one. Kinematic changes of some 20% might have occurred in the period leading to the present-day, but plate-motion steadiness is also warranted within the uncertainties.

Weighting Mean and Variability during Confidence Judgments

PubMed Central

de Gardelle, Vincent; Mamassian, Pascal

2015-01-01

Humans can not only perform some visual tasks with great precision, they can also judge how good they are in these tasks. However, it remains unclear how observers produce such metacognitive evaluations, and how these evaluations might be dissociated from the performance in the visual task. Here, we hypothesized that some stimulus variables could affect confidence judgments above and beyond their impact on performance. In a motion categorization task on moving dots, we manipulated the mean and the variance of the motion directions, to obtain a low-mean low-variance condition and a high-mean high-variance condition with matched performances. Critically, in terms of confidence, observers were not indifferent between these two conditions. Observers exhibited marked preferences, which were heterogeneous across individuals, but stable within each observer when assessed one week later. Thus, confidence and performance are dissociable and observers’ confidence judgments put different weights on the stimulus variables that limit performance. PMID:25793275

Evaluation of a portable markerless finger position capture device: accuracy of the Leap Motion controller in healthy adults.

PubMed

Tung, James Y; Lulic, Tea; Gonzalez, Dave A; Tran, Johnathan; Dickerson, Clark R; Roy, Eric A

2015-05-01

Although motion analysis is frequently employed in upper limb motor assessment (e.g. visually-guided reaching), they are resource-intensive and limited to laboratory settings. This study evaluated the reliability and accuracy of a new markerless motion capture device, the Leap Motion controller, to measure finger position. Testing conditions that influence reliability and agreement between the Leap and a research-grade motion capture system were examined. Nine healthy young adults pointed to 15 targets on a computer screen under two conditions: (1) touching the target (touch) and (2) 4 cm away from the target (no-touch). Leap data was compared to an Optotrak marker attached to the index finger. Across all trials, root mean square (RMS) error of the Leap system was 17.30  ±  9.56 mm (mean ± SD), sampled at 65.47  ±  21.53 Hz. The % viable trials and mean sampling rate were significantly lower in the touch condition (44% versus 64%, p < 0.001; 52.02  ±  2.93 versus 73.98  ±  4.48 Hz, p = 0.003). While linear correlations were high (horizontal: r(2) = 0.995, vertical r(2) = 0.945), the limits of agreement were large (horizontal: -22.02 to +26.80 mm, vertical: -29.41 to +30.14 mm). While not as precise as more sophisticated optical motion capture systems, the Leap Motion controller is sufficiently reliable for measuring motor performance in pointing tasks that do not require high positional accuracy (e.g. reaction time, Fitt's, trails, bimanual coordination).

Design and preliminary evaluation of the FINGER rehabilitation robot: controlling challenge and quantifying finger individuation during musical computer game play.

PubMed

Taheri, Hossein; Rowe, Justin B; Gardner, David; Chan, Vicki; Gray, Kyle; Bower, Curtis; Reinkensmeyer, David J; Wolbrecht, Eric T

2014-02-04

This paper describes the design and preliminary testing of FINGER (Finger Individuating Grasp Exercise Robot), a device for assisting in finger rehabilitation after neurologic injury. We developed FINGER to assist stroke patients in moving their fingers individually in a naturalistic curling motion while playing a game similar to Guitar Hero. The goal was to make FINGER capable of assisting with motions where precise timing is important. FINGER consists of a pair of stacked single degree-of-freedom 8-bar mechanisms, one for the index and one for the middle finger. Each 8-bar mechanism was designed to control the angle and position of the proximal phalanx and the position of the middle phalanx. Target positions for the mechanism optimization were determined from trajectory data collected from 7 healthy subjects using color-based motion capture. The resulting robotic device was built to accommodate multiple finger sizes and finger-to-finger widths. For initial evaluation, we asked individuals with a stroke (n = 16) and without impairment (n = 4) to play a game similar to Guitar Hero while connected to FINGER. Precision design, low friction bearings, and separate high speed linear actuators allowed FINGER to individually actuate the fingers with a high bandwidth of control (-3 dB at approximately 8 Hz). During the tests, we were able to modulate the subject's success rate at the game by automatically adjusting the controller gains of FINGER. We also used FINGER to measure subjects' effort and finger individuation while playing the game. Test results demonstrate the ability of FINGER to motivate subjects with an engaging game environment that challenges individuated control of the fingers, automatically control assistance levels, and quantify finger individuation after stroke.

SU-F-J-127: Multi-Institutional Evaluation of Setup, Organ Deformation, Precision Dosimetry in Total Marrow Irradiation

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

Zuro, D; Hui, S

Purpose: Totals Marrow Irradiation (TMI) is a highly focused radiation delivery to the human skeleton structure therefore requiring a high amount of precision and accuracy for a quality treatment. Not much is known on how the patient position varies across multiple treatment fractions and how that positioning impacts the dose delivery. Currently TMI is studied as an international collaboration with multiple centers around the world; however, many of these centers used different pretreatment techniques. The goal of this work is to measure the accuracy of patient positioning, its impact on dose delivery and compare the impact of each technique formore » multiple institutions. Methods: Using Tomotherapy pretreatment MVCTs and the planning KVCTs measurements are made of the 3D setup uncertainties of the TMI treatment. Then, using the dose and plan files of the treatment impact of patient position on dose can be measured. Measurement of organ deformation and center of mass change were done using the Velocity AI program from Varian. We are looking at four the boney targets (skull, spine, pelvis, and femur) and three key sensitive tissues (eyes, lungs, kidneys). Results: Position measurements have been made for 3 different institutions using 3 different pre-treatment techniques. Comparing the translation motion we can observe the greatest change in the Y and Z direction of patient set up. For intra-fractional motion the shoulder and clavicle represent the greatest potential for motion and therefore most likely to have a dose change. Conclusion: All centers use different techniques for their treatment and this study shows that these techniques do not produce the same pretreatment results. We hope to expand this study further. Currently we have 3 centers participating in this study with more centers joining every day.« less

Tectonic movements along the Anegada Passage derived from GPS Observations (2008-2017)

NASA Astrophysics Data System (ADS)

Liu, H.; Wang, G.

2017-12-01

The Anegada Passage system, mainly includes the Virgin Islands Basin (VIB), Anegada Gap, and the Sombrero Basin, are located within the tectonically complex plate boundary zone between the North America and Caribbean plates. It separated the Puerto Rico and Northern Virgin Islands (PRNVI) block from St. Croix and Anguilla. Long-term seismic observations indicated that this region still faces high risk from earthquakes. This study used current GPS geodesy infrastructure in the Northeastern Caribbean region, which includes high densely GPS stations on PRNVI block and northern Lesser Antilles and a stable PRNVI reference frame (SPRNVIRF). Current GPS geodesy infrastructure in the PRVI region makes it possible to precisely delineate minor tectonic motions (1 to 2 mm/year) within the northeastern Caribbean region. The carrier phase Double-Difference (DD) and Precise Point Positioning (PPP) post-processing methods are both used to processing GPS data. Over ten years of GPS observations indicate that the St. Croix Island is moving away from the PRVI block toward southeast with a velocity of 1.8 ± 0.2 mm/year; there is not considerable relative motions between the Saint Martin Island and the PRVI block. The Saint Martin Island is located at the south side of the Anegada Gap. The GPS and seismic observations along the two sides of the Anegada passage suggest that the west segment (VIB) of the passage retains active, while the east segment is presently inactive. The Virgin Islands basin presently experiences left-lateral motion in a nearly east-west direction with a velocity of about 1.2 mm/year and an extension in a nearly north-south direction with a velocity of about 1.3 mm/year. The quantitative measurements derived from GPS observations would improve seismic hazard assessment in the Anegada Passage region.

Probing Motion of Fast Radio Burst Sources by Timing Strongly Lensed Repeaters

NASA Astrophysics Data System (ADS)

Dai, Liang; Lu, Wenbin

2017-09-01

Given the possible repetitive nature of fast radio bursts (FRBs), their cosmological origin, and their high occurrence, detection of strongly lensed sources due to intervening galaxy lenses is possible with forthcoming radio surveys. We show that if multiple images of a repeating source are resolved with VLBI, using a method independent of lens modeling, accurate timing could reveal non-uniform motion, either physical or apparent, of the emission spot. This can probe the physical nature of FRBs and their surrounding environments, constraining scenarios including orbital motion around a stellar companion if FRBs require a compact star in a special system, and jet-medium interactions for which the location of the emission spot may randomly vary. The high timing precision possible for FRBs (˜ms) compared with the typical time delays between images in galaxy lensing (≳10 days) enables the measurement of tiny fractional changes in the delays (˜ {10}-9) and hence the detection of time-delay variations induced by relative motions between the source, the lens, and the Earth. We show that uniform cosmic peculiar velocities only cause the delay time to drift linearly, and that the effect from the Earth’s orbital motion can be accurately subtracted, thus enabling a search for non-trivial source motion. For a timing accuracy of ˜1 ms and a repetition rate (of detected bursts) of ˜0.05 per day of a single FRB source, non-uniform displacement ≳0.1-1 au of the emission spot perpendicular to the line of sight is detectable if repetitions are seen over a period of hundreds of days.

Three-dimensional kinematics of the equine metacarpophalangeal joint using x-ray reconstruction of moving morphology - a pilot study.

PubMed

Childs, Bronwen A; Pugliese, Brenna R; Carballo, Cristina T; Miranda, Daniel L; Brainerd, Elizabeth L; Kirker-Head, Carl A

2017-07-20

X-ray reconstruction of moving morphology (XROMM) uses biplanar videoradiography and computed tomography (CT) scanning to capture three-dimensional (3D) bone motion. In XROMM, morphologically accurate 3D bone models derived from CT are animated with motion from videoradiography, yielding a highly accurate and precise reconstruction of skeletal kinematics. We employ this motion analysis technique to characterize metacarpophalangeal joint (MCPJ) motion in the absence and presence of protective legwear in a healthy pony. Our in vivo marker tracking precision was 0.09 mm for walk and trot, and 0.10 mm during jump down exercises. We report MCPJ maximum extension (walk: -27.70 ± 2.78° [standard deviation]; trot: -33.84 ± 4.94°), abduction/adduction (walk: 0.04 ± 0.24°; trot: -0.23 ± 0.35°) and external/internal rotations (walk: 0.30 ± 0.32°; trot: -0.49 ± 1.05°) indicating that the MCPJ in this pony is a stable hinge joint with negligible extra-sagittal rotations. No substantial change in MCPJ maximum extension angles or vertical ground reaction forces (GRFv) were observed upon application of legwear during jump down exercise. Neoprene boot application yielded -65.20 ± 2.06° extension (GRFv = 11.97 ± 0.67 N/kg) and fleece polo wrap application yielded -64.23 ± 1.68° extension (GRFv = 11.36 ± 1.66 N/kg), when compared to naked control (-66.11 ± 0.96°; GRFv = 12.02 ± 0.53 N/kg). Collectively, this proof of concept study illustrates the benefits and practical limitations of using XROMM to document equine MCPJ kinematics in the presence and absence of legwear.

Strategies of Parkour practitioners for executing soft precision landings.

PubMed

Maldonado, Galo; Soueres, Philippe; Watier, Bruno

2018-04-25

Parkour landing techniques differ from performances of other sports as they are practiced in urban spaces with uncontrolled surfaces and drop heights. Due to the relatively young age of the sport, few studies have tried to understand how practitioners - called traceurs - succeed at performing these dynamic performances. In this paper, we focus on the precision landing technique, which has a fundamental role in most of the Parkour motions. We analyzed the lower limbs motion of traceurs executing the precision landings from two different heights and compared their performance with untrained participants. We found that traceurs perform a soft landing extending its duration twice than untrained participants do [Formula: see text], increasing the range of motion [Formula: see text] and generating more mechanical energy [Formula: see text] to dissipate the impact. In the Parkour technique, the knee accounted for half of the energy dissipated. The peak joint torques [Formula: see text] and power [Formula: see text] were reduced in the Parkour technique. The increase of the landing height did not modify the proportion of individual joint mechanical energy contribution for dissipation. Our results could be used to enhance Parkour performance, and to understand new ways in which sport practitioners can land in order to prevent injuries.

Modal-Power-Based Haptic Motion Recognition

NASA Astrophysics Data System (ADS)

Kasahara, Yusuke; Shimono, Tomoyuki; Kuwahara, Hiroaki; Sato, Masataka; Ohnishi, Kouhei

Motion recognition based on sensory information is important for providing assistance to human using robots. Several studies have been carried out on motion recognition based on image information. However, in the motion of humans contact with an object can not be evaluated precisely by image-based recognition. This is because the considering force information is very important for describing contact motion. In this paper, a modal-power-based haptic motion recognition is proposed; modal power is considered to reveal information on both position and force. Modal power is considered to be one of the defining features of human motion. A motion recognition algorithm based on linear discriminant analysis is proposed to distinguish between similar motions. Haptic information is extracted using a bilateral master-slave system. Then, the observed motion is decomposed in terms of primitive functions in a modal space. The experimental results show the effectiveness of the proposed method.

Accurate free and forced rotational motions of rigid Venus

NASA Astrophysics Data System (ADS)

Cottereau, L.; Souchay, J.; Aljbaae, S.

2010-06-01

Context. The precise and accurate modelling of a terrestrial planet like Venus is an exciting and challenging topic, all the more interesting because it can be compared with that of Earth for which such a modelling has already been achieved at the milli-arcsecond level. Aims: We aim to complete a previous study, by determining the polhody at the milli-arcsecond level, i.e. the torque-free motion of the angular momentum axis of a rigid Venus in a body-fixed frame, as well as the nutation of its third axis of figure in space, which is fundamental from an observational point of view. Methods: We use the same theoretical framework as Kinoshita (1977, Celest. Mech., 15, 277) did to determine the precession-nutation motion of a rigid Earth. It is based on a representation of the rotation of a rigid Venus, with the help of Andoyer variables and a set of canonical equations in Hamiltonian formalism. Results: In a first part we computed the polhody, we showed that this motion is highly elliptical, with a very long period of 525 cy compared with 430 d for the Earth. This is due to the very small dynamical flattening of Venus in comparison with our planet. In a second part we precisely computed the Oppolzer terms, which allow us to represent the motion in space of the third Venus figure axis with respect to the Venus angular momentum axis under the influence of the solar gravitational torque. We determined the corresponding tables of the nutation coefficients of the third figure axis both in longitude and in obliquity due to the Sun, which are of the same order of amplitude as for the Earth. We showed that the nutation coefficients for the third figure axis are significantly different from those of the angular momentum axis on the contrary of the Earth. Our analytical results have been validated by a numerical integration, which revealed the indirect planetary effects.

Accurate Visual Heading Estimation at High Rotation Rate Without Oculomotor or Static-Depth Cues

NASA Technical Reports Server (NTRS)

Stone, Leland S.; Perrone, John A.; Null, Cynthia H. (Technical Monitor)

1995-01-01

It has been claimed that either oculomotor or static depth cues provide the signals about self-rotation necessary approx.-1 deg/s. We tested this hypothesis by simulating self-motion along a curved path with the eyes fixed in the head (plus or minus 16 deg/s of rotation). Curvilinear motion offers two advantages: 1) heading remains constant in retinotopic coordinates, and 2) there is no visual-oculomotor conflict (both actual and simulated eye position remain stationary). We simulated 400 ms of rotation combined with 16 m/s of translation at fixed angles with respect to gaze towards two vertical planes of random dots initially 12 and 24 m away, with a field of view of 45 degrees. Four subjects were asked to fixate a central cross and to respond whether they were translating to the left or right of straight-ahead gaze. From the psychometric curves, heading bias (mean) and precision (semi-interquartile) were derived. The mean bias over 2-5 runs was 3.0, 4.0, -2.0, -0.4 deg for the first author and three naive subjects, respectively (positive indicating towards the rotation direction). The mean precision was 2.0, 1.9, 3.1, 1.6 deg. respectively. The ability of observers to make relatively accurate and precise heading judgments, despite the large rotational flow component, refutes the view that extra-flow-field information is necessary for human visual heading estimation at high rotation rates. Our results support models that process combined translational/rotational flow to estimate heading, but should not be construed to suggest that other cues do not play an important role when they are available to the observer.

Multi-fractal detrended texture feature for brain tumor classification

NASA Astrophysics Data System (ADS)

Reza, Syed M. S.; Mays, Randall; Iftekharuddin, Khan M.

2015-03-01

We propose a novel non-invasive brain tumor type classification using Multi-fractal Detrended Fluctuation Analysis (MFDFA) [1] in structural magnetic resonance (MR) images. This preliminary work investigates the efficacy of the MFDFA features along with our novel texture feature known as multifractional Brownian motion (mBm) [2] in classifying (grading) brain tumors as High Grade (HG) and Low Grade (LG). Based on prior performance, Random Forest (RF) [3] is employed for tumor grading using two different datasets such as BRATS-2013 [4] and BRATS-2014 [5]. Quantitative scores such as precision, recall, accuracy are obtained using the confusion matrix. On an average 90% precision and 85% recall from the inter-dataset cross-validation confirm the efficacy of the proposed method.

Vection and visually induced motion sickness: how are they related?

PubMed Central

Keshavarz, Behrang; Riecke, Bernhard E.; Hettinger, Lawrence J.; Campos, Jennifer L.

2015-01-01

The occurrence of visually induced motion sickness has been frequently linked to the sensation of illusory self-motion (vection), however, the precise nature of this relationship is still not fully understood. To date, it is still a matter of debate as to whether vection is a necessary prerequisite for visually induced motion sickness (VIMS). That is, can there be VIMS without any sensation of self-motion? In this paper, we will describe the possible nature of this relationship, review the literature that addresses this relationship (including theoretical accounts of vection and VIMS), and offer suggestions with respect to operationally defining and reporting these phenomena in future. PMID:25941509

The Application of Leap Motion in Astronaut Virtual Training

NASA Astrophysics Data System (ADS)

Qingchao, Xie; Jiangang, Chao

2017-03-01

With the development of computer vision, virtual reality has been applied in astronaut virtual training. As an advanced optic equipment to track hand, Leap Motion can provide precise and fluid tracking of hands. Leap Motion is suitable to be used as gesture input device in astronaut virtual training. This paper built an astronaut virtual training based Leap Motion, and established the mathematics model of hands occlusion. At last the ability of Leap Motion to handle occlusion was analysed. A virtual assembly simulation platform was developed for astronaut training, and occlusion gesture would influence the recognition process. The experimental result can guide astronaut virtual training.

Using frequency analysis to improve the precision of human body posture algorithms based on Kalman filters.

PubMed

Olivares, Alberto; Górriz, J M; Ramírez, J; Olivares, G

2016-05-01

With the advent of miniaturized inertial sensors many systems have been developed within the last decade to study and analyze human motion and posture, specially in the medical field. Data measured by the sensors are usually processed by algorithms based on Kalman Filters in order to estimate the orientation of the body parts under study. These filters traditionally include fixed parameters, such as the process and observation noise variances, whose value has large influence in the overall performance. It has been demonstrated that the optimal value of these parameters differs considerably for different motion intensities. Therefore, in this work, we show that, by applying frequency analysis to determine motion intensity, and varying the formerly fixed parameters accordingly, the overall precision of orientation estimation algorithms can be improved, therefore providing physicians with reliable objective data they can use in their daily practice. Copyright © 2015 Elsevier Ltd. All rights reserved.

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

Gould, Andrew; Yee, Jennifer C., E-mail: gould@astronomy.ohio-state.edu, E-mail: jyee@astronomy.ohio-state.edu

While of order of a million asteroids have been discovered, the number in rigorously controlled samples that have precise orbits and rotation periods, as well as well-measured colors, is relatively small. In particular, less than a dozen main-belt asteroids with estimated diameters D < 3 km have excellent rotation periods. We show how existing and soon-to-be-acquired microlensing data can yield a large asteroid sample with precise orbits and rotation periods, which will include roughly 6% of all asteroids with maximum brightness I < 18.1 and lying within 10 Degree-Sign of the ecliptic. This sample will be dominated by small andmore » very small asteroids, down to D {approx} 1 km. We also show how asteroid astrometry could turn current narrow-angle OGLE proper motions of bulge stars into wide-angle proper motions. This would enable one to measure the proper-motion gradient across the Galactic bar.« less

Passive and active mechanical properties of biotemplated ceramics revisited.

PubMed

Van Opdenbosch, Daniel; Fritz-Popovski, Gerhard; Plank, Johann; Zollfrank, Cordt; Paris, Oskar

2016-10-13

Living nature and human technology apply different principles to create hard, strong and tough materials. In this review, we compare and discuss prominent aspects of these alternative strategies, and demonstrate for selected examples that nanoscale-precision biotemplating is able to produce uncommon mechanical properties as well as actuating behavior, resembling to some extent the properties of the original natural templates. We present and discuss mechanical testing data showing for the first time that nanometer-precision biotemplating can lead to porous ceramic materials with deformation characteristics commonly associated with either biological or highly advanced technical materials. We also review recent findings on the relation between hierarchical structuring and humidity-induced directional motion. Finally, we discuss to which extent the observed behavior is in agreement with previous results and theories on the mechanical properties of multiscale hierarchical materials, as well as studies of highly disperse technical materials, together with an outlook for further lines of investigation.

Self-Force Corrections to the Periapsis Advance around a Spinning Black Hole

NASA Astrophysics Data System (ADS)

van de Meent, Maarten

2017-01-01

The linear in mass ratio correction to the periapsis advance of equatorial nearly circular orbits around a spinning black hole is calculated for the first time and to a very high precision, providing a key benchmark for different approaches modeling spinning binaries. The high precision of the calculation is leveraged to discriminate between two recent incompatible derivations of the 4 post-Newtonian equations of motion. Finally, the limit of the periapsis advance near the innermost stable orbit (ISCO) allows the determination of the ISCO shift, validating previous calculations using the first law of binary mechanics. Calculation of the ISCO shift is further extended into the near-extremal regime (with spins up to 1 -a =10-20), revealing new unexpected phenomenology. In particular, we find that the shift of the ISCO does not have a well-defined extremal limit but instead continues to oscillate.

Design and control of one precise tracking simulation bed for Chinese 20/30 meter optic/infrared telescope

NASA Astrophysics Data System (ADS)

Ren, Changzhi; Li, Xiaoyan; Song, Xiaoli; Niu, Yong; Li, Aihua; Zhang, Zhenchao

2012-09-01

Direct drive technology is the key to solute future 30-m and larger telescope motion system to guarantee a very high tracking accuracy, in spite of unbalanced and sudden loads such as wind gusts and in spite of a structure that, because of its size, can not be infinitely stiff. However, this requires the design and realization of unusually large torque motor that the torque slew rate must be extremely steep too. A conventional torque motor design appears inadequate. This paper explores one redundant unit permanent magnet synchronous motor and its simulation bed for 30-m class telescope. Because its drive system is one high integrated electromechanical system, one complexly electromechanical design method is adopted to improve the efficiency, reliability and quality of the system during the design and manufacture circle. This paper discusses the design and control of the precise tracking simulation bed in detail.

Evaluation of an organic light-emitting diode display for precise visual stimulation.

PubMed

Ito, Hiroyuki; Ogawa, Masaki; Sunaga, Shoji

2013-06-11

A new type of visual display for presentation of a visual stimulus with high quality was assessed. The characteristics of an organic light-emitting diode (OLED) display (Sony PVM-2541, 24.5 in.; Sony Corporation, Tokyo, Japan) were measured in detail from the viewpoint of its applicability to visual psychophysics. We found the new display to be superior to other display types in terms of spatial uniformity, color gamut, and contrast ratio. Changes in the intensity of luminance were sharper on the OLED display than those on a liquid crystal display. Therefore, such OLED displays could replace conventional cathode ray tube displays in vision research for high quality stimulus presentation. Benefits of using OLED displays in vision research were especially apparent in the fields of low-level vision, where precise control and description of the stimulus are needed, e.g., in mesopic or scotopic vision, color vision, and motion perception.

Highly damped kinematic coupling for precision instruments

DOEpatents

Hale, Layton C.; Jensen, Steven A.

2001-01-01

A highly damped kinematic coupling for precision instruments. The kinematic coupling provides support while causing essentially no influence to its nature shape, with such influences coming, for example, from manufacturing tolerances, temperature changes, or ground motion. The coupling uses three ball-cone constraints, each combined with a released flexural degree of freedom. This arrangement enables a gain of higher load capacity and stiffness, but can also significantly reduce the friction level in proportion to the ball radius divided by the distance between the ball and the hinge axis. The blade flexures reduces somewhat the stiffness of the coupling and provides an ideal location to apply constrained-layer damping which is accomplished by attaching a viscoelastic layer and a constraining layer on opposite sides of each of the blade flexures. The three identical ball-cone flexures provide a damped coupling mechanism to kinematically support the projection optics system of the extreme ultraviolet lithography (EUVL) system, or other load-sensitive apparatus.

Figure-ground segregation can rely on differences in motion direction.

PubMed

Kandil, Farid I; Fahle, Manfred

2004-12-01

If the elements within a figure move synchronously while those in the surround move at a different time, the figure is easily segregated from the surround and thus perceived. Lee and Blake (1999) [Visual form created solely from temporal structure. Science, 284, 1165-1168] demonstrated that this figure-ground separation may be based not only on time differences between motion onsets, but also on the differences between reversals of motion direction. However, Farid and Adelson (2001) [Synchrony does not promote grouping in temporally structured displays. Nature Neuroscience, 4, 875-876] argued that figure-ground segregation in the motion-reversal experiment might have been based on a contrast artefact and concluded that (a)synchrony as such was 'not responsible for the perception of form in these or earlier displays'. Here, we present experiments that avoid contrast artefacts but still produce figure-ground segregation based on purely temporal cues. Our results show that subjects can segregate figure from ground even though being unable to use motion reversals as such. Subjects detect the figure when either (i) motion stops (leading to contrast artefacts), or (ii) motion directions differ between figure and ground. Segregation requires minimum delays of about 15 ms. We argue that whatever the underlying cues and mechanisms, a second stage beyond motion detection is required to globally compare the outputs of local motion detectors and to segregate figure from ground. Since analogous changes take place in both figure and ground in rapid succession, this second stage has to detect the asynchrony with high temporal precision.

Consistency of GPS and strong-motion records: case study of the Mw9.0 Tohoku-Oki 2011 earthquake

NASA Astrophysics Data System (ADS)

Psimoulis, Panos; Houlié, Nicolas; Michel, Clotaire; Meindl, Michael; Rothacher, Markus

2014-05-01

High-rate GPS data are today commonly used to supplement seismic data for the Earth surface motions focusing on earthquake characterisation and rupture modelling. Processing of GPS records using Precise Point Positioning (PPP) can provide real-time information of seismic wave propagation, tsunami early-warning and seismic rupture. Most studies have shown differences between the GPS and seismic systems at very long periods (e.g. >100sec) and static displacements. The aim of this study is the assessment of the consistency of GPS and strong-motion records by comparing their respective displacement waveforms for several frequency bands. For this purpose, the records of the GPS (GEONET) and the strong-motion (KiK-net and K-NET) networks corresponding to the Mw9.0 Tohoku 2011 earthquake were analysed. The comparison of the displacement waveforms of collocated (distance<100m) GPS and strong-motion sites show that the consistency between the two datasets depends on the frequency of the excitation. Differences are mainly due to the GPS noise at relatively short-periods (<3-4 s) and the saturation of the strong-motion sensors for relatively long-periods (40-80 s). Furthermore the agreement between the GPS and strong-motion records also depends on the direction of the excitation signal and the distance from the epicentre. In conclusion, velocities and displacements recovered from GPS and strong-motion records are consistent for long-periods (3-100 s), proving that GPS networks can contribute to the real-time estimation of the long-period ground motion map of an earthquake.

Wireless inertial measurement of head kinematics in freely-moving rats

PubMed Central

Pasquet, Matthieu O.; Tihy, Matthieu; Gourgeon, Aurélie; Pompili, Marco N.; Godsil, Bill P.; Léna, Clément; Dugué, Guillaume P.

2016-01-01

While miniature inertial sensors offer a promising means for precisely detecting, quantifying and classifying animal behaviors, versatile inertial sensing devices adapted for small, freely-moving laboratory animals are still lacking. We developed a standalone and cost-effective platform for performing high-rate wireless inertial measurements of head movements in rats. Our system is designed to enable real-time bidirectional communication between the headborne inertial sensing device and third party systems, which can be used for precise data timestamping and low-latency motion-triggered applications. We illustrate the usefulness of our system in diverse experimental situations. We show that our system can be used for precisely quantifying motor responses evoked by external stimuli, for characterizing head kinematics during normal behavior and for monitoring head posture under normal and pathological conditions obtained using unilateral vestibular lesions. We also introduce and validate a novel method for automatically quantifying behavioral freezing during Pavlovian fear conditioning experiments, which offers superior performance in terms of precision, temporal resolution and efficiency. Thus, this system precisely acquires movement information in freely-moving animals, and can enable objective and quantitative behavioral scoring methods in a wide variety of experimental situations. PMID:27767085

A Robust Method for Ego-Motion Estimation in Urban Environment Using Stereo Camera.

PubMed

Ci, Wenyan; Huang, Yingping

2016-10-17

Visual odometry estimates the ego-motion of an agent (e.g., vehicle and robot) using image information and is a key component for autonomous vehicles and robotics. This paper proposes a robust and precise method for estimating the 6-DoF ego-motion, using a stereo rig with optical flow analysis. An objective function fitted with a set of feature points is created by establishing the mathematical relationship between optical flow, depth and camera ego-motion parameters through the camera's 3-dimensional motion and planar imaging model. Accordingly, the six motion parameters are computed by minimizing the objective function, using the iterative Levenberg-Marquard method. One of key points for visual odometry is that the feature points selected for the computation should contain inliers as much as possible. In this work, the feature points and their optical flows are initially detected by using the Kanade-Lucas-Tomasi (KLT) algorithm. A circle matching is followed to remove the outliers caused by the mismatching of the KLT algorithm. A space position constraint is imposed to filter out the moving points from the point set detected by the KLT algorithm. The Random Sample Consensus (RANSAC) algorithm is employed to further refine the feature point set, i.e., to eliminate the effects of outliers. The remaining points are tracked to estimate the ego-motion parameters in the subsequent frames. The approach presented here is tested on real traffic videos and the results prove the robustness and precision of the method.

A Robust Method for Ego-Motion Estimation in Urban Environment Using Stereo Camera

PubMed Central

Ci, Wenyan; Huang, Yingping

2016-01-01

Visual odometry estimates the ego-motion of an agent (e.g., vehicle and robot) using image information and is a key component for autonomous vehicles and robotics. This paper proposes a robust and precise method for estimating the 6-DoF ego-motion, using a stereo rig with optical flow analysis. An objective function fitted with a set of feature points is created by establishing the mathematical relationship between optical flow, depth and camera ego-motion parameters through the camera’s 3-dimensional motion and planar imaging model. Accordingly, the six motion parameters are computed by minimizing the objective function, using the iterative Levenberg–Marquard method. One of key points for visual odometry is that the feature points selected for the computation should contain inliers as much as possible. In this work, the feature points and their optical flows are initially detected by using the Kanade–Lucas–Tomasi (KLT) algorithm. A circle matching is followed to remove the outliers caused by the mismatching of the KLT algorithm. A space position constraint is imposed to filter out the moving points from the point set detected by the KLT algorithm. The Random Sample Consensus (RANSAC) algorithm is employed to further refine the feature point set, i.e., to eliminate the effects of outliers. The remaining points are tracked to estimate the ego-motion parameters in the subsequent frames. The approach presented here is tested on real traffic videos and the results prove the robustness and precision of the method. PMID:27763508

Hamilton-Jacobi modelling of relative motion for formation flying.

PubMed

Kolemen, Egemen; Kasdin, N Jeremy; Gurfil, Pini

2005-12-01

A precise analytic model for the relative motion of a group of satellites in slightly elliptic orbits is introduced. With this aim, we describe the relative motion of an object relative to a circular or slightly elliptic reference orbit in the rotating Hill frame via a low-order Hamiltonian, and solve the Hamilton-Jacobi equation. This results in a first-order solution to the relative motion identical to the Clohessy-Wiltshire approach; here, however, rather than using initial conditions as our constants of the motion, we utilize the canonical momenta and coordinates. This allows us to treat perturbations in an identical manner, as in the classical Delaunay formulation of the two-body problem. A precise analytical model for the base orbit is chosen with the included effect of zonal harmonics (J(2), J(3), J(4)). A Hamiltonian describing the real relative motion is formed and by differing this from the nominal Hamiltonian, the perturbing Hamiltonian is obtained. Using the Hamilton equations, the variational equations for the new constants are found. In a manner analogous to the center manifold reduction procedure, the non-periodic part of the motion is canceled through a magnitude analysis leading to simple boundedness conditions that cancel the drift terms due to the higher order perturbations. Using this condition, the variational equations are integrated to give periodic solutions that closely approximate the results from numerical integration (1 mm/per orbit for higher order and eccentricity perturbations and 30 cm/per orbit for zonal perturbations). This procedure provides a compact and insightful analytic description of the resulting relative motion.

A Missile-Borne Angular Velocity Sensor Based on Triaxial Electromagnetic Induction Coils

PubMed Central

Li, Jian; Wu, Dan; Han, Yan

2016-01-01

Aiming to solve the problem of the limited measuring range for angular motion parameters of high-speed rotating projectiles in the field of guidance and control, a self-adaptive measurement method for angular motion parameters based on the electromagnetic induction principle is proposed. First, a framework with type bent “I-shape” is used to design triaxial coils in a mutually orthogonal way. Under the condition of high rotational speed of a projectile, the induction signal of the projectile moving across a geomagnetic field is acquired by using coils. Second, the frequency of the pulse signal is adjusted self-adaptively. Angular velocity and angular displacement are calculated in the form of periodic pulse counting and pulse accumulation, respectively. Finally, on the basis of that principle prototype of the sensor is researched and developed, performance of measuring angular motion parameters are tested on the sensor by semi-physical and physical simulation experiments, respectively. Experimental results demonstrate that the sensor has a wide measuring range of angular velocity from 1 rps to 100 rps with a measurement error of less than 0.3%, and the angular displacement measurement error is lower than 0.2°. The proposed method satisfies measurement requirements for high-speed rotating projectiles with an extremely high dynamic range of rotational speed and high precision, and has definite value to engineering applications in the fields of attitude determination and geomagnetic navigation. PMID:27706039

A Missile-Borne Angular Velocity Sensor Based on Triaxial Electromagnetic Induction Coils.

PubMed

Li, Jian; Wu, Dan; Han, Yan

2016-09-30

Aiming to solve the problem of the limited measuring range for angular motion parameters of high-speed rotating projectiles in the field of guidance and control, a self-adaptive measurement method for angular motion parameters based on the electromagnetic induction principle is proposed. First, a framework with type bent "I-shape" is used to design triaxial coils in a mutually orthogonal way. Under the condition of high rotational speed of a projectile, the induction signal of the projectile moving across a geomagnetic field is acquired by using coils. Second, the frequency of the pulse signal is adjusted self-adaptively. Angular velocity and angular displacement are calculated in the form of periodic pulse counting and pulse accumulation, respectively. Finally, on the basis of that principle prototype of the sensor is researched and developed, performance of measuring angular motion parameters are tested on the sensor by semi-physical and physical simulation experiments, respectively. Experimental results demonstrate that the sensor has a wide measuring range of angular velocity from 1 rps to 100 rps with a measurement error of less than 0.3%, and the angular displacement measurement error is lower than 0.2°. The proposed method satisfies measurement requirements for high-speed rotating projectiles with an extremely high dynamic range of rotational speed and high precision, and has definite value to engineering applications in the fields of attitude determination and geomagnetic navigation.

Portable Linear Sled (PLS) for biomedical research

NASA Technical Reports Server (NTRS)

Vallotton, Will; Matsuhiro, Dennis; Wynn, Tom; Temple, John

1993-01-01

The PLS is a portable linear motion generating device conceived by researchers at Ames Research Center's Vestibular Research Facility and designed by engineers at Ames for the study of motion sickness in space. It is an extremely smooth apparatus, powered by linear motors and suspended on air bearings which ride on precision ground ceramic ways.

Grasp posture alters visual processing biases near the hands

PubMed Central

Thomas, Laura E.

2015-01-01

Observers experience biases in visual processing for objects within easy reach of their hands that may assist them in evaluating items that are candidates for action. I investigated the hypothesis that hand postures affording different types of actions differentially bias vision. Across three experiments, participants performed global motion detection and global form perception tasks while their hands were positioned a) near the display in a posture affording a power grasp, b) near the display in a posture affording a precision grasp, or c) in their laps. Although the power grasp posture facilitated performance on the motion task, the precision grasp posture instead facilitated performance on the form task. These results suggest that the visual system weights processing based on an observer’s current affordances for specific actions: fast and forceful power grasps enhance temporal sensitivity, while detail-oriented precision grasps enhance spatial sensitivity. PMID:25862545

Radial velocity detection of extra-solar planetary systems

NASA Technical Reports Server (NTRS)

Cochran, William D.

1991-01-01

The goal of this program was to detect planetary systems in orbit around other stars through the ultra high precision measurement of the orbital motion of the star around the star-planet barycenter. The survey of 33 nearby solar-type stars is the essential first step in understanding the overall problem of planet formation. The program will accumulate the necessary statistics to determine the frequency of planet formation as a function of stellar mass, age, and composition.

Motion of a Moving Object

NASA Technical Reports Server (NTRS)

1998-01-01

SpaceAge Control, Inc., was established in 1968 to design, develop and manufacture pilot protection devices in support of space-based and high-performance test aircraft programs. In 1970, the company was awarded a NASA contract to produce precision, small-format position transducers for aircraft flight control testing. The successful completion of this contract led to the development and production of a complete line of position transducers. Today the company has over 600 customers in 20 industries and over 30 countries.

Human discrimination of visual direction of motion with and without smooth pursuit eye movements

NASA Technical Reports Server (NTRS)

Krukowski, Anton E.; Pirog, Kathleen A.; Beutter, Brent R.; Brooks, Kevin R.; Stone, Leland S.

2003-01-01

It has long been known that ocular pursuit of a moving target has a major influence on its perceived speed (Aubert, 1886; Fleischl, 1882). However, little is known about the effect of smooth pursuit on the perception of target direction. Here we compare the precision of human visual-direction judgments under two oculomotor conditions (pursuit vs. fixation). We also examine the impact of stimulus duration (200 ms vs. 800 ms) and absolute direction (cardinal vs. oblique). Our main finding is that direction discrimination thresholds in the fixation and pursuit conditions are indistinguishable. Furthermore, the two oculomotor conditions showed oblique effects of similar magnitudes. These data suggest that the neural direction signals supporting perception are the same with or without pursuit, despite remarkably different retinal stimulation. During fixation, the stimulus information is restricted to large, purely peripheral retinal motion, while during steady-state pursuit, the stimulus information consists of small, unreliable foveal retinal motion and a large efference-copy signal. A parsimonious explanation of our findings is that the signal limiting the precision of direction judgments is a neural estimate of target motion in head-centered (or world-centered) coordinates (i.e., a combined retinal and eye motion signal) as found in the medial superior temporal area (MST), and not simply an estimate of retinal motion as found in the middle temporal area (MT).

Electron kinetic effects on optical diagnostics in fusion plasmas

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

Mirnov, V. V.; Den Hartog, D. J.; Duff, J.

At anticipated high electron temperatures in ITER, the effects of electron thermal motion on Thomson scattering (TS), toroidal interferometer/polarimeter (TIP) and poloidal polarimeter (PoPola) diagnostics will be significant and must be accurately treated. We calculate electron thermal corrections to the interferometric phase and polarization state of an EM wave propagating along tangential and poloidal chords (Faraday and Cotton-Mouton polarimetry) and perform analysis of the degree of polarization for incoherent TS. The precision of the previous lowest order linear in τ = T{sub e}/m{sub e}c{sup 2} model may be insufficient; we present a more precise model with τ{sup 2}-order corrections to satisfy themore » high accuracy required for ITER TIP and PoPola diagnostics. The linear model is extended from Maxwellian to a more general class of anisotropic electron distributions that allows us to take into account distortions caused by equilibrium current, ECRH and RF current drive effects. The classical problem of degree of polarization of incoherent Thomson scattered radiation is solved analytically exactly without any approximations for the full range of incident polarizations, scattering angles, and electron thermal motion from non-relativistic to ultra-relativistic. The results are discussed in the context of the possible use of the polarization properties of Thomson scattered light as a method of T{sup e} measurement relevant to ITER operational scenarios.« less

Formation Control for the MAXIM Mission

NASA Technical Reports Server (NTRS)

Luquette, Richard J.; Leitner, Jesse; Gendreau, Keith; Sanner, Robert M.

2004-01-01

Over the next twenty years, a wave of change is occurring in the space-based scientific remote sensing community. While the fundamental limits in the spatial and angular resolution achievable in spacecraft have been reached, based on today s technology, an expansive new technology base has appeared over the past decade in the area of Distributed Space Systems (DSS). A key subset of the DSS technology area is that which covers precision formation flying of space vehicles. Through precision formation flying, the baselines, previously defined by the largest monolithic structure which could fit in the largest launch vehicle fairing, are now virtually unlimited. Several missions including the Micro-Arcsecond X-ray Imaging Mission (MAXIM), and the Stellar Imager will drive the formation flying challenges to achieve unprecedented baselines for high resolution, extended-scene, interferometry in the ultraviolet and X-ray regimes. This paper focuses on establishing the feasibility for the formation control of the MAXIM mission. MAXIM formation flying requirements are on the order of microns, while Stellar Imager mission requirements are on the order of nanometers. This paper specifically addresses: (1) high-level science requirements for these missions and how they evolve into engineering requirements; and (2) the development of linearized equations of relative motion for a formation operating in an n-body gravitational field. Linearized equations of motion provide the ground work for linear formation control designs.

Reproducibility of UAV-based earth topography reconstructions based on Structure-from-Motion algorithms

NASA Astrophysics Data System (ADS)

Clapuyt, Francois; Vanacker, Veerle; Van Oost, Kristof

2016-05-01

Combination of UAV-based aerial pictures and Structure-from-Motion (SfM) algorithm provides an efficient, low-cost and rapid framework for remote sensing and monitoring of dynamic natural environments. This methodology is particularly suitable for repeated topographic surveys in remote or poorly accessible areas. However, temporal analysis of landform topography requires high accuracy of measurements and reproducibility of the methodology as differencing of digital surface models leads to error propagation. In order to assess the repeatability of the SfM technique, we surveyed a study area characterized by gentle topography with an UAV platform equipped with a standard reflex camera, and varied the focal length of the camera and location of georeferencing targets between flights. Comparison of different SfM-derived topography datasets shows that precision of measurements is in the order of centimetres for identical replications which highlights the excellent performance of the SfM workflow, all parameters being equal. The precision is one order of magnitude higher for 3D topographic reconstructions involving independent sets of ground control points, which results from the fact that the accuracy of the localisation of ground control points strongly propagates into final results.

Method for preparation and readout of polyatomic molecules in single quantum states

NASA Astrophysics Data System (ADS)

Patterson, David

2018-03-01

Polyatomic molecular ions contain many desirable attributes of a useful quantum system, including rich internal degrees of freedom and highly controllable coupling to the environment. To date, the vast majority of state-specific experimental work on molecular ions has concentrated on diatomic species. The ability to prepare and read out polyatomic molecules in single quantum states would enable diverse experimental avenues not available with diatomics, including new applications in precision measurement, sensitive chemical and chiral analysis at the single-molecule level, and precise studies of Hz-level molecular tunneling dynamics. While cooling the motional state of a polyatomic ion via sympathetic cooling with a laser-cooled atomic ion is straightforward, coupling this motional state to the internal state of the molecule has proven challenging. Here we propose a method for readout and projective measurement of the internal state of a trapped polyatomic ion. The method exploits the rich manifold of technically accessible rotational states in the molecule to realize robust state preparation and readout with far less stringent engineering than quantum logic methods recently demonstrated on diatomic molecules. The method can be applied to any reasonably small (≲10 atoms) polyatomic ion with an anisotropic polarizability.

Application of precise altimetry to the study of precise leveling of the sea surface, the Earth's gravity field, and the rotation of the Earth

NASA Technical Reports Server (NTRS)

Segawa, J.; Ganeko, Y.; Sasaki, M.; Mori, T.; Ooe, M.; Nakagawa, I.; Ishii, H.; Hagiwara, Y.

1991-01-01

Our program includes five research items: (1) determination of a precision geoid and gravity anomaly field; (2) precise leveling and detection of tidal changes of the sea surface and study of the role of the tide in the global energy exchange; (3) oceanic effect on the Earth's rotation and polar motion; (4) geological and geophysical interpretation of the altimetry gravity field; and (5) evaluation of the effectiveness of local tracking of TOPEX/POSEIDON by use of a laser tracker.

A Gaia-PS1-SDSS (GPS1) Proper Motion Catalog Covering 3/4 of the Sky

NASA Astrophysics Data System (ADS)

Tian, Hai-Jun; Gupta, Prashansa; Sesar, Branimir; Rix, Hans-Walter; Martin, Nicolas F.; Liu, Chao; Goldman, Bertrand; Platais, Imants; Kudritzki, Rolf-Peter; Waters, Christopher Z.

2017-09-01

We combine Gaia DR1, PS1, Sloan Digital Sky Survey (SDSS), and 2MASS astrometry to measure proper motions for 350 million sources across three-fourths of the sky down to a magnitude of {m}r˜ 20. Using positions of galaxies from PS1, we build a common reference frame for the multi-epoch PS1, single-epoch SDSS and 2MASS data, and calibrate the data in small angular patches to this frame. As the Gaia DR1 excludes resolved galaxy images, we choose a different approach to calibrate its positions to this reference frame: we exploit the fact that the proper motions of stars in these patches are linear. By simultaneously fitting the positions of stars at different epochs of—Gaia DR1, PS1, SDSS, and 2MASS—we construct an extensive catalog of proper motions dubbed GPS1. GPS1 has a characteristic systematic error of less than 0.3 {mas} {{yr}}-1 and a typical precision of 1.5-2.0 {mas} {{yr}}-1. The proper motions have been validated using galaxies, open clusters, distant giant stars, and QSOs. In comparison with other published faint proper motion catalogs, GPS1's systematic error (< 0.3 {mas} {{yr}}-1) should be nearly an order of magnitude better than that of PPMXL and UCAC4 (> 2.0 {mas} {{yr}}-1). Similarly, its precision (˜1.5 {mas} {{yr}}-1) is a four-fold improvement relative to PPMXL and UCAC4 (˜6.0 {mas} {{yr}}-1). For QSOs, the precision of GPS1 is found to be worse (˜2.0-3.0 {mas} {{yr}}-1), possibly due to their particular differential chromatic refraction. The GPS1 catalog will be released online and be available via the VizieR Service and VO Service.

Seismic Excitation of the Polar Motion, 1977-1993

NASA Technical Reports Server (NTRS)

Chao, Benjamin Fong; Gross, Richard S.; Han, Yan-Ben

1996-01-01

The mass redistribution in the earth as a result of an earthquake faulting changes the earth's inertia tensor, and hence its rotation. Using the complete formulae developed by CHAO and GROSS (1987) based on the normal mode theory, we calculated the earthquake-induced polar motion excitation for the largest 11,015 earthquakes that occurred during 1977.0-1993.6. The seismic excitations in this period are found to be two orders of magnitude below the detection threshold even with today's high precision earth rotation measurements. However, it was calculated that an earthquake of only one tenth the size of the great 1960 Chile event, if happened today, could be comfortably detected in polar motion observations. Furthermore, collectively these seismic excitations have a strong statistical tendency to nudge the pole towards approximately 140deg E, away from the actual observed polar drift direction. This non-random behavior, similarly found in other earthquake-induced changes in earth rotation and low-degree gravitational field by CHAO and GROSS (1987), manifests some geodynamic behavior yet to be explored.

Seismic Excitation of the Polar Motion

NASA Technical Reports Server (NTRS)

Chao, Benjamin Fong; Gross, Richard S.; Han, Yan-Ben

1996-01-01

The mass redistribution in the earth as a result of an earthquake faulting changes the earth's inertia tensor, and hence its rotation. Using the complete formulae developed by Chao and Gross (1987) based on the normal mode theory, we calculated the earthquake-induced polar motion excitation for the largest 11,015 earthquakes that occurred during 1977.0-1993.6. The seismic excitations in this period are found to be two orders of magnitude below the detection threshold even with today's high precision earth rotation measurements. However, it was calculated that an earthquake of only one tenth the size of the great 1960 Chile event, if happened today, could be comfortably detected in polar motion observations. Furthermore, collectively these seismic excitations have a strong statistical tendency to nudge the pole towards approx. 140 deg E, away from the actually observed polar drift direction. This non-random behavior, similarly found in other earthquake-induced changes in earth rotation and low-degree gravitational field by Chao and Gross (1987), manifests some geodynamic behavior yet to be explored.

The Function and Organization of the Motor System Controlling Flight Maneuvers in Flies.

PubMed

Lindsay, Theodore; Sustar, Anne; Dickinson, Michael

2017-02-06

Animals face the daunting task of controlling their limbs using a small set of highly constrained actuators. This problem is particularly demanding for insects such as Drosophila, which must adjust wing motion for both quick voluntary maneuvers and slow compensatory reflexes using only a dozen pairs of muscles. To identify strategies by which animals execute precise actions using sparse motor networks, we imaged the activity of a complete ensemble of wing control muscles in intact, flying flies. Our experiments uncovered a remarkably efficient logic in which each of the four skeletal elements at the base of the wing are equipped with both large phasically active muscles capable of executing large changes and smaller tonically active muscles specialized for continuous fine-scaled adjustments. Based on the responses to a broad panel of visual motion stimuli, we have developed a model by which the motor array regulates aerodynamically functional features of wing motion. VIDEO ABSTRACT. Copyright © 2017 Elsevier Ltd. All rights reserved.

Wear of Spur Gears Having a Dithering Motion and Lubricated with a Perfluorinated Polyether Grease

NASA Technical Reports Server (NTRS)

Krantz, Timothy; Oswald, Fred; Handschuh, Robert

2007-01-01

Gear contact surface wear is one of the important failure modes for gear systems. Dedicated experiments are required to enable precise evaluations of gear wear for a particular application. The application of interest for this study required evaluation of wear of gears lubricated with a grade 2 perfluorinated polyether grease and having a dithering (rotation reversal) motion. Experiments were conducted using spur gears made from AISI 9310 steel. Wear was measured using a profilometer at test intervals encompassing 10,000 to 80,000 cycles of dithering motion. The test load level was 1.1 GPa maximum Hertz contact stress at the pitch-line. The trend of total wear as a function of test cycles was linear, and the wear depth rate was approximately 1.2 nm maximum wear depth per gear dithering cycle. The observed wear rate was about 600 times greater than the wear rate for the same gears operated at high speed and lubricated with oil.

Seismic excitation of the polar motion, 1977 1993

NASA Astrophysics Data System (ADS)

Chao, Benjamin Fong; Gross, Richard S.; Han, Yan-Ben

1996-09-01

The mass redistribution in the earth as a result of an earthquake faulting changes the earth's inertia tensor, and hence its rotation. Using the complete formulae developed by Chao and Gross (1987) based on the normal mode theory, we calculated the earthquake-induced polar motion excitation for the largest 11,015 earthquakes that occurred during 1977.0 1993.6. The seismic excitations in this period are found to be two orders of magnitude below the detection threshold even with today's high precision earth rotation measurements. However, it was calculated that an earthquake of only one tenth the size of the great 1960 Chile event, if happened today, could be comfortably detected in polar motion observations. Furthermore, collectively these seismic excitations have a strong statistical tendency to nudge the pole towards ˜140°E, away from the actually observed polar drift direction. This non-random behavior, similarly found in other earthquake-induced changes in earth rotation and low-degree gravitational field by Chao and Gross (1987), manifests some geodynamic behavior yet to be explored.

Potential Direct Single-Star Mass Measurement

NASA Astrophysics Data System (ADS)

Ghosh, H.; DePoy, D. L.; Gal-Yam, A.; Gaudi, B. S.; Gould, A.; Han, C.; Lipkin, Y.; Maoz, D.; Ofek, E. O.; Park, B.-G.; Pogge, R. W.; Salim, S.; Mu Fun Collaboration; Abe, F.; Bennett, D. P.; Bond, I. A.; Eguchi, S.; Furuta, Y.; Hearnshaw, J. B.; Kamiya, K.; Kilmartin, P. M.; Kurata, Y.; Masuda, K.; Matsubara, Y.; Muraki, Y.; Noda, S.; Okajima, K.; Rattenbury, N. J.; Sako, T.; Sekiguchi, T.; Sullivan, D. J.; Sumi, T.; Tristram, P. J.; Yanagisawa, T.; Yock, P. C. M.; MOA Collaboration; Udalski, A.; Soszyński, I.; Wyrzykowski, Ł.; Kubiak, M.; Szymański, M. K.; Pietrzyński, G.; Szewczyk, O.; Żebruń, K.; OGLE Collaboration; Albrow, M. D.; Beaulieu, J.-P.; Caldwell, J. A. R.; Cassan, A.; Coutures, C.; Dominik, M.; Donatowicz, J.; Fouqué, P.; Greenhill, J.; Hill, K.; Horne, K.; Jørgensen, U. G.; Kane, S.; Kubas, D.; Martin, R.; Menzies, J.; Pollard, K. R.; Sahu, K. C.; Wambsganss, J.; Watson, R.; Williams, A.; PLANET Collaboration

2004-11-01

We analyze the light curve of the microlensing event OGLE-2003-BLG-175/MOA-2003-BLG-45 and show that it has two properties that, when combined with future high-resolution astrometry, could lead to a direct, accurate measurement of the lens mass. First, the light curve shows clear signs of distortion due to the Earth's accelerated motion, which yields a measurement of the projected Einstein radius rE. Second, from precise astrometric measurements, we show that the blended light in the event is coincident with the microlensed source to within about 15 mas. This argues strongly that this blended light is the lens and hence opens the possibility of directly measuring the lens-source relative proper motion μrel and so the mass M=(c2/4G)μreltErE, where tE is the measured Einstein timescale. While the light-curve-based measurement of rE is, by itself, severely degenerate, we show that this degeneracy can be completely resolved by measuring the direction of proper motion μrel.

The First US Naval Observatory CCD Astrograph Catalog

NASA Astrophysics Data System (ADS)

Zacharias, N.; Urban, S. E.; Zacharias, M. I.; Hall, D. M.; Wycoff, G. L.; Rafferty, T. J.; Germain, M. E.; Holdenried, E. R.; Pohlman, J. W.; Gauss, F. S.; Monet, D. G.; Winter, L.

2000-10-01

The USNO CCD Astrograph (UCA) started an astrometric survey in 1998 February at Cerro Tololo, Chile. This first, preliminary catalog (UCAC1) includes data taken up to 1999 November with about 80% of the Southern Hemisphere covered. Observing continues, and full sky coverage is expected by mid-2003 after moving the instrument to a Northern Hemisphere site in early 2001. The survey is performed in a single bandpass (579-642 nm), a twofold overlap pattern of fields, and with a long and a short exposure on each field. Stars in the magnitude range 10-14 have positional precisions of <=20 mas. At the limiting magnitude of R~16 mag, the positional precision is 70 mas. The UCAC aims at a density (stars per square degree) larger than that of the Guide Star Catalog (GSC) with a positional accuracy similar to Tycho. The UCAC program is a major step toward a high-precision densification of the optical reference frame in the post-Hipparcos era, and the first stage, the UCAC1 contains over 27 million stars. Preliminary proper motions are included, which were derived from Tycho-2, Hipparcos, and ground-based transit circle and photographic surveys for the bright stars (V<=12.5 mag) and the USNO A2.0 for the fainter stars. The accuracy of the proper motions varies widely, from 1 to over 15 mas yr-1. The UCAC1 is available on CD-ROM from the US Naval Observatory.

Visual coding with a population of direction-selective neurons.

PubMed

Fiscella, Michele; Franke, Felix; Farrow, Karl; Müller, Jan; Roska, Botond; da Silveira, Rava Azeredo; Hierlemann, Andreas

2015-10-01

The brain decodes the visual scene from the action potentials of ∼20 retinal ganglion cell types. Among the retinal ganglion cells, direction-selective ganglion cells (DSGCs) encode motion direction. Several studies have focused on the encoding or decoding of motion direction by recording multiunit activity, mainly in the visual cortex. In this study, we simultaneously recorded from all four types of ON-OFF DSGCs of the rabbit retina using a microelectronics-based high-density microelectrode array (HDMEA) and decoded their concerted activity using probabilistic and linear decoders. Furthermore, we investigated how the modification of stimulus parameters (velocity, size, angle of moving object) and the use of different tuning curve fits influenced decoding precision. Finally, we simulated ON-OFF DSGC activity, based on real data, in order to understand how tuning curve widths and the angular distribution of the cells' preferred directions influence decoding performance. We found that probabilistic decoding strategies outperformed, on average, linear methods and that decoding precision was robust to changes in stimulus parameters such as velocity. The removal of noise correlations among cells, by random shuffling trials, caused a drop in decoding precision. Moreover, we found that tuning curves are broad in order to minimize large errors at the expense of a higher average error, and that the retinal direction-selective system would not substantially benefit, on average, from having more than four types of ON-OFF DSGCs or from a perfect alignment of the cells' preferred directions. Copyright © 2015 the American Physiological Society.

Visual coding with a population of direction-selective neurons

PubMed Central

Farrow, Karl; Müller, Jan; Roska, Botond; Azeredo da Silveira, Rava; Hierlemann, Andreas

2015-01-01

The brain decodes the visual scene from the action potentials of ∼20 retinal ganglion cell types. Among the retinal ganglion cells, direction-selective ganglion cells (DSGCs) encode motion direction. Several studies have focused on the encoding or decoding of motion direction by recording multiunit activity, mainly in the visual cortex. In this study, we simultaneously recorded from all four types of ON-OFF DSGCs of the rabbit retina using a microelectronics-based high-density microelectrode array (HDMEA) and decoded their concerted activity using probabilistic and linear decoders. Furthermore, we investigated how the modification of stimulus parameters (velocity, size, angle of moving object) and the use of different tuning curve fits influenced decoding precision. Finally, we simulated ON-OFF DSGC activity, based on real data, in order to understand how tuning curve widths and the angular distribution of the cells' preferred directions influence decoding performance. We found that probabilistic decoding strategies outperformed, on average, linear methods and that decoding precision was robust to changes in stimulus parameters such as velocity. The removal of noise correlations among cells, by random shuffling trials, caused a drop in decoding precision. Moreover, we found that tuning curves are broad in order to minimize large errors at the expense of a higher average error, and that the retinal direction-selective system would not substantially benefit, on average, from having more than four types of ON-OFF DSGCs or from a perfect alignment of the cells' preferred directions. PMID:26289471

Precise Orbital and Geodetic Parameter Estimation using SLR Observations for ILRS AAC

NASA Astrophysics Data System (ADS)

Kim, Young-Rok; Park, Eunseo; Oh, Hyungjik Jay; Park, Sang-Young; Lim, Hyung-Chul; Park, Chandeok

2013-12-01

In this study, we present results of precise orbital geodetic parameter estimation using satellite laser ranging (SLR) observations for the International Laser Ranging Service (ILRS) associate analysis center (AAC). Using normal point observations of LAGEOS-1, LAGEOS-2, ETALON-1, and ETALON-2 in SLR consolidated laser ranging data format, the NASA/ GSFC GEODYN II and SOLVE software programs were utilized for precise orbit determination (POD) and finding solutions of a terrestrial reference frame (TRF) and Earth orientation parameters (EOPs). For POD, a weekly-based orbit determination strategy was employed to process SLR observations taken from 20 weeks in 2013. For solutions of TRF and EOPs, loosely constrained scheme was used to integrate POD results of four geodetic SLR satellites. The coordinates of 11 ILRS core sites were determined and daily polar motion and polar motion rates were estimated. The root mean square (RMS) value of post-fit residuals was used for orbit quality assessment, and both the stability of TRF and the precision of EOPs by external comparison were analyzed for verification of our solutions. Results of post-fit residuals show that the RMS of the orbits of LAGEOS-1 and LAGEOS-2 are 1.20 and 1.12 cm, and those of ETALON-1 and ETALON-2 are 1.02 and 1.11 cm, respectively. The stability analysis of TRF shows that the mean value of 3D stability of the coordinates of 11 ILRS core sites is 7.0 mm. An external comparison, with respect to International Earth rotation and Reference systems Service (IERS) 08 C04 results, shows that standard deviations of polar motion XP and YP are 0.754 milliarcseconds (mas) and 0.576 mas, respectively. Our results of precise orbital and geodetic parameter estimation are reasonable and help advance research at ILRS AAC.

The Los Alamos National Laboratory precision double crystal spectrometer

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

Morgan, D.V.; Stevens, C.J.; Liefield, R.J.

1994-03-01

This report discusses the following topics on the LANL precision double crystal X-ray spectrometer: Motivation for construction of the instrument; a brief history of the instrument; mechanical systems; motion control systems; computer control system; vacuum system; alignment program; scan programs; observations of the copper K{alpha} lines; and characteristics and specifications.

VLBI2020: From Reality to Vision

NASA Technical Reports Server (NTRS)

Titov, Oleg

2010-01-01

The individual apparent motions of distant radio sources are believed to be caused by the effect of intrinsic structure variations of the active galactic nuclei (AGN). However, some cosmological models of the expanded Universe predict that systematic astrometric proper motions of distant quasars do not vanish as the radial distance from the observer to the quasar grows. These systematic effects can even increase with the distance, making it possible to measure them with high-precision astrometric techniques like VLBI. The Galactocentric acceleration of the Solar System barycenter may cause a secular aberration drift with a magnitude of 4 uas/yr. The Solar System motion relative to the cosmic microwave background produces an additional dipole effect, proportional to red shift. We analyzed geodetic VLBI data spanning from 1979 until 2009 to estimate the vector spherical harmonics in the expansion of the vector field of the proper motion of 687 radio sources. The dipole and quadrupole vector spherical harmonics were estimated with an accuracy of 1-5 as/yr. We have shown that over the next decade the geodetic VLBI may approach the level of accuracy on which the cosmological models of the Universe could be tested. Hence, it is important to organize a dedicated observational program to increase the number of measured proper motions to 3000.

Spin-orbit-torque-induced magnetic domain wall motion in Ta/CoFe nanowires with sloped perpendicular magnetic anisotropy.

PubMed

Zhang, Yue; Luo, Shijiang; Yang, Xiaofei; Yang, Chang

2017-05-17

In materials with the gradient of magnetic anisotropy, spin-orbit-torque-induced magnetization behaviour has attracted attention because of its intriguing scientific principle and potential application. Most of the magnetization behaviours microscopically originate from magnetic domain wall motion, which can be precisely depicted using the standard cooperative coordinate method (CCM). However, the domain wall motion in materials with the gradient of magnetic anisotropy using the CCM remains lack of investigation. In this paper, by adopting CCM, we established a set of equations to quantitatively depict the spin-orbit-torque-induced motion of domain walls in a Ta/CoFe nanotrack with weak Dzyaloshinskii-Moriya interaction and magnetic anisotropy gradient. The equations were solved numerically, and the solutions are similar to those of a micromagnetic simulation. The results indicate that the enhanced anisotropy along the track acts as a barrier to inhibit the motion of the domain wall. In contrast, the domain wall can be pushed to move in a direction with reduced anisotropy, with the velocity being accelerated by more than twice compared with that for the constant anisotropy case. This substantial velocity manipulation by anisotropy engineering is important in designing novel magnetic information devices with high reading speeds.

High-resolution detection of Brownian motion for quantitative optical tweezers experiments.

PubMed

Grimm, Matthias; Franosch, Thomas; Jeney, Sylvia

2012-08-01

We have developed an in situ method to calibrate optical tweezers experiments and simultaneously measure the size of the trapped particle or the viscosity of the surrounding fluid. The positional fluctuations of the trapped particle are recorded with a high-bandwidth photodetector. We compute the mean-square displacement, as well as the velocity autocorrelation function of the sphere, and compare it to the theory of Brownian motion including hydrodynamic memory effects. A careful measurement and analysis of the time scales characterizing the dynamics of the harmonically bound sphere fluctuating in a viscous medium directly yields all relevant parameters. Finally, we test the method for different optical trap strengths, with different bead sizes and in different fluids, and we find excellent agreement with the values provided by the manufacturers. The proposed approach overcomes the most commonly encountered limitations in precision when analyzing the power spectrum of position fluctuations in the region around the corner frequency. These low frequencies are usually prone to errors due to drift, limitations in the detection, and trap linearity as well as short acquisition times resulting in poor statistics. Furthermore, the strategy can be generalized to Brownian motion in more complex environments, provided the adequate theories are available.

The first clinical implementation of a real-time six degree of freedom target tracking system during radiation therapy based on Kilovoltage Intrafraction Monitoring (KIM).

PubMed

Nguyen, Doan Trang; O'Brien, Ricky; Kim, Jung-Ha; Huang, Chen-Yu; Wilton, Lee; Greer, Peter; Legge, Kimberley; Booth, Jeremy T; Poulsen, Per Rugaard; Martin, Jarad; Keall, Paul J

2017-04-01

We present the first clinical implementation of a real-time six-degree of freedom (6DoF) Kilovoltage Intrafraction Monitoring (KIM) system which tracks the cancer target translational and rotational motions during treatment. The method was applied to measure and correct for target motion during stereotactic body radiotherapy (SBRT) for prostate cancer. Patient: A patient with prostate adenocarcinoma undergoing SBRT with 36.25Gy, delivered in 5 fractions was enrolled in the study. 6DoF KIM technology: 2D positions of three implanted gold markers in each of the kV images (125kV, 10mA at 11Hz) were acquired continuously during treatment. The 2D→3D target position estimation was based on a probability distribution function. The 3D→6DoF target rotation was calculated using an iterative closest point algorithm. The accuracy and precision of the KIM method was measured by comparing the real-time results with kV-MV triangulation. Of the five treatment fractions, KIM was utilised successfully in four fractions. The intrafraction prostate motion resulted in three couch shifts in two fractions when the prostate motion exceeded the pre-set action threshold of 2mm for more than 5s. KIM translational accuracy and precision were 0.3±0.6mm, -0.2±0.3mm and 0.2±0.7mm in the Left-Right (LR), Superior-Inferior (SI) and Anterior-Posterior (AP) directions, respectively. The KIM rotational accuracy and precision were 0.8°±2.0°, -0.5°±3.3° and 0.3°±1.6° in the roll, pitch and yaw directions, respectively. This treatment represents, to the best of our knowledge, the first time a cancer patient's tumour position and rotation have been monitored in real-time during treatment. The 6 DoF KIM system has sub-millimetre accuracy and precision in all three translational axes, and less than 1° accuracy and 4° precision in all three rotational axes. Copyright © 2017 Elsevier B.V. All rights reserved.

High performance MPEG-audio decoder IC

NASA Technical Reports Server (NTRS)

Thorn, M.; Benbassat, G.; Cyr, K.; Li, S.; Gill, M.; Kam, D.; Walker, K.; Look, P.; Eldridge, C.; Ng, P.

1993-01-01

The emerging digital audio and video compression technology brings both an opportunity and a new challenge to IC design. The pervasive application of compression technology to consumer electronics will require high volume, low cost IC's and fast time to market of the prototypes and production units. At the same time, the algorithms used in the compression technology result in complex VLSI IC's. The conflicting challenges of algorithm complexity, low cost, and fast time to market have an impact on device architecture and design methodology. The work presented in this paper is about the design of a dedicated, high precision, Motion Picture Expert Group (MPEG) audio decoder.

A High-Resolution, Three-Dimensional Model of Jupiter's Great Red Spot

NASA Technical Reports Server (NTRS)

Cho, James Y.-K.; delaTorreJuarez, Manuel; Ingersoll, Andrew P.; Dritschel, David G.

2001-01-01

The turbulent flow at the periphery of the Great Red Spot (GRS) contains many fine-scale filamentary structures, while the more quiescent core, bounded by a narrow high- velocity ring, exhibits organized, possibly counterrotating, motion. Past studies have neither been able to capture this complexity nor adequately study the effect of vertical stratification L(sub R)(zeta) on the GRS. We present results from a series of high-resolution, three-dimensional simulations that advect the dynamical tracer, potential vorticity. The detailed flow is successfully captured with a characteristic value of L(sub R) approx. equals 2000 km, independent of the precise vertical stratification profile.

Precise Measurement of Velocity Dependent Friction in Rotational Motion

ERIC Educational Resources Information Center

Alam, Junaid; Hassan, Hafsa; Shamim, Sohaib; Mahmood, Waqas; Anwar, Muhammad Sabieh

2011-01-01

Frictional losses are experimentally determined for a uniform circular disc exhibiting rotational motion. The clockwise and anticlockwise rotations of the disc, that result when a hanger tied to a thread is released from a certain height, give rise to vertical oscillations of the hanger as the thread winds and unwinds over a pulley attached to the…

Precise Image-Based Motion Estimation for Autonomous Small Body Exploration

NASA Technical Reports Server (NTRS)

Johnson, Andrew Edie; Matthies, Larry H.

2000-01-01

We have developed and tested a software algorithm that enables onboard autonomous motion estimation near small bodies using descent camera imagery and laser altimetry. Through simulation and testing, we have shown that visual feature tracking can decrease uncertainty in spacecraft motion to a level that makes landing on small, irregularly shaped, bodies feasible. Possible future work will include qualification of the algorithm as a flight experiment for the Deep Space 4/Champollion comet lander mission currently under study at the Jet Propulsion Laboratory.

A Mechanical Model of Brownian Motion for One Massive Particle Including Slow Light Particles

NASA Astrophysics Data System (ADS)

Liang, Song

2018-01-01

We provide a connection between Brownian motion and a classical mechanical system. Precisely, we consider a system of one massive particle interacting with an ideal gas, evolved according to non-random mechanical principles, via interaction potentials, without any assumption requiring that the initial velocities of the environmental particles should be restricted to be "fast enough". We prove the convergence of the (position, velocity)-process of the massive particle under a certain scaling limit, such that the mass of the environmental particles converges to 0 while the density and the velocities of them go to infinity, and give the precise expression of the limiting process, a diffusion process.

Visual-Vestibular Conflict Detection Depends on Fixation.

PubMed

Garzorz, Isabelle T; MacNeilage, Paul R

2017-09-25

Visual and vestibular signals are the primary sources of sensory information for self-motion. Conflict among these signals can be seriously debilitating, resulting in vertigo [1], inappropriate postural responses [2], and motion, simulator, or cyber sickness [3-8]. Despite this significance, the mechanisms mediating conflict detection are poorly understood. Here we model conflict detection simply as crossmodal discrimination with benchmark performance limited by variabilities of the signals being compared. In a series of psychophysical experiments conducted in a virtual reality motion simulator, we measure these variabilities and assess conflict detection relative to this benchmark. We also examine the impact of eye movements on visual-vestibular conflict detection. In one condition, observers fixate a point that is stationary in the simulated visual environment by rotating the eyes opposite head rotation, thereby nulling retinal image motion. In another condition, eye movement is artificially minimized via fixation of a head-fixed fixation point, thereby maximizing retinal image motion. Visual-vestibular integration performance is also measured, similar to previous studies [9-12]. We observe that there is a tradeoff between integration and conflict detection that is mediated by eye movements. Minimizing eye movements by fixating a head-fixed target leads to optimal integration but highly impaired conflict detection. Minimizing retinal motion by fixating a scene-fixed target improves conflict detection at the cost of impaired integration performance. The common tendency to fixate scene-fixed targets during self-motion [13] may indicate that conflict detection is typically a higher priority than the increase in precision of self-motion estimation that is obtained through integration. Copyright © 2017 Elsevier Ltd. All rights reserved.

Wearable Stretch Sensors for Motion Measurement of the Wrist Joint Based on Dielectric Elastomers.

PubMed

Huang, Bo; Li, Mingyu; Mei, Tao; McCoul, David; Qin, Shihao; Zhao, Zhanfeng; Zhao, Jianwen

2017-11-23

Motion capture of the human body potentially holds great significance for exoskeleton robots, human-computer interaction, sports analysis, rehabilitation research, and many other areas. Dielectric elastomer sensors (DESs) are excellent candidates for wearable human motion capture systems because of their intrinsic characteristics of softness, light weight, and compliance. In this paper, DESs were applied to measure all component motions of the wrist joints. Five sensors were mounted to different positions on the wrist, and each one is for one component motion. To find the best position to mount the sensors, the distribution of the muscles is analyzed. Even so, the component motions and the deformation of the sensors are coupled; therefore, a decoupling method was developed. By the decoupling algorithm, all component motions can be measured with a precision of 5°, which meets the requirements of general motion capture systems.

Combination of High Rate, Real-time GNSS and Accelerometer Observations - Preliminary Results Using a Shake Table and Historic Earthquake Events.

NASA Astrophysics Data System (ADS)

Jackson, Michael; Passmore, Paul; Zimakov, Leonid; Raczka, Jared

2014-05-01

One of the fundamental requirements of an Earthquake Early Warning (EEW) system (and other mission critical applications) is to quickly detect and process the information from the strong motion event, i.e. event detection and location, magnitude estimation, and the peak ground motion estimation at the defined targeted site, thus allowing the civil protection authorities to provide pre-programmed emergency response actions: Slow down or stop rapid transit trains and high-speed trains; shutoff of gas pipelines and chemical facilities; stop elevators at the nearest floor; send alarms to hospitals, schools and other civil institutions. An important question associated with the EEW system is: can we measure displacements in real time with sufficient accuracy? Scientific GNSS networks are moving towards a model of real-time data acquisition, storage integrity, and real-time position and displacement calculations. This new paradigm allows the integration of real-time, high-rate GNSS displacement information with acceleration and velocity data to create very high-rate displacement records. The mating of these two instruments allows the creation of a new, very high-rate (200 Hz) displacement observable that has the full-scale displacement characteristics of GNSS and high-precision dynamic motions of seismic technologies. It is envisioned that these new observables can be used for earthquake early warning studies and other mission critical applications, such as volcano monitoring, building, bridge and dam monitoring systems. REF TEK a Division of Trimble has developed the integrated GNSS/Accelerograph system, model 160-09SG, which consists of REF TEK's fourth generation electronics, a 147-01 high-resolution ANSS Class A accelerometer, and Trimble GNSS receiver and antenna capable of real time, on board Precise Point Positioning (PPP) techniques with satellite clock and orbit corrections delivered to the receiver directly via L-band satellite communications. The test we conducted with the 160-09SG Recorder is focused on the characteristics of GNSS and seismic sensors in high dynamic environments, including historic earthquakes replicated on a shake table, over a range of displacements and frequencies. The main goals of the field tests are to explore the optimum integration of these sensors from a filtering perspective including simple harmonic impulses over varying frequencies and amplitudes and under the dynamic conditions of various earthquake scenarios.

Laser interferometric system for six-axis motion measurement.

PubMed

Zhang, Zhipeng; Menq, Chia-Hsiang

2007-08-01

This article presents the development of a precision laser interferometric system, which is designed to achieve six-axis motion measurement for real-time applications. By combining the advantage of the interferometer with a retroreflector and that of the interferometer with a plane mirror reflector, the system is capable of simultaneously measuring large transverse motions along and large rotational motions about three orthogonal axes. Based on optical path analysis along with the designed kinematics of the system, a closed form relationship between the six-axis motion parameters of the object being measured and the readings of the six laser interferometers is established. It can be employed as a real-time motion sensor for various six-axis motion control stages. A prototype is implemented and integrated with a six-axis magnetic levitation stage to illustrate its resolution and measurement range.

Synthesis of High-Frequency Ground Motion Using Information Extracted from Low-Frequency Ground Motion

NASA Astrophysics Data System (ADS)

Iwaki, A.; Fujiwara, H.

2012-12-01

Broadband ground motion computations of scenario earthquakes are often based on hybrid methods that are the combinations of deterministic approach in lower frequency band and stochastic approach in higher frequency band. Typical computation methods for low-frequency and high-frequency (LF and HF, respectively) ground motions are the numerical simulations, such as finite-difference and finite-element methods based on three-dimensional velocity structure model, and the stochastic Green's function method, respectively. In such hybrid methods, LF and HF wave fields are generated through two different methods that are completely independent of each other, and are combined at the matching frequency. However, LF and HF wave fields are essentially not independent as long as they are from the same event. In this study, we focus on the relation among acceleration envelopes at different frequency bands, and attempt to synthesize HF ground motion using the information extracted from LF ground motion, aiming to propose a new method for broad-band strong motion prediction. Our study area is Kanto area, Japan. We use the K-NET and KiK-net surface acceleration data and compute RMS envelope at four frequency bands: 0.5-1.0 Hz, 1.0-2.0 Hz, 2.0-4.0 Hz, .0-8.0 Hz, and 8.0-16.0 Hz. Taking the ratio of the envelopes of adjacent bands, we find that the envelope ratios have stable shapes at each site. The empirical envelope-ratio characteristics are combined with low-frequency envelope of the target earthquake to synthesize HF ground motion. We have applied the method to M5-class earthquakes and a M7 target earthquake that occurred in the vicinity of Kanto area, and successfully reproduced the observed HF ground motion of the target earthquake. The method can be applied to a broad band ground motion simulation for a scenario earthquake by combining numerically-computed low-frequency (~1 Hz) ground motion with the empirical envelope ratio characteristics to generate broadband ground motion. The strengths of the proposed method are that: 1) it is based on observed ground motion characteristics, 2) it takes full advantage of precise velocity structure model, and 3) it is simple and easy to apply.

Millimeter scale robots for the nanofactory

NASA Astrophysics Data System (ADS)

Murthy, Rakesh

The top down approach is a commonly employed miniaturization pathway into micro and nanomanufacturing. Its popularity is due to the fact that it adapts traditionally engineered macro scale positioning, manipulation and processing technology with micro and nano scale precision and part sizes. However, state of the art top down systems such as the Atomic Force Microscope (AFM) span four to five orders of magnitude larger than the parts being handled. This dissertation addresses the need for creating millimeter size robotic positioning technology that closes the size gap between equipment and part sizes. Such microrobot manufacturing methodology comprising of micro component-level design, fabrication and high yield assembly, system-level packaging, modeling, precision evaluation and control is presented and exemplified using two classes of microrobots. Both microrobots incorporate Micro Electro Mechanical Systems (MEMS) to combine high precision and low foot-print. The first microrobot type, the "ARRIpede" is a multi legged autonomous crawler, and is designed to operate as a mobile unit enabling parts transfer in a nanoassembly environment. An embodiment of this microrobot is demonstrated for planar motions with three degrees of freedom (XYtheta). The microrobot consists of a MEMS die "belly" spanning 10mm x 10mm x 1mm with in-plane electrothermal actuators and vertically assembled legs, and an electronic "backpack" spanning 15mmx15mmx10mm to generate a leg gait sequence. By incorporating bulk micromachined parts and precise epoxy dispensing at the assembled leg joint, the microrobot has a high payload bearing capacity (at least 9g). Simulations with a nonholonomic robot predict microcrawler velocities of a few mm/s under realistic assumptions. The open loop crawling velocity is experimentally characterized for various actuator frequencies and a close match with simulations is observed. A Linear Quadratic Regulator (LQR) based controller consisting of a high magnification camera and a laser displacement sensor for feedback is implemented. The open/closed loop positioning repeatabilities are evaluated and compared. The second micro robot called the "AFAM" (Articulated Four Axes Micro Robot) is a fixed base articulated design targeting micro and nano scale manipulation and probing applications. An embodiment of this microrobot is constructed incorporating four degrees of freedom (X, Y, Pitch and Yaw), occupying a total volume of 3mm x 2mm x 1mm, and operating within a workspace envelope of 50mum x 50mum x 75mum. This is by far the largest operating envelope of any other independent MEMS positioner with non-planar dexterity. A cable based transmission and motion amplification mechanism is designed to achieve the pitch and yaw degrees of freedom. The de-coupled motion of the microrobot is achieved by kinematic identification of the Jacobian and using a 3D flexure based kinematic model of the microrobot. By using the derived kinematics, the microrobot is driven to create nanoindents on a polymer surface. The end-effector positioning accuracy, repeatability and resolution are characterized using the nanoindents.

Integration of visual and non-visual self-motion cues during voluntary head movements in the human brain.

PubMed

Schindler, Andreas; Bartels, Andreas

2018-05-15

Our phenomenological experience of the stable world is maintained by continuous integration of visual self-motion with extra-retinal signals. However, due to conventional constraints of fMRI acquisition in humans, neural responses to visuo-vestibular integration have only been studied using artificial stimuli, in the absence of voluntary head-motion. We here circumvented these limitations and let participants to move their heads during scanning. The slow dynamics of the BOLD signal allowed us to acquire neural signal related to head motion after the observer's head was stabilized by inflatable aircushions. Visual stimuli were presented on head-fixed display goggles and updated in real time as a function of head-motion that was tracked using an external camera. Two conditions simulated forward translation of the participant. During physical head rotation, the congruent condition simulated a stable world, whereas the incongruent condition added arbitrary lateral motion. Importantly, both conditions were precisely matched in visual properties and head-rotation. By comparing congruent with incongruent conditions we found evidence consistent with the multi-modal integration of visual cues with head motion into a coherent "stable world" percept in the parietal operculum and in an anterior part of parieto-insular cortex (aPIC). In the visual motion network, human regions MST, a dorsal part of VIP, the cingulate sulcus visual area (CSv) and a region in precuneus (Pc) showed differential responses to the same contrast. The results demonstrate for the first time neural multimodal interactions between precisely matched congruent versus incongruent visual and non-visual cues during physical head-movement in the human brain. The methodological approach opens the path to a new class of fMRI studies with unprecedented temporal and spatial control over visuo-vestibular stimulation. Copyright © 2018 Elsevier Inc. All rights reserved.

Magnetic Gearing Versus Conventional Gearing in Actuators for Aerospace Applications

NASA Technical Reports Server (NTRS)

Puchhammer, Gregor

2014-01-01

Magnetic geared actuators (MGA) are designed to perform highly reliable, robust and precise motion on satellite platforms or aerospace vehicles. The design allows MGA to be used for various tasks in space applications. In contrast to conventional geared drives, the contact and lubrication free force transmitting elements lead to a considerable lifetime and range extension of drive systems. This paper describes the fundamentals of magnetic wobbling gears (MWG) and the deduced inherent characteristics, and compares conventional and magnetic gearing.

The Geoscience Laser Altimetry/Ranging System (GLARS)

NASA Technical Reports Server (NTRS)

Cohen, S. C.; Degnan, J. J.; Bufton, J. L.; Garvin, J. B.; Abshire, J. B.

1986-01-01

The Geoscience Laser Altimetry Ranging System (GLARS) is a highly precise distance measurement system to be used for making extremely accurate geodetic observations from a space platform. It combines the attributes of a pointable laser ranging system making observations to cube corner retroreflectors placed on the ground with those of a nadir looking laser altimeter making height observations to ground, ice sheet, and oceanic surfaces. In the ranging mode, centimeter-level precise baseline and station coordinate determinations will be made on grids consisting of 100 to 200 targets separated by distances from a few tens of kilometers to about 1000 km. These measurements will be used for studies of seismic zone crustal deformations and tectonic plate motions. Ranging measurements will also be made to a coarser, but globally distributed array of retroreflectors for both precise geodetic and orbit determination applications. In the altimetric mode, relative height determinations will be obtained with approximately decimeter vertical precision and 70 to 100 meter horizontal resolution. The height data will be used to study surface topography and roughness, ice sheet and lava flow thickness, and ocean dynamics. Waveform digitization will provide a measure of the vertical extent of topography within each footprint. The planned Earth Observing System is an attractive candidate platform for GLARS since the GLAR data can be used both for direct analyses and for highly precise orbit determination needed in the reduction of data from other sensors on the multi-instrument platform. (1064, 532, and 355 nm)Nd:YAG laser meets the performance specifications for the system.

Stretch sensors for human body motion

NASA Astrophysics Data System (ADS)

O'Brien, Ben; Gisby, Todd; Anderson, Iain A.

2014-03-01

Sensing motion of the human body is a difficult task. From an engineers' perspective people are soft highly mobile objects that move in and out of complex environments. As well as the technical challenge of sensing, concepts such as comfort, social intrusion, usability, and aesthetics are paramount in determining whether someone will adopt a sensing solution or not. At the same time the demands for human body motion sensing are growing fast. Athletes want feedback on posture and technique, consumers need new ways to interact with augmented reality devices, and healthcare providers wish to track recovery of a patient. Dielectric elastomer stretch sensors are ideal for bridging this gap. They are soft, flexible, and precise. They are low power, lightweight, and can be easily mounted on the body or embedded into clothing. From a commercialisation point of view stretch sensing is easier than actuation or generation - such sensors can be low voltage and integrated with conventional microelectronics. This paper takes a birds-eye view of the use of these sensors to measure human body motion. A holistic description of sensor operation and guidelines for sensor design will be presented to help technologists and developers in the space.

Broadband laser ranging precision and accuracy experiments with PDV benchmarking

NASA Astrophysics Data System (ADS)

Catenacci, Jared; Daykin, Ed; Howard, Marylesa; Lalone, Brandon; Miller, Kirk

2017-06-01

Broadband laser ranging (BLR) is a developmental diagnostic designed to measure the precise position of surfaces and particle clouds moving at velocities of several kilometers per second. Recent single stage gas gun experiments were conducted to quantify the precision and accuracy possible with a typical BLR system. For these experiments, the position of a mirrored projectile is measured relative to the location of a stationary optical flat (uncoated window) mounted within the gun catch tank. Projectile velocity is constrained to one-dimensional motion within the gun barrel. A collimating probe is aligned to be orthogonal to both the target window and the mirrored impactor surface. The probe is used to simultaneously measure the position and velocity with a BLR and conventional Photonic Doppler Velocimetry (PDV) system. Since there is a negligible lateral component to the target velocity, coupled with strong signal returns from a mirrored surface, integrating the PDV measurement provides a high fidelity distance measurement reference to which the BLR measurement may be compared.

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

Bates, Robert; McConnell, Elizabeth

Machining methods across many industries generally require multiple operations to machine and process advanced materials, features with micron precision, and complex shapes. The resulting multiple machining platforms can significantly affect manufacturing cycle time and the precision of the final parts, with a resultant increase in cost and energy consumption. Ultrafast lasers represent a transformative and disruptive technology that removes material with micron precision and in a single step manufacturing process. Such precision results from athermal ablation without modification or damage to the remaining material which is the key differentiator between ultrafast laser technologies and traditional laser technologies or mechanical processes.more » Athermal ablation without modification or damage to the material eliminates post-processing or multiple manufacturing steps. Combined with the appropriate technology to control the motion of the work piece, ultrafast lasers are excellent candidates to provide breakthrough machining capability for difficult-to-machine materials. At the project onset in early 2012, the project team recognized that substantial effort was necessary to improve the application of ultrafast laser and precise motion control technologies (for micromachining difficult-to-machine materials) to further the aggregate throughput and yield improvements over conventional machining methods. The project described in this report advanced these leading-edge technologies thru the development and verification of two platforms: a hybrid enhanced laser chassis and a multi-application testbed.« less

Specificity of Postural Sway to the Demands of a Precision Task at Sea

ERIC Educational Resources Information Center

Chen, Fu-Chen; Stoffregen, Thomas A.

2012-01-01

Mariners actively adjust their body orientation in response to ship motion. On a ship at sea, we evaluated relations between standing postural activity and the performance of a precision aiming task. Standing participants (experienced mariners) maintained the beam from a handheld laser on a target. Targets were large or small, thereby varying the…

TU-F-BRB-02: Motion Artifacts and Suppression in MRI

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

Zhong, X.

The current clinical standard of organ respiratory imaging, 4D-CT, is fundamentally limited by poor soft-tissue contrast and imaging dose. These limitations are potential barriers to beneficial “4D” radiotherapy methods which optimize the target and OAR dose-volume considering breathing motion but rely on a robust motion characterization. Conversely, MRI imparts no known radiation risk and has excellent soft-tissue contrast. MRI-based motion management is therefore highly desirable and holds great promise to improve radiotherapy of moving cancers, particularly in the abdomen. Over the past decade, MRI techniques have improved significantly, making MR-based motion management clinically feasible. For example, cine MRI has highmore » temporal resolution up to 10 f/s and has been used to track and/or characterize tumor motion, study correlation between external and internal motions. New MR technologies, such as 4D-MRI and MRI hybrid treatment machines (i.e. MR-linac or MR-Co60), have been recently developed. These technologies can lead to more accurate target volume determination and more precise radiation dose delivery via direct tumor gating or tracking. Despite all these promises, great challenges exist and the achievable clinical benefit of MRI-based tumor motion management has yet to be fully explored, much less realized. In this proposal, we will review novel MR-based motion management methods and technologies, the state-of-the-art concerning MRI development and clinical application and the barriers to more widespread adoption. Learning Objectives: Discuss the need of MR-based motion management for improving patient care in radiotherapy. Understand MR techniques for motion imaging and tumor motion characterization. Understand the current state of the art and future steps for clinical integration. Henry Ford Health System holds research agreements with Philips Healthcare. Research sponsored in part by a Henry Ford Health System Internal Mentored Grant.« less

TU-F-BRB-03: Clinical Implementation of MR-Based Motion Management

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

Glide-Hurst, C.

The current clinical standard of organ respiratory imaging, 4D-CT, is fundamentally limited by poor soft-tissue contrast and imaging dose. These limitations are potential barriers to beneficial “4D” radiotherapy methods which optimize the target and OAR dose-volume considering breathing motion but rely on a robust motion characterization. Conversely, MRI imparts no known radiation risk and has excellent soft-tissue contrast. MRI-based motion management is therefore highly desirable and holds great promise to improve radiotherapy of moving cancers, particularly in the abdomen. Over the past decade, MRI techniques have improved significantly, making MR-based motion management clinically feasible. For example, cine MRI has highmore » temporal resolution up to 10 f/s and has been used to track and/or characterize tumor motion, study correlation between external and internal motions. New MR technologies, such as 4D-MRI and MRI hybrid treatment machines (i.e. MR-linac or MR-Co60), have been recently developed. These technologies can lead to more accurate target volume determination and more precise radiation dose delivery via direct tumor gating or tracking. Despite all these promises, great challenges exist and the achievable clinical benefit of MRI-based tumor motion management has yet to be fully explored, much less realized. In this proposal, we will review novel MR-based motion management methods and technologies, the state-of-the-art concerning MRI development and clinical application and the barriers to more widespread adoption. Learning Objectives: Discuss the need of MR-based motion management for improving patient care in radiotherapy. Understand MR techniques for motion imaging and tumor motion characterization. Understand the current state of the art and future steps for clinical integration. Henry Ford Health System holds research agreements with Philips Healthcare. Research sponsored in part by a Henry Ford Health System Internal Mentored Grant.« less

TU-F-BRB-01: Resolving and Characterizing Breathing Motion for Radiotherapy with MRI

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

Tryggestad, E.

The current clinical standard of organ respiratory imaging, 4D-CT, is fundamentally limited by poor soft-tissue contrast and imaging dose. These limitations are potential barriers to beneficial “4D” radiotherapy methods which optimize the target and OAR dose-volume considering breathing motion but rely on a robust motion characterization. Conversely, MRI imparts no known radiation risk and has excellent soft-tissue contrast. MRI-based motion management is therefore highly desirable and holds great promise to improve radiotherapy of moving cancers, particularly in the abdomen. Over the past decade, MRI techniques have improved significantly, making MR-based motion management clinically feasible. For example, cine MRI has highmore » temporal resolution up to 10 f/s and has been used to track and/or characterize tumor motion, study correlation between external and internal motions. New MR technologies, such as 4D-MRI and MRI hybrid treatment machines (i.e. MR-linac or MR-Co60), have been recently developed. These technologies can lead to more accurate target volume determination and more precise radiation dose delivery via direct tumor gating or tracking. Despite all these promises, great challenges exist and the achievable clinical benefit of MRI-based tumor motion management has yet to be fully explored, much less realized. In this proposal, we will review novel MR-based motion management methods and technologies, the state-of-the-art concerning MRI development and clinical application and the barriers to more widespread adoption. Learning Objectives: Discuss the need of MR-based motion management for improving patient care in radiotherapy. Understand MR techniques for motion imaging and tumor motion characterization. Understand the current state of the art and future steps for clinical integration. Henry Ford Health System holds research agreements with Philips Healthcare. Research sponsored in part by a Henry Ford Health System Internal Mentored Grant.« less

TU-F-BRB-00: MRI-Based Motion Management for RT

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

NONE

The current clinical standard of organ respiratory imaging, 4D-CT, is fundamentally limited by poor soft-tissue contrast and imaging dose. These limitations are potential barriers to beneficial “4D” radiotherapy methods which optimize the target and OAR dose-volume considering breathing motion but rely on a robust motion characterization. Conversely, MRI imparts no known radiation risk and has excellent soft-tissue contrast. MRI-based motion management is therefore highly desirable and holds great promise to improve radiotherapy of moving cancers, particularly in the abdomen. Over the past decade, MRI techniques have improved significantly, making MR-based motion management clinically feasible. For example, cine MRI has highmore » temporal resolution up to 10 f/s and has been used to track and/or characterize tumor motion, study correlation between external and internal motions. New MR technologies, such as 4D-MRI and MRI hybrid treatment machines (i.e. MR-linac or MR-Co60), have been recently developed. These technologies can lead to more accurate target volume determination and more precise radiation dose delivery via direct tumor gating or tracking. Despite all these promises, great challenges exist and the achievable clinical benefit of MRI-based tumor motion management has yet to be fully explored, much less realized. In this proposal, we will review novel MR-based motion management methods and technologies, the state-of-the-art concerning MRI development and clinical application and the barriers to more widespread adoption. Learning Objectives: Discuss the need of MR-based motion management for improving patient care in radiotherapy. Understand MR techniques for motion imaging and tumor motion characterization. Understand the current state of the art and future steps for clinical integration. Henry Ford Health System holds research agreements with Philips Healthcare. Research sponsored in part by a Henry Ford Health System Internal Mentored Grant.« less

A novel CT acquisition and analysis technique for breathing motion modeling

NASA Astrophysics Data System (ADS)

Low, Daniel A.; White, Benjamin M.; Lee, Percy P.; Thomas, David H.; Gaudio, Sergio; Jani, Shyam S.; Wu, Xiao; Lamb, James M.

2013-06-01

To report on a novel technique for providing artifact-free quantitative four-dimensional computed tomography (4DCT) image datasets for breathing motion modeling. Commercial clinical 4DCT methods have difficulty managing irregular breathing. The resulting images contain motion-induced artifacts that can distort structures and inaccurately characterize breathing motion. We have developed a novel scanning and analysis method for motion-correlated CT that utilizes standard repeated fast helical acquisitions, a simultaneous breathing surrogate measurement, deformable image registration, and a published breathing motion model. The motion model differs from the CT-measured motion by an average of 0.65 mm, indicating the precision of the motion model. The integral of the divergence of one of the motion model parameters is predicted to be a constant 1.11 and is found in this case to be 1.09, indicating the accuracy of the motion model. The proposed technique shows promise for providing motion-artifact free images at user-selected breathing phases, accurate Hounsfield units, and noise characteristics similar to non-4D CT techniques, at a patient dose similar to or less than current 4DCT techniques.

Accuracy and Precision of a Custom Camera-Based System for 2-D and 3-D Motion Tracking during Speech and Nonspeech Motor Tasks

ERIC Educational Resources Information Center

Feng, Yongqiang; Max, Ludo

2014-01-01

Purpose: Studying normal or disordered motor control requires accurate motion tracking of the effectors (e.g., orofacial structures). The cost of electromagnetic, optoelectronic, and ultrasound systems is prohibitive for many laboratories and limits clinical applications. For external movements (lips, jaw), video-based systems may be a viable…

Guarded Motion for Mobile Robots

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

2005-03-30

The Idaho National Laboratory (INL) has created codes that ensure that a robot will come to a stop at a precise, specified distance from any obstacle regardless of the robot's initial speed, its physical characteristics, and the responsiveness of the low-level motor control schema. This Guarded Motion for Mobile Robots system iteratively adjusts the robot's action in response to information about the robot's environment.

Fine-resolution repeat topographic surveying of dryland landscapes using UAS-based structure-from-motion photogrammetry: Assessing accuracy and precision against traditional ground-based erosion measurements

USDA-ARS?s Scientific Manuscript database

Structure-from-motion (SfM) photogrammetry from unmanned aircraft system (UAS) imagery is an emerging tool for repeat topographic surveying of dryland erosion. These methods are particularly appealing due to the ability to cover large landscapes compared to field methods and at reduced costs and hig...

Feedback attitude sliding mode regulation control of spacecraft using arm motion

NASA Astrophysics Data System (ADS)

Shi, Ye; Liang, Bin; Xu, Dong; Wang, Xueqian; Xu, Wenfu

2013-09-01

The problem of spacecraft attitude regulation based on the reaction of arm motion has attracted extensive attentions from both engineering and academic fields. Most of the solutions of the manipulator’s motion tracking problem just achieve asymptotical stabilization performance, so that these controllers cannot realize precise attitude regulation because of the existence of non-holonomic constraints. Thus, sliding mode control algorithms are adopted to stabilize the tracking error with zero transient process. Due to the switching effects of the variable structure controller, once the tracking error reaches the designed hyper-plane, it will be restricted to this plane permanently even with the existence of external disturbances. Thus, precise attitude regulation can be achieved. Furthermore, taking the non-zero initial tracking errors and chattering phenomenon into consideration, saturation functions are used to replace sign functions to smooth the control torques. The relations between the upper bounds of tracking errors and the controller parameters are derived to reveal physical characteristic of the controller. Mathematical models of free-floating space manipulator are established and simulations are conducted in the end. The results show that the spacecraft’s attitude can be regulated to the position as desired by using the proposed algorithm, the steady state error is 0.000 2 rad. In addition, the joint tracking trajectory is smooth, the joint tracking errors converges to zero quickly with a satisfactory continuous joint control input. The proposed research provides a feasible solution for spacecraft attitude regulation by using arm motion, and improves the precision of the spacecraft attitude regulation.

Joule heating monitoring in a microfluidic channel by observing the Brownian motion of an optically trapped microsphere.

PubMed

Brans, Toon; Strubbe, Filip; Schreuer, Caspar; Vandewiele, Stijn; Neyts, Kristiaan; Beunis, Filip

2015-09-01

Electric fields offer a variety of functionalities to Lab-on-a-Chip devices. The use of these fields often results in significant Joule heating, affecting the overall performance of the system. Precise knowledge of the temperature profile inside a microfluidic device is necessary to evaluate the implications of heat dissipation. This article demonstrates how an optically trapped microsphere can be used as a temperature probe to monitor Joule heating in these devices. The Brownian motion of the bead at room temperature is compared with the motion when power is dissipated in the system. This gives an estimate of the temperature increase at a specific location in a microfluidic channel. We demonstrate this method with solutions of different ionic strengths, and establish a precision of 0.9 K and an accuracy of 15%. Furthermore, it is demonstrated that transient heating processes can be monitored with this technique, albeit with a limited time resolution. © 2015 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

WE-G-BRD-02: Characterizing Information Loss in a Sparse-Sampling-Based Dynamic MRI Sequence (k-T BLAST) for Lung Motion Monitoring

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

Arai, T; Nofiele, J; Sawant, A

2015-06-15

Purpose: Rapid MRI is an attractive, non-ionizing tool for soft-tissue-based monitoring of respiratory motion in thoracic and abdominal radiotherapy. One big challenge is to achieve high temporal resolution while maintaining adequate spatial resolution. K-t BLAST, sparse-sampling and reconstruction sequence based on a-priori information represents a potential solution. In this work, we investigated how much “true” motion information is lost as a-priori information is progressively added for faster imaging. Methods: Lung tumor motions in superior-inferior direction obtained from ten individuals were replayed into an in-house, MRI-compatible, programmable motion platform (50Hz refresh and 100microns precision). Six water-filled 1.5ml tubes were placed onmore » it as fiducial markers. Dynamic marker motion within a coronal slice (FOV: 32×32cm{sup 2}, resolution: 0.67×0.67mm{sup 2}, slice-thickness: 5mm) was collected on 3.0T body scanner (Ingenia, Philips). Balanced-FFE (TE/TR: 1.3ms/2.5ms, flip-angle: 40degrees) was used in conjunction with k-t BLAST. Each motion was repeated four times as four k-t acceleration factors 1, 2, 5, and 16 (corresponding frame rates were 2.5, 4.7, 9.8, and 19.1Hz, respectively) were compared. For each image set, one average motion trajectory was computed from six marker displacements. Root mean square error (RMS) was used as a metric of spatial accuracy where measured trajectories were compared to original data. Results: Tumor motion was approximately 10mm. The mean(standard deviation) of respiratory rates over ten patients was 0.28(0.06)Hz. Cumulative distributions of tumor motion frequency spectra (0–25Hz) obtained from the patients showed that 90% of motion fell on 3.88Hz or less. Therefore, the frame rate must be a double or higher for accurate monitoring. The RMS errors over patients for k-t factors of 1, 2, 5, and 16 were.10(.04),.17(.04), .21(.06) and.26(.06)mm, respectively. Conclusions: K-t factor of 5 or higher can cover the high frequency component of tumor respiratory motion, while the estimated error of spatial accuracy was approximately.2mm.« less

An ultra-precision tool nanoindentation instrument for replication of single point diamond tool cutting edges

NASA Astrophysics Data System (ADS)

Cai, Yindi; Chen, Yuan-Liu; Xu, Malu; Shimizu, Yuki; Ito, So; Matsukuma, Hiraku; Gao, Wei

2018-05-01

Precision replication of the diamond tool cutting edge is required for non-destructive tool metrology. This paper presents an ultra-precision tool nanoindentation instrument designed and constructed for replication of the cutting edge of a single point diamond tool onto a selected soft metal workpiece by precisely indenting the tool cutting edge into the workpiece surface. The instrument has the ability to control the indentation depth with a nanometric resolution, enabling the replication of tool cutting edges with high precision. The motion of the diamond tool along the indentation direction is controlled by the piezoelectric actuator of a fast tool servo (FTS). An integrated capacitive sensor of the FTS is employed to detect the displacement of the diamond tool. The soft metal workpiece is attached to an aluminum cantilever whose deflection is monitored by another capacitive sensor, referred to as an outside capacitive sensor. The indentation force and depth can be accurately evaluated from the diamond tool displacement, the cantilever deflection and the cantilever spring constant. Experiments were carried out by replicating the cutting edge of a single point diamond tool with a nose radius of 2.0 mm on a copper workpiece surface. The profile of the replicated tool cutting edge was measured using an atomic force microscope (AFM). The effectiveness of the instrument in precision replication of diamond tool cutting edges is well-verified by the experimental results.

Simulative design in macroscale for prospective application to micro-catheters.

PubMed

Ha, Cheol Woo

2018-02-09

In this paper, a motion-transforming element is applied to the development of a new catheter device. The motion-transforming element structure allows a reduction of linear movement and converts linear movement to rotational movement. The simulative design of micro-catheters is based on a proposed structure called the Operating Mini Station (OMS). OMS is operated by movement of a motion-transforming element. A new motion-transforming element is designed using multiple links that are connected by hinged joints based on an elastic design. The design of the links and the hinges are optimized for precise and reliable movement of the motion-transforming element. Because of the elastic design, it is possible to realize a catheter that allows various movements in small spaces like capillaries.

Influence of different shoulder-elbow configurations on steering precision and steering velocity in automotive context.

PubMed

Schmidt, Susanne; Seiberl, Wolfgang; Schwirtz, Ansgar

2015-01-01

Ergonomic design requirements are needed to develop optimum vehicle interfaces for the driver. The majority of the current specifications consider only anthropometric conditions and subjective evaluations of comfort. This paper examines specific biomechanical aspects to improve the current ergonomic requirements. Therefore, a research which involved 40 subjects was carried out to obtain more knowledge in the field of steering movement while driving a car. Five different shoulder-elbow joint configurations were analyzed using a driving simulator to find optimum posture for driving in respect of steering precision and steering velocity. Therefore, a 20 s precision test and a test to assess maximum steering velocity over a range of 90° steering motion have been conducted. The results show that driving precision, as well as maximum steering velocity, are significantly increased in mid-positions (elbow angles of 95° and 120°) compared to more flexed (70°) or extended (145° and 160°) postures. We conclude that driver safety can be enhanced by implementing these data in the automotive design process because faster and highly precise steering can be important during evasive actions and in accident situations. In addition, subjective comfort rating, analyzed with questionnaires, confirmed experimental results. Copyright © 2014 Elsevier Ltd and The Ergonomics Society. All rights reserved.

Evidence for Breakdown of Vibrational Motion in ^110Cd

NASA Astrophysics Data System (ADS)

Bangay, Jack; Garrett, Paul; Bianco, Laura; Leach, Kyle; Finlay, Paul; Green, Katie; Phillips, Andrew; Rand, Evan; Svensson, Carl; Sumithrarachchi, Chandana; Wong, James

2009-10-01

^110Cd has long been considered an excellent example of a vibrational nucleus. However, recent work with other even-even Cadmium isotopes show a breakdown of vibrational motion at the 2 and 3-phonon level, suggesting the need for more precise measurements on ^110Cd. The structure of ^110Cd is studied with the (n,n^'γ) reaction performed at the University of Kentucky, as well as with the high statistics β-decay of ^110In performed at the TRIUMF-ISAC facility using the 8π spectrometer. Excitation funcions and angular distributions from the (n,n^'γ) reaction provide us with spectroscopic information on the level scheme, including level lifetimes and spins. This data is complemented by the γγ coincidences measured in the ^110In β-decay that allows the observation of, or stringent limit on, weak, low-energy branches between levels at high excitation energy. Details of the analysis to date, including candidates for the full octupole-quadrupole coupled quintuplet, will be presented.

Quantitation of Fine Displacement in Echography

NASA Astrophysics Data System (ADS)

Masuda, Kohji; Ishihara, Ken; Yoshii, Ken; Furukawa, Toshiyuki; Kumagai, Sadatoshi; Maeda, Hajime; Kodama, Shinzo

1993-05-01

A High-speed Digital Subtraction Echography was developed to visualize the fine displacement of human internal organs. This method indicates differences in position through time series images of high-frame-rate echography. Fine displacement less than ultrasonic wavelength can be observed. This method, however, lacks the ability to quantitatively measure displacement length. The subtraction between two successive images was affected by displacement direction in spite of the displacement length being the same. To solve this problem, convolution of an echogram with Gaussian distribution was used. To express displacement length as brightness quantitatively, normalization using a brightness gradient was applied. The quantitation algorithm was applied to successive B-mode images. Compared to the simply subtracted images, quantitated images express more precisely the motion of organs. Expansion of the carotid artery and fine motion of ventricular walls can be visualized more easily. Displacement length can be quantitated with wavelength. Under more static conditions, this system quantitates displacement length that is much less than wavelength.

Adaptive optics optical coherence tomography with dynamic retinal tracking

PubMed Central

Kocaoglu, Omer P.; Ferguson, R. Daniel; Jonnal, Ravi S.; Liu, Zhuolin; Wang, Qiang; Hammer, Daniel X.; Miller, Donald T.

2014-01-01

Adaptive optics optical coherence tomography (AO-OCT) is a highly sensitive and noninvasive method for three dimensional imaging of the microscopic retina. Like all in vivo retinal imaging techniques, however, it suffers the effects of involuntary eye movements that occur even under normal fixation. In this study we investigated dynamic retinal tracking to measure and correct eye motion at KHz rates for AO-OCT imaging. A customized retina tracking module was integrated into the sample arm of the 2nd-generation Indiana AO-OCT system and images were acquired on three subjects. Analyses were developed based on temporal amplitude and spatial power spectra in conjunction with strip-wise registration to independently measure AO-OCT tracking performance. After optimization of the tracker parameters, the system was found to correct eye movements up to 100 Hz and reduce residual motion to 10 µm root mean square. Between session precision was 33 µm. Performance was limited by tracker-generated noise at high temporal frequencies. PMID:25071963

Design of a Minimum Surface-Effect Tendon-Based Microactuator for Micromanipulation

NASA Technical Reports Server (NTRS)

Goldfarb, Michael; Lipsey, James H.

1997-01-01

A piezoelectric (PZT) stack-based actuator was developed to provide a means of actuation with dynamic characteristics appropriate for small-scale manipulation. In particular, the design incorporates a highly nonlinear, large-ratio transmission that provides approximately two orders of magnitude motion amplification from the PZT stack. In addition to motion amplification, the nonlinear transmission was designed via optimization methods to distort the highly non-uniform properties of a piezoelectric actuator so that the achievable actuation force is nearly constant throughout the actuator workspace. The package also includes sensors that independently measure actuator output force and displacement, so that a manipulator structure need not incorporate sensors nor the associated wires. Specifically, the actuator was designed to output a maximum force of at least one Newton through a stroke of at least one millimeter. For purposes of small-scale precision position and/or force control, the actuator/sensor package was designed to eliminate stick-slip friction and backlash. The overall dimensions of the actuator/sensor package are approximately 40 x 65 x 25 mm.

Estimating the Mass of the Milky Way Using the Ensemble of Classical Satellite Galaxies

NASA Astrophysics Data System (ADS)

Patel, Ekta; Besla, Gurtina; Sohn, Sangmo Tony; Mandel, Kaisey

2018-06-01

High precision proper motions are currently available for approximately 20% of the Milky Way's known satellite galaxies. Often, the 6D phase space information of each satellite is used separately to constrain the mass of the MW. In this talk, I will discuss the Bayesian framework outlined in Patel et al. 2017b to make inferences of the MW's mass using satellite properties such as specific orbital angular momentum, rather than just position and velocity. By extending this framework from one satellite to a population of satellites, we can now form simultaneous MW mass estimates using the Illustris-Dark cosmological simulation that are unbiased by high speed satellites such as Leo I (Patel et al., submitted). Our resulting MW mass estimates reduce the current factor of two uncertainty in the mass range of the MW and show promising signs for improvement as upcoming ground- and space-based observatories obtain proper motions for additional MW satellite galaxies.

Error modeling of precision orientation sensors in a fixed base simulation. Ph.D. Thesis; [models of noise and dynamic characteristics of a gyro and autocollimator for very small signals

NASA Technical Reports Server (NTRS)

Klinger, D. L.

1974-01-01

Models of noise and dynamic characteristics of gyro and autocollimator for very small signal levels are presented. Measurements were evaluated using spectral techniques for identifying noise from base motion. The experiment was constructed to measure the precession, due to relativistic effects, of an extremely precise earth-orbiting gyroscope. The design goal for nonrelativistic gyro drift is 0.001 arcsec per year. An analogous fixed base simulator was used in developing methods of instrument error modeling and performance evaluation applicable to the relativity experiment sensors and other precision pointing instruments. Analysis of autocollimator spectra uncovered the presence of a platform gimbal resonance. The source of resonance was isolated to gimbal bearing elastic restraint properties most apparent at very small levels of motion. A model of these properties which include both elastic and coulomb friction characteristics is discussed, and a describing function developed.

The accuracy of ultrasound for measurement of mobile- bearing motion.

PubMed

Aigner, Christian; Radl, Roman; Pechmann, Michael; Rehak, Peter; Stacher, Rudolf; Windhager, Reinhard

2004-04-01

After anterior cruciate ligament-sacrificing total knee replacement, mobile bearings sometimes have paradoxic movement but the implications of such movement on function, wear, and implant survival are not known. To study this potential problem accurate, reliable, and widely available inexpensive tools for in vivo mobile-bearing motion analyses are needed. We developed a method using an 8-MHz ultrasound to analyze mobile-bearing motion and ascertained accuracy, precision, and reliability compared with plain and standard digital radiographs. The anterior rim of the mobile bearing was the target for all methods. The radiographs were taken in a horizontal plane at neutral rotation and incremental external and internal rotations. Five investigators examined four positions of the mobile bearing with all three methods. The accuracy and precision were: ultrasound, 0.7 mm and 0.2 mm; digital radiograph, 0.4 mm and 0.2 mm; and plain radiographs, 0.7 mm and 0.3 mm. The interrater and intrarater reliability ranged between 0.3 to 0.4 mm and 0.1 to 0.2 mm, respectively. The difference between the methods was not significant for neutral rotation but ultrasound was significantly more accurate than any one degree of rotation or higher. Ultrasound of 8 MHz provides an accuracy and reliability that is suitable for evaluation of in vivo meniscal bearing motion. Whether this method or others are sufficiently accurate to detect motion leading to abnormal wear is not known.

Astrometric light-travel time signature of sources in nonlinear motion. I. Derivation of the effect and radial motion

NASA Astrophysics Data System (ADS)

Anglada-Escudé, G.; Torra, J.

2006-04-01

Context: .Very precise planned space astrometric missions and recent improvements in imaging capabilities require a detailed review of the assumptions of classical astrometric modeling.Aims.We show that Light-Travel Time must be taken into account in modeling the kinematics of astronomical objects in nonlinear motion, even at stellar distances.Methods.A closed expression to include Light-Travel Time in the current astrometric models with nonlinear motion is provided. Using a perturbative approach the expression of the Light-Travel Time signature is derived. We propose a practical form of the astrometric modelling to be applied in astrometric data reduction of sources at stellar distances(d>1 pc).Results.We show that the Light-Travel Time signature is relevant at μ as accuracy (or even at mas) depending on the time span of the astrometric measurements. We explain how information on the radial motion of a source can be obtained. Some estimates are provided for known nearby binary systemsConclusions.Given the obtained results, it is clear that this effect must be taken into account in interpreting precise astrometric measurements. The effect is particularly relevant in measurements performed by the planned astrometric space missions (GAIA, SIM, JASMINE, TPF/DARWIN). An objective criterion is provided to quickly evaluate whether the Light-Travel Time modeling is required for a given source or system.

Coupled, circumferential motions of the cell wall synthesis machinery and MreB filaments in B. subtilis.

PubMed

Garner, Ethan C; Bernard, Remi; Wang, Wenqin; Zhuang, Xiaowei; Rudner, David Z; Mitchison, Tim

2011-07-08

Rod-shaped bacteria elongate by the action of cell wall synthesis complexes linked to underlying dynamic MreB filaments. To understand how the movements of these filaments relate to cell wall synthesis, we characterized the dynamics of MreB and the cell wall elongation machinery using high-precision particle tracking in Bacillus subtilis. We found that MreB and the elongation machinery moved circumferentially around the cell, perpendicular to its length, with nearby synthesis complexes and MreB filaments moving independently in both directions. Inhibition of cell wall synthesis by various methods blocked the movement of MreB. Thus, bacteria elongate by the uncoordinated, circumferential movements of synthetic complexes that insert radial hoops of new peptidoglycan during their transit, possibly driving the motion of the underlying MreB filaments.

The Accuracy of Webcams in 2D Motion Analysis: Sources of Error and Their Control

ERIC Educational Resources Information Center

Page, A.; Moreno, R.; Candelas, P.; Belmar, F.

2008-01-01

In this paper, we show the potential of webcams as precision measuring instruments in a physics laboratory. Various sources of error appearing in 2D coordinate measurements using low-cost commercial webcams are discussed, quantifying their impact on accuracy and precision, and simple procedures to control these sources of error are presented.…

Astrometric Detection of a Low Mass Companion Orbiting the Star AB Doradus

NASA Technical Reports Server (NTRS)

Soderhjelm, S.; Guirado, J. C.; Reynolds, J. E.; Lestrade, J. F.; Preston, R. A.; Jauncey, D. L.; Jones, D. L.; Tzioumis, A. K.; Ferris, R. H.; King, E. A.;

A new method for measuring the rotational accuracy of rolling element bearings

NASA Astrophysics Data System (ADS)

Chen, Ye; Zhao, Xiangsong; Gao, Weiguo; Hu, Gaofeng; Zhang, Shizhen; Zhang, Dawei

2016-12-01

The rotational accuracy of a machine tool spindle has critical influence upon the geometric shape and surface roughness of finished workpiece. The rotational performance of the rolling element bearings is a main factor which affects the spindle accuracy, especially in the ultra-precision machining. In this paper, a new method is developed to measure the rotational accuracy of rolling element bearings of machine tool spindles. Variable and measurable axial preload is applied to seat the rolling elements in the bearing races, which is used to simulate the operating conditions. A high-precision (radial error is less than 300 nm) and high-stiffness (radial stiffness is 600 N/μm) hydrostatic reference spindle is adopted to rotate the inner race of the test bearing. To prevent the outer race from rotating, a 2-degrees of freedom flexure hinge mechanism (2-DOF FHM) is designed. Correction factors by using stiffness analysis are adopted to eliminate the influences of 2-DOF FHM in the radial direction. Two capacitive displacement sensors with nano-resolution (the highest resolution is 9 nm) are used to measure the radial error motion of the rolling element bearing, without separating the profile error as the traditional rotational accuracy metrology of the spindle. Finally, experimental measurements are performed at different spindle speeds (100-4000 rpm) and axial preloads (75-780 N). Synchronous and asynchronous error motion values are evaluated to demonstrate the feasibility and repeatability of the developed method and instrument.

Approximate analytic method for high-apogee twelve-hour orbits of artificial Earth's satellites

NASA Astrophysics Data System (ADS)

Vashkovyaka, M. A.; Zaslavskii, G. S.

2016-09-01

We propose an approach to the study of the evolution of high-apogee twelve-hour orbits of artificial Earth's satellites. We describe parameters of the motion model used for the artificial Earth's satellite such that the principal gravitational perturbations of the Moon and Sun, nonsphericity of the Earth, and perturbations from the light pressure force are approximately taken into account. To solve the system of averaged equations describing the evolution of the orbit parameters of an artificial satellite, we use both numeric and analytic methods. To select initial parameters of the twelve-hour orbit, we assume that the path of the satellite along the surface of the Earth is stable. Results obtained by the analytic method and by the numerical integration of the evolving system are compared. For intervals of several years, we obtain estimates of oscillation periods and amplitudes for orbital elements. To verify the results and estimate the precision of the method, we use the numerical integration of rigorous (not averaged) equations of motion of the artificial satellite: they take into account forces acting on the satellite substantially more completely and precisely. The described method can be applied not only to the investigation of orbit evolutions of artificial satellites of the Earth; it can be applied to the investigation of the orbit evolution for other planets of the Solar system provided that the corresponding research problem will arise in the future and the considered special class of resonance orbits of satellites will be used for that purpose.

The potential of small unmanned aircraft systems and structure-from-motion for topographic surveys: A test of emerging integrated approaches at Cwm Idwal, North Wales

NASA Astrophysics Data System (ADS)

Tonkin, T. N.; Midgley, N. G.; Graham, D. J.; Labadz, J. C.

2014-12-01

Novel topographic survey methods that integrate both structure-from-motion (SfM) photogrammetry and small unmanned aircraft systems (sUAS) are a rapidly evolving investigative technique. Due to the diverse range of survey configurations available and the infancy of these new methods, further research is required. Here, the accuracy, precision and potential applications of this approach are investigated. A total of 543 images of the Cwm Idwal moraine-mound complex were captured from a light (< 5 kg) semi-autonomous multi-rotor unmanned aircraft system using a consumer-grade 18 MP compact digital camera. The images were used to produce a DSM (digital surface model) of the moraines. The DSM is in good agreement with 7761 total station survey points providing a total vertical RMSE value of 0.517 m and vertical RMSE values as low as 0.200 m for less densely vegetated areas of the DSM. High-precision topographic data can be acquired rapidly using this technique with the resulting DSMs and orthorectified aerial imagery at sub-decimetre resolutions. Positional errors on the total station dataset, vegetation and steep terrain are identified as the causes of vertical disagreement. Whilst this aerial survey approach is advocated for use in a range of geomorphological settings, care must be taken to ensure that adequate ground control is applied to give a high degree of accuracy.

UltraForm Finishing (UFF) a 5-axis computer controlled precision optical component grinding and polishing system

NASA Astrophysics Data System (ADS)

Bechtold, Michael; Mohring, David; Fess, Edward

2007-05-01

OptiPro Systems has developed a new finishing process for the manufacturing of precision optical components. UltraForm Finishing (UFF) has evolved from a tire shaped tool with polishing material on its periphery, to its newest design, which incorporates a precision rubber wheel wrapped with a band of polishing material passing over it. Through our research we have developed a user friendly graphical interface giving the optician a deterministic path for finishing precision optical components. Complex UFF Algorithms combine the removal function and desired depth of removal into a motion controlled tool path which minimizes surface roughness and form errors. The UFF process includes 5 axes of computer controlled motion, (3 linear and 2 rotary) which provide the flexibility for finishing a variety of shapes including spheres, aspheres, and freeform optics. The long arm extension, along with a range of diameters for the "UltraWheel" provides a unique solution for the finishing of steep concave shapes such as ogives and domes. The UltraForm process utilizes, fixed and loose abrasives, in combination with our proprietary "UltraBelts" made of a range of materials such as polyurethane, felt, resin, diamond and others.

WE-G-213CD-06: Implementation of Real-Time Tumor Tracking Using Robotic Couch.

PubMed

Buzurovic, I; Yu, Y; Podder, T

2012-06-01

The purpose of this study was to present a novel method for real- time tumor tracking using a commercially available robotic treatment couch, and to evaluate tumor tracking accuracy. Commercially available robotic couches are capable of positioning patients with high level of accuracy; however, currently there is no provision for compensating tumor motion using these systems. Elekta's existing commercial couch (PreciseTM Table) was used without changing its design. To establish the real-time couch motion for tracking, a novel control system was developed and implemented. The tabletop could be moved in horizontal plane (laterally and longitudinally) using two Maxon-24V motors with gearbox combination. Vertical motion was obtained using robust 70V-Rockwell Automation motor. For vertical motor position sensing, we used Model 755A-Accu- Coder encoder. Two Baumer-ITD_01_4mm shaft encoders were used for the lateral and longitudinal motions of the couch. Motors were connected to the Advance Motion Controls (AMC) amplifiers: for the vertical motion, motor AMC-20A20-INV amplifier was used, and two AMC-Z6A8 amplifiers were applied for the lateral and longitudinal couch motions. The Galil DMC-4133 controller was connected to standard PC computer using USB port. The system had two independent power supplies: Galil PSR-12- 24-12A, 24vdc power supply with diodes for controller and 24vdc motors and amplifiers, and Galil-PS300W72 72vdc power supply for vertical motion. Control algorithms were developed for position and velocity adjustment. The system was tested for real-time tracking in the range of 50mm in all 3 directions (superior-inferior, lateral, anterior- posterior). Accuracies were 0.15, 0.20, and 0.18mm, respectively. Repeatability of the desired motion was within ± 0.2mm. Experimental results of couch tracking show feasibility of real-time tumor tracking with high level of accuracy (within sub-millimeter range). This tracking technique potentially offers a simple and effective method to minimize healthy tissues irradiation.Acknowledgement: Study supported by Elekta,Ltd. Study supported by Elekta, Ltd. © 2012 American Association of Physicists in Medicine.

Infrared nano-sensor based on doubly splited optomechanical cavity

NASA Astrophysics Data System (ADS)

Zhang, Yeping; Ai, Jie; Xiang, Yanjun; Ma, Liehua; Li, Tao; Ma, Jingfang

2017-10-01

Optomechanical crystal (OMC) cavities are simultaneous have photonic and phononic bandgaps. The strong interaction between high co-localized optical mode and mechanical mode are excellent candidates for precision measurements due to their simplicity, sensitivity and all optical operation. Here, we investigate OMC nanobeam cavities in silicon operating at the near-infrared wavelengths to achieve high optomechanical coupling rate and ultra-small motion mass. Numerical simulation results show that the optical Q-factor reached to 1.2×105 , which possesses an optical mode resonating at the wavelength of 1181 nm and the extremely localized mechanical mode vibrating at 9.2GHz. Moreover, a novel type of doubly splited nanocavity tailored to sensitively measure torques and mass. In the nanomechanical resonator central hollow area suspended low-mass elements (<100fg) are sensitive to environmental stimulate. By changing the split width, an ultra-small effective motion mass of only 4fg with a mechanical frequency as high as 11.9GHz can be achieved, while the coupling rate up to 1.58MHz. Potential applications on these devices include sensing mass, acceleration, displacement, and magnetic probing the quantum properties of nanoscale systems.

A low cost real-time motion tracking approach using webcam technology.

PubMed

Krishnan, Chandramouli; Washabaugh, Edward P; Seetharaman, Yogesh

2015-02-05

Physical therapy is an important component of gait recovery for individuals with locomotor dysfunction. There is a growing body of evidence that suggests that incorporating a motor learning task through visual feedback of movement trajectory is a useful approach to facilitate therapeutic outcomes. Visual feedback is typically provided by recording the subject's limb movement patterns using a three-dimensional motion capture system and displaying it in real-time using customized software. However, this approach can seldom be used in the clinic because of the technical expertise required to operate this device and the cost involved in procuring a three-dimensional motion capture system. In this paper, we describe a low cost two-dimensional real-time motion tracking approach using a simple webcam and an image processing algorithm in LabVIEW Vision Assistant. We also evaluated the accuracy of this approach using a high precision robotic device (Lokomat) across various walking speeds. Further, the reliability and feasibility of real-time motion-tracking were evaluated in healthy human participants. The results indicated that the measurements from the webcam tracking approach were reliable and accurate. Experiments on human subjects also showed that participants could utilize the real-time kinematic feedback generated from this device to successfully perform a motor learning task while walking on a treadmill. These findings suggest that the webcam motion tracking approach is a feasible low cost solution to perform real-time movement analysis and training. Copyright © 2014 Elsevier Ltd. All rights reserved.

A low cost real-time motion tracking approach using webcam technology

PubMed Central

Krishnan, Chandramouli; Washabaugh, Edward P.; Seetharaman, Yogesh

2014-01-01

Physical therapy is an important component of gait recovery for individuals with locomotor dysfunction. There is a growing body of evidence that suggests that incorporating a motor learning task through visual feedback of movement trajectory is a useful approach to facilitate therapeutic outcomes. Visual feedback is typically provided by recording the subject’s limb movement patterns using a three-dimensional motion capture system and displaying it in real-time using customized software. However, this approach can seldom be used in the clinic because of the technical expertise required to operate this device and the cost involved in procuring a three-dimensional motion capture system. In this paper, we describe a low cost two-dimensional real-time motion tracking approach using a simple webcam and an image processing algorithm in LabVIEW Vision Assistant. We also evaluated the accuracy of this approach using a high precision robotic device (Lokomat) across various walking speeds. Further, the reliability and feasibility of real-time motion-tracking were evaluated in healthy human participants. The results indicated that the measurements from the webcam tracking approach were reliable and accurate. Experiments on human subjects also showed that participants could utilize the real-time kinematic feedback generated from this device to successfully perform a motor learning task while walking on a treadmill. These findings suggest that the webcam motion tracking approach is a feasible low cost solution to perform real-time movement analysis and training. PMID:25555306

A Method of Time-Intensity Curve Calculation for Vascular Perfusion of Uterine Fibroids Based on Subtraction Imaging with Motion Correction

NASA Astrophysics Data System (ADS)

Zhu, Xinjian; Wu, Ruoyu; Li, Tao; Zhao, Dawei; Shan, Xin; Wang, Puling; Peng, Song; Li, Faqi; Wu, Baoming

2016-12-01

The time-intensity curve (TIC) from contrast-enhanced ultrasound (CEUS) image sequence of uterine fibroids provides important parameter information for qualitative and quantitative evaluation of efficacy of treatment such as high-intensity focused ultrasound surgery. However, respiration and other physiological movements inevitably affect the process of CEUS imaging, and this reduces the accuracy of TIC calculation. In this study, a method of TIC calculation for vascular perfusion of uterine fibroids based on subtraction imaging with motion correction is proposed. First, the fibroid CEUS recording video was decoded into frame images based on the record frame rate. Next, the Brox optical flow algorithm was used to estimate the displacement field and correct the motion between two frames based on warp technique. Then, subtraction imaging was performed to extract the positional distribution of vascular perfusion (PDOVP). Finally, the average gray of all pixels in the PDOVP from each image was determined, and this was considered the TIC of CEUS image sequence. Both the correlation coefficient and mutual information of the results with proposed method were larger than those determined using the original method. PDOVP extraction results have been improved significantly after motion correction. The variance reduction rates were all positive, indicating that the fluctuations of TIC had become less pronounced, and the calculation accuracy has been improved after motion correction. This proposed method can effectively overcome the influence of motion mainly caused by respiration and allows precise calculation of TIC.

Smart Braid Feedback for the Closed-Loop Control of Soft Robotic Systems.

PubMed

Felt, Wyatt; Chin, Khai Yi; Remy, C David

2017-09-01

This article experimentally investigates the potential of using flexible, inductance-based contraction sensors in the closed-loop motion control of soft robots. Accurate motion control remains a highly challenging task for soft robotic systems. Precise models of the actuation dynamics and environmental interactions are often unavailable. This renders open-loop control impossible, while closed-loop control suffers from a lack of suitable feedback. Conventional motion sensors, such as linear or rotary encoders, are difficult to adapt to robots that lack discrete mechanical joints. The rigid nature of these sensors runs contrary to the aspirational benefits of soft systems. As truly soft sensor solutions are still in their infancy, motion control of soft robots has so far relied on laboratory-based sensing systems such as motion capture, electromagnetic (EM) tracking, or Fiber Bragg Gratings. In this article, we used embedded flexible sensors known as Smart Braids to sense the contraction of McKibben muscles through changes in inductance. We evaluated closed-loop control on two systems: a revolute joint and a planar, one degree of freedom continuum manipulator. In the revolute joint, our proposed controller compensated for elasticity in the actuator connections. The Smart Braid feedback allowed motion control with a steady-state root-mean-square (RMS) error of [1.5]°. In the continuum manipulator, Smart Braid feedback enabled tracking of the desired tip angle with a steady-state RMS error of [1.25]°. This work demonstrates that Smart Braid sensors can provide accurate position feedback in closed-loop motion control suitable for field applications of soft robotic systems.

TU-PIS-Exhibit Hall-2: How to Move Beyond Dose Monitoring to Imaging Performance Utilization

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

Valencia, D.

The current clinical standard of organ respiratory imaging, 4D-CT, is fundamentally limited by poor soft-tissue contrast and imaging dose. These limitations are potential barriers to beneficial “4D” radiotherapy methods which optimize the target and OAR dose-volume considering breathing motion but rely on a robust motion characterization. Conversely, MRI imparts no known radiation risk and has excellent soft-tissue contrast. MRI-based motion management is therefore highly desirable and holds great promise to improve radiotherapy of moving cancers, particularly in the abdomen. Over the past decade, MRI techniques have improved significantly, making MR-based motion management clinically feasible. For example, cine MRI has highmore » temporal resolution up to 10 f/s and has been used to track and/or characterize tumor motion, study correlation between external and internal motions. New MR technologies, such as 4D-MRI and MRI hybrid treatment machines (i.e. MR-linac or MR-Co60), have been recently developed. These technologies can lead to more accurate target volume determination and more precise radiation dose delivery via direct tumor gating or tracking. Despite all these promises, great challenges exist and the achievable clinical benefit of MRI-based tumor motion management has yet to be fully explored, much less realized. In this proposal, we will review novel MR-based motion management methods and technologies, the state-of-the-art concerning MRI development and clinical application and the barriers to more widespread adoption. Learning Objectives: Discuss the need of MR-based motion management for improving patient care in radiotherapy. Understand MR techniques for motion imaging and tumor motion characterization. Understand the current state of the art and future steps for clinical integration. Henry Ford Health System holds research agreements with Philips Healthcare. Research sponsored in part by a Henry Ford Health System Internal Mentored Grant.« less

TU-PIS-Exhibit Hall-4: How to implement a dose monitoring solution in the real world: a technical perspective

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

Massey, S.

The current clinical standard of organ respiratory imaging, 4D-CT, is fundamentally limited by poor soft-tissue contrast and imaging dose. These limitations are potential barriers to beneficial “4D” radiotherapy methods which optimize the target and OAR dose-volume considering breathing motion but rely on a robust motion characterization. Conversely, MRI imparts no known radiation risk and has excellent soft-tissue contrast. MRI-based motion management is therefore highly desirable and holds great promise to improve radiotherapy of moving cancers, particularly in the abdomen. Over the past decade, MRI techniques have improved significantly, making MR-based motion management clinically feasible. For example, cine MRI has highmore » temporal resolution up to 10 f/s and has been used to track and/or characterize tumor motion, study correlation between external and internal motions. New MR technologies, such as 4D-MRI and MRI hybrid treatment machines (i.e. MR-linac or MR-Co60), have been recently developed. These technologies can lead to more accurate target volume determination and more precise radiation dose delivery via direct tumor gating or tracking. Despite all these promises, great challenges exist and the achievable clinical benefit of MRI-based tumor motion management has yet to be fully explored, much less realized. In this proposal, we will review novel MR-based motion management methods and technologies, the state-of-the-art concerning MRI development and clinical application and the barriers to more widespread adoption. Learning Objectives: Discuss the need of MR-based motion management for improving patient care in radiotherapy. Understand MR techniques for motion imaging and tumor motion characterization. Understand the current state of the art and future steps for clinical integration. Henry Ford Health System holds research agreements with Philips Healthcare. Research sponsored in part by a Henry Ford Health System Internal Mentored Grant.« less

TU-PIS-Exhibit Hall-1: Tools for Collecting and Analyzing Patient Dose Index Information from Imaging Equipment

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

Wang, J.; Stanford University: Introduction

The current clinical standard of organ respiratory imaging, 4D-CT, is fundamentally limited by poor soft-tissue contrast and imaging dose. These limitations are potential barriers to beneficial “4D” radiotherapy methods which optimize the target and OAR dose-volume considering breathing motion but rely on a robust motion characterization. Conversely, MRI imparts no known radiation risk and has excellent soft-tissue contrast. MRI-based motion management is therefore highly desirable and holds great promise to improve radiotherapy of moving cancers, particularly in the abdomen. Over the past decade, MRI techniques have improved significantly, making MR-based motion management clinically feasible. For example, cine MRI has highmore » temporal resolution up to 10 f/s and has been used to track and/or characterize tumor motion, study correlation between external and internal motions. New MR technologies, such as 4D-MRI and MRI hybrid treatment machines (i.e. MR-linac or MR-Co60), have been recently developed. These technologies can lead to more accurate target volume determination and more precise radiation dose delivery via direct tumor gating or tracking. Despite all these promises, great challenges exist and the achievable clinical benefit of MRI-based tumor motion management has yet to be fully explored, much less realized. In this proposal, we will review novel MR-based motion management methods and technologies, the state-of-the-art concerning MRI development and clinical application and the barriers to more widespread adoption. Learning Objectives: Discuss the need of MR-based motion management for improving patient care in radiotherapy. Understand MR techniques for motion imaging and tumor motion characterization. Understand the current state of the art and future steps for clinical integration. Henry Ford Health System holds research agreements with Philips Healthcare. Research sponsored in part by a Henry Ford Health System Internal Mentored Grant.« less

TU-PIS-Exhibit Hall-5: Use of the Enterprise-wide Dose Tracking Software Radimetrics In an Academic Medical System

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

Goode, A.

The current clinical standard of organ respiratory imaging, 4D-CT, is fundamentally limited by poor soft-tissue contrast and imaging dose. These limitations are potential barriers to beneficial “4D” radiotherapy methods which optimize the target and OAR dose-volume considering breathing motion but rely on a robust motion characterization. Conversely, MRI imparts no known radiation risk and has excellent soft-tissue contrast. MRI-based motion management is therefore highly desirable and holds great promise to improve radiotherapy of moving cancers, particularly in the abdomen. Over the past decade, MRI techniques have improved significantly, making MR-based motion management clinically feasible. For example, cine MRI has highmore » temporal resolution up to 10 f/s and has been used to track and/or characterize tumor motion, study correlation between external and internal motions. New MR technologies, such as 4D-MRI and MRI hybrid treatment machines (i.e. MR-linac or MR-Co60), have been recently developed. These technologies can lead to more accurate target volume determination and more precise radiation dose delivery via direct tumor gating or tracking. Despite all these promises, great challenges exist and the achievable clinical benefit of MRI-based tumor motion management has yet to be fully explored, much less realized. In this proposal, we will review novel MR-based motion management methods and technologies, the state-of-the-art concerning MRI development and clinical application and the barriers to more widespread adoption. Learning Objectives: Discuss the need of MR-based motion management for improving patient care in radiotherapy. Understand MR techniques for motion imaging and tumor motion characterization. Understand the current state of the art and future steps for clinical integration. Henry Ford Health System holds research agreements with Philips Healthcare. Research sponsored in part by a Henry Ford Health System Internal Mentored Grant.« less

TU-PIS-Exhibit Hall-3: Simultaneous tracking of patient and real time staff dose to optimize interventional workflow

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

Boon, S.

The current clinical standard of organ respiratory imaging, 4D-CT, is fundamentally limited by poor soft-tissue contrast and imaging dose. These limitations are potential barriers to beneficial “4D” radiotherapy methods which optimize the target and OAR dose-volume considering breathing motion but rely on a robust motion characterization. Conversely, MRI imparts no known radiation risk and has excellent soft-tissue contrast. MRI-based motion management is therefore highly desirable and holds great promise to improve radiotherapy of moving cancers, particularly in the abdomen. Over the past decade, MRI techniques have improved significantly, making MR-based motion management clinically feasible. For example, cine MRI has highmore » temporal resolution up to 10 f/s and has been used to track and/or characterize tumor motion, study correlation between external and internal motions. New MR technologies, such as 4D-MRI and MRI hybrid treatment machines (i.e. MR-linac or MR-Co60), have been recently developed. These technologies can lead to more accurate target volume determination and more precise radiation dose delivery via direct tumor gating or tracking. Despite all these promises, great challenges exist and the achievable clinical benefit of MRI-based tumor motion management has yet to be fully explored, much less realized. In this proposal, we will review novel MR-based motion management methods and technologies, the state-of-the-art concerning MRI development and clinical application and the barriers to more widespread adoption. Learning Objectives: Discuss the need of MR-based motion management for improving patient care in radiotherapy. Understand MR techniques for motion imaging and tumor motion characterization. Understand the current state of the art and future steps for clinical integration. Henry Ford Health System holds research agreements with Philips Healthcare. Research sponsored in part by a Henry Ford Health System Internal Mentored Grant.« less

Multi-GNSS high-rate RTK, PPP and novel direct phase observation processing method: application to precise dynamic displacement detection

NASA Astrophysics Data System (ADS)

Paziewski, Jacek; Sieradzki, Rafal; Baryla, Radoslaw

2018-03-01

This paper provides the methodology and performance assessment of multi-GNSS signal processing for the detection of small-scale high-rate dynamic displacements. For this purpose, we used methods of relative (RTK) and absolute positioning (PPP), and a novel direct signal processing approach. The first two methods are recognized as providing accurate information on position in many navigation and surveying applications. The latter is an innovative method for dynamic displacement determination with the use of GNSS phase signal processing. This method is based on the developed functional model with parametrized epoch-wise topocentric relative coordinates derived from filtered GNSS observations. Current regular kinematic PPP positioning, as well as medium/long range RTK, may not offer coordinate estimates with subcentimeter precision. Thus, extended processing strategies of absolute and relative GNSS positioning have been developed and applied for displacement detection. The study also aimed to comparatively analyze the developed methods as well as to analyze the impact of combined GPS and BDS processing and the dependence of the results of the relative methods on the baseline length. All the methods were implemented with in-house developed software allowing for high-rate precise GNSS positioning and signal processing. The phase and pseudorange observations collected with a rate of 50 Hz during the field test served as the experiment’s data set. The displacements at the rover station were triggered in the horizontal plane using a device which was designed and constructed to ensure a periodic motion of GNSS antenna with an amplitude of ~3 cm and a frequency of ~4.5 Hz. Finally, a medium range RTK, PPP, and direct phase observation processing method demonstrated the capability of providing reliable and consistent results with the precision of the determined dynamic displacements at the millimeter level. Specifically, the research shows that the standard deviation of the displacement residuals obtained as the difference between a benchmark-ultra-short baseline RTK solution and selected scenarios ranged between 1.1 and 3.4 mm. At the same time, the differences in the mean amplitude of the oscillations derived from the established scenarios did not exceed 1.3 mm, whereas the frequency of the motion detected with the use of Fourier transformation was the same.

Thresholds for the perception of whole-body linear sinusoidal motion in the horizontal plane

NASA Technical Reports Server (NTRS)

Mah, Robert W.; Young, Laurence R.; Steele, Charles R.; Schubert, Earl D.

1989-01-01

An improved linear sled has been developed to provide precise motion stimuli without generating perceptible extraneous motion cues (a noiseless environment). A modified adaptive forced-choice method was employed to determine perceptual thresholds to whole-body linear sinusoidal motion in 25 subjects. Thresholds for the detection of movement in the horizontal plane were found to be lower than those reported previously. At frequencies of 0.2 to 0.5 Hz, thresholds were shown to be independent of frequency, while at frequencies of 1.0 to 3.0 Hz, thresholds showed a decreasing sensitivity with increasing frequency, indicating that the perceptual process is not sensitive to the rate change of acceleration of the motion stimulus. The results suggest that the perception of motion behaves as an integrating accelerometer with a bandwidth of at least 3 Hz.

Equilibrium-point control of human elbow-joint movement under isometric environment by using multichannel functional electrical stimulation

PubMed Central

Matsui, Kazuhiro; Hishii, Yasuo; Maegaki, Kazuya; Yamashita, Yuto; Uemura, Mitsunori; Hirai, Hiroaki; Miyazaki, Fumio

2014-01-01

Functional electrical stimulation (FES) is considered an effective technique for aiding quadriplegic persons. However, the human musculoskeletal system has highly non-linearity and redundancy. It is thus difficult to stably and accurately control limbs using FES. In this paper, we propose a simple FES method that is consistent with the motion-control mechanism observed in humans. We focus on joint motion by a pair of agonist-antagonist muscles of the musculoskeletal system, and define the “electrical agonist-antagonist muscle ratio (EAA ratio)” and “electrical agonist-antagonist muscle activity (EAA activity)” in light of the agonist-antagonist muscle ratio and agonist-antagonist muscle activity, respectively, to extract the equilibrium point and joint stiffness from electromyography (EMG) signals. These notions, the agonist-antagonist muscle ratio and agonist-antagonist muscle activity, are based on the hypothesis that the equilibrium point and stiffness of the agonist-antagonist motion system are controlled by the central nervous system. We derived the transfer function between the input EAA ratio and force output of the end-point. We performed some experiments in an isometric environment using six subjects. This transfer-function model is expressed as a cascade-coupled dead time element and a second-order system. High-speed, high-precision, smooth control of the hand force were achieved through the agonist-antagonist muscle stimulation pattern determined by this transfer function model. PMID:24987326

Equilibrium-point control of human elbow-joint movement under isometric environment by using multichannel functional electrical stimulation.

PubMed

Matsui, Kazuhiro; Hishii, Yasuo; Maegaki, Kazuya; Yamashita, Yuto; Uemura, Mitsunori; Hirai, Hiroaki; Miyazaki, Fumio

2014-01-01

Functional electrical stimulation (FES) is considered an effective technique for aiding quadriplegic persons. However, the human musculoskeletal system has highly non-linearity and redundancy. It is thus difficult to stably and accurately control limbs using FES. In this paper, we propose a simple FES method that is consistent with the motion-control mechanism observed in humans. We focus on joint motion by a pair of agonist-antagonist muscles of the musculoskeletal system, and define the "electrical agonist-antagonist muscle ratio (EAA ratio)" and "electrical agonist-antagonist muscle activity (EAA activity)" in light of the agonist-antagonist muscle ratio and agonist-antagonist muscle activity, respectively, to extract the equilibrium point and joint stiffness from electromyography (EMG) signals. These notions, the agonist-antagonist muscle ratio and agonist-antagonist muscle activity, are based on the hypothesis that the equilibrium point and stiffness of the agonist-antagonist motion system are controlled by the central nervous system. We derived the transfer function between the input EAA ratio and force output of the end-point. We performed some experiments in an isometric environment using six subjects. This transfer-function model is expressed as a cascade-coupled dead time element and a second-order system. High-speed, high-precision, smooth control of the hand force were achieved through the agonist-antagonist muscle stimulation pattern determined by this transfer function model.

Light-Steered Isotropic Semiconductor Micromotors.

PubMed

Chen, Chuanrui; Mou, Fangzhi; Xu, Leilei; Wang, Shaofei; Guan, Jianguo; Feng, Zunpeng; Wang, Quanwei; Kong, Lei; Li, Wei; Wang, Joseph; Zhang, Qingjie

2017-01-01

Intelligent photoresponsive isotropic semiconductor micromotors are developed by taking advantage of the limited penetration depth of light to induce asymmetrical surface chemical reactions. Independent of the Brownian motion of themselves, the as-proposed isotropic micromotors are able to continuously move with both motion direction and speed just controlled by light, as well as precisely manipulate particles for nanoengineering. © 2016 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Precision manipulation with a dextrous robot hand

NASA Astrophysics Data System (ADS)

Michelman, Paul

1994-01-01

In this thesis, we discuss a framework for describing and synthesizing precision manipulation tasks with a robot hand. Precision manipulations are those in which the motions of grasped objects are caused by finger motions alone (as distinct from arm or wrist motion). Experiments demonstrating the capabilities of the Utah-MIT hand are presented. This work begins by examining current research on biological motor control to raise a number of questions. For example, is the control centralized and organized by a central processor? Or is the control distributed throughout the nervous system? Motor control research on manipulation has focused on developing classifications of hand motions, concentrating solely on finger motions, while neglecting grasp stability and interaction forces that occur in manipulation. In addition, these taxonomies have not been explicitly functional. This thesis defines and analyzes a basic set of manipulation strategies that includes both position and force trajectories. The fundamental purposes of the manipulations are: (1) rectilinear and rotational motion of grasped objects of different geometries; and (2) the application of forces and moments against the environment by the grasped objects. First, task partitioning is described to allocate the fingers their roles in the task. Second, for each strategy, the mechanics and workspace of the tasks are analyzed geometrically to determine the gross finger trajectories required to achieve the tasks. Techniques illustrating the combination of simple manipulations into complex, multiple degree-of-freedom tasks are presented. There is a discussion of several tasks that use multiple elementary strategies. The tasks described are removing the top of a childproof medicine bottle, putting the top back on, rotating and regrasping a block and a cylinder within the grasp. Finally, experimental results are presented. The experimental setup at Columbia University's Center for Research in Intelligent Systems and experiments with a Utah-MIT hand is discussed. First, the overall system design is described. Two hybrid position/force controllers were designed and built. After a discussion of the entire system, experimental results are presented describing each of the basic manipulation and complex manipulation strategies.

MFP scanner motion characterization using self-printed target

NASA Astrophysics Data System (ADS)

Kim, Minwoong; Bauer, Peter; Wagner, Jerry K.; Allebach, Jan P.

2015-01-01

Multifunctional printers (MFP) are products that combine the functions of a printer, scanner, and copier. Our goal is to help customers to be able to easily diagnose scanner or print quality issues with their products by developing an automated diagnostic system embedded in the product. We specifically focus on the characterization of scanner motions, which may be defective due to irregular movements of the scan-head. The novel design of our test page and two-stage diagnostic algorithm are described in this paper. The most challenging issue is to evaluate the scanner performance properly when both printer and scanner units contribute to the motion errors. In the first stage called the uncorrected-print-error-stage, aperiodic and periodic motion behaviors are characterized in both the spatial and frequency domains. Since it is not clear how much of the error is contributed by each unit, the scanned input is statistically analyzed in the second stage called the corrected-print-error-stage. Finally, the described diagnostic algorithms output the estimated scan error and print error separately as RMS values of the displacement of the scan and print lines, respectively, from their nominal positions in the scanner or printer motion direction. We validate our test page design and approaches by ground truth obtained from a high-precision, chrome-on-glass reticle manufactured using semiconductor chip fabrication technologies.

Using Satellite Galaxies to Weigh the Milky Way

NASA Astrophysics Data System (ADS)

Kohler, Susanna

2018-06-01

Weighing galaxies is a tricky business especially when that galaxy is our own! In a recent study, scientists have tackled this problem by harnessing incredibly precise measurements of the motions of Milky-Way satellites.A Challenging MeasurementLocations of some of the 50 satellite galaxies known around the Milky Way. [AndrewRT]Our spot in the middle of our galaxys disk makes it difficult for us to assess the total mass of gas, dust, stars, and dark matter surrounding us; estimates for the Milky Ways mass span from 700 billion to 2 trillion solar masses! Pinning down this number is critical for better understanding the structure and dynamics of our local universe.So whats the key to precisely weighing the Milky Way? A new study led by Ekta Patel (University of Arizona) presented at the American Astronomical Society meeting two weeks ago suggests it may be the barely preceptible motions of the small satellite galaxies that orbit around the Milky Way. Around 50 Milky-Way satellites are currently known, and simulations suggest that there may be up to 100200 in total. By watching the motions of these satellites, we can trace the potential of their host the Milky Way and estimate its mass.The Illustris-Dark simulation evolves our universe to the present day, providing a view of how dark matter organizes itself into galaxy halos over time. [Illustris Collaboration]Tiny Motions of Tiny GalaxiesIn this era of precision astronomy, remarkable measurements are becoming possible. In their study, Patel and collaborators use years of proper-motion observations from the Hubble Space Telescope for nine satellite galaxies of the Milky Way. The precision needed for measurements like these is insane: watching these satellites move is roughly like watching a human hair grow at the distance of the Moon.Rather than using the instantaneous position and velocity measured for a satellite which changes over time during the satellites orbit Patel and collaborators demonstrate that the satellites specific angular momentum is a more useful parameter when attempting to estimate its host galaxys mass.For each of the nine individual satellite galaxies, the authors compare its measured momentum to that of 90,000 simulated satellite galaxies from the Illustris-Dark cosmological simulation. This matching is used to build a probability distribution for the mass of the host galaxy most likely to be orbited by such a satellite. The probability distributions for the nine satellite galaxies are then combined to find the best overall estimate for the Milky Ways mass.Tipping the ScaleTop: summary of the most likely Milky-Way mass estimated from each of the 9 satellite galaxies, using the instantaneous positions and velocities (left) and the momentum (right) of the satellites. The momentum method shows less scatter in the host masses. Bottom: probability distributions for the most likely Milky-Way mass for each of the satellites (colored curves) and combined (grey curve). Click for a better look. [Patel et al. 2018]Using this technique, Patel and collaborators find a mass of 0.96 trillion solar masses for the Milky Way. The error bars for their measurement are around 30% and while this is more confined than the broad range of past estimates, its not yet extremely precise. The beauty of Patel and collaborators method, however, is that it is both extendable and generalizable.The authors only had access to precise proper motions for nine satellite galaxies when they conducted their study but since then, the Gaia mission has provided measurements for 30 satellites, with more expected in the future. Including these additional satellites and using improved, higher-resolution cosmological simulations for comparison will continue to increase the precision of Patel and collaborators estimate in the future.In addition, this approach can also be used to weigh our neighboring Andromeda galaxy, or any other galaxy for which were able to get precise proper-motion measurements for its satellites. Keep an eye out in the future, as techniques like this continue to reveal more properties of our local universe.CitationEkta Patel et al 2018 ApJ 857 78. doi:10.3847/1538-4357/aab78f

Microarcsecond Astrometry As A Probe Of Circumstellar Structure

NASA Astrophysics Data System (ADS)

Velusamy, T.; Turyshev, S. G.

1999-12-01

The Space Interferometry Mission (SIM) is a space-based long-baseline optical interferometer for precision astrometry. This mission will open up many areas of astrophysics, via astrometry with unprecedented accuracy. Wide-angle measurements, which include annual parallax, will reach a design accuracy of 4 μ as. Over a narrow field of view the relative accuracy is better, and SIM is expected to achieve an accuracy of 1 μ as. In this mode, SIM will search for planetary companions to nearby stars, by detecting the astrometric `wobble' relative to a nearby (<= 1o) reference star. The expected proper motion accuracy is 2 μ as yr-1, corresponding to a transverse velocity of 10 m s-1 at a distance of 1 kpc. Such an accuracy of the future SIM instrument provides a very useful astrometric tool for probing the circumstellar structure. The motion of the photo center as detected by SIM is not necessarily that of the center of mass. It is expected that unmodelled dynamics of the stellar systems may be a potential source for systematic astrometric errors. In this paper we discuss the possibility of using SIM's precision astrometry not only to detect Keplerian signatures due to the planetary motion around nearby stars, but also to characterize the structure of the planetary and proto-planetary orbits, accretions disks, debris disks, circumstellar material, jets and other types of the mass transfer mechanisms. We evaluate possible astrometric signatures due to different types of dynamical processes (both gravitational, non-gravitational) and characterize the magnitude of the corresponding astrometric signal. We attempt to address the most natural scenario of non-Keplerian motion, caused by an extended structure and complex dynamics of the stellar systems that may produce a detectable wobble in the motion of the optical center of a target star. We examine the use of μ as astrometry, as complementary to high resolution imaging, to detect some of the structures present around stars. This work was performed by the Jet Propulsion Laboratory, California Institute of Technology, under contract with the National Aeronautics and Space Administration.

MISR CMVs and Multiangular Views of Tropical Cyclone Inner-Core Dynamics

NASA Technical Reports Server (NTRS)

Wu, Dong L.; Diner, David J.; Garay, Michael J; Jovanovic, Veljko M.; Lee, Jae N.; Moroney, Catherine M.; Mueller, Kevin J.; Nelson, David L.

2010-01-01

Multi-camera stereo imaging of cloud features from the MISR (Multiangle Imaging SpectroRadiometer) instrument on NASA's Terra satellite provides accurate and precise measurements of cloud top heights (CTH) and cloud motion vector (CMV) winds. MISR observes each cloudy scene from nine viewing angles (Nadir, +/-26(sup o), +/-46(sup o), +/-60(sup o), +/-70(sup o)) with approximatel 275-m pixel resolution. This paper provides an update on MISR CMV and CTH algorithm improvements, and explores a high-resolution retrieval of tangential winds inside the eyewall of tropical cyclones (TC). The MISR CMV and CTH retrievals from the updated algorithm are significantly improved in terms of spatial coverage and systematic errors. A new product, the 1.1-km cross-track wind, provides high accuracy and precision in measuring convective outflows. Preliminary results obtained from the 1.1-km tangential wind retrieval inside the TC eyewall show that the inner-core rotation is often faster near the eyewall, and this faster rotation appears to be related linearly to cyclone intensity.

High-efficiency impurity activation by precise control of cooling rate during atmospheric pressure thermal plasma jet annealing of 4H-SiC wafer

NASA Astrophysics Data System (ADS)

Maruyama, Keisuke; Hanafusa, Hiroaki; Ashihara, Ryuhei; Hayashi, Shohei; Murakami, Hideki; Higashi, Seiichiro

2015-06-01

We have investigated high-temperature and rapid annealing of a silicon carbide (SiC) wafer by atmospheric pressure thermal plasma jet (TPJ) irradiation for impurity activation. To reduce the temperature gradient in the SiC wafer, a DC current preheating system and the lateral back-and-forth motion of the wafer were introduced. A maximum surface temperature of 1835 °C within 2.4 s without sample breakage was achieved, and aluminum (Al), phosphorus (P), and arsenic (As) activations in SiC were demonstrated. We have investigated precise control of heating rate (Rh) and cooling rate (Rc) during rapid annealing of P+-implanted 4H-SiC and its impact on impurity activation. No dependence of resistivity on Rh was observed, while increasing Rc significantly decreased resistivity. A minimum resistivity of 0.0025 Ω·cm and a maximum carrier concentration of 2.9 × 1020 cm-3 were obtained at Rc = 568 °C/s.

Programmable motion of DNA origami mechanisms.

PubMed

Marras, Alexander E; Zhou, Lifeng; Su, Hai-Jun; Castro, Carlos E

2015-01-20

DNA origami enables the precise fabrication of nanoscale geometries. We demonstrate an approach to engineer complex and reversible motion of nanoscale DNA origami machine elements. We first design, fabricate, and characterize the mechanical behavior of flexible DNA origami rotational and linear joints that integrate stiff double-stranded DNA components and flexible single-stranded DNA components to constrain motion along a single degree of freedom and demonstrate the ability to tune the flexibility and range of motion. Multiple joints with simple 1D motion were then integrated into higher order mechanisms. One mechanism is a crank-slider that couples rotational and linear motion, and the other is a Bennett linkage that moves between a compacted bundle and an expanded frame configuration with a constrained 3D motion path. Finally, we demonstrate distributed actuation of the linkage using DNA input strands to achieve reversible conformational changes of the entire structure on ∼ minute timescales. Our results demonstrate programmable motion of 2D and 3D DNA origami mechanisms constructed following a macroscopic machine design approach.

Programmable motion of DNA origami mechanisms

PubMed Central

Marras, Alexander E.; Zhou, Lifeng; Su, Hai-Jun; Castro, Carlos E.

2015-01-01

DNA origami enables the precise fabrication of nanoscale geometries. We demonstrate an approach to engineer complex and reversible motion of nanoscale DNA origami machine elements. We first design, fabricate, and characterize the mechanical behavior of flexible DNA origami rotational and linear joints that integrate stiff double-stranded DNA components and flexible single-stranded DNA components to constrain motion along a single degree of freedom and demonstrate the ability to tune the flexibility and range of motion. Multiple joints with simple 1D motion were then integrated into higher order mechanisms. One mechanism is a crank–slider that couples rotational and linear motion, and the other is a Bennett linkage that moves between a compacted bundle and an expanded frame configuration with a constrained 3D motion path. Finally, we demonstrate distributed actuation of the linkage using DNA input strands to achieve reversible conformational changes of the entire structure on ∼minute timescales. Our results demonstrate programmable motion of 2D and 3D DNA origami mechanisms constructed following a macroscopic machine design approach. PMID:25561550

Kinematic precision of gear trains

NASA Technical Reports Server (NTRS)

Litvin, F. L.; Goldrich, R. N.; Coy, J. J.; Zaretsky, E. V.

1982-01-01

Kinematic precision is affected by errors which are the result of either intentional adjustments or accidental defects in manufacturing and assembly of gear trains. A method for the determination of kinematic precision of gear trains is described. The method is based on the exact kinematic relations for the contact point motions of the gear tooth surfaces under the influence of errors. An approximate method is also explained. Example applications of the general approximate methods are demonstrated for gear trains consisting of involute (spur and helical) gears, circular arc (Wildhaber-Novikov) gears, and spiral bevel gears. Gear noise measurements from a helicopter transmission are presented and discussed with relation to the kinematic precision theory.

High-precision GPS autonomous platforms for sea ice dynamics and physical oceanography

NASA Astrophysics Data System (ADS)

Elosegui, P.; Wilkinson, J.; Olsson, M.; Rodwell, S.; James, A.; Hagan, B.; Hwang, B.; Forsberg, R.; Gerdes, R.; Johannessen, J.; Wadhams, P.; Nettles, M.; Padman, L.

2012-12-01

Project "Arctic Ocean sea ice and ocean circulation using satellite methods" (SATICE), is the first high-rate, high-precision, continuous GPS positioning experiment on sea ice in the Arctic Ocean. The SATICE systems collect continuous, dual-frequency carrier-phase GPS data while drifting on sea ice. Additional geophysical measurements also collected include ocean water pressure, ocean surface salinity, atmospheric pressure, snow-depth, air-ice-ocean temperature profiles, photographic imagery, and others, enabling sea ice drift, freeboard, weather, ice mass balance, and sea-level height determination. Relatively large volumes of data from each buoy are streamed over a satellite link to a central computer on the Internet in near real time, where they are processed to estimate the time-varying buoy positions. SATICE system obtains continuous GPS data at sub-minute intervals with a positioning precision of a few centimetres in all three dimensions. Although monitoring of sea ice motions goes back to the early days of satellite observations, these autonomous platforms bring out a level of spatio-temporal detail that has never been seen before, especially in the vertical axis. These high-resolution data allows us to address new polar science questions and challenge our present understanding of both sea ice dynamics and Arctic oceanography. We will describe the technology behind this new autonomous platform, which could also be adapted to other applications that require high resolution positioning information with sustained operations and observations in the polar marine environment, and present results pertaining to sea ice dynamics and physical oceanography.

Disorders of motion and depth.

PubMed

Nawrot, Mark

2003-08-01

Damage to the human homologue of area MT produces a motion perception deficit similar to that found in the monkey with MT lesions. Even temporary disruption of MT processing with transcranial magnetic stimulation can produce a temporary akinetopsia [127]. Motion perception deficits, however, also are found with a variety of subcortical lesions and other neurologic disorders that can best be described as causing a disconnection within the motion processing stream. The precise role of these subcortical structures, such as the cerebellum, remains to be determined. Simple motion perception, moreover, is only a part of MT function. It undoubtedly has an important role in the perception of depth from motion and stereopsis [112]. Psychophysical studies using aftereffects in normal observers suggest a link between stereo mechanisms and the perception of depth from motion [9-11]. There is even a simple correlation between stereo acuity and the perception of depth from motion [128]. Future studies of patients with cortical lesions will take a closer look at depth perception in association with motion perception and should provide a better understanding of how motion and depth are processed together.

Development of novel hybrid flexure-based microgrippers for precision micro-object manipulation.

PubMed

Mohd Zubir, Mohd Nashrul; Shirinzadeh, Bijan; Tian, Yanling

2009-06-01

This paper describes the process of developing a microgripper that is capable of high precision and fidelity manipulation of micro-objects. The design adopts the concept of flexure-based hinges on its joints to provide the rotational motion, thus eliminating the inherent nonlinearities associated with the application of conventional rigid hinges. A combination of two modeling techniques, namely, pseudorigid body model and finite element analysis was utilized to expedite the prototyping procedure, which leads to the establishment of a high performance mechanism. A new hybrid compliant structure integrating cantilever beam and flexural hinge configurations within microgripper mechanism mainframe has been developed. This concept provides a novel approach to harness the advantages within each individual configuration while mutually compensating the limitations inherent between them. A wire electrodischarge machining technique was utilized to fabricate the gripper out of high grade aluminum alloy (Al 7075T6). Experimental studies were conducted on the model to obtain various correlations governing the gripper performance as well as for model verification. The experimental results demonstrate high level of compliance in comparison to the computational results. A high amplification characteristic and maximum achievable stroke of 100 microm can be achieved.

Development of novel hybrid flexure-based microgrippers for precision micro-object manipulation

NASA Astrophysics Data System (ADS)

Mohd Zubir, Mohd Nashrul; Shirinzadeh, Bijan; Tian, Yanling

2009-06-01

This paper describes the process of developing a microgripper that is capable of high precision and fidelity manipulation of micro-objects. The design adopts the concept of flexure-based hinges on its joints to provide the rotational motion, thus eliminating the inherent nonlinearities associated with the application of conventional rigid hinges. A combination of two modeling techniques, namely, pseudorigid body model and finite element analysis was utilized to expedite the prototyping procedure, which leads to the establishment of a high performance mechanism. A new hybrid compliant structure integrating cantilever beam and flexural hinge configurations within microgripper mechanism mainframe has been developed. This concept provides a novel approach to harness the advantages within each individual configuration while mutually compensating the limitations inherent between them. A wire electrodischarge machining technique was utilized to fabricate the gripper out of high grade aluminum alloy (Al 7075T6). Experimental studies were conducted on the model to obtain various correlations governing the gripper performance as well as for model verification. The experimental results demonstrate high level of compliance in comparison to the computational results. A high amplification characteristic and maximum achievable stroke of 100 μm can be achieved.

The evolution of eccentricity in the eclipsing binary system AS Camelopardalis

NASA Astrophysics Data System (ADS)

Kozyreva, Valentina; Kusakin, Anatoly; Bogomazov, Alexey

2018-01-01

In 2002, 2004 and 2017 we conducted high precision CCD photometry observations of the eclipsing binary system AS Cam. By analysis of the light curves from1967 to 2017 (our data + data from the literature) we obtained photometric elements of the system and found a change in the system’s orbital eccentricity of Δe = 0.03±0.01. This change can indicate that there is a third companion in the system in a highly inclined orbit with respect to the orbital plane of the central binary, and its gravitational influence may cause the discrepancy between observed and theoretical apsidal motion rates of AS Cam.

Design and preliminary evaluation of the FINGER rehabilitation robot: controlling challenge and quantifying finger individuation during musical computer game play

PubMed Central

2014-01-01

Background This paper describes the design and preliminary testing of FINGER (Finger Individuating Grasp Exercise Robot), a device for assisting in finger rehabilitation after neurologic injury. We developed FINGER to assist stroke patients in moving their fingers individually in a naturalistic curling motion while playing a game similar to Guitar Hero®a. The goal was to make FINGER capable of assisting with motions where precise timing is important. Methods FINGER consists of a pair of stacked single degree-of-freedom 8-bar mechanisms, one for the index and one for the middle finger. Each 8-bar mechanism was designed to control the angle and position of the proximal phalanx and the position of the middle phalanx. Target positions for the mechanism optimization were determined from trajectory data collected from 7 healthy subjects using color-based motion capture. The resulting robotic device was built to accommodate multiple finger sizes and finger-to-finger widths. For initial evaluation, we asked individuals with a stroke (n = 16) and without impairment (n = 4) to play a game similar to Guitar Hero® while connected to FINGER. Results Precision design, low friction bearings, and separate high speed linear actuators allowed FINGER to individually actuate the fingers with a high bandwidth of control (−3 dB at approximately 8 Hz). During the tests, we were able to modulate the subject’s success rate at the game by automatically adjusting the controller gains of FINGER. We also used FINGER to measure subjects’ effort and finger individuation while playing the game. Conclusions Test results demonstrate the ability of FINGER to motivate subjects with an engaging game environment that challenges individuated control of the fingers, automatically control assistance levels, and quantify finger individuation after stroke. PMID:24495432

Analysis of the Waggle Dance Motion of Honeybees for the Design of a Biomimetic Honeybee Robot

PubMed Central

Landgraf, Tim; Rojas, Raúl; Nguyen, Hai; Kriegel, Fabian; Stettin, Katja

2011-01-01

The honeybee dance “language” is one of the most popular examples of information transfer in the animal world. Today, more than 60 years after its discovery it still remains unknown how follower bees decode the information contained in the dance. In order to build a robotic honeybee that allows a deeper investigation of the communication process we have recorded hundreds of videos of waggle dances. In this paper we analyze the statistics of visually captured high-precision dance trajectories of European honeybees (Apis mellifera carnica). The trajectories were produced using a novel automatic tracking system and represent the most detailed honeybee dance motion information available. Although honeybee dances seem very variable, some properties turned out to be invariant. We use these properties as a minimal set of parameters that enables us to model the honeybee dance motion. We provide a detailed statistical description of various dance properties that have not been characterized before and discuss the role of particular dance components in the commmunication process. PMID:21857906

The Dynamics of Large-Amplitude Motion in Energized Molecules

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

Perry, David S.

2016-05-27

Chemical reactions involve large-amplitude nuclear motion along the reaction coordinate that serves to distinguish reactants from products. Some reactions, such as roaming reactions and reactions proceeding through a loose transition state, involve more than one large-amplitude degree of freedom. Because of the limitation of exact quantum nuclear dynamics to small systems, one must, in general, define the active degrees of freedom and separate them in some way from the other degrees of freedom. In this project, we use large-amplitude motion in bound model systems to investigate the coupling of large-amplitude degrees of freedom to other nuclear degrees of freedom. Thismore » approach allows us to use the precision and power of high-resolution molecular spectroscopy to probe the specific coupling mechanisms involved, and to apply the associated theoretical tools. In addition to slit-jet spectra at the University of Akron, the current project period has involved collaboration with Michel Herman and Nathalie Vaeck of the Université Libre de Bruxelles, and with Brant Billinghurst at the Canadian Light Source (CLS).« less

Analysis of the orbit distortion by the use of the wavelet transform

NASA Astrophysics Data System (ADS)

Matsushita, T.; Agui, A.; Yoshigoe, A.; Takao, M.; Aoyagi, H.; Takeuchi, M.; Nakatani, T.; Tanaka, H.

2004-05-01

We have adopted matching pursuit algorithm of discrete wavelet transform (DWT) for the analysis of the beam position shift correlated with the motion of insertion device(ID). The beam position data measured by the rf beam position monitors have included high-frequency `noises' and fluctuation of background level. Precise evaluation of the electron beam position shift correlated with the motion of the ID is required for estimation of the steering magnet currents in order to suppress the closed orbit distortion (COD). The DWT is a powerful tool for frequency analysis and data processing. The analysis of DWT was applied to the beam position shift correlated with the phase motion of APPLE-2 type undulator (ID23) in SPring-8. The result of the analysis indicated that `noises' are mainly composed of the components of 50 ˜ 6.25Hz and < 0.1Hz. We carried out the data processing to remove the `noises' by the matching pursuit algorithm. Then we have succeeded in suppressing the COD within 2 μm by the use of the steering magnet currents calculated from the processed data.

Synchronizing MIDI and wireless EEG measurements during natural piano performance.

PubMed

Zamm, Anna; Palmer, Caroline; Bauer, Anna-Katharina R; Bleichner, Martin G; Demos, Alexander P; Debener, Stefan

2017-07-08

Although music performance has been widely studied in the behavioural sciences, less work has addressed the underlying neural mechanisms, perhaps due to technical difficulties in acquiring high-quality neural data during tasks requiring natural motion. The advent of wireless electroencephalography (EEG) presents a solution to this problem by allowing for neural measurement with minimal motion artefacts. In the current study, we provide the first validation of a mobile wireless EEG system for capturing the neural dynamics associated with piano performance. First, we propose a novel method for synchronously recording music performance and wireless mobile EEG. Second, we provide results of several timing tests that characterize the timing accuracy of our system. Finally, we report EEG time domain and frequency domain results from N=40 pianists demonstrating that wireless EEG data capture the unique temporal signatures of musicians' performances with fine-grained precision and accuracy. Taken together, we demonstrate that mobile wireless EEG can be used to measure the neural dynamics of piano performance with minimal motion constraints. This opens many new possibilities for investigating the brain mechanisms underlying music performance. Copyright © 2017 Elsevier B.V. All rights reserved.

The relation between disparity and velocity signals of rigidly moving objects constrains depth order perception.

PubMed

Di Luca, Massimiliano; Domini, Fulvio; Caudek, Corrado

2007-05-01

In two experiments, observers were asked to judge the relative depth of a probe and one or two flanker dots. In Experiment 1, we found that such judgments were influenced by the properties of adjacent image regions, that is, by the amount of angular rotation of a surrounding cloud of dots. In Experiment 2, we found that the properties of the adjacent image regions affected the precision of the observers' judgments. With only the probe and the flanker dots presented in isolation, the precision of observers' judgments was much lower than when probe and the flanker dots were surrounded by a rigidly-connected cloud of dots. Conversely, a non-rigid rotation of the surrounding dots was detrimental to the precision of visual performance. These data can be accounted for by the Intrinsic Constraint model [Domini, F., Caudek, C., & Tassinari, H. (2006). Stereo and motion information are not independently processed by the visual system. Vision Research, 46, 1707-1723], which incorporates the mutual constraints relating disparity and motion signals. The present investigation does not show that the rigidity constraint affects the visual interpretation of motion information alone. Rather, our results show that perceptual performance is affected by the linear relation between disparity and velocity signals, when both depth-cues are present and the distal object is, in fact, rigid.

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

Grout, Ray W. S.

Convergence of spectral deferred correction (SDC), where low-order time integration methods are used to construct higher-order methods through iterative refinement, can be accelerated in terms of computational effort by using mixed-precision methods. Using ideas from multi-level SDC (in turn based on FAS multigrid ideas), some of the SDC correction sweeps can use function values computed in reduced precision without adversely impacting the accuracy of the final solution. This is particularly beneficial for the performance of combustion solvers such as S3D [6] which require double precision accuracy but are performance limited by the cost of data motion.

A dual-Kinect approach to determine torso surface motion for respiratory motion correction in PET

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

Heß, Mirco, E-mail: mirco.hess@uni-muenster.de; Büther, Florian; Dawood, Mohammad

2015-05-15

Purpose: Respiratory gating is commonly used to reduce blurring effects and attenuation correction artifacts in positron emission tomography (PET). Established clinically available methods that employ body-attached hardware for acquiring respiration signals rely on the assumption that external surface motion and internal organ motion are well correlated. In this paper, the authors present a markerless method comprising two Microsoft Kinects for determining the motion on the whole torso surface and aim to demonstrate its validity and usefulness—including the potential to study the external/internal correlation and to provide useful information for more advanced correction approaches. Methods: The data of two Kinects aremore » used to calculate 3D representations of a patient’s torso surface with high spatial coverage. Motion signals can be obtained for any position by tracking the mean distance to a virtual camera with a view perpendicular to the surrounding surface. The authors have conducted validation experiments including volunteers and a moving high-precision platform to verify the method’s suitability for providing meaningful data. In addition, the authors employed it during clinical {sup 18}F-FDG-PET scans and exemplarily analyzed the acquired data of ten cancer patients. External signals of abdominal and thoracic regions as well as data-driven signals were used for gating and compared with respect to detected displacement of present lesions. Additionally, the authors quantified signal similarities and time shifts by analyzing cross-correlation sequences. Results: The authors’ results suggest a Kinect depth resolution of approximately 1 mm at 75 cm distance. Accordingly, valid signals could be obtained for surface movements with small amplitudes in the range of only few millimeters. In this small sample of ten patients, the abdominal signals were better suited for gating the PET data than the thoracic signals and the correlation of data-driven signals was found to be stronger with abdominal signals than with thoracic signals (average Pearson correlation coefficients of 0.74 ± 0.17 and 0.45 ± 0.23, respectively). In all cases, except one, the abdominal respiratory motion preceded the thoracic motion—a maximum delay of approximately 600 ms was detected. Conclusions: The method provides motion information with sufficiently high spatial and temporal resolution. Thus, it enables meaningful analysis in the form of comparisons between amplitudes and phase shifts of signals from different regions. In combination with a large field-of-view, as given by combining the data of two Kinect cameras, it yields surface representations that might be useful in the context of motion correction and motion modeling.« less

Site correction of a high-frequency strong-ground-motion simulation based on an empirical transfer function

NASA Astrophysics Data System (ADS)

Huang, Jyun-Yan; Wen, Kuo-Liang; Lin, Che-Min; Kuo, Chun-Hsiang; Chen, Chun-Te; Chang, Shuen-Chiang

2017-05-01

In this study, an empirical transfer function (ETF), which is the spectrum difference in Fourier amplitude spectra between observed strong ground motion and synthetic motion obtained by a stochastic point-source simulation technique, is constructed for the Taipei Basin, Taiwan. The basis stochastic point-source simulations can be treated as reference rock site conditions in order to consider site effects. The parameters of the stochastic point-source approach related to source and path effects are collected from previous well-verified studies. A database of shallow, small-magnitude earthquakes is selected to construct the ETFs so that the point-source approach for synthetic motions might be more widely applicable. The high-frequency synthetic motion obtained from the ETF procedure is site-corrected in the strong site-response area of the Taipei Basin. The site-response characteristics of the ETF show similar responses as in previous studies, which indicates that the base synthetic model is suitable for the reference rock conditions in the Taipei Basin. The dominant frequency contour corresponds to the shape of the bottom of the geological basement (the top of the Tertiary period), which is the Sungshan formation. Two clear high-amplification areas are identified in the deepest region of the Sungshan formation, as shown by an amplification contour of 0.5 Hz. Meanwhile, a high-amplification area was shifted to the basin's edge, as shown by an amplification contour of 2.0 Hz. Three target earthquakes with different kinds of source conditions, including shallow small-magnitude events, shallow and relatively large-magnitude events, and deep small-magnitude events relative to the ETF database, are tested to verify site correction. The results indicate that ETF-based site correction is effective for shallow earthquakes, even those with higher magnitudes, but is not suitable for deep earthquakes. Finally, one of the most significant shallow large-magnitude earthquakes (the 1999 Chi-Chi earthquake in Taiwan) is verified in this study. A finite fault stochastic simulation technique is applied, owing to the complexity of the fault rupture process for the Chi-Chi earthquake, and the ETF-based site-correction function is multiplied to obtain a precise simulation of high-frequency (up to 10 Hz) strong motions. The high-frequency prediction has good agreement in both time and frequency domain in this study, and the prediction level is the same as that predicted by the site-corrected ground motion prediction equation.

Mars rotation determination from a moving rover using Doppler tracking data: What could be done?

NASA Astrophysics Data System (ADS)

Le Maistre, Sebastien; Rosenblatt, Pascal; Dehant, Veronique; Marty, Jean-Charles; Yseboodt, Marie

2018-09-01

This paper is a case study providing some insights on what improvement could be achieved on the Mars Orientation and rotation Parameters (MOP) determination using radio tracking data from a moving rover. Thanks to high-performance mobility systems onboard new generation of rovers like ExoMars 2020, the position of the rover can be precisely known with respect to its previous position. This characteristic, together with the long life of the rovers and their steerable high-gain-antenna communication system, is shown here to provide an unexpected opportunity to improve the MOP determination. This paper presents the results of numerical simulations involving radio-science experiments between the moving rover and the Earth ground stations as well as between the rover and an orbiting spacecraft. The benefits of combining both links (direct-to-Earth and rover-orbiter) for the MOP determination is also assessed. The impacts of the spacecraft position accuracy as well as the frequency band used to communicate with it are quantified. It is shown that, after one Martian year of operation, the polar motion could be determined with 5 milliarcsecond (mas) of precision (formal error) from the rover-orbiter Doppler link, while it cannot be determined with usual equatorial lander-to-Earth radio link. This would allow for the first time the direct detection of the Chandler wobble amplitude in the polar motion of Mars, which is an important quantity to constrain the planet interior and atmospheric models. Although the moving rover Doppler data alone barely improve the current precision on the other MOP (like the length-of-day and nutation), a combination of those together with historical and future lander data would definitely help to fill gaps in the MOP signal and to decorrelate between the estimated parameters, thereby reducing the uncertainties in their determination.

Monochromator for continuous spectrum x-ray radiation

DOEpatents

Staudenmann, J.L.; Liedl, G.L.

1983-12-02

A monochromator for use with synchrotron x-ray radiation comprises two diffraction means which can be rotated independently and independent means for translationally moving one diffraction means with respect to the other. The independence of the rotational and translational motions allows Bragg angles from 3.5/sup 0/ to 86.5/sup 0/, and facilitates precise and high-resolution monochromatization over a wide energy range. The diffraction means are removably mounted so as to be readily interchangeable, which allows the monochromator to be used for both non-dispersive and low dispersive.

Monochromator for continuous spectrum x-ray radiation

DOEpatents

Staudenmann, Jean-Louis; Liedl, Gerald L.

1987-07-07

A monochromator for use with synchrotron x-ray radiation comprises two diffraction means which can be rotated independently and independent means for translationally moving one diffraction means with respect to the other. The independence of the rotational and translational motions allows Bragg angles from 3.5.degree. to 86.5.degree., and facilitates precise and high-resolution monochromatization over a wide energy range. The diffraction means are removably mounted so as to be readily interchangeable, which allows the monochromator to be used for both non-dispersive and low dispersive work.

Internal motion in high vacuum systems

NASA Astrophysics Data System (ADS)

Frank, J. M.

Three transfer and positioning mechanisms have been developed for the non-air exposed, multistep processing of components in vacuum chambers. The functions to be performed in all of the systems include ultraviolet/ozone cleaning, vacuum baking, deposition of thin films, and thermocompression sealing of the enclosures. Precise positioning of the components is required during the evaporation and sealing processes. The three methods of transporting and positioning the components were developed to accommodate the design criteria and goals of each individual system. The design philosophy, goals, and operation of the three mechanisms are discussed.

Dynamic interpretation of geoid anomalies

NASA Technical Reports Server (NTRS)

Hager, Bradford H.

1988-01-01

The NASA Geodynamics program has as two of its missions precise determination of spatial variations in earth's geopotential (or geoid) and highly accurate monitoring of polar motion, including changes in the length of day (LOD). For the past several years, data sets provided by NASA, along with data and models from other areas of geophysic were used to place fundamental contraints on the large scale dynamics of earth and her sister planet Venus. The main approach was using fluid mechanical models of mantle flow to predict the long-wavelength variations in the geoid.

A Study on the Performance of Low Cost MEMS Sensors in Strong Motion Studies

NASA Astrophysics Data System (ADS)

Tanırcan, Gulum; Alçık, Hakan; Kaya, Yavuz; Beyen, Kemal

2017-04-01

Recent advances in sensors have helped the growth of local networks. In recent years, many Micro Electro Mechanical System (MEMS)-based accelerometers have been successfully used in seismology and earthquake engineering projects. This is basically due to the increased precision obtained in these downsized instruments. Moreover, they are cheaper alternatives to force-balance type accelerometers. In Turkey, though MEMS-based accelerometers have been used in various individual applications such as magnitude and location determination of earthquakes, structural health monitoring, earthquake early warning systems, MEMS-based strong motion networks are not currently available in other populated areas of the country. Motivation of this study comes from the fact that, if MEMS sensors are qualified to record strong motion parameters of large earthquakes, a dense network can be formed in an affordable price at highly populated areas. The goals of this study are 1) to test the performance of MEMS sensors, which are available in the inventory of the Institute through shake table tests, and 2) to setup a small scale network for observing online data transfer speed to a trusted in-house routine. In order to evaluate the suitability of sensors in strong motion related studies, MEMS sensors and a reference sensor are tested under excitations of sweeping waves as well as scaled earthquake recordings. Amplitude response and correlation coefficients versus frequencies are compared. As for earthquake recordings, comparisons are carried out in terms of strong motion(SM) parameters (PGA, PGV, AI, CAV) and elastic response of structures (Sa). Furthermore, this paper also focuses on sensitivity and selectivity for sensor performances in time-frequency domain to compare different sensing characteristics and analyzes the basic strong motion parameters that influence the design majors. Results show that the cheapest MEMS sensors under investigation are able to record the mid-frequency dominant SM parameters PGV and CAV with high correlation. PGA and AI, the high frequency components of the ground motion, are underestimated. Such a difference, on the other hand, does not manifest itself on intensity estimations. PGV and CAV values from the reference and MEMS sensors converge to the same seismic intensity level. Hence a strong motion network with MEMS sensors could be a modest option to produce PGV-based damage impact of an urban area under large magnitude earthquake threats in the immediate vicinity.

Three-dimensional motions in the Sculptor dwarf galaxy as a glimpse of a new era

NASA Astrophysics Data System (ADS)

Massari, D.; Breddels, M. A.; Helmi, A.; Posti, L.; Brown, A. G. A.; Tolstoy, E.

2018-02-01

The three-dimensional motions of stars in small galaxies beyond our own are minute, yet they are crucial for understanding the nature of gravity and dark matter1,2. Even for the dwarf galaxy Sculptor—one of the best-studied systems, which is inferred to be strongly dark matter dominated3,4—there are conflicting reports5-7 on its mean motion around the Milky Way, and the three-dimensional internal motions of its stars have never been measured. Here, we present precise proper motions of Sculptor's stars based on data from the Gaia mission8 and Hubble Space Telescope. Our measurements show that Sculptor moves around the Milky Way on a high-inclination elongated orbit that takes it much further out than previously thought. For Sculptor's internal velocity dispersions, we find σR = 11.5 ± 4.3 km s-1 and σT = 8.5 ± 3.2 km s-1 along the projected radial and tangential directions. Thus, the stars in our sample move preferentially on radial orbits as quantified by the anisotropy parameter, which we find to be β 0.8 6-0.83+0.12 at a location beyond the core radius. Taken at face value, this high radial anisotropy requires abandoning conventional models9 for Sculptor's mass distribution. Our sample is dominated by metal-rich stars and for these we find βM R 0.9 5-0.27+0.04—a value consistent with multi-component spherical models where Sculptor is embedded in a cuspy dark halo10, as might be expected for cold dark matter.

MR techniques for guiding high-intensity focused ultrasound (HIFU) treatments.

PubMed

Kuroda, Kagayaki

2018-02-01

To make full use of the ability of magnetic resonance (MR) to guide high-intensity focused ultrasound (HIFU) treatment, effort has been made to improve techniques for thermometry, motion tracking, and sound beam visualization. For monitoring rapid temperature elevation with proton resonance frequency (PRF) shift, data acquisition and processing can be accelerated with parallel imaging and/or sparse sampling in conjunction with appropriate signal processing methods. Thermometry should be robust against tissue motion, motion-induced magnetic field variation, and susceptibility change. Thus, multibaseline, referenceless, or hybrid techniques have become important. In cases with adipose or bony tissues, for which PRF shift cannot be used, thermometry with relaxation times or signal intensity may be utilized. Motion tracking is crucial not only for thermometry but also for targeting the focus of an ultrasound in moving organs such as the liver, kidney, or heart. Various techniques for motion tracking, such as those based on an anatomical image atlas with optical-flow displacement detection, a navigator echo to seize the diaphragm position, and/or rapid imaging to track vessel positions, have been proposed. Techniques for avoiding the ribcage and near-field heating have also been examined. MR acoustic radiation force imaging (MR-ARFI) is an alternative to thermometry that can identify the location and shape of the focal spot and sound beam path. This technique could be useful for treating heterogeneous tissue regions or performing transcranial therapy. All of these developments, which will be discussed further in this review, expand the applicability of HIFU treatments to a variety of clinical targets while maintaining safety and precision. 2 Technical Efficacy: Stage 4 J. Magn. Reson. Imaging 2018;47:316-331. © 2017 International Society for Magnetic Resonance in Medicine.

A hybrid system of a membrane oscillator coupled to ultracold atoms

NASA Astrophysics Data System (ADS)

Kampschulte, Tobias

2015-05-01

The control over micro- and nanomechanical oscillators has recently made impressive progress. First experiments demonstrated ground-state cooling and single-phonon control of high-frequency oscillators using cryogenic cooling and techniques of cavity optomechanics. Coupling engineered mechanical structures to microscopic quantum system with good coherence properties offers new possibilities for quantum control of mechanical vibrations, precision sensing and quantum-level signal transduction. Ultracold atoms are an attractive choice for such hybrid systems: Mechanical can either be coupled to the motional state of trapped atoms, which can routinely be ground-state cooled, or to the internal states, for which a toolbox of coherent manipulation and detection exists. Furthermore, atomic collective states with non-classical properties can be exploited to infer the mechanical motion with reduced quantum noise. Here we use trapped ultracold atoms to sympathetically cool the fundamental vibrational mode of a Si3N4 membrane. The coupling of membrane and atomic motion is mediated by laser light over a macroscopic distance and enhanced by an optical cavity around the membrane. The observed cooling of the membrane from room temperature to 650 +/- 230 mK shows that our hybrid mechanical-atomic system operates at a large cooperativity. Our scheme could provide ground-state cooling and quantum control of low-frequency oscillators such as levitated nanoparticles, in a regime where purely optomechanical techniques cannot reach the ground state. Furthermore, we will present a scheme where an optomechanical system is coupled to internal states of ultracold atoms. The mechanical motion is translated into a polarization rotation which drives Raman transitions between atomic ground states. Compared to the motional-state coupling, the new scheme enables to couple atoms to high-frequency structures such as optomechanical crystals.

The effects of motion and g-seat cues on pilot simulator performance of three piloting tasks

NASA Technical Reports Server (NTRS)

Showalter, T. W.; Parris, B. L.

1980-01-01

Data are presented that show the effects of motion system cues, g-seat cues, and pilot experience on pilot performance during takeoffs with engine failures, during in-flight precision turns, and during landings with wind shear. Eight groups of USAF pilots flew a simulated KC-135 using four different cueing systems. The basic cueing system was a fixed-base type (no-motion cueing) with visual cueing. The other three systems were produced by the presence of either a motion system or a g-seat, or both. Extensive statistical analysis of the data was performed and representative performance means were examined. These data show that the addition of motion system cueing results in significant improvement in pilot performance for all three tasks; however, the use of g-seat cueing, either alone or in conjunction with the motion system, provides little if any performance improvement for these tasks and for this aircraft type.

Extreme-value statistics of fractional Brownian motion bridges.

PubMed

Delorme, Mathieu; Wiese, Kay Jörg

2016-11-01

Fractional Brownian motion is a self-affine, non-Markovian, and translationally invariant generalization of Brownian motion, depending on the Hurst exponent H. Here we investigate fractional Brownian motion where both the starting and the end point are zero, commonly referred to as bridge processes. Observables are the time t_{+} the process is positive, the maximum m it achieves, and the time t_{max} when this maximum is taken. Using a perturbative expansion around Brownian motion (H=1/2), we give the first-order result for the probability distribution of these three variables and the joint distribution of m and t_{max}. Our analytical results are tested and found to be in excellent agreement, with extensive numerical simulations for both H>1/2 and H<1/2. This precision is achieved by sampling processes with a free end point and then converting each realization to a bridge process, in generalization to what is usually done for Brownian motion.

Self-motion facilitates echo-acoustic orientation in humans

PubMed Central

Wallmeier, Ludwig; Wiegrebe, Lutz

2014-01-01

The ability of blind humans to navigate complex environments through echolocation has received rapidly increasing scientific interest. However, technical limitations have precluded a formal quantification of the interplay between echolocation and self-motion. Here, we use a novel virtual echo-acoustic space technique to formally quantify the influence of self-motion on echo-acoustic orientation. We show that both the vestibular and proprioceptive components of self-motion contribute significantly to successful echo-acoustic orientation in humans: specifically, our results show that vestibular input induced by whole-body self-motion resolves orientation-dependent biases in echo-acoustic cues. Fast head motions, relative to the body, provide additional proprioceptive cues which allow subjects to effectively assess echo-acoustic space referenced against the body orientation. These psychophysical findings clearly demonstrate that human echolocation is well suited to drive precise locomotor adjustments. Our data shed new light on the sensory–motor interactions, and on possible optimization strategies underlying echolocation in humans. PMID:26064556

Simultaneous detection of rotational and translational motion in optical tweezers by measurement of backscattered intensity.

PubMed

Roy, Basudev; Bera, Sudipta K; Banerjee, Ayan

2014-06-01

We describe a simple yet powerful technique of simultaneously measuring both translational and rotational motion of mesoscopic particles in optical tweezers by measuring the backscattered intensity on a quadrant photodiode (QPD). While the measurement of translational motion by taking the difference of the backscattered intensity incident on adjacent quadrants of a QPD is well known, we demonstrate that rotational motion can be measured very precisely by taking the difference between the diagonal quadrants. The latter measurement eliminates the translational component entirely and leads to a detection sensitivity of around 50 mdeg at S/N of 2 for angular motion of a driven microrod. The technique is also able to resolve the translational and rotational Brownian motion components of the microrod in an unperturbed trap and can be very useful in measuring translation-rotation coupling of micro-objects induced by hydrodynamic interactions.

UCAC1: New Proper Motions for 27 Million Stars on the Southern Hemisphere

NASA Astrophysics Data System (ADS)

Zacharias, N.; Monet, S. Urban D. G.; Platais, I.; Wycoff, G. L.; Zacharias, M. I.; Rafferty, T. J.

The big impact of UCAC on galactic kinematics and dynamics studies will be outlined. The USNO CCD Astrograph (UCA) started an astrometric sky survey in February 1998 at Cerro Tololo, Chile. By January 2000 about 90% of the Southern Hemisphere has been observed and full sky coverage is expected by early 2003. In addition, calibration fields around extragalactic reference frame sources and selected open clusters are observed frequently. The UCAC project is a huge dedicated astrometric survey similar to the AGK2 and AGK3 projects but vastly exceeding those with respect to higher accuracy, limiting magnitude (16th) and full sky coverage. A first catalog (UCAC1) is being published in early 2000 for 27 million stars. Stars in the range of 9 to 14th magnitude have a positional precision of 20 mas. The UCAC1 will utilize positions from the USNO A2.0 catalog for determining proper motions, which are expected to be about 8 mas/yr for this initial release. Higher precision proper motions, expected to be in the 3 to 4 mas/yr range, will be derived utilizing a variety of early epoch data, including re-measuring of the Southern Proper Motion (SPM) survey first epoch plates.

Efficient Time-Domain Imaging Processing for One-Stationary Bistatic Forward-Looking SAR Including Motion Errors

PubMed Central

Xie, Hongtu; Shi, Shaoying; Xiao, Hui; Xie, Chao; Wang, Feng; Fang, Qunle

2016-01-01

With the rapid development of the one-stationary bistatic forward-looking synthetic aperture radar (OS-BFSAR) technology, the huge amount of the remote sensing data presents challenges for real-time imaging processing. In this paper, an efficient time-domain algorithm (ETDA) considering the motion errors for the OS-BFSAR imaging processing, is presented. This method can not only precisely handle the large spatial variances, serious range-azimuth coupling and motion errors, but can also greatly improve the imaging efficiency compared with the direct time-domain algorithm (DTDA). Besides, it represents the subimages on polar grids in the ground plane instead of the slant-range plane, and derives the sampling requirements considering motion errors for the polar grids to offer a near-optimum tradeoff between the imaging precision and efficiency. First, OS-BFSAR imaging geometry is built, and the DTDA for the OS-BFSAR imaging is provided. Second, the polar grids of subimages are defined, and the subaperture imaging in the ETDA is derived. The sampling requirements for polar grids are derived from the point of view of the bandwidth. Finally, the implementation and computational load of the proposed ETDA are analyzed. Experimental results based on simulated and measured data validate that the proposed ETDA outperforms the DTDA in terms of the efficiency improvement. PMID:27845757

Virtual Sensors for Advanced Controllers in Rehabilitation Robotics.

PubMed

Mancisidor, Aitziber; Zubizarreta, Asier; Cabanes, Itziar; Portillo, Eva; Jung, Je Hyung

2018-03-05

In order to properly control rehabilitation robotic devices, the measurement of interaction force and motion between patient and robot is an essential part. Usually, however, this is a complex task that requires the use of accurate sensors which increase the cost and the complexity of the robotic device. In this work, we address the development of virtual sensors that can be used as an alternative of actual force and motion sensors for the Universal Haptic Pantograph (UHP) rehabilitation robot for upper limbs training. These virtual sensors estimate the force and motion at the contact point where the patient interacts with the robot using the mathematical model of the robotic device and measurement through low cost position sensors. To demonstrate the performance of the proposed virtual sensors, they have been implemented in an advanced position/force controller of the UHP rehabilitation robot and experimentally evaluated. The experimental results reveal that the controller based on the virtual sensors has similar performance to the one using direct measurement (less than 0.005 m and 1.5 N difference in mean error). Hence, the developed virtual sensors to estimate interaction force and motion can be adopted to replace actual precise but normally high-priced sensors which are fundamental components for advanced control of rehabilitation robotic devices.

Composite x-ray image assembly for large-field digital mammography with one- and two-dimensional positioning of a focal plane array

NASA Technical Reports Server (NTRS)

Halama, G.; McAdoo, J.; Liu, H.

1998-01-01

To demonstrate the feasibility of a novel large-field digital mammography technique, a 1024 x 1024 pixel Loral charge-coupled device (CCD) focal plane array (FPA) was positioned in a mammographic field with one- and two-dimensional scan sequences to obtain 950 x 1800 pixel and 3600 x 3600 pixel composite images, respectively. These experiments verify that precise positioning of FPAs produced seamless composites and that the CCD mosaic concept has potential for high-resolution, large-field imaging. The proposed CCD mosaic concept resembles a checkerboard pattern with spacing left between the CCDs for the driver and readout electronics. To obtain a complete x-ray image, the mosaic must be repositioned four times, with an x-ray exposure at each position. To reduce the patient dose, a lead shield with appropriately patterned holes is placed between the x-ray source and the patient. The high-precision motorized translation stages and the fiber-coupled-scintillating-screen-CCD sensor assembly were placed in the position usually occupied by the film cassette. Because of the high mechanical precision, seamless composites were constructed from the subimages. This paper discusses the positioning, image alignment procedure, and composite image results. The paper only addresses the formation of a seamless composite image from subimages and will not consider the effects of the lead shield, multiple CCDs, or the speed of motion.

Multidimensional motion measurement of a bimorph-type piezoelectric actuator using a diffraction grating target

NASA Astrophysics Data System (ADS)

Kim, Jong-Ahn; Bae, Eui Won; Kim, Soo Hyun; Kwak, Yoon Keun

2001-09-01

Precision actuators, such as pick-up actuators for HDDs or CD-ROMs, mostly show multidimensional motion. So, to evaluate them more completely, multidimensional measurement is required. Through structural variation and optimization of the design index, the performance of a measurement system can be improved to satisfy the requirement of this application, and so the resolution of each axis is higher than 0.1 μm for translation and 0.5 arcsec for rotation. Using this measurement system, the multidimensional motion and frequency transfer functions of a bimorph-type piezoelectric actuator are obtained.

Aging and the Visual Perception of Motion Direction: Solving the Aperture Problem.

PubMed

Shain, Lindsey M; Norman, J Farley

2018-07-01

An experiment required younger and older adults to estimate coherent visual motion direction from multiple motion signals, where each motion signal was locally ambiguous with respect to the true direction of pattern motion. Thus, accurate performance required the successful integration of motion signals across space (i.e., accurate performance required solution of the aperture problem) . The observers viewed arrays of either 64 or 9 moving line segments; because these lines moved behind apertures, their individual local motions were ambiguous with respect to direction (i.e., were subject to the aperture problem). Following 2.4 seconds of pattern motion on each trial (true motion directions ranged over the entire range of 360° in the fronto-parallel plane), the observers estimated the coherent direction of motion. There was an effect of direction, such that cardinal directions of pattern motion were judged with less error than oblique directions. In addition, a large effect of aging occurred-The average absolute errors of the older observers were 46% and 30.4% higher in magnitude than those exhibited by the younger observers for the 64 and 9 aperture conditions, respectively. Finally, the observers' precision markedly deteriorated as the number of apertures was reduced from 64 to 9.

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

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Antrazi, Sami S.

1991-01-01

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

Poster - Thurs Eve-16: Just-in-time tomography (JiTT).

PubMed

Pang, G; Rowlands, J A

2008-07-01

Soft-tissue target motion is one of the main concerns in high-precision radiation therapy. Cone beam computed tomography (CBCT) has been developed recently to image soft-tissue targets in the treatment room for image-guided radiation therapy. However, due to its relatively long image acquisition time the CBCT approach cannot provide images of the target at the instant of the treatment and thus is not adequate for imaging targets with intrafraction motion. In this work, a new concept for image-guided radiation therapy- just-in-time tomography (JiTT) - is introduced. Differing from CBCT, JiTT takes much less time to generate the needed tomographical, beam's-eye-view images of the treatment target at the right moment to guide the radiation therapy treatment. A system to achieve JiTT is proposed and its feasibility is investigated. Research supported by Siemens. © 2008 American Association of Physicists in Medicine.

Padé spectrum decompositions of quantum distribution functions and optimal hierarchical equations of motion construction for quantum open systems

NASA Astrophysics Data System (ADS)

Hu, Jie; Luo, Meng; Jiang, Feng; Xu, Rui-Xue; Yan, YiJing

2011-06-01

Padé spectrum decomposition is an optimal sum-over-poles expansion scheme of Fermi function and Bose function [J. Hu, R. X. Xu, and Y. J. Yan, J. Chem. Phys. 133, 101106 (2010)], 10.1063/1.3484491. In this work, we report two additional members to this family, from which the best among all sum-over-poles methods could be chosen for different cases of application. Methods are developed for determining these three Padé spectrum decomposition expansions at machine precision via simple algorithms. We exemplify the applications of present development with optimal construction of hierarchical equations-of-motion formulations for nonperturbative quantum dissipation and quantum transport dynamics. Numerical demonstrations are given for two systems. One is the transient transport current to an interacting quantum-dots system, together with the involved high-order co-tunneling dynamics. Another is the non-Markovian dynamics of a spin-boson system.

Characterizing RNA ensembles from NMR data with kinematic models

PubMed Central

Fonseca, Rasmus; Pachov, Dimitar V.; Bernauer, Julie; van den Bedem, Henry

2014-01-01

Functional mechanisms of biomolecules often manifest themselves precisely in transient conformational substates. Researchers have long sought to structurally characterize dynamic processes in non-coding RNA, combining experimental data with computer algorithms. However, adequate exploration of conformational space for these highly dynamic molecules, starting from static crystal structures, remains challenging. Here, we report a new conformational sampling procedure, KGSrna, which can efficiently probe the native ensemble of RNA molecules in solution. We found that KGSrna ensembles accurately represent the conformational landscapes of 3D RNA encoded by NMR proton chemical shifts. KGSrna resolves motionally averaged NMR data into structural contributions; when coupled with residual dipolar coupling data, a KGSrna ensemble revealed a previously uncharacterized transient excited state of the HIV-1 trans-activation response element stem–loop. Ensemble-based interpretations of averaged data can aid in formulating and testing dynamic, motion-based hypotheses of functional mechanisms in RNAs with broad implications for RNA engineering and therapeutic intervention. PMID:25114056

Improved shear wave group velocity estimation method based on spatiotemporal peak and thresholding motion search

PubMed Central

Amador, Carolina; Chen, Shigao; Manduca, Armando; Greenleaf, James F.; Urban, Matthew W.

2017-01-01

Quantitative ultrasound elastography is increasingly being used in the assessment of chronic liver disease. Many studies have reported ranges of liver shear wave velocities values for healthy individuals and patients with different stages of liver fibrosis. Nonetheless, ongoing efforts exist to stabilize quantitative ultrasound elastography measurements by assessing factors that influence tissue shear wave velocity values, such as food intake, body mass index (BMI), ultrasound scanners, scanning protocols, ultrasound image quality, etc. Time-to-peak (TTP) methods have been routinely used to measure the shear wave velocity. However, there is still a need for methods that can provide robust shear wave velocity estimation in the presence of noisy motion data. The conventional TTP algorithm is limited to searching for the maximum motion in time profiles at different spatial locations. In this study, two modified shear wave speed estimation algorithms are proposed. The first method searches for the maximum motion in both space and time (spatiotemporal peak, STP); the second method applies an amplitude filter (spatiotemporal thresholding, STTH) to select points with motion amplitude higher than a threshold for shear wave group velocity estimation. The two proposed methods (STP and STTH) showed higher precision in shear wave velocity estimates compared to TTP in phantom. Moreover, in a cohort of 14 healthy subjects STP and STTH methods improved both the shear wave velocity measurement precision and the success rate of the measurement compared to conventional TTP. PMID:28092532

Improved Shear Wave Group Velocity Estimation Method Based on Spatiotemporal Peak and Thresholding Motion Search.

PubMed

Amador Carrascal, Carolina; Chen, Shigao; Manduca, Armando; Greenleaf, James F; Urban, Matthew W

2017-04-01

Quantitative ultrasound elastography is increasingly being used in the assessment of chronic liver disease. Many studies have reported ranges of liver shear wave velocity values for healthy individuals and patients with different stages of liver fibrosis. Nonetheless, ongoing efforts exist to stabilize quantitative ultrasound elastography measurements by assessing factors that influence tissue shear wave velocity values, such as food intake, body mass index, ultrasound scanners, scanning protocols, and ultrasound image quality. Time-to-peak (TTP) methods have been routinely used to measure the shear wave velocity. However, there is still a need for methods that can provide robust shear wave velocity estimation in the presence of noisy motion data. The conventional TTP algorithm is limited to searching for the maximum motion in time profiles at different spatial locations. In this paper, two modified shear wave speed estimation algorithms are proposed. The first method searches for the maximum motion in both space and time [spatiotemporal peak (STP)]; the second method applies an amplitude filter [spatiotemporal thresholding (STTH)] to select points with motion amplitude higher than a threshold for shear wave group velocity estimation. The two proposed methods (STP and STTH) showed higher precision in shear wave velocity estimates compared with TTP in phantom. Moreover, in a cohort of 14 healthy subjects, STP and STTH methods improved both the shear wave velocity measurement precision and the success rate of the measurement compared with conventional TTP.

Translation and Rotation Trade Off in Human Visual Heading Estimation

NASA Technical Reports Server (NTRS)

Stone, Leland S.; Perrone, John A.; Null, Cynthia H. (Technical Monitor)

1996-01-01

We have previously shown that, during simulated curvilinear motion, humans can make reasonably accurate and precise heading judgments from optic flow without either oculomotor or static-depth cues about rotation. We now systematically investigate the effect of varying the parameters of self-motion. We visually simulated 400 ms of self-motion along curved paths (constant rotation and translation rates, fixed retinocentric heading) towards two planes of random dots at 10.3 m and 22.3 m at mid-trial. Retinocentric heading judgments of 4 observers (2 naive) were measured for 12 different combinations of translation (T between 4 and 16 m/s) and rotation (R either 8 or 16 deg/s). In the range tested, heading bias and uncertainty decrease quasilinearly with T/R, but the bias also appears to depend on R. If depth is held constant, the ratio T/R can account for much of the variation in the accuracy and precision of human visual heading estimation, although further experiments are needed to resolve whether absolute rotation rate, total flow rate, or some other factor can account for the observed -2 deg shift between the bias curves.

On Physical Interpretation of the In-Site Measurement of Earth Rotation by Ring Laser Gyrometers

NASA Technical Reports Server (NTRS)

Chao, B. F.

2004-01-01

Large ring laser gyrometers under development have demonstrated the capability of detecting minute ground motions and deformations on a wide range of timescales. The next challenge and goal is to measure the Earth's rotation variations to a precision that rivals that of the present space-geodesy techniques, thus providing an in-situ (and cost effective alternatives of Earth rotation measurement for geophysical research and geodetic applications. Aside from thermal and mechanical instabilities, "undesirable" ground motion and tilt that appear in the signal will need to be removed before any variation in Earth rotation can be detected. Removal of these signals, some of them are larger than the sought rotation signals, has been a typical procedure in many precise geophysical instruments, such as gravimeters, seismometers, and tiltmeters. The remaining Earth rotation signal resides in both the spin around the axis and in the orientation of the axis. In the case of the latter, the in-situ measurement is complementary to the space-geodetic observables in terms of polar motion and nutation, a fact to be exploited.

THE EFFECT OF UNRESOLVED BINARIES ON GLOBULAR CLUSTER PROPER-MOTION DISPERSION PROFILES

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

Bianchini, P.; Norris, M. A.; Ven, G. van de

2016-03-20

High-precision kinematic studies of globular clusters (GCs) require an accurate knowledge of all possible sources of contamination. Among other sources, binary stars can introduce systematic biases in the kinematics. Using a set of Monte Carlo cluster simulations with different concentrations and binary fractions, we investigate the effect of unresolved binaries on proper-motion dispersion profiles, treating the simulations like Hubble Space Telescope proper-motion samples. Since GCs evolve toward a state of partial energy equipartition, more-massive stars lose energy and decrease their velocity dispersion. As a consequence, on average, binaries have a lower velocity dispersion, since they are more-massive kinematic tracers. Wemore » show that, in the case of clusters with high binary fractions (initial binary fractions of 50%) and high concentrations (i.e., closer to energy equipartition), unresolved binaries introduce a color-dependent bias in the velocity dispersion of main-sequence stars of the order of 0.1–0.3 km s{sup −1} (corresponding to 1%−6% of the velocity dispersion), with the reddest stars having a lower velocity dispersion, due to the higher fraction of contaminating binaries. This bias depends on the ability to distinguish binaries from single stars, on the details of the color–magnitude diagram and the photometric errors. We apply our analysis to the HSTPROMO data set of NGC 7078 (M15) and show that no effect ascribable to binaries is observed, consistent with the low binary fraction of the cluster. Our work indicates that binaries do not significantly bias proper-motion velocity-dispersion profiles, but should be taken into account in the error budget of kinematic analyses.« less

A high-precision radial-velocity survey for other planetary systems

NASA Technical Reports Server (NTRS)

Cochran, William D.; Hatzes, Artie P.

1994-01-01

The precise measurement of variations in stellar radial velocities provides one of several promising methods of surveying a large sample of nearby solar type stars to detect planetary systems in orbit around them. The McDonald Observatory Planetary Search (MOPS) was started in 1987 September with the goal of detecting other nearby planetary systems. A stabilized I2 gas absorption cell placed in front of the entrance slit to the McDonald Observatory 2.7 m telescope coude spectrograph serves as the velocity metric. With this I2 cell we can achieve radial velocity measurement precision better than 10 m/s in an individual measurement. At this level we can detect a Jupiter-like planet around a solar-type star, and have some hope of detecting Saturn-like planets in a long-term survey. The detectability of planets is ultimately limited by stellar pulsation modes and photospheric motions. Monthly MOPS observing runs allow us to obtain at least 5 independent observations per year of the 33 solar-type (F5-K7) stars on our observing list. We present representative results from the first five years of the survey.

PSF estimation for defocus blurred image based on quantum back-propagation neural network

NASA Astrophysics Data System (ADS)

Gao, Kun; Zhang, Yan; Shao, Xiao-guang; Liu, Ying-hui; Ni, Guoqiang

2010-11-01

Images obtained by an aberration-free system are defocused blur due to motion in depth and/or zooming. The precondition of restoring the degraded image is to estimate point spread function (PSF) of the imaging system as precisely as possible. But it is difficult to identify the analytic model of PSF precisely due to the complexity of the degradation process. Inspired by the similarity between the quantum process and imaging process in the probability and statistics fields, one reformed multilayer quantum neural network (QNN) is proposed to estimate PSF of the defocus blurred image. Different from the conventional artificial neural network (ANN), an improved quantum neuron model is used in the hidden layer instead, which introduces a 2-bit controlled NOT quantum gate to control output and adopts 2 texture and edge features as the input vectors. The supervised back-propagation learning rule is adopted to train network based on training sets from the historical images. Test results show that this method owns excellent features of high precision and strong generalization ability.

Comparative study of 2-DOF micromirrors for precision light manipulation

NASA Astrophysics Data System (ADS)

Young, Johanna I.; Shkel, Andrei M.

2001-08-01

Many industry experts predict that the future of fiber optic telecommunications depends on the development of all-optical components for switching of photonic signals from fiber to fiber throughout the networks. MEMS is a promising technology for providing all-optical switching at high speeds with significant cost reductions. This paper reports on the the analysis of two designs for 2-DOF electrostatically actuated MEMS micromirrors for precision controllable large optical switching arrays. The behavior of the micromirror designs is predicted by coupled-field electrostatic and modal analysis using a finite element analysis (FEA) multi-physics modeling software. The analysis indicates that the commonly used gimbal type mirror design experiences electrostatic interference and would therefore be difficult to precisely control for 2-DOF motion. We propose a new design approach which preserves 2-DOF actuation while minimizing electrostatic interference between the drive electrodes and the mirror. Instead of using two torsional axes, we use one actuator which combines torsional and flexural DOFs. A comparative analysis of the conventional gimbal design and the one proposed in this paper is performed.

Precision Attitude Control for the BETTII Balloon-Borne Interferometer

NASA Technical Reports Server (NTRS)

Benford, Dominic J.; Fixsen, Dale J.; Rinehart. Stephen

2012-01-01

The Balloon Experimental Twin Telescope for Infrared Interferometry (BETTII) is an 8-meter baseline far-infrared interferometer to fly on a high altitude balloon. Operating at wavelengths of 30-90 microns, BETTII will obtain spatial and spectral information on science targets at angular resolutions down to less than half an arcsecond, a capability unmatched by other far-infrared facilities. This requires attitude control at a level ofless than a tenth of an arcsecond, a great challenge for a lightweight balloon-borne system. We have designed a precision attitude determination system to provide gondola attitude knowledge at a level of 2 milliarcseconds at rates up to 100Hz, with accurate absolute attitude determination at the half arcsecond level at rates of up to 10Hz. A mUlti-stage control system involving rigid body motion and tip-tilt-piston correction provides precision pointing stability to the level required for the far-infrared instrument to perform its spatial/spectral interferometry in an open-loop control. We present key aspects of the design of the attitude determination and control and its development status.

Occultation Predictions Using CCD Strip-Scanning Astrometry

NASA Technical Reports Server (NTRS)

Dunham, Edward W.; Ford, C. H.; Stone, R. P. S.; McDonald, S. W.; Olkin, C. B.; Elliot, J. L.; Witteborn, Fred C. (Technical Monitor)

1994-01-01

We are developing the method of CCD strip-scanning astrometry for the purpose of deriving reliable advance predictions for occultations involving small objects in the outer solar system. We are using a camera system based on a Ford/Loral 2Kx2K CCD with the Crossley telescope at Lick Observatory for this work. The columns of die CCD are aligned East-West, the telescope drive is stopped, and the CCD is clocked at the same rate that the stars drift across it. In this way we obtain arbitrary length strip images 20 arcmin wide with 0.58" pixels. Since planets move mainly in RA, it is possible to obtain images of the planet and star to be occulted on the same strip well before the occultation occurs. The strip-to-strip precision (i.e. reproducibility) of positions is limited by atmospheric image motion to about 0.1" rms per strip. However, for objects that are nearby in R.A., the image motion is highly correlated and their relative positions are good to 0.02" rms per strip. We will show that the effects of atmospheric image motion on a given strip can be removed if a sufficient number of strips of a given area have been obtained. Thus, it is possible to reach an rms precision of 0.02" per strip, corresponding to about 0.3 of Pluto or Triton's angular radius. The ultimate accuracy of a prediction based on strip-scanning astrometry is currently limited by the accuracy of the positions of the stars in the astrometric network used and by systematic errors most likely due to the optical system. We will show the results of . the prediction of some recent occultations as examples of the current capabilities and limitations of this technique.

Precision of natural satellite ephemerides from observations of different types

NASA Astrophysics Data System (ADS)

Emelyanov, N. V.

2017-08-01

Currently, various types of observations of natural planetary satellites are used to refine their ephemerides. A new type of measurement - determining the instants of apparent satellite encounters - has recently been proposed by Morgado and co-workers. The problem that arises is which type of measurement to choose in order to obtain an ephemeris precision that is as high as possible. The answer can be obtained only by modelling the entire process: observations, obtaining the measured values, refining the satellite motion parameters, and generating the ephemeris. The explicit dependence of the ephemeris precision on observational accuracy as well as on the type of observations is unknown. In this paper, such a dependence is investigated using the Monte Carlo statistical method. The relationship between the ephemeris precision for different types of observations is then assessed. The possibility of using the instants of apparent satellite encounters to obtain an ephemeris is investigated. A method is proposed that can be used to fit the satellite orbital parameters to this type of measurement. It is shown that, in the absence of systematic scale errors in the CCD frame, the use of the instants of apparent encounters leads to less precise ephemerides. However, in the presence of significant scale errors, which is often the case, this type of measurement becomes effective because the instants of apparent satellite encounters do not depend on scale errors.

Development of a 6DOF robotic motion phantom for radiation therapy

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

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

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

Selection of head and whisker coordination strategies during goal-oriented active touch.

PubMed

Schroeder, Joseph B; Ritt, Jason T

2016-04-01

In the rodent whisker system, a key model for neural processing and behavioral choices during active sensing, whisker motion is increasingly recognized as only part of a broader motor repertoire employed by rodents during active touch. In particular, recent studies suggest whisker and head motions are tightly coordinated. However, conditions governing the selection and temporal organization of such coordinated sensing strategies remain poorly understood. We videographically reconstructed head and whisker motions of freely moving mice searching for a randomly located rewarded aperture, focusing on trials in which animals appeared to rapidly "correct" their trajectory under tactile guidance. Mice orienting after unilateral contact repositioned their whiskers similarly to previously reported head-turning asymmetry. However, whisker repositioning preceded head turn onsets and was not bilaterally symmetric. Moreover, mice selectively employed a strategy we term contact maintenance, with whisking modulated to counteract head motion and facilitate repeated contacts on subsequent whisks. Significantly, contact maintenance was not observed following initial contact with an aperture boundary, when the mouse needed to make a large corrective head motion to the front of the aperture, but only following contact by the same whisker field with the opposite aperture boundary, when the mouse needed to precisely align its head with the reward spout. Together these results suggest that mice can select from a diverse range of sensing strategies incorporating both knowledge of the task and whisk-by-whisk sensory information and, moreover, suggest the existence of high level control (not solely reflexive) of sensing motions coordinated between multiple body parts. Copyright © 2016 the American Physiological Society.

Selection of head and whisker coordination strategies during goal-oriented active touch

PubMed Central

2016-01-01

In the rodent whisker system, a key model for neural processing and behavioral choices during active sensing, whisker motion is increasingly recognized as only part of a broader motor repertoire employed by rodents during active touch. In particular, recent studies suggest whisker and head motions are tightly coordinated. However, conditions governing the selection and temporal organization of such coordinated sensing strategies remain poorly understood. We videographically reconstructed head and whisker motions of freely moving mice searching for a randomly located rewarded aperture, focusing on trials in which animals appeared to rapidly “correct” their trajectory under tactile guidance. Mice orienting after unilateral contact repositioned their whiskers similarly to previously reported head-turning asymmetry. However, whisker repositioning preceded head turn onsets and was not bilaterally symmetric. Moreover, mice selectively employed a strategy we term contact maintenance, with whisking modulated to counteract head motion and facilitate repeated contacts on subsequent whisks. Significantly, contact maintenance was not observed following initial contact with an aperture boundary, when the mouse needed to make a large corrective head motion to the front of the aperture, but only following contact by the same whisker field with the opposite aperture boundary, when the mouse needed to precisely align its head with the reward spout. Together these results suggest that mice can select from a diverse range of sensing strategies incorporating both knowledge of the task and whisk-by-whisk sensory information and, moreover, suggest the existence of high level control (not solely reflexive) of sensing motions coordinated between multiple body parts. PMID:26792880

Kinematic precision of gear trains

NASA Technical Reports Server (NTRS)

Litvin, F. L.; Goldrich, R. N.; Coy, J. J.; Zaretsky, E. V.

1983-01-01

Kinematic precision is affected by errors which are the result of either intentional adjustments or accidental defects in manufacturing and assembly of gear trains. A method for the determination of kinematic precision of gear trains is described. The method is based on the exact kinematic relations for the contact point motions of the gear tooth surfaces under the influence of errors. An approximate method is also explained. Example applications of the general approximate methods are demonstrated for gear trains consisting of involute (spur and helical) gears, circular arc (Wildhaber-Novikov) gears, and spiral bevel gears. Gear noise measurements from a helicopter transmission are presented and discussed with relation to the kinematic precision theory. Previously announced in STAR as N82-32733

Design and implementation of a novel rotary micropositioning system driven by linear voice coil motor.

PubMed

Xu, Qingsong

2013-05-01

Limited-angle rotary micropositioning stages are required in precision engineering applications where an ultrahigh-precision rotational motion within a restricted range is needed. This paper presents the design, fabrication, and control of a compliant rotary micropositioning stage dedicated to the said applications. To tackle the challenge of achieving both a large rotational range and a compact size, a new idea of multi-stage compound radial flexure is proposed. A compact rotary stage is devised to deliver an over 10° rotational range while possessing a negligible magnitude of center shift. The stage is driven by a linear voice coil motor and its output motion is measured by laser displacement sensors. Analytical models are derived to facilitate the parametric design, which is validated by conducting finite element analysis. The actuation and sensing issues are addressed to guarantee the stage performance. A prototype is fabricated and a proportional-integral-derivative control is implemented to achieve a precise positioning. Experimental results demonstrate a resolution of 2 μrad over 10° rotational range as well as a low level of center shift of the rotary micropositioning system.

Forelimb kinematics during swimming in the pig-nosed turtle, Carettochelys insculpta, compared with other turtle taxa: rowing versus flapping, convergence versus intermediacy

PubMed Central

Rivera, Angela R. V.; Rivera, Gabriel; Blob, Richard W.

2013-01-01

SUMMARY Animals that swim using appendages do so by way of rowing and/or flapping motions. Often considered discrete categories, rowing and flapping are more appropriately regarded as points along a continuum. The pig-nosed turtle, Carettochelys insculpta, is unusual in that it is the only freshwater turtle to have limbs modified into flippers and swim via synchronous forelimb motions that resemble dorsoventral flapping, traits that evolved independently from their presence in sea turtles. We used high-speed videography to quantify forelimb kinematics in C. insculpta and a closely related, highly aquatic rower (Apalone ferox). Comparisons of our new data with those previously collected for a generalized freshwater rower (Trachemys scripta) and a flapping sea turtle (Caretta caretta) allow us to: (1) more precisely quantify and characterize the range of limb motions used by flappers versus rowers, and (2) assess whether the synchronous forelimb motions of C. insculpta can be classified as flapping (i.e. whether they exhibit forelimb kinematics and angles of attack more similar to closely related rowing species or more distantly related flapping sea turtles). We found that the forelimb kinematics of previously recognized rowers (T. scripta and A. ferox) were most similar to each other, but that those of C. insculpta were more similar to rowers than to flapping C. caretta. Nevertheless, of the three freshwater species, C. insculpta was most similar to flapping C. caretta. ‘Flapping’ in C. insculpta is achieved through humeral kinematics very different from those in C. caretta, with C. insculpta exhibiting significantly more anteroposterior humeral motion and protraction, and significantly less dorsoventral humeral motion and depression. Based on several intermediate kinematic parameters and angle of attack data, C. insculpta may in fact represent a synchronous rower or hybrid rower-flapper, suggesting that traditional views of C. insculpta as a flapper should be revised. PMID:23125335

Polar Motion Constraints on Models of the Fortnightly Tide

NASA Technical Reports Server (NTRS)

Ray, Richard D.; Egbert, G. D.; Smith, David E. (Technical Monitor)

2002-01-01

Estimates of the near-fortnightly Mf ocean tide from Topex/Poseidon satellite altimetry and from numerical solutions to the shallow water equations agree reasonably well, at least in their basin-scale features. For example, both show that the Pacific Ocean tide lags the Atlantic tide by roughly 30 degrees. There are hints of finer scale agreements in the elevation fields, but noise levels are high. In contrast, estimates of Mf currents are only weakly constrained by the TP data, because high-wavenumber Rossby waves (with intense currents) are associated with relatively small perturbations in surface elevation. As a result, a wide range of Mf current fields are consistent with both the TP data and the hydrodynamic equations within a priori plausible misfit bounds. We find that a useful constraint on the Mf currents is provided by independent estimates of the Earth's polar motion. At the Mf period polar motion shows a weak signal (both prograde and retrograde) which must be almost entirely caused by the ocean tide. We have estimated this signal from the SPACE2000 time series, after applying a broad-band correction for atmospheric angular momentum. Although the polar motion estimates have relatively large uncertainties, they are sufficiently precise to fix optimum data weights in a global ocean inverse model of Mf. These weights control the tradeoff between fitting a prior hydrodynamic model of Mf and fitting the relatively noisy T/P measurements of Mf. The predicted polar motion from the final inverse model agrees remarkably well with the Mf polar motion observations. The preferred model is also consistent with noise levels suggested by island gauges, and it is marginally consistent with differences observed by subsetting the altimetry (to the small extent that this is possible). In turn, this new model of the Mf ocean tide allows the ocean component to be removed from Mf estimates of length of day, thus yielding estimates of complex Love numbers less contaminated by oceanic effects than has hitherto been possible.

An unsupervised video foreground co-localization and segmentation process by incorporating motion cues and frame features

NASA Astrophysics Data System (ADS)

Zhang, Chao; Zhang, Qian; Zheng, Chi; Qiu, Guoping

2018-04-01

Video foreground segmentation is one of the key problems in video processing. In this paper, we proposed a novel and fully unsupervised approach for foreground object co-localization and segmentation of unconstrained videos. We firstly compute both the actual edges and motion boundaries of the video frames, and then align them by their HOG feature maps. Then, by filling the occlusions generated by the aligned edges, we obtained more precise masks about the foreground object. Such motion-based masks could be derived as the motion-based likelihood. Moreover, the color-base likelihood is adopted for the segmentation process. Experimental Results show that our approach outperforms most of the State-of-the-art algorithms.

A novel soft biomimetic microrobot with two motion attitudes.

PubMed

Shi, Liwei; Guo, Shuxiang; Li, Maoxun; Mao, Shilian; Xiao, Nan; Gao, Baofeng; Song, Zhibin; Asaka, Kinji

2012-12-06

 A variety of microrobots have commonly been used in the fields of biomedical engineering and underwater operations during the last few years. Thanks to their compact structure, low driving power, and simple control systems, microrobots can complete a variety of underwater tasks, even in limited spaces. To accomplish our objectives, we previously designed several bio-inspired underwater microrobots with compact structure, flexibility, and multi-functionality, using ionic polymer metal composite (IPMC) actuators. To implement high-position precision for IPMC legs, in the present research, we proposed an electromechanical model of an IPMC actuator and analysed the deformation and actuating force of an equivalent IPMC cantilever beam, which could be used to design biomimetic legs, fingers, or fins for an underwater microrobot. We then evaluated the tip displacement of an IPMC actuator experimentally. The experimental deflections fit the theoretical values very well when the driving frequency was larger than 1 Hz. To realise the necessary multi-functionality for adapting to complex underwater environments, we introduced a walking biomimetic microrobot with two kinds of motion attitudes: a lying state and a standing state. The microrobot uses eleven IPMC actuators to move and two shape memory alloy (SMA) actuators to change its motion attitude. In the lying state, the microrobot implements stick-insect-inspired walking/rotating motion, fish-like swimming motion, horizontal grasping motion, and floating motion. In the standing state, it implements inchworm-inspired crawling motion in two horizontal directions and grasping motion in the vertical direction. We constructed a prototype of this biomimetic microrobot and evaluated its walking, rotating, and floating speeds experimentally. The experimental results indicated that the robot could attain a maximum walking speed of 3.6 mm/s, a maximum rotational speed of 9°/s, and a maximum floating speed of 7.14 mm/s. Obstacle-avoidance and swimming experiments were also carried out to demonstrate its multi-functionality.

Precision Optical Coatings for Large Space Telescope Mirrors

NASA Astrophysics Data System (ADS)

Sheikh, David

This proposal “Precision Optical Coatings for Large Space Telescope Mirrors” addresses the need to develop and advance the state-of-the-art in optical coating technology. NASA is considering large monolithic mirrors 1 to 8-meters in diameter for future telescopes such as HabEx and LUVOIR. Improved large area coating processes are needed to meet the future requirements of large astronomical mirrors. In this project, we will demonstrate a broadband reflective coating process for achieving high reflectivity from 90-nm to 2500-nm over a 2.3-meter diameter coating area. The coating process is scalable to larger mirrors, 6+ meters in diameter. We will use a battery-driven coating process to make an aluminum reflector, and a motion-controlled coating technology for depositing protective layers. We will advance the state-of-the-art for coating technology and manufacturing infrastructure, to meet the reflectance and wavefront requirements of both HabEx and LUVOIR. Specifically, we will combine the broadband reflective coating designs and processes developed at GSFC and JPL with large area manufacturing technologies developed at ZeCoat Corporation. Our primary objectives are to: Demonstrate an aluminum coating process to create uniform coatings over large areas with near-theoretical aluminum reflectance Demonstrate a motion-controlled coating process to apply very precise 2-nm to 5- nm thick protective/interference layers to large areas, Demonstrate a broadband coating system (90-nm to 2500-nm) over a 2.3-meter coating area and test it against the current coating specifications for LUVOIR/HabEx. We will perform simulated space-environment testing, and we expect to advance the TRL from 3 to >5 in 3-years.

A Document Visualization Tool Customized to Explore DRDC Reports (Un outil de visualisation de document concu precisement pour explorer les rapports de RDDC)

DTIC Science & Technology

2011-08-01

context of flight simulators . ................................................................................................................... 14...particular area? Suppose a commander at CFB Shearwater wanted to find out more about how he/she can best deal with issues of pilots’ motion sickness...in the flight simulator on base. As a first step, one would enter, “motion sickness” as a query in HanDles, and get the relevant documents returned

Semi-automatic knee cartilage segmentation

NASA Astrophysics Data System (ADS)

Dam, Erik B.; Folkesson, Jenny; Pettersen, Paola C.; Christiansen, Claus

2006-03-01

Osteo-Arthritis (OA) is a very common age-related cause of pain and reduced range of motion. A central effect of OA is wear-down of the articular cartilage that otherwise ensures smooth joint motion. Quantification of the cartilage breakdown is central in monitoring disease progression and therefore cartilage segmentation is required. Recent advances allow automatic cartilage segmentation with high accuracy in most cases. However, the automatic methods still fail in some problematic cases. For clinical studies, even if a few failing cases will be averaged out in the overall results, this reduces the mean accuracy and precision and thereby necessitates larger/longer studies. Since the severe OA cases are often most problematic for the automatic methods, there is even a risk that the quantification will introduce a bias in the results. Therefore, interactive inspection and correction of these problematic cases is desirable. For diagnosis on individuals, this is even more crucial since the diagnosis will otherwise simply fail. We introduce and evaluate a semi-automatic cartilage segmentation method combining an automatic pre-segmentation with an interactive step that allows inspection and correction. The automatic step consists of voxel classification based on supervised learning. The interactive step combines a watershed transformation of the original scan with the posterior probability map from the classification step at sub-voxel precision. We evaluate the method for the task of segmenting the tibial cartilage sheet from low-field magnetic resonance imaging (MRI) of knees. The evaluation shows that the combined method allows accurate and highly reproducible correction of the segmentation of even the worst cases in approximately ten minutes of interaction.

System for robot-assisted real-time laparoscopic ultrasound elastography

NASA Astrophysics Data System (ADS)

Billings, Seth; Deshmukh, Nishikant; Kang, Hyun Jae; Taylor, Russell; Boctor, Emad M.

2012-02-01

Surgical robots provide many advantages for surgery, including minimal invasiveness, precise motion, high dexterity, and crisp stereovision. One limitation of current robotic procedures, compared to open surgery, is the loss of haptic information for such purposes as palpation, which can be very important in minimally invasive tumor resection. Numerous studies have reported the use of real-time ultrasound elastography, in conjunction with conventional B-mode ultrasound, to differentiate malignant from benign lesions. Several groups (including our own) have reported integration of ultrasound with the da Vinci robot, and ultrasound elastography is a very promising image guidance method for robotassisted procedures that will further enable the role of robots in interventions where precise knowledge of sub-surface anatomical features is crucial. We present a novel robot-assisted real-time ultrasound elastography system for minimally invasive robot-assisted interventions. Our system combines a da Vinci surgical robot with a non-clinical experimental software interface, a robotically articulated laparoscopic ultrasound probe, and our GPU-based elastography system. Elasticity and B-mode ultrasound images are displayed as picture-in-picture overlays in the da Vinci console. Our system minimizes dependence on human performance factors by incorporating computer-assisted motion control that automatically generates the tissue palpation required for elastography imaging, while leaving high-level control in the hands of the user. In addition to ensuring consistent strain imaging, the elastography assistance mode avoids the cognitive burden of tedious manual palpation. Preliminary tests of the system with an elasticity phantom demonstrate the ability to differentiate simulated lesions of varied stiffness and to clearly delineate lesion boundaries.

GIFTed Demons: deformable image registration with local structure-preserving regularization using supervoxels for liver applications

PubMed Central

Gleeson, Fergus V.; Brady, Michael; Schnabel, Julia A.

2018-01-01

Abstract. Deformable image registration, a key component of motion correction in medical imaging, needs to be efficient and provides plausible spatial transformations that reliably approximate biological aspects of complex human organ motion. Standard approaches, such as Demons registration, mostly use Gaussian regularization for organ motion, which, though computationally efficient, rule out their application to intrinsically more complex organ motions, such as sliding interfaces. We propose regularization of motion based on supervoxels, which provides an integrated discontinuity preserving prior for motions, such as sliding. More precisely, we replace Gaussian smoothing by fast, structure-preserving, guided filtering to provide efficient, locally adaptive regularization of the estimated displacement field. We illustrate the approach by applying it to estimate sliding motions at lung and liver interfaces on challenging four-dimensional computed tomography (CT) and dynamic contrast-enhanced magnetic resonance imaging datasets. The results show that guided filter-based regularization improves the accuracy of lung and liver motion correction as compared to Gaussian smoothing. Furthermore, our framework achieves state-of-the-art results on a publicly available CT liver dataset. PMID:29662918

GIFTed Demons: deformable image registration with local structure-preserving regularization using supervoxels for liver applications.

PubMed

Papież, Bartłomiej W; Franklin, James M; Heinrich, Mattias P; Gleeson, Fergus V; Brady, Michael; Schnabel, Julia A

2018-04-01

Deformable image registration, a key component of motion correction in medical imaging, needs to be efficient and provides plausible spatial transformations that reliably approximate biological aspects of complex human organ motion. Standard approaches, such as Demons registration, mostly use Gaussian regularization for organ motion, which, though computationally efficient, rule out their application to intrinsically more complex organ motions, such as sliding interfaces. We propose regularization of motion based on supervoxels, which provides an integrated discontinuity preserving prior for motions, such as sliding. More precisely, we replace Gaussian smoothing by fast, structure-preserving, guided filtering to provide efficient, locally adaptive regularization of the estimated displacement field. We illustrate the approach by applying it to estimate sliding motions at lung and liver interfaces on challenging four-dimensional computed tomography (CT) and dynamic contrast-enhanced magnetic resonance imaging datasets. The results show that guided filter-based regularization improves the accuracy of lung and liver motion correction as compared to Gaussian smoothing. Furthermore, our framework achieves state-of-the-art results on a publicly available CT liver dataset.

TH-AB-202-07: Radar Tracking of Respiratory Motion in Real Time

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

Fung, A; Li, C; Torres, C

Purpose: To propose a method of real time tracking of respiratory motion in patients undergoing radiation therapy. Radar technology can be employed to detection the movement of diaphragm and thoracic anatomy. Methods: A radar transceiver was specially designed. During experiment, the radar device was securely attached to a fixed frame. Respiratory motion was simulated with: 1) Varian RPM phantom, 2) Standard Imaging Respiratory Gating Platform. Signals recorded with radar equipment were compared with those measured with Varian RPM system as a reference. Results: Motion generated by Varian RPM phantom was recorded by the radar device, and compared to the signalsmore » recorded by RPM camera. The results showed exact agreement between the two monitoring equipments. Motion was also generated by Standard Imaging Respiratory Motion Platform. The results showed the radar device was capable of measuring motion of various amplitudes and periods. Conclusion: The proposed radar device is able to measure movements such as respiratory motion. Compared to state-of-the-art respiratory detection instrument, the radar device is shown to be equally precise and effective for monitoring respiration in radiation oncology patients.« less

Novel linear piezoelectric motor for precision position stage

NASA Astrophysics Data System (ADS)

Chen, Chao; Shi, Yunlai; Zhang, Jun; Wang, Junshan

2016-03-01

Conventional servomotor and stepping motor face challenges in nanometer positioning stages due to the complex structure, motion transformation mechanism, and slow dynamic response, especially directly driven by linear motor. A new butterfly-shaped linear piezoelectric motor for linear motion is presented. A two-degree precision position stage driven by the proposed linear ultrasonic motor possesses a simple and compact configuration, which makes the system obtain shorter driving chain. Firstly, the working principle of the linear ultrasonic motor is analyzed. The oscillation orbits of two driving feet on the stator are produced successively by using the anti-symmetric and symmetric vibration modes of the piezoelectric composite structure, and the slider pressed on the driving feet can be propelled twice in only one vibration cycle. Then with the derivation of the dynamic equation of the piezoelectric actuator and transient response model, start-upstart-up and settling state characteristics of the proposed linear actuator is investigated theoretically and experimentally, and is applicable to evaluate step resolution of the precision platform driven by the actuator. Moreover the structure of the two-degree position stage system is described and a special precision displacement measurement system is built. Finally, the characteristics of the two-degree position stage are studied. In the closed-loop condition the positioning accuracy of plus or minus <0.5 μm is experimentally obtained for the stage propelled by the piezoelectric motor. A precision position stage based the proposed butterfly-shaped linear piezoelectric is theoretically and experimentally investigated.

Highly conductive metal interconnects on three-dimensional objects fabricated with omnidirectional ink jet printing technology

NASA Astrophysics Data System (ADS)

Yoshida, Yasunori; Wada, Hikaru; Izumi, Konami; Tokito, Shizuo

2017-05-01

In this work, we demonstrate that highly conductive metal interconnects can be fabricated on the surface of three-dimensional objects using “omnidirectional ink jet” (OIJ) printing technology. OIJ printing technology makes it possible to perform ink jet printing in all directions by combining the motion of a 6-axis vertically articulated robot with precise positioning and a thermal drying process, which allows for the printing of stacked layers. By using OIJ technology, we were the first to successfully fabricate printed interconnect layers having a very low electrical resistance of 12 mΩ over a 10 mm length. Moreover, the results of the high-current test demonstrated that the printed interconnects can withstand high-current-flow of 5 A for 30 min or more.

Handheld Micromanipulation with Vision-Based Virtual Fixtures

PubMed Central

Becker, Brian C.; MacLachlan, Robert A.; Hager, Gregory D.; Riviere, Cameron N.

2011-01-01

Precise movement during micromanipulation becomes difficult in submillimeter workspaces, largely due to the destabilizing influence of tremor. Robotic aid combined with filtering techniques that suppress tremor frequency bands increases performance; however, if knowledge of the operator's goals is available, virtual fixtures have been shown to greatly improve micromanipulator precision. In this paper, we derive a control law for position-based virtual fixtures within the framework of an active handheld micromanipulator, where the fixtures are generated in real-time from microscope video. Additionally, we develop motion scaling behavior centered on virtual fixtures as a simple and direct extension to our formulation. We demonstrate that hard and soft (motion-scaled) virtual fixtures outperform state-of-the-art tremor cancellation performance on a set of artificial but medically relevant tasks: holding, move-and-hold, curve tracing, and volume restriction. PMID:23275860

Get Ready for Gaia: Cool White Dwarfs in Common Proper Motion with Tycho Stars

NASA Astrophysics Data System (ADS)

Hambly, N.; Rowell, N.; Lam, M.

2017-03-01

We discuss the Gaia Data Release 1 (September 2016) and preliminary work on maximising the benefit for cool white dwarf (WD) science in advance of the full parallax catalogue which will appear around one year later in DR2. The Tycho catalogue is used in conjunction with the all-sky ground based astrometric/ photometric SuperCOSMOS Sky Survey in order to identify candidate faint common proper motion objects to the Tycho stars. Gaia DR1 is supplemented by the Tycho-Gaia Astrometric Solution catalogue containing some 2 million parallaxes with Hipparcos-like precision for Tycho stars. While hotter, brighter WDs are present in Tycho, cooler examples are much rarer (if present at all) and CPM offers one method to infer precision distances for a statistically useful sample of these very faint WDs.

A real-time surface inspection system for precision steel balls based on machine vision

NASA Astrophysics Data System (ADS)

Chen, Yi-Ji; Tsai, Jhy-Cherng; Hsu, Ya-Chen

2016-07-01

Precision steel balls are one of the most fundament components for motion and power transmission parts and they are widely used in industrial machinery and the automotive industry. As precision balls are crucial for the quality of these products, there is an urgent need to develop a fast and robust system for inspecting defects of precision steel balls. In this paper, a real-time system for inspecting surface defects of precision steel balls is developed based on machine vision. The developed system integrates a dual-lighting system, an unfolding mechanism and inspection algorithms for real-time signal processing and defect detection. The developed system is tested under feeding speeds of 4 pcs s-1 with a detection rate of 99.94% and an error rate of 0.10%. The minimum detectable surface flaw area is 0.01 mm2, which meets the requirement for inspecting ISO grade 100 precision steel balls.

Direction information in multiple object tracking is limited by a graded resource.

PubMed

Horowitz, Todd S; Cohen, Michael A

2010-10-01

Is multiple object tracking (MOT) limited by a fixed set of structures (slots), a limited but divisible resource, or both? Here, we answer this question by measuring the precision of the direction representation for tracked targets. The signature of a limited resource is a decrease in precision as the square root of the tracking load. The signature of fixed slots is a fixed precision. Hybrid models predict a rapid decrease to asymptotic precision. In two experiments, observers tracked moving disks and reported target motion direction by adjusting a probe arrow. We derived the precision of representation of correctly tracked targets using a mixture distribution analysis. Precision declined with target load according to the square-root law up to six targets. This finding is inconsistent with both pure and hybrid slot models. Instead, directional information in MOT appears to be limited by a continuously divisible resource.

Design and simulation of the direct drive servo system

NASA Astrophysics Data System (ADS)

Ren, Changzhi; Liu, Zhao; Song, Libin; Yi, Qiang; Chen, Ken; Zhang, Zhenchao

2010-07-01

As direct drive technology is finding their way into telescope drive designs for its many advantages, it would push to more reliable and cheaper solutions for future telescope complex motion system. However, the telescope drive system based on the direct drive technology is one high integrated electromechanical system, which one complex electromechanical design method is adopted to improve the efficiency, reliability and quality of the system during the design and manufacture circle. The telescope is one ultra-exact, ultra-speed, high precision and huge inertial instrument, which the direct torque motor adopted by the telescope drive system is different from traditional motor. This paper explores the design process and some simulation results are discussed.

Kinematic reversal schemes for the geomagnetic dipole.

NASA Technical Reports Server (NTRS)

Levy, E. H.

1972-01-01

Fluctuations in the distribution of cyclonic convective cells, in the earth's core, can reverse the sign of the geomagnetic field. Two kinematic reversal schemes are discussed. In the first scheme, a field maintained by cyclones concentrated at low latitude is reversed by a burst of cyclones at high latitude. Conversely, in the second scheme, a field maintained predominantly by cyclones in high latitudes is reversed by a fluctuation consisting of a burst of cyclonic convection at low latitude. The precise fluid motions which produce the geomagnetic field are not known. However, it appears that, whatever the details are, a fluctuation in the distribution of cyclonic cells over latitude can cause a geomagnetic reversal.

Multi-Objective Memetic Search for Robust Motion and Distortion Correction in Diffusion MRI.

PubMed

Hering, Jan; Wolf, Ivo; Maier-Hein, Klaus H

2016-10-01

Effective image-based artifact correction is an essential step in the analysis of diffusion MR images. Many current approaches are based on retrospective registration, which becomes challenging in the realm of high b -values and low signal-to-noise ratio, rendering the corresponding correction schemes more and more ineffective. We propose a novel registration scheme based on memetic search optimization that allows for simultaneous exploitation of different signal intensity relationships between the images, leading to more robust registration results. We demonstrate the increased robustness and efficacy of our method on simulated as well as in vivo datasets. In contrast to the state-of-art methods, the median target registration error (TRE) stayed below the voxel size even for high b -values (3000 s ·mm -2 and higher) and low SNR conditions. We also demonstrate the increased precision in diffusion-derived quantities by evaluating Neurite Orientation Dispersion and Density Imaging (NODDI) derived measures on a in vivo dataset with severe motion artifacts. These promising results will potentially inspire further studies on metaheuristic optimization in diffusion MRI artifact correction and image registration in general.

Optimizing the way kinematical feed chains with great distance between slides are chosen for CNC machine tools

NASA Astrophysics Data System (ADS)

Lucian, P.; Gheorghe, S.

2017-08-01

This paper presents a new method, based on FRISCO formula, for optimizing the choice of the best control system for kinematical feed chains with great distance between slides used in computer numerical controlled machine tools. Such machines are usually, but not limited to, used for machining large and complex parts (mostly in the aviation industry) or complex casting molds. For such machine tools the kinematic feed chains are arranged in a dual-parallel drive structure that allows the mobile element to be moved by the two kinematical branches and their related control systems. Such an arrangement allows for high speed and high rigidity (a critical requirement for precision machining) during the machining process. A significant issue for such an arrangement it’s the ability of the two parallel control systems to follow the same trajectory accurately in order to address this issue it is necessary to achieve synchronous motion control for the two kinematical branches ensuring that the correct perpendicular position it’s kept by the mobile element during its motion on the two slides.

Attitude-correlated frames approach for a star sensor to improve attitude accuracy under highly dynamic conditions.

PubMed

Ma, Liheng; Zhan, Dejun; Jiang, Guangwen; Fu, Sihua; Jia, Hui; Wang, Xingshu; Huang, Zongsheng; Zheng, Jiaxing; Hu, Feng; Wu, Wei; Qin, Shiqiao

2015-09-01

The attitude accuracy of a star sensor decreases rapidly when star images become motion-blurred under dynamic conditions. Existing techniques concentrate on a single frame of star images to solve this problem and improvements are obtained to a certain extent. An attitude-correlated frames (ACF) approach, which concentrates on the features of the attitude transforms of the adjacent star image frames, is proposed to improve upon the existing techniques. The attitude transforms between different star image frames are measured by the strap-down gyro unit precisely. With the ACF method, a much larger star image frame is obtained through the combination of adjacent frames. As a result, the degradation of attitude accuracy caused by motion-blurring are compensated for. The improvement of the attitude accuracy is approximately proportional to the square root of the number of correlated star image frames. Simulations and experimental results indicate that the ACF approach is effective in removing random noises and improving the attitude determination accuracy of the star sensor under highly dynamic conditions.

A high precision ultrasonic system for vibration measurements

NASA Astrophysics Data System (ADS)

Young, M. S.; Li, Y. C.

1992-11-01

A microcomputer-aided ultrasonic system that can be used to measure the vibratory displacements of an object is presented. A pair of low cost 40-kHz ultrasonic transducers is used to transmit ultrasound toward an object and receive the ultrasound reflected from the object. The relative motion of the object modulates the phase angle difference between the transmitted and received ultrasound signals. A single-chip microcomputer-based phase detector was designed to record and analyze the phase shift information which is then sent to a PC-AT microcomputer for processing. We have developed an ingenious method to reconstruct the relative motion of an object from the acquired data of the phase difference changes. A digital plotter based experiment was also designed for testing the performance of the whole system. The measured accuracy of the system in the reported experiments is within +/- 0.4 mm and the theoretical maximal measurable speed of the object is 89.6 cm/s. The main advantages of this ultrasonic vibration measurement system are high resolution, low cost, noncontact measurement, and easy installation.

Real-time capture of seismic waves using high-rate multi-GNSS observations: Application to the 2015 Mw 7.8 Nepal earthquake

NASA Astrophysics Data System (ADS)

Geng, Tao; Xie, Xin; Fang, Rongxin; Su, Xing; Zhao, Qile; Liu, Gang; Li, Heng; Shi, Chuang; Liu, Jingnan

2016-01-01

The variometric approach is investigated to measure real-time seismic waves induced by the 2015 Mw 7.8 Nepal earthquake with high-rate multi-GNSS observations, especially with the contribution of newly available BDS. The velocity estimation using GPS + BDS shows an additional improvement of around 20% with respect to GPS-only solutions. We also reconstruct displacements by integrating GNSS-derived velocities after a linear trend removal (IGV). The displacement waveforms with accuracy of better than 5 cm are derived when postprocessed GPS precise point positioning results are used as ground truth, even if those stations have strong ground motions and static offsets of up to 1-2 m. GNSS-derived velocity and displacement waveforms with the variometric approach are in good agreement with results from strong motion data. We therefore conclude that it is feasible to capture real-time seismic waves with multi-GNSS observations using the IGV-enhanced variometric approach, which has critical implications for earthquake early warning, tsunami forecasting, and rapid hazard assessment.

Deep Inspiration Breath Hold—Based Radiation Therapy: A Clinical Review

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

Boda-Heggemann, Judit, E-mail: judit.boda-heggemann@umm.de; Knopf, Antje-Christin; Simeonova-Chergou, Anna

Several recent developments in linear accelerator–based radiation therapy (RT) such as fast multileaf collimators, accelerated intensity modulation paradigms like volumeric modulated arc therapy and flattening filter-free (FFF) high-dose-rate therapy have dramatically shortened the duration of treatment fractions. Deliverable photon dose distributions have approached physical complexity limits as a consequence of precise dose calculation algorithms and online 3-dimensional image guided patient positioning (image guided RT). Simultaneously, beam quality and treatment speed have continuously been improved in particle beam therapy, especially for scanned particle beams. Applying complex treatment plans with steep dose gradients requires strategies to mitigate and compensate for motion effectsmore » in general, particularly breathing motion. Intrafractional breathing-related motion results in uncertainties in dose delivery and thus in target coverage. As a consequence, generous margins have been used, which, in turn, increases exposure to organs at risk. Particle therapy, particularly with scanned beams, poses additional problems such as interplay effects and range uncertainties. Among advanced strategies to compensate breathing motion such as beam gating and tracking, deep inspiration breath hold (DIBH) gating is particularly advantageous in several respects, not only for hypofractionated, high single-dose stereotactic body RT of lung, liver, and upper abdominal lesions but also for normofractionated treatment of thoracic tumors such as lung cancer, mediastinal lymphomas, and breast cancer. This review provides an in-depth discussion of the rationale and technical implementation of DIBH gating for hypofractionated and normofractionated RT of intrathoracic and upper abdominal tumors in photon and proton RT.« less

Three-axis electron-beam test facility

NASA Technical Reports Server (NTRS)

Dayton, J. A., Jr.; Ebihara, B. T.

1981-01-01

An electron beam test facility, which consists of a precision multidimensional manipulator built into an ultra-high-vacuum bell jar, was designed, fabricated, and operated at Lewis Research Center. The position within the bell jar of a Faraday cup which samples current in the electron beam under test, is controlled by the manipulator. Three orthogonal axes of motion are controlled by stepping motors driven by digital indexers, and the positions are displayed on electronic totalizers. In the transverse directions, the limits of travel are approximately + or - 2.5 cm from the center with a precision of 2.54 micron (0.0001 in.); in the axial direction, approximately 15.0 cm of travel are permitted with an accuracy of 12.7 micron (0.0005 in.). In addition, two manually operated motions are provided, the pitch and yaw of the Faraday cup with respect to the electron beam can be adjusted to within a few degrees. The current is sensed by pulse transformers and the data are processed by a dual channel box car averager with a digital output. The beam tester can be operated manually or it can be programmed for automated operation. In the automated mode, the beam tester is controlled by a microcomputer (installed at the test site) which communicates with a minicomputer at the central computing facility. The data are recorded and later processed by computer to obtain the desired graphical presentations.

Measurement-based perturbation theory and differential equation parameter estimation with applications to satellite gravimetry

NASA Astrophysics Data System (ADS)

Xu, Peiliang

2018-06-01

The numerical integration method has been routinely used by major institutions worldwide, for example, NASA Goddard Space Flight Center and German Research Center for Geosciences (GFZ), to produce global gravitational models from satellite tracking measurements of CHAMP and/or GRACE types. Such Earth's gravitational products have found widest possible multidisciplinary applications in Earth Sciences. The method is essentially implemented by solving the differential equations of the partial derivatives of the orbit of a satellite with respect to the unknown harmonic coefficients under the conditions of zero initial values. From the mathematical and statistical point of view, satellite gravimetry from satellite tracking is essentially the problem of estimating unknown parameters in the Newton's nonlinear differential equations from satellite tracking measurements. We prove that zero initial values for the partial derivatives are incorrect mathematically and not permitted physically. The numerical integration method, as currently implemented and used in mathematics and statistics, chemistry and physics, and satellite gravimetry, is groundless, mathematically and physically. Given the Newton's nonlinear governing differential equations of satellite motion with unknown equation parameters and unknown initial conditions, we develop three methods to derive new local solutions around a nominal reference orbit, which are linked to measurements to estimate the unknown corrections to approximate values of the unknown parameters and the unknown initial conditions. Bearing in mind that satellite orbits can now be tracked almost continuously at unprecedented accuracy, we propose the measurement-based perturbation theory and derive global uniformly convergent solutions to the Newton's nonlinear governing differential equations of satellite motion for the next generation of global gravitational models. Since the solutions are global uniformly convergent, theoretically speaking, they are able to extract smallest possible gravitational signals from modern and future satellite tracking measurements, leading to the production of global high-precision, high-resolution gravitational models. By directly turning the nonlinear differential equations of satellite motion into the nonlinear integral equations, and recognizing the fact that satellite orbits are measured with random errors, we further reformulate the links between satellite tracking measurements and the global uniformly convergent solutions to the Newton's governing differential equations as a condition adjustment model with unknown parameters, or equivalently, the weighted least squares estimation of unknown differential equation parameters with equality constraints, for the reconstruction of global high-precision, high-resolution gravitational models from modern (and future) satellite tracking measurements.

Dynamics of statistical distance: Quantum limits for two-level clocks

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

Braunstein, S.L.; Milburn, G.J.

1995-03-01

We study the evolution of statistical distance on the Bloch sphere under unitary and nonunitary dynamics. This corresponds to studying the limits to clock precision for a clock constructed from a two-state system. We find that the initial motion away from pure states under nonunitary dynamics yields the greatest accuracy for a one-tick'' clock; in this case the clock's precision is not limited by the largest frequency of the system.

Near instantaneous production of digital terrain models in the field using smartphone and Structure-from-Motion photogrammetry

NASA Astrophysics Data System (ADS)

Micheletti, Natan; Chandler, Jim; Lane, Stuart

2013-04-01

Whilst high-resolution topographic and terrain data is essential in many geoscience applications, its acquisition has traditionally required either specific expertise (e.g. applications of photogrammetry) or expensive equipment (e.g. ground-based laser altimetric systems). Recent work in geomorphology (e.g. James and Robson, 2012; Carbonneau et al., 2012) has demonstrated the potential of Structure-from-Motion photogrammetry as a low cost, low expertise alternative for Digital Elevation Model (DEM) generation. These methods have geomorphological appeal because the more sophisticated image matching approaches remove many of the geometrical constraints associated with image acquisition: traditionally, vertical and "normal" image pairs acquired with a metric camera. This increases both the number of potential applications and the efficacy of image acquisition in the field. It also allows for genuine 3D (where the same (x,y) can have multiple z values) rather than 2.5D (where each (x,y) must have a unique z value) representation of the terrain surface. In this paper, we progress this technology further, by testing what can be acquired using hand-held smartphone technology, where the acquired images can be uploaded in the field to Open Source technology freely available to the research community. This is achieved by evaluating the quality of DEMs generated with a fully automated, open-source, Structure-from-Motion package and a smartphone (Apple Iphone 4) integrated camera (5 megapixels) using terrestrial laser scanning (TLS) data as benchmark. To allow a more objective assessment, it is necessary to compare both device and package with traditional approaches. Accordingly, we compare the error in the smartphone DEMs with the errors associated with data derived using a 16.2 megapixel digital camera and processed using the more traditional, commercial, close-range and semi-automated software PhotoModeler. Results demonstrate that centimeter precision DTMs can be achieved at close range, using a smartphone camera and a fully automated package, here illustrated for river bank survey. Results improve to sub-centimeter precision with either higher resolution images or by applying specific post-processing techniques to the smartphone DEMs. Extension to the survey of an entire Alpine alluvial fan system shows that the degradation of precision scales linearly with image scale, but that the quality: maintains a good level of precision; and is influenced equally with the difficulties of separating vegetation and sediment cover, typical of laser scanning systems.

A Robust Post-Processing Workflow for Datasets with Motion Artifacts in Diffusion Kurtosis Imaging

PubMed Central

Li, Xianjun; Yang, Jian; Gao, Jie; Luo, Xue; Zhou, Zhenyu; Hu, Yajie; Wu, Ed X.; Wan, Mingxi

2014-01-01

Purpose The aim of this study was to develop a robust post-processing workflow for motion-corrupted datasets in diffusion kurtosis imaging (DKI). Materials and methods The proposed workflow consisted of brain extraction, rigid registration, distortion correction, artifacts rejection, spatial smoothing and tensor estimation. Rigid registration was utilized to correct misalignments. Motion artifacts were rejected by using local Pearson correlation coefficient (LPCC). The performance of LPCC in characterizing relative differences between artifacts and artifact-free images was compared with that of the conventional correlation coefficient in 10 randomly selected DKI datasets. The influence of rejected artifacts with information of gradient directions and b values for the parameter estimation was investigated by using mean square error (MSE). The variance of noise was used as the criterion for MSEs. The clinical practicality of the proposed workflow was evaluated by the image quality and measurements in regions of interest on 36 DKI datasets, including 18 artifact-free (18 pediatric subjects) and 18 motion-corrupted datasets (15 pediatric subjects and 3 essential tremor patients). Results The relative difference between artifacts and artifact-free images calculated by LPCC was larger than that of the conventional correlation coefficient (p<0.05). It indicated that LPCC was more sensitive in detecting motion artifacts. MSEs of all derived parameters from the reserved data after the artifacts rejection were smaller than the variance of the noise. It suggested that influence of rejected artifacts was less than influence of noise on the precision of derived parameters. The proposed workflow improved the image quality and reduced the measurement biases significantly on motion-corrupted datasets (p<0.05). Conclusion The proposed post-processing workflow was reliable to improve the image quality and the measurement precision of the derived parameters on motion-corrupted DKI datasets. The workflow provided an effective post-processing method for clinical applications of DKI in subjects with involuntary movements. PMID:24727862

Electrogoniometer measurement and directional analysis of wrist angles and movements during the Sollerman hand function test.

PubMed

Dauncey, Thomas; Singh, Harvinder P; Dias, Joseph J

Clinical measurement. To investigate the characteristics of wrist motion (area, axis, and location) during activities of daily living (ADL) using electrogoniometry. A sample of 83 normal volunteers performed the Sollerman hand function test (SHFT) with a flexible biaxial electrogoniometer applied to their wrists. This technique is accurate and reliable and has been used before for assessment of wrist circumduction in normal volunteers. A software package was used to overlay an ellipse of best fit around the 2-dimensional trace of the electrogoniometer mathematically computing the area, location, and axis angle of the ellipse. Most ADL could be completed within 20% of the total area of circumduction (3686°° ± 1575°°) of a normal wrist. An oblique plane in radial extension and ulnar flexion (dart-throwing motion plane) was used for rotation (-14° ± 32°) and power grip tasks (-29° ± 25°) during ADL; however, precision tasks (4° ± 28°), like writing, were performed more often in the flexion extension plane. In the dominant hand, only 2 power tasks were located in flexion region (cutting play dough [ulnar] and pouring carton [radial]), precision tasks were located centrally, and rotation and other power tasks were located in extension region. This study has identified that wrist motion during the ADL requires varying degrees of movement in oblique planes. Using electrogoniometry, we could visualize the area, location, and plane of motion during ADL. This could assist future researchers to compare procedures leading to loss of motion in specific quadrants of wrist motion and its impact on patient's ability in performing particular ADL. It could guide hand therapists to specifically focus on retraining the ADL that may be affected when wrist range of motion is lost after injury. Diagnostic level III. Copyright © 2016 Hanley & Belfus. Published by Elsevier Inc. All rights reserved.

A robust post-processing workflow for datasets with motion artifacts in diffusion kurtosis imaging.

PubMed

Li, Xianjun; Yang, Jian; Gao, Jie; Luo, Xue; Zhou, Zhenyu; Hu, Yajie; Wu, Ed X; Wan, Mingxi

2014-01-01

The aim of this study was to develop a robust post-processing workflow for motion-corrupted datasets in diffusion kurtosis imaging (DKI). The proposed workflow consisted of brain extraction, rigid registration, distortion correction, artifacts rejection, spatial smoothing and tensor estimation. Rigid registration was utilized to correct misalignments. Motion artifacts were rejected by using local Pearson correlation coefficient (LPCC). The performance of LPCC in characterizing relative differences between artifacts and artifact-free images was compared with that of the conventional correlation coefficient in 10 randomly selected DKI datasets. The influence of rejected artifacts with information of gradient directions and b values for the parameter estimation was investigated by using mean square error (MSE). The variance of noise was used as the criterion for MSEs. The clinical practicality of the proposed workflow was evaluated by the image quality and measurements in regions of interest on 36 DKI datasets, including 18 artifact-free (18 pediatric subjects) and 18 motion-corrupted datasets (15 pediatric subjects and 3 essential tremor patients). The relative difference between artifacts and artifact-free images calculated by LPCC was larger than that of the conventional correlation coefficient (p<0.05). It indicated that LPCC was more sensitive in detecting motion artifacts. MSEs of all derived parameters from the reserved data after the artifacts rejection were smaller than the variance of the noise. It suggested that influence of rejected artifacts was less than influence of noise on the precision of derived parameters. The proposed workflow improved the image quality and reduced the measurement biases significantly on motion-corrupted datasets (p<0.05). The proposed post-processing workflow was reliable to improve the image quality and the measurement precision of the derived parameters on motion-corrupted DKI datasets. The workflow provided an effective post-processing method for clinical applications of DKI in subjects with involuntary movements.

Orbital motion in pre-main sequence binaries

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

Schaefer, G. H.; Prato, L.; Simon, M.

2014-06-01

We present results from our ongoing program to map the visual orbits of pre-main sequence (PMS) binaries in the Taurus star forming region using adaptive optics imaging at the Keck Observatory. We combine our results with measurements reported in the literature to analyze the orbital motion for each binary. We present preliminary orbits for DF Tau, T Tau S, ZZ Tau, and the Pleiades binary HBC 351. Seven additional binaries show curvature in their relative motion. Currently, we can place lower limits on the orbital periods for these systems; full solutions will be possible with more orbital coverage. Five othermore » binaries show motion that is indistinguishable from linear motion. We suspect that these systems are bound and might show curvature with additional measurements in the future. The observations reported herein lay critical groundwork toward the goal of measuring precise masses for low-mass PMS stars.« less

Dynamic motion analysis of dart throwers motion visualized through computerized tomography and calculation of the axis of rotation.

PubMed

Edirisinghe, Y; Troupis, J M; Patel, M; Smith, J; Crossett, M

2014-05-01

We used a dynamic three-dimensional (3D) mapping method to model the wrist in dynamic unrestricted dart throwers motion in three men and four women. With the aid of precision landmark identification, a 3D coordinate system was applied to the distal radius and the movement of the carpus was described. Subsequently, with dynamic 3D reconstructions and freedom to position the camera viewpoint anywhere in space, we observed the motion pathways of all carpal bones in dart throwers motion and calculated its axis of rotation. This was calculated to lie in 27° of anteversion from the coronal plane and 44° of varus angulation relative to the transverse plane. This technique is a safe and a feasible carpal imaging method to gain key information for decision making in future hand surgical and rehabilitative practices.

Ground Motion Studies for Large Future Accelerator

NASA Astrophysics Data System (ADS)

Takeda, Shigeru; Oide, Katsunobu

1997-05-01

The future large accelerator, such as TeV linear collider, should have extremely small emittance to perform the required luminosity. Precise alignment of machine components is essential to prevent emittance dilution. The ground motion spoils alignment of accelerator elements and results in emittance growth. The ground motion in the frequency range of seismic vibration is mostly coherent in the related accelerator. But the incoherent diffusive or Brownian like motion becomes dominant at frequency region less than seismic vibration [1, 2, 3]. Slow ground motion with respect to the machine performance is discussed including the method of tunnel construction. Our experimental results and recent excavated results clarify that application of TBMs is better excavating method than NATM (Drill + Blast) for accelerator tunnel to prevent emittance dilution. ([1] V. Shiltsev, Proc. of IWAA95 Tsukuba, 1995. [2] Shigeru Takeda et al., Proc. of EPAC96, 1996. [3] A. Sery, Proc. of LINAC96, 1996.)

Linear State-Space Representation of the Dynamics of Relative Motion, Based on Restricted Three Body Dynamics

NASA Technical Reports Server (NTRS)

Luquette,Richard J.; Sanner, Robert M.

2004-01-01

Precision Formation Flying is an enabling technology for a variety of proposed space-based observatories, including the Micro-Arcsecond X-ray Imaging Mission (MAXIM) , the associated MAXIM pathfinder mission, Stellar Imager (SI) and the Terrestrial Planet Finder (TPF). An essential element of the technology is the control algorithm, requiring a clear understanding of the dynamics of relative motion. This paper examines the dynamics of relative motion in the context of the Restricted Three Body Problem (RTBP). The natural dynamics of relative motion are presented in their full nonlinear form. Motivated by the desire to apply linear control methods, the dynamics equations are linearized and presented in state-space form. The stability properties are explored for regions in proximity to each of the libration points in the Earth/Moon - Sun rotating frame. The dynamics of relative motion are presented in both the inertial and rotating coordinate frames.

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

PubMed

Lee, Dong-Jin; Lee, Sun-Kyu

2015-01-01

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

Siamese convolutional networks for tracking the spine motion

NASA Astrophysics Data System (ADS)

Liu, Yuan; Sui, Xiubao; Sun, Yicheng; Liu, Chengwei; Hu, Yong

2017-09-01

Deep learning models have demonstrated great success in various computer vision tasks such as image classification and object tracking. However, tracking the lumbar spine by digitalized video fluoroscopic imaging (DVFI), which can quantitatively analyze the motion mode of spine to diagnose lumbar instability, has not yet been well developed due to the lack of steady and robust tracking method. In this paper, we propose a novel visual tracking algorithm of the lumbar vertebra motion based on a Siamese convolutional neural network (CNN) model. We train a full-convolutional neural network offline to learn generic image features. The network is trained to learn a similarity function that compares the labeled target in the first frame with the candidate patches in the current frame. The similarity function returns a high score if the two images depict the same object. Once learned, the similarity function is used to track a previously unseen object without any adapting online. In the current frame, our tracker is performed by evaluating the candidate rotated patches sampled around the previous frame target position and presents a rotated bounding box to locate the predicted target precisely. Results indicate that the proposed tracking method can detect the lumbar vertebra steadily and robustly. Especially for images with low contrast and cluttered background, the presented tracker can still achieve good tracking performance. Further, the proposed algorithm operates at high speed for real time tracking.

Individual Differences in the Alignment of Structural and Functional Markers of the V5/MT Complex in Primates

PubMed Central

Large, I.; Bridge, H.; Ahmed, B.; Clare, S.; Kolasinski, J.; Lam, W. W.; Miller, K. L.; Dyrby, T. B.; Parker, A. J.; Smith, J. E. T.; Daubney, G.; Sallet, J.; Bell, A. H.; Krug, K.

2016-01-01

Extrastriate visual area V5/MT in primates is defined both structurally by myeloarchitecture and functionally by distinct responses to visual motion. Myelination is directly identifiable from postmortem histology but also indirectly by image contrast with structural magnetic resonance imaging (sMRI). First, we compared the identification of V5/MT using both sMRI and histology in Rhesus macaques. A section-by-section comparison of histological slices with in vivo and postmortem sMRI for the same block of cortical tissue showed precise correspondence in localizing heavy myelination for V5/MT and neighboring MST. Thus, sMRI in macaques accurately locates histologically defined myelin within areas known to be motion selective. Second, we investigated the functionally homologous human motion complex (hMT+) using high-resolution in vivo imaging. Humans showed considerable intersubject variability in hMT+ location, when defined with myelin-weighted sMRI signals to reveal structure. When comparing sMRI markers to functional MRI in response to moving stimuli, a region of high myelin signal was generally located within the hMT+ complex. However, there were considerable differences in the alignment of structural and functional markers between individuals. Our results suggest that variation in area identification for hMT+ based on structural and functional markers reflects individual differences in human regional brain architecture. PMID:27371764

Positional control of plasmonic fields and electron emission

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

Word, R. C.; Fitzgerald, J. P. S.; Könenkamp, R., E-mail: rkoe@pdx.edu

2014-09-15

We report the positional control of plasmonic fields and electron emission in a continuous gap antenna structure of sub-micron size. We show experimentally that a nanoscale area of plasmon-enhanced electron emission can be motioned by changing the polarization of an exciting optical beam of 800 nm wavelength. Finite-difference calculations are presented to support the experiments and to show that the plasmon-enhanced electric field distribution of the antenna can be motioned precisely and predictively.

Analysis of Polar Motion Series Differences Between VLBI, GNSS, and SLR

NASA Astrophysics Data System (ADS)

MacMillan, Daniel; Pavlis, Erricos

2017-04-01

We have compared polar motion series from VLBI, GNSS, and SLR generated with a reference frame aligned to ITRF2008. Three objectives of the comparisons are 1) to determine biases between the techniques, 2) to determine the precision of each technique via a 3-corner hat analysis after removing the relative biases, and 3) to evaluate the long-term stability of polar motion series. Between VLBI, GNSS,and SLR, there are clear variations ranging from 20 to 60 µas in peak-to-peak amplitude. We investigate the possible causes of these variations. In addition, there are other apparent systematic biases and rate differences. There are VLBI network dependent effects that appear in the VLBI-GNSS and VLBI-SLR differences, specifically between the operational R1 and R4 weekly 24-hour sessions. We investigate the origins of these differences including network station changes in these networks over the period from 2002-present. The polar motion biases and precisions of the five IVS VLBI continuous observing CONT campaigns (since 2002) are also analyzed since these 2-week campaigns were each designed to provide the highest quality results that could be produced at the time. A possible source of bias between the three techniques is the underlying chosen sub-network used by each technique to realize the adopted reference frame. We also consider the technique differences when ITRF2014 is used instead of ITRF2008

A New Type of Motor: Pneumatic Step Motor

PubMed Central

Stoianovici, Dan; Patriciu, Alexandru; Petrisor, Doru; Mazilu, Dumitru; Kavoussi, Louis

2011-01-01

This paper presents a new type of pneumatic motor, a pneumatic step motor (PneuStep). Directional rotary motion of discrete displacement is achieved by sequentially pressurizing the three ports of the motor. Pulsed pressure waves are generated by a remote pneumatic distributor. The motor assembly includes a motor, gearhead, and incremental position encoder in a compact, central bore construction. A special electronic driver is used to control the new motor with electric stepper indexers and standard motion control cards. The motor accepts open-loop step operation as well as closed-loop control with position feedback from the enclosed sensor. A special control feature is implemented to adapt classic control algorithms to the new motor, and is experimentally validated. The speed performance of the motor degrades with the length of the pneumatic hoses between the distributor and motor. Experimental results are presented to reveal this behavior and set the expectation level. Nevertheless, the stepper achieves easily controllable precise motion unlike other pneumatic motors. The motor was designed to be compatible with magnetic resonance medical imaging equipment, for actuating an image-guided intervention robot, for medical applications. For this reason, the motors were entirely made of nonmagnetic and dielectric materials such as plastics, ceramics, and rubbers. Encoding was performed with fiber optics, so that the motors are electricity free, exclusively using pressure and light. PneuStep is readily applicable to other pneumatic or hydraulic precision-motion applications. PMID:21528106

Auditory compensation for head rotation is incomplete.

PubMed

Freeman, Tom C A; Culling, John F; Akeroyd, Michael A; Brimijoin, W Owen

2017-02-01

Hearing is confronted by a similar problem to vision when the observer moves. The image motion that is created remains ambiguous until the observer knows the velocity of eye and/or head. One way the visual system solves this problem is to use motor commands, proprioception, and vestibular information. These "extraretinal signals" compensate for self-movement, converting image motion into head-centered coordinates, although not always perfectly. We investigated whether the auditory system also transforms coordinates by examining the degree of compensation for head rotation when judging a moving sound. Real-time recordings of head motion were used to change the "movement gain" relating head movement to source movement across a loudspeaker array. We then determined psychophysically the gain that corresponded to a perceptually stationary source. Experiment 1 showed that the gain was small and positive for a wide range of trained head speeds. Hence, listeners perceived a stationary source as moving slightly opposite to the head rotation, in much the same way that observers see stationary visual objects move against a smooth pursuit eye movement. Experiment 2 showed the degree of compensation remained the same for sounds presented at different azimuths, although the precision of performance declined when the sound was eccentric. We discuss two possible explanations for incomplete compensation, one based on differences in the accuracy of signals encoding image motion and self-movement and one concerning statistical optimization that sacrifices accuracy for precision. We then consider the degree to which such explanations can be applied to auditory motion perception in moving listeners. (PsycINFO Database Record (c) 2017 APA, all rights reserved).

Navigating the plant cell: intracellular transport logistics in the green kingdom

PubMed Central

Geitmann, Anja; Nebenführ, Andreas

2015-01-01

Intracellular transport in plant cells occurs on microtubular and actin arrays. Cytoplasmic streaming, the rapid motion of plant cell organelles, is mostly driven by an actin–myosin mechanism, whereas specialized functions, such as the transport of large cargo or the assembly of a new cell wall during cell division, are performed by the microtubules. Different modes of transport are used, fast and slow, to either haul cargo over long distances or ascertain high-precision targeting, respectively. Various forms of the actin-specific motor protein myosin XI exist in plant cells and might be involved in different cellular functions. PMID:26416952

Trigonometric parallaxes of 6.7 GHz methanol masers

NASA Astrophysics Data System (ADS)

Rygl, K. L. J.; Brunthaler, A.; Reid, M. J.; Menten, K. M.; van Langevelde, H. J.; Xu, Y.

2010-02-01

Aims: Emission from the 6.7 GHz methanol maser transition is very strong, is relatively stable, has small internal motions, and is observed toward numerous massive star-forming regions in the Galaxy. Our goal is to perform high-precision astrometry using this maser transition to obtain accurate distances to their host regions. Methods: Eight strong masers were observed during five epochs of VLBI observations with the European VLBI Network between 2006 June, and 2008 March. Results: We report trigonometric parallaxes for five star-forming regions, with accuracies as good as ~22 µas. Distances to these sources are 2.57+0.34-0.27 kpc for ON 1, 0.776+0.104-0.083 kpc for L 1206, 0.929+0.034-0.033 kpc for L 1287, 2.38+0.13-0.12 kpc for NGC 281-W, and 1.59+0.07-0.06 kpc for S 255. The distances and proper motions yield the full space motions of the star-forming regions hosting the masers, and we find that these regions lag circular rotation on average by ~17 km s-1, a value comparable to those found recently by similar studies.

High strength fused silica flexures manufactured by femtosecond laser

NASA Astrophysics Data System (ADS)

Bellouard, Yves; Said, Ali A.; Dugan, Mark; Bado, Philippe

2009-02-01

Flexures are mechanical elements used in micro- and precision-engineering to precisely guide the motion of micro-parts. They consist of slender bodies that deform elastically upon the application of a force. Although counter-intuitive at first, fused silica is an attractive material for flexure. Pending that the machining process does not introduce surface flaws that would lead to catastrophic failure, the material has a theoretically high ultimate tensile strength of several GPa. We report on high-aspect ratio fused silica flexures manufactured by femtosecond laser combined with chemical etching. Notch-hinges with thickness as small as twenty microns and aspect ratios comparable to aspect ratios obtained by Deep- Reactive-Ion-Etching (DRIE) were fabricated and tested under different loading conditions. Multiple fracture tests were performed for various loading conditions and the cracks morphologies were analyzed using Scanning Electron Microscopy. The manufactured elements show outstanding mechanical properties with flexural strengths largely exceeding those obtained with other technologies and materials. Fused silica flexures offer a mean to combine integrated optics with micro-mechanics in a single monolithic substrate. Waveguides and mechanical elements can be combined in a monolithic devices opening new opportunities for integrated opto-mechatronics devices.

Sliding-mode control combined with improved adaptive feedforward for wafer scanner

NASA Astrophysics Data System (ADS)

Li, Xiaojie; Wang, Yiguang

2018-03-01

In this paper, a sliding-mode control method combined with improved adaptive feedforward is proposed for wafer scanner to improve the tracking performance of the closed-loop system. Particularly, In addition to the inverse model, the nonlinear force ripple effect which may degrade the tracking accuracy of permanent magnet linear motor (PMLM) is considered in the proposed method. The dominant position periodicity of force ripple is determined by using the Fast Fourier Transform (FFT) analysis for experimental data and the improved feedforward control is achieved by the online recursive least-squares (RLS) estimation of the inverse model and the force ripple. The improved adaptive feedforward is given in a general form of nth-order model with force ripple effect. This proposed method is motivated by the motion controller design of the long-stroke PMLM and short-stroke voice coil motor for wafer scanner. The stability of the closed-loop control system and the convergence of the motion tracking are guaranteed by the proposed sliding-mode feedback and adaptive feedforward methods theoretically. Comparative experiments on a precision linear motion platform can verify the correctness and effectiveness of the proposed method. The experimental results show that comparing to traditional method the proposed one has better performance of rapidity and robustness, especially for high speed motion trajectory. And, the improvements on both tracking accuracy and settling time can be achieved.

Multi-scale analysis of polymer-diluted turbulent flow using a new elastic dumbbell model with incorporation of variable non-affinity

NASA Astrophysics Data System (ADS)

Horiuti, Kiyosi; Sayama, Shotaro

2017-11-01

We consider turbulent flows diluted with the polymers. The polymer chains are modeled as elastic dumbbells and represented by Brownian dynamics. The motion of solvent fluid is pursued by DNS. Affinity in the motion of the bead-spring configuration with the fluid surrounding the dumbbells is commonly assumed, but it results in emergence of Elasto-inertial turbulence (EIT) regime. When the polymers are highly stretched, molecular motions may not precisely correspond to the macroscopic deformation (de Gennes 1986). We develop a new dumbbell model in which the affine constraint is removed and non-affinity is introduced by allowing slippage of the dumbbells against the solvent. This is done by adopting the lower-convective derivative in addition to the upper-convective derivative in the governing equation for the motion of the dumbbells. We conduct its assessment in the forced homogeneous isotropic turbulence. It is shown that the dumbbells obtained from the case with complete affinity are rotated and converted to the alignment of the dumbbells in the complete non-affine case, and vice versa. This alteration of configurations is repeated quasi-periodically with the intervals comparable to the relaxation time. The largest stretching of the dumbbells and elastic energy production are achieved in the complete non-affine dumbbells. Occurrence of EIT is eliminated and de Gennes hypothesis is justified.

Controlled regular locomotion of algae cell microrobots.

PubMed

Xie, Shuangxi; Jiao, Niandong; Tung, Steve; Liu, Lianqing

2016-06-01

Algae cells can be considered as microrobots from the perspective of engineering. These organisms not only have a strong reproductive ability but can also sense the environment, harvest energy from the surroundings, and swim very efficiently, accommodating all these functions in a body of size on the order of dozens of micrometers. An interesting topic with respect to random swimming motions of algae cells in a liquid is how to precisely control them as microrobots such that they swim according to manually set routes. This study developed an ingenious method to steer swimming cells based on the phototaxis. The method used a varying light signal to direct the motion of the cells. The swimming trajectory, speed, and force of algae cells were analyzed in detail. Then the algae cell could be controlled to swim back and forth, and traverse a crossroad as a microrobot obeying specific traffic rules. Furthermore, their motions along arbitrarily set trajectories such as zigzag, and triangle were realized successfully under optical control. Robotize algae cells can be used to precisely transport and deliver cargo such as drug particles in microfluidic chip for biomedical treatment and pharmacodynamic analysis. The study findings are expected to bring significant breakthrough in biological drives and new biomedical applications.

Design and analysis of a tendon-based computed tomography-compatible robot with remote center of motion for lung biopsy.

PubMed

Yang, Yunpeng; Jiang, Shan; Yang, Zhiyong; Yuan, Wei; Dou, Huaisu; Wang, Wei; Zhang, Daguang; Bian, Yuan

2017-04-01

Nowadays, biopsy is a decisive method of lung cancer diagnosis, whereas lung biopsy is time-consuming, complex and inaccurate. So a computed tomography-compatible robot for rapid and precise lung biopsy is developed in this article. According to the actual operation process, the robot is divided into two modules: 4-degree-of-freedom position module for location of puncture point is appropriate for patient's almost all positions and 3-degree-of-freedom tendon-based orientation module with remote center of motion is compact and computed tomography-compatible to orientate and insert needle automatically inside computed tomography bore. The workspace of the robot surrounds patient's thorax, and the needle tip forms a cone under patient's skin. A new error model of the robot based on screw theory is proposed in view of structure error and actuation error, which are regarded as screw motions. Simulation is carried out to verify the precision of the error model contrasted with compensation via inverse kinematics. The results of insertion experiment on specific phantom prove the feasibility of the robot with mean error of 1.373 mm in laboratory environment, which is accurate enough to replace manual operation.

Measurement method of rotation angle and clearance in intelligent spherical hinge

NASA Astrophysics Data System (ADS)

Hu, Penghao; Lu, Yichang; Chen, Shiyi; Hu, Yi; Zhu, Lianqing

2018-06-01

Precision ball hinges are widely applied in parallel mechanisms, robotics, and other areas, but their rotation orientation and angle cannot be obtained during passive motion. The simultaneous clearance error in a precision ball hinge’s motion also can not be determined. In this paper we propose an intelligent ball hinge (IBH) that can detect the rotation angle and moving clearance, based on our previous research results. The measurement model was optimized to promote measurement accuracy and resolution, and an optimal design for the IBH’s structure was determined. The experimental data showed that the measurement accuracy and resolution of the modified scheme were improved. Within  ±10° and  ±  20°, the average errors of the uniaxial measurements were 0.29° and 0.42°, respectively. The resolution of the measurements was 15″. The source of the measurement errors was analyzed through theory and experimental data and several key error sources were determined. A point capacitance model for measuring the clearance error is proposed, which is useful not only in compensating for the angle measurement error but also in realizing the motion clearance of an IBH in real-time.

Free polar motion of a triaxial and elastic body in Hamiltonian formalism: Application to the Earth and Mars

NASA Astrophysics Data System (ADS)

Folgueira, M.; Souchay, J.

2005-03-01

The purpose of this paper is to show how to solve in Hamiltonian formalism the equations of the polar motion of any arbitrarily shaped elastic celestial body, i.e. the motion of its rotation axis (or angular momentum) with respect to its figure axis. With this aim, we deduce from canonical equations related to the rotational Hamiltonian of the body, the analytical solution for its free polar motion which depends both on the elasticity and on its moments of inertia. In particular, we study the influence of the phase angle δ, responsible for the dissipation, on the damping of the polar motion. In order to validate our analytical equations, we show that, to first order, they are in complete agreement with those obtained from the classical Liouville equations. Then we adapt our calculations to the real data obtained from the polar motion of the Earth (polhody). For that purpose, we characterize precisely the differences in radius J-χ and in angle l-θ between the polar coordinates (χ,θ) and (J,l) representing respectively the motion of the axis of rotation of the Earth and the motion of its angular momentum axis, with respect to an Earth-fixed reference frame, after showing the influence of the choice of the origin on these coordinates, and on the determination of the Chandler period as well. Then we show that the phase lag δ responsible for the damping for the selected time interval, between Feb. 1982 and Apr. 1990, might be of the order of δ ≈ 6 °, according to a numerical integration starting from our analytical equations. Moreover, we emphasize the presence in our calculations for both χ and θ, of an oscillation with a period TChandler/2, due to the triaxial shape of our planet, and generally not taken into account. In a last step, we apply our analytical formulation to the polar motion of Mars, thus showing the high dependence of its damping on the poorly known value of its Love number k. Moreover we emphasize the large oscillations of Mars' polar motion due to the triaxiality of this planet.

Coil motion effects in watt balances: a theoretical check

NASA Astrophysics Data System (ADS)

Li, Shisong; Schlamminger, Stephan; Haddad, Darine; Seifert, Frank; Chao, Leon; Pratt, Jon R.

2016-04-01

A watt balance is a precision apparatus for the measurement of the Planck constant that has been proposed as a primary method for realizing the unit of mass in a revised International System of Units. In contrast to an ampere balance, which was historically used to realize the unit of current in terms of the kilogram, the watt balance relates electrical and mechanical units through a virtual power measurement and has far greater precision. However, because the virtual power measurement requires the execution of a prescribed motion of a coil in a fixed magnetic field, systematic errors introduced by horizontal and rotational deviations of the coil from its prescribed path will compromise the accuracy. We model these potential errors using an analysis that accounts for the fringing field in the magnet, creating a framework for assessing the impact of this class of errors on the uncertainty of watt balance results.

Precision Magnetic Bearing Six Degree of Freedom Stage

NASA Technical Reports Server (NTRS)

Williams, M. E.; Trumper, David L.

1996-01-01

Magnetic bearings are capable of applying force and torque to a suspended object without rigidly constraining any degrees of freedom. Additionally, the resolution of magnetic bearings is limited only by sensors and control, and not by the finish of a bearing surface. For these reasons, magnetic bearings appear to be ideal for precision wafer positioning in lithography systems. To demonstrate this capability a linear magnetic bearing has been constructed which uses variable reluctance actuators to control the motion of a 14.5 kg suspended platen in five degrees of freedom. A Lorentz type linear motor of our own design and construction is used to provide motion and position control in the sixth degree of freedom. The stage performance results verify that the positioning requirements of photolithography can be met with a system of this type. This paper describes the design, control, and performance of the linear magnetic bearing.

Combined Feature Based and Shape Based Visual Tracker for Robot Navigation

NASA Technical Reports Server (NTRS)

Deans, J.; Kunz, C.; Sargent, R.; Park, E.; Pedersen, L.

2005-01-01

We have developed a combined feature based and shape based visual tracking system designed to enable a planetary rover to visually track and servo to specific points chosen by a user with centimeter precision. The feature based tracker uses invariant feature detection and matching across a stereo pair, as well as matching pairs before and after robot movement in order to compute an incremental 6-DOF motion at each tracker update. This tracking method is subject to drift over time, which can be compensated by the shape based method. The shape based tracking method consists of 3D model registration, which recovers 6-DOF motion given sufficient shape and proper initialization. By integrating complementary algorithms, the combined tracker leverages the efficiency and robustness of feature based methods with the precision and accuracy of model registration. In this paper, we present the algorithms and their integration into a combined visual tracking system.

Initial Experiments with the Leap Motion as a User Interface in Robotic Endonasal Surgery.

PubMed

Travaglini, T A; Swaney, P J; Weaver, Kyle D; Webster, R J

The Leap Motion controller is a low-cost, optically-based hand tracking system that has recently been introduced on the consumer market. Prior studies have investigated its precision and accuracy, toward evaluating its usefulness as a surgical robot master interface. Yet due to the diversity of potential slave robots and surgical procedures, as well as the dynamic nature of surgery, it is challenging to make general conclusions from published accuracy and precision data. Thus, our goal in this paper is to explore the use of the Leap in the specific scenario of endonasal pituitary surgery. We use it to control a concentric tube continuum robot in a phantom study, and compare user performance using the Leap to previously published results using the Phantom Omni. We find that the users were able to achieve nearly identical average resection percentage and overall surgical duration with the Leap.

Initial Experiments with the Leap Motion as a User Interface in Robotic Endonasal Surgery

PubMed Central

Travaglini, T. A.; Swaney, P. J.; Weaver, Kyle D.; Webster, R. J.

2016-01-01

The Leap Motion controller is a low-cost, optically-based hand tracking system that has recently been introduced on the consumer market. Prior studies have investigated its precision and accuracy, toward evaluating its usefulness as a surgical robot master interface. Yet due to the diversity of potential slave robots and surgical procedures, as well as the dynamic nature of surgery, it is challenging to make general conclusions from published accuracy and precision data. Thus, our goal in this paper is to explore the use of the Leap in the specific scenario of endonasal pituitary surgery. We use it to control a concentric tube continuum robot in a phantom study, and compare user performance using the Leap to previously published results using the Phantom Omni. We find that the users were able to achieve nearly identical average resection percentage and overall surgical duration with the Leap. PMID:26752501

High-performance holographic technologies for fluid-dynamics experiments

PubMed Central

Orlov, Sergei S.; Abarzhi, Snezhana I.; Oh, Se Baek; Barbastathis, George; Sreenivasan, Katepalli R.

2010-01-01

Modern technologies offer new opportunities for experimentalists in a variety of research areas of fluid dynamics. Improvements are now possible in the state-of-the-art in precision, dynamic range, reproducibility, motion-control accuracy, data-acquisition rate and information capacity. These improvements are required for understanding complex turbulent flows under realistic conditions, and for allowing unambiguous comparisons to be made with new theoretical approaches and large-scale numerical simulations. One of the new technologies is high-performance digital holography. State-of-the-art motion control, electronics and optical imaging allow for the realization of turbulent flows with very high Reynolds number (more than 107) on a relatively small laboratory scale, and quantification of their properties with high space–time resolutions and bandwidth. In-line digital holographic technology can provide complete three-dimensional mapping of the flow velocity and density fields at high data rates (over 1000 frames per second) over a relatively large spatial area with high spatial (1–10 μm) and temporal (better than a few nanoseconds) resolution, and can give accurate quantitative description of the fluid flows, including those of multi-phase and unsteady conditions. This technology can be applied in a variety of problems to study fundamental properties of flow–particle interactions, rotating flows, non-canonical boundary layers and Rayleigh–Taylor mixing. Some of these examples are discussed briefly. PMID:20211881

Precise measurement of surface plasmon forces at a metal-dielectric interface using a calibrated evanescent wave

NASA Astrophysics Data System (ADS)

Liu, Lulu; Woolf, Alex

2015-03-01

By observing the motion of an optically trapped microscopic colloid, sub-piconewton static and dynamical forces have been measured using a technique called photonic force microscopy. This technique, though potentially powerful, has in the past struggled to make precise measurements in the vicinity of a reflective or metallic interface, due to distortions of the optical field. We introduce a new in-situ, contact-free calibration method for particle tracking using an evanescent wave, and demonstrate its expanded capability by the precise measurement of forces of interaction between a single colloid and the optical field generated by a propagating surface plasmon polariton on gold.

Analysis of the Motion Control Methods for Stratospheric Balloon-Borne Gondola Platform

NASA Astrophysics Data System (ADS)

Wang, H. H.; Yuan, Z. H.; Wu, J.

2006-10-01

At present, gondola platform is one of the stratospheric balloon-borne platforms being in research focus at home and overseas. Comparing to other stratospheric balloon-borne platforms, such as airship platform, gondola platform has advantages of higher stability, rapid in motion regulation and lower energy cost but disadvantages of less supporting capacity and be incapable of fixation. While all platforms have the same goal of keeping them at accurate angle and right pose for the requirements of instruments and objects installed in the platforms, when platforms rotate round the ground level perpendicular. That is accomplishing motion control. But, platform control system has factors of low damper, excessive and uncertain disturbances by the reason of its being hung over balloon in the air, it is hard to achieve the desired control precision because platform is ease to deviate its benchmark motion. Thus, in the controlling procedure in order to get higher precision, it is crucial to perceive the platform's swing synchronously and rapidly, and restrain the influence of disturbances effectively, keep the platform's pose steadily. Furthermore, while the platform in the air regard control center in the ground as reference object, it is ultimate to select a appropriate reference frame and work out the coordinates and implement the adjustment by the PC104 controller. This paper introduces the methods of the motion control based on stratospheric balloon-borne gondola platform. Firstly, this paper compares the characteristic of the flywheel and CMG and specifies the key methods of obtaining two significant states which are 'orientation stability' state and 'orientation tracking' state for platform motion control procedure using CMG as the control actuator. These two states reduce the deviation amplitude of rotation and swing of gondola's motion relative to original motion due to stratospheric intense atmosphere disturbance. We define it as the first procedure. In next procedure, we use the transfer matrix of earth reference frame to geographic reference frame to transform the data measured by the magnetic orientation sensors and the gyroscope to the space orientations, then the PC104 controller use the space orientations value as feedback to complete revises.

The system integration and verification testing of an orbital maneuvering vehicle for an air bearing floor

NASA Technical Reports Server (NTRS)

Shields, N. L., Jr.; Martin, M. F.; Paulukaitis, K. R.; Haslam, J. W., Jr.; Henderson, D. E.

1986-01-01

The teleoperator and Robotics Evaluation Facility (TOREF) is composed of a 4,000 square foot precision air bearing floor, the Teleoperator Motion Base, the Target Motion and Support Simulator, the mock-ups of the Hubble Space Telescope, Multi-mission Modular Spacecraft, and the Orbital Maneuvering Vehicle (OMV). The TOREF and its general capabilities to support the OMV and other remote system simulations; the facility operating procedures and requirements; and the results of generic OMV investigations are summarized.

Data-driven gating in PET: Influence of respiratory signal noise on motion resolution.

PubMed

Büther, Florian; Ernst, Iris; Frohwein, Lynn Johann; Pouw, Joost; Schäfers, Klaus Peter; Stegger, Lars

2018-05-21

Data-driven gating (DDG) approaches for positron emission tomography (PET) are interesting alternatives to conventional hardware-based gating methods. In DDG, the measured PET data themselves are utilized to calculate a respiratory signal, that is, subsequently used for gating purposes. The success of gating is then highly dependent on the statistical quality of the PET data. In this study, we investigate how this quality determines signal noise and thus motion resolution in clinical PET scans using a center-of-mass-based (COM) DDG approach, specifically with regard to motion management of target structures in future radiotherapy planning applications. PET list mode datasets acquired in one bed position of 19 different radiotherapy patients undergoing pretreatment [ 18 F]FDG PET/CT or [ 18 F]FDG PET/MRI were included into this retrospective study. All scans were performed over a region with organs (myocardium, kidneys) or tumor lesions of high tracer uptake and under free breathing. Aside from the original list mode data, datasets with progressively decreasing PET statistics were generated. From these, COM DDG signals were derived for subsequent amplitude-based gating of the original list mode file. The apparent respiratory shift d from end-expiration to end-inspiration was determined from the gated images and expressed as a function of signal-to-noise ratio SNR of the determined gating signals. This relation was tested against additional 25 [ 18 F]FDG PET/MRI list mode datasets where high-precision MR navigator-like respiratory signals were available as reference signal for respiratory gating of PET data, and data from a dedicated thorax phantom scan. All original 19 high-quality list mode datasets demonstrated the same behavior in terms of motion resolution when reducing the amount of list mode events for DDG signal generation. Ratios and directions of respiratory shifts between end-respiratory gates and the respective nongated image were constant over all statistic levels. Motion resolution d/d max could be modeled as d/dmax=1-e-1.52(SNR-1)0.52, with d max as the actual respiratory shift. Determining d max from d and SNR in the 25 test datasets and the phantom scan demonstrated no significant differences to the MR navigator-derived shift values and the predefined shift, respectively. The SNR can serve as a general metric to assess the success of COM-based DDG, even in different scanners and patients. The derived formula for motion resolution can be used to estimate the actual motion extent reasonably well in cases of limited PET raw data statistics. This may be of interest for individualized radiotherapy treatment planning procedures of target structures subjected to respiratory motion. © 2018 American Association of Physicists in Medicine.

Technical note: validation of a motion analysis system for measuring the relative motion of the intermediate component of a tripolar total hip arthroplasty prosthesis.

PubMed

Chen, Qingshan; Lazennec, Jean Yves; Guyen, Olivier; Kinbrum, Amy; Berry, Daniel J; An, Kai-Nan

2005-07-01

Tripolar total hip arthroplasty (THA) prosthesis had been suggested as a method to reduce the occurrence of hip dislocation and microseparation. Precisely measuring the motion of the intermediate component in vitro would provide fundamental knowledge for understanding its mechanism. The present study validates the accuracy and repeatability of a three-dimensional motion analysis system to quantitatively measure the relative motion of the intermediate component of tripolar total hip arthroplasty prostheses. Static and dynamic validations of the system were made by comparing the measurement to that of a potentiometer. Differences between the mean system-calculated angle and the angle measured by the potentiometer were within +/-1 degrees . The mean within-trial variability was less than 1 degrees . The mean slope was 0.9-1.02 for different angular velocities. The dynamic noise was within 1 degrees . The system was then applied to measure the relative motion of an eccentric THA prosthesis. The study shows that this motion analysis system provides an accurate and practical method for measuring the relative motion of the tripolar THA prosthesis in vitro, a necessary first step towards the understanding of its in vivo kinematics.

The Accuracy and Precision of Position and Orientation Tracking in the HTC Vive Virtual Reality System for Scientific Research

PubMed Central

Niehorster, Diederick C.; Li, Li; Lappe, Markus

2017-01-01

The advent of inexpensive consumer virtual reality equipment enables many more researchers to study perception with naturally moving observers. One such system, the HTC Vive, offers a large field-of-view, high-resolution head mounted display together with a room-scale tracking system for less than a thousand U.S. dollars. If the position and orientation tracking of this system is of sufficient accuracy and precision, it could be suitable for much research that is currently done with far more expensive systems. Here we present a quantitative test of the HTC Vive’s position and orientation tracking as well as its end-to-end system latency. We report that while the precision of the Vive’s tracking measurements is high and its system latency (22 ms) is low, its position and orientation measurements are provided in a coordinate system that is tilted with respect to the physical ground plane. Because large changes in offset were found whenever tracking was briefly lost, it cannot be corrected for with a one-time calibration procedure. We conclude that the varying offset between the virtual and the physical tracking space makes the HTC Vive at present unsuitable for scientific experiments that require accurate visual stimulation of self-motion through a virtual world. It may however be suited for other experiments that do not have this requirement. PMID:28567271

The Accuracy and Precision of Position and Orientation Tracking in the HTC Vive Virtual Reality System for Scientific Research.

PubMed

Niehorster, Diederick C; Li, Li; Lappe, Markus

2017-01-01

The advent of inexpensive consumer virtual reality equipment enables many more researchers to study perception with naturally moving observers. One such system, the HTC Vive, offers a large field-of-view, high-resolution head mounted display together with a room-scale tracking system for less than a thousand U.S. dollars. If the position and orientation tracking of this system is of sufficient accuracy and precision, it could be suitable for much research that is currently done with far more expensive systems. Here we present a quantitative test of the HTC Vive's position and orientation tracking as well as its end-to-end system latency. We report that while the precision of the Vive's tracking measurements is high and its system latency (22 ms) is low, its position and orientation measurements are provided in a coordinate system that is tilted with respect to the physical ground plane. Because large changes in offset were found whenever tracking was briefly lost, it cannot be corrected for with a one-time calibration procedure. We conclude that the varying offset between the virtual and the physical tracking space makes the HTC Vive at present unsuitable for scientific experiments that require accurate visual stimulation of self-motion through a virtual world. It may however be suited for other experiments that do not have this requirement.

VizieR Online Data Catalog: Nine new open clusters within 500pc from the Sun (Roser+, 2016)

NASA Astrophysics Data System (ADS)

Roser, S.; Schilbach, E.; Goldman, B.

2017-03-01

We used URAT1 (Zacharias et al., 2015, Cat. I/329) to improve the Tycho-2 proper motions and to test what proper motions, which are more precise than those of Tycho-2 (Hog et al., 2000, Cat. I/259), can do for open cluster studies. URAT1 contains 228 million objects down to about R=18.5 mag, north of about -20° declination. For the bulk of the Tycho-2 stars, URAT1 gives positions at a mean epoch around 2013.5 and an accuracy level of about 20mas per co-ordinate. We cross-matched URAT1 with Tycho-2 (the original data set tyc2.dat from CDS), and obtained new proper motions via a least-squares adjustment as described, for example in PPMXL (Roeser et al., 2010, Cat. I/317). To avoid formally ultra-precise astrometry for a small number of stars, we chose a 10mas floor for the precision of a URAT1 position. The newly detected clusterings are located in the solar neighbourhood at distances below 500pc from the Sun. The candidates RSG1 to RSG8 are very probably genuine physical groups. Membership and astrophysical parameters could be determined sufficiently well. Nevertheless, accurate parallaxes of at least several reliable cluster stars could improve the quality of parameter determination. A definite age cannot be derived for RSG9; this critically depends on the secure membership status of the two brightest stars. Table 1 summarises the astrophysical parameters of the newly found objects. (1 data file).

Spatially constrained incoherent motion method improves diffusion-weighted MRI signal decay analysis in the liver and spleen

PubMed Central

Taimouri, Vahid; Afacan, Onur; Perez-Rossello, Jeannette M.; Callahan, Michael J.; Mulkern, Robert V.; Warfield, Simon K.; Freiman, Moti

2015-01-01

Purpose: To evaluate the effect of the spatially constrained incoherent motion (SCIM) method on improving the precision and robustness of fast and slow diffusion parameter estimates from diffusion-weighted MRI in liver and spleen in comparison to the independent voxel-wise intravoxel incoherent motion (IVIM) model. Methods: We collected diffusion-weighted MRI (DW-MRI) data of 29 subjects (5 healthy subjects and 24 patients with Crohn’s disease in the ileum). We evaluated parameters estimates’ robustness against different combinations of b-values (i.e., 4 b-values and 7 b-values) by comparing the variance of the estimates obtained with the SCIM and the independent voxel-wise IVIM model. We also evaluated the improvement in the precision of parameter estimates by comparing the coefficient of variation (CV) of the SCIM parameter estimates to that of the IVIM. Results: The SCIM method was more robust compared to IVIM (up to 70% in liver and spleen) for different combinations of b-values. Also, the CV values of the parameter estimations using the SCIM method were significantly lower compared to repeated acquisition and signal averaging estimated using IVIM, especially for the fast diffusion parameter in liver (CVIV IM = 46.61 ± 11.22, CVSCIM = 16.85 ± 2.160, p < 0.001) and spleen (CVIV IM = 95.15 ± 19.82, CVSCIM = 52.55 ± 1.91, p < 0.001). Conclusions: The SCIM method characterizes fast and slow diffusion more precisely compared to the independent voxel-wise IVIM model fitting in the liver and spleen. PMID:25832079