Sample records for jacobian inverse kinematics

  1. Parallel processing architecture for computing inverse differential kinematic equations of the PUMA arm

    NASA Technical Reports Server (NTRS)

    Hsia, T. C.; Lu, G. Z.; Han, W. H.

    1987-01-01

    In advanced robot control problems, on-line computation of inverse Jacobian solution is frequently required. Parallel processing architecture is an effective way to reduce computation time. A parallel processing architecture is developed for the inverse Jacobian (inverse differential kinematic equation) of the PUMA arm. The proposed pipeline/parallel algorithm can be inplemented on an IC chip using systolic linear arrays. This implementation requires 27 processing cells and 25 time units. Computation time is thus significantly reduced.

  2. Inversion Of Jacobian Matrix For Robot Manipulators

    NASA Technical Reports Server (NTRS)

    Fijany, Amir; Bejczy, Antal K.

    1989-01-01

    Report discusses inversion of Jacobian matrix for class of six-degree-of-freedom arms with spherical wrist, i.e., with last three joints intersecting. Shows by taking advantage of simple geometry of such arms, closed-form solution of Q=J-1X, which represents linear transformation from task space to joint space, obtained efficiently. Presents solutions for PUMA arm, JPL/Stanford arm, and six-revolute-joint coplanar arm along with all singular points. Main contribution of paper shows simple geometry of this type of arms exploited in performing inverse transformation without any need to compute Jacobian or its inverse explicitly. Implication of this computational efficiency advanced task-space control schemes for spherical-wrist arms implemented more efficiently.

  3. Efficient Jacobian inversion for the control of simple robot manipulators

    NASA Technical Reports Server (NTRS)

    Fijany, Amir; Bejczy, Antal K.

    1988-01-01

    Symbolic inversion of the Jacobian matrix for spherical wrist arms is investigated. It is shown that, taking advantage of the simple geometry of these arms, the closed-form solution of the system Q = J-1X, representing a transformation from task space to joint space, can be obtained very efficiently. The solutions for PUMA, Stanford, and a six-revolute-joint coplanar arm, along with all singular points, are presented. The solution for each joint variable is found as an explicit function of the singular points which provides a better insight into the effect of different singular points on the motion and force exertion of each individual joint. For the above arms, the computation cost of the solution is on the same order as the cost of forward kinematic solution and it is significantly reduced if forward kinematic solution is already obtained. A comparison with previous methods shows that this method is the most efficient to date.

  4. Robust inverse kinematics using damped least squares with dynamic weighting

    NASA Technical Reports Server (NTRS)

    Schinstock, D. E.; Faddis, T. N.; Greenway, R. B.

    1994-01-01

    This paper presents a general method for calculating the inverse kinematics with singularity and joint limit robustness for both redundant and non-redundant serial-link manipulators. Damped least squares inverse of the Jacobian is used with dynamic weighting matrices in approximating the solution. This reduces specific joint differential vectors. The algorithm gives an exact solution away from the singularities and joint limits, and an approximate solution at or near the singularities and/or joint limits. The procedure is here implemented for a six d.o.f. teleoperator and a well behaved slave manipulator resulted under teleoperational control.

  5. Advanced control schemes and kinematic analysis for a kinematically redundant 7 DOF manipulator

    NASA Technical Reports Server (NTRS)

    Nguyen, Charles C.; Zhou, Zhen-Lei

    1990-01-01

    The kinematic analysis and control of a kinematically redundant manipulator is addressed. The manipulator is the slave arm of a telerobot system recently built at Goddard Space Flight Center (GSFC) to serve as a testbed for investigating research issues in telerobotics. A forward kinematic transformation is developed in its most simplified form, suitable for real-time control applications, and the manipulator Jacobian is derived using the vector cross product method. Using the developed forward kinematic transformation and quaternion representation of orientation matrices, we perform computer simulation to evaluate the efficiency of the Jacobian in converting joint velocities into Cartesian velocities and to investigate the accuracy of Jacobian pseudo-inverse for various sampling times. The equivalence between Cartesian velocities and quaternion is also verified using computer simulation. Three control schemes are proposed and discussed for controlling the motion of the slave arm end-effector.

  6. Weighted augmented Jacobian matrix with a variable coefficient method for kinematics mapping of space teleoperation based on human-robot motion similarity

    NASA Astrophysics Data System (ADS)

    Shi, Zhong; Huang, Xuexiang; Hu, Tianjian; Tan, Qian; Hou, Yuzhuo

    2016-10-01

    Space teleoperation is an important space technology, and human-robot motion similarity can improve the flexibility and intuition of space teleoperation. This paper aims to obtain an appropriate kinematics mapping method of coupled Cartesian-joint space for space teleoperation. First, the coupled Cartesian-joint similarity principles concerning kinematics differences are defined. Then, a novel weighted augmented Jacobian matrix with a variable coefficient (WAJM-VC) method for kinematics mapping is proposed. The Jacobian matrix is augmented to achieve a global similarity of human-robot motion. A clamping weighted least norm scheme is introduced to achieve local optimizations, and the operating ratio coefficient is variable to pursue similarity in the elbow joint. Similarity in Cartesian space and the property of joint constraint satisfaction is analysed to determine the damping factor and clamping velocity. Finally, a teleoperation system based on human motion capture is established, and the experimental results indicate that the proposed WAJM-VC method can improve the flexibility and intuition of space teleoperation to complete complex space tasks.

  7. Inverse kinematic-based robot control

    NASA Technical Reports Server (NTRS)

    Wolovich, W. A.; Flueckiger, K. F.

    1987-01-01

    A fundamental problem which must be resolved in virtually all non-trivial robotic operations is the well-known inverse kinematic question. More specifically, most of the tasks which robots are called upon to perform are specified in Cartesian (x,y,z) space, such as simple tracking along one or more straight line paths or following a specified surfacer with compliant force sensors and/or visual feedback. In all cases, control is actually implemented through coordinated motion of the various links which comprise the manipulator; i.e., in link space. As a consequence, the control computer of every sophisticated anthropomorphic robot must contain provisions for solving the inverse kinematic problem which, in the case of simple, non-redundant position control, involves the determination of the first three link angles, theta sub 1, theta sub 2, and theta sub 3, which produce a desired wrist origin position P sub xw, P sub yw, and P sub zw at the end of link 3 relative to some fixed base frame. Researchers outline a new inverse kinematic solution and demonstrate its potential via some recent computer simulations. They also compare it to current inverse kinematic methods and outline some of the remaining problems which will be addressed in order to render it fully operational. Also discussed are a number of practical consequences of this technique beyond its obvious use in solving the inverse kinematic question.

  8. Kinematics of an in-parallel actuated manipulator based on the Stewart platform mechanism

    NASA Technical Reports Server (NTRS)

    Williams, Robert L., II

    1992-01-01

    This paper presents kinematic equations and solutions for an in-parallel actuated robotic mechanism based on Stewart's platform. These equations are required for inverse position and resolved rate (inverse velocity) platform control. NASA LaRC has a Vehicle Emulator System (VES) platform designed by MIT which is based on Stewart's platform. The inverse position solution is straight-forward and computationally inexpensive. Given the desired position and orientation of the moving platform with respect to the base, the lengths of the prismatic leg actuators are calculated. The forward position solution is more complicated and theoretically has 16 solutions. The position and orientation of the moving platform with respect to the base is calculated given the leg actuator lengths. Two methods are pursued in this paper to solve this problem. The resolved rate (inverse velocity) solution is derived. Given the desired Cartesian velocity of the end-effector, the required leg actuator rates are calculated. The Newton-Raphson Jacobian matrix resulting from the second forward position kinematics solution is a modified inverse Jacobian matrix. Examples and simulations are given for the VES.

  9. Kinematic equations for control of the redundant eight-degree-of-freedom advanced research manipulator 2

    NASA Technical Reports Server (NTRS)

    Williams, Robert L., II

    1992-01-01

    The forward position and velocity kinematics for the redundant eight-degree-of-freedom Advanced Research Manipulator 2 (ARM2) are presented. Inverse position and velocity kinematic solutions are also presented. The approach in this paper is to specify two of the unknowns and solve for the remaining six unknowns. Two unknowns can be specified with two restrictions. First, the elbow joint angle and rate cannot be specified because they are known from the end-effector position and velocity. Second, one unknown must be specified from the four-jointed wrist, and the second from joints that translate the wrist, elbow joint excluded. There are eight solutions to the inverse position problem. The inverse velocity solution is unique, assuming the Jacobian matrix is not singular. A discussion of singularities is based on specifying two joint rates and analyzing the reduced Jacobian matrix. When this matrix is singular, the generalized inverse may be used as an alternate solution. Computer simulations were developed to verify the equations. Examples demonstrate agreement between forward and inverse solutions.

  10. Kinematically redundant robot manipulators

    NASA Technical Reports Server (NTRS)

    Baillieul, J.; Hollerbach, J.; Brockett, R.; Martin, D.; Percy, R.; Thomas, R.

    1987-01-01

    Research on control, design and programming of kinematically redundant robot manipulators (KRRM) is discussed. These are devices in which there are more joint space degrees of freedom than are required to achieve every position and orientation of the end-effector necessary for a given task in a given workspace. The technological developments described here deal with: kinematic programming techniques for automatically generating joint-space trajectories to execute prescribed tasks; control of redundant manipulators to optimize dynamic criteria (e.g., applications of forces and moments at the end-effector that optimally distribute the loading of actuators); and design of KRRMs to optimize functionality in congested work environments or to achieve other goals unattainable with non-redundant manipulators. Kinematic programming techniques are discussed, which show that some pseudo-inverse techniques that have been proposed for redundant manipulator control fail to achieve the goals of avoiding kinematic singularities and also generating closed joint-space paths corresponding to close paths of the end effector in the workspace. The extended Jacobian is proposed as an alternative to pseudo-inverse techniques.

  11. A cut-&-paste strategy for the 3-D inversion of helicopter-borne electromagnetic data - I. 3-D inversion using the explicit Jacobian and a tensor-based formulation

    NASA Astrophysics Data System (ADS)

    Scheunert, M.; Ullmann, A.; Afanasjew, M.; Börner, R.-U.; Siemon, B.; Spitzer, K.

    2016-06-01

    We present an inversion concept for helicopter-borne frequency-domain electromagnetic (HEM) data capable of reconstructing 3-D conductivity structures in the subsurface. Standard interpretation procedures often involve laterally constrained stitched 1-D inversion techniques to create pseudo-3-D models that are largely representative for smoothly varying conductivity distributions in the subsurface. Pronounced lateral conductivity changes may, however, produce significant artifacts that can lead to serious misinterpretation. Still, 3-D inversions of entire survey data sets are numerically very expensive. Our approach is therefore based on a cut-&-paste strategy whereupon the full 3-D inversion needs to be applied only to those parts of the survey where the 1-D inversion actually fails. The introduced 3-D Gauss-Newton inversion scheme exploits information given by a state-of-the-art (laterally constrained) 1-D inversion. For a typical HEM measurement, an explicit representation of the Jacobian matrix is inevitable which is caused by the unique transmitter-receiver relation. We introduce tensor quantities which facilitate the matrix assembly of the forward operator as well as the efficient calculation of the Jacobian. The finite difference forward operator incorporates the displacement currents because they may seriously affect the electromagnetic response at frequencies above 100. Finally, we deliver the proof of concept for the inversion using a synthetic data set with a noise level of up to 5%.

  12. Inverse kinematics of a dual linear actuator pitch/roll heliostat

    NASA Astrophysics Data System (ADS)

    Freeman, Joshua; Shankar, Balakrishnan; Sundaram, Ganesh

    2017-06-01

    This work presents a simple, computationally efficient inverse kinematics solution for a pitch/roll heliostat using two linear actuators. The heliostat design and kinematics have been developed, modeled and tested using computer simulation software. A physical heliostat prototype was fabricated to validate the theoretical computations and data. Pitch/roll heliostats have numerous advantages including reduced cost potential and reduced space requirements, with a primary disadvantage being the significantly more complicated kinematics, which are solved here. Novel methods are applied to simplify the inverse kinematics problem which could be applied to other similar problems.

  13. Inverse kinematics problem in robotics using neural networks

    NASA Technical Reports Server (NTRS)

    Choi, Benjamin B.; Lawrence, Charles

    1992-01-01

    In this paper, Multilayer Feedforward Networks are applied to the robot inverse kinematic problem. The networks are trained with endeffector position and joint angles. After training, performance is measured by having the network generate joint angles for arbitrary endeffector trajectories. A 3-degree-of-freedom (DOF) spatial manipulator is used for the study. It is found that neural networks provide a simple and effective way to both model the manipulator inverse kinematics and circumvent the problems associated with algorithmic solution methods.

  14. Forward and inverse kinematics of double universal joint robot wrists

    NASA Technical Reports Server (NTRS)

    Williams, Robert L., II

    1991-01-01

    A robot wrist consisting of two universal joints can eliminate the wrist singularity problem found on many individual robots. Forward and inverse position and velocity kinematics are presented for such a wrist having three degrees of freedom. Denavit-Hartenberg parameters are derived to find the transforms required for the kinematic equations. The Omni-Wrist, a commercial double universal joint robot wrist, is studied in detail. There are four levels of kinematic parameters identified for this wrist; three forward and three inverse maps are presented for both position and velocity. These equations relate the hand coordinate frame to the wrist base frame. They are sufficient for control of the wrist standing alone. When the wrist is attached to a manipulator arm; the offset between the two universal joints complicates the solution of the overall kinematics problem. All wrist coordinate frame origins are not coincident, which prevents decoupling of position and orientation for manipulator inverse kinematics.

  15. Learning the inverse kinetics of an octopus-like manipulator in three-dimensional space.

    PubMed

    Giorelli, M; Renda, F; Calisti, M; Arienti, A; Ferri, G; Laschi, C

    2015-05-13

    This work addresses the inverse kinematics problem of a bioinspired octopus-like manipulator moving in three-dimensional space. The bioinspired manipulator has a conical soft structure that confers the ability of twirling around objects as a real octopus arm does. Despite the simple design, the soft conical shape manipulator driven by cables is described by nonlinear differential equations, which are difficult to solve analytically. Since exact solutions of the equations are not available, the Jacobian matrix cannot be calculated analytically and the classical iterative methods cannot be used. To overcome the intrinsic problems of methods based on the Jacobian matrix, this paper proposes a neural network learning the inverse kinematics of a soft octopus-like manipulator driven by cables. After the learning phase, a feed-forward neural network is able to represent the relation between manipulator tip positions and forces applied to the cables. Experimental results show that a desired tip position can be achieved in a short time, since heavy computations are avoided, with a degree of accuracy of 8% relative average error with respect to the total arm length.

  16. Optimization of computations for adjoint field and Jacobian needed in 3D CSEM inversion

    NASA Astrophysics Data System (ADS)

    Dehiya, Rahul; Singh, Arun; Gupta, Pravin K.; Israil, M.

    2017-01-01

    We present the features and results of a newly developed code, based on Gauss-Newton optimization technique, for solving three-dimensional Controlled-Source Electromagnetic inverse problem. In this code a special emphasis has been put on representing the operations by block matrices for conjugate gradient iteration. We show how in the computation of Jacobian, the matrix formed by differentiation of system matrix can be made independent of frequency to optimize the operations at conjugate gradient step. The coarse level parallel computing, using OpenMP framework, is used primarily due to its simplicity in implementation and accessibility of shared memory multi-core computing machine to almost anyone. We demonstrate how the coarseness of modeling grid in comparison to source (comp`utational receivers) spacing can be exploited for efficient computing, without compromising the quality of the inverted model, by reducing the number of adjoint calls. It is also demonstrated that the adjoint field can even be computed on a grid coarser than the modeling grid without affecting the inversion outcome. These observations were reconfirmed using an experiment design where the deviation of source from straight tow line is considered. Finally, a real field data inversion experiment is presented to demonstrate robustness of the code.

  17. Joint kinematic calculation based on clinical direct kinematic versus inverse kinematic gait models.

    PubMed

    Kainz, H; Modenese, L; Lloyd, D G; Maine, S; Walsh, H P J; Carty, C P

    2016-06-14

    Most clinical gait laboratories use the conventional gait analysis model. This model uses a computational method called Direct Kinematics (DK) to calculate joint kinematics. In contrast, musculoskeletal modelling approaches use Inverse Kinematics (IK) to obtain joint angles. IK allows additional analysis (e.g. muscle-tendon length estimates), which may provide valuable information for clinical decision-making in people with movement disorders. The twofold aims of the current study were: (1) to compare joint kinematics obtained by a clinical DK model (Vicon Plug-in-Gait) with those produced by a widely used IK model (available with the OpenSim distribution), and (2) to evaluate the difference in joint kinematics that can be solely attributed to the different computational methods (DK versus IK), anatomical models and marker sets by using MRI based models. Eight children with cerebral palsy were recruited and presented for gait and MRI data collection sessions. Differences in joint kinematics up to 13° were found between the Plug-in-Gait and the gait 2392 OpenSim model. The majority of these differences (94.4%) were attributed to differences in the anatomical models, which included different anatomical segment frames and joint constraints. Different computational methods (DK versus IK) were responsible for only 2.7% of the differences. We recommend using the same anatomical model for kinematic and musculoskeletal analysis to ensure consistency between the obtained joint angles and musculoskeletal estimates. Copyright © 2016 Elsevier Ltd. All rights reserved.

  18. An adaptive inverse kinematics algorithm for robot manipulators

    NASA Technical Reports Server (NTRS)

    Colbaugh, R.; Glass, K.; Seraji, H.

    1990-01-01

    An adaptive algorithm for solving the inverse kinematics problem for robot manipulators is presented. The algorithm is derived using model reference adaptive control (MRAC) theory and is computationally efficient for online applications. The scheme requires no a priori knowledge of the kinematics of the robot if Cartesian end-effector sensing is available, and it requires knowledge of only the forward kinematics if joint position sensing is used. Computer simulation results are given for the redundant seven-DOF robotics research arm, demonstrating that the proposed algorithm yields accurate joint angle trajectories for a given end-effector position/orientation trajectory.

  19. Computational neural learning formalisms for manipulator inverse kinematics

    NASA Technical Reports Server (NTRS)

    Gulati, Sandeep; Barhen, Jacob; Iyengar, S. Sitharama

    1989-01-01

    An efficient, adaptive neural learning paradigm for addressing the inverse kinematics of redundant manipulators is presented. The proposed methodology exploits the infinite local stability of terminal attractors - a new class of mathematical constructs which provide unique information processing capabilities to artificial neural systems. For robotic applications, synaptic elements of such networks can rapidly acquire the kinematic invariances embedded within the presented samples. Subsequently, joint-space configurations, required to follow arbitrary end-effector trajectories, can readily be computed. In a significant departure from prior neuromorphic learning algorithms, this methodology provides mechanisms for incorporating an in-training skew to handle kinematics and environmental constraints.

  20. Algorithmic vs. finite difference Jacobians for infrared atmospheric radiative transfer

    NASA Astrophysics Data System (ADS)

    Schreier, Franz; Gimeno García, Sebastián; Vasquez, Mayte; Xu, Jian

    2015-10-01

    Jacobians, i.e. partial derivatives of the radiance and transmission spectrum with respect to the atmospheric state parameters to be retrieved from remote sensing observations, are important for the iterative solution of the nonlinear inverse problem. Finite difference Jacobians are easy to implement, but computationally expensive and possibly of dubious quality; on the other hand, analytical Jacobians are accurate and efficient, but the implementation can be quite demanding. GARLIC, our "Generic Atmospheric Radiation Line-by-line Infrared Code", utilizes algorithmic differentiation (AD) techniques to implement derivatives w.r.t. atmospheric temperature and molecular concentrations. In this paper, we describe our approach for differentiation of the high resolution infrared and microwave spectra and provide an in-depth assessment of finite difference approximations using "exact" AD Jacobians as a reference. The results indicate that the "standard" two-point finite differences with 1 K and 1% perturbation for temperature and volume mixing ratio, respectively, can exhibit substantial errors, and central differences are significantly better. However, these deviations do not transfer into the truncated singular value decomposition solution of a least squares problem. Nevertheless, AD Jacobians are clearly recommended because of the superior speed and accuracy.

  1. Seeing the world topsy-turvy: The primary role of kinematics in biological motion inversion effects.

    PubMed

    Fitzgerald, Sue-Anne; Brooks, Anna; van der Zwan, Rick; Blair, Duncan

    2014-01-01

    Physical inversion of whole or partial human body representations typically has catastrophic consequences on the observer's ability to perform visual processing tasks. Explanations usually focus on the effects of inversion on the visual system's ability to exploit configural or structural relationships, but more recently have also implicated motion or kinematic cue processing. Here, we systematically tested the role of both on perceptions of sex from upright and inverted point-light walkers. Our data suggest that inversion results in systematic degradations of the processing of kinematic cues. Specifically and intriguingly, they reveal sex-based kinematic differences: Kinematics characteristic of females generally are resistant to inversion effects, while those of males drive systematic sex misperceptions. Implications of the findings are discussed.

  2. Seeing the world topsy-turvy: The primary role of kinematics in biological motion inversion effects

    PubMed Central

    Fitzgerald, Sue-Anne; Brooks, Anna; van der Zwan, Rick; Blair, Duncan

    2014-01-01

    Physical inversion of whole or partial human body representations typically has catastrophic consequences on the observer's ability to perform visual processing tasks. Explanations usually focus on the effects of inversion on the visual system's ability to exploit configural or structural relationships, but more recently have also implicated motion or kinematic cue processing. Here, we systematically tested the role of both on perceptions of sex from upright and inverted point-light walkers. Our data suggest that inversion results in systematic degradations of the processing of kinematic cues. Specifically and intriguingly, they reveal sex-based kinematic differences: Kinematics characteristic of females generally are resistant to inversion effects, while those of males drive systematic sex misperceptions. Implications of the findings are discussed. PMID:25469217

  3. Rapid kinematic finite source inversion for Tsunamic Early Warning using high rate GNSS data

    NASA Astrophysics Data System (ADS)

    Chen, K.; Liu, Z.; Song, Y. T.

    2017-12-01

    Recently, Global Navigation Satellite System (GNSS) has been used for rapid earthquake source inversion towards tsunami early warning. In practice, two approaches, i.e., static finite source inversion based on permanent co-seismic offsets and kinematic finite source inversion using high-rate (>= 1 Hz) co-seismic displacement waveforms, are often employed to fulfill the task. The static inversion is relatively easy to be implemented and does not require additional constraints on rupture velocity, duration, and temporal variation. However, since most GNSS receivers are deployed onshore locating on one side of the subduction fault, there is very limited resolution on near-trench fault slip using GNSS in static finite source inversion. On the other hand, the high-rate GNSS displacement waveforms, which contain the timing information of earthquake rupture explicitly and static offsets implicitly, have the potential to improve near-trench resolution by reconciling with the depth-dependent megathrust rupture behaviors. In this contribution, we assess the performance of rapid kinematic finite source inversion using high-rate GNSS by three selected historical tsunamigenic cases: the 2010 Mentawai, 2011 Tohoku and 2015 Illapel events. With respect to the 2010 Mentawai case, it is a typical tsunami earthquake with most slip concentrating near the trench. The static inversion has little resolution there and incorrectly puts slip at greater depth (>10km). In contrast, the recorded GNSS displacement waveforms are deficit in high-frequency energy, the kinematic source inversion recovers a shallow slip patch (depth less than 6 km) and tsunami runups are predicted quite reasonably. For the other two events, slip from kinematic and static inversion show similar characteristics and comparable tsunami scenarios, which may be related to dense GNSS network and behavior of the rupture. Acknowledging the complexity of kinematic source inversion in real-time, we adopt the back

  4. Inverse kinematic solution for near-simple robots and its application to robot calibration

    NASA Technical Reports Server (NTRS)

    Hayati, Samad A.; Roston, Gerald P.

    1986-01-01

    This paper provides an inverse kinematic solution for a class of robot manipulators called near-simple manipulators. The kinematics of these manipulators differ from those of simple-robots by small parameter variations. Although most robots are by design simple, in practice, due to manufacturing tolerances, every robot is near-simple. The method in this paper gives an approximate inverse kinematics solution for real time applications based on the nominal solution for these robots. The validity of the results are tested both by a simulation study and by applying the algorithm to a PUMA robot.

  5. Solving Inverse Kinematics of Robot Manipulators by Means of Meta-Heuristic Optimisation

    NASA Astrophysics Data System (ADS)

    Wichapong, Kritsada; Bureerat, Sujin; Pholdee, Nantiwat

    2018-05-01

    This paper presents the use of meta-heuristic algorithms (MHs) for solving inverse kinematics of robot manipulators based on using forward kinematic. Design variables are joint angular displacements used to move a robot end-effector to the target in the Cartesian space while the design problem is posed to minimize error between target points and the positions of the robot end-effector. The problem is said to be a dynamic problem as the target points always changed by a robot user. Several well established MHs are used to solve the problem and the results obtained from using different meta-heuristics are compared based on the end-effector error and searching speed of the algorithms. From the study, the best performer will be obtained for setting as the baseline for future development of MH-based inverse kinematic solving.

  6. Cortex Inspired Model for Inverse Kinematics Computation for a Humanoid Robotic Finger

    PubMed Central

    Gentili, Rodolphe J.; Oh, Hyuk; Molina, Javier; Reggia, James A.; Contreras-Vidal, José L.

    2013-01-01

    In order to approach human hand performance levels, artificial anthropomorphic hands/fingers have increasingly incorporated human biomechanical features. However, the performance of finger reaching movements to visual targets involving the complex kinematics of multi-jointed, anthropomorphic actuators is a difficult problem. This is because the relationship between sensory and motor coordinates is highly nonlinear, and also often includes mechanical coupling of the two last joints. Recently, we developed a cortical model that learns the inverse kinematics of a simulated anthropomorphic finger. Here, we expand this previous work by assessing if this cortical model is able to learn the inverse kinematics for an actual anthropomorphic humanoid finger having its two last joints coupled and controlled by pneumatic muscles. The findings revealed that single 3D reaching movements, as well as more complex patterns of motion of the humanoid finger, were accurately and robustly performed by this cortical model while producing kinematics comparable to those of humans. This work contributes to the development of a bioinspired controller providing adaptive, robust and flexible control of dexterous robotic and prosthetic hands. PMID:23366569

  7. Real-time inverse kinematics and inverse dynamics for lower limb applications using OpenSim

    PubMed Central

    Modenese, L.; Lloyd, D.G.

    2017-01-01

    Real-time estimation of joint angles and moments can be used for rapid evaluation in clinical, sport, and rehabilitation contexts. However, real-time calculation of kinematics and kinetics is currently based on approximate solutions or generic anatomical models. We present a real-time system based on OpenSim solving inverse kinematics and dynamics without simplifications at 2000 frame per seconds with less than 31.5ms of delay. We describe the software architecture, sensitivity analyses to minimise delays and errors, and compare offline and real-time results. This system has the potential to strongly impact current rehabilitation practices enabling the use of personalised musculoskeletal models in real-time. PMID:27723992

  8. Real-time inverse kinematics and inverse dynamics for lower limb applications using OpenSim.

    PubMed

    Pizzolato, C; Reggiani, M; Modenese, L; Lloyd, D G

    2017-03-01

    Real-time estimation of joint angles and moments can be used for rapid evaluation in clinical, sport, and rehabilitation contexts. However, real-time calculation of kinematics and kinetics is currently based on approximate solutions or generic anatomical models. We present a real-time system based on OpenSim solving inverse kinematics and dynamics without simplifications at 2000 frame per seconds with less than 31.5 ms of delay. We describe the software architecture, sensitivity analyses to minimise delays and errors, and compare offline and real-time results. This system has the potential to strongly impact current rehabilitation practices enabling the use of personalised musculoskeletal models in real-time.

  9. Direct and Inverse Kinematics of a Novel Tip-Tilt-Piston Parallel Manipulator

    NASA Technical Reports Server (NTRS)

    Tahmasebi, Farhad

    2004-01-01

    Closed-form direct and inverse kinematics of a new three degree-of-freedom (DOF) parallel manipulator with inextensible limbs and base-mounted actuators are presented. The manipulator has higher resolution and precision than the existing three DOF mechanisms with extensible limbs. Since all of the manipulator actuators are base-mounted; higher payload capacity, smaller actuator sizes, and lower power dissipation can be obtained. The manipulator is suitable for alignment applications where only tip, tilt, and piston motions are significant. The direct kinematics of the manipulator is reduced to solving an eighth-degree polynomial in the square of tangent of half-angle between one of the limbs and the base plane. Hence, there are at most 16 assembly configurations for the manipulator. In addition, it is shown that the 16 solutions are eight pairs of reflected configurations with respect to the base plane. Numerical examples for the direct and inverse kinematics of the manipulator are also presented.

  10. Kinematic source inversions of teleseismic data based on the QUESO library for uncertainty quantification and prediction

    NASA Astrophysics Data System (ADS)

    Zielke, O.; McDougall, D.; Mai, P. M.; Babuska, I.

    2014-12-01

    One fundamental aspect of seismic hazard mitigation is gaining a better understanding of the rupture process. Because direct observation of the relevant parameters and properties is not possible, other means such as kinematic source inversions are used instead. By constraining the spatial and temporal evolution of fault slip during an earthquake, those inversion approaches may enable valuable insights in the physics of the rupture process. However, due to the underdetermined nature of this inversion problem (i.e., inverting a kinematic source model for an extended fault based on seismic data), the provided solutions are generally non-unique. Here we present a statistical (Bayesian) inversion approach based on an open-source library for uncertainty quantification (UQ) called QUESO that was developed at ICES (UT Austin). The approach has advantages with respect to deterministic inversion approaches as it provides not only a single (non-unique) solution but also provides uncertainty bounds with it. Those uncertainty bounds help to qualitatively and quantitatively judge how well constrained an inversion solution is and how much rupture complexity the data reliably resolve. The presented inversion scheme uses only tele-seismically recorded body waves but future developments may lead us towards joint inversion schemes. After giving an insight in the inversion scheme ifself (based on delayed rejection adaptive metropolis, DRAM) we explore the method's resolution potential. For that, we synthetically generate tele-seismic data, add for example different levels of noise and/or change fault plane parameterization and then apply our inversion scheme in the attempt to extract the (known) kinematic rupture model. We conclude with exemplary inverting real tele-seismic data of a recent large earthquake and compare those results with deterministically derived kinematic source models provided by other research groups.

  11. A statistical kinematic source inversion approach based on the QUESO library for uncertainty quantification and prediction

    NASA Astrophysics Data System (ADS)

    Zielke, Olaf; McDougall, Damon; Mai, Martin; Babuska, Ivo

    2014-05-01

    Seismic, often augmented with geodetic data, are frequently used to invert for the spatio-temporal evolution of slip along a rupture plane. The resulting images of the slip evolution for a single event, inferred by different research teams, often vary distinctly, depending on the adopted inversion approach and rupture model parameterization. This observation raises the question, which of the provided kinematic source inversion solutions is most reliable and most robust, and — more generally — how accurate are fault parameterization and solution predictions? These issues are not included in "standard" source inversion approaches. Here, we present a statistical inversion approach to constrain kinematic rupture parameters from teleseismic body waves. The approach is based a) on a forward-modeling scheme that computes synthetic (body-)waves for a given kinematic rupture model, and b) on the QUESO (Quantification of Uncertainty for Estimation, Simulation, and Optimization) library that uses MCMC algorithms and Bayes theorem for sample selection. We present Bayesian inversions for rupture parameters in synthetic earthquakes (i.e. for which the exact rupture history is known) in an attempt to identify the cross-over at which further model discretization (spatial and temporal resolution of the parameter space) is no longer attributed to a decreasing misfit. Identification of this cross-over is of importance as it reveals the resolution power of the studied data set (i.e. teleseismic body waves), enabling one to constrain kinematic earthquake rupture histories of real earthquakes at a resolution that is supported by data. In addition, the Bayesian approach allows for mapping complete posterior probability density functions of the desired kinematic source parameters, thus enabling us to rigorously assess the uncertainties in earthquake source inversions.

  12. Transfer-induced fission in inverse kinematics: Impact on experimental and evaluated nuclear data bases

    NASA Astrophysics Data System (ADS)

    Farget, F.; Caamaño, M.; Ramos, D.; Rodrıguez-Tajes, C.; Schmidt, K.-H.; Audouin, L.; Benlliure, J.; Casarejos, E.; Clément, E.; Cortina, D.; Delaune, O.; Derkx, X.; Dijon, A.; Doré, D.; Fernández-Domınguez, B.; Gaudefroy, L.; Golabek, C.; Heinz, A.; Jurado, B.; Lemasson, A.; Paradela, C.; Roger, T.; Salsac, M. D.; Schmitt, C.

    2015-12-01

    Inverse kinematics is a new tool to study nuclear fission. Its main advantage is the possibility to measure with an unmatched resolution the atomic number of fission fragments, leading to new observables in the properties of fission-fragment distributions. In addition to the resolution improvement, the study of fission based on nuclear collisions in inverse kinematics beneficiates from a larger view with respect to the neutron-induced fission, as in a single experiment the number of fissioning systems and the excitation energy range are widden. With the use of spectrometers, mass and kinetic-energy distributions may now be investigated as a function of the proton and neutron number sharing. The production of fissioning nuclei in transfer reactions allows studying the isotopic yields of fission fragments as a function of the excitation energy. The higher excitation energy resulting in the fusion reaction leading to the compound nucleus 250Cf at an excitation energy of 45MeV is also presented. With the use of inverse kinematics, the charge polarisation of fragments at scission is now revealed with high precision, and it is shown that it cannot be neglected, even at higher excitation energies. In addition, the kinematical properties of the fragments inform on the deformation configuration at scission.

  13. How Different Marker Sets Affect Joint Angles in Inverse Kinematics Framework.

    PubMed

    Mantovani, Giulia; Lamontagne, Mario

    2017-04-01

    The choice of marker set is a source of variability in motion analysis. Studies exist which assess the performance of marker sets when direct kinematics is used, but these results cannot be extrapolated to the inverse kinematic framework. Therefore, the purpose of this study was to examine the sensitivity of kinematic outcomes to inter-marker set variability in an inverse kinematic framework. The compared marker sets were plug-in-gait, University of Ottawa motion analysis model and a three-marker-cluster marker set. Walking trials of 12 participants were processed in opensim. The coefficient of multiple correlations was very good for sagittal (>0.99) and transverse (>0.92) plane angles, but worsened for the transverse plane (0.72). Absolute reliability indices are also provided for comparison among studies: minimum detectable change values ranged from 3 deg for the hip sagittal range of motion to 16.6 deg of the hip transverse range of motion. Ranges of motion of hip and knee abduction/adduction angles and hip and ankle rotations were significantly different among the three marker configurations (P < 0.001), with plug-in-gait producing larger ranges of motion. Although the same model was used for all the marker sets, the resulting minimum detectable changes were high and clinically relevant, which warns for caution when comparing studies that use different marker configurations, especially if they differ in the joint-defining markers.

  14. Incremental inverse kinematics based vision servo for autonomous robotic capture of non-cooperative space debris

    NASA Astrophysics Data System (ADS)

    Dong, Gangqi; Zhu, Z. H.

    2016-04-01

    This paper proposed a new incremental inverse kinematics based vision servo approach for robotic manipulators to capture a non-cooperative target autonomously. The target's pose and motion are estimated by a vision system using integrated photogrammetry and EKF algorithm. Based on the estimated pose and motion of the target, the instantaneous desired position of the end-effector is predicted by inverse kinematics and the robotic manipulator is moved incrementally from its current configuration subject to the joint speed limits. This approach effectively eliminates the multiple solutions in the inverse kinematics and increases the robustness of the control algorithm. The proposed approach is validated by a hardware-in-the-loop simulation, where the pose and motion of the non-cooperative target is estimated by a real vision system. The simulation results demonstrate the effectiveness and robustness of the proposed estimation approach for the target and the incremental control strategy for the robotic manipulator.

  15. Differential Kinematics Of Contemporary Industrial Robots

    NASA Astrophysics Data System (ADS)

    Szkodny, T.

    2014-08-01

    The paper presents a simple method of avoiding singular configurations of contemporary industrial robot manipulators of such renowned companies as ABB, Fanuc, Mitsubishi, Adept, Kawasaki, COMAU and KUKA. To determine the singular configurations of these manipulators a global form of description of the end-effector kinematics was prepared, relative to the other links. On the basis of this description , the formula for the Jacobian was defined in the end-effector coordinates. Next, a closed form of the determinant of the Jacobian was derived. From the formula, singular configurations, where the determinant's value equals zero, were determined. Additionally, geometric interpretations of these configurations were given and they were illustrated. For the exemplary manipulator, small corrections of joint variables preventing the reduction of the Jacobian order were suggested. An analysis of positional errors, caused by these corrections, was presented

  16. Reducing computational costs in large scale 3D EIT by using a sparse Jacobian matrix with block-wise CGLS reconstruction.

    PubMed

    Yang, C L; Wei, H Y; Adler, A; Soleimani, M

    2013-06-01

    Electrical impedance tomography (EIT) is a fast and cost-effective technique to provide a tomographic conductivity image of a subject from boundary current-voltage data. This paper proposes a time and memory efficient method for solving a large scale 3D EIT inverse problem using a parallel conjugate gradient (CG) algorithm. The 3D EIT system with a large number of measurement data can produce a large size of Jacobian matrix; this could cause difficulties in computer storage and the inversion process. One of challenges in 3D EIT is to decrease the reconstruction time and memory usage, at the same time retaining the image quality. Firstly, a sparse matrix reduction technique is proposed using thresholding to set very small values of the Jacobian matrix to zero. By adjusting the Jacobian matrix into a sparse format, the element with zeros would be eliminated, which results in a saving of memory requirement. Secondly, a block-wise CG method for parallel reconstruction has been developed. The proposed method has been tested using simulated data as well as experimental test samples. Sparse Jacobian with a block-wise CG enables the large scale EIT problem to be solved efficiently. Image quality measures are presented to quantify the effect of sparse matrix reduction in reconstruction results.

  17. Development of the (d,n) Proton-transfer Reaction in Inverse Kinematics for Structure Studies

    NASA Astrophysics Data System (ADS)

    Jones, K. L.; Thornsberry, C.; Allen, J.; Atencio, A.; Bardayan, D. W.; Blankstein, D.; Burcher, S.; Carter, A. B.; Chipps, K. A.; Cizewski, J. A.; Cox, I.; Elledge, Z.; Febbraro, M.; Fijałkowska, A.; Grzywacz, R.; Hall, M. R.; King, T. T.; Lepailleur, A.; Madurga, M.; Marley, S. T.; O'Malley, P. D.; Paulauskas, S. V.; Pain, S. D.; Peters, W. A.; Reingold, C.; Smith, K.; Taylor, S.; Tan, W.; Vostinar, M.; Walter, D.

    Transfer reactions have provided exciting opportunities to study the structure of exotic nuclei and are often used to inform studies relating to nucleosynthesis and applications. In order to benefit from these reactions and their application to rare ion beams (RIBs) it is necessary to develop the tools and techniques to perform and analyze the data from reactions performed in inverse kinematics, that is with targets of light nuclei and heavier beams. We are continuing to expand the transfer reaction toolbox in preparation for the next generation of facilities, such as the Facility for Rare Ion Beams (FRIB), which is scheduled for completion in 2022. An important step in this process is to perform the (d,n) reaction in inverse kinematics, with analyses that include Q-value spectra and differential cross sections. In this way, proton-transfer reactions can be placed on the same level as the more commonly used neutron-transfer reactions, such as (d,p), (9Be,8Be), and (13C,12C). Here we present an overview of the techniques used in (d,p) and (d,n), and some recent data from (d,n) reactions in inverse kinematics using stable beams of 12C and 16O.

  18. Off-diagonal Jacobian support for Nodal BCs

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

    Peterson, John W.; Andrs, David; Gaston, Derek R.

    In this brief note, we describe the implementation of o-diagonal Jacobian computations for nodal boundary conditions in the Multiphysics Object Oriented Simulation Environment (MOOSE) [1] framework. There are presently a number of applications [2{5] based on the MOOSE framework that solve complicated physical systems of partial dierential equations whose boundary conditions are often highly nonlinear. Accurately computing the on- and o-diagonal Jacobian and preconditioner entries associated to these constraints is crucial for enabling ecient numerical solvers in these applications. Two key ingredients are required for properly specifying the Jacobian contributions of nonlinear nodal boundary conditions in MOOSE and nite elementmore » codes in general: 1. The ability to zero out entire Jacobian matrix rows after \

  19. Modelling and simulation of the intervertebral movements of the lumbar spine using an inverse kinematic algorithm.

    PubMed

    Sun, L W; Lee, R Y W; Lu, W; Luk, K D K

    2004-11-01

    An inverse kinematic model is presented that was employed to determine the optimum intervertebral joint configuration for a given forward-bending posture of the human trunk. The lumbar spine was modelled as an open-end, kinematic chain of five links that represented the five vertebrae (L 1-L5). An optimisation equation with physiological constraints was employed to determine the intervertebral joint configuration. Intervertebral movements were measured from sagittal X-ray films of 22 subjects. The mean difference between the X-ray measurements of intervertebral rotations in the sagittal plane and the values predicted by the kinematic model was less than 1.6 degrees. Pearson product-moment correlation R was used to measure the relationship between the measured and predicted values. The R-values were found to be high, ranging from 0.83 to 0.97, for prediction of intervertebral rotation, but poor for intervertebral translation (R= 0.08-0.67). It is concluded that the inverse kinematic model will be clinically useful for predicting intervertebral rotation when X-ray or invasive measurements are undesirable. It will also be useful to biomechanical modelling, which requires accurate kinematic information as model input data.

  20. Solution of Inverse Kinematics for 6R Robot Manipulators With Offset Wrist Based on Geometric Algebra.

    PubMed

    Fu, Zhongtao; Yang, Wenyu; Yang, Zhen

    2013-08-01

    In this paper, we present an efficient method based on geometric algebra for computing the solutions to the inverse kinematics problem (IKP) of the 6R robot manipulators with offset wrist. Due to the fact that there exist some difficulties to solve the inverse kinematics problem when the kinematics equations are complex, highly nonlinear, coupled and multiple solutions in terms of these robot manipulators stated mathematically, we apply the theory of Geometric Algebra to the kinematic modeling of 6R robot manipulators simply and generate closed-form kinematics equations, reformulate the problem as a generalized eigenvalue problem with symbolic elimination technique, and then yield 16 solutions. Finally, a spray painting robot, which conforms to the type of robot manipulators, is used as an example of implementation for the effectiveness and real-time of this method. The experimental results show that this method has a large advantage over the classical methods on geometric intuition, computation and real-time, and can be directly extended to all serial robot manipulators and completely automatized, which provides a new tool on the analysis and application of general robot manipulators.

  1. Exclusive measurements of quasi-free proton scattering reactions in inverse and complete kinematics

    DOE PAGES

    Panin, V.; Taylor, J. T.; Paschalis, S.; ...

    2016-02-01

    Quasi-free scattering reactions of the type (p, 2p)were measured for the first time exclusively in com-plete and inverse kinematics, using a 12C beam at an energy of ~400MeV/uas a benchmark. This new technique has been developed to study the single-particle structure of exotic nuclei in experiments with radioactive-ion beams. The outgoing pair of protons and the fragments were measured simultaneously, enabling an unambiguous identification of the reaction channels and a redundant measurement of the kinematic observables. Both valence and deeply-bound nucleon orbits are probed, including those leading to unbound states of the daughter nucleus. Exclusive (p, 2p)cross sections of 15.8(18)mb,more » 1.9(2)mb and 1.5(2)mb to the low-lying 0p-hole states overlapping with the ground state (3/2 –) and with the bound excited states of 11B at 2.125MeV (1/2 –) and 5.02MeV (3/2 –), respectively, were determined via γ-ray spectroscopy. Particle-unstable deep-hole states, corresponding to proton removal from the 0s-orbital, were studied via the invariant-mass technique. Cross sections and momentum distributions were extracted and compared to theoretical calculations employing the eikonal formalism. The obtained results are in a good agreement with this theory and with direct-kinematics experiments. Furthermore, the dependence of the proton–proton scattering kinematics on the internal momentum of the struck proton and on its separation energy was investigated for the first time in inverse kinematics employing a large-acceptance measurement.« less

  2. Adaptive Jacobian Fuzzy Attitude Control for Flexible Spacecraft Combined Attitude and Sun Tracking System

    NASA Astrophysics Data System (ADS)

    Chak, Yew-Chung; Varatharajoo, Renuganth

    2016-07-01

    Many spacecraft attitude control systems today use reaction wheels to deliver precise torques to achieve three-axis attitude stabilization. However, irrecoverable mechanical failure of reaction wheels could potentially lead to mission interruption or total loss. The electrically-powered Solar Array Drive Assemblies (SADA) are usually installed in the pitch axis which rotate the solar arrays to track the Sun, can produce torques to compensate for the pitch-axis wheel failure. In addition, the attitude control of a flexible spacecraft poses a difficult problem. These difficulties include the strong nonlinear coupled dynamics between the rigid hub and flexible solar arrays, and the imprecisely known system parameters, such as inertia matrix, damping ratios, and flexible mode frequencies. In order to overcome these drawbacks, the adaptive Jacobian tracking fuzzy control is proposed for the combined attitude and sun-tracking control problem of a flexible spacecraft during attitude maneuvers in this work. For the adaptation of kinematic and dynamic uncertainties, the proposed scheme uses an adaptive sliding vector based on estimated attitude velocity via approximate Jacobian matrix. The unknown nonlinearities are approximated by deriving the fuzzy models with a set of linguistic If-Then rules using the idea of sector nonlinearity and local approximation in fuzzy partition spaces. The uncertain parameters of the estimated nonlinearities and the Jacobian matrix are being adjusted online by an adaptive law to realize feedback control. The attitude of the spacecraft can be directly controlled with the Jacobian feedback control when the attitude pointing trajectory is designed with respect to the spacecraft coordinate frame itself. A significant feature of this work is that the proposed adaptive Jacobian tracking scheme will result in not only the convergence of angular position and angular velocity tracking errors, but also the convergence of estimated angular velocity to

  3. RESONEUT: A detector system for spectroscopy with (d,n) reactions in inverse kinematics

    NASA Astrophysics Data System (ADS)

    Baby, L. T.; Kuvin, S. A.; Wiedenhöver, I.; Anastasiou, M.; Caussyn, D.; Colbert, K.; Quails, N.; Gay, D.

    2018-01-01

    The RESONEUT detector setup is described, which was developed for resonance spectroscopy using (d,n) reactions with radioactive beams in inverse kinematics and at energies around the Coulomb barrier. The goal of experiments with this setup is to determine the spectrum and proton-transfer strengths of the low-lying resonances, which have an impact on astrophysical reaction rates. The setup is optimized for l = 0 proton transfers in inverse kinematics, for which most neutrons are emitted at backward angles with energies in the 80-300 keV range. The detector system is comprised of 9 p-terphenyl scintillators as neutron detectors, two annular silicon-strip detectors for light charged particles, one position-resolving gas ionization chamber for heavy ion detection, and a barrel of NaI-detectors for the detection of γ-rays. The detector commissioning and performance characteristics are described with an emphasis on the neutron-detector components.

  4. Integrated Analytic and Linearized Inverse Kinematics for Precise Full Body Interactions

    NASA Astrophysics Data System (ADS)

    Boulic, Ronan; Raunhardt, Daniel

    Despite the large success of games grounded on movement-based interactions the current state of full body motion capture technologies still prevents the exploitation of precise interactions with complex environments. This paper focuses on ensuring a precise spatial correspondence between the user and the avatar. We build upon our past effort in human postural control with a Prioritized Inverse Kinematics framework. One of its key advantage is to ease the dynamic combination of postural and collision avoidance constraints. However its reliance on a linearized approximation of the problem makes it vulnerable to the well-known full extension singularity of the limbs. In such context the tracking performance is reduced and/or less believable intermediate postural solutions are produced. We address this issue by introducing a new type of analytic constraint that smoothly integrates within the prioritized Inverse Kinematics framework. The paper first recalls the background of full body 3D interactions and the advantages and drawbacks of the linearized IK solution. Then the Flexion-EXTension constraint (FLEXT in short) is introduced for the partial position control of limb-like articulated structures. Comparative results illustrate the interest of this new type of integrated analytical and linearized IK control.

  5. Landslide Kinematical Analysis through Inverse Numerical Modelling and Differential SAR Interferometry

    NASA Astrophysics Data System (ADS)

    Castaldo, R.; Tizzani, P.; Lollino, P.; Calò, F.; Ardizzone, F.; Lanari, R.; Guzzetti, F.; Manunta, M.

    2015-11-01

    The aim of this paper is to propose a methodology to perform inverse numerical modelling of slow landslides that combines the potentialities of both numerical approaches and well-known remote-sensing satellite techniques. In particular, through an optimization procedure based on a genetic algorithm, we minimize, with respect to a proper penalty function, the difference between the modelled displacement field and differential synthetic aperture radar interferometry (DInSAR) deformation time series. The proposed methodology allows us to automatically search for the physical parameters that characterize the landslide behaviour. To validate the presented approach, we focus our analysis on the slow Ivancich landslide (Assisi, central Italy). The kinematical evolution of the unstable slope is investigated via long-term DInSAR analysis, by exploiting about 20 years of ERS-1/2 and ENVISAT satellite acquisitions. The landslide is driven by the presence of a shear band, whose behaviour is simulated through a two-dimensional time-dependent finite element model, in two different physical scenarios, i.e. Newtonian viscous flow and a deviatoric creep model. Comparison between the model results and DInSAR measurements reveals that the deviatoric creep model is more suitable to describe the kinematical evolution of the landslide. This finding is also confirmed by comparing the model results with the available independent inclinometer measurements. Our analysis emphasizes that integration of different data, within inverse numerical models, allows deep investigation of the kinematical behaviour of slow active landslides and discrimination of the driving forces that govern their deformation processes.

  6. Kinematic Slip Model for 12 May 2008 Wenchuan-Beichuan Mw 7.9 Earthquake from Joint Inversion of ALOS, Envisat, and Teleseismic Data

    NASA Technical Reports Server (NTRS)

    Fielding, Eric; Sladen, Anthony; Avouac, Jean-Philippe; Li, Zhenhong; Ryder, Isabelle; Burgmann, Roland

    2008-01-01

    The presentations explores kinematics of the Wenchaun-Beichuan earthquake using data from ALOS, Envisat, and teleseismic recordings. Topics include geomorphic mapping, ALOS PALSAR range offsets, ALOS PALSAR interferometry, Envisat IM interferometry, Envisat ScanSAR, Joint GPS-InSAR inversion, and joint GPS-teleseismic inversion (static and kinematic).

  7. A complete analytical solution for the inverse instantaneous kinematics of a spherical-revolute-spherical (7R) redundant manipulator

    NASA Technical Reports Server (NTRS)

    Podhorodeski, R. P.; Fenton, R. G.; Goldenberg, A. A.

    1989-01-01

    Using a method based upon resolving joint velocities using reciprocal screw quantities, compact analytical expressions are generated for the inverse solution of the joint rates of a seven revolute (spherical-revolute-spherical) manipulator. The method uses a sequential decomposition of screw coordinates to identify reciprocal screw quantities used in the resolution of a particular joint rate solution, and also to identify a Jacobian null-space basis used for the direct solution of optimal joint rates. The results of the screw decomposition are used to study special configurations of the manipulator, generating expressions for the inverse velocity solution for all non-singular configurations of the manipulator, and identifying singular configurations and their characteristics. Two functions are therefore served: a new general method for the solution of the inverse velocity problem is presented; and complete analytical expressions are derived for the resolution of the joint rates of a seven degree of freedom manipulator useful for telerobotic and industrial robotic application.

  8. Data-driven methods towards learning the highly nonlinear inverse kinematics of tendon-driven surgical manipulators.

    PubMed

    Xu, Wenjun; Chen, Jie; Lau, Henry Y K; Ren, Hongliang

    2017-09-01

    Accurate motion control of flexible surgical manipulators is crucial in tissue manipulation tasks. The tendon-driven serpentine manipulator (TSM) is one of the most widely adopted flexible mechanisms in minimally invasive surgery because of its enhanced maneuverability in torturous environments. TSM, however, exhibits high nonlinearities and conventional analytical kinematics model is insufficient to achieve high accuracy. To account for the system nonlinearities, we applied a data driven approach to encode the system inverse kinematics. Three regression methods: extreme learning machine (ELM), Gaussian mixture regression (GMR) and K-nearest neighbors regression (KNNR) were implemented to learn a nonlinear mapping from the robot 3D position states to the control inputs. The performance of the three algorithms was evaluated both in simulation and physical trajectory tracking experiments. KNNR performed the best in the tracking experiments, with the lowest RMSE of 2.1275 mm. The proposed inverse kinematics learning methods provide an alternative and efficient way to accurately model the tendon driven flexible manipulator. Copyright © 2016 John Wiley & Sons, Ltd.

  9. A cortically-inspired model for inverse kinematics computation of a humanoid finger with mechanically coupled joints.

    PubMed

    Gentili, Rodolphe J; Oh, Hyuk; Kregling, Alissa V; Reggia, James A

    2016-05-19

    The human hand's versatility allows for robust and flexible grasping. To obtain such efficiency, many robotic hands include human biomechanical features such as fingers having their two last joints mechanically coupled. Although such coupling enables human-like grasping, controlling the inverse kinematics of such mechanical systems is challenging. Here we propose a cortical model for fine motor control of a humanoid finger, having its two last joints coupled, that learns the inverse kinematics of the effector. This neural model functionally mimics the population vector coding as well as sensorimotor prediction processes of the brain's motor/premotor and parietal regions, respectively. After learning, this neural architecture could both overtly (actual execution) and covertly (mental execution or motor imagery) perform accurate, robust and flexible finger movements while reproducing the main human finger kinematic states. This work contributes to developing neuro-mimetic controllers for dexterous humanoid robotic/prosthetic upper-extremities, and has the potential to promote human-robot interactions.

  10. Learning inverse kinematics: reduced sampling through decomposition into virtual robots.

    PubMed

    de Angulo, Vicente Ruiz; Torras, Carme

    2008-12-01

    We propose a technique to speedup the learning of the inverse kinematics of a robot manipulator by decomposing it into two or more virtual robot arms. Unlike previous decomposition approaches, this one does not place any requirement on the robot architecture, and thus, it is completely general. Parametrized self-organizing maps are particularly adequate for this type of learning, and permit comparing results directly obtained and through the decomposition. Experimentation shows that time reductions of up to two orders of magnitude are easily attained.

  11. An efficient approach for inverse kinematics and redundancy resolution scheme of hyper-redundant manipulators

    NASA Astrophysics Data System (ADS)

    Chembuly, V. V. M. J. Satish; Voruganti, Hari Kumar

    2018-04-01

    Hyper redundant manipulators have a large number of degrees of freedom (DOF) than the required to perform a given task. Additional DOF of manipulators provide the flexibility to work in highly cluttered environment and in constrained workspaces. Inverse kinematics (IK) of hyper-redundant manipulators is complicated due to large number of DOF and these manipulators have multiple IK solutions. The redundancy gives a choice of selecting best solution out of multiple solutions based on certain criteria such as obstacle avoidance, singularity avoidance, joint limit avoidance and joint torque minimization. This paper focuses on IK solution and redundancy resolution of hyper-redundant manipulator using classical optimization approach. Joint positions are computed by optimizing various criteria for a serial hyper redundant manipulators while traversing different paths in the workspace. Several cases are addressed using this scheme to obtain the inverse kinematic solution while optimizing the criteria like obstacle avoidance, joint limit avoidance.

  12. pyJac: Analytical Jacobian generator for chemical kinetics

    NASA Astrophysics Data System (ADS)

    Niemeyer, Kyle E.; Curtis, Nicholas J.; Sung, Chih-Jen

    2017-06-01

    Accurate simulations of combustion phenomena require the use of detailed chemical kinetics in order to capture limit phenomena such as ignition and extinction as well as predict pollutant formation. However, the chemical kinetic models for hydrocarbon fuels of practical interest typically have large numbers of species and reactions and exhibit high levels of mathematical stiffness in the governing differential equations, particularly for larger fuel molecules. In order to integrate the stiff equations governing chemical kinetics, generally reactive-flow simulations rely on implicit algorithms that require frequent Jacobian matrix evaluations. Some in situ and a posteriori computational diagnostics methods also require accurate Jacobian matrices, including computational singular perturbation and chemical explosive mode analysis. Typically, finite differences numerically approximate these, but for larger chemical kinetic models this poses significant computational demands since the number of chemical source term evaluations scales with the square of species count. Furthermore, existing analytical Jacobian tools do not optimize evaluations or support emerging SIMD processors such as GPUs. Here we introduce pyJac, a Python-based open-source program that generates analytical Jacobian matrices for use in chemical kinetics modeling and analysis. In addition to producing the necessary customized source code for evaluating reaction rates (including all modern reaction rate formulations), the chemical source terms, and the Jacobian matrix, pyJac uses an optimized evaluation order to minimize computational and memory operations. As a demonstration, we first establish the correctness of the Jacobian matrices for kinetic models of hydrogen, methane, ethylene, and isopentanol oxidation (number of species ranging 13-360) by showing agreement within 0.001% of matrices obtained via automatic differentiation. We then demonstrate the performance achievable on CPUs and GPUs using py

  13. Real-time inverse kinematics for the upper limb: a model-based algorithm using segment orientations.

    PubMed

    Borbély, Bence J; Szolgay, Péter

    2017-01-17

    Model based analysis of human upper limb movements has key importance in understanding the motor control processes of our nervous system. Various simulation software packages have been developed over the years to perform model based analysis. These packages provide computationally intensive-and therefore off-line-solutions to calculate the anatomical joint angles from motion captured raw measurement data (also referred as inverse kinematics). In addition, recent developments in inertial motion sensing technology show that it may replace large, immobile and expensive optical systems with small, mobile and cheaper solutions in cases when a laboratory-free measurement setup is needed. The objective of the presented work is to extend the workflow of measurement and analysis of human arm movements with an algorithm that allows accurate and real-time estimation of anatomical joint angles for a widely used OpenSim upper limb kinematic model when inertial sensors are used for movement recording. The internal structure of the selected upper limb model is analyzed and used as the underlying platform for the development of the proposed algorithm. Based on this structure, a prototype marker set is constructed that facilitates the reconstruction of model-based joint angles using orientation data directly available from inertial measurement systems. The mathematical formulation of the reconstruction algorithm is presented along with the validation of the algorithm on various platforms, including embedded environments. Execution performance tables of the proposed algorithm show significant improvement on all tested platforms. Compared to OpenSim's Inverse Kinematics tool 50-15,000x speedup is achieved while maintaining numerical accuracy. The proposed algorithm is capable of real-time reconstruction of standardized anatomical joint angles even in embedded environments, establishing a new way for complex applications to take advantage of accurate and fast model-based inverse

  14. Sensor module design and forward and inverse kinematics analysis of 6-DOF sorting transferring robot

    NASA Astrophysics Data System (ADS)

    Zhou, Huiying; Lin, Jiajian; Liu, Lei; Tao, Meng

    2017-09-01

    To meet the demand of high strength express sorting, it is significant to design a robot with multiple degrees of freedom that can sort and transfer. This paper uses infrared sensor, color sensor and pressure sensor to receive external information, combine the plan of motion path in advance and the feedback information from the sensors, then write relevant program. In accordance with these, we can design a 6-DOF robot that can realize multi-angle seizing. In order to obtain characteristics of forward and inverse kinematics, this paper describes the coordinate directions and pose estimation by the D-H parameter method and closed solution. On the basis of the solution of forward and inverse kinematics, geometric parameters of links and link parameters are optimized in terms of application requirements. In this way, this robot can identify route, sort and transfer.

  15. Kinematical synthesis of an inversion of the double linked fourbar for morphing wing applications

    NASA Astrophysics Data System (ADS)

    Aguirrebeitia, J.; Avilés, R.; Fernández, I.; Abasolo, M.

    2013-03-01

    This paper presents the kinematical features of an inversion of the double linked fourbar for morphing wing purposes. The structure of the mechanism is obtained using structural synthesis concepts, from an initial conceptual schematic. Then, kinematic characteristics as instant center of rotation, lock positions, dead point positions and uncertainty positions are derived for this mechanism in order to face the last step, the dimensional synthesis; in this sense, two kinds of dimensional synthesis are arranged to guide the wing along two positions, and to fulfill with the second one some aerodynamic and minimum actuation energy related issues.

  16. Fault-slip inversions: Their importance in terms of strain, heterogeneity, and kinematics of brittle deformation

    NASA Astrophysics Data System (ADS)

    Riller, U.; Clark, M. D.; Daxberger, H.; Doman, D.; Lenauer, I.; Plath, S.; Santimano, T.

    2017-08-01

    Heterogeneous deformation is intrinsic in natural deformation, but often underestimated in the analysis and interpretation of mesoscopic brittle shear faults. Based on the analysis of 11,222 faults from two distinct tectonic settings, the Central Andes in Argentina and the Sudbury area in Canada, interpolation of principal strain directions and scaled analogue modelling, we revisit controversial issues of fault-slip inversions, collectively adhering to heterogeneous deformation. These issues include the significance of inversion solutions in terms of (1) strain or paleo-stress; (2) displacement, notably plate convergence; (3) local versus far-field deformation; (4) strain perturbations and (5) spacing between stations of fault-slip data acquisition. Furthermore, we highlight the value of inversions for identifying the kinematics of master fault zones in the absence of displaced geological markers. A key result of our assessment is that fault-slip inversions relate to local strain, not paleo-stress, and thus can aid in inferring, the kinematics of master faults. Moreover, strain perturbations caused by mechanical anomalies of the deforming upper crust significantly influence local principal strain directions. Thus, differently oriented principal strain axes inferred from fault-slip inversions in a given region may not point to regional deformation caused by successive and distinct deformation regimes. This outcome calls into question the common practice of separating heterogeneous fault-slip data sets into apparently homogeneous subsets. Finally, the fact that displacement vectors and principal strains are rarely co-linear defies the use of brittle fault data as proxy for estimating directions of plate-scale motions.

  17. A New Artificial Neural Network Approach in Solving Inverse Kinematics of Robotic Arm (Denso VP6242)

    PubMed Central

    Dülger, L. Canan; Kapucu, Sadettin

    2016-01-01

    This paper presents a novel inverse kinematics solution for robotic arm based on artificial neural network (ANN) architecture. The motion of robotic arm is controlled by the kinematics of ANN. A new artificial neural network approach for inverse kinematics is proposed. The novelty of the proposed ANN is the inclusion of the feedback of current joint angles configuration of robotic arm as well as the desired position and orientation in the input pattern of neural network, while the traditional ANN has only the desired position and orientation of the end effector in the input pattern of neural network. In this paper, a six DOF Denso robotic arm with a gripper is controlled by ANN. The comprehensive experimental results proved the applicability and the efficiency of the proposed approach in robotic motion control. The inclusion of current configuration of joint angles in ANN significantly increased the accuracy of ANN estimation of the joint angles output. The new controller design has advantages over the existing techniques for minimizing the position error in unconventional tasks and increasing the accuracy of ANN in estimation of robot's joint angles. PMID:27610129

  18. A New Artificial Neural Network Approach in Solving Inverse Kinematics of Robotic Arm (Denso VP6242).

    PubMed

    Almusawi, Ahmed R J; Dülger, L Canan; Kapucu, Sadettin

    2016-01-01

    This paper presents a novel inverse kinematics solution for robotic arm based on artificial neural network (ANN) architecture. The motion of robotic arm is controlled by the kinematics of ANN. A new artificial neural network approach for inverse kinematics is proposed. The novelty of the proposed ANN is the inclusion of the feedback of current joint angles configuration of robotic arm as well as the desired position and orientation in the input pattern of neural network, while the traditional ANN has only the desired position and orientation of the end effector in the input pattern of neural network. In this paper, a six DOF Denso robotic arm with a gripper is controlled by ANN. The comprehensive experimental results proved the applicability and the efficiency of the proposed approach in robotic motion control. The inclusion of current configuration of joint angles in ANN significantly increased the accuracy of ANN estimation of the joint angles output. The new controller design has advantages over the existing techniques for minimizing the position error in unconventional tasks and increasing the accuracy of ANN in estimation of robot's joint angles.

  19. Kinematics of the six-degree-of-freedom force-reflecting Kraft Master

    NASA Technical Reports Server (NTRS)

    Williams, Robert L., II

    1991-01-01

    Presented here are kinematic equations for a six degree of freedom force-reflecting hand controller. The forward kinematics solution is developed and shown in simplified form. The Jacobian matrix, which uses terms from the forward kinematics solution, is derived. Both of these kinematic solutions require joint angle inputs. A calibration method is presented to determine the hand controller joint angles given the respective potentiometer readings. The kinematic relationship describing the mechanical coupling between the hand and controller shoulder and elbow joints is given. These kinematic equations may be used in an algorithm to control the hand controller as a telerobotic system component. The purpose of the hand controller is two-fold: operator commands to the telerobotic system are entered using the hand controller, and contact forces and moments from the task are reflected to the operator via the hand controller.

  20. Estimated landmark calibration of biomechanical models for inverse kinematics.

    PubMed

    Trinler, Ursula; Baker, Richard

    2018-01-01

    Inverse kinematics is emerging as the optimal method in movement analysis to fit a multi-segment biomechanical model to experimental marker positions. A key part of this process is calibrating the model to the dimensions of the individual being analysed which requires scaling of the model, pose estimation and localisation of tracking markers within the relevant segment coordinate systems. The aim of this study is to propose a generic technique for this process and test a specific application to the OpenSim model Gait2392. Kinematic data from 10 healthy adult participants were captured in static position and normal walking. Results showed good average static and dynamic fitting errors between virtual and experimental markers of 0.8 cm and 0.9 cm, respectively. Highest fitting errors were found on the epicondyle (static), feet (static, dynamic) and on the thigh (dynamic). These result from inconsistencies between the model geometry and degrees of freedom and the anatomy and movement pattern of the individual participants. A particular limitation is in estimating anatomical landmarks from the bone meshes supplied with Gait2392 which do not conform with the bone morphology of the participants studied. Soft tissue artefact will also affect fitting the model to walking trials. Copyright © 2017 IPEM. Published by Elsevier Ltd. All rights reserved.

  1. Kinematically Optimal Robust Control of Redundant Manipulators

    NASA Astrophysics Data System (ADS)

    Galicki, M.

    2017-12-01

    This work deals with the problem of the robust optimal task space trajectory tracking subject to finite-time convergence. Kinematic and dynamic equations of a redundant manipulator are assumed to be uncertain. Moreover, globally unbounded disturbances are allowed to act on the manipulator when tracking the trajectory by the endeffector. Furthermore, the movement is to be accomplished in such a way as to minimize both the manipulator torques and their oscillations thus eliminating the potential robot vibrations. Based on suitably defined task space non-singular terminal sliding vector variable and the Lyapunov stability theory, we derive a class of chattering-free robust kinematically optimal controllers, based on the estimation of transpose Jacobian, which seem to be effective in counteracting both uncertain kinematics and dynamics, unbounded disturbances and (possible) kinematic and/or algorithmic singularities met on the robot trajectory. The numerical simulations carried out for a redundant manipulator of a SCARA type consisting of the three revolute kinematic pairs and operating in a two-dimensional task space, illustrate performance of the proposed controllers as well as comparisons with other well known control schemes.

  2. Principal Component Geostatistical Approach for large-dimensional inverse problems.

    PubMed

    Kitanidis, P K; Lee, J

    2014-07-01

    The quasi-linear geostatistical approach is for weakly nonlinear underdetermined inverse problems, such as Hydraulic Tomography and Electrical Resistivity Tomography. It provides best estimates as well as measures for uncertainty quantification. However, for its textbook implementation, the approach involves iterations, to reach an optimum, and requires the determination of the Jacobian matrix, i.e., the derivative of the observation function with respect to the unknown. Although there are elegant methods for the determination of the Jacobian, the cost is high when the number of unknowns, m , and the number of observations, n , is high. It is also wasteful to compute the Jacobian for points away from the optimum. Irrespective of the issue of computing derivatives, the computational cost of implementing the method is generally of the order of m 2 n , though there are methods to reduce the computational cost. In this work, we present an implementation that utilizes a matrix free in terms of the Jacobian matrix Gauss-Newton method and improves the scalability of the geostatistical inverse problem. For each iteration, it is required to perform K runs of the forward problem, where K is not just much smaller than m but can be smaller that n . The computational and storage cost of implementation of the inverse procedure scales roughly linearly with m instead of m 2 as in the textbook approach. For problems of very large m , this implementation constitutes a dramatic reduction in computational cost compared to the textbook approach. Results illustrate the validity of the approach and provide insight in the conditions under which this method perform best.

  3. Sensitivity analysis of Jacobian determinant used in treatment planning for lung cancer

    NASA Astrophysics Data System (ADS)

    Shao, Wei; Gerard, Sarah E.; Pan, Yue; Patton, Taylor J.; Reinhardt, Joseph M.; Durumeric, Oguz C.; Bayouth, John E.; Christensen, Gary E.

    2018-03-01

    Four-dimensional computed tomography (4DCT) is regularly used to visualize tumor motion in radiation therapy for lung cancer. These 4DCT images can be analyzed to estimate local ventilation by finding a dense correspondence map between the end inhalation and the end exhalation CT image volumes using deformable image registration. Lung regions with ventilation values above a threshold are labeled as regions of high pulmonary function and are avoided when possible in the radiation plan. This paper investigates a sensitivity analysis of the relative Jacobian error to small registration errors. We present a linear approximation of the relative Jacobian error. Next, we give a formula for the sensitivity of the relative Jacobian error with respect to the Jacobian of perturbation displacement field. Preliminary sensitivity analysis results are presented using 4DCT scans from 10 individuals. For each subject, we generated 6400 random smooth biologically plausible perturbation vector fields using a cubic B-spline model. We showed that the correlation between the Jacobian determinant and the Frobenius norm of the sensitivity matrix is close to -1, which implies that the relative Jacobian error in high-functional regions is less sensitive to noise. We also showed that small displacement errors on the average of 0.53 mm may lead to a 10% relative change in Jacobian determinant. We finally showed that the average relative Jacobian error and the sensitivity of the system for all subjects are positively correlated (close to +1), i.e. regions with high sensitivity has more error in Jacobian determinant on average.

  4. Multi-GPU Jacobian accelerated computing for soft-field tomography.

    PubMed

    Borsic, A; Attardo, E A; Halter, R J

    2012-10-01

    Image reconstruction in soft-field tomography is based on an inverse problem formulation, where a forward model is fitted to the data. In medical applications, where the anatomy presents complex shapes, it is common to use finite element models (FEMs) to represent the volume of interest and solve a partial differential equation that models the physics of the system. Over the last decade, there has been a shifting interest from 2D modeling to 3D modeling, as the underlying physics of most problems are 3D. Although the increased computational power of modern computers allows working with much larger FEM models, the computational time required to reconstruct 3D images on a fine 3D FEM model can be significant, on the order of hours. For example, in electrical impedance tomography (EIT) applications using a dense 3D FEM mesh with half a million elements, a single reconstruction iteration takes approximately 15-20 min with optimized routines running on a modern multi-core PC. It is desirable to accelerate image reconstruction to enable researchers to more easily and rapidly explore data and reconstruction parameters. Furthermore, providing high-speed reconstructions is essential for some promising clinical application of EIT. For 3D problems, 70% of the computing time is spent building the Jacobian matrix, and 25% of the time in forward solving. In this work, we focus on accelerating the Jacobian computation by using single and multiple GPUs. First, we discuss an optimized implementation on a modern multi-core PC architecture and show how computing time is bounded by the CPU-to-memory bandwidth; this factor limits the rate at which data can be fetched by the CPU. Gains associated with the use of multiple CPU cores are minimal, since data operands cannot be fetched fast enough to saturate the processing power of even a single CPU core. GPUs have much faster memory bandwidths compared to CPUs and better parallelism. We are able to obtain acceleration factors of 20

  5. Multi-GPU Jacobian Accelerated Computing for Soft Field Tomography

    PubMed Central

    Borsic, A.; Attardo, E. A.; Halter, R. J.

    2012-01-01

    Image reconstruction in soft-field tomography is based on an inverse problem formulation, where a forward model is fitted to the data. In medical applications, where the anatomy presents complex shapes, it is common to use Finite Element Models to represent the volume of interest and to solve a partial differential equation that models the physics of the system. Over the last decade, there has been a shifting interest from 2D modeling to 3D modeling, as the underlying physics of most problems are three-dimensional. Though the increased computational power of modern computers allows working with much larger FEM models, the computational time required to reconstruct 3D images on a fine 3D FEM model can be significant, on the order of hours. For example, in Electrical Impedance Tomography applications using a dense 3D FEM mesh with half a million elements, a single reconstruction iteration takes approximately 15 to 20 minutes with optimized routines running on a modern multi-core PC. It is desirable to accelerate image reconstruction to enable researchers to more easily and rapidly explore data and reconstruction parameters. Further, providing high-speed reconstructions are essential for some promising clinical application of EIT. For 3D problems 70% of the computing time is spent building the Jacobian matrix, and 25% of the time in forward solving. In the present work, we focus on accelerating the Jacobian computation by using single and multiple GPUs. First, we discuss an optimized implementation on a modern multi-core PC architecture and show how computing time is bounded by the CPU-to-memory bandwidth; this factor limits the rate at which data can be fetched by the CPU. Gains associated with use of multiple CPU cores are minimal, since data operands cannot be fetched fast enough to saturate the processing power of even a single CPU core. GPUs have a much faster memory bandwidths compared to CPUs and better parallelism. We are able to obtain acceleration factors of

  6. Developing the (d,p γ) reaction as a surrogate for (n, γ) in inverse kinematics

    NASA Astrophysics Data System (ADS)

    Lepailleur, Alexandre; Baugher, Travis; Cizewski, Jolie; Ratkiewicz, Andrew; Walter, David; Pain, Steven; Smith, Karl; Garland, Heather; Goddess Collaboration

    2016-09-01

    The r-process that proceeds via (n, γ) reactions on neutron-rich nuclei is responsible for the synthesis of about half of the elements heavier than iron. Because (n, γ) measurements on short-lived isotopes are not possible, the (d,p γ) reaction is being investigated as a surrogate for (n, γ). Of particular importance is validating a surrogate in inverse kinematics. Therefore, the 95Mo(d,p γ) reaction was measured in inverse kinematics with stable beams from ATLAS and CD2 targets. Reaction protons were measured in coincidence with gamma rays with GODDESS - Gammasphere ORRUBA: Dual Detectors for Experimental Structure Studies. The Oak Ridge Rutgers University Barrel Array (ORRUBA) of position-sensitive silicon strip detectors was augmented with annular arrays of segmented strip detectors at backward and forward angles, resulting in a high-angular coverage for light ejectiles. Preliminary results from the 95Mo(d,p γ) study will be presented. This work was supported in part by the U.S. Department of Energy and National Science Foundation.

  7. Inverse Kinematics for Upper Limb Compound Movement Estimation in Exoskeleton-Assisted Rehabilitation.

    PubMed

    Cortés, Camilo; de Los Reyes-Guzmán, Ana; Scorza, Davide; Bertelsen, Álvaro; Carrasco, Eduardo; Gil-Agudo, Ángel; Ruiz-Salguero, Oscar; Flórez, Julián

    2016-01-01

    Robot-Assisted Rehabilitation (RAR) is relevant for treating patients affected by nervous system injuries (e.g., stroke and spinal cord injury). The accurate estimation of the joint angles of the patient limbs in RAR is critical to assess the patient improvement. The economical prevalent method to estimate the patient posture in Exoskeleton-based RAR is to approximate the limb joint angles with the ones of the Exoskeleton. This approximation is rough since their kinematic structures differ. Motion capture systems (MOCAPs) can improve the estimations, at the expenses of a considerable overload of the therapy setup. Alternatively, the Extended Inverse Kinematics Posture Estimation (EIKPE) computational method models the limb and Exoskeleton as differing parallel kinematic chains. EIKPE has been tested with single DOF movements of the wrist and elbow joints. This paper presents the assessment of EIKPE with elbow-shoulder compound movements (i.e., object prehension). Ground-truth for estimation assessment is obtained from an optical MOCAP (not intended for the treatment stage). The assessment shows EIKPE rendering a good numerical approximation of the actual posture during the compound movement execution, especially for the shoulder joint angles. This work opens the horizon for clinical studies with patient groups, Exoskeleton models, and movements types.

  8. Inverse Kinematics for Upper Limb Compound Movement Estimation in Exoskeleton-Assisted Rehabilitation

    PubMed Central

    Cortés, Camilo; de los Reyes-Guzmán, Ana; Scorza, Davide; Bertelsen, Álvaro; Carrasco, Eduardo; Gil-Agudo, Ángel; Ruiz-Salguero, Oscar; Flórez, Julián

    2016-01-01

    Robot-Assisted Rehabilitation (RAR) is relevant for treating patients affected by nervous system injuries (e.g., stroke and spinal cord injury). The accurate estimation of the joint angles of the patient limbs in RAR is critical to assess the patient improvement. The economical prevalent method to estimate the patient posture in Exoskeleton-based RAR is to approximate the limb joint angles with the ones of the Exoskeleton. This approximation is rough since their kinematic structures differ. Motion capture systems (MOCAPs) can improve the estimations, at the expenses of a considerable overload of the therapy setup. Alternatively, the Extended Inverse Kinematics Posture Estimation (EIKPE) computational method models the limb and Exoskeleton as differing parallel kinematic chains. EIKPE has been tested with single DOF movements of the wrist and elbow joints. This paper presents the assessment of EIKPE with elbow-shoulder compound movements (i.e., object prehension). Ground-truth for estimation assessment is obtained from an optical MOCAP (not intended for the treatment stage). The assessment shows EIKPE rendering a good numerical approximation of the actual posture during the compound movement execution, especially for the shoulder joint angles. This work opens the horizon for clinical studies with patient groups, Exoskeleton models, and movements types. PMID:27403420

  9. Derivation of three closed loop kinematic velocity models using normalized quaternion feedback for an autonomous redundant manipulator with application to inverse kinematics

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

    Unseren, M.A.

    1993-04-01

    The report discusses the orientation tracking control problem for a kinematically redundant, autonomous manipulator moving in a three dimensional workspace. The orientation error is derived using the normalized quaternion error method of Ickes, the Luh, Walker, and Paul error method, and a method suggested here utilizing the Rodrigues parameters, all of which are expressed in terms of normalized quaternions. The analytical time derivatives of the orientation errors are determined. The latter, along with the translational velocity error, form a dosed loop kinematic velocity model of the manipulator using normalized quaternion and translational position feedback. An analysis of the singularities associatedmore » with expressing the models in a form suitable for solving the inverse kinematics problem is given. Two redundancy resolution algorithms originally developed using an open loop kinematic velocity model of the manipulator are extended to properly take into account the orientation tracking control problem. This report furnishes the necessary mathematical framework required prior to experimental implementation of the orientation tracking control schemes on the seven axis CESARm research manipulator or on the seven-axis Robotics Research K1207i dexterous manipulator, the latter of which is to be delivered to the Oak Ridge National Laboratory in 1993.« less

  10. A new family Jacobian solver for global three-dimensional modeling of atmospheric chemistry

    NASA Astrophysics Data System (ADS)

    Zhao, Xuepeng; Turco, Richard P.; Shen, Mei

    1999-01-01

    We present a new technique to solve complex sets of photochemical rate equations that is applicable to global modeling of the troposphere and stratosphere. The approach is based on the concept of "families" of species, whose chemical rate equations are tightly coupled. Variations of species concentrations within a family can be determined by inverting a linearized Jacobian matrix representing the family group. Since this group consists of a relatively small number of species the corresponding Jacobian has a low order (a minimatrix) compared to the Jacobian of the entire system. However, we go further and define a super-family that is the set of all families. The super-family is also solved by linearization and matrix inversion. The resulting Super-Family Matrix Inversion (SFMI) scheme is more stable and accurate than common family approaches. We discuss the numerical structure of the SFMI scheme and apply our algorithms to a comprehensive set of photochemical reactions. To evaluate performance, the SFMI scheme is compared with an optimized Gear solver. We find that the SFMI technique can be at least an order of magnitude more efficient than existing chemical solvers while maintaining relative errors in the calculations of 15% or less over a diurnal cycle. The largest SFMI errors arise at sunrise and sunset and during the evening when species concentrations may be very low. We show that sunrise/sunset errors can be minimized through a careful treatment of photodissociation during these periods; the nighttime deviations are negligible from the point of view of acceptable computational accuracy. The stability and flexibility of the SFMI algorithm should be sufficient for most modeling applications until major improvements in other modeling factors are achieved. In addition, because of its balanced computational design, SFMI can easily be adapted to parallel computing architectures. SFMI thus should allow practical long-term integrations of global chemistry coupled to

  11. Principal Component Geostatistical Approach for large-dimensional inverse problems

    PubMed Central

    Kitanidis, P K; Lee, J

    2014-01-01

    The quasi-linear geostatistical approach is for weakly nonlinear underdetermined inverse problems, such as Hydraulic Tomography and Electrical Resistivity Tomography. It provides best estimates as well as measures for uncertainty quantification. However, for its textbook implementation, the approach involves iterations, to reach an optimum, and requires the determination of the Jacobian matrix, i.e., the derivative of the observation function with respect to the unknown. Although there are elegant methods for the determination of the Jacobian, the cost is high when the number of unknowns, m, and the number of observations, n, is high. It is also wasteful to compute the Jacobian for points away from the optimum. Irrespective of the issue of computing derivatives, the computational cost of implementing the method is generally of the order of m2n, though there are methods to reduce the computational cost. In this work, we present an implementation that utilizes a matrix free in terms of the Jacobian matrix Gauss-Newton method and improves the scalability of the geostatistical inverse problem. For each iteration, it is required to perform K runs of the forward problem, where K is not just much smaller than m but can be smaller that n. The computational and storage cost of implementation of the inverse procedure scales roughly linearly with m instead of m2 as in the textbook approach. For problems of very large m, this implementation constitutes a dramatic reduction in computational cost compared to the textbook approach. Results illustrate the validity of the approach and provide insight in the conditions under which this method perform best. PMID:25558113

  12. 128Xe Lifetime Measurement Using the Coulex-Plunger Technique in Inverse Kinematics

    NASA Astrophysics Data System (ADS)

    Konstantinopoulos, T.; Lagoyannis, A.; Harissopulos, S.; Dewald, A.; Rother, W.; Ilie, G.; Jones, P.; Rakhila, P.; Greenlees, P.; Grahn, T.; Julin, R.; Balabanski, D. L.

    2008-05-01

    The lifetimes of the lowest collective yrast and non-yrast states in 128Xe were measured in a Coulomb excitation experiment using the recoil distance method (RDM) in inverse kinematics. Hereby, the Cologne plunger apparatus was employed together with the JUROGAM spectrometer. Excited states in 128Xe were populated using a 128Xe beam impinging on a natFe target with E(128Xe)~525 MeV. Recoils were detected by means of an array of solar cells placed at forward angles. Recoil-gated γ-spectra were measured at different plunger distances.

  13. Cross sections for nuclide production in proton- and deuteron-induced reactions on 93Nb measured using the inverse kinematics method

    NASA Astrophysics Data System (ADS)

    Nakano, Keita; Watanabe, Yukinobu; Kawase, Shoichiro; Wang, He; Otsu, Hideaki; Sakurai, Hiroyoshi; Takeuchi, Satoshi; Togano, Yasuhiro; Nakamura, Takashi; Maeda, Yukie; Ahn, Deuk Soon; Aikawa, Masayuki; Araki, Shouhei; Chen, Sidong; Chiga, Nobuyuki; Doornenbal, Pieter; Fukuda, Naoki; Ichihara, Takashi; Isobe, Tadaaki; Kawakami, Shunsuke; Kin, Tadahiro; Kondo, Yosuke; Koyama, Shunpei; Kubo, Toshiyuki; Kubono, Shigeru; Kurokawa, Meiko; Makinaga, Ayano; Matsushita, Masafumi; Matsuzaki, Teiichiro; Michimasa, Shin'ichiro; Momiyama, Satoru; Nagamine, Shunsuke; Niikura, Megumi; Ozaki, Tomoyuki; Saito, Atsumi; Saito, Takeshi; Shiga, Yoshiaki; Shikata, Mizuki; Shimizu, Yohei; Shimoura, Susumu; Sumikama, Toshiyuki; Söderström, Pär-Anders; Suzuki, Hiroshi; Takeda, Hiroyuki; Taniuchi, Ryo; Tsubota, Jun'ichi; Watanabe, Yasushi; Wimmer, Kathrin; Yamamoto, Tatsuya; Yoshida, Koichi

    2017-09-01

    Isotopic production cross sections were measured for proton- and deuteron-induced reactions on 93Nb by means of the inverse kinematics method at RIKEN Radioactive Isotope Beam Factory. The measured production cross sections of residual nuclei in the reaction 93Nb + p at 113 MeV/u were compared with previous data measured by the conventional activation method in the proton energy range between 46 and 249 MeV. The present inverse kinematics data of four reaction products (90Mo, 90Nb, 88Y, and 86Y) were in good agreement with the data of activation measurement. Also, the model calculations with PHITS describing the intra-nuclear cascade and evaporation processes generally well reproduced the measured isotopic production cross sections.

  14. Laterally constrained inversion for CSAMT data interpretation

    NASA Astrophysics Data System (ADS)

    Wang, Ruo; Yin, Changchun; Wang, Miaoyue; Di, Qingyun

    2015-10-01

    Laterally constrained inversion (LCI) has been successfully applied to the inversion of dc resistivity, TEM and airborne EM data. However, it hasn't been yet applied to the interpretation of controlled-source audio-frequency magnetotelluric (CSAMT) data. In this paper, we apply the LCI method for CSAMT data inversion by preconditioning the Jacobian matrix. We apply a weighting matrix to Jacobian to balance the sensitivity of model parameters, so that the resolution with respect to different model parameters becomes more uniform. Numerical experiments confirm that this can improve the convergence of the inversion. We first invert a synthetic dataset with and without noise to investigate the effect of LCI applications to CSAMT data, for the noise free data, the results show that the LCI method can recover the true model better compared to the traditional single-station inversion; and for the noisy data, the true model is recovered even with a noise level of 8%, indicating that LCI inversions are to some extent noise insensitive. Then, we re-invert two CSAMT datasets collected respectively in a watershed and a coal mine area in Northern China and compare our results with those from previous inversions. The comparison with the previous inversion in a coal mine shows that LCI method delivers smoother layer interfaces that well correlate to seismic data, while comparison with a global searching algorithm of simulated annealing (SA) in a watershed shows that though both methods deliver very similar good results, however, LCI algorithm presented in this paper runs much faster. The inversion results for the coal mine CSAMT survey show that a conductive water-bearing zone that was not revealed by the previous inversions has been identified by the LCI. This further demonstrates that the method presented in this paper works for CSAMT data inversion.

  15. Formation and inversion of extensional ramp-syncline basins with pre-kinematic salt layers. Experimental results and application to Iberian Mesozoic analogues

    NASA Astrophysics Data System (ADS)

    Roma, Maria; Pla, Oriol; Butillé, Mireia; Roca, Eduard; Ferrer, Oriol

    2015-04-01

    took place in them during a later contractional inversion. To achieve this goal an experimental program including seven different sand-box models has been carried out. The experimental results show that fault shape controls the geometry and the kinematic evolution of the ramp synclines formed on the hangingwall during extension and subsequent inversion. Regarding this, the experiments also demonstrate that the presence of a viscous layer changed significantly the kinematic of the basin developing two clearly different structural styles above and below the polymer. The kinematic of this basin during extension change dramatically when the silicone layer was depleted with the formation of primary welds. Since this moment model's kinematic becomes similar to the models without silicone. During the inversion, models show that low shortening produced the contractional reactivation of the major fault arched and uplifted the basin. In this scenario, if salt is rather continuous, took place an incipient reactivation of the silicone layer as a contractional detachment. By contrast, high shortening produces the total inversion of the detachment faults and the pop-up of the extensional basin. Finally, models are compared with different natural analogues from Iberia validating previous published interpretations or proposing new interpretations inferring the geometry of the major fault, specially if the presence of a salt interlayer in the deformed rocks is known or suspected.

  16. Flexible kinematic earthquake rupture inversion of tele-seismic waveforms: Application to the 2013 Balochistan, Pakistan earthquake

    NASA Astrophysics Data System (ADS)

    Shimizu, K.; Yagi, Y.; Okuwaki, R.; Kasahara, A.

    2017-12-01

    The kinematic earthquake rupture models are useful to derive statistics and scaling properties of the large and great earthquakes. However, the kinematic rupture models for the same earthquake are often different from one another. Such sensitivity of the modeling prevents us to understand the statistics and scaling properties of the earthquakes. Yagi and Fukahata (2011) introduces the uncertainty of Green's function into the tele-seismic waveform inversion, and shows that the stable spatiotemporal distribution of slip-rate can be obtained by using an empirical Bayesian scheme. One of the unsolved problems in the inversion rises from the modeling error originated from an uncertainty of a fault-model setting. Green's function near the nodal plane of focal mechanism is known to be sensitive to the slight change of the assumed fault geometry, and thus the spatiotemporal distribution of slip-rate should be distorted by the modeling error originated from the uncertainty of the fault model. We propose a new method accounting for the complexity in the fault geometry by additionally solving the focal mechanism on each space knot. Since a solution of finite source inversion gets unstable with an increasing of flexibility of the model, we try to estimate a stable spatiotemporal distribution of focal mechanism in the framework of Yagi and Fukahata (2011). We applied the proposed method to the 52 tele-seismic P-waveforms of the 2013 Balochistan, Pakistan earthquake. The inverted-potency distribution shows unilateral rupture propagation toward southwest of the epicenter, and the spatial variation of the focal mechanisms shares the same pattern as the fault-curvature along the tectonic fabric. On the other hand, the broad pattern of rupture process, including the direction of rupture propagation, cannot be reproduced by an inversion analysis under the assumption that the faulting occurred on a single flat plane. These results show that the modeling error caused by simplifying the

  17. The Natural-CCD Algorithm, a Novel Method to Solve the Inverse Kinematics of Hyper-redundant and Soft Robots.

    PubMed

    Martín, Andrés; Barrientos, Antonio; Del Cerro, Jaime

    2018-03-22

    This article presents a new method to solve the inverse kinematics problem of hyper-redundant and soft manipulators. From an engineering perspective, this kind of robots are underdetermined systems. Therefore, they exhibit an infinite number of solutions for the inverse kinematics problem, and to choose the best one can be a great challenge. A new algorithm based on the cyclic coordinate descent (CCD) and named as natural-CCD is proposed to solve this issue. It takes its name as a result of generating very harmonious robot movements and trajectories that also appear in nature, such as the golden spiral. In addition, it has been applied to perform continuous trajectories, to develop whole-body movements, to analyze motion planning in complex environments, and to study fault tolerance, even for both prismatic and rotational joints. The proposed algorithm is very simple, precise, and computationally efficient. It works for robots either in two or three spatial dimensions and handles a large amount of degrees-of-freedom. Because of this, it is aimed to break down barriers between discrete hyper-redundant and continuum soft robots.

  18. Strategies to Enhance the Model Update in Regions of Weak Sensitivities for Use in Full Waveform Inversion

    NASA Astrophysics Data System (ADS)

    Nuber, André; Manukyan, Edgar; Maurer, Hansruedi

    2014-05-01

    Conventional methods of interpreting seismic data rely on filtering and processing limited portions of the recorded wavefield. Typically, either reflections, refractions or surface waves are considered in isolation. Particularly in near-surface engineering and environmental investigations (depths less than, say 100 m), these wave types often overlap in time and are difficult to separate. Full waveform inversion is a technique that seeks to exploit and interpret the full information content of the seismic records without the need for separating events first; it yields models of the subsurface at sub-wavelength resolution. We use a finite element modelling code to solve the 2D elastic isotropic wave equation in the frequency domain. This code is part of a Gauss-Newton inversion scheme which we employ to invert for the P- and S-wave velocities as well as for density in the subsurface. For shallow surface data the use of an elastic forward solver is essential because surface waves often dominate the seismograms. This leads to high sensitivities (partial derivatives contained in the Jacobian matrix of the Gauss-Newton inversion scheme) and thus large model updates close to the surface. Reflections from deeper structures may also include useful information, but the large sensitivities of the surface waves often preclude this information from being fully exploited. We have developed two methods that balance the sensitivity distributions and thus may help resolve the deeper structures. The first method includes equilibrating the columns of the Jacobian matrix prior to every inversion step by multiplying them with individual scaling factors. This is expected to also balance the model updates throughout the entire subsurface model. It can be shown that this procedure is mathematically equivalent to balancing the regularization weights of the individual model parameters. A proper choice of the scaling factors required to balance the Jacobian matrix is critical. We decided to

  19. Coulomb Excitation of the 64Ni Nucleus and Application of Inverse Kinematics

    NASA Astrophysics Data System (ADS)

    Greaves, Beau; Muecher, Dennis; Ali, Fuad A.; Drake, Tom; Bildstein, Vinzenz; Berner, Christian; Gernhaeuser, Roman; Nowak, K.; Hellgartner, S.; Lutter, R.; Reichert, S.

    2017-09-01

    In this contribution, we present new data on the semi-magic 64Ni nucleus, close to the N =40 harmonic oscillator shell gap. Recent studies suggest a complicated existence of shape coexistence in 68Ni, likely caused by type-II shell evolutions. The region studied here thus might define the ``shore'' of the region of more deformed nuclei in the Island of Inversion below 68Ni. At the Maier-Leibnitz-Laboratory (MLL) in Munich, a beam of 64Ni was excited using Coulomb excitation. The high-granularity MINIBALL HPGe array and a segmented silicon strip detector were used to identify gamma decays in 64Ni. Doppler-shifted attenuation method (DSAM) analysis was applied to the experimental data acquired to resolve the low-lying excited states and acquire a lifetime measurement based on Geant4 simulations of the first excited 2 + state, clarifying the previously conflicting results. Furthermore, we show DSAM data following transfer reactions in inverse kinematics. This new method has the potential to provide insight into tests of ab-initio shell model calculations in the sd-pf shell and for the study of nuclear reaction rates. Supported under NSERC SAPIN-2016-00030.

  20. Kinematic functions for the 7 DOF robotics research arm

    NASA Technical Reports Server (NTRS)

    Kreutz, K.; Long, M.; Seraji, Homayoun

    1989-01-01

    The Robotics Research Model K-1207 manipulator is a redundant 7R serial link arm with offsets at all joints. To uniquely determine joint angles for a given end-effector configuration, the redundancy is parameterized by a scalar variable which corresponds to the angle between the manipulator elbow plane and the vertical plane. The forward kinematic mappings from joint-space to end-effector configuration and elbow angle, and the augmented Jacobian matrix which gives end-effector and elbow angle rates as a function of joint rates, are also derived.

  1. Implementing a Matrix-free Analytical Jacobian to Handle Nonlinearities in Models of 3D Lithospheric Deformation

    NASA Astrophysics Data System (ADS)

    Kaus, B.; Popov, A.

    2015-12-01

    The analytical expression for the Jacobian is a key component to achieve fast and robust convergence of the nonlinear Newton-Raphson iterative solver. Accomplishing this task in practice often requires a significant algebraic effort. Therefore it is quite common to use a cheap alternative instead, for example by approximating the Jacobian with a finite difference estimation. Despite its simplicity it is a relatively fragile and unreliable technique that is sensitive to the scaling of the residual and unknowns, as well as to the perturbation parameter selection. Unfortunately no universal rule can be applied to provide both a robust scaling and a perturbation. The approach we use here is to derive the analytical Jacobian for the coupled set of momentum, mass, and energy conservation equations together with the elasto-visco-plastic rheology and a marker in cell/staggered finite difference method. The software project LaMEM (Lithosphere and Mantle Evolution Model) is primarily developed for the thermo-mechanically coupled modeling of the 3D lithospheric deformation. The code is based on a staggered grid finite difference discretization in space, and uses customized scalable solvers form PETSc library to efficiently run on the massively parallel machines (such as IBM Blue Gene/Q). Currently LaMEM relies on the Jacobian-Free Newton-Krylov (JFNK) nonlinear solver, which approximates the Jacobian-vector product using a simple finite difference formula. This approach never requires an assembled Jacobian matrix and uses only the residual computation routine. We use an approximate Jacobian (Picard) matrix to precondition the Krylov solver with the Galerkin geometric multigrid. Because of the inherent problems of the finite difference Jacobian estimation, this approach doesn't always result in stable convergence. In this work we present and discuss a matrix-free technique in which the Jacobian-vector product is replaced by analytically-derived expressions and compare results

  2. Extraction of human gait signatures: an inverse kinematic approach using Groebner basis theory applied to gait cycle analysis

    NASA Astrophysics Data System (ADS)

    Barki, Anum; Kendricks, Kimberly; Tuttle, Ronald F.; Bunker, David J.; Borel, Christoph C.

    2013-05-01

    This research highlights the results obtained from applying the method of inverse kinematics, using Groebner basis theory, to the human gait cycle to extract and identify lower extremity gait signatures. The increased threat from suicide bombers and the force protection issues of today have motivated a team at Air Force Institute of Technology (AFIT) to research pattern recognition in the human gait cycle. The purpose of this research is to identify gait signatures of human subjects and distinguish between subjects carrying a load to those subjects without a load. These signatures were investigated via a model of the lower extremities based on motion capture observations, in particular, foot placement and the joint angles for subjects affected by carrying extra load on the body. The human gait cycle was captured and analyzed using a developed toolkit consisting of an inverse kinematic motion model of the lower extremity and a graphical user interface. Hip, knee, and ankle angles were analyzed to identify gait angle variance and range of motion. Female subjects exhibited the most knee angle variance and produced a proportional correlation between knee flexion and load carriage.

  3. Analysis and design of a six-degree-of-freedom Stewart platform-based robotic wrist

    NASA Technical Reports Server (NTRS)

    Nguyen, Charles C.; Antrazi, Sami; Zhou, Zhen-Lei

    1991-01-01

    The kinematic analysis and implementation of a six degree of freedom robotic wrist which is mounted to a general open-kinetic chain manipulator to serve as a restbed for studying precision robotic assembly in space is discussed. The wrist design is based on the Stewart Platform mechanism and consists mainly of two platforms and six linear actuators driven by DC motors. Position feedback is achieved by linear displacement transducers mounted along the actuators and force feedback is obtained by a 6 degree of freedom force sensor mounted between the gripper and the payload platform. The robot wrist inverse kinematics which computes the required actuator lengths corresponding to Cartesian variables has a closed-form solution. The forward kinematics is solved iteratively using the Newton-Ralphson method which simultaneously provides a modified Jacobian Matrix which relates length velocities to Cartesian translational velocities and time rates of change of roll-pitch-yaw angles. Results of computer simulation conducted to evaluate the efficiency of the forward kinematics and Modified Jacobian Matrix are discussed.

  4. Prescribing joint co-ordinates during model preparation to improve inverse kinematic estimates of elbow joint angles.

    PubMed

    Wells, D J M; Alderson, J A; Dunne, J; Elliott, B C; Donnelly, C J

    2017-01-25

    To appropriately use inverse kinematic (IK) modelling for the assessment of human motion, a musculoskeletal model must be prepared 1) to match participant segment lengths (scaling) and 2) to align the model׳s virtual markers positions with known, experimentally derived kinematic marker positions (marker registration). The purpose of this study was to investigate whether prescribing joint co-ordinates during the marker registration process (within the modelling framework OpenSim) will improve IK derived elbow kinematics during an overhead sporting task. To test this, the upper limb kinematics of eight cricket bowlers were recorded during two testing sessions, with a different tester each session. The bowling trials were IK modelled twice: once with an upper limb musculoskeletal model prepared with prescribed participant specific co-ordinates during marker registration - MR PC - and once with the same model prepared without prescribed co-ordinates - MR; and by an established direct kinematic (DK) upper limb model. Whilst both skeletal model preparations had strong inter-tester repeatability (MR: Statistical Parametric Mapping (SPM1D)=0% different; MR PC : SPM1D=0% different), when compared with DK model elbow FE waveform estimates, IK estimates using the MR PC model (RMSD=5.2±2.0°, SPM1D=68% different) were in closer agreement than the estimates from the MR model (RMSD=44.5±18.5°, SPM1D=100% different). Results show that prescribing participant specific joint co-ordinates during the marker registration phase of model preparation increases the accuracy and repeatability of IK solutions when modelling overhead sporting tasks in OpenSim. Copyright © 2016 Elsevier Ltd. All rights reserved.

  5. Methods for calculating the electrode position Jacobian for impedance imaging.

    PubMed

    Boyle, A; Crabb, M G; Jehl, M; Lionheart, W R B; Adler, A

    2017-03-01

    Electrical impedance tomography (EIT) or electrical resistivity tomography (ERT) current and measure voltages at the boundary of a domain through electrodes. The movement or incorrect placement of electrodes may lead to modelling errors that result in significant reconstructed image artifacts. These errors may be accounted for by allowing for electrode position estimates in the model. Movement may be reconstructed through a first-order approximation, the electrode position Jacobian. A reconstruction that incorporates electrode position estimates and conductivity can significantly reduce image artifacts. Conversely, if electrode position is ignored it can be difficult to distinguish true conductivity changes from reconstruction artifacts which may increase the risk of a flawed interpretation. In this work, we aim to determine the fastest, most accurate approach for estimating the electrode position Jacobian. Four methods of calculating the electrode position Jacobian were evaluated on a homogeneous halfspace. Results show that Fréchet derivative and rank-one update methods are competitive in computational efficiency but achieve different solutions for certain values of contact impedance and mesh density.

  6. Cerebellum-inspired neural network solution of the inverse kinematics problem.

    PubMed

    Asadi-Eydivand, Mitra; Ebadzadeh, Mohammad Mehdi; Solati-Hashjin, Mehran; Darlot, Christian; Abu Osman, Noor Azuan

    2015-12-01

    The demand today for more complex robots that have manipulators with higher degrees of freedom is increasing because of technological advances. Obtaining the precise movement for a desired trajectory or a sequence of arm and positions requires the computation of the inverse kinematic (IK) function, which is a major problem in robotics. The solution of the IK problem leads robots to the precise position and orientation of their end-effector. We developed a bioinspired solution comparable with the cerebellar anatomy and function to solve the said problem. The proposed model is stable under all conditions merely by parameter determination, in contrast to recursive model-based solutions, which remain stable only under certain conditions. We modified the proposed model for the simple two-segmented arm to prove the feasibility of the model under a basic condition. A fuzzy neural network through its learning method was used to compute the parameters of the system. Simulation results show the practical feasibility and efficiency of the proposed model in robotics. The main advantage of the proposed model is its generalizability and potential use in any robot.

  7. An inverse dynamics approach to face animation.

    PubMed

    Pitermann, M; Munhall, K G

    2001-09-01

    Muscle-based models of the human face produce high quality animation but rely on recorded muscle activity signals or synthetic muscle signals that are often derived by trial and error. This paper presents a dynamic inversion of a muscle-based model (Lucero and Munhall, 1999) that permits the animation to be created from kinematic recordings of facial movements. Using a nonlinear optimizer (Powell's algorithm), the inversion produces a muscle activity set for seven muscles in the lower face that minimize the root mean square error between kinematic data recorded with OPTOTRAK and the corresponding nodes of the modeled facial mesh. This inverted muscle activity is then used to animate the facial model. In three tests of the inversion, strong correlations were observed for kinematics produced from synthetic muscle activity, for OPTOTRAK kinematics recorded from a talker for whom the facial model is morphologically adapted and finally for another talker with the model morphology adapted to a different individual. The correspondence between the animation kinematics and the three-dimensional OPTOTRAK data are very good and the animation is of high quality. Because the kinematic to electromyography (EMG) inversion is ill posed, there is no relation between the actual EMG and the inverted EMG. The overall redundancy of the motor system means that many different EMG patterns can produce the same kinematic output.

  8. Recursive inverse kinematics for robot arms via Kalman filtering and Bryson-Frazier smoothing

    NASA Technical Reports Server (NTRS)

    Rodriguez, G.; Scheid, R. E., Jr.

    1987-01-01

    This paper applies linear filtering and smoothing theory to solve recursively the inverse kinematics problem for serial multilink manipulators. This problem is to find a set of joint angles that achieve a prescribed tip position and/or orientation. A widely applicable numerical search solution is presented. The approach finds the minimum of a generalized distance between the desired and the actual manipulator tip position and/or orientation. Both a first-order steepest-descent gradient search and a second-order Newton-Raphson search are developed. The optimal relaxation factor required for the steepest descent method is computed recursively using an outward/inward procedure similar to those used typically for recursive inverse dynamics calculations. The second-order search requires evaluation of a gradient and an approximate Hessian. A Gauss-Markov approach is used to approximate the Hessian matrix in terms of products of first-order derivatives. This matrix is inverted recursively using a two-stage process of inward Kalman filtering followed by outward smoothing. This two-stage process is analogous to that recently developed by the author to solve by means of spatial filtering and smoothing the forward dynamics problem for serial manipulators.

  9. Kinematics and control of redundant robotic arm based on dielectric elastomer actuators

    NASA Astrophysics Data System (ADS)

    Branz, Francesco; Antonello, Andrea; Carron, Andrea; Carli, Ruggero; Francesconi, Alessandro

    2015-04-01

    Soft robotics is a promising field and its application to space mechanisms could represent a breakthrough in space technologies by enabling new operative scenarios (e.g. soft manipulators, capture systems). Dielectric Elastomers Actuators have been under deep study for a number of years and have shown several advantages that could be of key importance for space applications. Among such advantages the most notable are high conversion efficiency, distributed actuation, self-sensing capability, multi-degree-of-freedom design, light weight and low cost. The big potentialities of double cone actuators have been proven in terms of good performances (i.e. stroke and force/torque), ease of manufacturing and durability. In this work the kinematic, dynamic and control design of a two-joint redundant robotic arm is presented. Two double cone actuators are assembled in series to form a two-link design. Each joint has two degrees of freedom (one rotational and one translational) for a total of four. The arm is designed to move in a 2-D environment (i.e. the horizontal plane) with 4 DoF, consequently having two degrees of redundancy. The redundancy is exploited in order to minimize the joint loads. The kinematic design with redundant Jacobian inversion is presented. The selected control algorithm is described along with the results of a number of dynamic simulations that have been executed for performance verification. Finally, an experimental setup is presented based on a flexible structure that counteracts gravity during testing in order to better emulate future zero-gravity applications.

  10. Evaluation of the observation operator Jacobian for leaf area index data assimilation with an extended Kalman filter

    NASA Astrophysics Data System (ADS)

    Rüdiger, Christoph; Albergel, CléMent; Mahfouf, Jean-FrançOis; Calvet, Jean-Christophe; Walker, Jeffrey P.

    2010-05-01

    To quantify carbon and water fluxes between the vegetation and the atmosphere in a consistent manner, land surface models now include interactive vegetation components. These models treat the vegetation biomass as a prognostic model state, allowing the model to dynamically adapt the vegetation states to environmental conditions. However, it is expected that the prediction skill of such models can be greatly increased by assimilating biophysical observations such as leaf area index (LAI). The Jacobian of the observation operator, a central aspect of data assimilation methods such as the extended Kalman filter (EKF) and the variational assimilation methods, provides the required linear relationship between the observation and the model states. In this paper, the Jacobian required for assimilating LAI into the Interaction between the Soil, Biosphere and Atmosphere-A-gs land surface model using the EKF is studied. In particular, sensitivity experiments were undertaken on the size of the initial perturbation for estimating the Jacobian and on the length of the time window between initial state and available observation. It was found that small perturbations (0.1% of the state) typically lead to accurate estimates of the Jacobian. While other studies have shown that the assimilation of LAI with 10 day assimilation windows is possible, 1 day assimilation intervals can be chosen to comply with numerical weather prediction requirements. Moreover, the seasonal dependence of the Jacobian revealed contrasted groups of Jacobian values due to environmental factors. Further analyses showed the Jacobian values to vary as a function of the LAI itself, which has important implications for its assimilation in different seasons, as the size of the LAI increments will subsequently vary due to the variability of the Jacobian.

  11. WE-AB-202-03: Quantifying Ventilation Change Due to Radiation Therapy Using 4DCT Jacobian Calculations

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

    Patton, T; Du, K; Bayouth, J

    Purpose: Four-dimensional computed tomography (4DCT) and image registration can be used to determine regional lung ventilation changes after radiation therapy (RT). This study aimed to determine if lung ventilation change following radiation therapy was affected by the pre-RT ventilation of the lung. Methods: 13 subjects had three 4DCT scans: two repeat scans acquired before RT and one three months after RT. Regional ventilation was computed using Jacobian determinant calculations on the registered 4DCT images. The post-RT ventilation map was divided by the pre-RT ventilation map to get a voxel-by-voxel Jacobian ratio map depicting ventilation change over the course of RT.more » Jacobian ratio change was compared over the range of delivered doses. The first pre-RT ventilation image was divided by the second to establish a control for Jacobian ratio change without radiation delivered. The functional change between scans was assessed using histograms of the Jacobian ratios. Results: There were significantly (p < 0.05) more voxels that had a large decrease in Jacobian ratio in the post-RT divided by pre-RT map (15.6%) than the control (13.2%). There were also significantly (p < .01) more voxels that had a large increase in Jacobian ratio (16.2%) when compared to control (13.3%). Lung regions with low function (<10% expansion by Jacobian) showed a slight linear reduction in expansion (0.2%/10 Gy delivered), while high function regions (>10% expansion) showed a greater response (1.2% reduction/10 Gy). Contiguous high function regions > 1 liter occurred in 11 of 13 subjects. Conclusion: There is a significant change in regional ventilation following a course of radiation therapy. The change in Jacobian following RT is dependent both on the delivered dose and the initial ventilation of the lung tissue: high functioning lung has greater ventilation loss for equivalent radiation doses. Substantial regions of high function lung tissue are prevalent. Research support from

  12. The effect of high-top and low-top shoes on ankle inversion kinematics and muscle activation in landing on a tilted surface.

    PubMed

    Fu, Weijie; Fang, Ying; Liu, Yu; Hou, Jianfu

    2014-02-18

    There is still uncertainty concerning the beneficial effects of shoe collar height for ankle sprain prevention and very few data are available in the literature regarding the effect of high-top and low-top shoes on muscle responses during landing. The purpose of this study was to quantify the effect of high-top and low-top shoes on ankle inversion kinematics and pre-landing EMG activation of ankle evertor muscles during landing on a tilted surface. Thirteen physical education students landed on four types of surfaces wearing either high-top shoes (HS) or low-top shoes (LS). The four conditions were 15° inversion, 30° inversion, combined 25° inversion + 10° plantar flexion, and combined 25° inversion + 20° plantar flexion. Ankle inversion kinematics and EMG data of the tibialis anterior (TA), peroneus longus (PL), and peroneus brevis (PB) muscles were measured simultaneously. A 2 × 4 (shoe × surface) repeated measures ANOVA was performed to examine the effect of shoe and landing surfaces on ankle inversion and EMG responses. No significant differences were observed between the various types of shoes in the maximum ankle inversion angle, the ankle inversion range of motion, and the maximum ankle inversion angular velocity after foot contact for all conditions. However, the onset time of TA and PB muscles was significantly later wearing HS compared to LS for the 15° inversion condition. Meanwhile, the mean amplitude of the integrated EMG from the 50 ms prior to contact (aEMGpre) of TA was significantly lower with HS compared to LS for the 15° inversion condition and the combined 25° inversion + 20° plantarflexion condition. Similarly, the aEMGpre when wearing HS compared to LS also showed a 37.2% decrease in PL and a 31.0% decrease in PB for the combined 25° inversion + 20° plantarflexion condition and the 15° inversion condition, respectively. These findings provide preliminary evidence suggesting that wearing high-top shoes

  13. Exploring Strange Nonchaotic Attractors through Jacobian Elliptic Functions

    ERIC Educational Resources Information Center

    Garcia-Hoz, A. Martinez; Chacon, R.

    2011-01-01

    We demonstrate the effectiveness of Jacobian elliptic functions (JEFs) for inquiring into the reshaping effect of quasiperiodic forces in nonlinear nonautonomous systems exhibiting strange nonchaotic attractors (SNAs). Specifically, we characterize analytically and numerically some reshaping-induced transitions starting from SNAs in the context of…

  14. TU-G-BRA-03: Predicting Radiation Therapy Induced Ventilation Changes Using 4DCT Jacobian Calculations

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

    Patton, T; Du, K; Bayouth, J

    2015-06-15

    Purpose: Longitudinal changes in lung ventilation following radiation therapy can be mapped using four-dimensional computed tomography(4DCT) and image registration. This study aimed to predict ventilation changes caused by radiation therapy(RT) as a function of pre-RT ventilation and delivered dose. Methods: 4DCT images were acquired before and 3 months after radiation therapy for 13 subjects. Jacobian ventilation maps were calculated from the 4DCT images, warped to a common coordinate system, and a Jacobian ratio map was computed voxel-by-voxel as the ratio of post-RT to pre-RT Jacobian calculations. A leave-one-out method was used to build a response model for each subject: post-RTmore » to pre-RT Jacobian ratio data and dose distributions of 12 subjects were applied to the subject’s pre-RT Jacobian map to predict the post-RT Jacobian. The predicted Jacobian map was compared to the actual post-RT Jacobian map to evaluate efficacy. Within this cohort, 8 subjects had repeat pre-RT scans that were compared as a reference for no ventilation change. Maps were compared using gamma pass rate criteria of 2mm distance-to-agreement and 6% ventilation difference. Gamma pass rates were compared using paired t-tests to determine significant differences. Further analysis masked non-radiation induced changes by excluding voxels below specified dose thresholds. Results: Visual inspection demonstrates the predicted post-RT ventilation map is similar to the actual map in magnitude and distribution. Quantitatively, the percentage of voxels in agreement when excluding voxels receiving below specified doses are: 74%/20Gy, 73%/10Gy, 73%/5Gy, and 71%/0Gy. By comparison, repeat scans produced 73% of voxels within the 6%/2mm criteria. The agreement of the actual post-RT maps with the predicted maps was significantly better than agreement with pre-RT maps (p<0.02). Conclusion: This work validates that significant changes to ventilation post-RT can be predicted. The differences between

  15. Magnetotelluric inversion via reverse time migration algorithm of seismic data

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

    Ha, Taeyoung; Shin, Changsoo

    2007-07-01

    We propose a new algorithm for two-dimensional magnetotelluric (MT) inversion. Our algorithm is an MT inversion based on the steepest descent method, borrowed from the backpropagation technique of seismic inversion or reverse time migration, introduced in the middle 1980s by Lailly and Tarantola. The steepest descent direction can be calculated efficiently by using the symmetry of numerical Green's function derived from a mixed finite element method proposed by Nedelec for Maxwell's equation, without calculating the Jacobian matrix explicitly. We construct three different objective functions by taking the logarithm of the complex apparent resistivity as introduced in the recent waveform inversionmore » algorithm by Shin and Min. These objective functions can be naturally separated into amplitude inversion, phase inversion and simultaneous inversion. We demonstrate our algorithm by showing three inversion results for synthetic data.« less

  16. Two Dimensional Finite Element Based Magnetotelluric Inversion using Singular Value Decomposition Method on Transverse Electric Mode

    NASA Astrophysics Data System (ADS)

    Tjong, Tiffany; Yihaa’ Roodhiyah, Lisa; Nurhasan; Sutarno, Doddy

    2018-04-01

    In this work, an inversion scheme was performed using a vector finite element (VFE) based 2-D magnetotelluric (MT) forward modelling. We use an inversion scheme with Singular value decomposition (SVD) method toimprove the accuracy of MT inversion.The inversion scheme was applied to transverse electric (TE) mode of MT. SVD method was used in this inversion to decompose the Jacobian matrices. Singular values which obtained from the decomposition process were analyzed. This enabled us to determine the importance of data and therefore to define a threshold for truncation process. The truncation of singular value in inversion processcould improve the resulted model.

  17. Accurate isotopic fission yields of electromagnetically induced fission of 238U measured in inverse kinematics at relativistic energies

    NASA Astrophysics Data System (ADS)

    Pellereau, E.; Taïeb, J.; Chatillon, A.; Alvarez-Pol, H.; Audouin, L.; Ayyad, Y.; Bélier, G.; Benlliure, J.; Boutoux, G.; Caamaño, M.; Casarejos, E.; Cortina-Gil, D.; Ebran, A.; Farget, F.; Fernández-Domínguez, B.; Gorbinet, T.; Grente, L.; Heinz, A.; Johansson, H.; Jurado, B.; Kelić-Heil, A.; Kurz, N.; Laurent, B.; Martin, J.-F.; Nociforo, C.; Paradela, C.; Pietri, S.; Rodríguez-Sánchez, J. L.; Schmidt, K.-H.; Simon, H.; Tassan-Got, L.; Vargas, J.; Voss, B.; Weick, H.

    2017-05-01

    SOFIA (Studies On Fission with Aladin) is a novel experimental program, dedicated to accurate measurements of fission-fragment isotopic yields. The setup allows us to fully identify, in nuclear charge and mass, both fission fragments in coincidence for the whole fission-fragment range. It was installed at the GSI facility (Darmstadt), to benefit from the relativistic heavy-ion beams available there, and thus to use inverse kinematics. This paper reports on fission yields obtained in electromagnetically induced fission of 238U.

  18. Telerobotic control of the seven-degree-of-freedom CESAR manipulator

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

    Babcock, S.M.; Dubey, R.V.; Euler, J.A.

    1988-01-01

    The application of a computationally efficient kinematic control scheme for manipulators with redundant degrees of freedom to the unilateral telerobotic control of seven-degree-of-freedom manipulator (CESARM) at the Oak Ridge National Laboratory Center for Engineering Systems Advanced Research is presented. The kinematic control scheme uses a gradient projection optimization method, which eliminates that need to determine the generalized inverse of the Jacobian when solving for joint velocities, given Cartesian end-effector velocities. A six-degree-of-freedom (nonreplica) master controller is used. Performance indices for redundancy resolution are discussed. 5 ref., 6 figs.

  19. Inelastic Proton Scattering on 21Na in Inverse Kinematics

    NASA Astrophysics Data System (ADS)

    Austin, Roby

    2009-10-01

    R.A.E. Austin, R. Kanungo, S. Reeve, Saint Mary's University; D.G. Jenkins, C.Aa.Diget, A. Robinson, A.G. Tuff, O. Roberts, University of York, UK; P.J. Woods, T. Davinson, G. J. Lotay, University of Edinburgh; C.-Y. Wu, Lawrence Livermore National Laboratory; H. Al Falou, G.C. Ball, M. Djongolov, A. Garnsworthy, G. Hackman, J.N. Orce, C.J. Pearson, S. Triambak, S.J. Williams, TRIUMF; C. Andreiou, D.S. Cross, N. Galinski, R. Kshetri, Simon Fraser University; C. Sumithrarachchi, M.A. Schumaker, University of Guelph; M.P. Jones, S.V. Rigby, University of Liverpool; D. Cline, A. Hayes, University of Rochester; T.E. Drake, University of Toronto; We describe an experiment and associated technique [1] to measure resonances of interest in astrophysical reactions. At the TRIUMF ISAC-II radioactive beam accelerator facility in Canada, particles inelastically scattered in inverse kinematics are detected with Bambino, a δE-E silicon telescope spanning 15-40 degrees in the lab. We use the TIGRESS to detect gamma rays in coincidence with the charged particles to cleanly select inelastic scattering events. We measured resonances above the alpha threshold in ^22Mg of relevance to the rate of break-out from the hot-CNO cycle via the reaction ^ 18Ne(α,p)^21Na. [1] PJ Woods et al. Rex-ISOLDE proposal 424 Cern (2003).

  20. Three-dimensional in vivo kinematics of the subtalar joint during dorsi-plantarflexion and inversion-eversion.

    PubMed

    Goto, Akira; Moritomo, Hisao; Itohara, Tomonobu; Watanabe, Tetsu; Sugamoto, Kazuomi

    2009-05-01

    It is difficult to determine the kinematics of the subtalar joint because of its anatomical and functional complexity. The purpose of the study was to clarify the 3D kinematics of the subtalar joint in vivo. Subjects were four healthy female volunteers. Magnetic resonance imaging (MRI) sequences were acquired in seven positions during dorsi-plantarflexion (DPF) and in 10 positions during inversion-eversion (IE) at intervals of 10 degrees. MRI data of the talus and calcaneus in the neutral position were superimposed on images of the other positions using voxel-based registration, and relative motions and axes of rotation were visualized and quantitatively calculated. The calcaneus always rotated from dorsolateral to medioplantar during DPF and IE, and the motion plane was very similar to that of the entire foot in IE. The axes of rotation of the calcaneus relative to the talus during DPF and IE had a very close spatial relationship, running obliquely from antero-dorso-medial to postero-planto-lateral and penetrating the talar neck. The rotation angle around each of these calcaneal axes tended to be greater in IE (20 degrees +/- 2 degrees) than in DPF (16 degrees +/- 3 degrees). In DPF, motion of the calcaneus relative to the talus occurred predominantly around maximum dorsiflexion and plantarflexion, with little movement observed at intermediate positions. During IE, the calcaneus exhibited uninterrupted motion related to foot movement. The subtalar joint is essentially a uniaxial joint with a motion plane almost identical to that of IE of the entire foot. Knowledge of normal subtalar kinematics may be helpful when evaluating pathologic conditions.

  1. Flux Jacobian Matrices For Equilibrium Real Gases

    NASA Technical Reports Server (NTRS)

    Vinokur, Marcel

    1990-01-01

    Improved formulation includes generalized Roe average and extension to three dimensions. Flux Jacobian matrices derived for use in numerical solutions of conservation-law differential equations of inviscid flows of ideal gases extended to real gases. Real-gas formulation of these matrices retains simplifying assumptions of thermodynamic and chemical equilibrium, but adds effects of vibrational excitation, dissociation, and ionization of gas molecules via general equation of state.

  2. Modal kinematics for multisection continuum arms.

    PubMed

    Godage, Isuru S; Medrano-Cerda, Gustavo A; Branson, David T; Guglielmino, Emanuele; Caldwell, Darwin G

    2015-05-13

    This paper presents a novel spatial kinematic model for multisection continuum arms based on mode shape functions (MSF). Modal methods have been used in many disciplines from finite element methods to structural analysis to approximate complex and nonlinear parametric variations with simple mathematical functions. Given certain constraints and required accuracy, this helps to simplify complex phenomena with numerically efficient implementations leading to fast computations. A successful application of the modal approximation techniques to develop a new modal kinematic model for general variable length multisection continuum arms is discussed. The proposed method solves the limitations associated with previous models and introduces a new approach for readily deriving exact, singularity-free and unique MSF's that simplifies the approach and avoids mode switching. The model is able to simulate spatial bending as well as straight arm motions (i.e., pure elongation/contraction), and introduces inverse position and orientation kinematics for multisection continuum arms. A kinematic decoupling feature, splitting position and orientation inverse kinematics is introduced. This type of decoupling has not been presented for these types of robotic arms before. The model also carefully accounts for physical constraints in the joint space to provide enhanced insight into practical mechanics and impose actuator mechanical limitations onto the kinematics thus generating fully realizable results. The proposed method is easily applicable to a broad spectrum of continuum arm designs.

  3. A neutron spectrometer for studying giant resonances with (p,n) reactions in inverse kinematics

    NASA Astrophysics Data System (ADS)

    Stuhl, L.; Krasznahorkay, A.; Csatlós, M.; Algora, A.; Gulyás, J.; Kalinka, G.; Timár, J.; Kalantar-Nayestanaki, N.; Rigollet, C.; Bagchi, S.; Najafi, M. A.

    2014-02-01

    A neutron spectrometer, the European Low-Energy Neutron Spectrometer (ELENS), has been constructed to study exotic nuclei in inverse-kinematics experiments. The spectrometer, which consists of plastic scintillator bars, can be operated in the neutron energy range of 100 keV-10 MeV. The neutron energy is determined using the time-of-flight technique, while the position of the neutron detection is deduced from the time-difference information from photomultipliers attached to both ends of each bar. A novel wrapping method has been developed for the plastic scintillators. The array has a larger than 25% detection efficiency for neutrons of approximately 500 keV in kinetic energy and an angular resolution of less than 1°. Details of the design, construction and experimental tests of the spectrometer will be presented.

  4. THE PHOTOMETRIC AND KINEMATIC STRUCTURE OF FACE-ON DISK GALAXIES. III. KINEMATIC INCLINATIONS FROM H{alpha} VELOCITY FIELDS

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

    Andersen, David R.; Bershady, Matthew A., E-mail: david.andersen@nrc-cnrc.gc.ca, E-mail: mab@astro.wisc.edu

    2013-05-01

    Using the integral field unit DensePak on the WIYN 3.5 m telescope we have obtained H{alpha} velocity fields of 39 nearly face-on disks at echelle resolutions. High-quality, uniform kinematic data and a new modeling technique enabled us to derive accurate and precise kinematic inclinations with mean i{sub kin} = 23 Degree-Sign for 90% of these galaxies. Modeling the kinematic data as single, inclined disks in circular rotation improves upon the traditional tilted-ring method. We measure kinematic inclinations with a precision in sin i of 25% at 20 Degree-Sign and 6% at 30 Degree-Sign . Kinematic inclinations are consistent with photometricmore » and inverse Tully-Fisher inclinations when the sample is culled of galaxies with kinematic asymmetries, for which we give two specific prescriptions. Kinematic inclinations can therefore be used in statistical ''face-on'' Tully-Fisher studies. A weighted combination of multiple, independent inclination measurements yield the most precise and accurate inclination. Combining inverse Tully-Fisher inclinations with kinematic inclinations yields joint probability inclinations with a precision in sin i of 10% at 15 Degree-Sign and 5% at 30 Degree-Sign . This level of precision makes accurate mass decompositions of galaxies possible even at low inclination. We find scaling relations between rotation speed and disk-scale length identical to results from more inclined samples. We also observe the trend of more steeply rising rotation curves with increased rotation speed and light concentration. This trend appears to be uncorrelated with disk surface brightness.« less

  5. Joint three-dimensional inversion of coupled groundwater flow and heat transfer based on automatic differentiation: sensitivity calculation, verification, and synthetic examples

    NASA Astrophysics Data System (ADS)

    Rath, V.; Wolf, A.; Bücker, H. M.

    2006-10-01

    Inverse methods are useful tools not only for deriving estimates of unknown parameters of the subsurface, but also for appraisal of the thus obtained models. While not being neither the most general nor the most efficient methods, Bayesian inversion based on the calculation of the Jacobian of a given forward model can be used to evaluate many quantities useful in this process. The calculation of the Jacobian, however, is computationally expensive and, if done by divided differences, prone to truncation error. Here, automatic differentiation can be used to produce derivative code by source transformation of an existing forward model. We describe this process for a coupled fluid flow and heat transport finite difference code, which is used in a Bayesian inverse scheme to estimate thermal and hydraulic properties and boundary conditions form measured hydraulic potentials and temperatures. The resulting derivative code was validated by comparison to simple analytical solutions and divided differences. Synthetic examples from different flow regimes demonstrate the use of the inverse scheme, and its behaviour in different configurations.

  6. An optimal resolved rate law for kinematically redundant manipulators

    NASA Technical Reports Server (NTRS)

    Bourgeois, B. J.

    1987-01-01

    The resolved rate law for a manipulator provides the instantaneous joint rates required to satisfy a given instantaneous hand motion. When the joint space has more degrees of freedom than the task space, the manipulator is kinematically redundant and the kinematic rate equations are underdetermined. These equations can be locally optimized, but the resulting pseudo-inverse solution has been found to cause large joint rates in some cases. A weighting matrix in the locally optimized (pseudo-inverse) solution is dynamically adjusted to control the joint motion as desired. Joint reach limit avoidance is demonstrated in a kinematically redundant planar arm model. The treatment is applicable to redundant manipulators with any number of revolute joints and to non-planar manipulators.

  7. Efficient Inversion of Mult-frequency and Multi-Source Electromagnetic Data

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

    Gary D. Egbert

    2007-03-22

    The project covered by this report focused on development of efficient but robust non-linear inversion algorithms for electromagnetic induction data, in particular for data collected with multiple receivers, and multiple transmitters, a situation extremely common in eophysical EM subsurface imaging methods. A key observation is that for such multi-transmitter problems each step in commonly used linearized iterative limited memory search schemes such as conjugate gradients (CG) requires solution of forward and adjoint EM problems for each of the N frequencies or sources, essentially generating data sensitivities for an N dimensional data-subspace. These multiple sensitivities allow a good approximation to themore » full Jacobian of the data mapping to be built up in many fewer search steps than would be required by application of textbook optimization methods, which take no account of the multiplicity of forward problems that must be solved for each search step. We have applied this idea to a develop a hybrid inversion scheme that combines features of the iterative limited memory type methods with a Newton-type approach using a partial calculation of the Jacobian. Initial tests on 2D problems show that the new approach produces results essentially identical to a Newton type Occam minimum structure inversion, while running more rapidly than an iterative (fixed regularization parameter) CG style inversion. Memory requirements, while greater than for something like CG, are modest enough that even in 3D the scheme should allow 3D inverse problems to be solved on a common desktop PC, at least for modest (~ 100 sites, 15-20 frequencies) data sets. A secondary focus of the research has been development of a modular system for EM inversion, using an object oriented approach. This system has proven useful for more rapid prototyping of inversion algorithms, in particular allowing initial development and testing to be conducted with two-dimensional example problems, before

  8. Jacobian-free approximate solvers for hyperbolic systems: Application to relativistic magnetohydrodynamics

    NASA Astrophysics Data System (ADS)

    Castro, Manuel J.; Gallardo, José M.; Marquina, Antonio

    2017-10-01

    We present recent advances in PVM (Polynomial Viscosity Matrix) methods based on internal approximations to the absolute value function, and compare them with Chebyshev-based PVM solvers. These solvers only require a bound on the maximum wave speed, so no spectral decomposition is needed. Another important feature of the proposed methods is that they are suitable to be written in Jacobian-free form, in which only evaluations of the physical flux are used. This is particularly interesting when considering systems for which the Jacobians involve complex expressions, e.g., the relativistic magnetohydrodynamics (RMHD) equations. On the other hand, the proposed Jacobian-free solvers have also been extended to the case of approximate DOT (Dumbser-Osher-Toro) methods, which can be regarded as simple and efficient approximations to the classical Osher-Solomon method, sharing most of it interesting features and being applicable to general hyperbolic systems. To test the properties of our schemes a number of numerical experiments involving the RMHD equations are presented, both in one and two dimensions. The obtained results are in good agreement with those found in the literature and show that our schemes are robust and accurate, running stable under a satisfactory time step restriction. It is worth emphasizing that, although this work focuses on RMHD, the proposed schemes are suitable to be applied to general hyperbolic systems.

  9. Three-dimensional magnetotelluric inversion including topography using deformed hexahedral edge finite elements, direct solvers and data space Gauss-Newton, parallelized on SMP computers

    NASA Astrophysics Data System (ADS)

    Kordy, M. A.; Wannamaker, P. E.; Maris, V.; Cherkaev, E.; Hill, G. J.

    2014-12-01

    We have developed an algorithm for 3D simulation and inversion of magnetotelluric (MT) responses using deformable hexahedral finite elements that permits incorporation of topography. Direct solvers parallelized on symmetric multiprocessor (SMP), single-chassis workstations with large RAM are used for the forward solution, parameter jacobians, and model update. The forward simulator, jacobians calculations, as well as synthetic and real data inversion are presented. We use first-order edge elements to represent the secondary electric field (E), yielding accuracy O(h) for E and its curl (magnetic field). For very low frequency or small material admittivity, the E-field requires divergence correction. Using Hodge decomposition, correction may be applied after the forward solution is calculated. It allows accurate E-field solutions in dielectric air. The system matrix factorization is computed using the MUMPS library, which shows moderately good scalability through 12 processor cores but limited gains beyond that. The factored matrix is used to calculate the forward response as well as the jacobians of field and MT responses using the reciprocity theorem. Comparison with other codes demonstrates accuracy of our forward calculations. We consider a popular conductive/resistive double brick structure and several topographic models. In particular, the ability of finite elements to represent smooth topographic slopes permits accurate simulation of refraction of electromagnetic waves normal to the slopes at high frequencies. Run time tests indicate that for meshes as large as 150x150x60 elements, MT forward response and jacobians can be calculated in ~2.5 hours per frequency. For inversion, we implemented data space Gauss-Newton method, which offers reduction in memory requirement and a significant speedup of the parameter step versus model space approach. For dense matrix operations we use tiling approach of PLASMA library, which shows very good scalability. In synthetic

  10. Kinematics and dynamics of a six-degree-of-freedom robot manipulator with closed kinematic chain mechanism

    NASA Technical Reports Server (NTRS)

    Nguyen, Charles C.; Pooran, Farhad J.

    1989-01-01

    This paper deals with a class of robot manipulators built based on the kinematic chain mechanism (CKCM). This class of CKCM manipulators consists of a fixed and a moving platform coupled together via a number of in-parallel actuators. A closed-form solution is derived for the inverse kinematic problem of a six-degre-of-freedom CKCM manipulator designed to study robotic applications in space. Iterative Newton-Raphson method is employed to solve the forward kinematic problem. Dynamics of the above manipulator is derived using the Lagrangian approach. Computer simulation of the dynamical equations shows that the actuating forces are strongly dependent on the mass and centroid of the robot links.

  11. 3-dimensional magnetotelluric inversion including topography using deformed hexahedral edge finite elements and direct solvers parallelized on symmetric multiprocessor computers - Part II: direct data-space inverse solution

    NASA Astrophysics Data System (ADS)

    Kordy, M.; Wannamaker, P.; Maris, V.; Cherkaev, E.; Hill, G.

    2016-01-01

    Following the creation described in Part I of a deformable edge finite-element simulator for 3-D magnetotelluric (MT) responses using direct solvers, in Part II we develop an algorithm named HexMT for 3-D regularized inversion of MT data including topography. Direct solvers parallelized on large-RAM, symmetric multiprocessor (SMP) workstations are used also for the Gauss-Newton model update. By exploiting the data-space approach, the computational cost of the model update becomes much less in both time and computer memory than the cost of the forward simulation. In order to regularize using the second norm of the gradient, we factor the matrix related to the regularization term and apply its inverse to the Jacobian, which is done using the MKL PARDISO library. For dense matrix multiplication and factorization related to the model update, we use the PLASMA library which shows very good scalability across processor cores. A synthetic test inversion using a simple hill model shows that including topography can be important; in this case depression of the electric field by the hill can cause false conductors at depth or mask the presence of resistive structure. With a simple model of two buried bricks, a uniform spatial weighting for the norm of model smoothing recovered more accurate locations for the tomographic images compared to weightings which were a function of parameter Jacobians. We implement joint inversion for static distortion matrices tested using the Dublin secret model 2, for which we are able to reduce nRMS to ˜1.1 while avoiding oscillatory convergence. Finally we test the code on field data by inverting full impedance and tipper MT responses collected around Mount St Helens in the Cascade volcanic chain. Among several prominent structures, the north-south trending, eruption-controlling shear zone is clearly imaged in the inversion.

  12. Configuration control of seven-degree-of-freedom arms

    NASA Technical Reports Server (NTRS)

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

    1992-01-01

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

  13. 3-D Magnetotelluric Forward Modeling And Inversion Incorporating Topography By Using Vector Finite-Element Method Combined With Divergence Corrections Based On The Magnetic Field (VFEH++)

    NASA Astrophysics Data System (ADS)

    Shi, X.; Utada, H.; Jiaying, W.

    2009-12-01

    The vector finite-element method combined with divergence corrections based on the magnetic field H, referred to as VFEH++ method, is developed to simulate the magnetotelluric (MT) responses of 3-D conductivity models. The advantages of the new VFEH++ method are the use of edge-elements to eliminate the vector parasites and the divergence corrections to explicitly guarantee the divergence-free conditions in the whole modeling domain. 3-D MT topographic responses are modeling using the new VFEH++ method, and are compared with those calculated by other numerical methods. The results show that MT responses can be modeled highly accurate using the VFEH+ +method. The VFEH++ algorithm is also employed for the 3-D MT data inversion incorporating topography. The 3-D MT inverse problem is formulated as a minimization problem of the regularized misfit function. In order to avoid the huge memory requirement and very long time for computing the Jacobian sensitivity matrix for Gauss-Newton method, we employ the conjugate gradient (CG) approach to solve the inversion equation. In each iteration of CG algorithm, the cost computation is the product of the Jacobian sensitivity matrix with a model vector x or its transpose with a data vector y, which can be transformed into two pseudo-forwarding modeling. This avoids the full explicitly Jacobian matrix calculation and storage which leads to considerable savings in the memory required by the inversion program in PC computer. The performance of CG algorithm will be illustrated by several typical 3-D models with horizontal earth surface and topographic surfaces. The results show that the VFEH++ and CG algorithms can be effectively employed to 3-D MT field data inversion.

  14. New preconditioning strategy for Jacobian-free solvers for variably saturated flows with Richards’ equation

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

    Lipnikov, Konstantin; Moulton, David; Svyatskiy, Daniil

    2016-04-29

    We develop a new approach for solving the nonlinear Richards’ equation arising in variably saturated flow modeling. The growing complexity of geometric models for simulation of subsurface flows leads to the necessity of using unstructured meshes and advanced discretization methods. Typically, a numerical solution is obtained by first discretizing PDEs and then solving the resulting system of nonlinear discrete equations with a Newton-Raphson-type method. Efficiency and robustness of the existing solvers rely on many factors, including an empiric quality control of intermediate iterates, complexity of the employed discretization method and a customized preconditioner. We propose and analyze a new preconditioningmore » strategy that is based on a stable discretization of the continuum Jacobian. We will show with numerical experiments for challenging problems in subsurface hydrology that this new preconditioner improves convergence of the existing Jacobian-free solvers 3-20 times. Furthermore, we show that the Picard method with this preconditioner becomes a more efficient nonlinear solver than a few widely used Jacobian-free solvers.« less

  15. Configuration control of seven degree of freedom arms

    NASA Technical Reports Server (NTRS)

    Seraji, Homayoun (Inventor)

    1995-01-01

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

  16. Development of advanced control schemes for telerobot manipulators

    NASA Technical Reports Server (NTRS)

    Nguyen, Charles C.; Zhou, Zhen-Lei

    1991-01-01

    To study space applications of telerobotics, Goddard Space Flight Center (NASA) has recently built a testbed composed mainly of a pair of redundant slave arms having seven degrees of freedom and a master hand controller system. The mathematical developments required for the computerized simulation study and motion control of the slave arms are presented. The slave arm forward kinematic transformation is presented which is derived using the D-H notation and is then reduced to its most simplified form suitable for real-time control applications. The vector cross product method is then applied to obtain the slave arm Jacobian matrix. Using the developed forward kinematic transformation and quaternions representation of the slave arm end-effector orientation, computer simulation is conducted to evaluate the efficiency of the Jacobian in converting joint velocities into Cartesian velocities and to investigate the accuracy of the Jacobian pseudo-inverse for various sampling times. In addition, the equivalence between Cartesian velocities and quaternion is also verified using computer simulation. The motion control of the slave arm is examined. Three control schemes, the joint-space adaptive control scheme, the Cartesian adaptive control scheme, and the hybrid position/force control scheme are proposed for controlling the motion of the slave arm end-effector. Development of the Cartesian adaptive control scheme is presented and some preliminary results of the remaining control schemes are presented and discussed.

  17. A 3D generic inverse dynamic method using wrench notation and quaternion algebra.

    PubMed

    Dumas, R; Aissaoui, R; de Guise, J A

    2004-06-01

    In the literature, conventional 3D inverse dynamic models are limited in three aspects related to inverse dynamic notation, body segment parameters and kinematic formalism. First, conventional notation yields separate computations of the forces and moments with successive coordinate system transformations. Secondly, the way conventional body segment parameters are defined is based on the assumption that the inertia tensor is principal and the centre of mass is located between the proximal and distal ends. Thirdly, the conventional kinematic formalism uses Euler or Cardanic angles that are sequence-dependent and suffer from singularities. In order to overcome these limitations, this paper presents a new generic method for inverse dynamics. This generic method is based on wrench notation for inverse dynamics, a general definition of body segment parameters and quaternion algebra for the kinematic formalism.

  18. Isotopic fission-fragment distributions of 238U, 239Np, 240Pu, 244Cm, and 250Cf produced through inelastic scattering, transfer, and fusion reactions in inverse kinematics

    NASA Astrophysics Data System (ADS)

    Ramos, D.; Caamaño, M.; Farget, F.; Rodríguez-Tajes, C.; Audouin, L.; Benlliure, J.; Casarejos, E.; Clement, E.; Cortina, D.; Delaune, O.; Derkx, X.; Dijon, A.; Doré, D.; Fernández-Domínguez, B.; de France, G.; Heinz, A.; Jacquot, B.; Navin, A.; Paradela, C.; Rejmund, M.; Roger, T.; Salsac, M.-D.; Schmitt, C.

    2018-05-01

    Transfer- and fusion-induced fission in inverse kinematics has proved to be a powerful tool to investigate nuclear fission, widening information on the fission fragments and access to unstable fissioning systems with respect to other experimental approaches. An experimental campaign is being carried out at GANIL with this technique since 2008. In these experiments, a beam of 238U, accelerated to 6.1 MeV/u, impinges on a 12C target. Fissioning systems from U to Cf are populated through inelastic scattering, transfer, and fusion reactions, with excitation energies that range from a few MeV up to 46 MeV. The use of inverse kinematics, the SPIDER telescope, and the VAMOS spectrometer allow the characterization of the fissioning system in terms of mass, nuclear charge, and excitation energy, and the isotopic identification of the full fragment distribution. This work reports on new data from the second experiment of the campaign on fission-fragment yields of the heavy actinides 238U, 239Np, 240Pu, 244Cm, and 250Cf, which are of interest from both fundamental and application points of view.

  19. Kinematic synthesis of bevel-gear-type robotic wrist mechanisms

    NASA Astrophysics Data System (ADS)

    Lin, Chen-Chou

    workplace are derived. The workspace boundary equations can be derived via both geometric consideration and Jacobian analysis. The workspace is divided by inner and outer boundaries into regions of accessibility of zero, two, and four. The design criteria of full workspace and a maximum four-root region are established. kinematic performance.

  20. Trajectory following and stabilization control of fully actuated AUV using inverse kinematics and self-tuning fuzzy PID.

    PubMed

    Hammad, Mohanad M; Elshenawy, Ahmed K; El Singaby, M I

    2017-01-01

    In this work a design for self-tuning non-linear Fuzzy Proportional Integral Derivative (FPID) controller is presented to control position and speed of Multiple Input Multiple Output (MIMO) fully-actuated Autonomous Underwater Vehicles (AUV) to follow desired trajectories. Non-linearity that results from the hydrodynamics and the coupled AUV dynamics makes the design of a stable controller a very difficult task. In this study, the control scheme in a simulation environment is validated using dynamic and kinematic equations for the AUV model and hydrodynamic damping equations. An AUV configuration with eight thrusters and an inverse kinematic model from a previous work is utilized in the simulation. In the proposed controller, Mamdani fuzzy rules are used to tune the parameters of the PID. Nonlinear fuzzy Gaussian membership functions are selected to give better performance and response in the non-linear system. A control architecture with two feedback loops is designed such that the inner loop is for velocity control and outer loop is for position control. Several test scenarios are executed to validate the controller performance including different complex trajectories with and without injection of ocean current disturbances. A comparison between the proposed FPID controller and the conventional PID controller is studied and shows that the FPID controller has a faster response to the reference signal and more stable behavior in a disturbed non-linear environment.

  1. Trajectory following and stabilization control of fully actuated AUV using inverse kinematics and self-tuning fuzzy PID

    PubMed Central

    Elshenawy, Ahmed K.; El Singaby, M.I.

    2017-01-01

    In this work a design for self-tuning non-linear Fuzzy Proportional Integral Derivative (FPID) controller is presented to control position and speed of Multiple Input Multiple Output (MIMO) fully-actuated Autonomous Underwater Vehicles (AUV) to follow desired trajectories. Non-linearity that results from the hydrodynamics and the coupled AUV dynamics makes the design of a stable controller a very difficult task. In this study, the control scheme in a simulation environment is validated using dynamic and kinematic equations for the AUV model and hydrodynamic damping equations. An AUV configuration with eight thrusters and an inverse kinematic model from a previous work is utilized in the simulation. In the proposed controller, Mamdani fuzzy rules are used to tune the parameters of the PID. Nonlinear fuzzy Gaussian membership functions are selected to give better performance and response in the non-linear system. A control architecture with two feedback loops is designed such that the inner loop is for velocity control and outer loop is for position control. Several test scenarios are executed to validate the controller performance including different complex trajectories with and without injection of ocean current disturbances. A comparison between the proposed FPID controller and the conventional PID controller is studied and shows that the FPID controller has a faster response to the reference signal and more stable behavior in a disturbed non-linear environment. PMID:28683071

  2. Parallel Computation of the Jacobian Matrix for Nonlinear Equation Solvers Using MATLAB

    NASA Technical Reports Server (NTRS)

    Rose, Geoffrey K.; Nguyen, Duc T.; Newman, Brett A.

    2017-01-01

    Demonstrating speedup for parallel code on a multicore shared memory PC can be challenging in MATLAB due to underlying parallel operations that are often opaque to the user. This can limit potential for improvement of serial code even for the so-called embarrassingly parallel applications. One such application is the computation of the Jacobian matrix inherent to most nonlinear equation solvers. Computation of this matrix represents the primary bottleneck in nonlinear solver speed such that commercial finite element (FE) and multi-body-dynamic (MBD) codes attempt to minimize computations. A timing study using MATLAB's Parallel Computing Toolbox was performed for numerical computation of the Jacobian. Several approaches for implementing parallel code were investigated while only the single program multiple data (spmd) method using composite objects provided positive results. Parallel code speedup is demonstrated but the goal of linear speedup through the addition of processors was not achieved due to PC architecture.

  3. Kinematics and design of a class of parallel manipulators

    NASA Astrophysics Data System (ADS)

    Hertz, Roger Barry

    1998-12-01

    This dissertation is concerned with the kinematic analysis and design of a class of three degree-of-freedom, spatial parallel manipulators. The class of manipulators is characterized by two platforms, between which are three legs, each possessing a succession of revolute, spherical, and revolute joints. The class is termed the "revolute-spherical-revolute" class of parallel manipulators. Two members of this class are examined. The first mechanism is a double-octahedral variable-geometry truss, and the second is termed a double tripod. The history the mechanisms is explored---the variable-geometry truss dates back to 1984, while predecessors of the double tripod mechanism date back to 1869. This work centers on the displacement analysis of these three-degree-of-freedom mechanisms. Two types of problem are solved: the forward displacement analysis (forward kinematics) and the inverse displacement analysis (inverse kinematics). The kinematic model of the class of mechanism is general in nature. A classification scheme for the revolute-spherical-revolute class of mechanism is introduced, which uses dominant geometric features to group designs into 8 different sub-classes. The forward kinematics problem is discussed: given a set of independently controllable input variables, solve for the relative position and orientation between the two platforms. For the variable-geometry truss, the controllable input variables are assumed to be the linear (prismatic) joints. For the double tripod, the controllable input variables are the three revolute joints adjacent to the base (proximal) platform. Multiple solutions are presented to the forward kinematics problem, indicating that there are many different positions (assemblies) that the manipulator can assume with equivalent inputs. For the double tripod these solutions can be expressed as a 16th degree polynomial in one unknown, while for the variable-geometry truss there exist two 16th degree polynomials, giving rise to 256

  4. Implicit solution of Navier-Stokes equations on staggered curvilinear grids using a Newton-Krylov method with a novel analytical Jacobian.

    NASA Astrophysics Data System (ADS)

    Borazjani, Iman; Asgharzadeh, Hafez

    2015-11-01

    Flow simulations involving complex geometries and moving boundaries suffer from time-step size restriction and low convergence rates with explicit and semi-implicit schemes. Implicit schemes can be used to overcome these restrictions. However, implementing implicit solver for nonlinear equations including Navier-Stokes is not straightforward. Newton-Krylov subspace methods (NKMs) are one of the most advanced iterative methods to solve non-linear equations such as implicit descritization of the Navier-Stokes equation. The efficiency of NKMs massively depends on the Jacobian formation method, e.g., automatic differentiation is very expensive, and matrix-free methods slow down as the mesh is refined. Analytical Jacobian is inexpensive method, but derivation of analytical Jacobian for Navier-Stokes equation on staggered grid is challenging. The NKM with a novel analytical Jacobian was developed and validated against Taylor-Green vortex and pulsatile flow in a 90 degree bend. The developed method successfully handled the complex geometries such as an intracranial aneurysm with multiple overset grids, and immersed boundaries. It is shown that the NKM with an analytical Jacobian is 3 to 25 times faster than the fixed-point implicit Runge-Kutta method, and more than 100 times faster than automatic differentiation depending on the grid (size) and the flow problem. The developed methods are fully parallelized with parallel efficiency of 80-90% on the problems tested.

  5. A global approach for using kinematic redundancy to minimize base reactions of manipulators

    NASA Technical Reports Server (NTRS)

    Chung, C. L.; Desa, S.

    1989-01-01

    An important consideration in the use of manipulators in microgravity environments is the minimization of the base reactions, i.e. the magnitude of the force and the moment exerted by the manipulator on its base as it performs its tasks. One approach which was proposed and implemented is to use the redundant degree of freedom in a kinematically redundant manipulator to plan manipulator trajectories to minimize base reactions. A global approach was developed for minimizing the magnitude of the base reactions for kinematically redundant manipulators which integrates the Partitioned Jacobian method of redundancy resolution, a 4-3-4 joint-trajectory representation and the minimization of a cost function which is the time-integral of the magnitude of the base reactions. The global approach was also compared with a local approach developed earlier for the case of point-to-point motion of a three degree-of-freedom planar manipulator with one redundant degree-of-freedom. The results show that the global approach is more effective in reducing and smoothing the base force while the local approach is superior in reducing the base moment.

  6. Full-Physics Inverse Learning Machine for Satellite Remote Sensing Retrievals

    NASA Astrophysics Data System (ADS)

    Loyola, D. G.

    2017-12-01

    The satellite remote sensing retrievals are usually ill-posed inverse problems that are typically solved by finding a state vector that minimizes the residual between simulated data and real measurements. The classical inversion methods are very time-consuming as they require iterative calls to complex radiative-transfer forward models to simulate radiances and Jacobians, and subsequent inversion of relatively large matrices. In this work we present a novel and extremely fast algorithm for solving inverse problems called full-physics inverse learning machine (FP-ILM). The FP-ILM algorithm consists of a training phase in which machine learning techniques are used to derive an inversion operator based on synthetic data generated using a radiative transfer model (which expresses the "full-physics" component) and the smart sampling technique, and an operational phase in which the inversion operator is applied to real measurements. FP-ILM has been successfully applied to the retrieval of the SO2 plume height during volcanic eruptions and to the retrieval of ozone profile shapes from UV/VIS satellite sensors. Furthermore, FP-ILM will be used for the near-real-time processing of the upcoming generation of European Sentinel sensors with their unprecedented spectral and spatial resolution and associated large increases in the amount of data.

  7. Kinematic inversion of the 2008 Mw7 Iwate-Miyagi (Japan) earthquake by two independent methods: Sensitivity and resolution analysis

    NASA Astrophysics Data System (ADS)

    Gallovic, Frantisek; Cirella, Antonella; Plicka, Vladimir; Piatanesi, Alessio

    2013-04-01

    On 14 June 2008, UTC 23:43, the border of Iwate and Miyagi prefectures was hit by an Mw7 reverse-fault type crustal earthquake. The event is known to have the largest ground acceleration observed to date (~4g), which was recorded at station IWTH25. We analyze observed strong motion data with the objective to image the event rupture process and the associated uncertainties. Two different slip inversion approaches are used, the difference between the two methods being only in the parameterization of the source model. To minimize mismodeling of the propagation effects we use crustal model obtained by full waveform inversion of aftershock records in the frequency range between 0.05-0.3 Hz. In the first method, based on linear formulation, the parameters are represented by samples of slip velocity functions along the (finely discretized) fault in a time window spanning the whole rupture duration. Such a source description is very general with no prior constraint on the nucleation point, rupture velocity, shape of the velocity function. Thus the inversion could resolve very general (unexpected) features of the rupture evolution, such as multiple rupturing, rupture-propagation reversals, etc. On the other hand, due to the relatively large number of model parameters, the inversion result is highly non-unique, with possibility of obtaining a biased solution. The second method is a non-linear global inversion technique, where each point on the fault can slip only once, following a prescribed functional form of the source time function. We invert simultaneously for peak slip velocity, slip angle, rise time and rupture time by allowing a given range of variability for each kinematic model parameter. For this reason, unlike to the linear inversion approach, the rupture process needs a smaller number of parameters to be retrieved, and is more constrained with a proper control on the allowed range of parameter values. In order to test the resolution and reliability of the

  8. Flux Jacobian matrices and generaled Roe average for an equilibrium real gas

    NASA Technical Reports Server (NTRS)

    Vinokur, Marcel

    1988-01-01

    Inviscid flux Jacobian matrices and their properties used in numerical solutions of conservation laws are extended to general, equilibrium gas laws. Exact and approximate generalizations of the Roe average are presented. Results are given for one-dimensional flow, and then extended to three-dimensional flow with time-varying grids.

  9. Halo structure of 8B determined from intermediate energy proton elastic scattering in inverse kinematics

    NASA Astrophysics Data System (ADS)

    Korolev, G. A.; Dobrovolsky, A. V.; Inglessi, A. G.; Alkhazov, G. D.; Egelhof, P.; Estradé, A.; Dillmann, I.; Farinon, F.; Geissel, H.; Ilieva, S.; Ke, Y.; Khanzadeev, A. V.; Kiselev, O. A.; Kurcewicz, J.; Le, X. C.; Litvinov, Yu. A.; Petrov, G. E.; Prochazka, A.; Scheidenberger, C.; Sergeev, L. O.; Simon, H.; Takechi, M.; Tang, S.; Volkov, V.; Vorobyov, A. A.; Weick, H.; Yatsoura, V. I.

    2018-05-01

    The absolute differential cross section for small-angle proton elastic scattering on the proton-rich 8B nucleus has been measured in inverse kinematics for the first time. The experiment was performed using a secondary radioactive beam with an energy of 0.7 GeV/u at GSI, Darmstadt. The active target, namely hydrogen-filled time projection ionization chamber IKAR, was used to measure the energy, angle and vertex point of the recoil protons. The scattering angle of the projectiles was simultaneously determined by the tracking detectors. The measured differential cross section is analyzed on the basis of the Glauber multiple scattering theory using phenomenological nuclear-density distributions with two free parameters. The radial density distribution deduced for 8B exhibits a halo structure with the root-mean-square (rms) matter radius Rm = 2.58 (6) fm and the rms halo radius Rh = 4.24 (25) fm. The results on 8B are compared to those on the mirror nucleus 8Li investigated earlier by the same method. A comparison is also made with previous experimental results and theoretical predictions for both nuclei.

  10. Real time markerless motion tracking using linked kinematic chains

    DOEpatents

    Luck, Jason P [Arvada, CO; Small, Daniel E [Albuquerque, NM

    2007-08-14

    A markerless method is described for tracking the motion of subjects in a three dimensional environment using a model based on linked kinematic chains. The invention is suitable for tracking robotic, animal or human subjects in real-time using a single computer with inexpensive video equipment, and does not require the use of markers or specialized clothing. A simple model of rigid linked segments is constructed of the subject and tracked using three dimensional volumetric data collected by a multiple camera video imaging system. A physics based method is then used to compute forces to align the model with subsequent volumetric data sets in real-time. The method is able to handle occlusion of segments and accommodates joint limits, velocity constraints, and collision constraints and provides for error recovery. The method further provides for elimination of singularities in Jacobian based calculations, which has been problematic in alternative methods.

  11. The kinematic determinants of anuran swimming performance: an inverse and forward dynamics approach.

    PubMed

    Richards, Christopher T

    2008-10-01

    The aims of this study were to explore the hydrodynamic mechanism of Xenopus laevis swimming and to describe how hind limb kinematics shift to control swimming performance. Kinematics of the joints, feet and body were obtained from high speed video of X. laevis frogs (N=4) during swimming over a range of speeds. A blade element approach was used to estimate thrust produced by both translational and rotational components of foot velocity. Peak thrust from the feet ranged from 0.09 to 0.69 N across speeds ranging from 0.28 to 1.2 m s(-1). Among 23 swimming strokes, net thrust impulse from rotational foot motion was significantly higher than net translational thrust impulse, ranging from 6.1 to 29.3 N ms, compared with a range of -7.0 to 4.1 N ms from foot translation. Additionally, X. laevis kinematics were used as a basis for a forward dynamic anuran swimming model. Input joint kinematics were modulated to independently vary the magnitudes of foot translational and rotational velocity. Simulations predicted that maximum swimming velocity (among all of the kinematics patterns tested) requires that maximal translational and maximal rotational foot velocity act in phase. However, consistent with experimental kinematics, translational and rotational motion contributed unequally to total thrust. The simulation powered purely by foot translation reached a lower peak stroke velocity than the pure rotational case (0.38 vs 0.54 m s(-1)). In all simulations, thrust from the foot was positive for the first half of the power stroke, but negative for the second half. Pure translational foot motion caused greater negative thrust (70% of peak positive thrust) compared with pure rotational simulation (35% peak positive thrust) suggesting that translational motion is propulsive only in the early stages of joint extension. Later in the power stroke, thrust produced by foot rotation overcomes negative thrust (due to translation). Hydrodynamic analysis from X. laevis as well as forward

  12. A Newton-Krylov method with an approximate analytical Jacobian for implicit solution of Navier-Stokes equations on staggered overset-curvilinear grids with immersed boundaries.

    PubMed

    Asgharzadeh, Hafez; Borazjani, Iman

    2017-02-15

    The explicit and semi-implicit schemes in flow simulations involving complex geometries and moving boundaries suffer from time-step size restriction and low convergence rates. Implicit schemes can be used to overcome these restrictions, but implementing them to solve the Navier-Stokes equations is not straightforward due to their non-linearity. Among the implicit schemes for nonlinear equations, Newton-based techniques are preferred over fixed-point techniques because of their high convergence rate but each Newton iteration is more expensive than a fixed-point iteration. Krylov subspace methods are one of the most advanced iterative methods that can be combined with Newton methods, i.e., Newton-Krylov Methods (NKMs) to solve non-linear systems of equations. The success of NKMs vastly depends on the scheme for forming the Jacobian, e.g., automatic differentiation is very expensive, and matrix-free methods without a preconditioner slow down as the mesh is refined. A novel, computationally inexpensive analytical Jacobian for NKM is developed to solve unsteady incompressible Navier-Stokes momentum equations on staggered overset-curvilinear grids with immersed boundaries. Moreover, the analytical Jacobian is used to form preconditioner for matrix-free method in order to improve its performance. The NKM with the analytical Jacobian was validated and verified against Taylor-Green vortex, inline oscillations of a cylinder in a fluid initially at rest, and pulsatile flow in a 90 degree bend. The capability of the method in handling complex geometries with multiple overset grids and immersed boundaries is shown by simulating an intracranial aneurysm. It was shown that the NKM with an analytical Jacobian is 1.17 to 14.77 times faster than the fixed-point Runge-Kutta method, and 1.74 to 152.3 times (excluding an intensively stretched grid) faster than automatic differentiation depending on the grid (size) and the flow problem. In addition, it was shown that using only the

  13. A Newton–Krylov method with an approximate analytical Jacobian for implicit solution of Navier–Stokes equations on staggered overset-curvilinear grids with immersed boundaries

    PubMed Central

    Asgharzadeh, Hafez; Borazjani, Iman

    2016-01-01

    The explicit and semi-implicit schemes in flow simulations involving complex geometries and moving boundaries suffer from time-step size restriction and low convergence rates. Implicit schemes can be used to overcome these restrictions, but implementing them to solve the Navier-Stokes equations is not straightforward due to their non-linearity. Among the implicit schemes for nonlinear equations, Newton-based techniques are preferred over fixed-point techniques because of their high convergence rate but each Newton iteration is more expensive than a fixed-point iteration. Krylov subspace methods are one of the most advanced iterative methods that can be combined with Newton methods, i.e., Newton-Krylov Methods (NKMs) to solve non-linear systems of equations. The success of NKMs vastly depends on the scheme for forming the Jacobian, e.g., automatic differentiation is very expensive, and matrix-free methods without a preconditioner slow down as the mesh is refined. A novel, computationally inexpensive analytical Jacobian for NKM is developed to solve unsteady incompressible Navier-Stokes momentum equations on staggered overset-curvilinear grids with immersed boundaries. Moreover, the analytical Jacobian is used to form preconditioner for matrix-free method in order to improve its performance. The NKM with the analytical Jacobian was validated and verified against Taylor-Green vortex, inline oscillations of a cylinder in a fluid initially at rest, and pulsatile flow in a 90 degree bend. The capability of the method in handling complex geometries with multiple overset grids and immersed boundaries is shown by simulating an intracranial aneurysm. It was shown that the NKM with an analytical Jacobian is 1.17 to 14.77 times faster than the fixed-point Runge-Kutta method, and 1.74 to 152.3 times (excluding an intensively stretched grid) faster than automatic differentiation depending on the grid (size) and the flow problem. In addition, it was shown that using only the

  14. A Newton-Krylov method with an approximate analytical Jacobian for implicit solution of Navier-Stokes equations on staggered overset-curvilinear grids with immersed boundaries

    NASA Astrophysics Data System (ADS)

    Asgharzadeh, Hafez; Borazjani, Iman

    2017-02-01

    The explicit and semi-implicit schemes in flow simulations involving complex geometries and moving boundaries suffer from time-step size restriction and low convergence rates. Implicit schemes can be used to overcome these restrictions, but implementing them to solve the Navier-Stokes equations is not straightforward due to their non-linearity. Among the implicit schemes for non-linear equations, Newton-based techniques are preferred over fixed-point techniques because of their high convergence rate but each Newton iteration is more expensive than a fixed-point iteration. Krylov subspace methods are one of the most advanced iterative methods that can be combined with Newton methods, i.e., Newton-Krylov Methods (NKMs) to solve non-linear systems of equations. The success of NKMs vastly depends on the scheme for forming the Jacobian, e.g., automatic differentiation is very expensive, and matrix-free methods without a preconditioner slow down as the mesh is refined. A novel, computationally inexpensive analytical Jacobian for NKM is developed to solve unsteady incompressible Navier-Stokes momentum equations on staggered overset-curvilinear grids with immersed boundaries. Moreover, the analytical Jacobian is used to form a preconditioner for matrix-free method in order to improve its performance. The NKM with the analytical Jacobian was validated and verified against Taylor-Green vortex, inline oscillations of a cylinder in a fluid initially at rest, and pulsatile flow in a 90 degree bend. The capability of the method in handling complex geometries with multiple overset grids and immersed boundaries is shown by simulating an intracranial aneurysm. It was shown that the NKM with an analytical Jacobian is 1.17 to 14.77 times faster than the fixed-point Runge-Kutta method, and 1.74 to 152.3 times (excluding an intensively stretched grid) faster than automatic differentiation depending on the grid (size) and the flow problem. In addition, it was shown that using only the

  15. High effective inverse dynamics modelling for dual-arm robot

    NASA Astrophysics Data System (ADS)

    Shen, Haoyu; Liu, Yanli; Wu, Hongtao

    2018-05-01

    To deal with the problem of inverse dynamics modelling for dual arm robot, a recursive inverse dynamics modelling method based on decoupled natural orthogonal complement is presented. In this model, the concepts and methods of Decoupled Natural Orthogonal Complement matrices are used to eliminate the constraint forces in the Newton-Euler kinematic equations, and the screws is used to express the kinematic and dynamics variables. On this basis, the paper has developed a special simulation program with symbol software of Mathematica and conducted a simulation research on the a dual-arm robot. Simulation results show that the proposed method based on decoupled natural orthogonal complement can save an enormous amount of CPU time that was spent in computing compared with the recursive Newton-Euler kinematic equations and the results is correct and reasonable, which can verify the reliability and efficiency of the method.

  16. Numerical implementation, verification and validation of two-phase flow four-equation drift flux model with Jacobian-free Newton–Krylov method

    DOE PAGES

    Zou, Ling; Zhao, Haihua; Zhang, Hongbin

    2016-08-24

    This study presents a numerical investigation on using the Jacobian-free Newton–Krylov (JFNK) method to solve the two-phase flow four-equation drift flux model with realistic constitutive correlations (‘closure models’). The drift flux model is based on Isshi and his collaborators’ work. Additional constitutive correlations for vertical channel flow, such as two-phase flow pressure drop, flow regime map, wall boiling and interfacial heat transfer models, were taken from the RELAP5-3D Code Manual and included to complete the model. The staggered grid finite volume method and fully implicit backward Euler method was used for the spatial discretization and time integration schemes, respectively. Themore » Jacobian-free Newton–Krylov method shows no difficulty in solving the two-phase flow drift flux model with a discrete flow regime map. In addition to the Jacobian-free approach, the preconditioning matrix is obtained by using the default finite differencing method provided in the PETSc package, and consequently the labor-intensive implementation of complex analytical Jacobian matrix is avoided. Extensive and successful numerical verification and validation have been performed to prove the correct implementation of the models and methods. Code-to-code comparison with RELAP5-3D has further demonstrated the successful implementation of the drift flux model.« less

  17. Development of kinematic equations and determination of workspace of a 6 DOF end-effector with closed-kinematic chain mechanism

    NASA Technical Reports Server (NTRS)

    Nguyen, Charles C.; Pooran, Farhad J.

    1989-01-01

    This report presents results from the research grant entitled Active Control of Robot Manipulators, funded by the Goddard Space Flight Center, under Grant NAG5-780, for the period July 1, 1988 to January 1, 1989. An analysis is presented of a 6 degree-of-freedom robot end-effector built to study telerobotic assembly of NASA hardware in space. Since the end-effector is required to perform high precision motion in a limited workspace, closed-kinematic mechanisms are chosen for its design. A closed-form solution is obtained for the inverse kinematic problem and an iterative procedure employing Newton-Raphson method is proposed to solve the forward kinematic problem. A study of the end-effector workspace results in a general procedure for the workspace determination based on link constraints. Computer simulation results are presented.

  18. Source process of the 2016 Kumamoto earthquake (Mj7.3) inferred from kinematic inversion of strong-motion records

    NASA Astrophysics Data System (ADS)

    Yoshida, Kunikazu; Miyakoshi, Ken; Somei, Kazuhiro; Irikura, Kojiro

    2017-05-01

    In this study, we estimated source process of the 2016 Kumamoto earthquake from strong-motion data by using the multiple-time window linear kinematic waveform inversion method to discuss generation of strong motions and to explain crustal deformation pattern with a seismic source inversion model. A four-segment fault model was assumed based on the aftershock distribution, active fault traces, and interferometric synthetic aperture radar data. Three western segments were set to be northwest-dipping planes, and the most eastern segment under the Aso caldera was examined to be a southeast-dipping plane. The velocity structure models used in this study were estimated by using waveform modeling of moderate earthquakes that occurred in the source region. We applied a two-step approach of the inversions of 20 strong-motion datasets observed by K-NET and KiK-net by using band-pass-filtered strong-motion data at 0.05-0.5 Hz and then at 0.05-1.0 Hz. The rupture area of the fault plane was determined by applying the criterion of Somerville et al. (Seismol Res Lett 70:59-80, 1999) to the inverted slip distribution. From the first-step inversion, the fault length was trimmed from 52 to 44 km, whereas the fault width was kept at 18 km. The trimmed rupture area was not changed in the second-step inversion. The source model obtained from the two-step approach indicated 4.7 × 1019 Nm of the total moment release and 1.8 m average slip of the entire fault with a rupture area of 792 km2. Large slip areas were estimated in the seismogenic zone and in the shallow part corresponding to the surface rupture that occurred during the Mj7.3 mainshock. The areas of the high peak moment rate correlated roughly with those of large slip; however, the moment rate functions near the Earth surface have low peak, bell shape, and long duration. These subfaults with long-duration moment release are expected to cause weak short-period ground motions. We confirmed that the southeast dipping of the most

  19. Kinematic control of redundant robots and the motion optimizability measure.

    PubMed

    Li, L; Gruver, W A; Zhang, Q; Yang, Z

    2001-01-01

    This paper treats the kinematic control of manipulators with redundant degrees of freedom. We derive an analytical solution for the inverse kinematics that provides a means for accommodating joint velocity constraints in real time. We define the motion optimizability measure and use it to develop an efficient method for the optimization of joint trajectories subject to multiple criteria. An implementation of the method for a 7-dof experimental redundant robot is present.

  20. Developing the (d,p γ) reaction as a surrogate for (n, γ) in inverse kinematics

    NASA Astrophysics Data System (ADS)

    Lepailleur, Alexandr; Sims, Harry; Garland, Heather; Baugher, Travis; Cizewski, Jolie A.; Ratkiewicz, Andrew; Walter, Daivid; Pain, Steven D.; Smith, Karl; Goddess Collaboration Collaboration

    2017-09-01

    The r-process that proceeds via (n, γ) reactions on neutron-rich nuclei is responsible for the synthesis of about half of the elements heavier than iron. Because (n, γ) measurements on short-lived isotopes are not possible, the (d,p γ) reaction is being investigated as a surrogate for (n, γ) . The experimental setup GODDESS (Gammasphere ORRUBA: Dual Detectors for Experimental Structure Studies) has been developed especially for this purpose. The Oak Ridge Rutgers University Barrel Array (ORRUBA) of position-sensitive silicon strip detectors was augmented with annular arrays of segmented strip detectors at backward and forward angles, resulting in a high-angular coverage for light ejectiles (20 to 160 degrees in the laboratory frame). The 134Xe(d,p γ) reaction, used to commission the setup, was measured in inverse kinematics with stable beams from ATLAS impinged on C2D4 targets. Reaction protons were measured (ORRUBA) in coincidence with gamma rays (Gammasphere). An overview of GODDESS and preliminary results from the 134Xe(d,p γ) study will be presented. Work supported in part by U.S. D.O.E. and National Science Foundation.

  1. "Phoswich Wall": A charged-particle detector array for inverse-kinematic reactions with the Gretina/GRETA γ-ray arrays

    NASA Astrophysics Data System (ADS)

    Sarantites, D. G.; Reviol, W.; Elson, J. M.; Kinnison, J. E.; Izzo, C. J.; Manfredi, J.; Liu, J.; Jung, H. S.; Goerres, J.

    2015-08-01

    A high-efficiency, forward-hemisphere detector system for light charged particles and low-Z heavy ions, as obtained in an accelerator experiment, is described. It consists of four 8×8 pixel multianode photomultiplier tubes with 2.2-mm thick CsI(Tl) and 12 -μm thick fast-plastic scintillation detectors. Its phoswich structure allows individual Z resolution for 1H, 4He, 7Li, 4He+4He, 9Be, 11B, 12C, and 14N ions, which are target-like fragments detected in strongly inverse kinematics. The device design has been optimized for use with a 4π γ-ray array, and the main applications are transfer reactions and Coulomb excitation. A high-angular resolution for the detection of the target-like fragments is achieved which permits angular distributions to be measured in the rest frame of the projectile-like fragment with a resolution of ~ 2 °.

  2. Recovery Discontinuous Galerkin Jacobian-Free Newton-Krylov Method for All-Speed Flows

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

    HyeongKae Park; Robert Nourgaliev; Vincent Mousseau

    2008-07-01

    A novel numerical algorithm (rDG-JFNK) for all-speed fluid flows with heat conduction and viscosity is introduced. The rDG-JFNK combines the Discontinuous Galerkin spatial discretization with the implicit Runge-Kutta time integration under the Jacobian-free Newton-Krylov framework. We solve fully-compressible Navier-Stokes equations without operator-splitting of hyperbolic, diffusion and reaction terms, which enables fully-coupled high-order temporal discretization. The stability constraint is removed due to the L-stable Explicit, Singly Diagonal Implicit Runge-Kutta (ESDIRK) scheme. The governing equations are solved in the conservative form, which allows one to accurately compute shock dynamics, as well as low-speed flows. For spatial discretization, we develop a “recovery” familymore » of DG, exhibiting nearly-spectral accuracy. To precondition the Krylov-based linear solver (GMRES), we developed an “Operator-Split”-(OS) Physics Based Preconditioner (PBP), in which we transform/simplify the fully-coupled system to a sequence of segregated scalar problems, each can be solved efficiently with Multigrid method. Each scalar problem is designed to target/cluster eigenvalues of the Jacobian matrix associated with a specific physics.« less

  3. Kinematic modeling of a 7-degree of freedom spatial hybrid manipulator for medical surgery.

    PubMed

    Singh, Amanpreet; Singla, Ekta; Soni, Sanjeev; Singla, Ashish

    2018-01-01

    The prime objective of this work is to deal with the kinematics of spatial hybrid manipulators. In this direction, in 1955, Denavit and Hartenberg proposed a consistent and concise method, known as D-H parameters method, to deal with kinematics of open serial chains. From literature review, it is found that D-H parameter method is widely used to model manipulators consisting of lower pairs. However, the method leads to ambiguities when applied to closed-loop, tree-like and hybrid manipulators. Furthermore, in the dearth of any direct method to model closed-loop, tree-like and hybrid manipulators, revisions of this method have been proposed from time-to-time by different researchers. One such kind of revision using the concept of dummy frames has successfully been proposed and implemented by the authors on spatial hybrid manipulators. In that work, authors have addressed the orientational inconsistency of the D-H parameter method, restricted to body-attached frames only. In the current work, the condition of body-attached frames is relaxed and spatial frame attachment is considered to derive the kinematic model of a 7-degree of freedom spatial hybrid robotic arm, along with the development of closed-loop constraints. The validation of the new kinematic model has been performed with the help of a prototype of this 7-degree of freedom arm, which is being developed at Council of Scientific & Industrial Research-Central Scientific Instruments Organisation Chandigarh to aid the surgeon during a medical surgical task. Furthermore, the developed kinematic model is used to develop the first column of the Jacobian matrix, which helps in providing the estimate of the tip velocity of the 7-degree of freedom manipulator when the first joint velocity is known.

  4. Kinematics of a New High Precision Three Degree-of-Freedom Parallel Manipulator

    NASA Technical Reports Server (NTRS)

    Tahmasebi, Farhad

    2005-01-01

    Closed-form direct and inverse kinematics of a new three degree-of-freedom (DOF) parallel manipulator with inextensible limbs and base-mounted actuators are presented. The manipulator has higher resolution and precision than the existing three DOF mechanisms with extensible limbs. Since all of the manipulator actuators are base-mounted; higher payload capacity, smaller actuator sizes, and lower power dissipation can be obtained. The manipulator is suitable for alignment applications where only tip, tilt, and piston motions are significant. The direct kinematics of the manipulator is reduced to solving an eighth-degree polynomial in the square of tangent of half-angle between one of the limbs and the base plane. Hence, there are at most sixteen assembly configurations for the manipulator. In addition, it is shown that the sixteen solutions are eight pairs of reflected configurations with respect to the base plane. Numerical examples for the direct and inverse kinematics of the manipulator are also presented.

  5. Inversion of high frequency surface waves with fundamental and higher modes

    USGS Publications Warehouse

    Xia, J.; Miller, R.D.; Park, C.B.; Tian, G.

    2003-01-01

    The phase velocity of Rayleigh-waves of a layered earth model is a function of frequency and four groups of earth parameters: compressional (P)-wave velocity, shear (S)-wave velocity, density, and thickness of layers. For the fundamental mode of Rayleigh waves, analysis of the Jacobian matrix for high frequencies (2-40 Hz) provides a measure of dispersion curve sensitivity to earth model parameters. S-wave velocities are the dominant influence of the four earth model parameters. This thesis is true for higher modes of high frequency Rayleigh waves as well. Our numerical modeling by analysis of the Jacobian matrix supports at least two quite exciting higher mode properties. First, for fundamental and higher mode Rayleigh wave data with the same wavelength, higher modes can "see" deeper than the fundamental mode. Second, higher mode data can increase the resolution of the inverted S-wave velocities. Real world examples show that the inversion process can be stabilized and resolution of the S-wave velocity model can be improved when simultaneously inverting the fundamental and higher mode data. ?? 2002 Elsevier Science B.V. All rights reserved.

  6. Jacobian-Based Iterative Method for Magnetic Localization in Robotic Capsule Endoscopy

    PubMed Central

    Di Natali, Christian; Beccani, Marco; Simaan, Nabil; Valdastri, Pietro

    2016-01-01

    The purpose of this study is to validate a Jacobian-based iterative method for real-time localization of magnetically controlled endoscopic capsules. The proposed approach applies finite-element solutions to the magnetic field problem and least-squares interpolations to obtain closed-form and fast estimates of the magnetic field. By defining a closed-form expression for the Jacobian of the magnetic field relative to changes in the capsule pose, we are able to obtain an iterative localization at a faster computational time when compared with prior works, without suffering from the inaccuracies stemming from dipole assumptions. This new algorithm can be used in conjunction with an absolute localization technique that provides initialization values at a slower refresh rate. The proposed approach was assessed via simulation and experimental trials, adopting a wireless capsule equipped with a permanent magnet, six magnetic field sensors, and an inertial measurement unit. The overall refresh rate, including sensor data acquisition and wireless communication was 7 ms, thus enabling closed-loop control strategies for magnetic manipulation running faster than 100 Hz. The average localization error, expressed in cylindrical coordinates was below 7 mm in both the radial and axial components and 5° in the azimuthal component. The average error for the capsule orientation angles, obtained by fusing gyroscope and inclinometer measurements, was below 5°. PMID:27087799

  7. Kinematics, controls, and path planning results for a redundant manipulator

    NASA Technical Reports Server (NTRS)

    Gretz, Bruce; Tilley, Scott W.

    1989-01-01

    The inverse kinematics solution, a modal position control algorithm, and path planning results for a 7 degree of freedom manipulator are presented. The redundant arm consists of two links with shoulder and elbow joints and a spherical wrist. The inverse kinematics problem for tip position is solved and the redundant joint is identified. It is also shown that a locus of tip positions exists in which there are kinematic limitations on self-motion. A computationally simple modal position control algorithm has been developed which guarantees a nearly constant closed-loop dynamic response throughout the workspace. If all closed-loop poles are assigned to the same location, the algorithm can be implemented with very little computation. To further reduce the required computation, the modal gains are updated only at discrete time intervals. Criteria are developed for the frequency of these updates. For commanding manipulator movements, a 5th-order spline which minimizes jerk provides a smooth tip-space path. Schemes for deriving a corresponding joint-space trajectory are discussed. Modifying the trajectory to avoid joint torque saturation when a tip payload is added is also considered. Simulation results are presented.

  8. The double universal joint wrist on a manipulator: Solution of inverse position kinematics and singularity analysis

    NASA Technical Reports Server (NTRS)

    Williams, Robert L., III

    1992-01-01

    This paper presents three methods to solve the inverse position kinematics position problem of the double universal joint attached to a manipulator: (1) an analytical solution for two specific cases; (2) an approximate closed form solution based on ignoring the wrist offset; and (3) an iterative method which repeats closed form position and orientation calculations until the solution is achieved. Several manipulators are used to demonstrate the solution methods: cartesian, cylindrical, spherical, and an anthropomorphic articulated arm, based on the Flight Telerobotic Servicer (FTS) arm. A singularity analysis is presented for the double universal joint wrist attached to the above manipulator arms. While the double universal joint wrist standing alone is singularity-free in orientation, the singularity analysis indicates the presence of coupled position/orientation singularities of the spherical and articulated manipulators with the wrist. The cartesian and cylindrical manipulators with the double universal joint wrist were found to be singularity-free. The methods of this paper can be implemented in a real-time controller for manipulators with the double universal joint wrist. Such mechanically dextrous systems could be used in telerobotic and industrial applications, but further work is required to avoid the singularities.

  9. Kinematics analysis of ankle inversion ligamentous sprain injuries in sports: five cases from televised tennis competitions.

    PubMed

    Fong, Daniel Tik-Pui; Ha, Sophia Chui-Wai; Mok, Kam-Ming; Chan, Christie Wing-Long; Chan, Kai-Ming

    2012-11-01

    Ankle ligamentous sprain is common in sports. The most direct way to study the mechanism quantitatively is to study real injury cases; however, it is unethical and impractical to produce an injury in the laboratory. A recently developed, model-based image-matching motion analysis technique allows quantitative analysis of real injury incidents captured in televised events and gives important knowledge for the development of injury prevention protocols and equipment. To date, there have been only 4 reported cases, and there is a need to conduct more studies for a better understanding of the mechanism of ankle ligamentous sprain injury. This study presents 5 cases in tennis and a comparison with 4 previous cases for a better understanding of the mechanism of ankle ligamentous sprain injury. Case series; level of evidence, 4. Five sets of videos showing ankle sprain injuries in televised tennis competition with 2 camera views were collected. The videos were transformed, synchronized, and rendered to a 3-dimensional animation software. The dimensions of the tennis court in each case were obtained to build a virtual environment, and a skeleton model scaled to the injured athlete's height was used for the skeleton matching. Foot strike was determined visually, and the profiles of the ankle joint kinematics were individually presented. There was a pattern of sudden inversion and internal rotation at the ankle joint, with the peak values ranging from 48°-126° and 35°-99°, respectively. In the sagittal plane, the ankle joint fluctuated between plantar flexion and dorsiflexion within the first 0.50 seconds after foot strike. The peak inversion velocity ranged from 509 to 1488 deg/sec. Internal rotation at the ankle joint could be one of the causes of ankle inversion sprain injury, with a slightly inverted ankle joint orientation at landing as the inciting event. To prevent the foot from rolling over the edge to cause a sprain injury, tennis players who do lots of sideward

  10. Joint inversion of acoustic and resistivity data for the estimation of gas hydrate concentration

    USGS Publications Warehouse

    Lee, Myung W.

    2002-01-01

    Downhole log measurements, such as acoustic or electrical resistivity logs, are frequently used to estimate in situ gas hydrate concentrations in the pore space of sedimentary rocks. Usually the gas hydrate concentration is estimated separately based on each log measurement. However, measurements are related to each other through the gas hydrate concentration, so the gas hydrate concentrations can be estimated by jointly inverting available logs. Because the magnitude of slowness of acoustic and resistivity values differs by more than an order of magnitude, a least-squares method, weighted by the inverse of the observed values, is attempted. Estimating the resistivity of connate water and gas hydrate concentration simultaneously is problematic, because the resistivity of connate water is independent of acoustics. In order to overcome this problem, a coupling constant is introduced in the Jacobian matrix. In the use of different logs to estimate gas hydrate concentration, a joint inversion of different measurements is preferred to the averaging of each inversion result.

  11. Evaluation of Jacobian determinants by Monte Carlo methods: Application to the quasiclassical approximation in molecular scattering

    NASA Technical Reports Server (NTRS)

    Labudde, R. A.

    1971-01-01

    A technique is described which can be used to evaluate Jacobian determinants which occur in classical mechanical and quasiclassical approximation descriptions of molecular scattering. The method may be valuable in the study of reactive scattering using the quasiclassical approximation.

  12. A general framework for the manual teleoperation of kinematically redundant space-based manipulators

    NASA Astrophysics Data System (ADS)

    Dupuis, Erick

    This thesis provides a general framework for the manual teleoperation of kinematically redundant space-based manipulators. It is proposed to break down the task of controlling the motion of a redundant manipulator into a sequence of manageable sub-tasks of lower dimension by imposing constraints on the motion of intermediate bodies of the manipulator. This implies that the manipulator then becomes a non-redundant kinematic chain and the operator only controls a reduced number of degrees of freedom at any time. However, by appropriately changing the imposed constraints, the operator can use the full capability of the manipulator throughout the task. Also, by not restricting the point of teleoperation to the end effector but effectively allowing direct control of intermediate bodies of the robot, it is possible to teleoperate a redundant robot of arbitrary kinematic architecture over its entire configuration space in a predictable and natural fashion. It is rigourously proven that this approach will always work for any kinematically redundant serial manipulator regardless of its topology, geometry and of the number of its excess degrees-of-freedom. Furthermore, a methodology is provided for the selection of task and constraint coordinates to ensure the absence of algorithmic rank-deficiencies. Two novel algorithms are provided for the symbolic determination of the rank-deficiency locus of rectangular Jacobian matrices: the Singular Vector Algorithm and the Recursive Sub-Determinant Algorithm. These algorithms are complementary to each other: the former being more computationally efficient and the latter more robust. The application of the methodology to sample cases of varying complexity has demonstrated its power and limitations: It has been shown to be powerful enough to generate complete sets of task/constraint coordinate pairs for realistic examples such as the Space Station Remote Manipulator System and a simplified version of the Special Purpose Dexterous

  13. Testing earthquake source inversion methodologies

    USGS Publications Warehouse

    Page, M.; Mai, P.M.; Schorlemmer, D.

    2011-01-01

    Source Inversion Validation Workshop; Palm Springs, California, 11-12 September 2010; Nowadays earthquake source inversions are routinely performed after large earthquakes and represent a key connection between recorded seismic and geodetic data and the complex rupture process at depth. The resulting earthquake source models quantify the spatiotemporal evolution of ruptures. They are also used to provide a rapid assessment of the severity of an earthquake and to estimate losses. However, because of uncertainties in the data, assumed fault geometry and velocity structure, and chosen rupture parameterization, it is not clear which features of these source models are robust. Improved understanding of the uncertainty and reliability of earthquake source inversions will allow the scientific community to use the robust features of kinematic inversions to more thoroughly investigate the complexity of the rupture process and to better constrain other earthquakerelated computations, such as ground motion simulations and static stress change calculations.

  14. Chow groups of intersections of quadrics via homological projective duality and (Jacobians of) non-commutative motives

    NASA Astrophysics Data System (ADS)

    Bernardara, M.; Tabuada, G.

    2016-06-01

    Conjectures of Beilinson-Bloch type predict that the low-degree rational Chow groups of intersections of quadrics are one-dimensional. This conjecture was proved by Otwinowska in [20]. By making use of homological projective duality and the recent theory of (Jacobians of) non-commutative motives, we give an alternative proof of this conjecture in the case of a complete intersection of either two quadrics or three odd-dimensional quadrics. Moreover, we prove that in these cases the unique non-trivial algebraic Jacobian is the middle one. As an application, we make use of Vial's work [26], [27] to describe the rational Chow motives of these complete intersections and show that smooth fibrations into such complete intersections over bases S of small dimension satisfy Murre's conjecture (when \\dim (S)≤ 1), Grothendieck's standard conjecture of Lefschetz type (when \\dim (S)≤ 2), and Hodge's conjecture (when \\dim(S)≤ 3).

  15. Efficient 3D inversions using the Richards equation

    NASA Astrophysics Data System (ADS)

    Cockett, Rowan; Heagy, Lindsey J.; Haber, Eldad

    2018-07-01

    Fluid flow in the vadose zone is governed by the Richards equation; it is parameterized by hydraulic conductivity, which is a nonlinear function of pressure head. Investigations in the vadose zone typically require characterizing distributed hydraulic properties. Water content or pressure head data may include direct measurements made from boreholes. Increasingly, proxy measurements from hydrogeophysics are being used to supply more spatially and temporally dense data sets. Inferring hydraulic parameters from such datasets requires the ability to efficiently solve and optimize the nonlinear time domain Richards equation. This is particularly important as the number of parameters to be estimated in a vadose zone inversion continues to grow. In this paper, we describe an efficient technique to invert for distributed hydraulic properties in 1D, 2D, and 3D. Our technique does not store the Jacobian matrix, but rather computes its product with a vector. Existing literature for the Richards equation inversion explicitly calculates the sensitivity matrix using finite difference or automatic differentiation, however, for large scale problems these methods are constrained by computation and/or memory. Using an implicit sensitivity algorithm enables large scale inversion problems for any distributed hydraulic parameters in the Richards equation to become tractable on modest computational resources. We provide an open source implementation of our technique based on the SimPEG framework, and show it in practice for a 3D inversion of saturated hydraulic conductivity using water content data through time.

  16. Tracking lung tissue motion and expansion/compression with inverse consistent image registration and spirometry

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

    Christensen, Gary E.; Song, Joo Hyun; Lu, Wei

    2007-06-15

    Breathing motion is one of the major limiting factors for reducing dose and irradiation of normal tissue for conventional conformal radiotherapy. This paper describes a relationship between tracking lung motion using spirometry data and image registration of consecutive CT image volumes collected from a multislice CT scanner over multiple breathing periods. Temporal CT sequences from 5 individuals were analyzed in this study. The couch was moved from 11 to 14 different positions to image the entire lung. At each couch position, 15 image volumes were collected over approximately 3 breathing periods. It is assumed that the expansion and contraction ofmore » lung tissue can be modeled as an elastic material. Furthermore, it is assumed that the deformation of the lung is small over one-fifth of a breathing period and therefore the motion of the lung can be adequately modeled using a small deformation linear elastic model. The small deformation inverse consistent linear elastic image registration algorithm is therefore well suited for this problem and was used to register consecutive image scans. The pointwise expansion and compression of lung tissue was measured by computing the Jacobian of the transformations used to register the images. The logarithm of the Jacobian was computed so that expansion and compression of the lung were scaled equally. The log-Jacobian was computed at each voxel in the volume to produce a map of the local expansion and compression of the lung during the breathing period. These log-Jacobian images demonstrate that the lung does not expand uniformly during the breathing period, but rather expands and contracts locally at different rates during inhalation and exhalation. The log-Jacobian numbers were averaged over a cross section of the lung to produce an estimate of the average expansion or compression from one time point to the next and compared to the air flow rate measured by spirometry. In four out of five individuals, the average log-Jacobian

  17. Tracking lung tissue motion and expansion/compression with inverse consistent image registration and spirometry.

    PubMed

    Christensen, Gary E; Song, Joo Hyun; Lu, Wei; El Naqa, Issam; Low, Daniel A

    2007-06-01

    Breathing motion is one of the major limiting factors for reducing dose and irradiation of normal tissue for conventional conformal radiotherapy. This paper describes a relationship between tracking lung motion using spirometry data and image registration of consecutive CT image volumes collected from a multislice CT scanner over multiple breathing periods. Temporal CT sequences from 5 individuals were analyzed in this study. The couch was moved from 11 to 14 different positions to image the entire lung. At each couch position, 15 image volumes were collected over approximately 3 breathing periods. It is assumed that the expansion and contraction of lung tissue can be modeled as an elastic material. Furthermore, it is assumed that the deformation of the lung is small over one-fifth of a breathing period and therefore the motion of the lung can be adequately modeled using a small deformation linear elastic model. The small deformation inverse consistent linear elastic image registration algorithm is therefore well suited for this problem and was used to register consecutive image scans. The pointwise expansion and compression of lung tissue was measured by computing the Jacobian of the transformations used to register the images. The logarithm of the Jacobian was computed so that expansion and compression of the lung were scaled equally. The log-Jacobian was computed at each voxel in the volume to produce a map of the local expansion and compression of the lung during the breathing period. These log-Jacobian images demonstrate that the lung does not expand uniformly during the breathing period, but rather expands and contracts locally at different rates during inhalation and exhalation. The log-Jacobian numbers were averaged over a cross section of the lung to produce an estimate of the average expansion or compression from one time point to the next and compared to the air flow rate measured by spirometry. In four out of five individuals, the average log-Jacobian

  18. Source rupture process of the 2016 Kaikoura, New Zealand earthquake estimated from the kinematic waveform inversion of strong-motion data

    NASA Astrophysics Data System (ADS)

    Zheng, Ao; Wang, Mingfeng; Yu, Xiangwei; Zhang, Wenbo

    2018-03-01

    On 2016 November 13, an Mw 7.8 earthquake occurred in the northeast of the South Island of New Zealand near Kaikoura. The earthquake caused severe damages and great impacts on local nature and society. Referring to the tectonic environment and defined active faults, the field investigation and geodetic evidence reveal that at least 12 fault sections ruptured in the earthquake, and the focal mechanism is one of the most complicated in historical earthquakes. On account of the complexity of the source rupture, we propose a multisegment fault model based on the distribution of surface ruptures and active tectonics. We derive the source rupture process of the earthquake using the kinematic waveform inversion method with the multisegment fault model from strong-motion data of 21 stations (0.05-0.35 Hz). The inversion result suggests the rupture initiates in the epicentral area near the Humps fault, and then propagates northeastward along several faults, until the offshore Needles fault. The Mw 7.8 event is a mixture of right-lateral strike and reverse slip, and the maximum slip is approximately 19 m. The synthetic waveforms reproduce the characteristics of the observed ones well. In addition, we synthesize the coseismic offsets distribution of the ruptured region from the slips of upper subfaults in the fault model, which is roughly consistent with the surface breaks observed in the field survey.

  19. Kinematic adaptations of the hindfoot, forefoot, and hallux during cross-slope walking.

    PubMed

    Damavandi, Mohsen; Dixon, Philippe C; Pearsall, David J

    2010-07-01

    Despite cross-slope surfaces being a regular feature of our environment, little is known about segmental adaptations required to maintain both balance and forward locomotion. The purpose of this study was to determine kinematic adaptations of the foot segments in relation to transverse (cross-sloped) walking surfaces. Ten young adult males walked barefoot along an inclinable walkway (level, 0° and cross-slope, 10°). Kinematic adaptations of hindfoot with respect to tibia (HF/TB), forefoot with respect to hindfoot (FF/HF), and hallux with respect to forefoot (HX/FF) in level walking (LW), inclined walking up-slope (IWU), i.e., the foot at the higher elevation, and inclined walking down-slope (IWD), i.e., the foot at the lower elevation, were measured. Multivariate analysis of variance (MANOVA) for repeated measures was used to analyze the data. In the sagittal plane, the relative FF/HF and HX/FF plantar/dorsiflexion angles differed across conditions (p=0.024 and p=0.026, respectively). More importantly, numerous frontal plane alterations occurred. For the HF/TB angle, inversion of IWU and eversion of IWD was seen at heel-strike (p<0.001). This pattern reversed with IWU showing eversion and IWD inversion in early stance (p=0.024). For the FF/HF angle, significant differences were observed in mid-stance with IWD revealing inversion while IWU was everted (p<0.004). At toe-off, the pattern switched to eversion of IWD and inversion of IWU (p=0.032). The information obtained from this study enhances our understanding of the kinematics of the human foot in stance during level and cross-slope walking. Copyright © 2010 Elsevier B.V. All rights reserved.

  20. Investigation of the structure of light exotic nuclei by proton elastic scattering in inverse kinematics

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

    Alkhazov, G. D.; Vorobyov, A. A.; Dobrovolsky, A. V., E-mail: dobrov@pnpi.spb.ru

    2015-05-15

    In order to study the spatial structure of exotic nuclei, it was proposed at the Petersburg Nuclear Physics Institute (PNPI) to measure the differential cross section for small-angle proton elastic scattering in inverse kinematics. Several experiments in beams of 0.7-GeV/nucleon exotic nuclei were performed at the heavy-ion accelerator facility of GSI (Gesellschaft für Schwerionenforschung, Darmstadt, Germany) by using the IKAR ionization spectrometer developed at PNPI. The IKAR ionization chamber filled with hydrogen at a pressure of 10 bar served simultaneously as a target and as a recoil-proton detector, which measured the recoil-proton energy. The beam-particle scattering angle was also measured.more » The results obtained for the cross sections in question were analyzed on the basis of the Glauber-Sitenko theory using phenomenological nuclear-density distributions with two free parameters. Nuclear-matter distributions and root-mean-square radii were found for the nuclei under investigation. The size of the halo in the {sup 6}He, {sup 8}He, {sup 11}Li, and {sup 14}Be nuclei was determined among other things. Information about neutron distributions in nuclei was deduced by combining the data obtained here with the known values of the radii of proton distributions. A sizable neutron skin was revealed in the {sup 8}Li, {sup 9}Li, and {sup 12}Be nuclei.« less

  1. Visualized kinematics code for two-body nuclear reactions

    NASA Astrophysics Data System (ADS)

    Lee, E. J.; Chae, K. Y.

    2016-05-01

    The one or few nucleon transfer reaction has been a great tool for investigating the single-particle properties of a nucleus. Both stable and exotic beams are utilized to study transfer reactions in normal and inverse kinematics, respectively. Because many energy levels of the heavy recoil from the two-body nuclear reaction can be populated by using a single beam energy, identifying each populated state, which is not often trivial owing to high level-density of the nucleus, is essential. For identification of the energy levels, a visualized kinematics code called VISKIN has been developed by utilizing the Java programming language. The development procedure, usage, and application of the VISKIN is reported.

  2. Analysis of a closed-kinematic chain robot manipulator

    NASA Technical Reports Server (NTRS)

    Nguyen, Charles C.; Pooran, Farhad J.

    1988-01-01

    Presented are the research results from the research grant entitled: Active Control of Robot Manipulators, sponsored by the Goddard Space Flight Center (NASA) under grant number NAG-780. This report considers a class of robot manipulators based on the closed-kinematic chain mechanism (CKCM). This type of robot manipulators mainly consists of two platforms, one is stationary and the other moving, and they are coupled together through a number of in-parallel actuators. Using spatial geometry and homogeneous transformation, a closed-form solution is derived for the inverse kinematic problem of the six-degree-of-freedom manipulator, built to study robotic assembly in space. Iterative Newton Raphson method is employed to solve the forward kinematic problem. Finally, the equations of motion of the above manipulators are obtained by employing the Lagrangian method. Study of the manipulator dynamics is performed using computer simulation whose results show that the robot actuating forces are strongly dependent on the mass and centroid locations of the robot links.

  3. Development of a sensor coordinated kinematic model for neural network controller training

    NASA Technical Reports Server (NTRS)

    Jorgensen, Charles C.

    1990-01-01

    A robotic benchmark problem useful for evaluating alternative neural network controllers is presented. Specifically, it derives two camera models and the kinematic equations of a multiple degree of freedom manipulator whose end effector is under observation. The mapping developed include forward and inverse translations from binocular images to 3-D target position and the inverse kinematics of mapping point positions into manipulator commands in joint space. Implementation is detailed for a three degree of freedom manipulator with one revolute joint at the base and two prismatic joints on the arms. The example is restricted to operate within a unit cube with arm links of 0.6 and 0.4 units respectively. The development is presented in the context of more complex simulations and a logical path for extension of the benchmark to higher degree of freedom manipulators is presented.

  4. Knee joint kinematics and kinetics during the hop and cut after soft tissue artifact suppression: Time to reconsider ACL injury mechanisms?

    PubMed

    Smale, Kenneth B; Potvin, Brigitte M; Shourijeh, Mohammad S; Benoit, Daniel L

    2017-09-06

    The recent development of a soft tissue artifact (STA) suppression method allows us to re-evaluate the tibiofemoral kinematics currently linked to non-contact knee injuries. The purpose of this study was therefore to evaluate knee joint kinematics and kinetics in six degrees of freedom (DoF) during the loading phases of a jump lunge and side cut using this in silico method. Thirty-five healthy adults completed these movements and their surface marker trajectories were then scaled and processed with OpenSim's inverse kinematics (IK) and inverse dynamics tools. Knee flexion angle-dependent kinematic constraints defined based on previous bone pin (BP) marker trajectories were then applied to the OpenSim model during IK and these constrained results were then processed with the standard inverse dynamics tool. Significant differences for all hip, knee, and ankle DoF were observed after STA suppression for both the jump lunge and side cut. Using clinically relevant effect size estimates, we conclude that STA contamination had led to misclassifications in hip transverse plane angles, knee frontal and transverse plane angles, medial/lateral and distractive/compressive knee translations, and knee frontal plane moments between the NoBP and the BP IK solutions. Our results have substantial clinical implications since past research has used joint kinematics and kinetics contaminated by STA to identify risk factors for musculoskeletal injuries. Copyright © 2017 Elsevier Ltd. All rights reserved.

  5. Shotput kinematics made simple

    NASA Astrophysics Data System (ADS)

    Faella, O.; De Luca, R.

    2013-11-01

    We show that some results in the kinematics of a point particle can be easily recalled by introducing simple definitions. In particular, in the parabolic motion of a particle thrown from a height h above the origin O at an angle θ from the horizontal direction, the optimum angle θ* for reaching the maximum distance Rmax on the ground, measured from the origin, can be found by calculating the inverse tangent of the ratio between the initial velocity V0 and the final velocity Vf. The value of Rmax is itself found to be easily expressed as V0Vf/g, g being the acceleration due to gravity.

  6. Real-time estimation of helicopter rotor blade kinematics through measurement of rotation induced acceleration

    NASA Astrophysics Data System (ADS)

    Allred, C. Jeff; Churchill, David; Buckner, Gregory D.

    2017-07-01

    This paper presents a novel approach to monitoring rotor blade flap, lead-lag and pitch using an embedded gyroscope and symmetrically mounted MEMS accelerometers. The central hypothesis is that differential accelerometer measurements are proportional only to blade motion; fuselage acceleration and blade bending are inherently compensated for. The inverse kinematic relationships (from blade position to acceleration and angular rate) are derived and simulated to validate this hypothesis. An algorithm to solve the forward kinematic relationships (from sensor measurement to blade position) is developed using these simulation results. This algorithm is experimentally validated using a prototype device. The experimental results justify continued development of this kinematic estimation approach.

  7. Comparison of magmatic and amagmatic rift zone kinematics using full moment tensor inversions of regional earthquakes

    NASA Astrophysics Data System (ADS)

    Jaye Oliva, Sarah; Ebinger, Cynthia; Shillington, Donna; Albaric, Julie; Deschamps, Anne; Keir, Derek; Drooff, Connor

    2017-04-01

    Temporary seismic networks deployed in the magmatic Eastern rift and the mostly amagmatic Western rift in East Africa present the opportunity to compare the depth distribution of strain, and fault kinematics in light of rift age and the presence or absence of surface magmatism. The largest events in local earthquake catalogs (ML > 3.5) are modeled using the Dreger and Ford full moment tensor algorithm (Dreger, 2003; Minson & Dreger, 2008) to better constrain source depth and to investigate non-double-couple components. A bandpass filter of 0.02 to 0.10 Hz is applied to the waveforms prior to inversion. Synthetics are based on 1D velocity models derived during seismic analysis and constrained by reflection and tomographic data where available. Results show significant compensated linear vector dipole (CLVD) and isotropic components for earthquakes in magmatic rift zones, whereas double-couple mechanisms predominate in weakly magmatic rift sectors. We interpret the isotropic components as evidence for fluid-involved faulting in the Eastern rift where volatile emissions are large, and dike intrusions well documented. Lower crustal earthquakes are found in both amagmatic and magmatic sectors. These results are discussed in the context of the growing database of complementary geophysical, geochemical, and geological studies in these regions as we seek to understand the role of magmatism and faulting in accommodating strain during early continental rifting.

  8. Inverse consistent non-rigid image registration based on robust point set matching

    PubMed Central

    2014-01-01

    . The determinant of the Jacobian matrix of the deformation field is used to analyse the smoothness of the forward and backward transformations. The forward and backward transformations estimated by our algorithm are smooth for small deformation. For registration of lung slices and individual brain slices, large or small determinant of the Jacobian matrix of the deformation fields are observed. Conclusions Results indicate the improvement of the proposed algorithm in bi-directional image registration and the decrease of the inverse consistent errors of the forward and the reverse transformations between two images. PMID:25559889

  9. The Earthquake Source Inversion Validation (SIV) - Project: Summary, Status, Outlook

    NASA Astrophysics Data System (ADS)

    Mai, P. M.

    2017-12-01

    Finite-fault earthquake source inversions infer the (time-dependent) displacement on the rupture surface from geophysical data. The resulting earthquake source models document the complexity of the rupture process. However, this kinematic source inversion is ill-posed and returns non-unique solutions, as seen for instance in multiple source models for the same earthquake, obtained by different research teams, that often exhibit remarkable dissimilarities. To address the uncertainties in earthquake-source inversions and to understand strengths and weaknesses of various methods, the Source Inversion Validation (SIV) project developed a set of forward-modeling exercises and inversion benchmarks. Several research teams then use these validation exercises to test their codes and methods, but also to develop and benchmark new approaches. In this presentation I will summarize the SIV strategy, the existing benchmark exercises and corresponding results. Using various waveform-misfit criteria and newly developed statistical comparison tools to quantify source-model (dis)similarities, the SIV platforms is able to rank solutions and identify particularly promising source inversion approaches. Existing SIV exercises (with related data and descriptions) and all computational tools remain available via the open online collaboration platform; additional exercises and benchmark tests will be uploaded once they are fully developed. I encourage source modelers to use the SIV benchmarks for developing and testing new methods. The SIV efforts have already led to several promising new techniques for tackling the earthquake-source imaging problem. I expect that future SIV benchmarks will provide further innovations and insights into earthquake source kinematics that will ultimately help to better understand the dynamics of the rupture process.

  10. Using a pseudo-dynamic source inversion approach to improve earthquake source imaging

    NASA Astrophysics Data System (ADS)

    Zhang, Y.; Song, S. G.; Dalguer, L. A.; Clinton, J. F.

    2014-12-01

    Imaging a high-resolution spatio-temporal slip distribution of an earthquake rupture is a core research goal in seismology. In general we expect to obtain a higher quality source image by improving the observational input data (e.g. using more higher quality near-source stations). However, recent studies show that increasing the surface station density alone does not significantly improve source inversion results (Custodio et al. 2005; Zhang et al. 2014). We introduce correlation structures between the kinematic source parameters: slip, rupture velocity, and peak slip velocity (Song et al. 2009; Song and Dalguer 2013) in the non-linear source inversion. The correlation structures are physical constraints derived from rupture dynamics that effectively regularize the model space and may improve source imaging. We name this approach pseudo-dynamic source inversion. We investigate the effectiveness of this pseudo-dynamic source inversion method by inverting low frequency velocity waveforms from a synthetic dynamic rupture model of a buried vertical strike-slip event (Mw 6.5) in a homogeneous half space. In the inversion, we use a genetic algorithm in a Bayesian framework (Moneli et al. 2008), and a dynamically consistent regularized Yoffe function (Tinti, et al. 2005) was used for a single-window slip velocity function. We search for local rupture velocity directly in the inversion, and calculate the rupture time using a ray-tracing technique. We implement both auto- and cross-correlation of slip, rupture velocity, and peak slip velocity in the prior distribution. Our results suggest that kinematic source model estimates capture the major features of the target dynamic model. The estimated rupture velocity closely matches the target distribution from the dynamic rupture model, and the derived rupture time is smoother than the one we searched directly. By implementing both auto- and cross-correlation of kinematic source parameters, in comparison to traditional smoothing

  11. Inverse dynamics of a 3 degree of freedom spatial flexible manipulator

    NASA Technical Reports Server (NTRS)

    Bayo, Eduardo; Serna, M.

    1989-01-01

    A technique is presented for solving the inverse dynamics and kinematics of 3 degree of freedom spatial flexible manipulator. The proposed method finds the joint torques necessary to produce a specified end effector motion. Since the inverse dynamic problem in elastic manipulators is closely coupled to the inverse kinematic problem, the solution of the first also renders the displacements and rotations at any point of the manipulator, including the joints. Furthermore the formulation is complete in the sense that it includes all the nonlinear terms due to the large rotation of the links. The Timoshenko beam theory is used to model the elastic characteristics, and the resulting equations of motion are discretized using the finite element method. An iterative solution scheme is proposed that relies on local linearization of the problem. The solution of each linearization is carried out in the frequency domain. The performance and capabilities of this technique are tested through simulation analysis. Results show the potential use of this method for the smooth motion control of space telerobots.

  12. Study of proton- and deuteron-induced spallation reactions on the long-lived fission product 93Zr at 105 MeV/nucleon in inverse kinematics

    NASA Astrophysics Data System (ADS)

    Kawase, Shoichiro; Nakano, Keita; Watanabe, Yukinobu; Wang, He; Otsu, Hideaki; Sakurai, Hiroyoshi; Ahn, Deuk Soon; Aikawa, Masayuki; Ando, Takashi; Araki, Shouhei; Chen, Sidong; Chiga, Nobuyuki; Doornenbal, Pieter; Fukuda, Naoki; Isobe, Tadaaki; Kawakami, Shunsuke; Kin, Tadahiro; Kondo, Yosuke; Koyama, Shunpei; Kubono, Shigeru; Maeda, Yukie; Makinaga, Ayano; Matsushita, Masafumi; Matsuzaki, Teiichiro; Michimasa, Shin'ichiro; Momiyama, Satoru; Nagamine, Shunsuke; Nakamura, Takashi; Niikura, Megumi; Ozaki, Tomoyuki; Saito, Atsumi; Saito, Takeshi; Shiga, Yoshiaki; Shikata, Mizuki; Shimizu, Yohei; Shimoura, Susumu; Sumikama, Toshiyuki; Söderström, Pär-Anders; Suzuki, Hiroshi; Takeda, Hiroyuki; Takeuchi, Satoshi; Taniuchi, Ryo; Togano, Yasuhiro; Tsubota, Jun'ichi; Uesaka, Meiko; Watanabe, Yasushi; Wimmer, Kathrin; Yamamoto, Tatsuya; Yoshida, Koichi

    2017-09-01

    Spallation reactions for the long-lived fission product ^{93}Zr have been studied in order to provide basic data necessary for nuclear waste transmutation. Isotopic-production cross sections via proton- and deuteron-induced spallation reactions on ^{93}Zr at 105 MeV/nucleon were measured in inverse kinematics at the RIKEN Radioactive Isotope Beam Factory. Remarkable jumps in isotopic production originating from the neutron magic number N=50 were observed in Zr and Y isotopes. The experimental results were compared to the PHITS calculations considering both the intranuclear cascade and evaporation processes, and the calculations greatly overestimated the measured production yield, corresponding to few-nucleon-removal reactions. The present data suggest that the spallation reaction is a potential candidate for the treatment of ^{93}Zr in spent nuclear fuel.

  13. Slip Inversion Along Inner Fore-Arc Faults, Eastern Tohoku, Japan

    NASA Astrophysics Data System (ADS)

    Regalla, Christine; Fisher, Donald M.; Kirby, Eric; Oakley, David; Taylor, Stephanie

    2017-11-01

    The kinematics of deformation in the overriding plate of convergent margins may vary across timescales ranging from a single seismic cycle to many millions of years. In Northeast Japan, a network of active faults has accommodated contraction across the arc since the Pliocene, but several faults located along the inner fore arc experienced extensional aftershocks following the 2011 Tohoku-oki earthquake, opposite that predicted from the geologic record. This observation suggests that fore-arc faults may be favorable for stress triggering and slip inversion, but the geometry and deformation history of these fault systems are poorly constrained. Here we document the Neogene kinematics and subsurface geometry of three prominent fore-arc faults in Tohoku, Japan. Geologic mapping and dating of growth strata provide evidence for a 5.6-2.2 Ma initiation of Plio-Quaternary contraction along the Oritsume, Noheji, and Futaba Faults and an earlier phase of Miocene extension from 25 to 15 Ma along the Oritsume and Futaba Faults associated with the opening of the Sea of Japan. Kinematic modeling indicates that these faults have listric geometries, with ramps that dip 40-65°W and sole into subhorizontal detachments at 6-10 km depth. These fault systems can experience both normal and thrust sense slip if they are mechanically weak relative to the surrounding crust. We suggest that the inversion history of Northeast Japan primed the fore arc with a network of weak faults mechanically and geometrically favorable for slip inversion over geologic timescales and in response to secular variations in stress state associated with the megathrust seismic cycle.

  14. Robust Inversion and Data Compression in Control Allocation

    NASA Technical Reports Server (NTRS)

    Hodel, A. Scottedward

    2000-01-01

    We present an off-line computational method for control allocation design. The control allocation function delta = F(z)tau = delta (sub 0) (z) mapping commanded body-frame torques to actuator commands is implicitly specified by trim condition delta (sub 0) (z) and by a robust pseudo-inverse problem double vertical line I - G(z) F(z) double vertical line less than epsilon (z) where G(z) is a system Jacobian evaluated at operating point z, z circumflex is an estimate of z, and epsilon (z) less than 1 is a specified error tolerance. The allocation function F(z) = sigma (sub i) psi (z) F (sub i) is computed using a heuristic technique for selecting wavelet basis functions psi and a constrained least-squares criterion for selecting the allocation matrices F (sub i). The method is applied to entry trajectory control allocation for a reusable launch vehicle (X-33).

  15. Use of symbolic computation in robotics education

    NASA Technical Reports Server (NTRS)

    Vira, Naren; Tunstel, Edward

    1992-01-01

    An application of symbolic computation in robotics education is described. A software package is presented which combines generality, user interaction, and user-friendliness with the systematic usage of symbolic computation and artificial intelligence techniques. The software utilizes MACSYMA, a LISP-based symbolic algebra language, to automatically generate closed-form expressions representing forward and inverse kinematics solutions, the Jacobian transformation matrices, robot pose error-compensation models equations, and Lagrange dynamics formulation for N degree-of-freedom, open chain robotic manipulators. The goal of such a package is to aid faculty and students in the robotics course by removing burdensome tasks of mathematical manipulations. The software package has been successfully tested for its accuracy using commercially available robots.

  16. Iterative inversion of deformation vector fields with feedback control.

    PubMed

    Dubey, Abhishek; Iliopoulos, Alexandros-Stavros; Sun, Xiaobai; Yin, Fang-Fang; Ren, Lei

    2018-05-14

    Often, the inverse deformation vector field (DVF) is needed together with the corresponding forward DVF in four-dimesional (4D) reconstruction and dose calculation, adaptive radiation therapy, and simultaneous deformable registration. This study aims at improving both accuracy and efficiency of iterative algorithms for DVF inversion, and advancing our understanding of divergence and latency conditions. We introduce a framework of fixed-point iteration algorithms with active feedback control for DVF inversion. Based on rigorous convergence analysis, we design control mechanisms for modulating the inverse consistency (IC) residual of the current iterate, to be used as feedback into the next iterate. The control is designed adaptively to the input DVF with the objective to enlarge the convergence area and expedite convergence. Three particular settings of feedback control are introduced: constant value over the domain throughout the iteration; alternating values between iteration steps; and spatially variant values. We also introduce three spectral measures of the displacement Jacobian for characterizing a DVF. These measures reveal the critical role of what we term the nontranslational displacement component (NTDC) of the DVF. We carry out inversion experiments with an analytical DVF pair, and with DVFs associated with thoracic CT images of six patients at end of expiration and end of inspiration. The NTDC-adaptive iterations are shown to attain a larger convergence region at a faster pace compared to previous nonadaptive DVF inversion iteration algorithms. By our numerical experiments, alternating control yields smaller IC residuals and inversion errors than constant control. Spatially variant control renders smaller residuals and errors by at least an order of magnitude, compared to other schemes, in no more than 10 steps. Inversion results also show remarkable quantitative agreement with analysis-based predictions. Our analysis captures properties of DVF data

  17. Cross section measurement of residues produced in proton- and deuteron-induced spallation reactions on 93Zr at 105 MeV/u using the inverse kinematics method

    NASA Astrophysics Data System (ADS)

    Kawase, Shoichiro; Watanabe, Yukinobu; Wang, He; Otsu, Hideaki; Sakurai, Hiroyoshi; Takeuchi, Satoshi; Togano, Yasuhiro; Nakamura, Takashi; Maeda, Yukie; Ahn, Deuk Soon; Aikawa, Masayuki; Araki, Shouhei; Chen, Sidong; Chiga, Nobuyuki; Doornenbal, Pieter; Fukuda, Naoki; Ichihara, Takashi; Isobe, Tadaaki; Kawakami, Shunsuke; Kin, Tadahiro; Kondo, Yosuke; Koyama, Shunpei; Kubo, Toshiyuki; Kubono, Shigeru; Kurokawa, Meiko; Makinaga, Ayano; Matsushita, Masafumi; Matsuzaki, Teiichiro; Michimasa, Shin'ichiro; Momiyama, Satoru; Nagamine, Shunsuke; Nakano, Keita; Niikura, Megumi; Ozaki, Tomoyuki; Saito, Atsumi; Saito, Takeshi; Shiga, Yoshiaki; Shikata, Mizuki; Shimizu, Yohei; Shimoura, Susumu; Sumikama, Toshiyuki; Söderström, Pär-Anders; Suzuki, Hiroshi; Takeda, Hiroyuki; Taniuchi, Ryo; Tsubota, Jun'ichi; Watanabe, Yasushi; Wimmer, Kathrin; Yamamoto, Tatsuya; Yoshida, Koichi

    2017-09-01

    Isotopic production cross sections in the proton- and deuteron-induced spallation reactions on 93Zr at an energy of 105 MeV/u were measured in inverse kinematics conditions for the development of realistic nuclear transmutation processes for long-lived fission products (LLFPs) with neutron and light-ion beams. The experimental results were compared to the PHITS calculations describing the intra-nuclear cascade and evaporation processes. Although an overall agreement was obtained, a large overestimation of the production cross sections for the removal of a few nucleons was seen. A clear shell effect associated with the neutron magic number N = 50 was observed in the measured isotopic production yields of Zr and Y isotopes, which can be reproduced reasonably by the PHITS calculation.

  18. Surgical robot setup simulation with consistent kinematics and haptics for abdominal surgery.

    PubMed

    Hayashibe, Mitsuhiro; Suzuki, Naoki; Hattori, Asaki; Suzuki, Shigeyuki; Konishi, Kozo; Kakeji, Yoshihiro; Hashizume, Makoto

    2005-01-01

    Preoperative simulation and planning of surgical robot setup should accompany advanced robotic surgery if their advantages are to be further pursued. Feedback from the planning system will plays an essential role in computer-aided robotic surgery in addition to preoperative detailed geometric information from patient CT/MRI images. Surgical robot setup simulation systems for appropriate trocar site placement have been developed especially for abdominal surgery. The motion of the surgical robot can be simulated and rehearsed with kinematic constraints at the trocar site, and the inverse-kinematics of the robot. Results from simulation using clinical patient data verify the effectiveness of the proposed system.

  19. Kinematics and dynamics of robotic systems with multiple closed loops

    NASA Astrophysics Data System (ADS)

    Zhang, Chang-De

    The kinematics and dynamics of robotic systems with multiple closed loops, such as Stewart platforms, walking machines, and hybrid manipulators, are studied. In the study of kinematics, focus is on the closed-form solutions of the forward position analysis of different parallel systems. A closed-form solution means that the solution is expressed as a polynomial in one variable. If the order of the polynomial is less than or equal to four, the solution has analytical closed-form. First, the conditions of obtaining analytical closed-form solutions are studied. For a Stewart platform, the condition is found to be that one rotational degree of freedom of the output link is decoupled from the other five. Based on this condition, a class of Stewart platforms which has analytical closed-form solution is formulated. Conditions of analytical closed-form solution for other parallel systems are also studied. Closed-form solutions of forward kinematics for walking machines and multi-fingered grippers are then studied. For a parallel system with three three-degree-of-freedom subchains, there are 84 possible ways to select six independent joints among nine joints. These 84 ways can be classified into three categories: Category 3:3:0, Category 3:2:1, and Category 2:2:2. It is shown that the first category has no solutions; the solutions of the second category have analytical closed-form; and the solutions of the last category are higher order polynomials. The study is then extended to a nearly general Stewart platform. The solution is a 20th order polynomial and the Stewart platform has a maximum of 40 possible configurations. Also, the study is extended to a new class of hybrid manipulators which consists of two serially connected parallel mechanisms. In the study of dynamics, a computationally efficient method for inverse dynamics of manipulators based on the virtual work principle is developed. Although this method is comparable with the recursive Newton-Euler method for

  20. The SAMI Galaxy Survey: gas content and interaction as the drivers of kinematic asymmetry

    NASA Astrophysics Data System (ADS)

    Bloom, J. V.; Croom, S. M.; Bryant, J. J.; Schaefer, A. L.; Bland-Hawthorn, J.; Brough, S.; Callingham, J.; Cortese, L.; Federrath, C.; Scott, N.; van de Sande, J.; D'Eugenio, F.; Sweet, S.; Tonini, C.; Allen, J. T.; Goodwin, M.; Green, A. W.; Konstantopoulos, I. S.; Lawrence, J.; Lorente, N.; Medling, A. M.; Owers, M. S.; Richards, S. N.; Sharp, R.

    2018-05-01

    In order to determine the causes of kinematic asymmetry in the Hα gas in the SAMI (Sydney-AAO Multi-object IFS) Galaxy Survey sample, we investigate the comparative influences of environment and intrinsic properties of galaxies on perturbation. We use spatially resolved Hα velocity fields from the SAMI Galaxy Survey to quantify kinematic asymmetry (\\overline{v_asym}) in nearby galaxies and environmental and stellar mass data from the Galaxy And Mass Assembly survey. We find that local environment, measured as distance to nearest neighbour, is inversely correlated with kinematic asymmetry for galaxies with log (M*/M⊙) > 10.0, but there is no significant correlation for galaxies with log (M*/M⊙) < 10.0. Moreover, low-mass galaxies [log (M*/M⊙) < 9.0] have greater kinematic asymmetry at all separations, suggesting a different physical source of asymmetry is important in low-mass galaxies. We propose that secular effects derived from gas fraction and gas mass may be the primary causes of asymmetry in low-mass galaxies. High gas fraction is linked to high σ _m/V (where σm is Hα velocity dispersion and V the rotation velocity), which is strongly correlated with \\overline{v_asym}, and galaxies with log (M*/M⊙) < 9.0 have offset \\overline{σ _m/V} from the rest of the sample. Further, asymmetry as a fraction of dispersion decreases for galaxies with log (M*/M⊙) < 9.0. Gas mass and asymmetry are also inversely correlated in our sample. We propose that low gas masses in dwarf galaxies may lead to asymmetric distribution of gas clouds, leading to increased relative turbulence.

  1. Statistic inversion of multi-zone transition probability models for aquifer characterization in alluvial fans

    DOE PAGES

    Zhu, Lin; Dai, Zhenxue; Gong, Huili; ...

    2015-06-12

    Understanding the heterogeneity arising from the complex architecture of sedimentary sequences in alluvial fans is challenging. This study develops a statistical inverse framework in a multi-zone transition probability approach for characterizing the heterogeneity in alluvial fans. An analytical solution of the transition probability matrix is used to define the statistical relationships among different hydrofacies and their mean lengths, integral scales, and volumetric proportions. A statistical inversion is conducted to identify the multi-zone transition probability models and estimate the optimal statistical parameters using the modified Gauss–Newton–Levenberg–Marquardt method. The Jacobian matrix is computed by the sensitivity equation method, which results in anmore » accurate inverse solution with quantification of parameter uncertainty. We use the Chaobai River alluvial fan in the Beijing Plain, China, as an example for elucidating the methodology of alluvial fan characterization. The alluvial fan is divided into three sediment zones. In each zone, the explicit mathematical formulations of the transition probability models are constructed with optimized different integral scales and volumetric proportions. The hydrofacies distributions in the three zones are simulated sequentially by the multi-zone transition probability-based indicator simulations. Finally, the result of this study provides the heterogeneous structure of the alluvial fan for further study of flow and transport simulations.« less

  2. Estimation of near-surface shear-wave velocity by inversion of Rayleigh waves

    USGS Publications Warehouse

    Xia, J.; Miller, R.D.; Park, C.B.

    1999-01-01

    The shear-wave (S-wave) velocity of near-surface materials (soil, rocks, pavement) and its effect on seismic-wave propagation are of fundamental interest in many groundwater, engineering, and environmental studies. Rayleigh-wave phase velocity of a layered-earth model is a function of frequency and four groups of earth properties: P-wave velocity, S-wave velocity, density, and thickness of layers. Analysis of the Jacobian matrix provides a measure of dispersion-curve sensitivity to earth properties. S-wave velocities are the dominant influence on a dispersion curve in a high-frequency range (>5 Hz) followed by layer thickness. An iterative solution technique to the weighted equation proved very effective in the high-frequency range when using the Levenberg-Marquardt and singular-value decomposition techniques. Convergence of the weighted solution is guaranteed through selection of the damping factor using the Levenberg-Marquardt method. Synthetic examples demonstrated calculation efficiency and stability of inverse procedures. We verify our method using borehole S-wave velocity measurements.Iterative solutions to the weighted equation by the Levenberg-Marquardt and singular-value decomposition techniques are derived to estimate near-surface shear-wave velocity. Synthetic and real examples demonstrate the calculation efficiency and stability of the inverse procedure. The inverse results of the real example are verified by borehole S-wave velocity measurements.

  3. Radiance and Jacobian Intercomparison of Radiative Transfer Models Applied to HIRS and AMSU Channels

    NASA Technical Reports Server (NTRS)

    Garand, L.; Turner, D. S.; Larocque, M.; Bates, J.; Boukabara, S.; Brunel, P.; Chevallier, F.; Deblonde, G.; Engelen, R.; Hollingshead, M.; hide

    2000-01-01

    The goals of this study are the evaluation of current fast radiative transfer models (RTMs) and line-by-line (LBL) models. The intercomparison focuses on the modeling of 11 representative sounding channels routinely used at numerical weather prediction centers: 7 HIRS (High-resolution Infrared Sounder) and 4 AMSU (Advanced Microwave Sounding Unit) channels. Interest in this topic was evidenced by the participation of 24 scientists from 16 institutions. An ensemble of 42 diverse atmospheres was used and results compiled for 19 infrared models and 10 microwave models, including several LBL RTMs. For the first time, not only radiances, but also Jacobians (of temperature, water vapor and ozone) were compared to various LBL models for many channels. In the infrared, LBL models typically agree to within 0.05-0.15 K (standard deviation) in terms of top-of-the-atmosphere brightness temperature (BT). Individual differences up to 0.5 K still exist, systematic in some channels, and linked to the type of atmosphere in others. The best fast models emulate LBL BTs to within 0.25 K, but no model achieves this desirable level of success for all channels. The ozone modeling is particularly challenging, In the microwave, fast models generally do quite well against the LBL model to which they were tuned. However significant differences were noted among LBL models, Extending the intercomparison to the Jacobians proved very useful in detecting subtle and more obvious modeling errors. In addition, total and single gas optical depths were calculated, which provided additional insight on the nature of differences. Recommendations for future intercomparisons are suggested.

  4. Radiance and Jacobian Intercomparison of Radiative Transfer Models Applied to HIRS and AMSU Channels

    NASA Technical Reports Server (NTRS)

    Garand, L.; Turner, D. S.; Larocque, M.; Bates, J.; Boukabara, S.; Brunel, P.; Chevallier, F.; Deblonde, G.; Engelen, R.; Atlas, Robert (Technical Monitor)

    2000-01-01

    The goals of this study are the evaluation of current fast radiative transfer models (RTMs) and line-by-line (LBL) models. The intercomparison focuses on the modeling of 11 representative sounding channels routinely used at numerical weather prediction centers: seven HIRS (High-resolution Infrared Sounder) and four AMSU (Advanced Microwave Sounding Unit) channels. Interest in this topic was evidenced by the participation of 24 scientists from 16 institutions. An ensemble of 42 diverse atmospheres was used and results compiled for 19 infrared models and 10 microwave models, including several LBL RTMs. For the first time, not only radiances, but also Jacobians (of temperature, water vapor, and ozone) were compared to various LBL models for many channels. In the infrared, LBL models typically agree to within 0.05-0.15 K (standard deviation) in terms of top-of-the-atmosphere brightness temperature (BT). Individual differences up to 0.5 K still exist, systematic in some channels, and linked to the type of atmosphere in others. The best fast models emulate LBL BTs to within 0.25 K, but no model achieves this desirable level of success for all channels. The ozone modeling is particularly challenging. In the microwave, fast models generally do quite well against the LBL model to which they were tuned. However significant differences were noted among LBL models. Extending the intercomparison to the Jacobians proved very useful in detecting subtle and more obvious modeling errors. In addition, total and single gas optical depths were calculated, which provided additional insight on the nature of differences. Recommendations for future intercomparisons are suggested.

  5. Kinematics of the Ethiopian Rift and Absolute motion of Africa and Somalia Plates

    NASA Astrophysics Data System (ADS)

    Muluneh, A. A.; Cuffaro, M.; Doglioni, C.

    2013-12-01

    The Ethiopian Rift (ER), in the northern part of East African Rift System (EARS), forms a boundary zone accommodating differential motion between Africa and Somalia Plates. Its orientation was influenced by the inherited Pan-African collisional system and related lithospheric fabric. We present the kinematics of ER derived from compilation of geodetic velocities, focal mechanism inversions, structural data analysis, and construction of geological profiles. GPS velocity field shows a systematic eastward magnitude increase in NE direction in the central ER. In the same region, incremental extensional strain axes recorded by earthquake focal mechanism and fault slip inversion show ≈N1000E orientation. This deviation between GPS velocity trajectories and orientation of incremental extensional strain is developed due to left lateral transtensional deformation. This interpretation is consistent with the en-échelon pattern of tensional and transtensional faults, the distribution of the volcanic centers, and the asymmetry of the rift itself. Small amount of vertical axis blocks rotation, sinistral strike slip faults and dyke intrusions in the rift accommodate the transtensional deformation. We analyzed the kinematics of ER relative to Deep and Shallow Hot Spot Reference Frames (HSRF). Comparison between the two reference frames shows different kinematics in ER and also Africa and Somalia plate motion both in magnitude and direction. Plate spreading direction in shallow HSRF (i.e. the source of the plumes locates in the asthenosphere) and the trend of ER deviate by about 27°. Shearing and extension across the plate boundary zone contribute both to the style of deformation and overall kinematics in the rift. We conclude that the observed long wavelength kinematics and tectonics are consequences of faster SW ward motion of Africa than Somalia in the shallow HSRF. This reference frame seems more consistent with the geophysical and geological constraints in the Rift. The

  6. Analog modeling and kinematic restoration of inverted hangingwall synclinal basins developed above syn-kinematic salt: Application to the Lusitanian and Parentis basins

    NASA Astrophysics Data System (ADS)

    Roma, Maria; Vidal-Royo, Oskar; McClay, Ken; Ferrer, Oriol; Muñoz, Josep Anton

    2017-04-01

    The formation of hagingwall syncline basins is basically constrained by the geometry of the basement-involved fault, but also by salt distribution . The formation of such basins is common around the Iberian Peninsula (e.g. Lusitanian, Parentis, Basque-Cantabian, Cameros and Organyà basins) where Upper Triassic (Keuper) salt governed their polyphasic Mesozoic extension and their subsequent Alpine inversion. In this scenario, a precise interpretation of the sub-salt faults geometry and a reconstruction of the initial salt thickness are key to understand the kinematic evolution of such basins. Using an experimental approach (sandbox models) and these Mesozoic basins as natural analogues, the aim of this work is to: 1) investigate the main parameters that controlled the formation and evolution of hagingwall syncline basins analyzing the role of syn-kinematic salt during extension and subsequent inversion; and 2) quantify the deformation and salt mobilization based on restoration of analog model cross sections. The experimental results demonstrate that premature welds are developed by salt deflation with consequent upward propagation of the basal fault in salt-bearing rift systems with a large amount of extension,. In contrast, thicker salt inhibits the upward fault propagation, which results into a further salt migration and development of a hagingwall syncline basins flanked by salt walls. The inherited extensional architecture as well as salt continuity dramatically controlled subsequent inversion. Shortening initially produced the folding and the uplift of the synclinal basins. Minor reverse faults form as a consequence of overtightening of welded diapir stems. However, no trace of reverse faulting is found around diapirs stems, as ductile unit is still available for extrusion, squeezing and accommodation of shortening. Restoration of the sandbox models has demonstrated that this is a powerful tool to unravel the complex structures in the models and this may

  7. Optimal trace inequality constants for interior penalty discontinuous Galerkin discretisations of elliptic operators using arbitrary elements with non-constant Jacobians

    NASA Astrophysics Data System (ADS)

    Owens, A. R.; Kópházi, J.; Eaton, M. D.

    2017-12-01

    In this paper, a new method to numerically calculate the trace inequality constants, which arise in the calculation of penalty parameters for interior penalty discretisations of elliptic operators, is presented. These constants are provably optimal for the inequality of interest. As their calculation is based on the solution of a generalised eigenvalue problem involving the volumetric and face stiffness matrices, the method is applicable to any element type for which these matrices can be calculated, including standard finite elements and the non-uniform rational B-splines of isogeometric analysis. In particular, the presented method does not require the Jacobian of the element to be constant, and so can be applied to a much wider variety of element shapes than are currently available in the literature. Numerical results are presented for a variety of finite element and isogeometric cases. When the Jacobian is constant, it is demonstrated that the new method produces lower penalty parameters than existing methods in the literature in all cases, which translates directly into savings in the solution time of the resulting linear system. When the Jacobian is not constant, it is shown that the naive application of existing approaches can result in penalty parameters that do not guarantee coercivity of the bilinear form, and by extension, the stability of the solution. The method of manufactured solutions is applied to a model reaction-diffusion equation with a range of parameters, and it is found that using penalty parameters based on the new trace inequality constants result in better conditioned linear systems, which can be solved approximately 11% faster than those produced by the methods from the literature.

  8. Multiple estimation channel decoupling and optimization method based on inverse system

    NASA Astrophysics Data System (ADS)

    Wu, Peng; Mu, Rongjun; Zhang, Xin; Deng, Yanpeng

    2018-03-01

    This paper addressed the intelligent autonomous navigation request of intelligent deformation missile, based on the intelligent deformation missile dynamics and kinematics modeling, navigation subsystem solution method and error modeling, and then focuses on the corresponding data fusion and decision fusion technology, decouples the sensitive channel of the filter input through the inverse system of design dynamics to reduce the influence of sudden change of the measurement information on the filter input. Then carrying out a series of simulation experiments, which verified the feasibility of the inverse system decoupling algorithm effectiveness.

  9. A Fortran 77 computer code for damped least-squares inversion of Slingram electromagnetic anomalies over thin tabular conductors

    NASA Astrophysics Data System (ADS)

    Dondurur, Derman; Sarı, Coşkun

    2004-07-01

    A FORTRAN 77 computer code is presented that permits the inversion of Slingram electromagnetic anomalies to an optimal conductor model. Damped least-squares inversion algorithm is used to estimate the anomalous body parameters, e.g. depth, dip and surface projection point of the target. Iteration progress is controlled by maximum relative error value and iteration continued until a tolerance value was satisfied, while the modification of Marquardt's parameter is controlled by sum of the squared errors value. In order to form the Jacobian matrix, the partial derivatives of theoretical anomaly expression with respect to the parameters being optimised are calculated by numerical differentiation by using first-order forward finite differences. A theoretical and two field anomalies are inserted to test the accuracy and applicability of the present inversion program. Inversion of the field data indicated that depth and the surface projection point parameters of the conductor are estimated correctly, however, considerable discrepancies appeared on the estimated dip angles. It is therefore concluded that the most important factor resulting in the misfit between observed and calculated data is due to the fact that the theory used for computing Slingram anomalies is valid for only thin conductors and this assumption might have caused incorrect dip estimates in the case of wide conductors.

  10. Improved source inversion from joint measurements of translational and rotational ground motions

    NASA Astrophysics Data System (ADS)

    Donner, S.; Bernauer, M.; Reinwald, M.; Hadziioannou, C.; Igel, H.

    2017-12-01

    Waveform inversion for seismic point (moment tensor) and kinematic sources is a standard procedure. However, especially in the local and regional distances a lack of appropriate velocity models, the sparsity of station networks, or a low signal-to-noise ratio combined with more complex waveforms hamper the successful retrieval of reliable source solutions. We assess the potential of rotational ground motion recordings to increase the resolution power and reduce non-uniquenesses for point and kinematic source solutions. Based on synthetic waveform data, we perform a Bayesian (i.e. probabilistic) inversion. Thus, we avoid the subjective selection of the most reliable solution according the lowest misfit or other constructed criterion. In addition, we obtain unbiased measures of resolution and possible trade-offs. Testing different earthquake mechanisms and scenarios, we can show that the resolution of the source solutions can be improved significantly. Especially depth dependent components show significant improvement. Next to synthetic data of station networks, we also tested sparse-network and single station cases.

  11. Non-recursive augmented Lagrangian algorithms for the forward and inverse dynamics of constrained flexible multibodies

    NASA Technical Reports Server (NTRS)

    Bayo, Eduardo; Ledesma, Ragnar

    1993-01-01

    A technique is presented for solving the inverse dynamics of flexible planar multibody systems. This technique yields the non-causal joint efforts (inverse dynamics) as well as the internal states (inverse kinematics) that produce a prescribed nominal trajectory of the end effector. A non-recursive global Lagrangian approach is used in formulating the equations for motion as well as in solving the inverse dynamics equations. Contrary to the recursive method previously presented, the proposed method solves the inverse problem in a systematic and direct manner for both open-chain as well as closed-chain configurations. Numerical simulation shows that the proposed procedure provides an excellent tracking of the desired end effector trajectory.

  12. Time-lapse three-dimensional inversion of complex conductivity data using an active time constrained (ATC) approach

    USGS Publications Warehouse

    Karaoulis, M.; Revil, A.; Werkema, D.D.; Minsley, B.J.; Woodruff, W.F.; Kemna, A.

    2011-01-01

    Induced polarization (more precisely the magnitude and phase of impedance of the subsurface) is measured using a network of electrodes located at the ground surface or in boreholes. This method yields important information related to the distribution of permeability and contaminants in the shallow subsurface. We propose a new time-lapse 3-D modelling and inversion algorithm to image the evolution of complex conductivity over time. We discretize the subsurface using hexahedron cells. Each cell is assigned a complex resistivity or conductivity value. Using the finite-element approach, we model the in-phase and out-of-phase (quadrature) electrical potentials on the 3-D grid, which are then transformed into apparent complex resistivity. Inhomogeneous Dirichlet boundary conditions are used at the boundary of the domain. The calculation of the Jacobian matrix is based on the principles of reciprocity. The goal of time-lapse inversion is to determine the change in the complex resistivity of each cell of the spatial grid as a function of time. Each model along the time axis is called a 'reference space model'. This approach can be simplified into an inverse problem looking for the optimum of several reference space models using the approximation that the material properties vary linearly in time between two subsequent reference models. Regularizations in both space domain and time domain reduce inversion artefacts and improve the stability of the inversion problem. In addition, the use of the time-lapse equations allows the simultaneous inversion of data obtained at different times in just one inversion step (4-D inversion). The advantages of this new inversion algorithm are demonstrated on synthetic time-lapse data resulting from the simulation of a salt tracer test in a heterogeneous random material described by an anisotropic semi-variogram. ?? 2011 The Authors Geophysical Journal International ?? 2011 RAS.

  13. [Effect of calcaneocuboid arthrodesis on three-dimensional kinematics of talonavicular joint].

    PubMed

    Chen, Yanxi; Yu, Guangrong; Ding, Zhuquan

    2007-03-01

    To discuss the effect of the calcaneocuboid arthrodesis on three-dimensional kinematics of talonavicular joint and its clinical significance. Ten fresh-frozen foot specimens, three-dimensional kinematics of talonavicular joint were determined in the case of neutral position, dorsiflexion. plantoflexion, adduction, abduction, inversion and eversion motion by means of three-dimensional coordinate instrument (Immersion MicroScribe G2X) before and after calcaneocuboid arthrodesis under non-weight with moment of couple, bending moment, equilibrium dynamic loading. Calcaneocuboid arthrodesis was performed on these feet in neutral position and the lateral column of normal length. A significant decrease in the three-dimensional kinematics of talonavicular joint was observed (P < 0.01) in cadaver model following calcaneocuboid arthrodesis. Talonavicular joint motion was diminished by 31.21% +/- 6.08% in sagittal plane; by 51.46% +/- 7.91% in coronal plane; by 36.98% +/- 4.12% in transverse plane; and averagely by 41.25% +/- 6.02%. Calcancocuboid arthrodesis could limite motion of the talonavicular joints, and the disadvantage of calcaneocuboid arthrodesis shouldn't be neglected.

  14. Boundary kinematic space

    DOE PAGES

    Karch, Andreas; Sully, James; Uhlemann, Christoph F.; ...

    2017-08-10

    We extend kinematic space to a simple scenario where the state is not fixed by conformal invariance: the vacuum of a conformal field theory with a boundary (bCFT). We identify the kinematic space associated with the boundary operator product expansion (bOPE) as a subspace of the full kinematic space. In addition, we establish representations of the corresponding bOPE blocks in a dual gravitational description. We show how the new kinematic dictionary and the dynamical data in bOPE allows one to reconstruct the bulk geometry. This is evidence that kinematic space may be a useful construction for understanding bulk physics beyondmore » just kinematics.« less

  15. Boundary kinematic space

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

    Karch, Andreas; Sully, James; Uhlemann, Christoph F.

    We extend kinematic space to a simple scenario where the state is not fixed by conformal invariance: the vacuum of a conformal field theory with a boundary (bCFT). We identify the kinematic space associated with the boundary operator product expansion (bOPE) as a subspace of the full kinematic space. In addition, we establish representations of the corresponding bOPE blocks in a dual gravitational description. We show how the new kinematic dictionary and the dynamical data in bOPE allows one to reconstruct the bulk geometry. This is evidence that kinematic space may be a useful construction for understanding bulk physics beyondmore » just kinematics.« less

  16. Fault kinematics and localised inversion within the Troms-Finnmark Fault Complex, SW Barents Sea

    NASA Astrophysics Data System (ADS)

    Zervas, I.; Omosanya, K. O.; Lippard, S. J.; Johansen, S. E.

    2018-04-01

    The areas bounding the Troms-Finnmark Fault Complex are affected by complex tectonic evolution. In this work, the history of fault growth, reactivation, and inversion of major faults in the Troms-Finnmark Fault Complex and the Ringvassøy Loppa Fault Complex is interpreted from three-dimensional seismic data, structural maps and fault displacement plots. Our results reveal eight normal faults bounding rotated fault blocks in the Troms-Finnmark Fault Complex. Both the throw-depth and displacement-distance plots show that the faults exhibit complex configurations of lateral and vertical segmentation with varied profiles. Some of the faults were reactivated by dip-linkages during the Late Jurassic and exhibit polycyclic fault growth, including radial, syn-sedimentary, and hybrid propagation. Localised positive inversion is the main mechanism of fault reactivation occurring at the Troms-Finnmark Fault Complex. The observed structural styles include folds associated with extensional faults, folded growth wedges and inverted depocentres. Localised inversion was intermittent with rifting during the Middle Jurassic-Early Cretaceous at the boundaries of the Troms-Finnmark Fault Complex to the Finnmark Platform. Additionally, tectonic inversion was more intense at the boundaries of the two fault complexes, affecting Middle Triassic to Early Cretaceous strata. Our study shows that localised folding is either a product of compressional forces or of lateral movements in the Troms-Finnmark Fault Complex. Regional stresses due to the uplift in the Loppa High and halokinesis in the Tromsø Basin are likely additional causes of inversion in the Troms-Finnmark Fault Complex.

  17. Inverse optimal self-tuning PID control design for an autonomous underwater vehicle

    NASA Astrophysics Data System (ADS)

    Rout, Raja; Subudhi, Bidyadhar

    2017-01-01

    This paper presents a new approach to path following control design for an autonomous underwater vehicle (AUV). A NARMAX model of the AUV is derived first and then its parameters are adapted online using the recursive extended least square algorithm. An adaptive Propotional-Integral-Derivative (PID) controller is developed using the derived parameters to accomplish the path following task of an AUV. The gain parameters of the PID controller are tuned using an inverse optimal control technique, which alleviates the problem of solving Hamilton-Jacobian equation and also satisfies an error cost function. Simulation studies were pursued to verify the efficacy of the proposed control algorithm. From the obtained results, it is envisaged that the proposed NARMAX model-based self-tuning adaptive PID control provides good path following performance even in the presence of uncertainty arising due to ocean current or hydrodynamic parameter.

  18. 3-D CSEM data inversion algorithm based on simultaneously active multiple transmitters concept

    NASA Astrophysics Data System (ADS)

    Dehiya, Rahul; Singh, Arun; Gupta, Pravin Kumar; Israil, Mohammad

    2017-05-01

    We present an algorithm for efficient 3-D inversion of marine controlled-source electromagnetic data. The efficiency is achieved by exploiting the redundancy in data. The data redundancy is reduced by compressing the data through stacking of the response of transmitters which are in close proximity. This stacking is equivalent to synthesizing the data as if the multiple transmitters are simultaneously active. The redundancy in data, arising due to close transmitter spacing, has been studied through singular value analysis of the Jacobian formed in 1-D inversion. This study reveals that the transmitter spacing of 100 m, typically used in marine data acquisition, does result in redundancy in the data. In the proposed algorithm, the data are compressed through stacking which leads to both computational advantage and reduction in noise. The performance of the algorithm for noisy data is demonstrated through the studies on two types of noise, viz., uncorrelated additive noise and correlated non-additive noise. It is observed that in case of uncorrelated additive noise, up to a moderately high (10 percent) noise level the algorithm addresses the noise as effectively as the traditional full data inversion. However, when the noise level in the data is high (20 percent), the algorithm outperforms the traditional full data inversion in terms of data misfit. Similar results are obtained in case of correlated non-additive noise and the algorithm performs better if the level of noise is high. The inversion results of a real field data set are also presented to demonstrate the robustness of the algorithm. The significant computational advantage in all cases presented makes this algorithm a better choice.

  19. Towards Extending Forward Kinematic Models on Hyper-Redundant Manipulator to Cooperative Bionic Arms

    NASA Astrophysics Data System (ADS)

    Singh, Inderjeet; Lakhal, Othman; Merzouki, Rochdi

    2017-01-01

    Forward Kinematics is a stepping stone towards finding an inverse solution and subsequently a dynamic model of a robot. Hence a study and comparison of various Forward Kinematic Models (FKMs) is necessary for robot design. This paper deals with comparison of three FKMs on the same hyper-redundant Compact Bionic Handling Assistant (CBHA) manipulator under same conditions. The aim of this study is to project on modeling cooperative bionic manipulators. Two of these methods are quantitative methods, Arc Geometry HTM (Homogeneous Transformation Matrix) Method and Dual Quaternion Method, while the other one is Hybrid Method which uses both quantitative as well as qualitative approach. The methods are compared theoretically and experimental results are discussed to add further insight to the comparison. HTM is the widely used and accepted technique, is taken as reference and trajectory deviation in other techniques are compared with respect to HTM. Which method allows obtaining an accurate kinematic behavior of the CBHA, controlled in the real-time.

  20. Getting in shape: Reconstructing three-dimensional long-track speed skating kinematics by comparing several body pose reconstruction techniques.

    PubMed

    van der Kruk, E; Schwab, A L; van der Helm, F C T; Veeger, H E J

    2018-03-01

    In gait studies body pose reconstruction (BPR) techniques have been widely explored, but no previous protocols have been developed for speed skating, while the peculiarities of the skating posture and technique do not automatically allow for the transfer of the results of those explorations to kinematic skating data. The aim of this paper is to determine the best procedure for body pose reconstruction and inverse dynamics of speed skating, and to what extend this choice influences the estimation of joint power. The results show that an eight body segment model together with a global optimization method with revolute joint in the knee and in the lumbosacral joint, while keeping the other joints spherical, would be the most realistic model to use for the inverse kinematics in speed skating. To determine joint power, this method should be combined with a least-square error method for the inverse dynamics. Reporting on the BPR technique and the inverse dynamic method is crucial to enable comparison between studies. Our data showed an underestimation of up to 74% in mean joint power when no optimization procedure was applied for BPR and an underestimation of up to 31% in mean joint power when a bottom-up inverse dynamics method was chosen instead of a least square error approach. Although these results are aimed at speed skating, reporting on the BPR procedure and the inverse dynamics method, together with setting a golden standard should be common practice in all human movement research to allow comparison between studies. Copyright © 2018 Elsevier Ltd. All rights reserved.

  1. Kinematic control of robot with degenerate wrist

    NASA Technical Reports Server (NTRS)

    Barker, L. K.; Moore, M. C.

    1984-01-01

    Kinematic resolved rate equations allow an operator with visual feedback to dynamically control a robot hand. When the robot wrist is degenerate, the computed joint angle rates exceed operational limits, and unwanted hand movements can result. The generalized matrix inverse solution can also produce unwanted responses. A method is introduced to control the robot hand in the region of the degenerate robot wrist. The method uses a coordinated movement of the first and third joints of the robot wrist to locate the second wrist joint axis for movement of the robot hand in the commanded direction. The method does not entail infinite joint angle rates.

  2. Waterjet and laser etching: the nonlinear inverse problem

    NASA Astrophysics Data System (ADS)

    Bilbao-Guillerna, A.; Axinte, D. A.; Billingham, J.; Cadot, G. B. J.

    2017-07-01

    In waterjet and laser milling, material is removed from a solid surface in a succession of layers to create a new shape, in a depth-controlled manner. The inverse problem consists of defining the control parameters, in particular, the two-dimensional beam path, to arrive at a prescribed freeform surface. Waterjet milling (WJM) and pulsed laser ablation (PLA) are studied in this paper, since a generic nonlinear material removal model is appropriate for both of these processes. The inverse problem is usually solved for this kind of process by simply controlling dwell time in proportion to the required depth of milling at a sequence of pixels on the surface. However, this approach is only valid when shallow surfaces are etched, since it does not take into account either the footprint of the beam or its overlapping on successive passes. A discrete adjoint algorithm is proposed in this paper to improve the solution. Nonlinear effects and non-straight passes are included in the optimization, while the calculation of the Jacobian matrix does not require large computation times. Several tests are performed to validate the proposed method and the results show that tracking error is reduced typically by a factor of two in comparison to the pixel-by-pixel approach and the classical raster path strategy with straight passes. The tracking error can be as low as 2-5% and 1-2% for WJM and PLA, respectively, depending on the complexity of the target surface.

  3. Goal driven kinematic simulation of flexible arm robot for space station missions

    NASA Technical Reports Server (NTRS)

    Janssen, P.; Choudry, A.

    1987-01-01

    Flexible arms offer a great degree of flexibility in maneuvering in the space environment. The problem of transporting an astronaut for extra-vehicular activity using a space station based flexible arm robot was studied. Inverse kinematic solutions of the multilink structure were developed. The technique is goal driven and can support decision making for configuration selection as required for stability and obstacle avoidance. Details of this technique and results are given.

  4. An evolutive real-time source inversion based on a linear inverse formulation

    NASA Astrophysics Data System (ADS)

    Sanchez Reyes, H. S.; Tago, J.; Cruz-Atienza, V. M.; Metivier, L.; Contreras Zazueta, M. A.; Virieux, J.

    2016-12-01

    Finite source inversion is a steppingstone to unveil earthquake rupture. It is used on ground motion predictions and its results shed light on seismic cycle for better tectonic understanding. It is not yet used for quasi-real-time analysis. Nowadays, significant progress has been made on approaches regarding earthquake imaging, thanks to new data acquisition and methodological advances. However, most of these techniques are posterior procedures once seismograms are available. Incorporating source parameters estimation into early warning systems would require to update the source build-up while recording data. In order to go toward this dynamic estimation, we developed a kinematic source inversion formulated in the time-domain, for which seismograms are linearly related to the slip distribution on the fault through convolutions with Green's functions previously estimated and stored (Perton et al., 2016). These convolutions are performed in the time-domain as we progressively increase the time window of records at each station specifically. Selected unknowns are the spatio-temporal slip-rate distribution to keep the linearity of the forward problem with respect to unknowns, as promoted by Fan and Shearer (2014). Through the spatial extension of the expected rupture zone, we progressively build-up the slip-rate when adding new data by assuming rupture causality. This formulation is based on the adjoint-state method for efficiency (Plessix, 2006). The inverse problem is non-unique and, in most cases, underdetermined. While standard regularization terms are used for stabilizing the inversion, we avoid strategies based on parameter reduction leading to an unwanted non-linear relationship between parameters and seismograms for our progressive build-up. Rise time, rupture velocity and other quantities can be extracted later on as attributs from the slip-rate inversion we perform. Satisfactory results are obtained on a synthetic example (FIgure 1) proposed by the Source

  5. Multivariate statistics of the Jacobian matrices in tensor based morphometry and their application to HIV/AIDS.

    PubMed

    Lepore, Natasha; Brun, Caroline A; Chiang, Ming-Chang; Chou, Yi-Yu; Dutton, Rebecca A; Hayashi, Kiralee M; Lopez, Oscar L; Aizenstein, Howard J; Toga, Arthur W; Becker, James T; Thompson, Paul M

    2006-01-01

    Tensor-based morphometry (TBM) is widely used in computational anatomy as a means to understand shape variation between structural brain images. A 3D nonlinear registration technique is typically used to align all brain images to a common neuroanatomical template, and the deformation fields are analyzed statistically to identify group differences in anatomy. However, the differences are usually computed solely from the determinants of the Jacobian matrices that are associated with the deformation fields computed by the registration procedure. Thus, much of the information contained within those matrices gets thrown out in the process. Only the magnitude of the expansions or contractions is examined, while the anisotropy and directional components of the changes are ignored. Here we remedy this problem by computing multivariate shape change statistics using the strain matrices. As the latter do not form a vector space, means and covariances are computed on the manifold of positive-definite matrices to which they belong. We study the brain morphology of 26 HIV/AIDS patients and 14 matched healthy control subjects using our method. The images are registered using a high-dimensional 3D fluid registration algorithm, which optimizes the Jensen-Rényi divergence, an information-theoretic measure of image correspondence. The anisotropy of the deformation is then computed. We apply a manifold version of Hotelling's T2 test to the strain matrices. Our results complement those found from the determinants of the Jacobians alone and provide greater power in detecting group differences in brain structure.

  6. Foot kinematics during a bilateral heel rise test in participants with stage II posterior tibial tendon dysfunction.

    PubMed

    Houck, Jeff R; Neville, Christopher; Tome, Josh; Flemister, A Samuel

    2009-08-01

    Experimental laboratory study using a cross-sectional design. To compare foot kinematics, using 3-dimensional tracking methods, during a bilateral heel rise between participants with posterior tibial tendon dysfunction (PTTD) and participants with a normal medial longitudinal arch (MLA). The bilateral heel rise test is commonly used to assess patients with PTTD; however, information about foot kinematics during the test is lacking. Forty-five individuals volunteered to participate, including 30 patients diagnosed with unilateral stage II PTTD (mean +/- SD age, 59.8 +/- 11.1 years; body mass index, 29.9 +/- 4.8 kg/m2) and 15 controls (mean +/- SD age, 56.5 +/- 7.7 years; body mass index, 30.6 +/- 3.6 kg/m2). Foot kinematic data were collected during a bilateral heel rise task from the calcaneus (hindfoot), first metatarsal, and hallux, using an Optotrak motion analysis system and Motion Monitor software. A 2-way mixed-effects analysis of variance model, with normalized heel height as a covariate, was used to test for significant differences between the normal MLA and PTTD groups. The patients in the PTTD group exhibited significantly greater ankle plantar flexion (mean difference between groups, 7.3 degrees ; 95% confidence interval [CI]: 5.1 degrees to 9.5 degrees ), greater first metatarsal dorsiflexion (mean difference between groups, 9.0 degrees ; 95% CI: 3.7 degrees to 14.4 degrees ), and less hallux dorsiflexion (mean difference, 6.7 degrees ; 95% CI: 1.7 degrees to 11.8 degrees ) compared to controls. At peak heel rise, hindfoot inversion was similar (P = .130) between the PTTD and control groups. Except for hindfoot eversion/inversion, the differences in foot kinematics in participants with stage II PTTD, when compared to the control group, mainly occur as an offset, not an alteration in shape, of the kinematic patterns.

  7. Presaddle and postsaddle dissipative effects in fission using complete kinematics measurements

    NASA Astrophysics Data System (ADS)

    Rodríguez-Sánchez, J. L.; Benlliure, J.; Taïeb, J.; Alvarez-Pol, H.; Audouin, L.; Ayyad, Y.; Bélier, G.; Boutoux, G.; Casarejos, E.; Chatillon, A.; Cortina-Gil, D.; Gorbinet, T.; Heinz, A.; Kelić-Heil, A.; Laurent, B.; Martin, J.-F.; Paradela, C.; Pellereau, E.; Pietras, B.; Ramos, D.; Rodríguez-Tajes, C.; Rossi, D. M.; Simon, H.; Vargas, J.; Voss, B.

    2016-12-01

    A complete kinematics measurement of the two fission fragments was used for the first time to investigate fission dynamics at small and large deformations. Fissioning systems with high excitation energies, compact shapes, and low angular momenta were produced in inverse kinematics by using spallation reactions of lead projectiles. A new generation experimental setup allowed for the first full and unambiguous identification in mass and atomic number of both fission fragments. This measurement permitted us to accurately determine fission cross sections, the charge distribution, and the neutron excess of the fission fragments as a function of the atomic number of the fissioning system. These data are compared with different model calculations to extract information on the value of the dissipation parameter at small and large deformations. The present results do not show any sizable dependence of the nuclear dissipation parameter on temperature or deformation.

  8. Dimensional synthesis of a 3-DOF parallel manipulator with full circle rotation

    NASA Astrophysics Data System (ADS)

    Ni, Yanbing; Wu, Nan; Zhong, Xueyong; Zhang, Biao

    2015-07-01

    Parallel robots are widely used in the academic and industrial fields. In spite of the numerous achievements in the design and dimensional synthesis of the low-mobility parallel robots, few research efforts are directed towards the asymmetric 3-DOF parallel robots whose end-effector can realize 2 translational and 1 rotational(2T1R) motion. In order to develop a manipulator with the capability of full circle rotation to enlarge the workspace, a new 2T1R parallel mechanism is proposed. The modeling approach and kinematic analysis of this proposed mechanism are investigated. Using the method of vector analysis, the inverse kinematic equations are established. This is followed by a vigorous proof that this mechanism attains an annular workspace through its circular rotation and 2 dimensional translations. Taking the first order perturbation of the kinematic equations, the error Jacobian matrix which represents the mapping relationship between the error sources of geometric parameters and the end-effector position errors is derived. With consideration of the constraint conditions of pressure angles and feasible workspace, the dimensional synthesis is conducted with a goal to minimize the global comprehensive performance index. The dimension parameters making the mechanism to have optimal error mapping and kinematic performance are obtained through the optimization algorithm. All these research achievements lay the foundation for the prototype building of such kind of parallel robots.

  9. 3D kinematics using dual quaternions: theory and applications in neuroscience

    PubMed Central

    Leclercq, Guillaume; Lefèvre, Philippe; Blohm, Gunnar

    2013-01-01

    In behavioral neuroscience, many experiments are developed in 1 or 2 spatial dimensions, but when scientists tackle problems in 3-dimensions (3D), they often face problems or new challenges. Results obtained for lower dimensions are not always extendable in 3D. In motor planning of eye, gaze or arm movements, or sensorimotor transformation problems, the 3D kinematics of external (stimuli) or internal (body parts) must often be considered: how to describe the 3D position and orientation of these objects and link them together? We describe how dual quaternions provide a convenient way to describe the 3D kinematics for position only (point transformation) or for combined position and orientation (through line transformation), easily modeling rotations, translations or screw motions or combinations of these. We also derive expressions for the velocities of points and lines as well as the transformation velocities. Then, we apply these tools to a motor planning task for manual tracking and to the modeling of forward and inverse kinematics of a seven-dof three-link arm to show the interest of dual quaternions as a tool to build models for these kinds of applications. PMID:23443667

  10. Kinematic predictors of loading during running differ by demographic group.

    PubMed

    Harrison, Kathryn; Thakkar, Bhushan; Kwon, Yong Ung; Crosswell, Gregory; Morgan, Jacqueline; Williams, D S Blaise

    2018-05-24

    To investigate whether previously-determined kinematic predictors of kinetics during running differ between demographic groups. Young male (n = 13, age = 22 (2) yrs), young female (n = 13, age = 25 (4) yrs), older male (n = 13, age = 50 (4) yrs) and older female (n = 13, age = 52 (3) yrs) runners. Sagittal plane kinematics and kinetics were assessed while participants ran at their preferred pace. Linear regression models were developed to predict kinetics in each group using kinematics as independent variables. Step length was positively associated with magnitude of at least one kinetic variable in all groups. Step position was inversely associated with vertical ground reaction force variables in all groups. Step frequency and CoM excursion were also important to all groups, however direction of the associations varied. Foot angle at initial contact was important to all groups except older females. Peak knee flexion was most important to older females, but was not important to any other groups. Optimal parameters for gait analysis of runners may depend on demographics of the individual. This provides insight for clinicians into the most effective evaluation and interventions strategies for different types of runners. Copyright © 2018. Published by Elsevier Ltd.

  11. Multisclae heterogeneity of the 2011 Tohoku-oki earthquake by inversion

    NASA Astrophysics Data System (ADS)

    Aochi, H.; Ulrich, T.; Cornier, G.

    2012-12-01

    Earthquake fault heterogeneity is often studied on a set of subfaults in kinematic inversion, while it is sometimes described with spatially localized geometry. Aochi and Ide (EPS, 2011) and Ide and Aochi (submitted to Pageoph and AGU, 2012) apply a concept of multi-scale heterogeneity to simulate the dynamic rupture process of the 2011 Tohoku-oki earthquake, introducing circular patches of different dimension in fault fracture energy distribution. Previously the patches are given by the past moderate earthquakes in this region, and this seems to be consistent with the evolution process of this mega earthquake, although a few patches, in particular, the largest patch, had not been known previously. In this study, we try to identify patches by inversion. As demonstrated in several earthquakes including the 2010 Maule (M8.8) earthquake, it is possible to indentify two asperities of ellipse kinematically or dynamically (e.g. Ruiz and Madariaga, 2011, and so on). In the successful examples, different asperities are rather visible, separated in space. However the Tohoku-oki earthquake has hierarchical structure of heterogeneity. We apply the Genetic Algorithm to inverse the model parameters from the ground motions (K-net and Kik-net from NIED) and the high sampling GPS (GSI). Starting from low frequency ranges (> 50 seconds), we obtain an ellipse corresponding to M9 event located around the hypocenter, coherent with the previous result by Madariaga et al. (pers. comm.). However it is difficult to identify the second smaller with few constraints. This is mainly because the largest covers the entire rupture area and any smaller patch improves the fitting only for the closer stations. Again, this needs to introduce the multi-scale concept in inversion procedure. Instead of finding the largest one at first, we have to start to extract rather smaller moderate patches from the beginning of the record, following the rupture process.

  12. Kinematic space and wormholes

    NASA Astrophysics Data System (ADS)

    Zhang, Jian-dong; Chen, Bin

    2017-01-01

    The kinematic space could play a key role in constructing the bulk geometry from dual CFT. In this paper, we study the kinematic space from geometric points of view, without resorting to differential entropy. We find that the kinematic space could be intrinsically defined in the embedding space. For each oriented geodesic in the Poincaré disk, there is a corresponding point in the kinematic space. This point is the tip of the causal diamond of the disk whose intersection with the Poincaré disk determines the geodesic. In this geometric construction, the causal structure in the kinematic space can be seen clearly. Moreover, we find that every transformation in the SL(2,R) leads to a geodesic in the kinematic space. In particular, for a hyperbolic transformation defining a BTZ black hole, it is a timelike geodesic in the kinematic space. We show that the horizon length of the static BTZ black hole could be computed by the geodesic length of corresponding points in the kinematic space. Furthermore, we discuss the fundamental regions in the kinematic space for the BTZ blackhole and multi-boundary wormholes.

  13. Multi-segment foot landing kinematics in subjects with chronic ankle instability.

    PubMed

    De Ridder, Roel; Willems, Tine; Vanrenterghem, Jos; Robinson, Mark A; Palmans, Tanneke; Roosen, Philip

    2015-07-01

    Chronic ankle instability has been associated with altered joint kinematics at the ankle, knee and hip. However, no studies have investigated possible kinematic deviations at more distal segments of the foot. The purpose of this study was to evaluate if subjects with ankle instability and copers show altered foot and ankle kinematics and altered kinetics during a landing task when compared to controls. Ninety-six subjects (38 subjects with chronic ankle instability, 28 copers and 30 controls) performed a vertical drop and side jump task. Foot kinematics were obtained using the Ghent Foot Model and a single-segment foot model. Group differences were evaluated using statistical parametric mapping and analysis of variance. Subjects with ankle instability had a more inverted midfoot position in relation to the rearfoot when compared to controls during the side jump. They also had a greater midfoot inversion/eversion range of motion than copers during the vertical drop. Copers exhibited less plantar flexion/dorsiflexion range of motion in the lateral and medial forefoot. Furthermore, the ankle instability and coper group exhibited less ankle plantar flexion at touchdown. Additionally, the ankle instability group demonstrated a decreased plantar flexion/dorsiflexion range of motion at the ankle compared to the control group. Analysis of ground reaction forces showed a higher vertical peak and loading rate during the vertical drop in subjects with ankle instability. Subjects with chronic ankle instability displayed an altered, stiffer kinematic landing strategy and related alterations in landing kinetics, which might predispose them for episodes of giving way and actual ankle sprains. Copyright © 2015 Elsevier Ltd. All rights reserved.

  14. Robust adaptive kinematic control of redundant robots

    NASA Technical Reports Server (NTRS)

    Tarokh, M.; Zuck, D. D.

    1992-01-01

    The paper presents a general method for the resolution of redundancy that combines the Jacobian pseudoinverse and augmentation approaches. A direct adaptive control scheme is developed to generate joint angle trajectories for achieving desired end-effector motion as well as additional user defined tasks. The scheme ensures arbitrarily small errors between the desired and the actual motion of the manipulator. Explicit bounds on the errors are established that are directly related to the mismatch between actual and estimated pseudoinverse Jacobian matrix, motion velocity and the controller gain. It is shown that the scheme is tolerant of the mismatch and consequently only infrequent pseudoinverse computations are needed during a typical robot motion. As a result, the scheme is computationally fast, and can be implemented for real-time control of redundant robots. A method is incorporated to cope with the robot singularities allowing the manipulator to get very close or even pass through a singularity while maintaining a good tracking performance and acceptable joint velocities. Computer simulations and experimental results are provided in support of the theoretical developments.

  15. Kinematic simulation and analysis of robot based on MATLAB

    NASA Astrophysics Data System (ADS)

    Liao, Shuhua; Li, Jiong

    2018-03-01

    The history of industrial automation is characterized by quick update technology, however, without a doubt, the industrial robot is a kind of special equipment. With the help of MATLAB matrix and drawing capacity in the MATLAB environment each link coordinate system set up by using the d-h parameters method and equation of motion of the structure. Robotics, Toolbox programming Toolbox and GUIDE to the joint application is the analysis of inverse kinematics and path planning and simulation, preliminary solve the problem of college students the car mechanical arm positioning theory, so as to achieve the aim of reservation.

  16. Engine cylinder pressure reconstruction using crank kinematics and recurrently-trained neural networks

    NASA Astrophysics Data System (ADS)

    Bennett, C.; Dunne, J. F.; Trimby, S.; Richardson, D.

    2017-02-01

    A recurrent non-linear autoregressive with exogenous input (NARX) neural network is proposed, and a suitable fully-recurrent training methodology is adapted and tuned, for reconstructing cylinder pressure in multi-cylinder IC engines using measured crank kinematics. This type of indirect sensing is important for cost effective closed-loop combustion control and for On-Board Diagnostics. The challenge addressed is to accurately predict cylinder pressure traces within the cycle under generalisation conditions: i.e. using data not previously seen by the network during training. This involves direct construction and calibration of a suitable inverse crank dynamic model, which owing to singular behaviour at top-dead-centre (TDC), has proved difficult via physical model construction, calibration, and inversion. The NARX architecture is specialised and adapted to cylinder pressure reconstruction, using a fully-recurrent training methodology which is needed because the alternatives are too slow and unreliable for practical network training on production engines. The fully-recurrent Robust Adaptive Gradient Descent (RAGD) algorithm, is tuned initially using synthesised crank kinematics, and then tested on real engine data to assess the reconstruction capability. Real data is obtained from a 1.125 l, 3-cylinder, in-line, direct injection spark ignition (DISI) engine involving synchronised measurements of crank kinematics and cylinder pressure across a range of steady-state speed and load conditions. The paper shows that a RAGD-trained NARX network using both crank velocity and crank acceleration as input information, provides fast and robust training. By using the optimum epoch identified during RAGD training, acceptably accurate cylinder pressures, and especially accurate location-of-peak-pressure, can be reconstructed robustly under generalisation conditions, making it the most practical NARX configuration and recurrent training methodology for use on production engines.

  17. A Kinematically Consistent Two-Point Correlation Function

    NASA Technical Reports Server (NTRS)

    Ristorcelli, J. R.

    1998-01-01

    A simple kinematically consistent expression for the longitudinal two-point correlation function related to both the integral length scale and the Taylor microscale is obtained. On the inner scale, in a region of width inversely proportional to the turbulent Reynolds number, the function has the appropriate curvature at the origin. The expression for two-point correlation is related to the nonlinear cascade rate, or dissipation epsilon, a quantity that is carried as part of a typical single-point turbulence closure simulation. Constructing an expression for the two-point correlation whose curvature at the origin is the Taylor microscale incorporates one of the fundamental quantities characterizing turbulence, epsilon, into a model for the two-point correlation function. The integral of the function also gives, as is required, an outer integral length scale of the turbulence independent of viscosity. The proposed expression is obtained by kinematic arguments; the intention is to produce a practically applicable expression in terms of simple elementary functions that allow an analytical evaluation, by asymptotic methods, of diverse functionals relevant to single-point turbulence closures. Using the expression devised an example of the asymptotic method by which functionals of the two-point correlation can be evaluated is given.

  18. Medial compressible forefoot sole elements reduce ankle inversion in lateral SSC jumps.

    PubMed

    Fleischmann, Jana; Mornieux, Guillaume; Gehring, Dominic; Gollhofer, Albert

    2013-06-01

    Sideward movements are associated with high incidences of lateral ankle sprains. Special shoe constructions might be able to reduce these injuries during lateral movements. The purpose of this study was to investigate whether medial compressible forefoot sole elements can reduce ankle inversion in a reactive lateral movement, and to evaluate those elements' influence on neuromuscular and mechanical adjustments in lower extremities. Foot placement and frontal plane ankle joint kinematics and kinetics were analyzed by 3-dimensional motion analysis. Electromyographic data of triceps surae, peroneus longus, and tibialis anterior were collected. This modified shoe reduced ankle inversion in comparison with a shoe with a standard sole construction. No differences in ankle inversion moments were found. With the modified shoe, foot placement occurred more internally rotated, and muscle activity of the lateral shank muscles was reduced. Hence, lateral ankle joint stability during reactive sideward movements can be improved by these compressible elements, and therefore lower lateral shank muscle activity is required. As those elements limit inversion, the strategy to control inversion angles via a high external foot rotation does not need to be used.

  19. Foot Kinematics During a Bilateral Heel Rise Test in Participants With Stage II Posterior Tibial Tendon Dysfunction

    PubMed Central

    HOUCK, JEFF; NEVILLE, CHRISTOPHER; TOME, JOSHUA; FLEMISTER, ADOLPH

    2010-01-01

    STUDY DESIGN Experimental laboratory study using a cross-sectional design. OBJECTIVES To compare foot kinematics, using 3-dimensional tracking methods, during a bilateral heel rise between participants with posterior tibial tendon dysfunction (PTTD) and participants with a normal medial longitudinal arch (MLA). BACKGROUND The bilateral heel rise test is commonly used to assess patients with PTTD; however, information about foot kinematics during the test is lacking. METHODS Forty-five individuals volunteered to participate, including 30 patients diagnosed with unilateral stage II PTTD (mean ± SD age, 59.8 ± 11.1 years; body mass index, 29.9 ± 4.8 kg/m2) and 15 controls (mean ± SD age, 56.5 ± 7.7 years; body mass index, 30.6 ± 3.6 kg/m2). Foot kinematic data were collected during a bilateral heel rise task from the calcaneus (hindfoot), first metatarsal, and hallux, using an Optotrak motion analysis system and Motion Monitor software. A 2-way mixed-effects analysis of variance model, with normalized heel height as a covariate, was used to test for significant differences between the normal MLA and PTTD groups. RESULTS The patients in the PTTD group exhibited significantly greater ankle plantar flexion (mean difference between groups, 7.3°; 95% confidence interval [CI]: 5.1° to 9.5°), greater first metatarsal dorsiflexion (mean difference between groups, 9.0°; 95% CI: 3.7° to 14.4°), and less hallux dorsiflexion (mean difference, 6.7°; 95% CI: 1.7° to 11.8°) compared to controls. At peak heel rise, hindfoot inversion was similar (P = .130) between the PTTD and control groups. CONCLUSION Except for hindfoot eversion/inversion, the differences in foot kinematics in participants with stage II PTTD, when compared to the control group, mainly occur as an offset, not an alteration in shape, of the kinematic patterns. PMID:19648723

  20. Kinematic Characterization of Left Ventricular Chamber Stiffness and Relaxation

    NASA Astrophysics Data System (ADS)

    Mossahebi, Sina

    Heart failure is the most common cause of hospitalization today, and diastolic heart failure accounts for 40-50% of cases. Therefore, it is critical to identify diastolic dysfunction at a subclinical stage so that appropriate therapy can be administered before ventricular function is further, and perhaps irreversibly impaired. Basic concepts in physics such as kinematic modeling provide a unique method with which to characterize cardiovascular physiology, specifically diastolic function (DF). The advantage of an approach that is standard in physics, such as the kinematic modeling is its causal formulation that functions in contrast to correlative approaches traditionally utilized in the life sciences. Our research group has pioneered theoretical and experimental quantitative analysis of DF in humans, using both non-invasive (echocardiography, cardiac MRI) and invasive (simultaneous catheterization-echocardiography) methods. Our group developed and validated the Parametrized Diastolic Filling (PDF) formalism which is motivated by basic physiologic principles (LV is a mechanical suction pump at the mitral valve opening) that obey Newton's Laws. PDF formalism is a kinematic model of filling employing an equation of motion, the solution of which accurately predicts all E-wave contours in accordance with the rules of damped harmonic oscillatory motion. The equation's lumped parameters---ventricular stiffness, ventricular viscoelasticity/relaxation and ventricular load---are obtained by solving the 'inverse problem'. The parameters' physiologic significance and clinical utility have been repeatedly demonstrated in multiple clinical settings. In this work we apply our kinematic modeling approach to better understand how the heart works as it fills in order to advance the relationship between physiology and mathematical modeling. Through the use of this modeling, we thereby define and validate novel, causal indexes of diastolic function such as early rapid filling energy

  1. Uncertainties in the 2004 Sumatra–Andaman source through nonlinear stochastic inversion of tsunami waves

    PubMed Central

    Venugopal, M.; Roy, D.; Rajendran, K.; Guillas, S.; Dias, F.

    2017-01-01

    Numerical inversions for earthquake source parameters from tsunami wave data usually incorporate subjective elements to stabilize the search. In addition, noisy and possibly insufficient data result in instability and non-uniqueness in most deterministic inversions, which are barely acknowledged. Here, we employ the satellite altimetry data for the 2004 Sumatra–Andaman tsunami event to invert the source parameters. We also include kinematic parameters that improve the description of tsunami generation and propagation, especially near the source. Using a finite fault model that represents the extent of rupture and the geometry of the trench, we perform a new type of nonlinear joint inversion of the slips, rupture velocities and rise times with minimal a priori constraints. Despite persistently good waveform fits, large uncertainties in the joint parameter distribution constitute a remarkable feature of the inversion. These uncertainties suggest that objective inversion strategies should incorporate more sophisticated physical models of seabed deformation in order to significantly improve the performance of early warning systems. PMID:28989311

  2. Uncertainties in the 2004 Sumatra-Andaman source through nonlinear stochastic inversion of tsunami waves.

    PubMed

    Gopinathan, D; Venugopal, M; Roy, D; Rajendran, K; Guillas, S; Dias, F

    2017-09-01

    Numerical inversions for earthquake source parameters from tsunami wave data usually incorporate subjective elements to stabilize the search. In addition, noisy and possibly insufficient data result in instability and non-uniqueness in most deterministic inversions, which are barely acknowledged. Here, we employ the satellite altimetry data for the 2004 Sumatra-Andaman tsunami event to invert the source parameters. We also include kinematic parameters that improve the description of tsunami generation and propagation, especially near the source. Using a finite fault model that represents the extent of rupture and the geometry of the trench, we perform a new type of nonlinear joint inversion of the slips, rupture velocities and rise times with minimal a priori constraints. Despite persistently good waveform fits, large uncertainties in the joint parameter distribution constitute a remarkable feature of the inversion. These uncertainties suggest that objective inversion strategies should incorporate more sophisticated physical models of seabed deformation in order to significantly improve the performance of early warning systems.

  3. A fast and robust kinematic model for a 12 DoF hyper-redundant robot positioning: An optimization proposal

    NASA Astrophysics Data System (ADS)

    Lima, José; Pereira, Ana I.; Costa, Paulo; Pinto, Andry; Costa, Pedro

    2017-07-01

    This paper describes an optimization procedure for a robot with 12 degrees of freedom avoiding the inverse kinematics problem, which is a hard task for this type of robot manipulator. This robot can be used to pick and place tasks in complex designs. Combining an accurate and fast direct kinematics model with optimization strategies, it is possible to achieve the joints angles for a desired end-effector position and orientation. The optimization methods stretched simulated annealing algorithm and genetic algorithm were used. The solutions found were validated using data originated by a real and by a simulated robot formed by 12 servomotors with a gripper.

  4. Kinematic Rupture Process of the 2015 Gorkha (Nepal) Earthquake Sequence from Joint Inversion of Teleseismic, hr-GPS, Strong-Ground Motion, InSAR interferograms and pixel offsets

    NASA Astrophysics Data System (ADS)

    Yue, H.; Simons, M.; Jiang, J.; Fielding, E. J.; Owen, S. E.; Moore, A. W.; Riel, B. V.; Polet, J.; Duputel, Z.; Samsonov, S. V.; Avouac, J. P.

    2015-12-01

    The April 2015 Gorkha, Nepal (Mw 7.8) earthquake ruptured the front of Himalaya thrust belt, causing more than 9,000 fatalities. 17 days after the main event, a large aftershock (Mw 7.2) ruptured to down-dip and east of the main rupture area. To investigate the kinematic rupture process of this earthquake sequence, we explored linear and non-linear inversion techniques using a variety of datasets including teleseismic, high rate and conventional GPS, InSAR interferograms and pixel-offsets. InSAR interferograms from ALOS-2, RADARSAT-2 and Sentinel-1a satellites are used in the joint inversion. The main event is characterized by unilateral rupture extending along strike approximately 70 km to the southeast and 40 km along dip direction. The rupture velocity is well resolved to be lie between 2.8 and 3.0 km/s, which is consistent with back-projection results. An emergent initial phase is observed in teleseismic body wave records, which is consistent with a narrow area of rupture initiation near the hypocenter. The rupture mode of the main event is pulse like. The aftershock ruptured down-dip to the northeast of the main event rupture area. The aftershock rupture area is compact and contained within 40 km of its hypocenter. In contrast to the main event, teleseismic body wave records of the aftershock suggest an abrupt initial phase, which is consistent with a crack like rupture mode. The locations of most of the aftershocks (small and large) surround the rupture area of the main shock with little, if any, spatial overlap.

  5. A Feasibility Study on a Parallel Mechanism for Examining the Space Shuttle Orbiter Payload Bay Radiators

    NASA Technical Reports Server (NTRS)

    Roberts, Rodney G.; LopezdelCastillo, Eduardo

    1996-01-01

    The goal of the project was to develop the necessary analysis tools for a feasibility study of a cable suspended robot system for examining the space shuttle orbiter payload bay radiators These tools were developed to address design issues such as workspace size, tension requirements on the cable, the necessary accuracy and resolution requirements and the stiffness and movement requirements of the system. This report describes the mathematical models for studying the inverse kinematics, statics, and stiffness of the robot. Each model is described by a matrix. The manipulator Jacobian was also related to the stiffness matrix, which characterized the stiffness of the system. Analysis tools were then developed based on the singular value decomposition (SVD) of the corresponding matrices. It was demonstrated how the SVD can be used to quantify the robot's performance and to provide insight into different design issues.

  6. Improved finite-source inversion through joint measurements of rotational and translational ground motions: a numerical study

    NASA Astrophysics Data System (ADS)

    Reinwald, Michael; Bernauer, Moritz; Igel, Heiner; Donner, Stefanie

    2016-10-01

    With the prospects of seismic equipment being able to measure rotational ground motions in a wide frequency and amplitude range in the near future, we engage in the question of how this type of ground motion observation can be used to solve the seismic source inverse problem. In this paper, we focus on the question of whether finite-source inversion can benefit from additional observations of rotational motion. Keeping the overall number of traces constant, we compare observations from a surface seismic network with 44 three-component translational sensors (classic seismometers) with those obtained with 22 six-component sensors (with additional three-component rotational motions). Synthetic seismograms are calculated for known finite-source properties. The corresponding inverse problem is posed in a probabilistic way using the Shannon information content to measure how the observations constrain the seismic source properties. We minimize the influence of the source receiver geometry around the fault by statistically analyzing six-component inversions with a random distribution of receivers. Since our previous results are achieved with a regular spacing of the receivers, we try to answer the question of whether the results are dependent on the spatial distribution of the receivers. The results show that with the six-component subnetworks, kinematic source inversions for source properties (such as rupture velocity, rise time, and slip amplitudes) are not only equally successful (even that would be beneficial because of the substantially reduced logistics installing half the sensors) but also statistically inversions for some source properties are almost always improved. This can be attributed to the fact that the (in particular vertical) gradient information is contained in the additional motion components. We compare these effects for strike-slip and normal-faulting type sources and confirm that the increase in inversion quality for kinematic source parameters is

  7. A Biomechanical Model of the Scapulothoracic Joint to Accurately Capture Scapular Kinematics during Shoulder Movements

    PubMed Central

    Seth, Ajay; Matias, Ricardo; Veloso, António P.; Delp, Scott L.

    2016-01-01

    The complexity of shoulder mechanics combined with the movement of skin relative to the scapula makes it difficult to measure shoulder kinematics with sufficient accuracy to distinguish between symptomatic and asymptomatic individuals. Multibody skeletal models can improve motion capture accuracy by reducing the space of possible joint movements, and models are used widely to improve measurement of lower limb kinematics. In this study, we developed a rigid-body model of a scapulothoracic joint to describe the kinematics of the scapula relative to the thorax. This model describes scapular kinematics with four degrees of freedom: 1) elevation and 2) abduction of the scapula on an ellipsoidal thoracic surface, 3) upward rotation of the scapula normal to the thoracic surface, and 4) internal rotation of the scapula to lift the medial border of the scapula off the surface of the thorax. The surface dimensions and joint axes can be customized to match an individual’s anthropometry. We compared the model to “gold standard” bone-pin kinematics collected during three shoulder tasks and found modeled scapular kinematics to be accurate to within 2mm root-mean-squared error for individual bone-pin markers across all markers and movement tasks. As an additional test, we added random and systematic noise to the bone-pin marker data and found that the model reduced kinematic variability due to noise by 65% compared to Euler angles computed without the model. Our scapulothoracic joint model can be used for inverse and forward dynamics analyses and to compute joint reaction loads. The computational performance of the scapulothoracic joint model is well suited for real-time applications; it is freely available for use with OpenSim 3.2, and is customizable and usable with other OpenSim models. PMID:26734761

  8. A Biomechanical Model of the Scapulothoracic Joint to Accurately Capture Scapular Kinematics during Shoulder Movements.

    PubMed

    Seth, Ajay; Matias, Ricardo; Veloso, António P; Delp, Scott L

    2016-01-01

    The complexity of shoulder mechanics combined with the movement of skin relative to the scapula makes it difficult to measure shoulder kinematics with sufficient accuracy to distinguish between symptomatic and asymptomatic individuals. Multibody skeletal models can improve motion capture accuracy by reducing the space of possible joint movements, and models are used widely to improve measurement of lower limb kinematics. In this study, we developed a rigid-body model of a scapulothoracic joint to describe the kinematics of the scapula relative to the thorax. This model describes scapular kinematics with four degrees of freedom: 1) elevation and 2) abduction of the scapula on an ellipsoidal thoracic surface, 3) upward rotation of the scapula normal to the thoracic surface, and 4) internal rotation of the scapula to lift the medial border of the scapula off the surface of the thorax. The surface dimensions and joint axes can be customized to match an individual's anthropometry. We compared the model to "gold standard" bone-pin kinematics collected during three shoulder tasks and found modeled scapular kinematics to be accurate to within 2 mm root-mean-squared error for individual bone-pin markers across all markers and movement tasks. As an additional test, we added random and systematic noise to the bone-pin marker data and found that the model reduced kinematic variability due to noise by 65% compared to Euler angles computed without the model. Our scapulothoracic joint model can be used for inverse and forward dynamics analyses and to compute joint reaction loads. The computational performance of the scapulothoracic joint model is well suited for real-time applications; it is freely available for use with OpenSim 3.2, and is customizable and usable with other OpenSim models.

  9. Relativistic analysis of stochastic kinematics

    NASA Astrophysics Data System (ADS)

    Giona, Massimiliano

    2017-10-01

    The relativistic analysis of stochastic kinematics is developed in order to determine the transformation of the effective diffusivity tensor in inertial frames. Poisson-Kac stochastic processes are initially considered. For one-dimensional spatial models, the effective diffusion coefficient measured in a frame Σ moving with velocity w with respect to the rest frame of the stochastic process is inversely proportional to the third power of the Lorentz factor γ (w ) =(1-w2/c2) -1 /2 . Subsequently, higher-dimensional processes are analyzed and it is shown that the diffusivity tensor in a moving frame becomes nonisotropic: The diffusivities parallel and orthogonal to the velocity of the moving frame scale differently with respect to γ (w ) . The analysis of discrete space-time diffusion processes permits one to obtain a general transformation theory of the tensor diffusivity, confirmed by several different simulation experiments. Several implications of the theory are also addressed and discussed.

  10. Kinematics of Globular Cluster: new Perspectives of Energy Equipartition from N-body Simulations

    NASA Astrophysics Data System (ADS)

    Kim, Hyunwoo; Pasquato, Mario; Yoon, Suk-jin

    2018-01-01

    Globular clusters (GCs) evolve dynamically through gravitational two-body interactions between stars. We investigated the evolution towards energy equipartition in GCs using direct n-body simulations in NBODY6. If a GC reaches full energy equipartition, the velocity dispersion as a function of stars’ mass becomes a power law with exponent -1/2. However, our n-body simulations never reach full equipartition, which is similar to Trenti & van de Marel (2013) results. Instead we found that in simulations with a shallow mass spectrum the best fit exponent becomes positive slightly before core collapse time. This inversion is a new result, which can be used as a kinematic predictor of core collapse. We are currently exploring applications of this inversion indicator to the detection of intermediate mass black holes.

  11. Foot kinematics and loading of professional athletes in American football-specific tasks.

    PubMed

    Riley, Patrick O; Kent, Richard W; Dierks, Tracy A; Lievers, W Brent; Frimenko, Rebecca E; Crandall, Jeff R

    2013-09-01

    The purpose of this study was to describe stance foot and ankle kinematics and the associated ground reaction forces at the upper end of human performance in professional football players during commonly performed football-specific tasks. Nine participants were recruited from the spring training squad of a professional football team. In a motion analysis laboratory setting, participants performed three activities used at the NFL Scouting Combine to assess player speed and agility: the 3-cone drill, the shuttle run, and the standing high jump. The talocrural and first metatarsophalangial joint dorsiflexion, subtalar joint inversion, and the ground reaction forces were determined for the load bearing portions of each activity. We documented load-bearing foot and ankle kinematics of elite football players performing competition-simulating activities, and confirmed our hypothesis that the talocrural, subtalar, and metatarsophalangeal joint ranges of motion for the activities studied approached or exceeded reported physiological limits. Copyright © 2012 Elsevier B.V. All rights reserved.

  12. Finite Element Method-Based Kinematics and Closed-Loop Control of Soft, Continuum Manipulators.

    PubMed

    Bieze, Thor Morales; Largilliere, Frederick; Kruszewski, Alexandre; Zhang, Zhongkai; Merzouki, Rochdi; Duriez, Christian

    2018-06-01

    This article presents a modeling methodology and experimental validation for soft manipulators to obtain forward kinematic model (FKM) and inverse kinematic model (IKM) under quasi-static conditions (in the literature, these manipulators are usually classified as continuum robots. However, their main characteristic of interest in this article is that they create motion by deformation, as opposed to the classical use of articulations). It offers a way to obtain the kinematic characteristics of this type of soft robots that is suitable for offline path planning and position control. The modeling methodology presented relies on continuum mechanics, which does not provide analytic solutions in the general case. Our approach proposes a real-time numerical integration strategy based on finite element method with a numerical optimization based on Lagrange multipliers to obtain FKM and IKM. To reduce the dimension of the problem, at each step, a projection of the model to the constraint space (gathering actuators, sensors, and end-effector) is performed to obtain the smallest number possible of mathematical equations to be solved. This methodology is applied to obtain the kinematics of two different manipulators with complex structural geometry. An experimental comparison is also performed in one of the robots, between two other geometric approaches and the approach that is showcased in this article. A closed-loop controller based on a state estimator is proposed. The controller is experimentally validated and its robustness is evaluated using Lypunov stability method.

  13. Gait Kinematics in Individuals with Acute and Chronic Patellofemoral Pain.

    PubMed

    Fox, Aaron; Ferber, Reed; Saunders, Natalie; Osis, Sean; Bonacci, Jason

    2018-03-01

    This study aimed to identify the discriminating kinematic gait characteristics between individuals with acute and chronic patellofemoral pain (PFP) and healthy controls. Ninety-eight runners with PFP (39 male, 59 female) and 98 healthy control runners (38 male, 60 female) ran on a treadmill at a self-selected speed while three-dimensional lower limb kinematic data were collected. Runners with PFP were split into acute (n = 25) and chronic (n = 73) subgroups on the basis of whether they had been experiencing pain for less or greater than 3 months, respectively. Principal component analysis and linear discriminant analysis were used to determine the combination of kinematic gait characteristics that optimally separated individuals with acute PFP and chronic PFP and healthy controls. Compared with controls, both the acute and chronic PFP subgroups exhibited greater knee flexion across stance and greater ankle dorsiflexion during early stance. The acute PFP subgroup demonstrated greater transverse plane hip motion across stance compared with healthy controls. In contrast, the chronic PFP subgroup demonstrated greater frontal plane hip motion, greater knee abduction, and reduced ankle eversion/greater ankle inversion across stance when compared with healthy controls. This study identified characteristics that discriminated between individuals with acute and chronic PFP when compared with healthy controls. Certain discriminating characteristics were shared between both the acute and chronic subgroups when compared with healthy controls, whereas others were specific to the duration of PFP.

  14. Effect of taping on foot kinematics in persons with chronic ankle instability.

    PubMed

    Deschamps, Kevin; Dingenen, Bart; Pans, Femke; Van Bavel, Isabelle; Matricali, Giovanni Arnoldo; Staes, Filip

    2016-07-01

    To investigate differences in rigid-foot and multi-segmental foot kinematics between healthy (control) and chronic ankle instability (CAI) participants during running and to evaluate the effect of low-Dye (LD) and high-Dye (HD) taping on foot kinematics of CAI subjects. Cross-sectional, comparative study. Kinematic data of 12 controls and 15 CAI participants were collected by a 3D motion analysis system during running. CAI participants performed barefoot (CAI_BF) running trials as well as trials with taping. A rigid Plug-in gait Model and the Rizzoli 3D Multi-Segment Foot Model were used. Groups were compared using one-dimensional statistical parametric mapping. An increased inversion, a decreased dorsiflexion between the foot and tibia and a decreased external foot progression angle were found during terminal swing and early stance in the CAI_BF group. With respect to the taped conditions, post-hoc SPM{t} calculations highlighted a more dorsiflexed rearfoot (38-46% running cycle) in the CAI_HD compared to the CAI_LD, and a more inverted Mid-Met angle (6-24% running cycle) in the CAI_LD compared to the CAI_BF condition. This study revealed significant differences in rigid foot and multi-segmental foot kinematics between all groups. As high-dye taping embraces shank-rearfoot and forefoot, it seems to have better therapeutic features with respect to low-dye taping as the latter created a more inverted forefoot which may not be recommended in this population. Copyright © 2015 Sports Medicine Australia. Published by Elsevier Ltd. All rights reserved.

  15. Design and Optimization of a Hybrid-Driven Waist Rehabilitation Robot

    PubMed Central

    Zi, Bin; Yin, Guangcai; Zhang, Dan

    2016-01-01

    In this paper a waist rehabilitation robot driven by cables and pneumatic artificial muscles (PAMs) has been conceptualized and designed. In the process of mechanism design, the human body structure, the waist movement characteristics, and the actuators’ driving characteristics are the main considerable factors to make the hybrid-driven waist rehabilitation robot (HWRR) cost-effective, safe, flexible, and well-adapted. A variety of sensors are chosen to measure the position and orientation of the recovery patient to ensure patient safety at the same time as the structure design. According to the structure specialty and function, the HWRR is divided into two independent parallel robots: the waist twist device and the lower limb traction device. Then these two devices are analyzed and evaluated, respectively. Considering the characters of the human body in the HWRR, the inverse kinematics and statics are studied when the waist and the lower limb are considered as a spring and link, respectively. Based on the inverse kinematics and statics, the effect of the contraction parameter of the PAM is considered in the optimization of the waist twist device, and the lower limb traction device is optimized using particle swarm optimization (PSO) to minimize the global conditioning number over the feasible workspace. As a result of the optimization, an optimal rehabilitation robot design is obtained and the condition number of the Jacobian matrix over the feasible workspace is also calculated. PMID:27983626

  16. Design and Optimization of a Hybrid-Driven Waist Rehabilitation Robot.

    PubMed

    Zi, Bin; Yin, Guangcai; Zhang, Dan

    2016-12-14

    In this paper a waist rehabilitation robot driven by cables and pneumatic artificial muscles (PAMs) has been conceptualized and designed. In the process of mechanism design, the human body structure, the waist movement characteristics, and the actuators' driving characteristics are the main considerable factors to make the hybrid-driven waist rehabilitation robot (HWRR) cost-effective, safe, flexible, and well-adapted. A variety of sensors are chosen to measure the position and orientation of the recovery patient to ensure patient safety at the same time as the structure design. According to the structure specialty and function, the HWRR is divided into two independent parallel robots: the waist twist device and the lower limb traction device. Then these two devices are analyzed and evaluated, respectively. Considering the characters of the human body in the HWRR, the inverse kinematics and statics are studied when the waist and the lower limb are considered as a spring and link, respectively. Based on the inverse kinematics and statics, the effect of the contraction parameter of the PAM is considered in the optimization of the waist twist device, and the lower limb traction device is optimized using particle swarm optimization (PSO) to minimize the global conditioning number over the feasible workspace. As a result of the optimization, an optimal rehabilitation robot design is obtained and the condition number of the Jacobian matrix over the feasible workspace is also calculated.

  17. Kinematics and control algorithm development and simulation for a redundant two-arm robotic manipulator system

    NASA Technical Reports Server (NTRS)

    Hennessey, Michael P.; Huang, Paul C.; Bunnell, Charles T.

    1989-01-01

    An efficient approach to cartesian motion and force control of a 7 degree of freedom (DOF) manipulator is presented. It is based on extending the active stiffness controller to the 7 DOF case in general and use of an efficient version of the gradient projection technique for solving the inverse kinematics problem. Cooperative control is achieved through appropriate configuration of individual manipulator controllers. In addition, other aspects of trajectory generation using standard techniques are integrated into the controller. The method is then applied to a specific manipulator of interest (Robotics Research T-710). Simulation of the kinematics, dynamics, and control are provided in the context of several scenarios: one pertaining to a noncontact pick and place operation; one relating to contour following where contact is made between the manipulator and environment; and one pertaining to cooperative control.

  18. Decoding intentions from movement kinematics

    PubMed Central

    Cavallo, Andrea; Koul, Atesh; Ansuini, Caterina; Capozzi, Francesca; Becchio, Cristina

    2016-01-01

    How do we understand the intentions of other people? There has been a longstanding controversy over whether it is possible to understand others’ intentions by simply observing their movements. Here, we show that indeed movement kinematics can form the basis for intention detection. By combining kinematics and psychophysical methods with classification and regression tree (CART) modeling, we found that observers utilized a subset of discriminant kinematic features over the total kinematic pattern in order to detect intention from observation of simple motor acts. Intention discriminability covaried with movement kinematics on a trial-by-trial basis, and was directly related to the expression of discriminative features in the observed movements. These findings demonstrate a definable and measurable relationship between the specific features of observed movements and the ability to discriminate intention, providing quantitative evidence of the significance of movement kinematics for anticipating others’ intentional actions. PMID:27845434

  19. [Kinematics Modeling and Analysis of Central-driven Robot for Upper Limb Rehabilitation after Stroke].

    PubMed

    Yi, Jinhua; Yu, Hongliu; Zhang, Ying; Hu, Xin; Shi, Ping

    2015-12-01

    The present paper proposed a central-driven structure of upper limb rehabilitation robot in order to reduce the volume of the robotic arm in the structure, and also to reduce the influence of motor noise, radiation and other adverse factors on upper limb dysfunction patient. The forward and inverse kinematics equations have been obtained with using the Denavit-Hartenberg (D-H) parameter method. The motion simulation has been done to obtain the angle-time curve of each joint and the position-time curve of handle under setting rehabilitation path by using Solid Works software. Experimental results showed that the rationality with the central-driven structure design had been verified by the fact that the handle could move under setting rehabilitation path. The effectiveness of kinematics equations had been proved, and the error was less than 3° by comparing the angle-time curves obtained from calculation with those from motion simulation.

  20. Restricted access Improved hydrogeophysical characterization and monitoring through parallel modeling and inversion of time-domain resistivity andinduced-polarization data

    USGS Publications Warehouse

    Johnson, Timothy C.; Versteeg, Roelof J.; Ward, Andy; Day-Lewis, Frederick D.; Revil, André

    2010-01-01

    Electrical geophysical methods have found wide use in the growing discipline of hydrogeophysics for characterizing the electrical properties of the subsurface and for monitoring subsurface processes in terms of the spatiotemporal changes in subsurface conductivity, chargeability, and source currents they govern. Presently, multichannel and multielectrode data collections systems can collect large data sets in relatively short periods of time. Practitioners, however, often are unable to fully utilize these large data sets and the information they contain because of standard desktop-computer processing limitations. These limitations can be addressed by utilizing the storage and processing capabilities of parallel computing environments. We have developed a parallel distributed-memory forward and inverse modeling algorithm for analyzing resistivity and time-domain induced polar-ization (IP) data. The primary components of the parallel computations include distributed computation of the pole solutions in forward mode, distributed storage and computation of the Jacobian matrix in inverse mode, and parallel execution of the inverse equation solver. We have tested the corresponding parallel code in three efforts: (1) resistivity characterization of the Hanford 300 Area Integrated Field Research Challenge site in Hanford, Washington, U.S.A., (2) resistivity characterization of a volcanic island in the southern Tyrrhenian Sea in Italy, and (3) resistivity and IP monitoring of biostimulation at a Superfund site in Brandywine, Maryland, U.S.A. Inverse analysis of each of these data sets would be limited or impossible in a standard serial computing environment, which underscores the need for parallel high-performance computing to fully utilize the potential of electrical geophysical methods in hydrogeophysical applications.

  1. Jacobian projection reduced-order models for dynamic systems with contact nonlinearities

    NASA Astrophysics Data System (ADS)

    Gastaldi, Chiara; Zucca, Stefano; Epureanu, Bogdan I.

    2018-02-01

    In structural dynamics, the prediction of the response of systems with localized nonlinearities, such as friction dampers, is of particular interest. This task becomes especially cumbersome when high-resolution finite element models are used. While state-of-the-art techniques such as Craig-Bampton component mode synthesis are employed to generate reduced order models, the interface (nonlinear) degrees of freedom must still be solved in-full. For this reason, a new generation of specialized techniques capable of reducing linear and nonlinear degrees of freedom alike is emerging. This paper proposes a new technique that exploits spatial correlations in the dynamics to compute a reduction basis. The basis is composed of a set of vectors obtained using the Jacobian of partial derivatives of the contact forces with respect to nodal displacements. These basis vectors correspond to specifically chosen boundary conditions at the contacts over one cycle of vibration. The technique is shown to be effective in the reduction of several models studied using multiple harmonics with a coupled static solution. In addition, this paper addresses another challenge common to all reduction techniques: it presents and validates a novel a posteriori error estimate capable of evaluating the quality of the reduced-order solution without involving a comparison with the full-order solution.

  2. Implicit Plasma Kinetic Simulation Using The Jacobian-Free Newton-Krylov Method

    NASA Astrophysics Data System (ADS)

    Taitano, William; Knoll, Dana; Chacon, Luis

    2009-11-01

    The use of fully implicit time integration methods in kinetic simulation is still area of algorithmic research. A brute-force approach to simultaneously including the field equations and the particle distribution function would result in an intractable linear algebra problem. A number of algorithms have been put forward which rely on an extrapolation in time. They can be thought of as linearly implicit methods or one-step Newton methods. However, issues related to time accuracy of these methods still remain. We are pursuing a route to implicit plasma kinetic simulation which eliminates extrapolation, eliminates phase-space from the linear algebra problem, and converges the entire nonlinear system within a time step. We accomplish all this using the Jacobian-Free Newton-Krylov algorithm. The original research along these lines considered particle methods to advance the distribution function [1]. In the current research we are advancing the Vlasov equations on a grid. Results will be presented which highlight algorithmic details for single species electrostatic problems and coupled ion-electron electrostatic problems. [4pt] [1] H. J. Kim, L. Chac'on, G. Lapenta, ``Fully implicit particle in cell algorithm,'' 47th Annual Meeting of the Division of Plasma Physics, Oct. 24-28, 2005, Denver, CO

  3. Kinematic Distances: A Monte Carlo Method

    NASA Astrophysics Data System (ADS)

    Wenger, Trey V.; Balser, Dana S.; Anderson, L. D.; Bania, T. M.

    2018-03-01

    Distances to high-mass star-forming regions (HMSFRs) in the Milky Way are a crucial constraint on the structure of the Galaxy. Only kinematic distances are available for a majority of the HMSFRs in the Milky Way. Here, we compare the kinematic and parallax distances of 75 Galactic HMSFRs to assess the accuracy of kinematic distances. We derive the kinematic distances using three different methods: the traditional method using the Brand & Blitz rotation curve (Method A), the traditional method using the Reid et al. rotation curve and updated solar motion parameters (Method B), and a Monte Carlo technique (Method C). Methods B and C produce kinematic distances closest to the parallax distances, with median differences of 13% (0.43 {kpc}) and 17% (0.42 {kpc}), respectively. Except in the vicinity of the tangent point, the kinematic distance uncertainties derived by Method C are smaller than those of Methods A and B. In a large region of the Galaxy, the Method C kinematic distances constrain both the distances and the Galactocentric positions of HMSFRs more accurately than parallax distances. Beyond the tangent point along ℓ = 30°, for example, the Method C kinematic distance uncertainties reach a minimum of 10% of the parallax distance uncertainty at a distance of 14 {kpc}. We develop a prescription for deriving and applying the Method C kinematic distances and distance uncertainties. The code to generate the Method C kinematic distances is publicly available and may be utilized through an online tool.

  4. 3-D minimum-structure inversion of magnetotelluric data using the finite-element method and tetrahedral grids

    NASA Astrophysics Data System (ADS)

    Jahandari, H.; Farquharson, C. G.

    2017-11-01

    Unstructured grids enable representing arbitrary structures more accurately and with fewer cells compared to regular structured grids. These grids also allow more efficient refinements compared to rectilinear meshes. In this study, tetrahedral grids are used for the inversion of magnetotelluric (MT) data, which allows for the direct inclusion of topography in the model, for constraining an inversion using a wireframe-based geological model and for local refinement at the observation stations. A minimum-structure method with an iterative model-space Gauss-Newton algorithm for optimization is used. An iterative solver is employed for solving the normal system of equations at each Gauss-Newton step and the sensitivity matrix-vector products that are required by this solver are calculated using pseudo-forward problems. This method alleviates the need to explicitly form the Hessian or Jacobian matrices which significantly reduces the required computation memory. Forward problems are formulated using an edge-based finite-element approach and a sparse direct solver is used for the solutions. This solver allows saving and re-using the factorization of matrices for similar pseudo-forward problems within a Gauss-Newton iteration which greatly minimizes the computation time. Two examples are presented to show the capability of the algorithm: the first example uses a benchmark model while the second example represents a realistic geological setting with topography and a sulphide deposit. The data that are inverted are the full-tensor impedance and the magnetic transfer function vector. The inversions sufficiently recovered the models and reproduced the data, which shows the effectiveness of unstructured grids for complex and realistic MT inversion scenarios. The first example is also used to demonstrate the computational efficiency of the presented model-space method by comparison with its data-space counterpart.

  5. Prophylactic Ankle Braces and the Kinematics and Kinetics of Half-Squat Parachute Landing.

    PubMed

    Wu, Di; Zheng, Chao; Wu, Ji; Hu, Tan; Huang, Rongrong; Wang, Lizhen; Fan, Yubo

    2018-02-01

    The objective of the study was to investigate the effects of dropping heights and prophylactic ankle braces on ankle joint biomechanics during half-squat parachute landing from two different heights. There were 30 male elite paratroopers with formal parachute landing training and more than 2 yr of parachute jumping experience who were recruited for this study. The subjects tested three different ankle brace conditions (no-brace, elastic brace, semirigid brace). Each subject was instructed to jump off a platform from two different heights of 0.4 m and 0.8 m, and land on a force plate in a half-squat posture. The Vicon 3D motion capture system and force plate were used to record and calculate kinematic and kinetic data. Dropping height had a significant effect on peak vertical ground reaction force (vGRF), maximum ankle angular displacement, and time to vGRF. As compared with the no-brace group, use of an elastic ankle brace significantly reduced peak vGRF by 18.57% and both braces significantly reduced the maximal angular displacements of dorsiflexion. The semirigid brace provided greater restriction against maximal angular displacement of inversion. The elastic and semirigid ankle braces both effectively restricted motion stability of the ankle joint in the sagittal plane, and the semirigid ankle brace prevented excessive inversion, although the comfort of this device should be improved overall.Wu D, Zheng C, Wu J, Hu T, Huang R, Wang L, Fan Y. Prophylactic ankle braces and the kinematics and kinetics of half-squat parachute landing. Aerosp Med Hum Perform. 2018; 89(2):141-146.

  6. Inversion of Attributes and Full Waveforms of Ground Penetrating Radar Data Using PEST

    NASA Astrophysics Data System (ADS)

    Jazayeri, S.; Kruse, S.; Esmaeili, S.

    2015-12-01

    We seek to establish a method, based on freely available software, for inverting GPR signals for the underlying physical properties (electrical permittivity, magnetic permeability, target geometries). Such a procedure should be useful for classroom instruction and for analyzing surface GPR surveys over simple targets. We explore the applicability of the PEST parameter estimation software package for GPR inversion (www.pesthomepage.org). PEST is designed to invert data sets with large numbers of parameters, and offers a variety of inversion methods. Although primarily used in hydrogeology, the code has been applied to a wide variety of physical problems. The PEST code requires forward model input; the forward model of the GPR signal is done with the GPRMax package (www.gprmax.com). The problem of extracting the physical characteristics of a subsurface anomaly from the GPR data is highly nonlinear. For synthetic models of simple targets in homogeneous backgrounds, we find PEST's nonlinear Gauss-Marquardt-Levenberg algorithm is preferred. This method requires an initial model, for which the weighted differences between model-generated data and those of the "true" synthetic model (the objective function) are calculated. In order to do this, the Jacobian matrix and the derivatives of the observation data in respect to the model parameters are computed using a finite differences method. Next, the iterative process of building new models by updating the initial values starts in order to minimize the objective function. Another measure of the goodness of the final acceptable model is the correlation coefficient which is calculated based on the method of Cooley and Naff. An accepted final model satisfies both of these conditions. Models to date show that physical properties of simple isolated targets against homogeneous backgrounds can be obtained from multiple traces from common-offset surface surveys. Ongoing work examines the inversion capabilities with more complex

  7. Conceptual design and kinematic analysis of a novel parallel robot for high-speed pick-and-place operations

    NASA Astrophysics Data System (ADS)

    Meng, Qizhi; Xie, Fugui; Liu, Xin-Jun

    2018-06-01

    This paper deals with the conceptual design, kinematic analysis and workspace identification of a novel four degrees-of-freedom (DOFs) high-speed spatial parallel robot for pick-and-place operations. The proposed spatial parallel robot consists of a base, four arms and a 1½ mobile platform. The mobile platform is a major innovation that avoids output singularity and offers the advantages of both single and double platforms. To investigate the characteristics of the robot's DOFs, a line graph method based on Grassmann line geometry is adopted in mobility analysis. In addition, the inverse kinematics is derived, and the constraint conditions to identify the correct solution are also provided. On the basis of the proposed concept, the workspace of the robot is identified using a set of presupposed parameters by taking input and output transmission index as the performance evaluation criteria.

  8. 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.

  9. Learning by Demonstration for Motion Planning of Upper-Limb Exoskeletons.

    PubMed

    Lauretti, Clemente; Cordella, Francesca; Ciancio, Anna Lisa; Trigili, Emilio; Catalan, Jose Maria; Badesa, Francisco Javier; Crea, Simona; Pagliara, Silvio Marcello; Sterzi, Silvia; Vitiello, Nicola; Garcia Aracil, Nicolas; Zollo, Loredana

    2018-01-01

    The reference joint position of upper-limb exoskeletons is typically obtained by means of Cartesian motion planners and inverse kinematics algorithms with the inverse Jacobian; this approach allows exploiting the available Degrees of Freedom (i.e. DoFs) of the robot kinematic chain to achieve the desired end-effector pose; however, if used to operate non-redundant exoskeletons, it does not ensure that anthropomorphic criteria are satisfied in the whole human-robot workspace. This paper proposes a motion planning system, based on Learning by Demonstration, for upper-limb exoskeletons that allow successfully assisting patients during Activities of Daily Living (ADLs) in unstructured environment, while ensuring that anthropomorphic criteria are satisfied in the whole human-robot workspace. The motion planning system combines Learning by Demonstration with the computation of Dynamic Motion Primitives and machine learning techniques to construct task- and patient-specific joint trajectories based on the learnt trajectories. System validation was carried out in simulation and in a real setting with a 4-DoF upper-limb exoskeleton, a 5-DoF wrist-hand exoskeleton and four patients with Limb Girdle Muscular Dystrophy. Validation was addressed to (i) compare the performance of the proposed motion planning with traditional methods; (ii) assess the generalization capabilities of the proposed method with respect to the environment variability. Three ADLs were chosen to validate the system: drinking, pouring and lifting a light sphere. The achieved results showed a 100% success rate in the task fulfillment, with a high level of generalization with respect to the environment variability. Moreover, an anthropomorphic configuration of the exoskeleton is always ensured.

  10. Essential Kinematics for Autonomous Vehicles

    DTIC Science & Technology

    1994-05-02

    AD-.A282 456 Essential Kinematics for Autonomous Vehicles Alonzo Kelly DTICCMU-RI-TR-94- 14 AU 031994 F The Robotics Institute Carnegie Mellon...kit of concepts and techniques that will equip the reader to master a large class of kinematic modelling problems. Control of autonomous vehicles in 3D...transformation from system ’a’ to system b’. Essential Kinematics for Autonomous Vehicles page 1. The specification of derivatives will be necessarily

  11. 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

  12. Inversion of azimuthally dependent NMO velocity in transversely isotropic media with a tilted axis of symmetry

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

    Grechka, V.; Tsvankin, I.

    2000-02-01

    Just as the transversely isotropic model with a vertical symmetry axis (VTI media) is typical for describing horizontally layered sediments, transverse isotropy with a tilted symmetry axis (TTI) describes dipping TI layers (such as tilted shale beds near salt domes) or crack systems. P-wave kinematic signatures in TTI media are controlled by the velocity V{sub PO} in the symmetry direction, Thomsen's anisotropic coefficients {xi} and {delta}, and the orientation (tilt {nu} and azimuth {beta}) of the symmetry axis. Here, the authors show that all five parameters can be obtained from azimuthally varying P-wave NMO velocities measured for two reflectors withmore » different dips and/or azimuths (one of the reflectors can be horizontal). The shear-wave velocity V{sub SO} in the symmetry direction, which has negligible influence on P-wave kinematic signatures, can be found only from the moveout of shear waves. Using the exact NMO equation, the authors examine the propagation of errors in observed moveout velocities into estimated values of the anisotropic parameters and establish the necessary conditions for a stable inversion procedure. Since the azimuthal variation of the NMO velocity is elliptical, each reflection event provides them with up to three constraints on the model parameters. Generally, the five parameters responsible for P-wave velocity can be obtained from two P-wave ellipses, but the feasibility of the moveout inversion strongly depends on the tilt {nu}. While most of the analysis is carried out for a single layer, the authors also extend the inversion algorithm to vertically heterogeneous TTI media above a dipping reflector using the generalized Dix equation. A synthetic example for a strongly anisotropic, stratified TTI medium demonstrates a high accuracy of the inversion.« less

  13. Kinematic space for conical defects

    NASA Astrophysics Data System (ADS)

    Cresswell, Jesse C.; Peet, Amanda W.

    2017-11-01

    Kinematic space can be used as an intermediate step in the AdS/CFT dictionary and lends itself naturally to the description of diffeomorphism invariant quantities. From the bulk it has been defined as the space of boundary anchored geodesics, and from the boundary as the space of pairs of CFT points. When the bulk is not globally AdS3 the appearance of non-minimal geodesics leads to ambiguities in these definitions. In this work conical defect spacetimes are considered as an example where non-minimal geodesics are common. From the bulk it is found that the conical defect kinematic space can be obtained from the AdS3 kinematic space by the same quotient under which one obtains the defect from AdS3. The resulting kinematic space is one of many equivalent fundamental regions. From the boundary the conical defect kinematic space can be determined by breaking up OPE blocks into contributions from individual bulk geodesics. A duality is established between partial OPE blocks and bulk fields integrated over individual geodesics, minimal or non-minimal.

  14. The effect of dual tasking on foot kinematics in people with functional ankle instability.

    PubMed

    Tavakoli, Sanam; Forghany, Saeed; Nester, Christopher

    2016-09-01

    Some cases of repeated inversion ankle sprains are thought to have a neurological basis and are termed functional ankle instability (FAI). In addition to factors local to the ankle, such as loss of proprioception, cognitive demands have the ability to influence motor control and may increase the risk of repetitive lateral sprains. The purpose of this study was to investigate the effect of cognitive demand on foot kinematics in physically active people with functional ankle instability. 21 physically active participants with FAI and 19 matched healthy controls completed trials of normal walking (single task) and normal walking while performing a cognitive task (dual task). Foot motion relative to the shank was recorded. Cognitive performance, ankle kinematics and movement variability in single and dual task conditions was characterized. During normal walking, the ankle joint was significantly more inverted in FAI compared to the control group pre and post initial contact. Under dual task conditions, there was a statistically significant increase in frontal plane foot movement variability during the period 200ms pre and post initial contact in people with FAI compared to the control group (p<0.05). Dual task also significantly increased plantar flexion and inversion during the period 200ms pre and post initial contact in the FAI group (p<0.05). participants with FAI demonstrated different ankle movement patterns and increased movement variability during a dual task condition. Cognitive load may increase risk of ankle instability in these people. Copyright © 2016 Elsevier B.V. All rights reserved.

  15. Kinematic parameters of signed verbs.

    PubMed

    Malaia, Evie; Wilbur, Ronnie B; Milkovic, Marina

    2013-10-01

    Sign language users recruit physical properties of visual motion to convey linguistic information. Research on American Sign Language (ASL) indicates that signers systematically use kinematic features (e.g., velocity, deceleration) of dominant hand motion for distinguishing specific semantic properties of verb classes in production ( Malaia & Wilbur, 2012a) and process these distinctions as part of the phonological structure of these verb classes in comprehension ( Malaia, Ranaweera, Wilbur, & Talavage, 2012). These studies are driven by the event visibility hypothesis by Wilbur (2003), who proposed that such use of kinematic features should be universal to sign language (SL) by the grammaticalization of physics and geometry for linguistic purposes. In a prior motion capture study, Malaia and Wilbur (2012a) lent support for the event visibility hypothesis in ASL, but there has not been quantitative data from other SLs to test the generalization to other languages. The authors investigated the kinematic parameters of predicates in Croatian Sign Language ( Hrvatskom Znakovnom Jeziku [HZJ]). Kinematic features of verb signs were affected both by event structure of the predicate (semantics) and phrase position within the sentence (prosody). The data demonstrate that kinematic features of motion in HZJ verb signs are recruited to convey morphological and prosodic information. This is the first crosslinguistic motion capture confirmation that specific kinematic properties of articulator motion are grammaticalized in other SLs to express linguistic features.

  16. Kinematics Control and Analysis of Industrial Robot

    NASA Astrophysics Data System (ADS)

    Zhu, Tongbo; Cai, Fan; Li, Yongmei; Liu, Wei

    2018-03-01

    The robot’s development present situation, basic principle and control system are introduced briefly. Research is mainly focused on the study of the robot’s kinematics and motion control. The structural analysis of a planar articulated robot (SCARA) robot is presented,the coordinate system is established to obtain the position and orientation matrix of the end effector,a method of robot kinematics analysis based on homogeneous transformation method is proposed, and the kinematics solution of the robot is obtained.Establishment of industrial robot’s kinematics equation and formula for positive kinematics by example. Finally,the kinematic analysis of this robot was verified by examples.It provides a basis for structural design and motion control.It has active significance to promote the motion control of industrial robot.

  17. Kinematic geometry of osteotomies.

    PubMed

    Smith, Erin J; Bryant, J Tim; Ellis, Randy E

    2005-01-01

    This paper presents a novel method for defining an osteotomy that can be used to represent all types of osteotomy procedures. In essence, we model an osteotomy as a lower-pair mechanical joint to derive the kinematic geometry of the osteotomy. This method was implemented using a commercially available animation software suite in order to simulate a variety of osteotomy procedures. Two osteotomy procedures are presented for a femoral malunion in order to demonstrate the advantages of our kinematic model in developing optimal osteotomy plans. The benefits of this kinematic model include the ability to evaluate the effects of various kinds of osteotomy and the elimination of potentially error-prone radiographic assessment of deformities.

  18. Analysis of kinematic, kinetic and electromyographic patterns during root canal preparation with rotary and manual instruments.

    PubMed

    Pasternak, Braulio; Sousa Neto, Manoel Damião de; Dionísio, Valdeci Carlos; Pécora, Jesus Djalma; Silva, Ricardo Gariba

    2012-02-01

    This study assessed the muscular activity during root canal preparation through kinematics, kinetics, and electromyography (EMG). The operators prepared one canal with RaCe rotary instruments and another with Flexo-files. The kinematics of the major joints was reconstructed using an optoelectronic system and electromyographic responses of the flexor carpi radialis, extensor carpi radialis, brachioradialis, biceps brachii, triceps brachii, middle deltoid, and upper trapezius were recorded. The joint torques of the shoulder, elbow and wrist were calculated using inverse dynamics. In the kinematic analysis, angular movements of the wrist and elbow were classified as low risk factors for work-related musculoskeletal disorders. With respect to the shoulder, the classification was medium-risk. There was no significant difference revealed by the kinetic reports. The EMG results showed that for the middle deltoid and upper trapezius the rotary instrumentation elicited higher values. The flexor carpi radialis and extensor carpi radialis, as well as the brachioradialis showed a higher value with the manual method. The muscular recruitment for accomplishment of articular movements for root canal preparation with either the rotary or manual techniques is distinct. Nevertheless, the rotary instrument presented less difficulty in the generation of the joint torque in each articulation, thus, presenting a greater uniformity of joint torques.

  19. Analysis of kinematic, kinetic and electromyographic patterns during root canal preparation with rotary and manual instruments

    PubMed Central

    PASTERNAK-JÚNIOR, Braulio; de SOUSA NETO, Manoel Damião; DIONÍSIO, Valdeci Carlos; PÉCORA, Jesus Djalma; SILVA, Ricardo Gariba

    2012-01-01

    Objective This study assessed the muscular activity during root canal preparation through kinematics, kinetics, and electromyography (EMG). Material and Methods The operators prepared one canal with RaCe rotary instruments and another with Flexo-files. The kinematics of the major joints was reconstructed using an optoelectronic system and electromyographic responses of the flexor carpi radialis, extensor carpi radialis, brachioradialis, biceps brachii, triceps brachii, middle deltoid, and upper trapezius were recorded. The joint torques of the shoulder, elbow and wrist were calculated using inverse dynamics. In the kinematic analysis, angular movements of the wrist and elbow were classified as low risk factors for work-related musculoskeletal disorders. With respect to the shoulder, the classification was medium-risk. Results There was no significant difference revealed by the kinetic reports. The EMG results showed that for the middle deltoid and upper trapezius the rotary instrumentation elicited higher values. The flexor carpi radialis and extensor carpi radialis, as well as the brachioradialis showed a higher value with the manual method. Conclusion The muscular recruitment for accomplishment of articular movements for root canal preparation with either the rotary or manual techniques is distinct. Nevertheless, the rotary instrument presented less difficulty in the generation of the joint torque in each articulation, thus, presenting a greater uniformity of joint torques. PMID:22437679

  20. Inversion of geothermal heat flux in a thermomechanically coupled nonlinear Stokes ice sheet model

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

    Zhu, Hongyu; Petra, Noemi; Stadler, Georg

    We address the inverse problem of inferring the basal geothermal heat flux from surface velocity observations using a steady-state thermomechanically coupled nonlinear Stokes ice flow model. This is a challenging inverse problem since the map from basal heat flux to surface velocity observables is indirect: the heat flux is a boundary condition for the thermal advection–diffusion equation, which couples to the nonlinear Stokes ice flow equations; together they determine the surface ice flow velocity. This multiphysics inverse problem is formulated as a nonlinear least-squares optimization problem with a cost functional that includes the data misfit between surface velocity observations andmore » model predictions. A Tikhonov regularization term is added to render the problem well posed. We derive adjoint-based gradient and Hessian expressions for the resulting partial differential equation (PDE)-constrained optimization problem and propose an inexact Newton method for its solution. As a consequence of the Petrov–Galerkin discretization of the energy equation, we show that discretization and differentiation do not commute; that is, the order in which we discretize the cost functional and differentiate it affects the correctness of the gradient. Using two- and three-dimensional model problems, we study the prospects for and limitations of the inference of the geothermal heat flux field from surface velocity observations. The results show that the reconstruction improves as the noise level in the observations decreases and that short-wavelength variations in the geothermal heat flux are difficult to recover. We analyze the ill-posedness of the inverse problem as a function of the number of observations by examining the spectrum of the Hessian of the cost functional. Motivated by the popularity of operator-split or staggered solvers for forward multiphysics problems – i.e., those that drop two-way coupling terms to yield a one-way coupled forward Jacobian

  1. Inversion of geothermal heat flux in a thermomechanically coupled nonlinear Stokes ice sheet model

    DOE PAGES

    Zhu, Hongyu; Petra, Noemi; Stadler, Georg; ...

    2016-07-13

    We address the inverse problem of inferring the basal geothermal heat flux from surface velocity observations using a steady-state thermomechanically coupled nonlinear Stokes ice flow model. This is a challenging inverse problem since the map from basal heat flux to surface velocity observables is indirect: the heat flux is a boundary condition for the thermal advection–diffusion equation, which couples to the nonlinear Stokes ice flow equations; together they determine the surface ice flow velocity. This multiphysics inverse problem is formulated as a nonlinear least-squares optimization problem with a cost functional that includes the data misfit between surface velocity observations andmore » model predictions. A Tikhonov regularization term is added to render the problem well posed. We derive adjoint-based gradient and Hessian expressions for the resulting partial differential equation (PDE)-constrained optimization problem and propose an inexact Newton method for its solution. As a consequence of the Petrov–Galerkin discretization of the energy equation, we show that discretization and differentiation do not commute; that is, the order in which we discretize the cost functional and differentiate it affects the correctness of the gradient. Using two- and three-dimensional model problems, we study the prospects for and limitations of the inference of the geothermal heat flux field from surface velocity observations. The results show that the reconstruction improves as the noise level in the observations decreases and that short-wavelength variations in the geothermal heat flux are difficult to recover. We analyze the ill-posedness of the inverse problem as a function of the number of observations by examining the spectrum of the Hessian of the cost functional. Motivated by the popularity of operator-split or staggered solvers for forward multiphysics problems – i.e., those that drop two-way coupling terms to yield a one-way coupled forward Jacobian

  2. Inversion of geothermal heat flux in a thermomechanically coupled nonlinear Stokes ice sheet model

    NASA Astrophysics Data System (ADS)

    Zhu, Hongyu; Petra, Noemi; Stadler, Georg; Isaac, Tobin; Hughes, Thomas J. R.; Ghattas, Omar

    2016-07-01

    We address the inverse problem of inferring the basal geothermal heat flux from surface velocity observations using a steady-state thermomechanically coupled nonlinear Stokes ice flow model. This is a challenging inverse problem since the map from basal heat flux to surface velocity observables is indirect: the heat flux is a boundary condition for the thermal advection-diffusion equation, which couples to the nonlinear Stokes ice flow equations; together they determine the surface ice flow velocity. This multiphysics inverse problem is formulated as a nonlinear least-squares optimization problem with a cost functional that includes the data misfit between surface velocity observations and model predictions. A Tikhonov regularization term is added to render the problem well posed. We derive adjoint-based gradient and Hessian expressions for the resulting partial differential equation (PDE)-constrained optimization problem and propose an inexact Newton method for its solution. As a consequence of the Petrov-Galerkin discretization of the energy equation, we show that discretization and differentiation do not commute; that is, the order in which we discretize the cost functional and differentiate it affects the correctness of the gradient. Using two- and three-dimensional model problems, we study the prospects for and limitations of the inference of the geothermal heat flux field from surface velocity observations. The results show that the reconstruction improves as the noise level in the observations decreases and that short-wavelength variations in the geothermal heat flux are difficult to recover. We analyze the ill-posedness of the inverse problem as a function of the number of observations by examining the spectrum of the Hessian of the cost functional. Motivated by the popularity of operator-split or staggered solvers for forward multiphysics problems - i.e., those that drop two-way coupling terms to yield a one-way coupled forward Jacobian - we study the

  3. Whole limb kinematics are preferentially conserved over individual joint kinematics after peripheral nerve injury

    PubMed Central

    Chang, Young-Hui; Auyang, Arick G.; Scholz, John P.; Nichols, T. Richard

    2009-01-01

    Summary Biomechanics and neurophysiology studies suggest whole limb function to be an important locomotor control parameter. Inverted pendulum and mass-spring models greatly reduce the complexity of the legs and predict the dynamics of locomotion, but do not address how numerous limb elements are coordinated to achieve such simple behavior. As a first step, we hypothesized whole limb kinematics were of primary importance and would be preferentially conserved over individual joint kinematics after neuromuscular injury. We used a well-established peripheral nerve injury model of cat ankle extensor muscles to generate two experimental injury groups with a predictable time course of temporary paralysis followed by complete muscle self-reinnervation. Mean trajectories of individual joint kinematics were altered as a result of deficits after injury. By contrast, mean trajectories of limb orientation and limb length remained largely invariant across all animals, even with paralyzed ankle extensor muscles, suggesting changes in mean joint angles were coordinated as part of a long-term compensation strategy to minimize change in whole limb kinematics. Furthermore, at each measurement stage (pre-injury, paralytic and self-reinnervated) step-by-step variance of individual joint kinematics was always significantly greater than that of limb orientation. Our results suggest joint angle combinations are coordinated and selected to stabilize whole limb kinematics against short-term natural step-by-step deviations as well as long-term, pathological deviations created by injury. This may represent a fundamental compensation principle allowing animals to adapt to changing conditions with minimal effect on overall locomotor function. PMID:19837893

  4. Pattern of improvement in upper limb pointing task kinematics after a 3-month training program with robotic assistance in stroke.

    PubMed

    Pila, Ophélie; Duret, Christophe; Laborne, François-Xavier; Gracies, Jean-Michel; Bayle, Nicolas; Hutin, Emilie

    2017-10-13

    When exploring changes in upper limb kinematics and motor impairment associated with motor recovery in subacute post stroke during intensive therapies involving robot-assisted training, it is not known whether trained joints improve before non-trained joints and whether target reaching capacity improves before movement accuracy. Twenty-two subacute stroke patients (mean delay post-stroke at program onset 63 ± 29 days, M2) underwent 50 ± 17 (mean ± SD) 45-min sessions of robot-assisted (InMotion™) shoulder/elbow training over 3 months, in addition to conventional occupational therapy. Monthly evaluations (M2 to M5) included Fugl-Meyer Assessment (FM), with subscores per joint, and four robot-based kinematic measures: mean target distance covered, mean velocity, direction accuracy (inverse of root mean square error from straight line) and movement smoothness (inverse of mean number of zero-crossings in the velocity profile). We assessed delays to reach statistically significant improvement for each outcome measure. At M5, all clinical and kinematic parameters had markedly improved: Fugl-Meyer, +65% (median); distance covered, +87%; mean velocity, +101%; accuracy, +134%; and smoothness, +96%. Delays to reach statistical significance were M3 for the shoulder/elbow Fugl-Meyer subscore (+43%), M4 for the hand (+80%) and M5 for the wrist (+133%) subscores. For kinematic parameters, delays to significant improvements were M3 for distance (+68%), velocity (+65%) and smoothness (+50%), and M5 for accuracy (+134%). An intensive rehabilitation program combining robot-assisted shoulder/elbow training and conventional occupational therapy was associated with improvement in shoulder and elbow movements first, which suggests focal behavior-related brain plasticity. Findings also suggested that recovery of movement quantity related parameters (range of motion, velocity and smoothness) might precede that of movement quality (accuracy). EudraCT 2016-005121-36 . Date of

  5. A DOUBLE-RING ALGORITHM FOR MODELING SOLAR ACTIVE REGIONS: UNIFYING KINEMATIC DYNAMO MODELS AND SURFACE FLUX-TRANSPORT SIMULATIONS

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

    Munoz-Jaramillo, Andres; Martens, Petrus C. H.; Nandy, Dibyendu

    The emergence of tilted bipolar active regions (ARs) and the dispersal of their flux, mediated via processes such as diffusion, differential rotation, and meridional circulation, is believed to be responsible for the reversal of the Sun's polar field. This process (commonly known as the Babcock-Leighton mechanism) is usually modeled as a near-surface, spatially distributed {alpha}-effect in kinematic mean-field dynamo models. However, this formulation leads to a relationship between polar field strength and meridional flow speed which is opposite to that suggested by physical insight and predicted by surface flux-transport simulations. With this in mind, we present an improved double-ring algorithmmore » for modeling the Babcock-Leighton mechanism based on AR eruption, within the framework of an axisymmetric dynamo model. Using surface flux-transport simulations, we first show that an axisymmetric formulation-which is usually invoked in kinematic dynamo models-can reasonably approximate the surface flux dynamics. Finally, we demonstrate that our treatment of the Babcock-Leighton mechanism through double-ring eruption leads to an inverse relationship between polar field strength and meridional flow speed as expected, reconciling the discrepancy between surface flux-transport simulations and kinematic dynamo models.« less

  6. An Inverse Optimal Control Approach to Explain Human Arm Reaching Control Based on Multiple Internal Models.

    PubMed

    Oguz, Ozgur S; Zhou, Zhehua; Glasauer, Stefan; Wollherr, Dirk

    2018-04-03

    Human motor control is highly efficient in generating accurate and appropriate motor behavior for a multitude of tasks. This paper examines how kinematic and dynamic properties of the musculoskeletal system are controlled to achieve such efficiency. Even though recent studies have shown that the human motor control relies on multiple models, how the central nervous system (CNS) controls this combination is not fully addressed. In this study, we utilize an Inverse Optimal Control (IOC) framework in order to find the combination of those internal models and how this combination changes for different reaching tasks. We conducted an experiment where participants executed a comprehensive set of free-space reaching motions. The results show that there is a trade-off between kinematics and dynamics based controllers depending on the reaching task. In addition, this trade-off depends on the initial and final arm configurations, which in turn affect the musculoskeletal load to be controlled. Given this insight, we further provide a discomfort metric to demonstrate its influence on the contribution of different inverse internal models. This formulation together with our analysis not only support the multiple internal models (MIMs) hypothesis but also suggest a hierarchical framework for the control of human reaching motions by the CNS.

  7. Tensor networks from kinematic space

    DOE PAGES

    Czech, Bartlomiej; Lamprou, Lampros; McCandlish, Samuel; ...

    2016-07-20

    We point out that the MERA network for the ground state of a 1+1-dimensional conformal field theory has the same structural features as kinematic space — the geometry of CFT intervals. In holographic theories kinematic space becomes identified with the space of bulk geodesics studied in integral geometry. We argue that in these settings MERA is best viewed as a discretization of the space of bulk geodesics rather than of the bulk geometry itself. As a test of this kinematic proposal, we compare the MERA representation of the thermofield-double state with the space of geodesics in the two-sided BTZ geometry,more » obtaining a detailed agreement which includes the entwinement sector. In conclusion, we discuss how the kinematic proposal can be extended to excited states by generalizing MERA to a broader class of compression networks.« less

  8. Non-iterative geometric approach for inverse kinematics of redundant lead-module in a radiosurgical snake-like robot.

    PubMed

    Omisore, Olatunji Mumini; Han, Shipeng; Ren, Lingxue; Zhang, Nannan; Ivanov, Kamen; Elazab, Ahmed; Wang, Lei

    2017-08-01

    Snake-like robot is an emerging form of serial-link manipulator with the morphologic design of biological snakes. The redundant robot can be used to assist medical experts in accessing internal organs with minimal or no invasion. Several snake-like robotic designs have been proposed for minimal invasive surgery, however, the few that were developed are yet to be fully explored for clinical procedures. This is due to lack of capability for full-fledged spatial navigation. In rare cases where such snake-like designs are spatially flexible, there exists no inverse kinematics (IK) solution with both precise control and fast response. In this study, we proposed a non-iterative geometric method for solving IK of lead-module of a snake-like robot designed for therapy or ablation of abdominal tumors. The proposed method is aimed at providing accurate and fast IK solution for given target points in the robot's workspace. n-1 virtual points (VPs) were geometrically computed and set as coordinates of intermediary joints in an n-link module. Suitable joint angles that can place the end-effector at given target points were then computed by vectorizing coordinates of the VPs, in addition to coordinates of the base point, target point, and tip of the first link in its default pose. The proposed method is applied to solve IK of two-link and redundant four-link modules. Both two-link and four-link modules were simulated with Robotics Toolbox in Matlab 8.3 (R2014a). Implementation result shows that the proposed method can solve IK of the spatially flexible robot with minimal error values. Furthermore, analyses of results from both modules show that the geometric method can reach 99.21 and 88.61% of points in their workspaces, respectively, with an error threshold of 1 mm. The proposed method is non-iterative and has a maximum execution time of 0.009 s. This paper focuses on solving IK problem of a spatially flexible robot which is part of a developmental project for abdominal

  9. Three tooth kinematic coupling

    DOEpatents

    Hale, Layton C.

    2000-01-01

    A three tooth kinematic coupling based on having three theoretical line contacts formed by mating teeth rather than six theoretical point contacts. The geometry requires one coupling half to have curved teeth and the other coupling half to have flat teeth. Each coupling half has a relieved center portion which does not effect the kinematics, but in the limit as the face width approaches zero, three line contacts become six point contacts. As a result of having line contact, a three tooth coupling has greater load capacity and stiffness. The kinematic coupling has application for use in precision fixturing for tools or workpieces, and as a registration device for a work or tool changer or for optics in various products.

  10. Earthquake Source Inversion Blindtest: Initial Results and Further Developments

    NASA Astrophysics Data System (ADS)

    Mai, P.; Burjanek, J.; Delouis, B.; Festa, G.; Francois-Holden, C.; Monelli, D.; Uchide, T.; Zahradnik, J.

    2007-12-01

    Images of earthquake ruptures, obtained from modelling/inverting seismic and/or geodetic data exhibit a high degree in spatial complexity. This earthquake source heterogeneity controls seismic radiation, and is determined by the details of the dynamic rupture process. In turn, such rupture models are used for studying source dynamics and for ground-motion prediction. But how reliable and trustworthy are these earthquake source inversions? Rupture models for a given earthquake, obtained by different research teams, often display striking disparities (see http://www.seismo.ethz.ch/srcmod) However, well resolved, robust, and hence reliable source-rupture models are an integral part to better understand earthquake source physics and to improve seismic hazard assessment. Therefore it is timely to conduct a large-scale validation exercise for comparing the methods, parameterization and data-handling in earthquake source inversions.We recently started a blind test in which several research groups derive a kinematic rupture model from synthetic seismograms calculated for an input model unknown to the source modelers. The first results, for an input rupture model with heterogeneous slip but constant rise time and rupture velocity, reveal large differences between the input and inverted model in some cases, while a few studies achieve high correlation between the input and inferred model. Here we report on the statistical assessment of the set of inverted rupture models to quantitatively investigate their degree of (dis-)similarity. We briefly discuss the different inversion approaches, their possible strength and weaknesses, and the use of appropriate misfit criteria. Finally we present new blind-test models, with increasing source complexity and ambient noise on the synthetics. The goal is to attract a large group of source modelers to join this source-inversion blindtest in order to conduct a large-scale validation exercise to rigorously asses the performance and

  11. Adjoint Inversion for Extended Earthquake Source Kinematics From Very Dense Strong Motion Data

    NASA Astrophysics Data System (ADS)

    Ampuero, J. P.; Somala, S.; Lapusta, N.

    2010-12-01

    Addressing key open questions about earthquake dynamics requires a radical improvement of the robustness and resolution of seismic observations of large earthquakes. Proposals for a new generation of earthquake observation systems include the deployment of “community seismic networks” of low-cost accelerometers in urban areas and the extraction of strong ground motions from high-rate optical images of the Earth's surface recorded by a large space telescope in geostationary orbit. Both systems could deliver strong motion data with a spatial density orders of magnitude higher than current seismic networks. In particular, a “space seismometer” could sample the seismic wave field at a spatio-temporal resolution of 100 m, 1 Hz over areas several 100 km wide with an amplitude resolution of few cm/s in ground velocity. The amount of data to process would be immensely larger than what current extended source inversion algorithms can handle, which hampers the quantitative assessment of the cost-benefit trade-offs that can guide the practical design of the proposed earthquake observation systems. We report here on the development of a scalable source imaging technique based on iterative adjoint inversion and its application to the proof-of-concept of a space seismometer. We generated synthetic ground motions for M7 earthquake rupture scenarios based on dynamic rupture simulations on a vertical strike-slip fault embedded in an elastic half-space. A range of scenarios include increasing levels of complexity and interesting features such as supershear rupture speed. The resulting ground shaking is then processed accordingly to what would be captured by an optical satellite. Based on the resulting data, we perform source inversion by an adjoint/time-reversal method. The gradient of a cost function quantifying the waveform misfit between data and synthetics is efficiently obtained by applying the time-reversed ground velocity residuals as surface force sources, back

  12. Are undesirable contact kinematics minimized after kinematically aligned total knee arthroplasty? An intersurgeon analysis of consecutive patients.

    PubMed

    Howell, Stephen M; Hodapp, Esther E; Vernace, Joseph V; Hull, Maury L; Meade, Thomas D

    2013-10-01

    Tibiofemoral contact kinematics or knee implant motions have a direct influence on patient function and implant longevity and should be evaluated for any new alignment technique such as kinematically aligned total knee arthroplasty (TKA). Edge loading of the tibial liner and external rotation (reverse of normal) and adduction of the tibial component on the femoral component are undesirable contact kinematics that should be minimized. Accordingly, this study determined whether the overall prevalence of undesirable contact kinematics during standing, mid kneeling near 90 degrees and full kneeling with kinematically aligned TKA are minimal and not different between groups of consecutive patients treated by different surgeons. Three surgeons were asked to perform cemented, kinematically aligned TKA with patient-specific guides in a consecutive series of patients with their preferred cruciate-retaining (CR) implant. In vivo tibiofemoral contact positions were obtained using a 3- to 2-dimensional image registration technique in 69 subjects (Vanguard CR-TKA N = 22, and Triathlon CR-TKA N = 47). Anterior or posterior edge loading of the tibial liner was not observed. The overall prevalence of external rotation of the tibial component on the femoral component of 6 % was low and not different between surgeons (n.s.). The overall prevalence of adduction of the tibial component on the femoral component of 4 % was low and not different between surgeons (n.s.). Kinematically aligned TKA minimized the undesirable contact kinematics of edge loading of the tibial liner, and external rotation and adduction of the tibial component on the femoral component during standing and kneeling, which suggests an optimistic prognosis for durable long-term function. III.

  13. Investigating The Kinematics of Canids and Felids

    NASA Astrophysics Data System (ADS)

    Sur, D.

    2016-12-01

    For all organisms, metabolic energy is critical for survival. While moving efficiently is a necessity for large carnivores, the influence of kinematics on energy demand remains poorly understood. We measured the kinematics of dogs, wolves, and pumas to detect any differences in their respective energy expenditures. Using 22 kinematic parameters measured on 78 videos, we used one-way ANOVAs and paired T-tests to compare 5 experimental treatments among gaits in dogs (n=11 in 3 breed groups), wolves (n=2), and pumas (n=2). Across the measured parameters, we found greater kinematic similarity than expected among dog breeds and no trend in any of the 22 parameters regarding the effect of steepness on locomotion mechanics. Similarly, treadmill kinematics were nearly identical to those measured during outdoor movement. However, in 3 inches of snow, we observed significant differences (p<0.05) in 5 of the 22 parameters for one wolf. When comparing canids (wolves and dogs) to a felid (pumas), we found that pumas and dogs are the most kinematically distinct (differing in 13 of 22 parameters, compared with 5 of 22 for wolves and pumas). Lastly, compared with wolves, walking pumas had larger head angles (p=0.0025), forelimb excursion angles (p=0.0045), and hindlimb excursion angles (p=0.0327). After comparing the energetics of pumas and dogs with their respective kinematics, we noted that less dynamic kinematics result in energy savings. Through tracking the locations and gait behavior of large carnivores, novel sensor technology can reveal how indoor kinematics applies to wild animals and improve the conservation of these species.

  14. Peak Lower Extremity Landing Kinematics in Dancers and Nondancers.

    PubMed

    Hansberger, Bethany L; Acocello, Shellie; Slater, Lindsay V; Hart, Joseph M; Ambegaonkar, Jatin P

    2018-04-01

    = 0.97, P = .60 and Wilks λ = 0.97, P = .66, respectively), or hip (Wilks λ = 0.99, P = .91 and Wilks λ = 1.00, P = .93, respectively) kinematics, and no group × activity interactions were noted for ankle frontal-plane (Wilks λ = 0.92, P = .29) and sagittal- and frontal-plane knee (Wilks λ = 0.99, P = .81 and Wilks λ = 0.98, P = .77, respectively) and hip (Wilks λ = 0.88, P = .13 and Wilks λ = 0.85, P = .08, respectively) kinematics. A group × activity interaction (Wilks λ = 0.76, P = .02) was present for ankle sagittal-plane kinematics. Main-effects testing revealed different ankle frontal-plane angles across groups ( F 2,28 = 3.78, P = .04), with male nondancers having greater ankle inversion than female nondancers ( P = .05).   Irrespective of activity type or footwear, female nondancers landed with similar hip and knee kinematics but greater peak ankle eversion and less peak ankle dorsiflexion (ie, positions associated with greater ACL injury risk). Ankle kinematics may differ between groups due to different landing strategies and training used by dancers. Dancers' training should be examined to determine if it results in a reduced occurrence of biomechanics related to ACL injury during SL landing.

  15. Speeding up the learning of robot kinematics through function decomposition.

    PubMed

    Ruiz de Angulo, Vicente; Torras, Carme

    2005-11-01

    The main drawback of using neural networks or other example-based learning procedures to approximate the inverse kinematics (IK) of robot arms is the high number of training samples (i.e., robot movements) required to attain an acceptable precision. We propose here a trick, valid for most industrial robots, that greatly reduces the number of movements needed to learn or relearn the IK to a given accuracy. This trick consists in expressing the IK as a composition of learnable functions, each having half the dimensionality of the original mapping. Off-line and on-line training schemes to learn these component functions are also proposed. Experimental results obtained by using nearest neighbors and parameterized self-organizing map, with and without the decomposition, show that the time savings granted by the proposed scheme grow polynomially with the precision required.

  16. Tracing kinematic (mis)alignments in CALIFA merging galaxies. Stellar and ionized gas kinematic orientations at every merger stage

    NASA Astrophysics Data System (ADS)

    Barrera-Ballesteros, J. K.; García-Lorenzo, B.; Falcón-Barroso, J.; van de Ven, G.; Lyubenova, M.; Wild, V.; Méndez-Abreu, J.; Sánchez, S. F.; Marquez, I.; Masegosa, J.; Monreal-Ibero, A.; Ziegler, B.; del Olmo, A.; Verdes-Montenegro, L.; García-Benito, R.; Husemann, B.; Mast, D.; Kehrig, C.; Iglesias-Paramo, J.; Marino, R. A.; Aguerri, J. A. L.; Walcher, C. J.; Vílchez, J. M.; Bomans, D. J.; Cortijo-Ferrero, C.; González Delgado, R. M.; Bland-Hawthorn, J.; McIntosh, D. H.; Bekeraitė, S.

    2015-10-01

    We present spatially resolved stellar and/or ionized gas kinematic properties for a sample of 103 interacting galaxies, tracing all merger stages: close companions, pairs with morphological signatures of interaction, and coalesced merger remnants. In order to distinguish kinematic properties caused by a merger event from those driven by internal processes, we compare our galaxies with a control sample of 80 non-interacting galaxies. We measure for both the stellar and the ionized gas components the major (projected) kinematic position angles (PAkin, approaching and receding) directly from the velocity distributions with no assumptions on the internal motions. This method also allow us to derive the deviations of the kinematic PAs from a straight line (δPAkin). We find that around half of the interacting objects show morpho-kinematic PA misalignments that cannot be found in the control sample. In particular, we observe those misalignments in galaxies with morphological signatures of interaction. On the other hand, thelevel of alignment between the approaching and receding sides for both samples is similar, with most of the galaxies displaying small misalignments. Radial deviations of the kinematic PA orientation from a straight line in the stellar component measured by δPAkin are large for both samples. However, for a large fraction of interacting galaxies the ionized gas δPAkin is larger than the typical values derived from isolated galaxies (48%), indicating that this parameter is a good indicator to trace the impact of interaction and mergers in the internal motions of galaxies. By comparing the stellar and ionized gas kinematic PA, we find that 42% (28/66) of the interacting galaxies have misalignments larger than 16°, compared to 10% from the control sample. Our results show the impact of interactions in the motion of stellar and ionized gas as well as the wide the variety of their spatially resolved kinematic distributions. This study also provides a local

  17. Learning by Demonstration for Motion Planning of Upper-Limb Exoskeletons

    PubMed Central

    Lauretti, Clemente; Cordella, Francesca; Ciancio, Anna Lisa; Trigili, Emilio; Catalan, Jose Maria; Badesa, Francisco Javier; Crea, Simona; Pagliara, Silvio Marcello; Sterzi, Silvia; Vitiello, Nicola; Garcia Aracil, Nicolas; Zollo, Loredana

    2018-01-01

    The reference joint position of upper-limb exoskeletons is typically obtained by means of Cartesian motion planners and inverse kinematics algorithms with the inverse Jacobian; this approach allows exploiting the available Degrees of Freedom (i.e. DoFs) of the robot kinematic chain to achieve the desired end-effector pose; however, if used to operate non-redundant exoskeletons, it does not ensure that anthropomorphic criteria are satisfied in the whole human-robot workspace. This paper proposes a motion planning system, based on Learning by Demonstration, for upper-limb exoskeletons that allow successfully assisting patients during Activities of Daily Living (ADLs) in unstructured environment, while ensuring that anthropomorphic criteria are satisfied in the whole human-robot workspace. The motion planning system combines Learning by Demonstration with the computation of Dynamic Motion Primitives and machine learning techniques to construct task- and patient-specific joint trajectories based on the learnt trajectories. System validation was carried out in simulation and in a real setting with a 4-DoF upper-limb exoskeleton, a 5-DoF wrist-hand exoskeleton and four patients with Limb Girdle Muscular Dystrophy. Validation was addressed to (i) compare the performance of the proposed motion planning with traditional methods; (ii) assess the generalization capabilities of the proposed method with respect to the environment variability. Three ADLs were chosen to validate the system: drinking, pouring and lifting a light sphere. The achieved results showed a 100% success rate in the task fulfillment, with a high level of generalization with respect to the environment variability. Moreover, an anthropomorphic configuration of the exoskeleton is always ensured. PMID:29527161

  18. A practical solution to reduce soft tissue artifact error at the knee using adaptive kinematic constraints.

    PubMed

    Potvin, Brigitte M; Shourijeh, Mohammad S; Smale, Kenneth B; Benoit, Daniel L

    2017-09-06

    Musculoskeletal modeling and simulations have vast potential in clinical and research fields, but face various challenges in representing the complexities of the human body. Soft tissue artifact from skin-mounted markers may lead to non-physiological representation of joint motions being used as inputs to models in simulations. To address this, we have developed adaptive joint constraints on five of the six degree of freedom of the knee joint based on in vivo tibiofemoral joint motions recorded during walking, hopping and cutting motions from subjects instrumented with intra-cortical pins inserted into their tibia and femur. The constraint boundaries vary as a function of knee flexion angle and were tested on four whole-body models including four to six knee degrees of freedom. A musculoskeletal model developed in OpenSim simulation software was constrained to these in vivo boundaries during level gait and inverse kinematics and dynamics were then resolved. Statistical parametric mapping indicated significant differences (p<0.05) in kinematics between bone pin constrained and unconstrained model conditions, notably in knee translations, while hip and ankle flexion/extension angles were also affected, indicating the error at the knee propagates to surrounding joints. These changes to hip, knee, and ankle kinematics led to measurable changes in hip and knee transverse plane moments, and knee frontal plane moments and forces. Since knee flexion angle can be validly represented using skin mounted markers, our tool uses this reliable measure to guide the five other degrees of freedom at the knee and provide a more valid representation of the kinematics for these degrees of freedom. Copyright © 2017 Elsevier Ltd. All rights reserved.

  19. Solving phase appearance/disappearance two-phase flow problems with high resolution staggered grid and fully implicit schemes by the Jacobian-free Newton–Krylov Method

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

    Zou, Ling; Zhao, Haihua; Zhang, Hongbin

    2016-04-01

    The phase appearance/disappearance issue presents serious numerical challenges in two-phase flow simulations. Many existing reactor safety analysis codes use different kinds of treatments for the phase appearance/disappearance problem. However, to our best knowledge, there are no fully satisfactory solutions. Additionally, the majority of the existing reactor system analysis codes were developed using low-order numerical schemes in both space and time. In many situations, it is desirable to use high-resolution spatial discretization and fully implicit time integration schemes to reduce numerical errors. In this work, we adapted a high-resolution spatial discretization scheme on staggered grid mesh and fully implicit time integrationmore » methods (such as BDF1 and BDF2) to solve the two-phase flow problems. The discretized nonlinear system was solved by the Jacobian-free Newton Krylov (JFNK) method, which does not require the derivation and implementation of analytical Jacobian matrix. These methods were tested with a few two-phase flow problems with phase appearance/disappearance phenomena considered, such as a linear advection problem, an oscillating manometer problem, and a sedimentation problem. The JFNK method demonstrated extremely robust and stable behaviors in solving the two-phase flow problems with phase appearance/disappearance. No special treatments such as water level tracking or void fraction limiting were used. High-resolution spatial discretization and second- order fully implicit method also demonstrated their capabilities in significantly reducing numerical errors.« less

  20. Method for six-legged robot stepping on obstacles by indirect force estimation

    NASA Astrophysics Data System (ADS)

    Xu, Yilin; Gao, Feng; Pan, Yang; Chai, Xun

    2016-07-01

    Adaptive gaits for legged robots often requires force sensors installed on foot-tips, however impact, temperature or humidity can affect or even damage those sensors. Efforts have been made to realize indirect force estimation on the legged robots using leg structures based on planar mechanisms. Robot Octopus III is a six-legged robot using spatial parallel mechanism(UP-2UPS) legs. This paper proposed a novel method to realize indirect force estimation on walking robot based on a spatial parallel mechanism. The direct kinematics model and the inverse kinematics model are established. The force Jacobian matrix is derived based on the kinematics model. Thus, the indirect force estimation model is established. Then, the relation between the output torques of the three motors installed on one leg to the external force exerted on the foot tip is described. Furthermore, an adaptive tripod static gait is designed. The robot alters its leg trajectory to step on obstacles by using the proposed adaptive gait. Both the indirect force estimation model and the adaptive gait are implemented and optimized in a real time control system. An experiment is carried out to validate the indirect force estimation model. The adaptive gait is tested in another experiment. Experiment results show that the robot can successfully step on a 0.2 m-high obstacle. This paper proposes a novel method to overcome obstacles for the six-legged robot using spatial parallel mechanism legs and to avoid installing the electric force sensors in harsh environment of the robot's foot tips.

  1. Goal Directed Model Inversion: A Study of Dynamic Behavior

    NASA Technical Reports Server (NTRS)

    Colombano, Silvano P.; Compton, Michael; Raghavan, Bharathi; Lum, Henry, Jr. (Technical Monitor)

    1994-01-01

    Goal Directed Model Inversion (GDMI) is an algorithm designed to generalize supervised learning to the case where target outputs are not available to the learning system. The output of the learning system becomes the input to some external device or transformation, and only the output of this device or transformation can be compared to a desired target. The fundamental driving mechanism of GDMI is to learn from success. Given that a wrong outcome is achieved, one notes that the action that produced that outcome 0 "would have been right if the outcome had been the desired one." The algorithm then proceeds as follows: (1) store the action that produced the wrong outcome as a "target" (2) redefine the wrong outcome as a desired goal (3) submit the new desired goal to the system (4) compare the new action with the target action and modify the system by using a suitable algorithm for credit assignment (Back propagation in our example) (5) resubmit the original goal. Prior publications by our group in this area focused on demonstrating empirical results based on the inverse kinematic problem for a simulated robotic arm. In this paper we apply the inversion process to much simpler analytic functions in order to elucidate the dynamic behavior of the system and to determine the sensitivity of the learning process to various parameters. This understanding will be necessary for the acceptance of GDMI as a practical tool.

  2. Approximate Global Convergence and Quasi-Reversibility for a Coefficient Inverse Problem with Backscattering Data

    DTIC Science & Technology

    2011-04-01

    L1u. Assume that geodesic lines, generated by the eikonal equation corresponding to the function c (x) are regular, i.e. any two points in R3 can be...source x0 is located far from Ω, then similarly with (107) ∆l (x, x0) ≈ 0 in Ω. The function l (x, x0) satisfies the eikonal equation [38] |∇xl (x, x0...called “inverse kinematic problem” which aims to recover the function c (x) from the eikonal equation assuming that the function l (x, x0) is known for

  3. Performance of ionospheric maps in support of long baseline GNSS kinematic positioning at low latitudes

    NASA Astrophysics Data System (ADS)

    Park, J.; Sreeja, V.; Aquino, M.; Cesaroni, C.; Spogli, L.; Dodson, A.; De Franceschi, G.

    2016-05-01

    Ionospheric scintillation occurs mainly at high and low latitude regions of the Earth and may impose serious degradation on GNSS (Global Navigation Satellite System) functionality. The Brazilian territory sits on one of the most affected areas of the globe, where the ionosphere behaves very unpredictably, with strong scintillation frequently occurring in the local postsunset hours. The correlation between scintillation occurrence and sharp variations in the ionospheric total electron content (TEC) in Brazil is demonstrated in Spogli et al. (2013). The compounded effect of these associated ionospheric disturbances on long baseline GNSS kinematic positioning is studied in this paper, in particular when ionospheric maps are used to aid the positioning solution. The experiments have been conducted using data from GNSS reference stations in Brazil. The use of a regional TEC map generated under the CALIBRA (Countering GNSS high-Accuracy applications Limitations due to Ionospheric disturbances in BRAzil) project, referred to as CALIBRA TEC map (CTM), was compared to the use of the Global Ionosphere Map (GIM), provided by the International GNSS Service (IGS). Results show that the use of the CTM greatly improves the kinematic positioning solution as compared with that using the GIM, especially under disturbed ionospheric conditions. Additionally, different hypotheses were tested regarding the precision of the TEC values obtained from ionospheric maps, and its effect on the long baseline kinematic solution evaluated. Finally, this study compares two interpolation methods for ionospheric maps, namely, the Inverse Distance Weight and the Natural Neighbor.

  4. A Jacobian-free Newton Krylov method for mortar-discretized thermomechanical contact problems

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

    Hansen, Glen, E-mail: Glen.Hansen@inl.gov

    2011-07-20

    Multibody contact problems are common within the field of multiphysics simulation. Applications involving thermomechanical contact scenarios are also quite prevalent. Such problems can be challenging to solve due to the likelihood of thermal expansion affecting contact geometry which, in turn, can change the thermal behavior of the components being analyzed. This paper explores a simple model of a light water reactor nuclear fuel rod, which consists of cylindrical pellets of uranium dioxide (UO{sub 2}) fuel sealed within a Zircalloy cladding tube. The tube is initially filled with helium gas, which fills the gap between the pellets and cladding tube. Themore » accurate modeling of heat transfer across the gap between fuel pellets and the protective cladding is essential to understanding fuel performance, including cladding stress and behavior under irradiated conditions, which are factors that affect the lifetime of the fuel. The thermomechanical contact approach developed here is based on the mortar finite element method, where Lagrange multipliers are used to enforce weak continuity constraints at participating interfaces. In this formulation, the heat equation couples to linear mechanics through a thermal expansion term. Lagrange multipliers are used to formulate the continuity constraints for both heat flux and interface traction at contact interfaces. The resulting system of nonlinear algebraic equations are cast in residual form for solution of the transient problem. A Jacobian-free Newton Krylov method is used to provide for fully-coupled solution of the coupled thermal contact and heat equations.« less

  5. A Jacobian-Free Newton Krylov Method for Mortar-Discretized Thermomechanical Contact Problems

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

    Glen Hansen

    2011-07-01

    Multibody contact problems are common within the field of multiphysics simulation. Applications involving thermomechanical contact scenarios are also quite prevalent. Such problems can be challenging to solve due to the likelihood of thermal expansion affecting contact geometry which, in turn, can change the thermal behavior of the components being analyzed. This paper explores a simple model of a light water reactor nuclear reactor fuel rod, which consists of cylindrical pellets of uranium dioxide (UO2) fuel sealed within a Zircalloy cladding tube. The tube is initially filled with helium gas, which fills the gap between the pellets and cladding tube. Themore » accurate modeling of heat transfer across the gap between fuel pellets and the protective cladding is essential to understanding fuel performance, including cladding stress and behavior under irradiated conditions, which are factors that affect the lifetime of the fuel. The thermomechanical contact approach developed here is based on the mortar finite element method, where Lagrange multipliers are used to enforce weak continuity constraints at participating interfaces. In this formulation, the heat equation couples to linear mechanics through a thermal expansion term. Lagrange multipliers are used to formulate the continuity constraints for both heat flux and interface traction at contact interfaces. The resulting system of nonlinear algebraic equations are cast in residual form for solution of the transient problem. A Jacobian-free Newton Krylov method is used to provide for fully-coupled solution of the coupled thermal contact and heat equations.« less

  6. The effects of age and step length on joint kinematics and kinetics of large out-and-back steps.

    PubMed

    Schulz, Brian W; Ashton-Miller, James A; Alexander, Neil B

    2008-06-01

    Maximum step length (MSL) is a clinical test that has been shown to correlate with age, various measures of fall risk, and knee and hip joint extension speed, strength, and power capacities, but little is known about the kinematics and kinetics of the large out-and-back step utilized. Body motions and ground reaction forces were recorded for 11 unimpaired younger and 10 older women while attaining maximum step length. Joint kinematics and kinetics were calculated using inverse dynamics. The effects of age group and step length on the biomechanics of these large out-and-back steps were determined. Maximum step length was 40% greater in the younger than in the older women (P<0.0001). Peak knee and hip, but not ankle, angle, velocity, moment, and power were generally greater for younger women and longer steps. After controlling for age group, step length generally explained significant additional variance in hip and torso kinematics and kinetics (incremental R2=0.09-0.37). The young reached their peak knee extension moment immediately after landing of the step out, while the old reached their peak knee extension moment just before the return step liftoff (P=0.03). Maximum step length is strongly associated with hip kinematics and kinetics. Delays in peak knee extension moment that appear to be unrelated to step length, may indicate a reduced ability of older women to rapidly apply force to the ground with the stepping leg and thus arrest the momentum of a fall.

  7. The effects of age and step length on joint kinematics and kinetics of large out-and-back steps

    PubMed Central

    Schulz, Brian W.; Ashton-Miller, James A.; Alexander, Neil B.

    2008-01-01

    Background Maximum Step Length is a clinical test that has been shown to correlate with age, various measures of fall risk, and knee and hip joint extension speed, strength, and power capacities, but little is known about the kinematics and kinetics of the large out-and-back step utilized. Methods Body motions and ground reaction forces were recorded for 11 unimpaired younger and 10 older women while attaining Maximum Step Length. Joint kinematics and kinetics were calculated using inverse dynamics. The effects of age group and step length on the biomechanics of these large out-and-back steps were determined. Findings Maximum Step Length was 40% greater in the younger than in the older women (p<0.0001). Peak knee and hip, but not ankle, angle, velocity, moment, and power were generally greater for younger women and longer steps. After controlling for age group, step length generally explained significant additional variance in hip and torso kinematics and kinetics (incremental R2=0.09–0.37). The young reached their peak knee extension moment immediately after landing of the step out, while the old reached their peak knee extension moment just before the return step lift off (p=0.03). Interpretation Maximum Step Length is strongly associated with hip kinematics and kinetics. Delays in peak knee extension moment that appear to be unrelated to step length, may indicate a reduced ability of older women to rapidly apply force to the ground with the stepping leg and thus arrest the momentum of a fall. PMID:18308435

  8. Differences in kinematic control of ankle joint motions in people with chronic ankle instability.

    PubMed

    Kipp, Kristof; Palmieri-Smith, Riann M

    2013-06-01

    People with chronic ankle instability display different ankle joint motions compared to healthy people. The purpose of this study was to investigate the strategies used to control ankle joint motions between a group of people with chronic ankle instability and a group of healthy, matched controls. Kinematic data were collected from 11 people with chronic ankle instability and 11 matched control subjects as they performed a single-leg land-and-cut maneuver. Three-dimensional ankle joint angles were calculated from 100 ms before, to 200 ms after landing. Kinematic control of the three rotational ankle joint degrees of freedom was investigated by simultaneously examining the three-dimensional co-variation of plantarflexion/dorsiflexion, toe-in/toe-out rotation, and inversion/eversion motions with principal component analysis. Group differences in the variance proportions of the first two principal components indicated that the angular co-variation between ankle joint motions was more linear in the control group, but more planar in the chronic ankle instability group. Frontal and transverse plane motions, in particular, contributed to the group differences in the linearity and planarity of angular co-variation. People with chronic ankle instability use a different kinematic control strategy to coordinate ankle joint motions during a single-leg landing task. Compared to the healthy group, the chronic ankle instability group's control strategy appeared to be more complex and involved joint-specific contributions that would tend to predispose this group to recurring episodes of instability. Copyright © 2013 Elsevier Ltd. All rights reserved.

  9. Altered neuromuscular control and ankle joint kinematics during walking in subjects with functional instability of the ankle joint.

    PubMed

    Delahunt, Eamonn; Monaghan, Kenneth; Caulfield, Brian

    2006-12-01

    The ankle joint requires very precise neuromuscular control during the transition from terminal swing to the early stance phase of the gait cycle. Altered ankle joint arthrokinematics and muscular activity have been cited as potential factors that may lead to an inversion sprain during the aforementioned time periods. However, to date, no study has investigated patterns of muscle activity and 3D joint kinematics simultaneously in a group of subjects with functional instability compared with a noninjured control group during these phases of the gait cycle. To compare the patterns of lower limb 3D joint kinematics and electromyographic activity during treadmill walking in a group of subjects with functional instability with those observed in a control group. Controlled laboratory study. Three-dimensional angular velocities and displacements of the hip, knee, and ankle joints, as well as surface electromyography of the rectus femoris, peroneus longus, tibialis anterior, and soleus muscles, were recorded simultaneously while subjects walked on a treadmill at a velocity of 4 km/h. Before heel strike, subjects with functional instability exhibited a decrease in vertical foot-floor clearance (12.62 vs 22.84 mm; P < .05), as well as exhibiting a more inverted position of the ankle joint before, at, and immediately after heel strike (1.69 degrees , 2.10 degrees , and -0.09 degrees vs -1.43 degrees , -1.43 degrees , and -2.78 degrees , respectively [minus value = eversion]; P < .05) compared with controls. Subjects with functional instability were also observed to have an increase in peroneus longus integral electromyography during the post-heel strike time period (107.91%.millisecond vs 64.53%.millisecond; P < .01). The altered kinematics observed in this study could explain the reason subjects with functional instability experience repeated episodes of ankle inversion injury in situations with only slight or no external provocation. It is hypothesized that the observed

  10. A Study of Primary Collision Dynamics in Inverse-Kinematics Reaction of 78Kr on 40Ca at a Bombarding Energy of 10 MeV per Nucleon

    NASA Astrophysics Data System (ADS)

    Henry, Eric M.

    The CHIMERA multi-detector array at LNS Catania has been used to study the inverse-kinematics reaction of 78Kr + 40Ca at a bombarding energy of 10 A MeV. The multi-detector is capable of detecting individual products of the collision essential for the reconstruction of the collision dynamics. This is the first time CHIMERA has been used at low-energy, which offered a unique challenge for the calibration and interpretation of experimental data. Initial interrogation of the calibrated data revealed a class of selected events characterized by two coincident heavy fragments (atomic number Z>3) that together account for the majority of the total mass of the colliding system. These events are consistent with the complete fusion and subsequent binary split (fission) of a composite nucleus. The observed fission fragments are characterized by a broad A, Z distribution and are centered about symmetric fission while exhibiting relative velocities significantly higher than given by Viola systematics. Additional analysis of the kinematic relationship between the fission fragments was performed. Of note, is that the center-of-mass angular distribution (dsigma/dtheta) of the fission fragments exhibits an unexpected anisotropy inconsistent with a compound-nucleus reaction. This anisotropy is indicative of a dynamic fusion/fission-like process. The observed angular distribution features a forward-backward anisotropy most prevalent for mass-asymmetric events. Furthermore, the more massive fragment of mass-asymmetric events appears to emerge preferentially in the forward direction, along the beam axis. Analysis of the angular distribution of alpha particles emitted from these fission fragments suggests the events are associated mostly with central collisions. The observations associated with this subset of events are similar to those reported for dynamic fragmentation of projectile-like fragments, but have not before been observed for a fusion/fission-like process. Comparisons to

  11. GNSS Precise Kinematic Positioning for Multiple Kinematic Stations Based on A Priori Distance Constraints

    PubMed Central

    He, Kaifei; Xu, Tianhe; Förste, Christoph; Petrovic, Svetozar; Barthelmes, Franz; Jiang, Nan; Flechtner, Frank

    2016-01-01

    When applying the Global Navigation Satellite System (GNSS) for precise kinematic positioning in airborne and shipborne gravimetry, multiple GNSS receiving equipment is often fixed mounted on the kinematic platform carrying the gravimetry instrumentation. Thus, the distances among these GNSS antennas are known and invariant. This information can be used to improve the accuracy and reliability of the state estimates. For this purpose, the known distances between the antennas are applied as a priori constraints within the state parameters adjustment. These constraints are introduced in such a way that their accuracy is taken into account. To test this approach, GNSS data of a Baltic Sea shipborne gravimetric campaign have been used. The results of our study show that an application of distance constraints improves the accuracy of the GNSS kinematic positioning, for example, by about 4 mm for the radial component. PMID:27043580

  12. GNSS Precise Kinematic Positioning for Multiple Kinematic Stations Based on A Priori Distance Constraints.

    PubMed

    He, Kaifei; Xu, Tianhe; Förste, Christoph; Petrovic, Svetozar; Barthelmes, Franz; Jiang, Nan; Flechtner, Frank

    2016-04-01

    When applying the Global Navigation Satellite System (GNSS) for precise kinematic positioning in airborne and shipborne gravimetry, multiple GNSS receiving equipment is often fixed mounted on the kinematic platform carrying the gravimetry instrumentation. Thus, the distances among these GNSS antennas are known and invariant. This information can be used to improve the accuracy and reliability of the state estimates. For this purpose, the known distances between the antennas are applied as a priori constraints within the state parameters adjustment. These constraints are introduced in such a way that their accuracy is taken into account. To test this approach, GNSS data of a Baltic Sea shipborne gravimetric campaign have been used. The results of our study show that an application of distance constraints improves the accuracy of the GNSS kinematic positioning, for example, by about 4 mm for the radial component.

  13. Kinematic modeling of a double octahedral Variable Geometry Truss (VGT) as an extensible gimbal

    NASA Technical Reports Server (NTRS)

    Williams, Robert L., II

    1994-01-01

    This paper presents the complete forward and inverse kinematics solutions for control of the three degree-of-freedom (DOF) double octahedral variable geometry truss (VGT) module as an extensible gimbal. A VGT is a truss structure partially comprised of linearly actuated members. A VGT can be used as joints in a large, lightweight, high load-bearing manipulator for earth- and space-based remote operations, plus industrial applications. The results have been used to control the NASA VGT hardware as an extensible gimbal, demonstrating the capability of this device to be a joint in a VGT-based manipulator. This work is an integral part of a VGT-based manipulator design, simulation, and control tool.

  14. Effects of the AirLift PTTD brace on foot kinematics in subjects with stage II posterior tibial tendon dysfunction.

    PubMed

    Neville, Christopher; Flemister, A Samuel; Houck, Jeff R

    2009-03-01

    Experimental laboratory study. To investigate the effect of inflation of the air bladder component of the AirLift PTTD brace on relative foot kinematics in subjects with stage II posterior tibial tendon dysfunction (PTTD). Orthotic devices are commonly recommended in the conservative management of stage II PTTD to improve foot kinematics. Ten female subjects with stage II PTTD walked in the laboratory wearing the AirLift PTTD brace during 3 testing conditions (air bladder inflation to 0, 4, and 7 PSI [SI equivalent: 0, 27,579, and 48,263 Pa]). Kinematics were recorded from the tibia, calcaneus (hindfoot), and first metatarsal (forefoot), using an Optotrak motion analysis system. Comparisons were made between air bladder inflation and the 0-PSI condition for each of the dependent kinematic variables (hindfoot eversion, forefoot abduction, and forefoot dorsiflexion). Greater hindfoot inversion was observed with air bladder inflation during the second rocker (mean, 1.7 degrees; range, -0.7 degrees to 6.1 degrees). Less consistent changes in forefoot plantar flexion and forefoot adduction occurred with air bladder inflation. The greatest change toward forefoot plantar flexion was observed during the third rocker (mean, 1.4 degrees; range, -3.8 degrees to 3.9 degrees). The greatest change towards adduction was observed during the third rocker (mean, 2.3 degrees; range, -3.4 degrees to 6.5 degrees). On average, the air bladder component of the AirLift PTTD brace was successful in reducing the amount of hindfoot eversion observed in subjects with stage II PTTD; however, the effect on forefoot motion was more variable. Some subjects tested had marked improvement in foot kinematics, while 2 subjects demonstrated negative results. Specific foot characteristics are hypothesized to explain these varied results.

  15. Forward and Inverse Predictive Model for the Trajectory Tracking Control of a Lower Limb Exoskeleton for Gait Rehabilitation: Simulation modelling analysis

    NASA Astrophysics Data System (ADS)

    Zakaria, M. A.; Majeed, A. P. P. A.; Taha, Z.; Alim, M. M.; Baarath, K.

    2018-03-01

    The movement of a lower limb exoskeleton requires a reasonably accurate control method to allow for an effective gait therapy session to transpire. Trajectory tracking is a nontrivial means of passive rehabilitation technique to correct the motion of the patients’ impaired limb. This paper proposes an inverse predictive model that is coupled together with the forward kinematics of the exoskeleton to estimate the behaviour of the system. A conventional PID control system is used to converge the required joint angles based on the desired input from the inverse predictive model. It was demonstrated through the present study, that the inverse predictive model is capable of meeting the trajectory demand with acceptable error tolerance. The findings further suggest the ability of the predictive model of the exoskeleton to predict a correct joint angle command to the system.

  16. Waveform inversion for orthorhombic anisotropy with P waves: feasibility and resolution

    NASA Astrophysics Data System (ADS)

    Kazei, Vladimir; Alkhalifah, Tariq

    2018-05-01

    Various parametrizations have been suggested to simplify inversions of first arrivals, or P waves, in orthorhombic anisotropic media, but the number and type of retrievable parameters have not been decisively determined. We show that only six parameters can be retrieved from the dynamic linearized inversion of P waves. These parameters are different from the six parameters needed to describe the kinematics of P waves. Reflection-based radiation patterns from the P-P scattered waves are remapped into the spectral domain to allow for our resolution analysis based on the effective angle of illumination concept. Singular value decomposition of the spectral sensitivities from various azimuths, offset coverage scenarios and data bandwidths allows us to quantify the resolution of different parametrizations, taking into account the signal-to-noise ratio in a given experiment. According to our singular value analysis, when the primary goal of inversion is determining the velocity of the P waves, gradually adding anisotropy of lower orders (isotropic, vertically transversally isotropic and orthorhombic) in hierarchical parametrization is the best choice. Hierarchical parametrization reduces the trade-off between the parameters and makes gradual introduction of lower anisotropy orders straightforward. When all the anisotropic parameters affecting P-wave propagation need to be retrieved simultaneously, the classic parametrization of orthorhombic medium with elastic stiffness matrix coefficients and density is a better choice for inversion. We provide estimates of the number and set of parameters that can be retrieved from surface seismic data in different acquisition scenarios. To set up an inversion process, the singular values determine the number of parameters that can be inverted and the resolution matrices from the parametrizations can be used to ascertain the set of parameters that can be resolved.

  17. First metatarsophalangeal joint motion in Homo sapiens: theoretical association of two-axis kinematics and specific morphometrics.

    PubMed

    Durrant, Michael N; McElroy, Tucker; Durrant, Lara

    2012-01-01

    The metatarsal head and proximal phalanx exhibit considerable asymmetry in their shape and geometry, but there is little documentation in the literature regarding the prevalence of structural characteristics that occur in a given population. Although there is a considerable volume of in vivo and in vitro experiments demonstrating first metatarsal inversion around its longitudinal axis with dorsiflexion, little is known regarding the applicability of specific morphometrics to these motions. Nine distinctive osseous characteristics in the metatarsal head and phalanx were selected based on their location, geometry, and perceived functional relationship to previous studies describing metatarsal motion as inversion with dorsiflexion. The prevalences of the chosen characteristics were determined in a cohort of 21 randomly selected skeletal specimens, 19 of which were provided by the anatomical preparation office at the University of California, San Diego, and two of which were in the possession of one of us (M.D.). The frequency of occurrence of each selected morphological characteristic in this sample and the relevant summary statistics confirm a strong association between the selected features and a conceptual two-axis kinematic model of the metatarsophalangeal joint. The selected morphometrics are consistent with inversion of the metatarsal around its longitudinal axis as it dorsiflexes.

  18. "Spilling Over": Fish Swimming Kinematics in Cylinder Wakes

    NASA Astrophysics Data System (ADS)

    Wilson, C. A.; Muhawenimana, V.; Cable, J.

    2016-12-01

    Our understanding of fish swimming kinematics and behaviour in turbulent altered and pseudo-natural flows remains incomplete. This study aims to examine velocity, turbulence and wake metrics that govern fish stability and other behavioural traits in the turbulent wake of a horizontal cylinder. In a free surface flume, the swimming behaviour of Nile tilapia (Oreochromis niloticus, Silver strain) was monitored over a range of cylinder diameter (D) Reynolds numbers from 2.8 x103 to 25.8 x103. Spills, defined as loss of both balance and posture, were inversely correlated with fish length and weight; where smaller fish in the 50th percentile of standard length, lost balance more often and accounted for 65% of the total number (533) of spills. Additionally, the bigger fish in the 95th percentile, experienced <0.5% of all recorded spills. Such findings are in keeping with a previous study where the spill occurrence increased with decreasing fish length to eddy size ratio. Fish spent the majority of station holding time within a two diameter (2D) distance closest to the flume bed and in a downstream distance of 3D to 6D from the cylinder. The frequency of occurrence of spills increased with increasing Reynolds number for the whole fish population until an intermediate Reynolds number of 11.5 x103 was reached, where the frequency in spills steadily declined with increasing Reynolds number until the end of the test duration. The spill frequency-Reynolds number relationship indicates a shift in cylinder wake dynamics. Further analysis of the measured velocity statistics will help determine the intensity, periodicity and the turbulence length scale of the wake structure and their correlations with the observed fish swimming kinematics.

  19. Gemini NIFS survey of feeding and feedback processes in nearby active galaxies - I. Stellar kinematics

    NASA Astrophysics Data System (ADS)

    Riffel, Rogemar A.; Storchi-Bergmann, Thaisa; Riffel, Rogerio; Dahmer-Hahn, Luis G.; Diniz, Marlon R.; Schönell, Astor J.; Dametto, Natacha Z.

    2017-09-01

    We use the Gemini Near-Infrared Integral Field Spectrograph (NIFS) to map the stellar kinematics of the inner few hundred parsecs of a sample of 16 nearby Seyfert galaxies, at a spatial resolution of tens of parsecs and spectral resolution of 40 km s- 1. We find that the line-of-sight (LOS) velocity fields for most galaxies are well reproduced by rotating disc models. The kinematic position angle (PA) derived for the LOS velocity field is consistent with the large-scale photometric PA. The residual velocities are correlated with the hard X-ray luminosity, suggesting that more luminous active galactic nuclei have a larger impact in the surrounding stellar dynamics. The central velocity dispersion values are usually higher than the rotation velocity amplitude, what we attribute to the strong contribution of bulge kinematics in these inner regions. For 50 per cent of the galaxies, we find an inverse correlation between the velocities and the h3 Gauss-Hermitte moment, implying red wings in the blueshifted side and blue wings in the redshifted side of the velocity field, attributed to the movement of the bulge stars lagging the rotation. Two of the 16 galaxies (NGC 5899 and Mrk 1066) show an S-shape zero velocity line, attributed to the gravitational potential of a nuclear bar. Velocity dispersion (σ) maps show rings of low-σ values (˜50-80 km s- 1) for four objects and 'patches' of low σ for six galaxies at 150-250 pc from the nucleus, attributed to young/ intermediate age stellar populations.

  20. Kinematic reconstruction in cardiovascular imaging.

    PubMed

    Bastarrika, G; Huebra Rodríguez, I J González de la; Calvo-Imirizaldu, M; Suárez Vega, V M; Alonso-Burgos, A

    2018-05-17

    Advances in clinical applications of computed tomography have been accompanied by improvements in advanced post-processing tools. In addition to multiplanar reconstructions, curved planar reconstructions, maximum intensity projections, and volumetric reconstructions, very recently kinematic reconstruction has been developed. This new technique, based on mathematical models that simulate the propagation of light beams through a volume of data, makes it possible to obtain very realistic three dimensional images. This article illustrates examples of kinematic reconstructions and compares them with classical volumetric reconstructions in patients with cardiovascular disease in a way that makes it easy to establish the differences between the two types of reconstruction. Kinematic reconstruction is a new method for representing three dimensional images that facilitates the explanation and comprehension of the findings. Copyright © 2018 SERAM. Publicado por Elsevier España, S.L.U. All rights reserved.

  1. Upper-limb kinematic reconstruction during stroke robot-aided therapy.

    PubMed

    Papaleo, E; Zollo, L; Garcia-Aracil, N; Badesa, F J; Morales, R; Mazzoleni, S; Sterzi, S; Guglielmelli, E

    2015-09-01

    The paper proposes a novel method for an accurate and unobtrusive reconstruction of the upper-limb kinematics of stroke patients during robot-aided rehabilitation tasks with end-effector machines. The method is based on a robust analytic procedure for inverse kinematics that simply uses, in addition to hand pose data provided by the robot, upper arm acceleration measurements for computing a constraint on elbow position; it is exploited for task space augmentation. The proposed method can enable in-depth comprehension of planning strategy of stroke patients in the joint space and, consequently, allow developing therapies tailored for their residual motor capabilities. The experimental validation has a twofold purpose: (1) a comparative analysis with an optoelectronic motion capturing system is used to assess the method capability to reconstruct joint motion; (2) the application of the method to healthy and stroke subjects during circle-drawing tasks with InMotion2 robot is used to evaluate its efficacy in discriminating stroke from healthy behavior. The experimental results have shown that arm angles are reconstructed with a RMSE of 8.3 × 10(-3) rad. Moreover, the comparison between healthy and stroke subjects has revealed different features in the joint space in terms of mean values and standard deviations, which also allow assessing inter- and intra-subject variability. The findings of this study contribute to the investigation of motor performance in the joint space and Cartesian space of stroke patients undergoing robot-aided therapy, thus allowing: (1) evaluating the outcomes of the therapeutic approach, (2) re-planning the robotic treatment based on patient needs, and (3) understanding pathology-related motor strategies.

  2. Chimpanzee ankle and foot joint kinematics: Arboreal versus terrestrial locomotion.

    PubMed

    Holowka, Nicholas B; O'Neill, Matthew C; Thompson, Nathan E; Demes, Brigitte

    2017-09-01

    Many aspects of chimpanzee ankle and midfoot joint morphology are believed to reflect adaptations for arboreal locomotion. However, terrestrial travel also constitutes a significant component of chimpanzee locomotion, complicating functional interpretations of chimpanzee and fossil hominin foot morphology. Here we tested hypotheses of foot motion and, in keeping with general assumptions, we predicted that chimpanzees would use greater ankle and midfoot joint ranges of motion during travel on arboreal supports than on the ground. We used a high-speed motion capture system to measure three-dimensional kinematics of the ankle and midfoot joints in two male chimpanzees during three locomotor modes: terrestrial quadrupedalism on a flat runway, arboreal quadrupedalism on a horizontally oriented tree trunk, and climbing on a vertically oriented tree trunk. Chimpanzees used relatively high ankle joint dorsiflexion angles during all three locomotor modes, although dorsiflexion was greatest in arboreal modes. They used higher subtalar joint coronal plane ranges of motion during terrestrial and arboreal quadrupedalism than during climbing, due in part to their use of high eversion angles in the former. Finally, they used high midfoot inversion angles during arboreal locomotor modes, but used similar midfoot sagittal plane kinematics across all locomotor modes. The results indicate that chimpanzees use large ranges of motion at their various ankle and midfoot joints during both terrestrial and arboreal locomotion. Therefore, we argue that chimpanzee foot anatomy enables a versatile locomotor repertoire, and urge caution when using foot joint morphology to reconstruct arboreal behavior in fossil hominins. © 2017 Wiley Periodicals, Inc.

  3. Coordinated Control of a Planar Dual-Crane Non-Fully Restrained System

    DTIC Science & Technology

    2008-12-01

    Support Over-The-Shore (HSOTS) 2007 in Puerto Quetzal , Guatemala. . . . . . . . . . . . . . 30 Figure 27. Reference frame and coordinate definitions...2007 in Puerto Quetzal , Guatemala. 30 require the construction an inverse of the Jacobian, but rather the transpose only. It is noted that the effector

  4. Influence of Gridded Standoff Measurement Resolution on Numerical Bathymetric Inversion

    NASA Astrophysics Data System (ADS)

    Hesser, T.; Farthing, M. W.; Brodie, K.

    2016-02-01

    The bathymetry from the surfzone to the shoreline incurs frequent, active movement due to wave energy interacting with the seafloor. Methodologies to measure bathymetry range from point-source in-situ instruments, vessel-mounted single-beam or multi-beam sonar surveys, airborne bathymetric lidar, as well as inversion techniques from standoff measurements of wave processes from video or radar imagery. Each type of measurement has unique sources of error and spatial and temporal resolution and availability. Numerical bathymetry estimation frameworks can use these disparate data types in combination with model-based inversion techniques to produce a "best-estimate of bathymetry" at a given time. Understanding how the sources of error and varying spatial or temporal resolution of each data type affect the end result is critical for determining best practices and in turn increase the accuracy of bathymetry estimation techniques. In this work, we consider an initial step in the development of a complete framework for estimating bathymetry in the nearshore by focusing on gridded standoff measurements and in-situ point observations in model-based inversion at the U.S. Army Corps of Engineers Field Research Facility in Duck, NC. The standoff measurement methods return wave parameters computed using linear wave theory from the direct measurements. These gridded datasets can range in temporal and spatial resolution that do not match the desired model parameters and therefore could lead to a reduction in the accuracy of these methods. Specifically, we investigate the affect of numerical resolution on the accuracy of an Ensemble Kalman Filter bathymetric inversion technique in relation to the spatial and temporal resolution of the gridded standoff measurements. The accuracies of the bathymetric estimates are compared with both high-resolution Real Time Kinematic (RTK) single-beam surveys as well as alternative direct in-situ measurements using sonic altimeters.

  5. Camera-Only Kinematics for Small Lunar Rovers

    NASA Astrophysics Data System (ADS)

    Fang, E.; Suresh, S.; Whittaker, W.

    2016-11-01

    Knowledge of the kinematic state of rovers is critical. Existing methods add sensors and wiring to moving parts, which can fail and adds mass and volume. This research presents a method to optically determine kinematic state using a single camera.

  6. Effect of neck muscle strength and anticipatory cervical muscle activation on the kinematic response of the head to impulsive loads.

    PubMed

    Eckner, James T; Oh, Youkeun K; Joshi, Monica S; Richardson, James K; Ashton-Miller, James A

    2014-03-01

    Greater neck strength and activating the neck muscles to brace for impact are both thought to reduce an athlete's risk of concussion during a collision by attenuating the head's kinematic response after impact. However, the literature reporting the neck's role in controlling postimpact head kinematics is mixed. Furthermore, these relationships have not been examined in the coronal or transverse planes or in pediatric athletes. In each anatomic plane, peak linear velocity (ΔV) and peak angular velocity (Δω) of the head are inversely related to maximal isometric cervical muscle strength in the opposing direction (H1). Under impulsive loading, ΔV and Δω will be decreased during anticipatory cervical muscle activation compared with the baseline state (H2). Descriptive laboratory study. Maximum isometric neck strength was measured in each anatomic plane in 46 male and female contact sport athletes aged 8 to 30 years. A loading apparatus applied impulsive test forces to athletes' heads in flexion, extension, lateral flexion, and axial rotation during baseline and anticipatory cervical muscle activation conditions. Multivariate linear mixed models were used to determine the effects of neck strength and cervical muscle activation on head ΔV and Δω. Greater isometric neck strength and anticipatory activation were independently associated with decreased head ΔV and Δω after impulsive loading across all planes of motion (all P < .001). Inverse relationships between neck strength and head ΔV and Δω presented moderately strong effect sizes (r = 0.417 to r = 0.657), varying by direction of motion and cervical muscle activation. In male and female athletes across the age spectrum, greater neck strength and anticipatory cervical muscle activation ("bracing for impact") can reduce the magnitude of the head's kinematic response. Future studies should determine whether neck strength contributes to the observed sex and age group differences in concussion incidence. Neck

  7. Validation and structural analysis of the kinematics concept test

    NASA Astrophysics Data System (ADS)

    Lichtenberger, A.; Wagner, C.; Hofer, S. I.; Stern, E.; Vaterlaus, A.

    2017-06-01

    The kinematics concept test (KCT) is a multiple-choice test designed to evaluate students' conceptual understanding of kinematics at the high school level. The test comprises 49 multiple-choice items about velocity and acceleration, which are based on seven kinematic concepts and which make use of three different representations. In the first part of this article we describe the development and the validation process of the KCT. We applied the KCT to 338 Swiss high school students who attended traditional teaching in kinematics. We analyzed the response data to provide the psychometric properties of the test. In the second part we present the results of a structural analysis of the test. An exploratory factor analysis of 664 student answers finally uncovered the seven kinematics concepts as factors. However, the analysis revealed a hierarchical structure of concepts. At the higher level, mathematical concepts group together, and then split up into physics concepts at the lower level. Furthermore, students who seem to understand a concept in one representation have difficulties transferring the concept to similar problems in another representation. Both results have implications for teaching kinematics. First, teaching mathematical concepts beforehand might be beneficial for learning kinematics. Second, instructions have to be designed to teach students the change between different representations.

  8. Validation and Structural Analysis of the Kinematics Concept Test

    ERIC Educational Resources Information Center

    Lichtenberger, A.; Wagner, C.; Hofer, S. I.; Stem, E.; Vaterlaus, A.

    2017-01-01

    The kinematics concept test (KCT) is a multiple-choice test designed to evaluate students' conceptual understanding of kinematics at the high school level. The test comprises 49 multiple-choice items about velocity and acceleration, which are based on seven kinematic concepts and which make use of three different representations. In the first part…

  9. Dynamic Shape Reconstruction of Three-Dimensional Frame Structures Using the Inverse Finite Element Method

    NASA Technical Reports Server (NTRS)

    Gherlone, Marco; Cerracchio, Priscilla; Mattone, Massimiliano; Di Sciuva, Marco; Tessler, Alexander

    2011-01-01

    A robust and efficient computational method for reconstructing the three-dimensional displacement field of truss, beam, and frame structures, using measured surface-strain data, is presented. Known as shape sensing , this inverse problem has important implications for real-time actuation and control of smart structures, and for monitoring of structural integrity. The present formulation, based on the inverse Finite Element Method (iFEM), uses a least-squares variational principle involving strain measures of Timoshenko theory for stretching, torsion, bending, and transverse shear. Two inverse-frame finite elements are derived using interdependent interpolations whose interior degrees-of-freedom are condensed out at the element level. In addition, relationships between the order of kinematic-element interpolations and the number of required strain gauges are established. As an example problem, a thin-walled, circular cross-section cantilevered beam subjected to harmonic excitations in the presence of structural damping is modeled using iFEM; where, to simulate strain-gauge values and to provide reference displacements, a high-fidelity MSC/NASTRAN shell finite element model is used. Examples of low and high-frequency dynamic motion are analyzed and the solution accuracy examined with respect to various levels of discretization and the number of strain gauges.

  10. Kinematic Downsizing at z ˜ 2

    NASA Astrophysics Data System (ADS)

    Simons, Raymond C.; Kassin, Susan A.; Trump, Jonathan R.; Weiner, Benjamin J.; Heckman, Timothy M.; Barro, Guillermo; Koo, David C.; Guo, Yicheng; Pacifici, Camilla; Koekemoer, Anton; Stephens, Andrew W.

    2016-10-01

    We present results from a survey of the internal kinematics of 49 star-forming galaxies at z˜ 2 in the CANDELS fields with the Keck/MOSFIRE spectrograph, Survey in the near-Infrared of Galaxies with Multiple position Angles (SIGMA). Kinematics (rotation velocity V rot and gas velocity dispersion {σ }g) are measured from nebular emission lines which trace the hot ionized gas surrounding star-forming regions. We find that by z˜ 2, massive star-forming galaxies ({log} {M}* /{M}⊙ ≳ 10.2) have assembled primitive disks: their kinematics are dominated by rotation, they are consistent with a marginally stable disk model, and they form a Tully-Fisher relation. These massive galaxies have values of {V}{rot}/{σ }g that are factors of 2-5 lower than local well-ordered galaxies at similar masses. Such results are consistent with findings by other studies. We find that low-mass galaxies ({log} {M}* /{M}⊙ ≲ 10.2) at this epoch are still in the early stages of disk assembly: their kinematics are often dominated by gas velocity dispersion and they fall from the Tully-Fisher relation to significantly low values of V rot. This “kinematic downsizing” implies that the process(es) responsible for disrupting disks at z˜ 2 have a stronger effect and/or are more active in low-mass systems. In conclusion, we find that the period of rapid stellar mass growth at z˜ 2 is coincident with the nascent assembly of low-mass disks and the assembly and settling of high-mass disks.

  11. Gait Kinematic Analysis in Water Using Wearable Inertial Magnetic Sensors.

    PubMed

    Fantozzi, Silvia; Giovanardi, Andrea; Borra, Davide; Gatta, Giorgio

    2015-01-01

    Walking is one of the fundamental motor tasks executed during aquatic therapy. Previous kinematics analyses conducted using waterproofed video cameras were limited to the sagittal plane and to only one or two consecutive steps. Furthermore, the set-up and post-processing are time-consuming and thus do not allow a prompt assessment of the correct execution of the movements during the aquatic session therapy. The aim of the present study was to estimate the 3D joint kinematics of the lower limbs and thorax-pelvis joints in sagittal and frontal planes during underwater walking using wearable inertial and magnetic sensors. Eleven healthy adults were measured during walking both in shallow water and in dry-land conditions. Eight wearable inertial and magnetic sensors were inserted in waterproofed boxes and fixed to the body segments by means of elastic modular bands. A validated protocol (Outwalk) was used. Gait cycles were automatically segmented and selected if relevant intraclass correlation coefficients values were higher than 0.75. A total of 704 gait cycles for the lower limb joints were normalized in time and averaged to obtain the mean cycle of each joint, among participants. The mean speed in water was 40% lower than that of the dry-land condition. Longer stride duration and shorter stride distance were found in the underwater walking. In the sagittal plane, the knee was more flexed (≈ 23°) and the ankle more dorsiflexed (≈ 9°) at heel strike, and the hip was more flexed at toe-off (≈ 13°) in water than on land. On the frontal plane in the underwater walking, smoother joint angle patterns were observed for thorax-pelvis and hip, and ankle was more inversed at toe-off (≈ 7°) and showed a more inversed mean value (≈ 7°). The results were mainly explained by the effect of the speed in the water as supported by the linear mixed models analysis performed. Thus, it seemed that the combination of speed and environment triggered modifications in the

  12. Kinematic source inversion of the 2017 Puebla-Morelos, Mexico earthquake (2017/09/19, Mw.7.1)

    NASA Astrophysics Data System (ADS)

    Iglesias, A.; Castro-Artola, O.; Hjorleifsdottir, V.; Singh, S. K.; Ji, C.; Franco-Sánchez, S. I.

    2017-12-01

    On September 19th 2017, an Mw 7.1 earthquake struck Central Mexico, causing severe damage in the epicentral region, especially in several small and medium size houses as well as historical buildings like churches and government offices. In Mexico City, at a distance of 100km from the epicenter, 38 buildings collapsed. Authorities reported that 369 persons were killed by the earthquake (> 60% in the Mexico City). We determined the hypocentral location (18.406N, 98.706W, d=57km), from regional data, situating this earthquake inside the subducted Cocos Plate, with a normal fault mechanism (Globalcmt: =300°, =44°, and =-82°). In this presentation we show the the slip on the fault plane, determined by 1) a frequency-domain inversion using local and regional acceleration records that have been numerically integrated twice and bandpass filtered between 2 and 30, and 2) a wavelet domain inversion using teleseismic body and surface-waves, filtered between 1-100 s and 50-150 s respectively, as well as static offsets. In both methods the fault plane is divided into subfaults, and for each subfault we invert for the average slip, and timing of initiation of slip. In the first method the slip direction is fixed to the ? direction and we invert for the rise time. In the second method the direction of slip is estimated, with values between -90 and +90 allowed, and the time history is an asymmetric cosine time function, for which we determine the "rise" and "fall" durations. For both methods, synthetic seismograms, based on the GlobalCMT focal mechanism, are computed for each subfault-station pair and for three components (Z, N-S, EW). Preliminary results, using local data, show some slip concentrated close to the hypocentral location and a large patch 20 km in NW direction far from the origin. Using teleseismic data, it is difficult to distinguish between the two fault planes, as the waveforms are equally well fit using either one of them. However, both are consistent with a

  13. Kinematic fingerprint of core-collapsed globular clusters

    NASA Astrophysics Data System (ADS)

    Bianchini, P.; Webb, J. J.; Sills, A.; Vesperini, E.

    2018-03-01

    Dynamical evolution drives globular clusters towards core collapse, which strongly shapes their internal properties. Diagnostics of core collapse have so far been based on photometry only, namely on the study of the concentration of the density profiles. Here, we present a new method to robustly identify core-collapsed clusters based on the study of their stellar kinematics. We introduce the kinematic concentration parameter, ck, the ratio between the global and local degree of energy equipartition reached by a cluster, and show through extensive direct N-body simulations that clusters approaching core collapse and in the post-core collapse phase are strictly characterized by ck > 1. The kinematic concentration provides a suitable diagnostic to identify core-collapsed clusters, independent from any other previous methods based on photometry. We also explore the effects of incomplete radial and stellar mass coverage on the calculation of ck and find that our method can be applied to state-of-art kinematic data sets.

  14. Kinematic hardening of a porous limestone

    NASA Astrophysics Data System (ADS)

    Cheatham, J. B.; Allen, M. B.; Celle, C. C.

    1984-10-01

    A concept for a kinematic hardening yield surface in stress space for Cordova Cream limestone (Austin Chalk) developed by Celle and Cheatham (1981) has been improved using Ziegler's modification of Prager's hardening rule (Ziegler, 1959). Data to date agree with the formulated concepts. It is shown how kinematic hardening can be used to approximate the yield surface for a wide range of stress states past the initial yield surface. The particular difficulty of identifying the yield surface under conditions of unloading or extension is noted. A yield condition and hardening rule which account for the strain induced anisotropy in Cordova Cream Limestone were developed. Although the actual yield surface appears to involve some change of size and shape, it is concluded that true kinematic hardening provides a basis for engineering calculations.

  15. Multibody Kinematics Optimization for the Estimation of Upper and Lower Limb Human Joint Kinematics: A Systematized Methodological Review.

    PubMed

    Begon, Mickaël; Andersen, Michael Skipper; Dumas, Raphaël

    2018-03-01

    Multibody kinematics optimization (MKO) aims to reduce soft tissue artefact (STA) and is a key step in musculoskeletal modeling. The objective of this review was to identify the numerical methods, their validation and performance for the estimation of the human joint kinematics using MKO. Seventy-four papers were extracted from a systematized search in five databases and cross-referencing. Model-derived kinematics were obtained using either constrained optimization or Kalman filtering to minimize the difference between measured (i.e., by skin markers, electromagnetic or inertial sensors) and model-derived positions and/or orientations. While hinge, universal, and spherical joints prevail, advanced models (e.g., parallel and four-bar mechanisms, elastic joint) have been introduced, mainly for the knee and shoulder joints. Models and methods were evaluated using: (i) simulated data based, however, on oversimplified STA and joint models; (ii) reconstruction residual errors, ranging from 4 mm to 40 mm; (iii) sensitivity analyses which highlighted the effect (up to 36 deg and 12 mm) of model geometrical parameters, joint models, and computational methods; (iv) comparison with other approaches (i.e., single body kinematics optimization and nonoptimized kinematics); (v) repeatability studies that showed low intra- and inter-observer variability; and (vi) validation against ground-truth bone kinematics (with errors between 1 deg and 22 deg for tibiofemoral rotations and between 3 deg and 10 deg for glenohumeral rotations). Moreover, MKO was applied to various movements (e.g., walking, running, arm elevation). Additional validations, especially for the upper limb, should be undertaken and we recommend a more systematic approach for the evaluation of MKO. In addition, further model development, scaling, and personalization methods are required to better estimate the secondary degrees-of-freedom (DoF).

  16. A Novel Algorithm for the Generation of Distinct Kinematic Chain

    NASA Astrophysics Data System (ADS)

    Medapati, Sreenivasa Reddy; Kuchibhotla, Mallikarjuna Rao; Annambhotla, Balaji Srinivasa Rao

    2016-07-01

    Generation of distinct kinematic chains is an important topic in the design of mechanisms for various industrial applications i.e., robotic manipulator, tractor, crane etc. Many researchers have intently focused on this area and explained various processes of generating distinct kinematic chains which are laborious and complex. It is desirable to enumerate the kinematic chains systematically to know the inherent characteristics of a chain related to its structure so that all the distinct chains can be analyzed in depth, prior to the selection of a chain for a purpose. This paper proposes a novel and simple method with set of rules defined to eliminate isomorphic kinematic chains generating distinct kinematic chains. Also, this method simplifies the process of generating distinct kinematic chains even at higher levels i.e., 10-link, 11-link with single and multiple degree of freedom.

  17. Exploring the Origin of Kinematically Irregular Galaxies with MaNGA

    NASA Astrophysics Data System (ADS)

    Stark, David Vincent; Bundy, Kevin; Westfall, Kyle; Bershady, Matthew; Cheung, Edmond; Soler, Juan; Brinchmann, Jarle; Abraham, Roberto; Bizyaev, Dmitry; Masters, Karen; Weijmans, Anne-Marie; Chen, Yanmei; Jin, Yifei; Drory, Niv; Lopes, Alexandre Roman; Law, David

    2018-01-01

    Deviations from normal rotation in galaxies may have a number of potential drivers, including tidal interactions, gas inflows/outflows, spiral structure, bar/oval distortions, or other internally generated instabilities. Thanks to new massive IFU surveys like MaNGA, we can now characterize the gas and stellar kinematics of thousands of galaxies in the local universe, enabling statistical analyses on the frequency of disturbed kinematics, their origin, and their impact on their host galaxies. We present a census of kinematics in MaNGA using a modified version of the Radon transform to map radial variations in kinematic position angles (PA). We discuss the frequency of kinematically irregular disks, and describe commonly observed patterns in radial PA profiles. In order to constrain the drivers of these kinematic signatures, we analyze how they correlate with galaxy mass, environment, star formation history, and gas-phase metallicity.

  18. A Novel Algorithm for the Generation of Distinct Kinematic Chain

    NASA Astrophysics Data System (ADS)

    Medapati, Sreenivasa Reddy; Kuchibhotla, Mallikarjuna Rao; Annambhotla, Balaji Srinivasa Rao

    2018-06-01

    Generation of distinct kinematic chains is an important topic in the design of mechanisms for various industrial applications i.e., robotic manipulator, tractor, crane etc. Many researchers have intently focused on this area and explained various processes of generating distinct kinematic chains which are laborious and complex. It is desirable to enumerate the kinematic chains systematically to know the inherent characteristics of a chain related to its structure so that all the distinct chains can be analyzed in depth, prior to the selection of a chain for a purpose. This paper proposes a novel and simple method with set of rules defined to eliminate isomorphic kinematic chains generating distinct kinematic chains. Also, this method simplifies the process of generating distinct kinematic chains even at higher levels i.e., 10-link, 11-link with single and multiple degree of freedom.

  19. The Relationships between Logical Thinking, Gender, and Kinematics Graph Interpretation Skills

    ERIC Educational Resources Information Center

    Bektasli, Behzat; White, Arthur L.

    2012-01-01

    Problem Statement: Kinematics is one of the topics in physics where graphs are used broadly. Kinematics includes many abstract formulas, and students usually try to solve problems with those formulas. However, using a kinematics graph instead of formulas might be a better option for problem solving in kinematics. Graphs are abstract…

  20. Mixed linear-nonlinear fault slip inversion: Bayesian inference of model, weighting, and smoothing parameters

    NASA Astrophysics Data System (ADS)

    Fukuda, J.; Johnson, K. M.

    2009-12-01

    Studies utilizing inversions of geodetic data for the spatial distribution of coseismic slip on faults typically present the result as a single fault plane and slip distribution. Commonly the geometry of the fault plane is assumed to be known a priori and the data are inverted for slip. However, sometimes there is not strong a priori information on the geometry of the fault that produced the earthquake and the data is not always strong enough to completely resolve the fault geometry. We develop a method to solve for the full posterior probability distribution of fault slip and fault geometry parameters in a Bayesian framework using Monte Carlo methods. The slip inversion problem is particularly challenging because it often involves multiple data sets with unknown relative weights (e.g. InSAR, GPS), model parameters that are related linearly (slip) and nonlinearly (fault geometry) through the theoretical model to surface observations, prior information on model parameters, and a regularization prior to stabilize the inversion. We present the theoretical framework and solution method for a Bayesian inversion that can handle all of these aspects of the problem. The method handles the mixed linear/nonlinear nature of the problem through combination of both analytical least-squares solutions and Monte Carlo methods. We first illustrate and validate the inversion scheme using synthetic data sets. We then apply the method to inversion of geodetic data from the 2003 M6.6 San Simeon, California earthquake. We show that the uncertainty in strike and dip of the fault plane is over 20 degrees. We characterize the uncertainty in the slip estimate with a volume around the mean fault solution in which the slip most likely occurred. Slip likely occurred somewhere in a volume that extends 5-10 km in either direction normal to the fault plane. We implement slip inversions with both traditional, kinematic smoothing constraints on slip and a simple physical condition of uniform stress

  1. Kinematic Evolution of Simulated Star-Forming Galaxies

    NASA Technical Reports Server (NTRS)

    Kassin, Susan A.; Brooks, Alyson; Governato, Fabio; Weiner, Benjamin J.; Gardner, Jonathan P.

    2014-01-01

    Recent observations have shown that star-forming galaxies like our own Milky Way evolve kinematically into ordered thin disks over the last approximately 8 billion years since z = 1.2, undergoing a process of "disk settling." For the first time, we study the kinematic evolution of a suite of four state of the art "zoom in" hydrodynamic simulations of galaxy formation and evolution in a fully cosmological context and compare with these observations. Until now, robust measurements of the internal kinematics of simulated galaxies were lacking as the simulations suffered from low resolution, overproduction of stars, and overly massive bulges. The current generation of simulations has made great progress in overcoming these difficulties and is ready for a kinematic analysis. We show that simulated galaxies follow the same kinematic trends as real galaxies: they progressively decrease in disordered motions (sigma(sub g)) and increase in ordered rotation (V(sub rot)) with time. The slopes of the relations between both sigma(sub g) and V(sub rot) with redshift are consistent between the simulations and the observations. In addition, the morphologies of the simulated galaxies become less disturbed with time, also consistent with observations. This match between the simulated and observed trends is a significant success for the current generation of simulations, and a first step in determining the physical processes behind disk settling.

  2. Analysis of kinematically redundant reaching movements using the equilibrium-point hypothesis.

    PubMed

    Cesari, P; Shiratori, T; Olivato, P; Duarte, M

    2001-03-01

    Six subjects performed a planar reaching arm movement to a target while unpredictable perturbations were applied to the endpoint; the perturbations consisted of pulling springs having different stiffness. Two conditions were applied; in the first, subjects had to reach for the target despite the perturbation, in the second condition, the subjects were asked to not correct the motion as a perturbation was applied. We analyzed the kinematics profiles of the three arm segments and, by means of inverse dynamics, calculated the joint torques. The framework of the equilibrium-point (EP) hypothesis, the lambda model, allowed the reconstruction of the control variables, the "equilibrium trajectories", in the "do not correct" condition for the wrist and the elbow joints as well as for the end point final position, while for the other condition, the reconstruction was less reliable. The findings support and extend to a multiple-joint planar movement, the paradigm of the EP hypothesis along with the "do not correct" instruction.

  3. Spatial variation of present-day stress field and tectonic regime in Tunisia and surroundings from formal inversion of focal mechanisms: Geodynamic implications for central Mediterranean

    NASA Astrophysics Data System (ADS)

    Soumaya, Abdelkader; Ben Ayed, Noureddine; Delvaux, Damien; Ghanmi, Mohamed

    2015-06-01

    We compiled 123 focal mechanisms from various sources for Tunisia and adjacent regions up to Sicily, to image the current stress field in the Maghrebides chain (from Tunisia to Sicily) and its foreland. Stress inversion of all the available data provides a first-order stress field with a N150°E horizontal compression (SHmax) and a transpressional tectonic regime, but the obtained stress tensor poorly fit to the data set. We separated them into regional subsets (boxes) in function of their geographical proximity, kinematic regime, homogeneity of kinematic orientations, and tectonic setting. Their respective inversion evidences second- and third-order spatial variations in tectonic regime and horizontal stress directions. The stress field gradually changes from compression in the Maghrebides thrust belt to transpression and strike slip in the Atlassic and Pelagian foreland, respectively, where preexisting NW-SE to E-W deep faults system are reactivated. This spatial variation of the sismotectonic stress field and tectonic regime is consistent with the neotectonic stress field determined by others from fault slip data. The major Slab Transfer Edge Propagator faults (i.e., North-South Axis-Hammamet relay and Malte Escarpment), which laterally delimit the subducting slabs, play an active role in second- and third-order lateral variations of the tectonic regime and stress field orientations over the Tunisian/Sicilian domain. The past and current tectonic deformations and kinematics of the central Mediterranean are subordinately guided by the plate convergence (i.e., Africa-Eurasia), controlled or influenced by lateral slab migration/segmentation and by deep dynamics such as lithosphere-mantle interaction.

  4. Kinematic models of the upper limb joints for multibody kinematics optimisation: An overview.

    PubMed

    Duprey, Sonia; Naaim, Alexandre; Moissenet, Florent; Begon, Mickaël; Chèze, Laurence

    2017-09-06

    Soft tissue artefact (STA), i.e. the motion of the skin, fat and muscles gliding on the underlying bone, may lead to a marker position error reaching up to 8.7cm for the particular case of the scapula. Multibody kinematics optimisation (MKO) is one of the most efficient approaches used to reduce STA. It consists in minimising the distance between the positions of experimental markers on a subject skin and the simulated positions of the same markers embedded on a kinematic model. However, the efficiency of MKO directly relies on the chosen kinematic model. This paper proposes an overview of the different upper limb models available in the literature and a discussion about their applicability to MKO. The advantages of each joint model with respect to its biofidelity to functional anatomy are detailed both for the shoulder and the forearm areas. Models capabilities of personalisation and of adaptation to pathological cases are also discussed. Concerning model efficiency in terms of STA reduction in MKO algorithms, a lack of quantitative assessment in the literature is noted. In priority, future studies should concern the evaluation and quantification of STA reduction depending on upper limb joint constraints. Copyright © 2016 Elsevier Ltd. All rights reserved.

  5. Of cilium and flagellum kinematics

    NASA Astrophysics Data System (ADS)

    Bandyopadhyay, Promode R.; Hansen, Joshua C.

    2009-11-01

    The kinematics of propulsion of small animals such as paramecium and spermatozoa is considered. Larger scale models of the cilium and flagellum have been built and a four-motor apparatus has been constructed to reproduce their known periodic motions. The cilium model has transverse deformational ability in one plane only, while the flagellum model has such ability in two planes. When the flagellum model is given a push-pull in one diametral plane, instead of transverse deflection in one plane, it forms a coil. Berg & Anderson's postulation (Nature 245 1973) that a flagellum rotates, is recalled. The kinematics of cilia of paramecium, of the whipping motion of the spermatozoa flagella, and of the flapping motion (rolling and pitching) of the pectoral fins of much larger animals such penguins, have been reproduced in the same basic paramecium apparatus. The results suggest that each of the tiny individual paramecium propulsors have the intrinsic dormant kinematic and structural building blocks to optimize into higher Reynolds number propulsors. A synthetic hypothesis on how small might have become large is animated.

  6. Digital Filtering of Three-Dimensional Lower Extremity Kinematics: an Assessment

    PubMed Central

    Sinclair, Jonathan; Taylor, Paul John; Hobbs, Sarah Jane

    2013-01-01

    Errors in kinematic data are referred to as noise and are an undesirable portion of any waveform. Noise is typically removed using a low-pass filter which removes the high frequency components of the signal. The selection of an optimal frequency cut-off is very important when processing kinematic information and a number of techniques exists for the determination of an optimal frequency cut-off. Despite the importance of cut-off frequency to the efficacy of kinematic analyses there is currently a paucity of research examining the influence of different cut-off frequencies on the resultant 3-D kinematic waveforms and discrete parameters. Twenty participants ran at 4.0 m•s−1 as lower extremity kinematics in the sagittal, coronal and transverse planes were measured using an eight camera motion analysis system. The data were filtered at a range of cut-off frequencies and the discrete kinematic parameters were examined using repeated measures ANOVA’s. The similarity between the raw and filtered waveforms were examined using intra-class correlations. The results show that the cut-off frequency has a significant influence on the discrete kinematic measure across displacement and derivative information in all three planes of rotation. Furthermore, it was also revealed that as the cut-off frequency decreased the attenuation of the kinematic waveforms became more pronounced, particularly in the coronal and transverse planes at the second derivative. In conclusion, this investigation provides new information regarding the influence of digital filtering on lower extremity kinematics and re-emphasizes the importance of selecting the correct cut-off frequency. PMID:24511338

  7. The Kinematic Learning Model using Video and Interfaces Analysis

    NASA Astrophysics Data System (ADS)

    Firdaus, T.; Setiawan, W.; Hamidah, I.

    2017-09-01

    An educator currently in demand to apply the learning to not be separated from the development of technology. Educators often experience difficulties when explaining kinematics material, this is because kinematics is one of the lessons that often relate the concept to real life. Kinematics is one of the courses of physics that explains the cause of motion of an object, Therefore it takes the thinking skills and analytical skills in understanding these symptoms. Technology is one that can bridge between conceptual relationship with real life. A framework of technology-based learning models has been developed using video and interfaces analysis on kinematics concept. By using this learning model, learners will be better able to understand the concept that is taught by the teacher. This learning model is able to improve the ability of creative thinking, analytical skills, and problem-solving skills on the concept of kinematics.

  8. Sensitivity analyses of acoustic impedance inversion with full-waveform inversion

    NASA Astrophysics Data System (ADS)

    Yao, Gang; da Silva, Nuno V.; Wu, Di

    2018-04-01

    Acoustic impedance estimation has a significant importance to seismic exploration. In this paper, we use full-waveform inversion to recover the impedance from seismic data, and analyze the sensitivity of the acoustic impedance with respect to the source-receiver offset of seismic data and to the initial velocity model. We parameterize the acoustic wave equation with velocity and impedance, and demonstrate three key aspects of acoustic impedance inversion. First, short-offset data are most suitable for acoustic impedance inversion. Second, acoustic impedance inversion is more compatible with the data generated by density contrasts than velocity contrasts. Finally, acoustic impedance inversion requires the starting velocity model to be very accurate for achieving a high-quality inversion. Based upon these observations, we propose a workflow for acoustic impedance inversion as: (1) building a background velocity model with travel-time tomography or reflection waveform inversion; (2) recovering the intermediate wavelength components of the velocity model with full-waveform inversion constrained by Gardner’s relation; (3) inverting the high-resolution acoustic impedance model with short-offset data through full-waveform inversion. We verify this workflow by the synthetic tests based on the Marmousi model.

  9. Kinematic design considerations for minimally invasive surgical robots: an overview.

    PubMed

    Kuo, Chin-Hsing; Dai, Jian S; Dasgupta, Prokar

    2012-06-01

    Kinematic design is a predominant phase in the design of robotic manipulators for minimally invasive surgery (MIS). However, an extensive overview of the kinematic design issues for MIS robots is not yet available to both mechanisms and robotics communities. Hundreds of archival reports and articles on robotic systems for MIS are reviewed and studied. In particular, the kinematic design considerations and mechanism development described in the literature for existing robots are focused on. The general kinematic design goals, design requirements, and design preferences for MIS robots are defined. An MIS-specialized mechanism, namely the remote center-of-motion (RCM) mechanism, is revisited and studied. Accordingly, based on the RCM mechanism types, a classification for MIS robots is provided. A comparison between eight different RCM types is given. Finally, several open challenges for the kinematic design of MIS robotic manipulators are discussed. This work provides a detailed survey of the kinematic design of MIS robots, addresses the research opportunity in MIS robots for kinematicians, and clarifies the kinematic point of view to MIS robots as a reference for the medical community. Copyright © 2012 John Wiley & Sons, Ltd.

  10. Multi-phase inversion tectonics related to the Hendijan-Nowrooz-Khafji Fault activity, Zagros Mountains, SW Iran

    NASA Astrophysics Data System (ADS)

    Kazem Shiroodi, Sadjad; Ghafoori, Mohammad; Faghih, Ali; Ghanadian, Mostafa; Lashkaripour, Gholamreza; Hafezi Moghadas, Naser

    2015-11-01

    Distinctive characteristics of inverted structures make them important criteria for the identification of certain structural styles of folded belts. The interpretation of 3D seismic reflection and well data sheds new light on the structural evolution and age of inverted structures associated to the Hendijan-Nowrooz-Khafji Fault within the Persian Gulf Basin and northeastern margin of Afro-Arabian plate. Analysis of thickness variations of growth strata using "T-Z plot" (thickness versus throw plot) method revealed the kinematics of the fault. Obtained results show that the fault has experienced a multi-phase evolutionary history over six different extension and compression deformation events (i.e. positive and negative inversion) between 252.2 and 11.62 Ma. This cyclic activity of the growth fault was resulted from alteration of sedimentary processes during continuous fault slip. The structural development of the study area both during positive and negative inversion geometry styles was ultimately controlled by the relative motion between the Afro-Arabian and Central-Iranian plates.

  11. Kinematic Analysis of a Posterior-stabilized Knee Prosthesis

    PubMed Central

    Zhao, Zhi-Xin; Wen, Liang; Qu, Tie-Bing; Hou, Li-Li; Xiang, Dong; Bin, Jia

    2015-01-01

    Background: The goal of total knee arthroplasty (TKA) is to restore knee kinematics. Knee prosthesis design plays a very important role in successful restoration. Here, kinematics models of normal and prosthetic knees were created and validated using previously published data. Methods: Computed tomography and magnetic resonance imaging scans of a healthy, anticorrosive female cadaver were used to establish a model of the entire lower limbs, including the femur, tibia, patella, fibula, distal femur cartilage, and medial and lateral menisci, as well as the anterior cruciate, posterior cruciate, medial collateral, and lateral collateral ligaments. The data from the three-dimensional models of the normal knee joint and a posterior-stabilized (PS) knee prosthesis were imported into finite element analysis software to create the final kinematic model of the TKA prosthesis, which was then validated by comparison with a previous study. The displacement of the medial/lateral femur and the internal rotation angle of the tibia were analyzed during 0–135° flexion. Results: Both the output data trends and the measured values derived from the normal knee's kinematics model were very close to the results reported in a previous in vivo study, suggesting that this model can be used for further analyses. The PS knee prosthesis underwent an abnormal forward displacement compared with the normal knee and has insufficient, or insufficiently aggressive, “rollback” compared with the lateral femur of the normal knee. In addition, a certain degree of reverse rotation occurs during flexion of the PS knee prosthesis. Conclusions: There were still several differences between the kinematics of the PS knee prosthesis and a normal knee, suggesting room for improving the design of the PS knee prosthesis. The abnormal kinematics during early flexion shows that the design of the articular surface played a vital role in improving the kinematics of the PS knee prosthesis. PMID:25591565

  12. Kinematic analysis of a posterior-stabilized knee prosthesis.

    PubMed

    Zhao, Zhi-Xin; Wen, Liang; Qu, Tie-Bing; Hou, Li-Li; Xiang, Dong; Bin, Jia

    2015-01-20

    The goal of total knee arthroplasty (TKA) is to restore knee kinematics. Knee prosthesis design plays a very important role in successful restoration. Here, kinematics models of normal and prosthetic knees were created and validated using previously published data. Computed tomography and magnetic resonance imaging scans of a healthy, anticorrosive female cadaver were used to establish a model of the entire lower limbs, including the femur, tibia, patella, fibula, distal femur cartilage, and medial and lateral menisci, as well as the anterior cruciate, posterior cruciate, medial collateral, and lateral collateral ligaments. The data from the three-dimensional models of the normal knee joint and a posterior-stabilized (PS) knee prosthesis were imported into finite element analysis software to create the final kinematic model of the TKA prosthesis, which was then validated by comparison with a previous study. The displacement of the medial/lateral femur and the internal rotation angle of the tibia were analyzed during 0-135° flexion. Both the output data trends and the measured values derived from the normal knee's kinematics model were very close to the results reported in a previous in vivo study, suggesting that this model can be used for further analyses. The PS knee prosthesis underwent an abnormal forward displacement compared with the normal knee and has insufficient, or insufficiently aggressive, "rollback" compared with the lateral femur of the normal knee. In addition, a certain degree of reverse rotation occurs during flexion of the PS knee prosthesis. There were still several differences between the kinematics of the PS knee prosthesis and a normal knee, suggesting room for improving the design of the PS knee prosthesis. The abnormal kinematics during early flexion shows that the design of the articular surface played a vital role in improving the kinematics of the PS knee prosthesis.

  13. Determination of patellofemoral pain sub-groups and development of a method for predicting treatment outcome using running gait kinematics.

    PubMed

    Watari, Ricky; Kobsar, Dylan; Phinyomark, Angkoon; Osis, Sean; Ferber, Reed

    2016-10-01

    Not all patients with patellofemoral pain exhibit successful outcomes following exercise therapy. Thus, the ability to identify patellofemoral pain subgroups related to treatment response is important for the development of optimal therapeutic strategies to improve rehabilitation outcomes. The purpose of this study was to use baseline running gait kinematic and clinical outcome variables to classify patellofemoral pain patients on treatment response retrospectively. Forty-one individuals with patellofemoral pain that underwent a 6-week exercise intervention program were sub-grouped as treatment Responders (n=28) and Non-responders (n=13) based on self-reported measures of pain and function. Baseline three-dimensional running kinematics, and self-reported measures underwent a linear discriminant analysis of the principal components of the variables to retrospectively classify participants based on treatment response. The significance of the discriminant function was verified with a Wilk's lambda test (α=0.05). The model selected 2 gait principal components and had a 78.1% classification accuracy. Overall, Non-responders exhibited greater ankle dorsiflexion, knee abduction and hip flexion during the swing phase and greater ankle inversion during the stance phase, compared to Responders. This is the first study to investigate an objective method to use baseline kinematic and self-report outcome variables to classify on patellofemoral pain treatment outcome. This study represents a significant first step towards a method to help clinicians make evidence-informed decisions regarding optimal treatment strategies for patients with patellofemoral pain. Copyright © 2016 Elsevier Ltd. All rights reserved.

  14. Non-Sagittal Knee Joint Kinematics and Kinetics during Gait on Level and Sloped Grounds with Unicompartmental and Total Knee Arthroplasty Patients

    PubMed Central

    Komnik, Igor; David, Sina; Weiss, Stefan; Potthast, Wolfgang

    2016-01-01

    After knee arthroplasty (KA) surgery, patients experience abnormal kinematics and kinetics during numerous activities of daily living. Biomechanical investigations have focused primarily on level walking, whereas walking on sloped surfaces, which is stated to affect knee kinematics and kinetics considerably, has been neglected to this day. This study aimed to analyze over-ground walking on level and sloped surfaces with a special focus on transverse and frontal plane knee kinematics and kinetics in patients with KA. A three-dimensional (3D) motion analysis was performed by means of optoelectronic stereophogrammetry 1.8 ± 0.4 years following total knee arthroplasty (TKA) and unicompartmental arthroplasty surgery (UKA). AnyBody™ Modeling System was used to conduct inverse dynamics. The TKA group negotiated the decline walking task with reduced peak knee internal rotation angles compared with a healthy control group (CG). First-peak knee adduction moments were diminished by 27% (TKA group) and 22% (UKA group) compared with the CG during decline walking. No significant differences were detected between the TKA and UKA groups, regardless of the locomotion task. Decline walking exposed apparently more abnormal knee frontal and transverse plane adjustments in KA patients than level walking compared with the CG. Hence, walking on sloped surfaces should be included in further motion analysis studies investigating KA patients in order to detect potential deficits that might be not obvious during level walking. PMID:28002437

  15. Leg kinematics and kinetics in landing from a single-leg hop for distance. A comparison between dominant and non-dominant leg.

    PubMed

    van der Harst, J J; Gokeler, A; Hof, A L

    2007-07-01

    Anterior cruciate ligament (ACL) deficiency can be a major problem for athletes and subsequent reconstruction of the ACL may be indicated if a conservative regimen has failed. After ACL reconstruction signs of abnormality in the use of the leg remain for a long time. It is expected that the landing after a single-leg hop for distance (horizontal hop) might give insight in the differences in kinematics and kinetics between uninjured legs and ACL-reconstructed legs. Before the ACL-reconstructed leg can be compared with the contralateral leg, knowledge of differences between legs of uninjured subjects is needed. Kinematic and kinetic variables of both legs were measured with an optoelectronic system and a force plate and calculated by inverse dynamics. The dominant leg (the leg with biggest horizontal hop distance) and the contralateral leg of nine uninjured subjects were compared. No significant differences were found in most of the kinematic and kinetic variables between dominant leg and contralateral leg of uninjured subjects. Only hop distance and hip extension angles differed significantly. This study suggests that there are no important differences between dominant leg and contralateral leg in healthy subjects. As a consequence, the uninvolved leg of ACL-reconstructed patients can be used as a reference. The observed variables of this study can be used as a reference of normal values and normal differences between legs in healthy subjects.

  16. Relationship between lower limb muscle strength, self-reported pain and function, and frontal plane gait kinematics in knee osteoarthritis.

    PubMed

    Park, Sang-Kyoon; Kobsar, Dylan; Ferber, Reed

    2016-10-01

    The relationship between muscle strength, gait biomechanics, and self-reported physical function and pain for patients with knee osteoarthritis is not well known. The objective of this study was to investigate these relationships in this population. Twenty-four patients with knee osteoarthritis and 24 healthy controls were recruited. Self-reported pain and function, lower-limb maximum isometric force, and frontal plane gait kinematics during treadmill walking were collected on all patients. Between-group differences were assessed for 1) muscle strength and 2) gait biomechanics. Linear regressions were computed within the knee osteoarthritis group to examine the effect of muscle strength on 1) self-reported pain and function, and 2) gait kinematics. Patients with knee osteoarthritis exhibited reduced hip external rotator, knee extensor, and ankle inversion muscle force output compared with healthy controls, as well as increased peak knee adduction angles (effect size=0.770; p=0.013). Hip abductor strength was a significant predictor of function, but not after controlling for covariates. Ankle inversion, hip abduction, and knee flexion strength were significant predictors of peak pelvic drop angle after controlling for covariates (34.4% unique variance explained). Patients with knee osteoarthritis exhibit deficits in muscle strength and while they play an important role in the self-reported function of patients with knee osteoarthritis, the effect of covariates such as sex, age, mass, and height was more important in this relationship. Similar relationships were observed from gait variables, except for peak pelvic drop, where hip, knee, and ankle strength remained important predictors of this variable after controlling for covariates. Copyright © 2016 Elsevier Ltd. All rights reserved.

  17. Kinematic and neuromuscular relationships between lower extremity clinical movement assessments.

    PubMed

    Mauntel, Timothy C; Cram, Tyler R; Frank, Barnett S; Begalle, Rebecca L; Norcross, Marc F; Blackburn, J Troy; Padua, Darin A

    2018-06-01

    Lower extremity injuries have immediate and long-term consequences. Lower extremity movement assessments can assist with identifying individuals at greater injury risk and guide injury prevention interventions. Movement assessments identify similar movement characteristics and evidence suggests large magnitude kinematic relationships exist between movement patterns observed across assessments; however, the magnitude of the relationships for electromyographic (EMG) measures across movement assessments remains largely unknown. This study examined relationships between lower extremity kinematic and EMG measures during jump landings and single leg squats. Lower extremity three-dimensional kinematic and EMG data were sampled from healthy adults (males = 20, females = 20) during the movement assessments. Pearson correlations examined the relationships of the kinematic and EMG measures and paired samples t-tests compared mean kinematic and EMG measures between the assessments. Overall, significant moderate correlations were observed for lower extremity kinematic (r avg  = 0.41, r range  = 0.10-0.61) and EMG (r avg  = 0.47, r range  = 0.32-0.80) measures across assessments. Kinematic and EMG measures were greater during the jump landings. Jump landings and single leg squats place different demands on the body and necessitate different kinematic and EMG patterns, such that these measures are not highly correlated between assessments. Clinicians should, therefore, use multiple assessments to identify aberrant movement and neuromuscular control patterns so that comprehensive interventions can be implemented.

  18. Does the intention to communicate affect action kinematics?

    PubMed

    Sartori, Luisa; Becchio, Cristina; Bara, Bruno G; Castiello, Umberto

    2009-09-01

    The aim of the present study was to investigate the effects of communicative intention on action. In Experiment 1 participants were requested to reach towards an object, grasp it, and either simply lift it (individual condition) or lift it with the intent to communicate a meaning to a partner (communicative condition). Movement kinematics were recorded using a three-dimensional motion analysis system. The results indicate that kinematics was sensitive to communicative intention. Although the to-be-grasped object remained the same, movements performed for the 'communicative' condition were characterized by a kinematic pattern which differed from those obtained for the 'individual' condition. These findings were confirmed in a subsequent experiment in which the communicative condition was compared to a control condition, in which the communicative exchange was prevented. Results are discussed in terms of cognitive pragmatics and current knowledge on how social behavior shapes action kinematics.

  19. The discriminant capabilities of stability measures, trunk kinematics, and step kinematics in classifying successful and failed compensatory stepping responses by young adults.

    PubMed

    Crenshaw, Jeremy R; Rosenblatt, Noah J; Hurt, Christopher P; Grabiner, Mark D

    2012-01-03

    This study evaluated the discriminant capability of stability measures, trunk kinematics, and step kinematics to classify successful and failed compensatory stepping responses. In addition, the shared variance between stability measures, step kinematics, and trunk kinematics is reported. The stability measures included the anteroposterior distance (d) between the body center of mass and the stepping limb toe, the margin of stability (MOS), as well as time-to-boundary considering velocity (TTB(v)), velocity and acceleration (TTB(a)), and MOS (TTB(MOS)). Kinematic measures included trunk flexion angle and angular velocity, step length, and the time after disturbance onset of recovery step completion. Fourteen young adults stood on a treadmill that delivered surface accelerations necessitating multiple forward compensatory steps. Thirteen subjects fell from an initial disturbance, but recovered from a second, identical disturbance. Trunk flexion velocity at completion of the first recovery step and trunk flexion angle at completion of the second step had the greatest overall classification of all measures (92.3%). TTB(v) and TTB(a) at completion of both steps had the greatest classification accuracy of all stability measures (80.8%). The length of the first recovery step (r ≤ 0.70) and trunk flexion angle at completion of the second recovery step (r ≤ -0.54) had the largest correlations with stability measures. Although TTB(v) and TTB(a) demonstrated somewhat smaller discriminant capabilities than trunk kinematics, the small correlations between these stability measures and trunk kinematics (|r| ≤ 0.52) suggest that they reflect two important, yet different, aspects of a compensatory stepping response. Copyright © 2011 Elsevier Ltd. All rights reserved.

  20. Interactive cervical motion kinematics: sensitivity, specificity and clinically significant values for identifying kinematic impairments in patients with chronic neck pain.

    PubMed

    Sarig Bahat, Hilla; Chen, Xiaoqi; Reznik, David; Kodesh, Einat; Treleaven, Julia

    2015-04-01

    Chronic neck pain has been consistently shown to be associated with impaired kinematic control including reduced range, velocity and smoothness of cervical motion, that seem relevant to daily function as in quick neck motion in response to surrounding stimuli. The objectives of this study were: to compare interactive cervical kinematics in patients with neck pain and controls; to explore the new measures of cervical motion accuracy; and to find the sensitivity, specificity, and optimal cutoff values for defining impaired kinematics in those with neck pain. In this cross-section study, 33 patients with chronic neck pain and 22 asymptomatic controls were assessed for their cervical kinematic control using interactive virtual reality hardware and customized software utilizing a head mounted display with built-in head tracking. Outcome measures included peak and mean velocity, smoothness (represented by number of velocity peaks (NVP)), symmetry (represented by time to peak velocity percentage (TTPP)), and accuracy of cervical motion. Results demonstrated significant and strong effect-size differences in peak and mean velocities, NVP and TTPP in all directions excluding TTPP in left rotation, and good effect-size group differences in 5/8 accuracy measures. Regression results emphasized the high clinical value of neck motion velocity, with very high sensitivity and specificity (85%-100%), followed by motion smoothness, symmetry and accuracy. These finding suggest cervical kinematics should be evaluated clinically, and screened by the provided cut off values for identification of relevant impairments in those with neck pain. Such identification of presence or absence of kinematic impairments may direct treatment strategies and additional evaluation when needed. Copyright © 2014 Elsevier Ltd. All rights reserved.

  1. Scalable subsurface inverse modeling of huge data sets with an application to tracer concentration breakthrough data from magnetic resonance imaging

    NASA Astrophysics Data System (ADS)

    Lee, Jonghyun; Yoon, Hongkyu; Kitanidis, Peter K.; Werth, Charles J.; Valocchi, Albert J.

    2016-07-01

    Characterizing subsurface properties is crucial for reliable and cost-effective groundwater supply management and contaminant remediation. With recent advances in sensor technology, large volumes of hydrogeophysical and geochemical data can be obtained to achieve high-resolution images of subsurface properties. However, characterization with such a large amount of information requires prohibitive computational costs associated with "big data" processing and numerous large-scale numerical simulations. To tackle such difficulties, the principal component geostatistical approach (PCGA) has been proposed as a "Jacobian-free" inversion method that requires much smaller forward simulation runs for each iteration than the number of unknown parameters and measurements needed in the traditional inversion methods. PCGA can be conveniently linked to any multiphysics simulation software with independent parallel executions. In this paper, we extend PCGA to handle a large number of measurements (e.g., 106 or more) by constructing a fast preconditioner whose computational cost scales linearly with the data size. For illustration, we characterize the heterogeneous hydraulic conductivity (K) distribution in a laboratory-scale 3-D sand box using about 6 million transient tracer concentration measurements obtained using magnetic resonance imaging. Since each individual observation has little information on the K distribution, the data were compressed by the zeroth temporal moment of breakthrough curves, which is equivalent to the mean travel time under the experimental setting. Only about 2000 forward simulations in total were required to obtain the best estimate with corresponding estimation uncertainty, and the estimated K field captured key patterns of the original packing design, showing the efficiency and effectiveness of the proposed method.

  2. Joint inversion of seismic refraction and resistivity data using layered models - applications to hydrogeology

    NASA Astrophysics Data System (ADS)

    Juhojuntti, N. G.; Kamm, J.

    2010-12-01

    We present a layered-model approach to joint inversion of shallow seismic refraction and resistivity (DC) data, which we believe is a seldom tested method of addressing the problem. This method has been developed as we believe that for shallow sedimentary environments (roughly <100 m depth) a model with a few layers and sharp layer boundaries better represents the subsurface than a smooth minimum-structure (grid) model. Due to the strong assumption our model parameterization implies on the subsurface, only a low number of well resolved model parameters has to be estimated, and provided that this assumptions holds our method can also be applied to other environments. We are using a least-squares inversion, with lateral smoothness constraints, allowing lateral variations in the seismic velocity and the resistivity but no vertical variations. One exception is a positive gradient in the seismic velocity in the uppermost layer in order to get diving rays (the refractions in the deeper layers are modeled as head waves). We assume no connection between seismic velocity and resistivity, and these parameters are allowed to vary individually within the layers. The layer boundaries are, however, common for both parameters. During the inversion lateral smoothing can be applied to the layer boundaries as well as to the seismic velocity and the resistivity. The number of layers is specified before the inversion, and typically we use models with three layers. Depending on the type of environment it is possible to apply smoothing either to the depth of the layer boundaries or to the thickness of the layers, although normally the former is used for shallow sedimentary environments. The smoothing parameters can be chosen independently for each layer. For the DC data we use a finite-difference algorithm to perform the forward modeling and to calculate the Jacobian matrix, while for the seismic data the corresponding entities are retrieved via ray-tracing, using components from the

  3. Upper Limb Assessment in Tetraplegia: Clinical, Functional and Kinematic Correlations

    ERIC Educational Resources Information Center

    Cacho, Enio Walker Azevedo; de Oliveira, Roberta; Ortolan, Rodrigo L.; Varoto, Renato; Cliquet, Alberto

    2011-01-01

    The aim of this study was to correlate clinical and functional evaluations with kinematic variables of upper limp reach-to-grasp movement in patients with tetraplegia. Twenty chronic patients were selected to perform reach-to-grasp kinematic assessment using a target placed at a distance equal to the arm's length. Kinematic variables (hand peak…

  4. Atypical basic movement kinematics in autism spectrum conditions

    PubMed Central

    Blakemore, Sarah-Jayne; Press, Clare

    2013-01-01

    Individuals with autism spectrum conditions have difficulties in understanding and responding appropriately to others. Additionally, they demonstrate impaired perception of biological motion and problems with motor control. Here we investigated whether individuals with autism move with an atypical kinematic profile, which might help to explain perceptual and motor impairments, and in principle may contribute to some of their higher level social problems. We recorded trajectory, velocity, acceleration and jerk while adult participants with autism and a matched control group conducted horizontal sinusoidal arm movements. Additionally, participants with autism took part in a biological motion perception task in which they classified observed movements as ‘natural’ or ‘unnatural’. Results show that individuals with autism moved with atypical kinematics; they did not minimize jerk to the same extent as the matched typical control group, and moved with greater acceleration and velocity. The degree to which kinematics were atypical was correlated with a bias towards perceiving biological motion as ‘unnatural’ and with the severity of autism symptoms as measured by the Autism Diagnostic Observation Schedule. We suggest that fundamental differences in movement kinematics in autism might help to explain their problems with motor control. Additionally, developmental experience of their own atypical kinematic profiles may lead to disrupted perception of others’ actions. PMID:23983031

  5. Thoracolumbar spine loading associated with kinematics of the young and the elderly during activities of daily living.

    PubMed

    Ignasiak, Dominika; Rüeger, Andrea; Sperr, Ramona; Ferguson, Stephen J

    2018-03-21

    Excessive mechanical loading of the spine is a critical factor in vertebral fracture initiation. Most vertebral fractures develop spontaneously or due to mild trauma, as physiological loads during activities of daily living might exceed the failure load of osteoporotic vertebra. Spinal loading patterns are affected by vertebral kinematics, which differ between elderly and young individuals. In this study, the effects of age-related changes in spine kinematics on thoracolumbar spinal segmental loading during dynamic activities of daily living were investigated using combined experimental and modeling approach. Forty-four healthy volunteers were recruited into two age groups: young (N = 23, age = 27.1 ± 3.8) and elderly (N = 21, age = 70.1 ± 3.9). The spinal curvature was assessed with a skin-surface device and the kinematics of the spine and lower extremities were recorded during daily living tasks (flexion-extension and stand-sit-stand) with a motion capture system. The obtained data were used as input for a musculoskeletal model with a detailed thoracolumbar spine representation. To isolate the effect of kinematics on predicted loads, other model properties were kept constant. Inverse dynamics simulations were performed in the AnyBody Modeling System to estimate corresponding spinal loads. The maximum compressive loads predicted for the elderly motion patterns were lower than those of the young for L2/L3 and L3/L4 lumbar levels during flexion and for upper thoracic levels during stand-to-sit (T1/T2-T8/T9) and sit-to-stand (T3/T4-T6/T7). However, the maximum loads predicted for the lower thoracic levels (T9/T10-L1/L2), a common site of vertebral fractures, were similar compared to the young. Nevertheless, these loads acting on the vertebrae of reduced bone quality might contribute to a higher fracture risk for the elderly. Copyright © 2017 Elsevier Ltd. All rights reserved.

  6. Kinematic sensitivity of robot manipulators

    NASA Technical Reports Server (NTRS)

    Vuskovic, Marko I.

    1989-01-01

    Kinematic sensitivity vectors and matrices for open-loop, n degrees-of-freedom manipulators are derived. First-order sensitivity vectors are defined as partial derivatives of the manipulator's position and orientation with respect to its geometrical parameters. The four-parameter kinematic model is considered, as well as the five-parameter model in case of nominally parallel joint axes. Sensitivity vectors are expressed in terms of coordinate axes of manipulator frames. Second-order sensitivity vectors, the partial derivatives of first-order sensitivity vectors, are also considered. It is shown that second-order sensitivity vectors can be expressed as vector products of the first-order sensitivity vectors.

  7. Predicting power-optimal kinematics of avian wings

    PubMed Central

    Parslew, Ben

    2015-01-01

    A theoretical model of avian flight is developed which simulates wing motion through a class of methods known as predictive simulation. This approach uses numerical optimization to predict power-optimal kinematics of avian wings in hover, cruise, climb and descent. The wing dynamics capture both aerodynamic and inertial loads. The model is used to simulate the flight of the pigeon, Columba livia, and the results are compared with previous experimental measurements. In cruise, the model unearths a vast range of kinematic modes that are capable of generating the required forces for flight. The most efficient mode uses a near-vertical stroke–plane and a flexed-wing upstroke, similar to kinematics recorded experimentally. In hover, the model predicts that the power-optimal mode uses an extended-wing upstroke, similar to hummingbirds. In flexing their wings, pigeons are predicted to consume 20% more power than if they kept their wings full extended, implying that the typical kinematics used by pigeons in hover are suboptimal. Predictions of climbing flight suggest that the most energy-efficient way to reach a given altitude is to climb as steeply as possible, subjected to the availability of power. PMID:25392398

  8. Zero-Inertial Recession for a Kinematic Wave Model

    USDA-ARS?s Scientific Manuscript database

    Kinematic-wave models of surface irrigation assume a fixed relationship between depth and discharge (typically, normal depth). When surface irrigation inflow is cut off, the calculated upstream flow depth goes to zero, since the discharge is zero. For short time steps, use of the Kinematic Wave mode...

  9. Kinematics Card Sort Activity: Insight into Students' Thinking

    ERIC Educational Resources Information Center

    Berryhill, Erin; Herrington, Deborah; Oliver, Keith

    2016-01-01

    Kinematics is a topic students are unknowingly aware of well before entering the physics classroom. Students observe motion on a daily basis. They are constantly interpreting and making sense of their observations, unintentionally building their own understanding of kinematics before receiving any formal instruction. Unfortunately, when students…

  10. The 2016 Kaikōura Earthquake Revealed by Kinematic Source Inversion and Seismic Wavefield Simulations: Slow Rupture Propagation on a Geometrically Complex Crustal Fault Network

    NASA Astrophysics Data System (ADS)

    Holden, C.; Kaneko, Y.; D'Anastasio, E.; Benites, R.; Fry, B.; Hamling, I. J.

    2017-11-01

    The 2016 Kaikōura (New Zealand) earthquake generated large ground motions and resulted in multiple onshore and offshore fault ruptures, a profusion of triggered landslides, and a regional tsunami. Here we examine the rupture evolution using two kinematic modeling techniques based on analysis of local strong-motion and high-rate GPS data. Our kinematic models capture a complex pattern of slowly (Vr < 2 km/s) propagating rupture from south to north, with over half of the moment release occurring in the northern source region, mostly on the Kekerengu fault, 60 s after the origin time. Both models indicate rupture reactivation on the Kekerengu fault with the time separation of 11 s between the start of the original failure and start of the subsequent one. We further conclude that most near-source waveforms can be explained by slip on the crustal faults, with little (<8%) or no contribution from the subduction interface.

  11. Estimation of kinematic parameters in CALIFA galaxies: no-assumption on internal dynamics

    NASA Astrophysics Data System (ADS)

    García-Lorenzo, B.; Barrera-Ballesteros, J.; CALIFA Team

    2016-06-01

    We propose a simple approach to homogeneously estimate kinematic parameters of a broad variety of galaxies (elliptical, spirals, irregulars or interacting systems). This methodology avoids the use of any kinematical model or any assumption on internal dynamics. This simple but novel approach allows us to determine: the frequency of kinematic distortions, systemic velocity, kinematic center, and kinematic position angles which are directly measured from the two dimensional-distributions of radial velocities. We test our analysis tools using the CALIFA Survey

  12. Adaptive Nonparametric Kinematic Modeling of Concentric Tube Robots.

    PubMed

    Fagogenis, Georgios; Bergeles, Christos; Dupont, Pierre E

    2016-10-01

    Concentric tube robots comprise telescopic precurved elastic tubes. The robot's tip and shape are controlled via relative tube motions, i.e. tube rotations and translations. Non-linear interactions between the tubes, e.g. friction and torsion, as well as uncertainty in the physical properties of the tubes themselves, e.g. the Young's modulus, curvature, or stiffness, hinder accurate kinematic modelling. In this paper, we present a machine-learning-based methodology for kinematic modelling of concentric tube robots and in situ model adaptation. Our approach is based on Locally Weighted Projection Regression (LWPR). The model comprises an ensemble of linear models, each of which locally approximates the original complex kinematic relation. LWPR can accommodate for model deviations by adjusting the respective local models at run-time, resulting in an adaptive kinematics framework. We evaluated our approach on data gathered from a three-tube robot, and report high accuracy across the robot's configuration space.

  13. Sparsity-promoting inversion for modeling of irregular volcanic deformation source

    NASA Astrophysics Data System (ADS)

    Zhai, G.; Shirzaei, M.

    2016-12-01

    Kīlauea volcano, Hawaíi Island, has a complex magmatic system. Nonetheless, kinematic models of the summit reservoir have so far been limited to first-order analytical solutions with pre-determined geometry. To investigate the complex geometry and kinematics of the summit reservoir, we apply a multitrack multitemporal wavelet-based InSAR (Interferometric Synthetic Aperture Radar) algorithm and a geometry-free time-dependent modeling scheme considering a superposition of point centers of dilatation (PCDs). Applying Principal Component Analysis (PCA) to the time-dependent source model, six spatially independent deformation zones (i.e., reservoirs) are identified, whose locations are consistent with previous studies. Time-dependence of the model allows also identifying periods of correlated or anti-correlated behaviors between reservoirs. Hence, we suggest that likely the reservoir are connected and form a complex magmatic reservoir [Zhai and Shirzaei, 2016]. To obtain a physically-meaningful representation of the complex reservoir, we devise a new sparsity-promoting modeling scheme assuming active magma bodies are well-localized melt accumulations (i.e., outliers in background crust). The major steps include inverting surface deformation data using a hybrid L-1 and L-2 norm regularization approach to solve for sparse volume change distribution and then implementing a BEM based method to solve for opening distribution on a triangular mesh representing the complex reservoir. Using this approach, we are able to constrain the internal excess pressure of magma body with irregular geometry, satisfying uniformly pressurized boundary condition on the surface of magma chamber. The inversion method with sparsity constraint is tested using five synthetic source geometries, including torus, prolate ellipsoid, and sphere as well as horizontal and vertical L-shape bodies. The results show that source dimension, depth and shape are well recovered. Afterward, we apply this

  14. Teaching about Kinematics

    ERIC Educational Resources Information Center

    Nelson, Jane Bray; Nelson, Jim

    2009-01-01

    Written by Jim and Jane Nelson, Teaching About Kinematics is the latest AAPT/PTRA resource book. Based on physics education research, the book provides teachers with the resources needed to introduce students to some of the fundamental building blocks of physics. It is a carefully thought-out, step-by-step laboratory-based introduction to the…

  15. Kinematic cross-correlation induces sensory integration across separate objects.

    PubMed

    Debats, Nienke B; Ernst, Marc O; Heuer, Herbert

    2017-12-01

    In a basic cursor-control task, the perceived positions of the hand and the cursor are biased towards each other. We recently found that this phenomenon conforms to the reliability-based weighting mechanism of optimal multisensory integration. This indicates that optimal integration is not restricted to sensory signals originating from a single source, as is the prevailing view, but that it also applies to separate objects that are connected by a kinematic relation (i.e. hand and cursor). In the current study, we examined which aspects of the kinematic relation are crucial for eliciting the sensory integration: (i) the cross-correlation between kinematic variables of the hand and cursor trajectories, and/or (ii) an internal model of the hand-cursor kinematic transformation. Participants made out-and-back movements from the centre of a semicircular workspace to its boundary, after which they judged the position where either their hand or the cursor hit the boundary. We analysed the position biases and found that the integration was strong in a condition with high kinematic correlations (a straight hand trajectory was mapped to a straight cursor trajectory), that it was significantly reduced for reduced kinematic correlations (a straight hand trajectory was transformed into a curved cursor trajectory) and that it was not affected by the inability to acquire an internal model of the kinematic transformation (i.e. by the trial-to-trial variability of the cursor curvature). These findings support the idea that correlations play a crucial role in multisensory integration irrespective of the number of sensory sources involved. © 2017 Federation of European Neuroscience Societies and John Wiley & Sons Ltd.

  16. Angle-domain inverse scattering migration/inversion in isotropic media

    NASA Astrophysics Data System (ADS)

    Li, Wuqun; Mao, Weijian; Li, Xuelei; Ouyang, Wei; Liang, Quan

    2018-07-01

    The classical seismic asymptotic inversion can be transformed into a problem of inversion of generalized Radon transform (GRT). In such methods, the combined parameters are linearly attached to the scattered wave-field by Born approximation and recovered by applying an inverse GRT operator to the scattered wave-field data. Typical GRT-style true-amplitude inversion procedure contains an amplitude compensation process after the weighted migration via dividing an illumination associated matrix whose elements are integrals of scattering angles. It is intuitional to some extent that performs the generalized linear inversion and the inversion of GRT together by this process for direct inversion. However, it is imprecise to carry out such operation when the illumination at the image point is limited, which easily leads to the inaccuracy and instability of the matrix. This paper formulates the GRT true-amplitude inversion framework in an angle-domain version, which naturally degrades the external integral term related to the illumination in the conventional case. We solve the linearized integral equation for combined parameters of different fixed scattering angle values. With this step, we obtain high-quality angle-domain common-image gathers (CIGs) in the migration loop which provide correct amplitude-versus-angle (AVA) behavior and reasonable illumination range for subsurface image points. Then we deal with the over-determined problem to solve each parameter in the combination by a standard optimization operation. The angle-domain GRT inversion method keeps away from calculating the inaccurate and unstable illumination matrix. Compared with the conventional method, the angle-domain method can obtain more accurate amplitude information and wider amplitude-preserved range. Several model tests demonstrate the effectiveness and practicability.

  17. A Method to Solve Interior and Exterior Camera Calibration Parameters for Image Resection

    NASA Technical Reports Server (NTRS)

    Samtaney, Ravi

    1999-01-01

    An iterative method is presented to solve the internal and external camera calibration parameters, given model target points and their images from one or more camera locations. The direct linear transform formulation was used to obtain a guess for the iterative method, and herein lies one of the strengths of the present method. In all test cases, the method converged to the correct solution. In general, an overdetermined system of nonlinear equations is solved in the least-squares sense. The iterative method presented is based on Newton-Raphson for solving systems of nonlinear algebraic equations. The Jacobian is analytically derived and the pseudo-inverse of the Jacobian is obtained by singular value decomposition.

  18. Kinematic Structural Modelling in Bayesian Networks

    NASA Astrophysics Data System (ADS)

    Schaaf, Alexander; de la Varga, Miguel; Florian Wellmann, J.

    2017-04-01

    We commonly capture our knowledge about the spatial distribution of distinct geological lithologies in the form of 3-D geological models. Several methods exist to create these models, each with its own strengths and limitations. We present here an approach to combine the functionalities of two modeling approaches - implicit interpolation and kinematic modelling methods - into one framework, while explicitly considering parameter uncertainties and thus model uncertainty. In recent work, we proposed an approach to implement implicit modelling algorithms into Bayesian networks. This was done to address the issues of input data uncertainty and integration of geological information from varying sources in the form of geological likelihood functions. However, one general shortcoming of implicit methods is that they usually do not take any physical constraints into consideration, which can result in unrealistic model outcomes and artifacts. On the other hand, kinematic structural modelling intends to reconstruct the history of a geological system based on physically driven kinematic events. This type of modelling incorporates simplified, physical laws into the model, at the cost of a substantial increment of usable uncertain parameters. In the work presented here, we show an integration of these two different modelling methodologies, taking advantage of the strengths of both of them. First, we treat the two types of models separately, capturing the information contained in the kinematic models and their specific parameters in the form of likelihood functions, in order to use them in the implicit modelling scheme. We then go further and combine the two modelling approaches into one single Bayesian network. This enables the direct flow of information between the parameters of the kinematic modelling step and the implicit modelling step and links the exclusive input data and likelihoods of the two different modelling algorithms into one probabilistic inference framework. In

  19. Kinematic performance of a six degree-of-freedom hand model (6DHand) for use in occupational biomechanics.

    PubMed

    Buczek, Frank L; Sinsel, Erik W; Gloekler, Daniel S; Wimer, Bryan M; Warren, Christopher M; Wu, John Z

    2011-06-03

    Upper extremity musculoskeletal disorders represent an important health issue across all industry sectors; as such, the need exists to develop models of the hand that provide comprehensive biomechanics during occupational tasks. Previous optical motion capture studies used a single marker on the dorsal aspect of finger joints, allowing calculation of one and two degree-of-freedom (DOF) joint angles; additional algorithms were needed to define joint centers and the palmar surface of fingers. We developed a 6DOF model (6DHand) to obtain unconstrained kinematics of finger segments, modeled as frusta of right circular cones that approximate the palmar surface. To evaluate kinematic performance, twenty subjects gripped a cylindrical handle as a surrogate for a powered hand tool. We hypothesized that accessory motions (metacarpophalangeal pronation/supination; proximal and distal interphalangeal radial/ulnar deviation and pronation/supination; all joint translations) would be small (less than 5° rotations, less than 2mm translations) if segment anatomical reference frames were aligned correctly, and skin movement artifacts were negligible. For the gripping task, 93 of 112 accessory motions were small by our definition, suggesting this 6DOF approach appropriately models joints of the fingers. Metacarpophalangeal supination was larger than expected (approximately 10°), and may be adjusted through local reference frame optimization procedures previously developed for knee kinematics in gait analysis. Proximal translations at the metacarpophalangeal joints (approximately 10mm) were explained by skin movement across the metacarpals, but would not corrupt inverse dynamics calculated for the phalanges. We assessed performance in this study; a more rigorous validation would likely require medical imaging. Published by Elsevier Ltd.

  20. Uncertainty estimation and multi sensor fusion for kinematic laser tracker measurements

    NASA Astrophysics Data System (ADS)

    Ulrich, Thomas

    2013-08-01

    Laser trackers are widely used to measure kinematic tasks such as tracking robot movements. Common methods to evaluate the uncertainty in the kinematic measurement include approximations specified by the manufacturers, various analytical adjustment methods and the Kalman filter. In this paper a new, real-time technique is proposed, which estimates the 4D-path (3D-position + time) uncertainty of an arbitrary path in space. Here a hybrid system estimator is applied in conjunction with the kinematic measurement model. This method can be applied to processes, which include various types of kinematic behaviour, constant velocity, variable acceleration or variable turn rates. The new approach is compared with the Kalman filter and a manufacturer's approximations. The comparison was made using data obtained by tracking an industrial robot's tool centre point with a Leica laser tracker AT901 and a Leica laser tracker LTD500. It shows that the new approach is more appropriate to analysing kinematic processes than the Kalman filter, as it reduces overshoots and decreases the estimated variance. In comparison with the manufacturer's approximations, the new approach takes account of kinematic behaviour with an improved description of the real measurement process and a reduction in estimated variance. This approach is therefore well suited to the analysis of kinematic processes with unknown changes in kinematic behaviour as well as the fusion among laser trackers.

  1. A new high-resolution kinematic model for the southern North Atlantic region: the Iberian plate kinematics since the Late Cretaceous

    NASA Astrophysics Data System (ADS)

    Macchiavelli, Chiara; Vergés, Jaume; Schettino, Antonio; Fernández, Manel; Turco, Eugenio; Torné, Montserrat; Casciello, Emilio

    2017-04-01

    We present the first high-resolution kinematic model for the southern North Atlantic since the late Cretaceous, in order to constrain the Iberian kinematics during the last 83 Myr. Assessing the detailed movements of the Iberian plate is crucial to constrain the kinematics of the Western Mediterranean region and to better understand the Pyrenees and Betic - Rif orogenic systems evolution. The new plate motions model for the Iberia - North America plate pair is accompanied by a high-resolution isochron map for the southern North Atlantic region, resulting from a re-examination of 400 ship tracks and 3 aeromagnetic tracks in the NGDC data base for the area between the Azores triple junction and 46° N. We derive a well-constrained kinematic solution for the relative motion between an independent Iberia and North America from seafloor spreading data despite the short length of the magnetic lineations and the scarcity of large-offset transform faults and fracture zones. Accurate finite reconstruction poles for the Iberia - North America conjugate plate pair between the Late Cretaceous (Chron 34, 83.5 Ma) and the present day (Chron 2A, 2.58 Ma) are calculated on the basis of a set of 100 magnetic profiles through an iterative method. Euler poles and associated angles of rotation are computed as follow. An initial rotation pole is calculated using only magnetic anomaly crossings. The initial large uncertainty associated with the first determination is reduced by generating a set of synthetic fracture zones associated with the initial pole and using points sampled along these structures in conjunction with magnetic anomaly crossings to calculate a new Euler pole and associated confidence ellipse. This procedure is repeated n times, generating a sequence of improving approximate solutions and stopped when the solution become stable excluding solutions that were inconsistent with geological constraints. We used these results to build a comprehensive kinematic model for the

  2. Characterization of robotics parallel algorithms and mapping onto a reconfigurable SIMD machine

    NASA Technical Reports Server (NTRS)

    Lee, C. S. G.; Lin, C. T.

    1989-01-01

    The kinematics, dynamics, Jacobian, and their corresponding inverse computations are six essential problems in the control of robot manipulators. Efficient parallel algorithms for these computations are discussed and analyzed. Their characteristics are identified and a scheme on the mapping of these algorithms to a reconfigurable parallel architecture is presented. Based on the characteristics including type of parallelism, degree of parallelism, uniformity of the operations, fundamental operations, data dependencies, and communication requirement, it is shown that most of the algorithms for robotic computations possess highly regular properties and some common structures, especially the linear recursive structure. Moreover, they are well-suited to be implemented on a single-instruction-stream multiple-data-stream (SIMD) computer with reconfigurable interconnection network. The model of a reconfigurable dual network SIMD machine with internal direct feedback is introduced. A systematic procedure internal direct feedback is introduced. A systematic procedure to map these computations to the proposed machine is presented. A new scheduling problem for SIMD machines is investigated and a heuristic algorithm, called neighborhood scheduling, that reorders the processing sequence of subtasks to reduce the communication time is described. Mapping results of a benchmark algorithm are illustrated and discussed.

  3. Comparisons of Kinematics and Dynamics Simulation Software Tools

    NASA Technical Reports Server (NTRS)

    Shiue, Yeu-Sheng Paul

    2002-01-01

    Kinematic and dynamic analyses for moving bodies are essential to system engineers and designers in the process of design and validations. 3D visualization and motion simulation plus finite element analysis (FEA) give engineers a better way to present ideas and results. Marshall Space Flight Center (MSFC) system engineering researchers are currently using IGRIP from DELMIA Inc. as a kinematic simulation tool for discrete bodies motion simulations. Although IGRIP is an excellent tool for kinematic simulation with some dynamic analysis capabilities in robotic control, explorations of other alternatives with more powerful dynamic analysis and FEA capabilities are necessary. Kinematics analysis will only examine the displacement, velocity, and acceleration of the mechanism without considering effects from masses of components. With dynamic analysis and FEA, effects such as the forces or torques at the joint due to mass and inertia of components can be identified. With keen market competition, ALGOR Mechanical Event Simulation (MES), MSC visualNastran 4D, Unigraphics Motion+, and Pro/MECHANICA were chosen for explorations. In this study, comparisons between software tools were presented in terms of following categories: graphical user interface (GUI), import capability, tutorial availability, ease of use, kinematic simulation capability, dynamic simulation capability, FEA capability, graphical output, technical support, and cost. Propulsion Test Article (PTA) with Fastrac engine model exported from IGRIP and an office chair mechanism were used as examples for simulations.

  4. The relationship between gluteal muscle activation and throwing kinematics in baseball and softball catchers.

    PubMed

    Plummer, Hillary A; Oliver, Gretchen D

    2014-01-01

    The purpose of this study was to determine the relationship between gluteal muscle activation and pelvis and trunk kinematics when catchers throw to second base. Forty-two baseball and softball catchers (14.74 ± 4.07 years; 161.85 ± 15.24 cm; 63.38 ± 19.98 kg) participated in this study. Muscle activity of the bilateral gluteus maximus and medius as well as pelvis and trunk kinematics throughout the throwing motion were analyzed. It was discovered that at foot contact, there were 2 significant inverse relationships between stride leg gluteus maximus activity and pelvis axial rotation (r = -0.31, r2 = 0.10, p = 0.05), and between trunk axial rotation and pelvis lateral flexion (r = -0.34, r2= 0.12, p = 0.03). In addition, at foot contact, a significant positive relationship between the drive leg (throwing arm side) and trunk flexion (r = 0.33, r2 = 0.11, p = 0.04) was present. The results of this study provide evidence of gluteal activation both concentrically and eccentrically, in attempt to control the pelvis and trunk during the throwing motion of catchers. The gluteal muscles play a direct role in maintaining the stability of the pelvis, and catchers should incorporate strengthening of the entire lumbopelvic-hip complex into their training regimen. Incorporating concentric and eccentric gluteal exercises will help to improve musculoskeletal core stability, thereby assisting in upper extremity injury prevention.

  5. Numerical simulations of induction and MWD logging tools and data inversion method with X-window interface on a UNIX workstation

    NASA Astrophysics Data System (ADS)

    Tian, Xiang-Dong

    The purpose of this research is to simulate induction and measuring-while-drilling (MWD) logs. In simulation of logs, there are two tasks. The first task, the forward modeling procedure, is to compute the logs from known formation. The second task, the inversion procedure, is to determine the unknown properties of the formation from the measured field logs. In general, the inversion procedure requires the solution of a forward model. In this study, a stable numerical method to simulate induction and MWD logs is presented. The proposed algorithm is based on a horizontal eigenmode expansion method. Vertical propagation of modes is modeled by a three-layer module. The multilayer cases are treated as a cascade of these modules. The mode tracing algorithm possesses stable characteristics that are superior to other methods. This method is applied to simulate the logs in the formations with both vertical and horizontal layers, and also used to study the groove effects of the MWD tool. The results are very good. Two-dimensional inversion of induction logs is an nonlinear problem. Nonlinear functions of the apparent conductivity are expanded into a Taylor series. After truncating the high order terms in this Taylor series, the nonlinear functions are linearized. An iterative procedure is then devised to solve the inversion problem. In each iteration, the Jacobian matrix is calculated, and a small variation computed using the least-squares method is used to modify the background medium. Finally, the inverted medium is obtained. The horizontal eigenstate method is used to solve the forward problem. It is found that a good inverted formation can be obtained by using measurements. In order to help the user simulate the induction logs conveniently, a Wellog Simulator, based on the X-window system, is developed. The application software (FORTRAN codes) embedded in the Simulator is designed to simulate the responses of the induction tools in the layered formation with dipping beds

  6. Feasible Muscle Activation Ranges Based on Inverse Dynamics Analyses of Human Walking

    PubMed Central

    Simpson, Cole S.; Sohn, M. Hongchul; Allen, Jessica L.; Ting, Lena H.

    2015-01-01

    Although it is possible to produce the same movement using an infinite number of different muscle activation patterns owing to musculoskeletal redundancy, the degree to which observed variations in muscle activity can deviate from optimal solutions computed from biomechanical models is not known. Here, we examined the range of biomechanically permitted activation levels in individual muscles during human walking using a detailed musculoskeletal model and experimentally-measured kinetics and kinematics. Feasible muscle activation ranges define the minimum and maximum possible level of each muscle’s activation that satisfy inverse dynamics joint torques assuming that all other muscles can vary their activation as needed. During walking, 73% of the muscles had feasible muscle activation ranges that were greater than 95% of the total muscle activation range over more than 95% of the gait cycle, indicating that, individually, most muscles could be fully active or fully inactive while still satisfying inverse dynamics joint torques. Moreover, the shapes of the feasible muscle activation ranges did not resemble previously-reported muscle activation patterns nor optimal solutions, i.e. static optimization and computed muscle control, that are based on the same biomechanical constraints. Our results demonstrate that joint torque requirements from standard inverse dynamics calculations are insufficient to define the activation of individual muscles during walking in healthy individuals. Identifying feasible muscle activation ranges may be an effective way to evaluate the impact of additional biomechanical and/or neural constraints on possible versus actual muscle activity in both normal and impaired movements. PMID:26300401

  7. The Maiden Voyage of a Kinematics Robot

    NASA Astrophysics Data System (ADS)

    Greenwolfe, Matthew L.

    2015-04-01

    In a Montessori preschool classroom, students work independently on tasks that absorb their attention in part because the apparatus are carefully designed to make mistakes directly observable and limit exploration to one aspect or dimension. Control of error inheres in the apparatus itself, so that teacher intervention can be minimal.1 Inspired by this example, I created a robotic kinematics apparatus that also shapes the inquiry experience. Students program the robot by drawing kinematic graphs on a computer and then observe its motion. Exploration is at once limited to constant velocity and constant acceleration motion, yet open to complex multi-segment examples difficult to achieve in the lab in other ways. The robot precisely and reliably produces the motion described by the students' graphs, so that the apparatus itself provides immediate visual feedback about whether their understanding is correct as they are free to explore within the hard-coded limits. In particular, the kinematic robot enables hands-on study of multi-segment constant velocity situations, which lays a far stronger foundation for the study of accelerated motion. When correction is anonymous—just between one group of lab partners and their robot—students using the kinematic robot tend to flow right back to work because they view the correction as an integral part of the inquiry learning process. By contrast, when correction occurs by the teacher and/or in public (e.g., returning a graded assignment or pointing out student misconceptions during class), students all too often treat the event as the endpoint to inquiry. Furthermore, quantitative evidence shows a large gain from pre-test to post-test scores using the Test of Understanding Graphs in Kinematics (TUG-K).

  8. Three-dimensional shoulder kinematics normalize after rotator cuff repair.

    PubMed

    Kolk, Arjen; de Witte, Pieter Bas; Henseler, Jan Ferdinand; van Zwet, Erik W; van Arkel, Ewoud R A; van der Zwaal, Peer; Nelissen, Rob G H H; de Groot, Jurriaan H

    2016-06-01

    Patients with a rotator cuff (RC) tear often exhibit scapular dyskinesia with increased scapular lateral rotation and decreased glenohumeral elevation with arm abduction. We hypothesized that in patients with an RC tear, scapular lateral rotation, and thus glenohumeral elevation, will be restored to normal after RC repair. Shoulder kinematics were quantitatively analyzed in 26 patients with an electromagnetic tracking device (Flock of Birds) before and 1 year after RC repair in this observational case series. We focused on humeral range of motion and scapular kinematics during abduction. The asymptomatic contralateral shoulder was used as the control. Changes in scapular kinematics were associated with the gain in range of motion. Shoulder kinematics were analyzed using a linear mixed model. Mean arm abduction and forward flexion improved after surgery by 20° (95% confidence interval [CI], 2.7°-36.5°; P = .025) and 13° (95% CI, 1.2°-36.5°; P = .044), respectively. Kinematic analyses showed decreases in mean scapular protraction (ie, internal rotation) and lateral rotation (ie, upward rotation) during abduction by 3° (95% CI, 0.0°-5.2°; P = .046) and 4° (95% CI, 1.6°-8.4°; P = .042), respectively. Glenohumeral elevation increased by 5° (95% CI, 0.6°-9.7°; P = .028) at 80°. Humeral range of motion increased when scapular lateral rotation decreased and posterior tilt increased. Scapular kinematics normalize after RC repair toward a symmetrical scapular motion pattern as observed in the asymptomatic contralateral shoulder. The observed changes in scapular kinematics are associated with an increased overall range of motion and suggest restored function of shoulder muscles. Copyright © 2016 Journal of Shoulder and Elbow Surgery Board of Trustees. Published by Elsevier Inc. All rights reserved.

  9. Action Experience Changes Attention to Kinematic Cues

    PubMed Central

    Filippi, Courtney A.; Woodward, Amanda L.

    2016-01-01

    The current study used remote corneal reflection eye-tracking to examine the relationship between motor experience and action anticipation in 13-months-old infants. To measure online anticipation of actions infants watched videos where the actor’s hand provided kinematic information (in its orientation) about the type of object that the actor was going to reach for. The actor’s hand orientation either matched the orientation of a rod (congruent cue) or did not match the orientation of the rod (incongruent cue). To examine relations between motor experience and action anticipation, we used a 2 (reach first vs. observe first) × 2 (congruent kinematic cue vs. incongruent kinematic cue) between-subjects design. We show that 13-months-old infants in the observe first condition spontaneously generate rapid online visual predictions to congruent hand orientation cues and do not visually anticipate when presented incongruent cues. We further demonstrate that the speed that these infants generate predictions to congruent motor cues is correlated with their own ability to pre-shape their hands. Finally, we demonstrate that following reaching experience, infants generate rapid predictions to both congruent and incongruent hand shape cues—suggesting that short-term experience changes attention to kinematics. PMID:26913012

  10. Effect of suspension kinematic on 14 DOF vehicle model

    NASA Astrophysics Data System (ADS)

    Wongpattananukul, T.; Chantharasenawong, C.

    2017-12-01

    Computer simulations play a major role in shaping modern science and engineering. They reduce time and resource consumption in new studies and designs. Vehicle simulations have been studied extensively to achieve a vehicle model used in minimum lap time solution. Simulation result accuracy depends on the abilities of these models to represent real phenomenon. Vehicles models with 7 degrees of freedom (DOF), 10 DOF and 14 DOF are normally used in optimal control to solve for minimum lap time. However, suspension kinematics are always neglected on these models. Suspension kinematics are defined as wheel movements with respect to the vehicle body. Tire forces are expressed as a function of wheel slip and wheel position. Therefore, the suspension kinematic relation is appended to the 14 DOF vehicle model to investigate its effects on the accuracy of simulate trajectory. Classical 14 DOF vehicle model is chosen as baseline model. Experiment data is collected from formula student style car test runs as baseline data for simulation and comparison between baseline model and model with suspension kinematic. Results show that in a single long turn there is an accumulated trajectory error in baseline model compared to model with suspension kinematic. While in short alternate turns, the trajectory error is much smaller. These results show that suspension kinematic had an effect on the trajectory simulation of vehicle. Which optimal control that use baseline model will result in inaccuracy control scheme.

  11. Kinematic alignment technique for total hip and knee arthroplasty

    PubMed Central

    Rivière, Charles; Lazic, Stefan; Villet, Loïc; Wiart, Yann; Allwood, Sarah Muirhead; Cobb, Justin

    2018-01-01

    Conventional techniques for hip and knee arthroplasty have led to good long-term clinical outcomes, but complications remain despite better surgical precision and improvements in implant design and quality. Technological improvements and a better understanding of joint kinematics have facilitated the progression to ‘personalized’ implant positioning (kinematic alignment) for total hip (THA) and knee (TKA) arthroplasty, the true value of which remains to be determined. By achieving a true knee resurfacing, the kinematic alignment (KA) technique for TKA aims at aligning the components with the physiological kinematic axes of the knee and restoring the constitutional tibio-femoral joint line frontal and axial orientation and soft-tissue laxity. The KA technique for THA aims at restoring the native ‘combined femoro-acetabular anteversion’ and the hip’s centre of rotation, and occasionally adjusting the cup position and design based on the assessment of the individual spine-hip relation. The key element for optimal prosthetic joint kinematics (hip or knee) is to reproduce the femoral anatomy. The transverse acetabular ligament (TAL) is the reference landmark to adjust the cup position. Cite this article: EFORT Open Rev 2018;3:98-105. DOI: 10.1302/2058-5241.3.170022 PMID:29657851

  12. Kinematic capability in the SVDS

    NASA Technical Reports Server (NTRS)

    Flanders, H. A.

    1977-01-01

    The details of the Remote Manipulator System kinematic model implemented into the Space Vehicle Dynamics Simulation are given. Detailed engineering flow diagrams and definitions of terms are included.

  13. Interpreting inverse magnetic fabric in dikes from Eastern Iceland

    NASA Astrophysics Data System (ADS)

    Trippanera, Daniele; Urbani, Stefano; Porreca, Massimiliano; Acocella, Valerio; Kissel, Catherine; Sagnotti, Leonardo; Winkler, Aldo

    2017-04-01

    Since the 70's magnetic fabric analysis has been used to infer magma emplacement in dikes. However, the interpretation of magmatic flow orientation in dikes is often complicated by the occurrence of anomalous (i.e. inverse) magnetic fabric. This latter may either reflect the presence of single-domain (SD) grains or result from peculiar orientation mechanisms of magnetic minerals in magmas of different viscosities. Tertiary dike swarms of extinct volcanic systems in Eastern Iceland represent the ideal case study to clarify the origin of anomalous magnetic fabric. Here we present the results of a multidisciplinary study on dikes belonging to the Alftafjordur volcanic system (Eastern Iceland), including a: (1) structural field study in order to identify kinematic and thermal indicators of dikes; (2) anisotropy of low-field magnetic susceptibility (AMS) analysis, to investigate the magnetic fabric and reconstruct the flow direction of 25 dikes; (3) first order reversal curve (FORC) diagrams and thermomagnetic properties of selected dikes to define the magnetic mineralogy; (4) petrofabric and image analyses at different microscopic scales to investigate the origin of the magnetic fabric and compare the AMS results with mineral texture. Our results show that half of the dikes show a well defined inverse magnetic fabrics (k max orthogonal to the dike margins) and anomalous high anisotropy degrees. Only 7 dikes have a normal magnetic fabric and other 6 dikes have an intermediate magnetic fabric. No clear prevalence of SD grains, which could explain the inverse magnetic fabric, was observed. On the contrary, petrofabric and thermomagnetic analysis reveal the presence of low Ti-content coarse magnetite and high Ti-content elongated magnetite grains as the main contributors to most of the observed magnetic fabrics. In particular, the orientation of the elongated high Ti-content magnetite grains, though usually scattered, is partly comparable with that of the maximum and

  14. Kinematics Card Sort Activity: Insight into Students' Thinking

    NASA Astrophysics Data System (ADS)

    Berryhill, Erin; Herrington, Deborah; Oliver, Keith

    2016-12-01

    Kinematics is a topic students are unknowingly aware of well before entering the physics classroom. Students observe motion on a daily basis. They are constantly interpreting and making sense of their observations, unintentionally building their own understanding of kinematics before receiving any formal instruction. Unfortunately, when students take their prior conceptions to understand a new situation, they often do so in a way that inaccurately connects their learning. We were motivated to identify strategies to help our students make accurate connections to their prior knowledge and understand kinematics at a deeper level. To do this, we integrated a formative assessment card sort into a kinematic graphing unit within an introductory high school physics course. Throughout the activities, we required students to document and reflect upon their thinking. This allowed their learning to build upon their own previously held conceptual understanding, which provided an avenue for cognitive growth. By taking a more direct approach to eliciting student reasoning, we hoped to improve student learning and guide our assessment of their learning.

  15. Pelvic kinematic method for determining vertical jump height.

    PubMed

    Chiu, Loren Z F; Salem, George J

    2010-11-01

    Sacral marker and pelvis reconstruction methods have been proposed to approximate total body center of mass during relatively low intensity gait and hopping tasks, but not during a maximum effort vertical jumping task. In this study, center of mass displacement was calculated using the pelvic kinematic method and compared with center of mass displacement using the ground-reaction force-impulse method, in experienced athletes (n = 13) performing restricted countermovement vertical jumps. Maximal vertical jumps were performed in a biomechanics laboratory, with data collected using an 8-camera motion analysis system and two force platforms. The pelvis center of mass was reconstructed from retro-reflective markers placed on the pelvis. Jump height was determined from the peak height of the pelvis center of mass minus the standing height. Strong linear relationships were observed between the pelvic kinematic and impulse methods (R² = .86; p < .01). The pelvic kinematic method underestimated jump height versus the impulse method, however, the difference was small (CV = 4.34%). This investigation demonstrates concurrent validity for the pelvic kinematic method to determine vertical jump height.

  16. Experimental approach to domino-style basement fault systems with evaporites during extension and subsequent inversion

    NASA Astrophysics Data System (ADS)

    Ferrer, Oriol; McClay, Ken

    2017-04-01

    Salt is mechanically weaker than other sedimentary rocks in rift basins. During extension it commonly acts as a strain localizer, decoupling supra- and sub-salt deformation. In this scenario the movement of the subsalt faults combined with the salt migration commonly constraint the development of syncline basins. The shape of these synclines is basically controlled by the thickness and strength of the overlying salt section, as well as by the shapes of the extensional faults, and the magnitudes and slip rates along the faults. The inherited extensional structure, and particularly the continuity of the salt section, plays a key role if the rift basin is subsequently inverted. This research utilizes scaled physical models to analyse the interplay between subsalt structures and suprasalt units during both extension and inversion in domino-style basement fault systems. The experimental program includes twelve analogue models to analyze how the thickness and stratigraphy of the salt unit as well as the thickness of the pre-extensional cover constraint the structural style during extension and subsequent inversion. Different models with the same setup have been used to examine the kinematic evolution. Model kinematics was documented and analyzed combining high-resolution photographs and sub-millimeter resolution scanners. The vertical sections carried out at the end of the experiments have been used to characterize the variations of the structures along strike using new methodologies (3D voxel models in image processing software and 3D seismic). The experimental results show that after extension, rift systems with salt affected by domino-style basement faults don't show the classical growth stratal wedges. In this case synclinal basins develop above the salt on the hangingwall of the basement faults. The evolution of supra- and subsalt deformation is initially decoupled by the salt layer. Salt migrates from the main depocenters towards the edges of the basin constraining

  17. Application of a stochastic inverse to the geophysical inverse problem

    NASA Technical Reports Server (NTRS)

    Jordan, T. H.; Minster, J. B.

    1972-01-01

    The inverse problem for gross earth data can be reduced to an undertermined linear system of integral equations of the first kind. A theory is discussed for computing particular solutions to this linear system based on the stochastic inverse theory presented by Franklin. The stochastic inverse is derived and related to the generalized inverse of Penrose and Moore. A Backus-Gilbert type tradeoff curve is constructed for the problem of estimating the solution to the linear system in the presence of noise. It is shown that the stochastic inverse represents an optimal point on this tradeoff curve. A useful form of the solution autocorrelation operator as a member of a one-parameter family of smoothing operators is derived.

  18. Robust Task Space Trajectory Tracking Control of Robotic Manipulators

    NASA Astrophysics Data System (ADS)

    Galicki, M.

    2016-08-01

    This work deals with the problem of the accurate task space trajectory tracking subject to finite-time convergence. Kinematic and dynamic equations of a redundant manipulator are assumed to be uncertain. Moreover, globally unbounded disturbances are allowed to act on the manipulator when tracking the trajectory by the end-effector. Furthermore, the movement is to be accomplished in such a way as to reduce both the manipulator torques and their oscillations thus eliminating the potential robot vibrations. Based on suitably defined task space non-singular terminal sliding vector variable and the Lyapunov stability theory, we propose a class of chattering-free robust controllers, based on the estimation of transpose Jacobian, which seem to be effective in counteracting both uncertain kinematics and dynamics, unbounded disturbances and (possible) kinematic and/or algorithmic singularities met on the robot trajectory. The numerical simulations carried out for a redundant manipulator of a SCARA type consisting of the three revolute kinematic pairs and operating in a two-dimensional task space, illustrate performance of the proposed controllers as well as comparisons with other well known control schemes.

  19. Kinematic foot types in youth with equinovarus secondary to hemiplegia.

    PubMed

    Krzak, Joseph J; Corcos, Daniel M; Damiano, Diane L; Graf, Adam; Hedeker, Donald; Smith, Peter A; Harris, Gerald F

    2015-02-01

    Elevated kinematic variability of the foot and ankle segments exists during gait among individuals with equinovarus secondary to hemiplegic cerebral palsy (CP). Clinicians have previously addressed such variability by developing classification schemes to identify subgroups of individuals based on their kinematics. To identify kinematic subgroups among youth with equinovarus secondary to CP using 3-dimensional multi-segment foot and ankle kinematics during locomotion as inputs for principal component analysis (PCA), and K-means cluster analysis. In a single assessment session, multi-segment foot and ankle kinematics using the Milwaukee Foot Model (MFM) were collected in 24 children/adolescents with equinovarus and 20 typically developing children/adolescents. PCA was used as a data reduction technique on 40 variables. K-means cluster analysis was performed on the first six principal components (PCs) which accounted for 92% of the variance of the dataset. The PCs described the location and plane of involvement in the foot and ankle. Five distinct kinematic subgroups were identified using K-means clustering. Participants with equinovarus presented with variable involvement ranging from primary hindfoot or forefoot deviations to deformtiy that included both segments in multiple planes. This study provides further evidence of the variability in foot characteristics associated with equinovarus secondary to hemiplegic CP. These findings would not have been detected using a single segment foot model. The identification of multiple kinematic subgroups with unique foot and ankle characteristics has the potential to improve treatment since similar patients within a subgroup are likely to benefit from the same intervention(s). Copyright © 2014 Elsevier B.V. All rights reserved.

  20. Kinematic foot types in youth with equinovarus secondary to hemiplegia

    PubMed Central

    Krzak, Joseph J.; Corcos, Daniel M.; Damiano, Diane L.; Graf, Adam; Hedeker, Donald; Smith, Peter A.; Harris, Gerald F.

    2015-01-01

    Background Elevated kinematic variability of the foot and ankle segments exists during gait among individuals with equinovarus secondary to hemiplegic cerebral palsy (CP). Clinicians have previously addressed such variability by developing classification schemes to identify subgroups of individuals based on their kinematics. Objective To identify kinematic subgroups among youth with equinovarus secondary to CP using 3-dimensional multi-segment foot and ankle kinematics during locomotion as inputs for principal component analysis (PCA), and K-means cluster analysis. Methods In a single assessment session, multi-segment foot and ankle kinematics using the Milwaukee Foot Model (MFM) were collected in 24 children/adolescents with equinovarus and 20 typically developing children/adolescents. Results PCA was used as a data reduction technique on 40 variables. K-means cluster analysis was performed on the first six principal components (PCs) which accounted for 92% of the variance of the dataset. The PCs described the location and plane of involvement in the foot and ankle. Five distinct kinematic subgroups were identified using K-means clustering. Participants with equinovarus presented with variable involvement ranging from primary hindfoot or forefoot deviations to deformtiy that included both segments in multiple planes. Conclusion This study provides further evidence of the variability in foot characteristics associated with equinovarus secondary to hemiplegic CP. These findings would not have been detected using a single segment foot model. The identification of multiple kinematic subgroups with unique foot and ankle characteristics has the potential to improve treatment since similar patients within a subgroup are likely to benefit from the same intervention(s). PMID:25467429

  1. KINEMATIC DISTANCES OF GALACTIC PLANETARY NEBULAE

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

    Yang, A. Y.; Tian, W. W.; Zhu, H.

    2016-03-15

    We construct H i absorption spectra for 18 planetary nebulae (PNs) and their background sources using data from the International Galactic Plane Survey. We estimate the kinematic distances of these PNs, among which 15 objects’ kinematic distances are obtained for the first time. The distance uncertainties of 13 PNs range from 10% to 50%, which is a significant improvement with uncertainties of a factor of two or three smaller than most previous distance measurements. We confirm that PN G030.2−00.1 is not a PN because of its large distance found here.

  2. Kinematic evolution of Internal Getic nappes (Serbian Carpathians, eastern Serbia)

    NASA Astrophysics Data System (ADS)

    Krstekanic, Nemanja; Stojadinovic, Uros; Toljic, Marinko; Matenco, Liviu

    2017-04-01

    The tectonic evolution of the Carpatho - Balkanides Mountains is less understood in the critical segment of the Serbian Carpathians due to lack of available kinematic data. We have performed a field kinematic analysis combined with existing information from previous local and regional studies by focusing on the internal part of this orogenic segment, where the three highest most units of the nappe stack are exposed and separated by large offsets thrusts, i.e. the Supragetic, Upper Getic and Lower Getic. These units expose their metamorphic basement and Permo-Mesozoic cover penetrated by syn- and post-kinematic plutons and overlain or otherwise in structural contact with the Neogene fill of intramontane basins and the one of the Morava river corridor located in the prolongation of the much larger Pannonian basin. The kinematic analysis demonstrates seven superposed tectonic events of variable magnitudes and effects. Available superposition criteria and the correlation with the regional evolution demonstrate that four events are major tectonic episodes, while three others have a more limited influence or are local effects of strain partitioning and rotations. The first deformation event observed is the late Early Cretaceous cataclastic to brittle thrusting and shearing associated with the emplacement of the Supragetic nappe over the Getic unit. The observed paleostress NW-SE to SW-NE compressional directions were affected by the subsequent Cenozoic oroclinal bending of the Carpathians nappe stack. The first event was followed by Late Cretaceous E-W compression associated with significant strike-slip and transpression, the paleostress orientation being affected by the same subsequent rotations. The Paleogene - Early Miocene activation of the Cerna - Jiu and Timok faults system that cumulates an observed offset of 100 km is associated with large strikes-slip deformation with presently observed NNE-SSW oriented compressional directions in the study area. The formation

  3. Kinematic Patterns Associated with the Vertical Force Produced during the Eggbeater Kick.

    PubMed

    Oliveira, Nuno; Chiu, Chuang-Yuan; Sanders, Ross H

    2015-01-01

    The purpose of this study was to determine the kinematic patterns that maximized the vertical force produced during the water polo eggbeater kick. Twelve water polo players were tested executing the eggbeater kick with the trunk aligned vertically and with the upper limbs above water while trying to maintain as high a position as possible out of the water for nine eggbeater kick cycles. Lower limb joint angular kinematics, pitch angles and speed of the feet were calculated. The vertical force produced during the eggbeater kick cycle was calculated using inverse dynamics for the independent lower body segments and combined upper body segments, and a participant-specific second-degree regression equation for the weight and buoyancy contributions. Vertical force normalized to body weight was associated with hip flexion (average, r = 0.691; maximum, r = 0.791; range of motion, r = 0.710), hip abduction (maximum, r = 0.654), knee flexion (average, r = 0.716; minimum, r = 0.653) and knee flexion-extension angular velocity (r = 0.758). Effective orientation of the hips resulted in fast horizontal motion of the feet with positive pitch angles. Vertical motion of the feet was negatively associated with vertical force. A multiple regression model comprising the non-collinear variables of maximum hip abduction, hip flexion range of motion and knee flexion angular velocity accounted for 81% of the variance in normalized vertical force. For high performance in the water polo, eggbeater kick players should execute fast horizontal motion with the feet by having large abduction and flexion of the hips, and fast extension and flexion of the knees.

  4. Ground reaction forces, kinematics, and muscle activations during the windmill softball pitch.

    PubMed

    Oliver, Gretchen D; Plummer, Hillary

    2011-07-01

    The aims of the present study were to examine quantitatively ground reaction forces, kinematics, and muscle activations during the windmill softball pitch, and to determine relationships between knee valgus and muscle activations, ball velocity and muscle activation as well as ball velocity and ground reaction forces. It was hypothesized that there would be an inverse relationship between degree of knee valgus and muscle activation, a direct relationship between ground reaction forces and ball velocity, and non-stride leg muscle activations and ball velocity. Ten female windmill softball pitchers (age 17.6 ± 3.47 years, stature 1.67 ± 0.07 m, weight 67.4 ± 12.2 kg) participated. Dependent variables were ball velocity, surface electromyographic (sEMG), kinematic, and kinetic data while the participant was the independent variable. Stride foot contact reported peak vertical forces of 179% body weight. There were positive relationships between ball velocity and ground reaction force (r = 0.758, n = 10, P = 0.029) as well as ball velocity and non-stride leg gluteus maximus (r = 0.851, n = 10, P = 0.007) and medius (r = 0.760, n = 10, P = 0.029) muscle activity, while there was no notable relationship between knee valgus and muscle activation. As the windmill softball pitcher increased ball velocity, her vertical ground reaction forces also increased. Proper conditioning of the lumbopelvic-hip complex, including the gluteals, is essential for injury prevention. From the data presented, it is evident that bilateral strength and conditioning of the gluteal muscle group is salient in the windmill softball pitch as an attempt to decrease incidence of injury.

  5. Inversions

    ERIC Educational Resources Information Center

    Brown, Malcolm

    2009-01-01

    Inversions are fascinating phenomena. They are reversals of the normal or expected order. They occur across a wide variety of contexts. What do inversions have to do with learning spaces? The author suggests that they are a useful metaphor for the process that is unfolding in higher education with respect to education. On the basis of…

  6. Kinematic Optimization in Birds, Bats and Ornithopters

    NASA Astrophysics Data System (ADS)

    Reichert, Todd

    Birds and bats employ a variety of advanced wing motions in the efficient production of thrust. The purpose of this thesis is to quantify the benefit of these advanced wing motions, determine the optimal theoretical wing kinematics for a given flight condition, and to develop a methodology for applying the results in the optimal design of flapping-wing aircraft (ornithopters). To this end, a medium-fidelity, combined aero-structural model has been developed that is capable of simulating the advanced kinematics seen in bird flight, as well as the highly non-linear structural deformations typical of high-aspect ratio wings. Five unique methods of thrust production observed in natural species have been isolated, quantified and thoroughly investigated for their dependence on Reynolds number, airfoil selection, frequency, amplitude and relative phasing. A gradient-based optimization algorithm has been employed to determined the wing kinematics that result in the minimum required power for a generalized aircraft or species in any given flight condition. In addition to the theoretical work, with the help of an extended team, the methodology was applied to the design and construction of the world's first successful human-powered ornithopter. The Snowbird Human-Powered Ornithopter, is used as an example aircraft to show how additional design constraints can pose limits on the optimal kinematics. The results show significant trends that give insight into the kinematic operation of natural species. The general result is that additional complexity, whether it be larger twisting deformations or advanced wing-folding mechanisms, allows for the possibility of more efficient flight. At its theoretical optimum, the efficiency of flapping-wings exceeds that of current rotors and propellers, although these efficiencies are quite difficult to achieve in practice.

  7. Treadmill Kinematics Baseline Data Collection

    NASA Image and Video Library

    2011-05-12

    PHOTO DATE: 5-12-11 LOCATION: Building 261 - Room 138 SUBJECT: Expedition 29 Preflight Training with Dan Burbank during Treadmill Kinematics Baseline Data Collection. WORK ORDER: 2011-1214 PHOTOGRAPHER: Lauren Harnett

  8. Three-Dimensional Anisotropic Acoustic and Elastic Full-Waveform Seismic Inversion

    NASA Astrophysics Data System (ADS)

    Warner, M.; Morgan, J. V.

    2013-12-01

    Three-dimensional full-waveform inversion is a high-resolution, high-fidelity, quantitative, seismic imaging technique that has advanced rapidly within the oil and gas industry. The method involves the iterative improvement of a starting model using a series of local linearized updates to solve the full non-linear inversion problem. During the inversion, forward modeling employs the full two-way three-dimensional heterogeneous anisotropic acoustic or elastic wave equation to predict the observed raw field data, wiggle-for-wiggle, trace-by-trace. The method is computationally demanding; it is highly parallelized, and runs on large multi-core multi-node clusters. Here, we demonstrate what can be achieved by applying this newly practical technique to several high-density 3D seismic datasets that were acquired to image four contrasting sedimentary targets: a gas cloud above an oil reservoir, a radially faulted dome, buried fluvial channels, and collapse structures overlying an evaporate sequence. We show that the resulting anisotropic p-wave velocity models match in situ measurements in deep boreholes, reproduce detailed structure observed independently on high-resolution seismic reflection sections, accurately predict the raw seismic data, simplify and sharpen reverse-time-migrated reflection images of deeper horizons, and flatten Kirchhoff-migrated common-image gathers. We also show that full-elastic 3D full-waveform inversion of pure pressure data can generate a reasonable shear-wave velocity model for one of these datasets. For two of the four datasets, the inclusion of significant transversely isotropic anisotropy with a vertical axis of symmetry was necessary in order to fit the kinematics of the field data properly. For the faulted dome, the full-waveform-inversion p-wave velocity model recovers the detailed structure of every fault that can be seen on coincident seismic reflection data. Some of the individual faults represent high-velocity zones, some represent

  9. Multidimensional NMR inversion without Kronecker products: Multilinear inversion

    NASA Astrophysics Data System (ADS)

    Medellín, David; Ravi, Vivek R.; Torres-Verdín, Carlos

    2016-08-01

    Multidimensional NMR inversion using Kronecker products poses several challenges. First, kernel compression is only possible when the kernel matrices are separable, and in recent years, there has been an increasing interest in NMR sequences with non-separable kernels. Second, in three or more dimensions, the singular value decomposition is not unique; therefore kernel compression is not well-defined for higher dimensions. Without kernel compression, the Kronecker product yields matrices that require large amounts of memory, making the inversion intractable for personal computers. Finally, incorporating arbitrary regularization terms is not possible using the Lawson-Hanson (LH) or the Butler-Reeds-Dawson (BRD) algorithms. We develop a minimization-based inversion method that circumvents the above problems by using multilinear forms to perform multidimensional NMR inversion without using kernel compression or Kronecker products. The new method is memory efficient, requiring less than 0.1% of the memory required by the LH or BRD methods. It can also be extended to arbitrary dimensions and adapted to include non-separable kernels, linear constraints, and arbitrary regularization terms. Additionally, it is easy to implement because only a cost function and its first derivative are required to perform the inversion.

  10. Kinematic analysis of asymmetric folds in competent layers using mathematical modelling

    NASA Astrophysics Data System (ADS)

    Aller, J.; Bobillo-Ares, N. C.; Bastida, F.; Lisle, R. J.; Menéndez, C. O.

    2010-08-01

    Mathematical 2D modelling of asymmetric folds is carried out by applying a combination of different kinematic folding mechanisms: tangential longitudinal strain, flexural flow and homogeneous deformation. The main source of fold asymmetry is discovered to be due to the superimposition of a general homogeneous deformation on buckle folds that typically produces a migration of the hinge point. Forward modelling is performed mathematically using the software 'FoldModeler', by the superimposition of simple shear or a combination of simple shear and irrotational strain on initial buckle folds. The resulting folds are Ramsay class 1C folds, comparable to those formed by symmetric flattening, but with different length of limbs and layer thickness asymmetry. Inverse modelling is made by fitting the natural fold to a computer-simulated fold. A problem of this modelling is the search for the most appropriate homogeneous deformation to be superimposed on the initial fold. A comparative analysis of the irrotational and rotational deformations is made in order to find the deformation which best simulates the shapes and attitudes of natural folds. Modelling of recumbent folds suggests that optimal conditions for their development are: a) buckling in a simple shear regime with a sub-horizontal shear direction and layering gently dipping towards this direction; b) kinematic amplification due to superimposition of a combination of simple shear and irrotational strain with a sub-vertical maximum shortening direction for the latter component. The modelling shows that the amount of homogeneous strain necessary for the development of recumbent folds is much less when an irrotational strain component is superimposed at this stage that when the superimposed strain is only simple shear. In nature, the amount of the irrotational strain component probably increases during the development of the fold as a consequence of the increasing influence of the gravity due to the tectonic

  11. Crustal velocity structure and earthquake processes of Garhwal-Kumaun Himalaya: Constraints from regional waveform inversion and array beam modeling

    NASA Astrophysics Data System (ADS)

    Negi, Sanjay S.; Paul, Ajay; Cesca, Simone; Kamal; Kriegerowski, Marius; Mahesh, P.; Gupta, Sandeep

    2017-08-01

    In order to understand present day earthquake kinematics at the Indian plate boundary, we analyse seismic broadband data recorded between 2007 and 2015 by the regional network in the Garhwal-Kumaun region, northwest Himalaya. We first estimate a local 1-D velocity model for the computation of reliable Green's functions, based on 2837 P-wave and 2680 S-wave arrivals from 251 well located earthquakes. The resulting 1-D crustal structure yields a 4-layer velocity model down to the depths of 20 km. A fifth homogeneous layer extends down to 46 km, constraining the Moho using travel-time distance curve method. We then employ a multistep moment tensor (MT) inversion algorithm to infer seismic moment tensors of 11 moderate earthquakes with Mw magnitude in the range 4.0-5.0. The method provides a fast MT inversion for future monitoring of local seismicity, since Green's functions database has been prepared. To further support the moment tensor solutions, we additionally model P phase beams at seismic arrays at teleseismic distances. The MT inversion result reveals the presence of dominant thrust fault kinematics persisting along the Himalayan belt. Shallow low and high angle thrust faulting is the dominating mechanism in the Garhwal-Kumaun Himalaya. The centroid depths for these moderate earthquakes are shallow between 1 and 12 km. The beam modeling result confirm hypocentral depth estimates between 1 and 7 km. The updated seismicity, constrained source mechanism and depth results indicate typical setting of duplexes above the mid crustal ramp where slip is confirmed along out-of-sequence thrusting. The involvement of Tons thrust sheet in out-of-sequence thrusting indicate Tons thrust to be the principal active thrust at shallow depth in the Himalayan region. Our results thus support the critical taper wedge theory, where we infer the microseismicity cluster as a result of intense activity within the Lesser Himalayan Duplex (LHD) system.

  12. KINEMATICS OF STELLAR POPULATIONS IN POSTSTARBURST GALAXIES

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

    Hiner, Kyle D.; Canalizo, Gabriela, E-mail: gabriela.canalizo@ucr.edu, E-mail: khiner@astro-udec.cl

    2015-01-20

    Poststarburst galaxies host a population of early-type stars (A or F) but simultaneously lack indicators of ongoing star formation such as [O II] emission. Two distinct stellar populations have been identified in these systems: a young poststarburst population superimposed on an older host population. We present a study of nine poststarburst galaxies with the following objectives: (1) to investigate whether and how kinematical differences between the young and old populations of stars can be measured, and (2) to gain insight into the formation mechanism of the young population in these systems. We fit high signal-to-noise spectra with two independent populationsmore » in distinct spectral regions: the Balmer region, the Mg IB region, and the Ca triplet when available. We show that the kinematics of the two populations largely track one another if measured in the Balmer region with high signal-to-noise data. Results from examining the Faber-Jackson relation and the fundamental plane indicate that these objects are not kinematically disturbed relative to more evolved spheroids. A case study of the internal kinematics of one object in our sample shows it to be pressure supported and not rotationally dominated. Overall our results are consistent with merger-induced starburst scenarios where the young population is observed during the later stages of the merger.« less

  13. Lingual Kinematics during Rapid Syllable Repetition in Parkinson's Disease

    ERIC Educational Resources Information Center

    Wong, Min Ney; Murdoch, Bruce E.; Whelan, Brooke-Mai

    2012-01-01

    Background: Rapid syllable repetition tasks are commonly used in the assessment of motor speech disorders. However, little is known about the articulatory kinematics during rapid syllable repetition in individuals with Parkinson's disease (PD). Aims: To investigate and compare lingual kinematics during rapid syllable repetition in dysarthric…

  14. Correlation Between University Students' Kinematic Achievement and Learning Styles

    NASA Astrophysics Data System (ADS)

    Çirkinoǧlu, A. G.; Dem&ircidot, N.

    2007-04-01

    In the literature, some researches on kinematics revealed that students have many difficulties in connecting graphs and physics. Also some researches showed that the method used in classroom affects students' further learning. In this study the correlation between university students' kinematics achieve and learning style are investigated. In this purpose Kinematics Achievement Test and Learning Style Inventory were applied to 573 students enrolled in general physics 1 courses at Balikesir University in the fall semester of 2005-2006. Kinematics Test, consists of 12 multiple choose and 6 open ended questions, was developed by researchers to assess students' understanding, interpreting, and drawing graphs. Learning Style Inventory, a 24 items test including visual, auditory, and kinesthetic learning styles, was developed and used by Barsch. The data obtained from in this study were analyzed necessary statistical calculations (T-test, correlation, ANOVA, etc.) by using SPSS statistical program. Based on the research findings, the tentative recommendations are made.

  15. 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.

  16. Position-Specific Hip and Knee Kinematics in NCAA Football Athletes

    PubMed Central

    Deneweth, Jessica M.; Pomeroy, Shannon M.; Russell, Jason R.; McLean, Scott G.; Zernicke, Ronald F.; Bedi, Asheesh; Goulet, Grant C.

    2014-01-01

    Background: Femoroacetabular impingement is a debilitating hip condition commonly affecting athletes playing American football. The condition is associated with reduced hip range of motion; however, little is known about the range-of-motion demands of football athletes. This knowledge is critical to effective management of this condition. Purpose: To (1) develop a normative database of game-like hip and knee kinematics used by football athletes and (2) analyze kinematic data by playing position. The hypothesis was that kinematics would be similar between running backs and defensive backs and between wide receivers and quarterbacks, and that linemen would perform the activities with the most erect lower limb posture. Study Design: Descriptive laboratory study. Methods: Forty National Collegiate Athletic Association (NCAA) football athletes, representing 5 playing positions (quarterback, defensive back, running back, wide receiver, offensive lineman), executed game-like maneuvers while lower body kinematics were recorded via optical motion capture. Passive hip range of motion at 90° of hip flexion was assessed using a goniometer. Passive range of motion, athlete physical dimensions, hip function, and hip and knee rotations were submitted to 1-way analysis of variance to test for differences between playing positions. Correlations between maximal hip and knee kinematics and maximal hip kinematics and passive range of motion were also computed. Results: Hip and knee kinematics were similar across positions. Significant differences arose with linemen, who used lower maximal knee flexion (mean ± SD, 45.04° ± 7.27°) compared with running backs (61.20° ± 6.07°; P < .001) and wide receivers (54.67° ± 6.97°; P = .048) during the cut. No significant differences were found among positions for hip passive range of motion (overall means: 102° ± 15° [flexion]; 25° ± 9° [internal rotation]; 25° ± 8° [external rotation]). Several maximal hip measures were found

  17. Performance and three-dimensional kinematics of bipedal lizards during obstacle negotiation.

    PubMed

    Olberding, Jeffrey P; McBrayer, Lance D; Higham, Timothy E

    2012-01-15

    Bipedal running is common among lizard species, but although the kinematics and performance of this gait have been well characterized, the advantages in biologically relevant situations are still unclear. Obstacle negotiation is a task that is ecologically relevant to many animals while moving at high speeds, such as during bipedal running, yet little is known about how obstacles impact locomotion and performance. We examined the effects of obstacle negotiation on the kinematics and performance of lizards during bipedal locomotion. We quantified three-dimensional kinematics from high-speed video (500 Hz) of six-lined racerunners (Aspidoscelis sexlineata) running on a 3 m racetrack both with and without an obstacle spanning the width of the track. The lizards did not alter their kinematics prior to contacting the obstacle. Although contact with the obstacle caused changes to the hindlimb kinematics, mean forward speed did not differ between treatments. The deviation of the vertical position of the body center of mass did not differ between treatments, suggesting that in the absence of a cost to overall performance, lizards forgo maintaining normal kinematics while negotiating obstacles in favor of a steady body center of mass height to avoid destabilizing locomotion.

  18. Freeform correction polishing for optics with semi-kinematic mounting

    NASA Astrophysics Data System (ADS)

    Huang, Chien-Yao; Kuo, Ching-Hsiang; Peng, Wei-Jei; Yu, Zong-Ru; Ho, Cheng-Fang; Hsu, Ming-Ying; Hsu, Wei-Yao

    2015-10-01

    Several mounting configurations could be applied to opto-mechanical design for achieving high precise optical system. The retaining ring mounting is simple and cost effective. However, it would deform the optics due to its unpredictable over-constraint forces. The retaining ring can be modified to three small contact areas becoming a semi-kinematic mounting. The semi-kinematic mounting can give a fully constrained in lens assembly and avoid the unpredictable surface deformation. However, there would be still a deformation due to self-weight in large optics especially in vertical setup applications. The self-weight deformation with a semi-kinematic mounting is a stable, repeatable and predictable combination of power and trefoil aberrations. This predictable deformation can be pre-compensated onto the design surface and be corrected by using CNC polisher. Thus it is a freeform surface before mounting to the lens cell. In this study, the freeform correction polishing is demonstrated in a Φ150 lens with semi-kinematic mounting. The clear aperture of the lens is Φ143 mm. We utilize ANSYS simulation software to analyze the lens deformation due to selfweight deformation with semi-kinematic mounting. The simulation results of the self-weight deformation are compared with the measurement results of the assembled lens cell using QED aspheric stitching interferometer (ASI). Then, a freeform surface of a lens with semi-kinematic mounting due to self-weight deformation is verified. This deformation would be corrected by using QED Magnetorheological Finishing (MRF® ) Q-flex 300 polishing machine. The final surface form error of the assembled lens cell after MRF figuring is 0.042 λ in peak to valley (PV).

  19. Examining Acoustic and Kinematic Measures of Articulatory Working Space: Effects of Speech Intensity.

    PubMed

    Whitfield, Jason A; Dromey, Christopher; Palmer, Panika

    2018-05-17

    The purpose of this study was to examine the effect of speech intensity on acoustic and kinematic vowel space measures and conduct a preliminary examination of the relationship between kinematic and acoustic vowel space metrics calculated from continuously sampled lingual marker and formant traces. Young adult speakers produced 3 repetitions of 2 different sentences at 3 different loudness levels. Lingual kinematic and acoustic signals were collected and analyzed. Acoustic and kinematic variants of several vowel space metrics were calculated from the formant frequencies and the position of 2 lingual markers. Traditional metrics included triangular vowel space area and the vowel articulation index. Acoustic and kinematic variants of sentence-level metrics based on the articulatory-acoustic vowel space and the vowel space hull area were also calculated. Both acoustic and kinematic variants of the sentence-level metrics significantly increased with an increase in loudness, whereas no statistically significant differences in traditional vowel-point metrics were observed for either the kinematic or acoustic variants across the 3 loudness conditions. In addition, moderate-to-strong relationships between the acoustic and kinematic variants of the sentence-level vowel space metrics were observed for the majority of participants. These data suggest that both kinematic and acoustic vowel space metrics that reflect the dynamic contributions of both consonant and vowel segments are sensitive to within-speaker changes in articulation associated with manipulations of speech intensity.

  20. Kinematics of Tape Recording.

    ERIC Educational Resources Information Center

    Coleman, J. J.

    1982-01-01

    Describes mathematics of the nonliner relationships between a constant-speed, capstan-driven magnetic tape transport mechanism and a constant-angular-velocity take-up reel. The relationship, derived from the sum of a partial, serves in recognition of a finite tape. Thickness can serve as an example of rotational kinematics. (Author/SK)

  1. Kinematically mediated effects of sport shoe design: a review.

    PubMed

    Frederick, E C

    1986-01-01

    One prominent pattern emerging from a review of the literature on sport shoes and biomechanics is the observation that many effects are the indirect result of shoe-induced adjustments in movement, i.e. a particular shoe characteristic elicits a kinematic adaptation which in turn has secondary consequences on kinetics and on injury and performance. For example, in addition to its variable effects on peak forces, cushioning system design has been shown to alter electromyographic patterns and to affect knee flexion during foot strike and affect indirectly the economy of running. Mediolateral stability as measured by rearfoot kinematics is strongly influenced by shoe design features such as heel lift, and sole hardness and geometry. The frictional properties of the shoe and surface interface have also been shown to affect kinematics in a way that in turn affects the recorded frictional forces themselves. Such kinematically mediated responses are the most provocative result of studies of the biomechanical effects of footwear. It is becoming apparent that the shoe can be a powerful tool for manipulating human movement. The abundance of shoe design possibilities coupled with the body's tendency to adjust in predictable ways to shoe mechanical characteristics have given us a new way to manipulate human kinematics and kinetics, as well as a convenient model for studying biomechanical adaptation.

  2. Shoe collar height effect on athletic performance, ankle joint kinematics and kinetics during unanticipated maximum-effort side-cutting performance.

    PubMed

    Lam, Gilbert Wing Kai; Park, Eun Jung; Lee, Ki-Kwang; Cheung, Jason Tak-Man

    2015-01-01

    Side-step cutting manoeuvres comprise the coordination between planting and non-planting legs. Increased shoe collar height is expected to influence ankle biomechanics of both legs and possibly respective cutting performance. This study examined the shoe collar height effect on kinematics and kinetics of planting and non-planting legs during an unanticipated side-step cutting. Fifteen university basketball players performed maximum-effort side-step cutting to the left 45° direction or a straight ahead run in response to a random light signal. Seven successful cutting trials were collected for each condition. Athletic performance, ground reaction force, ankle kinematics and kinetics of both legs were analysed using paired t-tests. Results indicated that high-collar shoes resulted in less ankle inversion and external rotation during initial contact for the planting leg. The high-collar shoes also exhibited a smaller ankle range of motion in the sagittal and transverse planes for both legs, respectively. However, no collar effect was found for ankle moments and performance indicators including cutting performance time, ground contact time, propulsion ground reaction forces and impulses. These findings indicated that high-collar shoes altered ankle positioning and restricted ankle joint freedom movements in both legs, while no negative effect was found for athletic cutting performance.

  3. Kinematics and force analysis of a robot hand based on an artificial biological control scheme

    NASA Astrophysics Data System (ADS)

    Kim, Man Guen

    An artificial biological control scheme (ABCS) is used to study the kinematics and statics of a multifingered hand with a view to developing an efficient control scheme for grasping. The ABCS is based on observation of human grasping, intuitively taking it as the optimum model for robotic grasping. A final chapter proposes several grasping measures to be applied to the design and control of a robot hand. The ABCS leads to the definition of two modes of the grasping action: natural grasping (NG), which is the human motion to grasp the object without any special task command, and forced grasping (FG), which is the motion with a specific task. The grasping direction line (GDL) is defined to determine the position and orientation of the object in the hand. The kinematic model of a redundant robot arm and hand is developed by reconstructing the human upper extremity and using anthropometric measurement data. The inverse kinematic analyses of various types of precision and power grasping are studied by replacing the three-link with one virtual link and using the GDL. The static force analysis for grasping with fingertips is studied by applying the ABCS. A measure of grasping stability, that maintains the positions of contacts as well as the configurations of the redundant fingers, is derived. The grasping stability measure (GSM), a measure of how well the hand maintains grasping under the existence of external disturbance, is derived by the torque vector of the hand calculated from the external force applied to the object. The grasping manipulability measure (GMM), a measure of how well the hand manipulates the object for the task, is derived by the joint velocity vector of the hand calculated from the object velocity. The grasping performance measure (GPM) is defined by the sum of the directional components of the GSM and the GMM. Finally, a planar redundant hand with two fingers is examined in order to study the various postures of the hand performing pinch grasping by

  4. NGC 6334 and NGC 6357: Hα kinematics and the nature of the H II regions

    NASA Astrophysics Data System (ADS)

    Russeil, D.; Tigé, J.; Adami, C.; Anderson, L. D.; Schneider, N.; Zavagno, A.; Samal, M. R.; Amram, P.; Guennou, L.; Le Coarer, E.; Walsh, A.; Longmore, S. N.; Purcell, C.

    2016-03-01

    Aims: NGC 6334 and NGC 6357 are amongst the most active, optically visible Galactic star-forming complexes. They are composed of several H II regions that have a significant impact on their surrounding. The aim of this paper is to present a kinematic study of the optical H II regions that belong to NGC 6334 and NGC 6357. Methods: We use Fabry-Perot interferometer observations of the Hα line, which cover NGC 6334 and NGC 6357. These observations allow us to analyse the Hα line profiles to probe the kinematics of the ionised gas of both regions. We complement the Hα observations with multi-wavelength data to specify the nature of the H II regions. Results: We determine the dynamical nature of the optical H II regions that belongs to NGC 6334 and NGC 6357. In NGC 6334, GUM 61 is an expanding wind shell-like H II region, GUM 64b exhibits a champagne flow, GM1-24 is the Hα counterpart of two larger regions and H II 351.2+0.5 is, in fact, composed of two H II regions. In NGC 6357, H II 353.08+0.28 and H II 353.09+0.63 are probably stellar wind-shaped bubble H II regions, while H II 353.42+0.45 is a classical photo-ionised H II region. We suggest that, at large scale, star-formation seems to be triggered where large/old H II regions intersect. Inversely, stellar formation seems to have already started in the NGC 6334 north-east filament, irrespective of any evident external H II region impact. While NGC 6357 shows more complicated kinematics, NGC 6334 is characterised by a more active stellar formation. The Hα data (FITS cubes) are only available at the CDS via anonymous ftp to http://cdsarc.u-strasbg.fr (ftp://130.79.128.5) or via http://cdsarc.u-strasbg.fr/viz-bin/qcat?J/A+A/587/A135

  5. Lower extremity kinematics of athletics curve sprinting.

    PubMed

    Alt, Tobias; Heinrich, Kai; Funken, Johannes; Potthast, Wolfgang

    2015-01-01

    Curve running requires the generation of centripetal force altering the movement pattern in comparison to the straight path run. The question arises which kinematic modulations emerge while bend sprinting at high velocities. It has been suggested that during curve sprints the legs fulfil different functions. A three-dimensional motion analysis (16 high-speed cameras) was conducted to compare the segmental kinematics of the lower extremity during the stance phases of linear and curve sprints (radius: 36.5 m) of six sprinters of national competitive level. Peak joint angles substantially differed in the frontal and transversal plane whereas sagittal plane kinematics remained unchanged. During the prolonged left stance phase (left: 107.5 ms, right: 95.7 ms, straight: 104.4 ms) the maximum values of ankle eversion (left: 12.7°, right: 2.6°, straight: 6.6°), hip adduction (left: 13.8°, right: 5.5°, straight: 8.8°) and hip external rotation (left: 21.6°, right: 12.9°, straight: 16.7°) were significantly higher. The inside leg seemed to stabilise the movement in the frontal plane (eversion-adduction strategy) whereas the outside leg provided and controlled the motion in the horizontal plane (rotation strategy). These results extend the principal understanding of the effects of curve sprinting on lower extremity kinematics. This helps to increase the understanding of nonlinear human bipedal locomotion, which in turn might lead to improvements in athletic performance and injury prevention.

  6. Effect of thong style flip-flops on children's barefoot walking and jogging kinematics.

    PubMed

    Chard, Angus; Greene, Andrew; Hunt, Adrienne; Vanwanseele, Benedicte; Smith, Richard

    2013-03-05

    Thong style flip-flops are a popular form of footwear for children. Health professionals relate the wearing of thongs to foot pathology and deformity despite the lack of quantitative evidence to support or refute the benefits or disadvantages of children wearing thongs. The purpose of this study was to compare the effect of thong footwear on children's barefoot three dimensional foot kinematics during walking and jogging. Thirteen healthy children (age 10.3 ± 1.6 SD years) were recruited from the metropolitan area of Sydney Australia following a national press release. Kinematic data were recorded at 200 Hz using a 14 camera motion analysis system (Cortex, Motion Analysis Corporation, Santa Rosa, USA) and simultaneous ground reaction force were measured using a force platform (Model 9281B, Kistler, Winterthur, Switzerland). A three-segment foot model was used to describe three dimensional ankle, midfoot and one dimensional hallux kinematics during the stance sub-phases of contact, midstance and propulsion. Thongs resulted in increased ankle dorsiflexion during contact (by 10.9°, p; = 0.005 walk and by 8.1°, p; = 0.005 jog); increased midfoot plantarflexion during midstance (by 5.0°, p; = 0.037 jog) and propulsion (by 6.7°, p; = 0.044 walk and by 5.4°, p;= 0.020 jog); increased midfoot inversion during contact (by 3.8°, p;= 0.042 jog) and reduced hallux dorsiflexion during walking 10% prior to heel strike (by 6.5°, p; = 0.005) at heel strike (by 4.9°, p; = 0.031) and 10% post toe-off (by 10.7°, p; = 0.001). Ankle dorsiflexion during the contact phase of walking and jogging, combined with reduced hallux dorsiflexion during walking, suggests a mechanism to retain the thong during weight acceptance. Greater midfoot plantarflexion throughout midstance while walking and throughout midstance and propulsion while jogging may indicate a gripping action to sustain the thong during stance. While these compensations exist, the overall findings suggest that foot

  7. Kinematic constraints associated with the acquisition of overarm throwing part II: upper extremity actions.

    PubMed

    Stodden, David F; Langendorfer, Stephen J; Fleisig, Glenn S; Andrews, James R

    2006-12-01

    The purposes of this study were to: (a) examine the differences within 11 specific kinematic variables and an outcome measure (ball velocity) associated with component developmental levels of humerus and forearm action (Roberton & Halverson, 1984), and (b) if the differences in kinematic variables were significantly associated with the differences in component levels, determine potential kinematic constraints associated with skilled throwing acquisition. Significant differences among component levels in five of six humerus kinematic variables (p <.01) and all five forearm kinematic variables (p < .01) were identified using multivariate analysis of variance. These kinematic variables represent potential control parameters and, therefore, constraints on overarm throwing acquisition.

  8. Abundance of Chemical Elements in RR Lyrae Variables and their Kinematic Parameters

    NASA Astrophysics Data System (ADS)

    Gozha, M. L.; Marsakov, V. A.; Koval', V. V.

    2018-03-01

    A catalog of the chemical and spatial-kinematic parameters of 415 RR Lyrae variables (Lyrids) in the galactic field is compiled. Spectroscopic determinations of the relative abundances of 13 chemical elements in 101 of the RR Lyrae variables are collected from 25 papers published between 1995 and 2017. The data from different sources are reduced to a single solar abundance scale. The mean weighted chemical abundances are calculated with coefficients inversely proportional to the reported errors. An analysis of the deviations in the published relative abundances in each star from the mean square values calculated from them reveals an absence of systematic biases among the results from the various articles. The rectangular coordinates of 407 of the RR Lyrae variables and the components of the three-dimensional (3D) velocities of 401 of the stars are calculated using data from several sources. The collected data on the abundances of chemical elements produced by various nuclear fusion processes for the RR Lyrae variables of the field, as well as the calculated 3D velocities, can be used for studying the evolution of the Galaxy.

  9. Some aspects of the analysis of geodetic strain observations in kinematic models

    NASA Astrophysics Data System (ADS)

    Welsch, W. M.

    1986-11-01

    Frequently, deformation processes are analyzed in static models. In many cases, this procedure is justified, in particular if the deformation occurring is a singular event. If. however, the deformation is a continuous process, as is the case, for instance, with recent crustal movements, the analysis in kinematic models is more commensurate with the problem because the factor "time" is considered an essential part of the model. Some specialities have to be considered when analyzing geodetic strain observations in kinematic models. They are dealt with in this paper. After a brief derivation of the basic kinematic model and the kinematic strain model, the following subjects are treated: the adjustment of the pointwise velocity field and the derivation of strain-rate parameters; the fixing of the kinematic reference system as part of the geodetic datum; statistical tests of models by testing linear hypotheses; the invariance of kinematic strain-rate parameters with respect to transformations of the coordinate-system and the geodetic datum; the interpolation of strain rates by finite-element methods. After the representation of some advanced models for the description of secular and episodic kinematic processes, the data analysis in dynamic models is regarded as a further generalization of deformation analysis.

  10. Scattering forms and the positive geometry of kinematics, color and the worldsheet

    NASA Astrophysics Data System (ADS)

    Arkani-Hamed, Nima; Bai, Yuntao; He, Song; Yan, Gongwang

    2018-05-01

    The search for a theory of the S-Matrix over the past five decades has revealed surprising geometric structures underlying scattering amplitudes ranging from the string worldsheet to the amplituhedron, but these are all geometries in auxiliary spaces as opposed to the kinematical space where amplitudes actually live. Motivated by recent advances providing a reformulation of the amplituhedron and planar N = 4 SYM amplitudes directly in kinematic space, we propose a novel geometric understanding of amplitudes in more general theories. The key idea is to think of amplitudes not as functions, but rather as differential forms on kinematic space. We explore the resulting picture for a wide range of massless theories in general spacetime dimensions. For the bi-adjoint ϕ 3 scalar theory, we establish a direct connection between its "scattering form" and a classic polytope — the associahedron — known to mathematicians since the 1960's. We find an associahedron living naturally in kinematic space, and the tree level amplitude is simply the "canonical form" associated with this "positive geometry". Fundamental physical properties such as locality and unitarity, as well as novel "soft" limits, are fully determined by the combinatorial geometry of this polytope. Furthermore, the moduli space for the open string worldsheet has also long been recognized as an associahedron. We show that the scattering equations act as a diffeomorphism between the interior of this old "worldsheet associahedron" and the new "kinematic associahedron", providing a geometric interpretation and simple conceptual derivation of the bi-adjoint CHY formula. We also find "scattering forms" on kinematic space for Yang-Mills theory and the Non-linear Sigma Model, which are dual to the fully color-dressed amplitudes despite having no explicit color factors. This is possible due to a remarkable fact—"Color is Kinematics"— whereby kinematic wedge products in the scattering forms satisfy the same Jacobi

  11. A Joint Method of Envelope Inversion Combined with Hybrid-domain Full Waveform Inversion

    NASA Astrophysics Data System (ADS)

    CUI, C.; Hou, W.

    2017-12-01

    Full waveform inversion (FWI) aims to construct high-precision subsurface models by fully using the information in seismic records, including amplitude, travel time, phase and so on. However, high non-linearity and the absence of low frequency information in seismic data lead to the well-known cycle skipping problem and make inversion easily fall into local minima. In addition, those 3D inversion methods that are based on acoustic approximation ignore the elastic effects in real seismic field, and make inversion harder. As a result, the accuracy of final inversion results highly relies on the quality of initial model. In order to improve stability and quality of inversion results, multi-scale inversion that reconstructs subsurface model from low to high frequency are applied. But, the absence of very low frequencies (< 3Hz) in field data is still bottleneck in the FWI. By extracting ultra low-frequency data from field data, envelope inversion is able to recover low wavenumber model with a demodulation operator (envelope operator), though the low frequency data does not really exist in field data. To improve the efficiency and viability of the inversion, in this study, we proposed a joint method of envelope inversion combined with hybrid-domain FWI. First, we developed 3D elastic envelope inversion, and the misfit function and the corresponding gradient operator were derived. Then we performed hybrid-domain FWI with envelope inversion result as initial model which provides low wavenumber component of model. Here, forward modeling is implemented in the time domain and inversion in the frequency domain. To accelerate the inversion, we adopt CPU/GPU heterogeneous computing techniques. There were two levels of parallelism. In the first level, the inversion tasks are decomposed and assigned to each computation node by shot number. In the second level, GPU multithreaded programming is used for the computation tasks in each node, including forward modeling, envelope

  12. Graph Theory Roots of Spatial Operators for Kinematics and Dynamics

    NASA Technical Reports Server (NTRS)

    Jain, Abhinandan

    2011-01-01

    Spatial operators have been used to analyze the dynamics of robotic multibody systems and to develop novel computational dynamics algorithms. Mass matrix factorization, inversion, diagonalization, and linearization are among several new insights obtained using such operators. While initially developed for serial rigid body manipulators, the spatial operators and the related mathematical analysis have been shown to extend very broadly including to tree and closed topology systems, to systems with flexible joints, links, etc. This work uses concepts from graph theory to explore the mathematical foundations of spatial operators. The goal is to study and characterize the properties of the spatial operators at an abstract level so that they can be applied to a broader range of dynamics problems. The rich mathematical properties of the kinematics and dynamics of robotic multibody systems has been an area of strong research interest for several decades. These properties are important to understand the inherent physical behavior of systems, for stability and control analysis, for the development of computational algorithms, and for model development of faithful models. Recurring patterns in spatial operators leads one to ask the more abstract question about the properties and characteristics of spatial operators that make them so broadly applicable. The idea is to step back from the specific application systems, and understand more deeply the generic requirements and properties of spatial operators, so that the insights and techniques are readily available across different kinematics and dynamics problems. In this work, techniques from graph theory were used to explore the abstract basis for the spatial operators. The close relationship between the mathematical properties of adjacency matrices for graphs and those of spatial operators and their kernels were established. The connections hold across very basic requirements on the system topology, the nature of the component

  13. An instrumented spatial linkage for measuring knee joint kinematics.

    PubMed

    Rosvold, Joshua M; Atarod, Mohammad; Frank, Cyril B; Shrive, Nigel G

    2016-01-01

    In this study, the design and development of a highly accurate instrumented spatial linkage (ISL) for kinematic analysis of the ovine stifle joint is described. The ovine knee is a promising biomechanical model of the human knee joint. The ISL consists of six digital rotational encoders providing six degrees of freedom (6-DOF) to its motion. The ISL makes use of the complete and parametrically continuous (CPC) kinematic modeling method to describe the kinematic relationship between encoder readings and the relative positions and orientation of its two ends. The CPC method is useful when calibrating the ISL, because a small change in parameters corresponds to a small change in calculated positions and orientations and thus a smaller optimization error, compared to other kinematic models. The ISL is attached rigidly to the femur and the tibia for motion capture, and the CPC kinematic model is then employed to transform the angle sensor readings to relative motion of the two ends of the linkage, and thereby, the stifle joint motion. The positional accuracy for ISL after calibration and optimization was 0.3±0.2mm (mean +/- standard deviation). The ISL was also evaluated dynamically to ensure that accurate results were maintained, and achieved an accuracy of 0.1mm. Compared to the traditional motion capture methods, this system provides increased accuracy, reduced processing time, and ease of use. Future work will be on the application of the ISL to the ovine gait and determination of in vivo joint motions and tissue loads. Accurate measurement of knee joint kinematics is essential in understanding injury mechanisms and development of potential preventive or treatment strategies. Copyright © 2015 Elsevier B.V. All rights reserved.

  14. A numerical method to solve the 1D and the 2D reaction diffusion equation based on Bessel functions and Jacobian free Newton-Krylov subspace methods

    NASA Astrophysics Data System (ADS)

    Parand, K.; Nikarya, M.

    2017-11-01

    In this paper a novel method will be introduced to solve a nonlinear partial differential equation (PDE). In the proposed method, we use the spectral collocation method based on Bessel functions of the first kind and the Jacobian free Newton-generalized minimum residual (JFNGMRes) method with adaptive preconditioner. In this work a nonlinear PDE has been converted to a nonlinear system of algebraic equations using the collocation method based on Bessel functions without any linearization, discretization or getting the help of any other methods. Finally, by using JFNGMRes, the solution of the nonlinear algebraic system is achieved. To illustrate the reliability and efficiency of the proposed method, we solve some examples of the famous Fisher equation. We compare our results with other methods.

  15. The kinematic advantage of electric cars

    NASA Astrophysics Data System (ADS)

    Meyn, Jan-Peter

    2015-11-01

    Acceleration of a common car with with a turbocharged diesel engine is compared to the same type with an electric motor in terms of kinematics. Starting from a state of rest, the electric car reaches a distant spot earlier than the diesel car, even though the latter has a better specification for engine power and average acceleration from 0 to 100 km h-1. A three phase model of acceleration as a function of time fits the data of the electric car accurately. The first phase is a quadratic growth of acceleration in time. It is shown that the tenfold higher coefficient for the first phase accounts for most of the kinematic advantage of the electric car.

  16. Configuration Synthesis and Efficient Motion Programming of Robot Manipulators

    DTIC Science & Technology

    1991-03-15

    Gupta and Ma 90- Robotica 8:81-84]. When a set of discrete stations are specified along a robot task path, it becomes necessary to find a related...velocity Jacobian relations for the manipulator [Singh 87-MS Thesis][Gupta and Singh 89- Robotica 7:159-1641 and [Cheng 89-PhD Thesis][Cheng and Gupta...1987; Robotica 7:159-164, 1989 (revised). K. C. Gupta, "Kinematics of a Robot with Continuous Roll Wrist," IEEE J. Robotics and Automation 4(4):440-443

  17. Bayesian inversion of data from effusive volcanic eruptions using physics-based models: Application to Mount St. Helens 2004--2008

    USGS Publications Warehouse

    Anderson, Kyle; Segall, Paul

    2013-01-01

    Physics-based models of volcanic eruptions can directly link magmatic processes with diverse, time-varying geophysical observations, and when used in an inverse procedure make it possible to bring all available information to bear on estimating properties of the volcanic system. We develop a technique for inverting geodetic, extrusive flux, and other types of data using a physics-based model of an effusive silicic volcanic eruption to estimate the geometry, pressure, depth, and volatile content of a magma chamber, and properties of the conduit linking the chamber to the surface. A Bayesian inverse formulation makes it possible to easily incorporate independent information into the inversion, such as petrologic estimates of melt water content, and yields probabilistic estimates for model parameters and other properties of the volcano. Probability distributions are sampled using a Markov-Chain Monte Carlo algorithm. We apply the technique using GPS and extrusion data from the 2004–2008 eruption of Mount St. Helens. In contrast to more traditional inversions such as those involving geodetic data alone in combination with kinematic forward models, this technique is able to provide constraint on properties of the magma, including its volatile content, and on the absolute volume and pressure of the magma chamber. Results suggest a large chamber of >40 km3 with a centroid depth of 11–18 km and a dissolved water content at the top of the chamber of 2.6–4.9 wt%.

  18. Joint kinematics estimation using a multi-body kinematics optimisation and an extended Kalman filter, and embedding a soft tissue artefact model.

    PubMed

    Bonnet, Vincent; Richard, Vincent; Camomilla, Valentina; Venture, Gentiane; Cappozzo, Aurelio; Dumas, Raphaël

    2017-09-06

    To reduce the impact of the soft tissue artefact (STA) on the estimate of skeletal movement using stereophotogrammetric and skin-marker data, multi-body kinematics optimisation (MKO) and extended Kalman filters (EKF) have been proposed. This paper assessed the feasibility and efficiency of these methods when they embed a mathematical model of the STA and simultaneously estimate the ankle, knee and hip joint kinematics and the model parameters. A STA model was used that provides an estimate of the STA affecting the marker-cluster located on a body segment as a function of the kinematics of the adjacent joints. The MKO and the EKF were implemented with and without the STA model. To assess these methods, intra-cortical pin and skin markers located on the thigh, shank, and foot of three subjects and tracked during the stance phase of running were used. Embedding the STA model in MKO and EKF reduced the average RMS of marker tracking from 12.6 to 1.6mm and from 4.3 to 1.9mm, respectively, showing that a STA model trial-specific calibration is feasible. Nevertheless, with the STA model embedded in MKO, the RMS difference between the estimated and the reference joint kinematics determined from the pin markers slightly increased (from 2.0 to 2.1deg) On the contrary, when the STA model was embedded in the EKF, this RMS difference was slightly reduced (from 2.0 to 1.7deg) thus showing a better potentiality of this method to attenuate STA effects and improve the accuracy of joint kinematics estimate. Copyright © 2017 Elsevier Ltd. All rights reserved.

  19. Effects of robotically modulating kinematic variability on motor skill learning and motivation

    PubMed Central

    Reinkensmeyer, David J.

    2015-01-01

    It is unclear how the variability of kinematic errors experienced during motor training affects skill retention and motivation. We used force fields produced by a haptic robot to modulate the kinematic errors of 30 healthy adults during a period of practice in a virtual simulation of golf putting. On day 1, participants became relatively skilled at putting to a near and far target by first practicing without force fields. On day 2, they warmed up at the task without force fields, then practiced with force fields that either reduced or augmented their kinematic errors and were finally assessed without the force fields active. On day 3, they returned for a long-term assessment, again without force fields. A control group practiced without force fields. We quantified motor skill as the variability in impact velocity at which participants putted the ball. We quantified motivation using a self-reported, standardized scale. Only individuals who were initially less skilled benefited from training; for these people, practicing with reduced kinematic variability improved skill more than practicing in the control condition. This reduced kinematic variability also improved self-reports of competence and satisfaction. Practice with increased kinematic variability worsened these self-reports as well as enjoyment. These negative motivational effects persisted on day 3 in a way that was uncorrelated with actual skill. In summary, robotically reducing kinematic errors in a golf putting training session improved putting skill more for less skilled putters. Robotically increasing kinematic errors had no performance effect, but decreased motivation in a persistent way. PMID:25673732

  20. Effects of robotically modulating kinematic variability on motor skill learning and motivation.

    PubMed

    Duarte, Jaime E; Reinkensmeyer, David J

    2015-04-01

    It is unclear how the variability of kinematic errors experienced during motor training affects skill retention and motivation. We used force fields produced by a haptic robot to modulate the kinematic errors of 30 healthy adults during a period of practice in a virtual simulation of golf putting. On day 1, participants became relatively skilled at putting to a near and far target by first practicing without force fields. On day 2, they warmed up at the task without force fields, then practiced with force fields that either reduced or augmented their kinematic errors and were finally assessed without the force fields active. On day 3, they returned for a long-term assessment, again without force fields. A control group practiced without force fields. We quantified motor skill as the variability in impact velocity at which participants putted the ball. We quantified motivation using a self-reported, standardized scale. Only individuals who were initially less skilled benefited from training; for these people, practicing with reduced kinematic variability improved skill more than practicing in the control condition. This reduced kinematic variability also improved self-reports of competence and satisfaction. Practice with increased kinematic variability worsened these self-reports as well as enjoyment. These negative motivational effects persisted on day 3 in a way that was uncorrelated with actual skill. In summary, robotically reducing kinematic errors in a golf putting training session improved putting skill more for less skilled putters. Robotically increasing kinematic errors had no performance effect, but decreased motivation in a persistent way. Copyright © 2015 the American Physiological Society.

  1. Inverse dynamic investigation of voluntary trunk movements in weightlessness: a new microgravity-specific strategy.

    PubMed

    Pedrocchi, Alessandra; Pedotti, Antonio; Baroni, Guido; Massion, Jean; Ferrigno, Giancarlo

    2003-11-01

    Present investigation faces the question of quantitative assessment of exchanged forces and torques at the restraints during whole body posture exercises in long-term microgravity. Inverse dynamic modelling and total angular momentum at the ankle joint were used in order to reconstruct movement dynamics at the restraining point, represented by the ankle joint. The hypothesis is that the minimisation of the torques at the interface point assumes a key role in movement planning in 0 g. This hypothesis would respond to an optimisation of muscles activity, a minimisation of energy expenditure and therefore an accurate control of body movement. Results show that the 0 g movement strategy adopted ensures that the integral of the net ankle moment between the beginning and the end of the movement is zero. This expected mechanical constraint is not satisfied when 0 g movement dynamics is simulated using terrestrial kinematics. This accounts for a significant imposed change of movement strategy. Particularly, the efficient compensation of the inertial effects of the segments in terms of total angular momentum at the ankle joint was evidenced. These results explain the exaggerated axial synergies, observed on kinematics and which moved centre of mass (CM) backward from its already backward initial positioning, as a tool for enhancing the compensation and achieving the desired minimisation of the torques exchanges at the restraints.

  2. Adaptive Core Simulation Employing Discrete Inverse Theory - Part I: Theory

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

    Abdel-Khalik, Hany S.; Turinsky, Paul J.

    2005-07-15

    Use of adaptive simulation is intended to improve the fidelity and robustness of important core attribute predictions such as core power distribution, thermal margins, and core reactivity. Adaptive simulation utilizes a selected set of past and current reactor measurements of reactor observables, i.e., in-core instrumentation readings, to adapt the simulation in a meaningful way. A meaningful adaption will result in high-fidelity and robust adapted core simulator models. To perform adaption, we propose an inverse theory approach in which the multitudes of input data to core simulators, i.e., reactor physics and thermal-hydraulic data, are to be adjusted to improve agreement withmore » measured observables while keeping core simulator models unadapted. At first glance, devising such adaption for typical core simulators with millions of input and observables data would spawn not only several prohibitive challenges but also numerous disparaging concerns. The challenges include the computational burdens of the sensitivity-type calculations required to construct Jacobian operators for the core simulator models. Also, the computational burdens of the uncertainty-type calculations required to estimate the uncertainty information of core simulator input data present a demanding challenge. The concerns however are mainly related to the reliability of the adjusted input data. The methodologies of adaptive simulation are well established in the literature of data adjustment. We adopt the same general framework for data adjustment; however, we refrain from solving the fundamental adjustment equations in a conventional manner. We demonstrate the use of our so-called Efficient Subspace Methods (ESMs) to overcome the computational and storage burdens associated with the core adaption problem. We illustrate the successful use of ESM-based adaptive techniques for a typical boiling water reactor core simulator adaption problem.« less

  3. The kinematic dipole in galaxy redshift surveys

    NASA Astrophysics Data System (ADS)

    Maartens, Roy; Clarkson, Chris; Chen, Song

    2018-01-01

    In the concordance model of the Universe, the matter distribution—as observed in galaxy number counts or the intensity of line emission (such as the 21cm line of neutral hydrogen) —should have a kinematic dipole due to the Sun's motion relative to the CMB rest-frame. This dipole should be aligned with the kinematic dipole in the CMB temperature. Accurate measurement of the direction of the matter dipole will become possible with future galaxy surveys, and this will be a critical test of the foundations of the concordance model. The amplitude of the matter dipole is also a potential cosmological probe. We derive formulas for the amplitude of the kinematic dipole in galaxy redshift and intensity mapping surveys, taking into account the Doppler, aberration and other relativistic effects. The amplitude of the matter dipole can be significantly larger than that of the CMB dipole. Its redshift dependence encodes information on the evolution of the Universe and on the tracers, and we discuss possible ways to determine the amplitude.

  4. Kinematically aligned total knee arthroplasty limits high tibial forces, differences in tibial forces between compartments, and abnormal tibial contact kinematics during passive flexion.

    PubMed

    Roth, Joshua D; Howell, Stephen M; Hull, Maury L

    2018-06-01

    Following total knee arthroplasty (TKA), high tibial forces, large differences in tibial forces between the medial and lateral compartments, and anterior translation of the contact locations of the femoral component on the tibial component during passive flexion indicate abnormal knee function. Because the goal of kinematically aligned TKA is to restore native knee function without soft tissue release, the objectives were to determine how well kinematically aligned TKA limits high tibial forces, differences in tibial forces between compartments, and anterior translation of the contact locations of the femoral component on the tibial component during passive flexion. Using cruciate retaining components, kinematically aligned TKA was performed on thirteen human cadaveric knee specimens with use of manual instruments without soft tissue release. The tibial forces and tibial contact locations were measured in both the medial and lateral compartments from 0° to 120° of passive flexion using a custom tibial force sensor. The average total tibial force (i.e. sum of medial + lateral) ranged from 5 to 116 N. The only significant average differences in tibial force between compartments occurred at 0° of flexion (29 N, p = 0.0008). The contact locations in both compartments translated posteriorly in all thirteen kinematically aligned TKAs by an average of 14 mm (p < 0.0001) and 18 mm (p < 0.0001) in the medial and lateral compartments, respectively, from 0° to 120° of flexion. After kinematically aligned TKA, average total tibial forces due to the soft tissue restraints were limited to 116 N, average differences in tibial forces between compartments were limited to 29 N, and a net posterior translation of the tibial contact locations was observed in all kinematically aligned TKAs during passive flexion from 0° to 120°, which are similar to what has been measured previously in native knees. While confirmation in vivo is warranted, these findings give

  5. Local performance optimization for a class of redundant eight-degree-of-freedom manipulators

    NASA Technical Reports Server (NTRS)

    Williams, Robert L., II

    1994-01-01

    Local performance optimization for joint limit avoidance and manipulability maximization (singularity avoidance) is obtained by using the Jacobian matrix pseudoinverse and by projecting the gradient of an objective function into the Jacobian null space. Real-time redundancy optimization control is achieved for an eight-joint redundant manipulator having a three-axis spherical shoulder, a single elbow joint, and a four-axis spherical wrist. Symbolic solutions are used for both full-Jacobian and wrist-partitioned pseudoinverses, partitioned null-space projection matrices, and all objective function gradients. A kinematic limitation of this class of manipulators and the limitation's effect on redundancy resolution are discussed. Results obtained with graphical simulation are presented to demonstrate the effectiveness of local redundant manipulator performance optimization. Actual hardware experiments performed to verify the simulated results are also discussed. A major result is that the partitioned solution is desirable because of low computation requirements. The partitioned solution is suboptimal compared with the full solution because translational and rotational terms are optimized separately; however, the results show that the difference is not significant. Singularity analysis reveals that no algorithmic singularities exist for the partitioned solution. The partitioned and full solutions share the same physical manipulator singular conditions. When compared with the full solution, the partitioned solution is shown to be ill-conditioned in smaller neighborhoods of the shared singularities.

  6. Matching factorization theorems with an inverse-error weighting

    NASA Astrophysics Data System (ADS)

    Echevarria, Miguel G.; Kasemets, Tomas; Lansberg, Jean-Philippe; Pisano, Cristian; Signori, Andrea

    2018-06-01

    We propose a new fast method to match factorization theorems applicable in different kinematical regions, such as the transverse-momentum-dependent and the collinear factorization theorems in Quantum Chromodynamics. At variance with well-known approaches relying on their simple addition and subsequent subtraction of double-counted contributions, ours simply builds on their weighting using the theory uncertainties deduced from the factorization theorems themselves. This allows us to estimate the unknown complete matched cross section from an inverse-error-weighted average. The method is simple and provides an evaluation of the theoretical uncertainty of the matched cross section associated with the uncertainties from the power corrections to the factorization theorems (additional uncertainties, such as the nonperturbative ones, should be added for a proper comparison with experimental data). Its usage is illustrated with several basic examples, such as Z boson, W boson, H0 boson and Drell-Yan lepton-pair production in hadronic collisions, and compared to the state-of-the-art Collins-Soper-Sterman subtraction scheme. It is also not limited to the transverse-momentum spectrum, and can straightforwardly be extended to match any (un)polarized cross section differential in other variables, including multi-differential measurements.

  7. Surgical gesture classification from video and kinematic data.

    PubMed

    Zappella, Luca; Béjar, Benjamín; Hager, Gregory; Vidal, René

    2013-10-01

    Much of the existing work on automatic classification of gestures and skill in robotic surgery is based on dynamic cues (e.g., time to completion, speed, forces, torque) or kinematic data (e.g., robot trajectories and velocities). While videos could be equally or more discriminative (e.g., videos contain semantic information not present in kinematic data), they are typically not used because of the difficulties associated with automatic video interpretation. In this paper, we propose several methods for automatic surgical gesture classification from video data. We assume that the video of a surgical task (e.g., suturing) has been segmented into video clips corresponding to a single gesture (e.g., grabbing the needle, passing the needle) and propose three methods to classify the gesture of each video clip. In the first one, we model each video clip as the output of a linear dynamical system (LDS) and use metrics in the space of LDSs to classify new video clips. In the second one, we use spatio-temporal features extracted from each video clip to learn a dictionary of spatio-temporal words, and use a bag-of-features (BoF) approach to classify new video clips. In the third one, we use multiple kernel learning (MKL) to combine the LDS and BoF approaches. Since the LDS approach is also applicable to kinematic data, we also use MKL to combine both types of data in order to exploit their complementarity. Our experiments on a typical surgical training setup show that methods based on video data perform equally well, if not better, than state-of-the-art approaches based on kinematic data. In turn, the combination of both kinematic and video data outperforms any other algorithm based on one type of data alone. Copyright © 2013 Elsevier B.V. All rights reserved.

  8. Effect of the racket mass and the rate of strokes on kinematics and kinetics in the table tennis topspin backhand.

    PubMed

    Iino, Yoichi; Kojima, Takeji

    2016-01-01

    The purpose of this study was to investigate the effect of the racket mass and the rate of strokes on the kinematics and kinetics of the trunk and the racket arm in the table tennis topspin backhand. Eight male Division I collegiate table tennis players hit topspin backhands against topspin balls projected at 75 balls · min(-1) and 35 balls · min(-1) using three rackets varying in mass of 153.5, 176 and 201.5 g. A motion capture system was used to obtain trunk and racket arm motion data. The joint torques of the racket arm were determined using inverse dynamics. The racket mass did not significantly affect all the trunk and racket arm kinematics and kinetics examined except for the wrist dorsiflexion torque, which was significantly larger for the large mass racket than for the small mass racket. The racket speed at impact was significantly lower for the high ball frequency than for the low ball frequency. This was probably because pelvis and upper trunk axial rotations tended to be more restricted for the high ball frequency. The result highlights one of the advantages of playing close to the table and making the rally speed fast.

  9. Augmented kinematic feedback from haptic virtual reality for dental skill acquisition.

    PubMed

    Suebnukarn, Siriwan; Haddawy, Peter; Rhienmora, Phattanapon; Jittimanee, Pannapa; Viratket, Piyanuch

    2010-12-01

    We have developed a haptic virtual reality system for dental skill training. In this study we examined several kinds of kinematic information about the movement provided by the system supplement knowledge of results (KR) in dental skill acquisition. The kinematic variables examined involved force utilization (F) and mirror view (M). This created three experimental conditions that received augmented kinematic feedback (F, M, FM) and one control condition that did not (KR-only). Thirty-two dental students were randomly assigned to four groups. Their task was to perform access opening on the upper first molar with the haptic virtual reality system. An acquisition session consisted of two days of ten trials of practice in which augmented kinematic feedback was provided for the appropriate experimental conditions after each trial. One week after, a retention test consisting of two trials without augmented feedback was completed. The results showed that the augmented kinematic feedback groups had larger mean performance scores than the KR-only group in Day 1 of the acquisition and retention sessions (ANOVA, p<0.05). The apparent differences among feedback groups were not significant in Day 2 of the acquisition session (ANOVA, p>0.05). The trends in acquisition and retention sessions suggest that the augmented kinematic feedback can enhance the performance earlier in the skill acquisition and retention sessions.

  10. Factors associated with cervical kinematic impairments in patients with neck pain.

    PubMed

    Treleaven, Julia; Chen, Xiaoqi; Sarig Bahat, Hilla

    2016-04-01

    Cervical kinematics have functional relevance and are important for assessment and management in patients with neck disorders. A better understanding of factors that might influence cervical kinematics is required. The aim of this study was to determine any relationships between altered kinematics to the symptoms and signs of sensorimotor impairments, neck pain and disability and fear of neck motion in people with neck pain. Kinematics were measured in 39 subjects with chronic neck pain using a customized virtual reality system. Range of cervical motion, mean and peak velocity, time to peak velocity percentage, number of velocity peaks and accuracy were derived. Correlations between these measures to self-reported (neck pain intensity, disability, fear of motion, dizziness, visual disturbances) and sensorimotor measures and regression analyses were conducted. Range and velocity of motion of cervical rotation appeared to be most related to visual disturbances and pain or dynamic balance. Nevertheless these relationships only explained about 30% of the variance of each measure. Signs and symptoms of sensorimotor dysfunction should be considered and monitored in the management of altered cervical rotation kinematics in patients with chronic neck disorders. Future research should consider the effects of addressing these factors on neck kinematics and vice versa to aid functional recovery in those with neck pain. Crown Copyright © 2015. Published by Elsevier Ltd. All rights reserved.

  11. Kinematic Methods of Designing Free Form Shells

    NASA Astrophysics Data System (ADS)

    Korotkiy, V. A.; Khmarova, L. I.

    2017-11-01

    The geometrical shell model is formed in light of the set requirements expressed through surface parameters. The shell is modelled using the kinematic method according to which the shell is formed as a continuous one-parameter set of curves. The authors offer a kinematic method based on the use of second-order curves with a variable eccentricity as a form-making element. Additional guiding ruled surfaces are used to control the designed surface form. The authors made a software application enabling to plot a second-order curve specified by a random set of five coplanar points and tangents.

  12. Studying Upper-Limb Kinematics Using Inertial Sensors Embedded in Mobile Phones

    PubMed Central

    Bennett, Paul

    2015-01-01

    Background In recent years, there has been a great interest in analyzing upper-limb kinematics. Inertial measurement with mobile phones is a convenient and portable analysis method for studying humerus kinematics in terms of angular mobility and linear acceleration. Objective The aim of this analysis was to study upper-limb kinematics via mobile phones through six physical properties that correspond to angular mobility and acceleration in the three axes of space. Methods This cross-sectional study recruited healthy young adult subjects. Humerus kinematics was studied in 10 young adults with the iPhone4. They performed flexion and abduction analytical tasks. Mobility angle and lineal acceleration in each of its axes (yaw, pitch, and roll) were obtained with the iPhone4. This device was placed on the right half of the body of each subject, in the middle third of the humerus, slightly posterior. Descriptive statistics were calculated. Results Descriptive graphics of analytical tasks performed were obtained. The biggest range of motion was found in pitch angle, and the biggest acceleration was found in the y-axis in both analytical tasks. Focusing on tridimensional kinematics, bigger range of motion and acceleration was found in abduction (209.69 degrees and 23.31 degrees per second respectively). Also, very strong correlation was found between angular mobility and linear acceleration in abduction (r=.845) and flexion (r=.860). Conclusions The use of an iPhone for humerus tridimensional kinematics is feasible. This supports use of the mobile phone as a device to analyze upper-limb kinematics and to facilitate the evaluation of the patient. PMID:28582241

  13. Uplift rates of marine terraces as a constraint on fault-propagation fold kinematics: Examples from the Hawkswood and Kate anticlines, North Canterbury, New Zealand

    NASA Astrophysics Data System (ADS)

    Oakley, David O. S.; Fisher, Donald M.; Gardner, Thomas W.; Stewart, Mary Kate

    2018-01-01

    Marine terraces on growing fault-propagation folds provide valuable insight into the relationship between fold kinematics and uplift rates, providing a means to distinguish among otherwise non-unique kinematic model solutions. Here, we investigate this relationship at two locations in North Canterbury, New Zealand: the Kate anticline and Haumuri Bluff, at the northern end of the Hawkswood anticline. At both locations, we calculate uplift rates of previously dated marine terraces, using DGPS surveys to estimate terrace inner edge elevations. We then use Markov chain Monte Carlo methods to fit fault-propagation fold kinematic models to structural geologic data, and we incorporate marine terrace uplift into the models as an additional constraint. At Haumuri Bluff, we find that marine terraces, when restored to originally horizontal surfaces, can help to eliminate certain trishear models that would fit the geologic data alone. At Kate anticline, we compare uplift rates at different structural positions and find that the spatial pattern of uplift rates is more consistent with trishear than with a parallel-fault propagation fold kink-band model. Finally, we use our model results to compute new estimates for fault slip rates ( 1-2 m/ka at Kate anticline and 1-4 m/ka at Haumuri Bluff) and ages of the folds ( 1 Ma), which are consistent with previous estimates for the onset of folding in this region. These results are consistent with previous work on the age of onset of folding in this region, provide revised estimates of fault slip rates necessary to understand the seismic hazard posed by these faults, and demonstrate the value of incorporating marine terraces in inverse fold kinematic models as a means to distinguish among non-unique solutions.

  14. A multi-subject evaluation of uncertainty in anatomical landmark location on shoulder kinematic description.

    PubMed

    Langenderfer, Joseph E; Rullkoetter, Paul J; Mell, Amy G; Laz, Peter J

    2009-04-01

    An accurate assessment of shoulder kinematics is useful for understanding healthy normal and pathological mechanics. Small variability in identifying and locating anatomical landmarks (ALs) has potential to affect reported shoulder kinematics. The objectives of this study were to quantify the effect of landmark location variability on scapular and humeral kinematic descriptions for multiple subjects using probabilistic analysis methods, and to evaluate the consistency in results across multiple subjects. Data from 11 healthy subjects performing humeral elevation in the scapular plane were used to calculate Euler angles describing humeral and scapular kinematics. Probabilistic analyses were performed for each subject to simulate uncertainty in the locations of 13 upper-extremity ALs. For standard deviations of 4 mm in landmark location, the analysis predicted Euler angle envelopes between the 1 and 99 percentile bounds of up to 16.6 degrees . While absolute kinematics varied with the subject, the average 1-99% kinematic ranges for the motion were consistent across subjects and sensitivity factors showed no statistically significant differences between subjects. The description of humeral kinematics was most sensitive to the location of landmarks on the thorax, while landmarks on the scapula had the greatest effect on the description of scapular elevation. The findings of this study can provide a better understanding of kinematic variability, which can aid in making accurate clinical diagnoses and refining kinematic measurement techniques.

  15. Resolution and Trade-offs in Finite Fault Inversions for Large Earthquakes Using Teleseismic Signals (Invited)

    NASA Astrophysics Data System (ADS)

    Lay, T.; Ammon, C. J.

    2010-12-01

    An unusually large number of widely distributed great earthquakes have occurred in the past six years, with extensive data sets of teleseismic broadband seismic recordings being available in near-real time for each event. Numerous research groups have implemented finite-fault inversions that utilize the rapidly accessible teleseismic recordings, and slip models are regularly determined and posted on websites for all major events. The source inversion validation project has already demonstrated that for events of all sizes there is often significant variability in models for a given earthquake. Some of these differences can be attributed to variations in data sets and procedures used for including signals with very different bandwidth and signal characteristics into joint inversions. Some differences can also be attributed to choice of velocity structure and data weighting. However, our experience is that some of the primary causes of solution variability involve rupture model parameterization and imposed kinematic constraints such as rupture velocity and subfault source time function description. In some cases it is viable to rapidly perform separate procedures such as teleseismic array back-projection or surface wave directivity analysis to reduce the uncertainties associated with rupture velocity, and it is possible to explore a range of subfault source parameterizations to place some constraints on which model features are robust. In general, many such tests are performed, but not fully described, with single model solutions being posted or published, with limited insight into solution confidence being conveyed. Using signals from recent great earthquakes in the Kuril Islands, Solomon Islands, Peru, Chile and Samoa, we explore issues of uncertainty and robustness of solutions that can be rapidly obtained by inversion of teleseismic signals. Formalizing uncertainty estimates remains a formidable undertaking and some aspects of that challenge will be addressed.

  16. Primate Anatomy, Kinematics, and Principles for Humanoid Design

    NASA Technical Reports Server (NTRS)

    Ambrose, Robert O.; Ambrose, Catherine G.

    2004-01-01

    The primate order of animals is investigated for clues in the design of Humanoid Robots. The pursuit is directed with a theory that kinematics, musculature, perception, and cognition can be optimized for specific tasks by varying the proportions of limbs, and in particular, the points of branching in kinematic trees such as the primate skeleton. Called the Bifurcated Chain Hypothesis, the theory is that the branching proportions found in humans may be superior to other animals and primates for the tasks of dexterous manipulation and other human specialties. The primate taxa are defined, contemporary primate evolution hypotheses are critiqued, and variations within the order are noted. The kinematic branching points of the torso, limbs and fingers are studied for differences in proportions across the order, and associated with family and genus capabilities and behaviors. The human configuration of a long waist, long neck, and short arms is graded using a kinematic workspace analysis and a set of design axioms for mobile manipulation robots. It scores well. The re emergence of the human waist, seen in early Prosimians and Monkeys for arboreal balance, but lost in the terrestrial Pongidae, is postulated as benefiting human dexterity. The human combination of an articulated waist and neck will be shown to enable the use of smaller arms, achieving greater regions of workspace dexterity than the larger limbs of Gorillas and other Hominoidea.

  17. Hallux valgus surgery affects kinematic parameters during gait

    PubMed Central

    Klugarova, J.; Janura, M.; Svoboda, Z.; Sos, Z.; Stergiou, N.; Klugar, M.

    2017-01-01

    Background The aim of our study was to compare spatiotemporal parameters and lower limb and pelvis kinematics during the walking in patients with hallux valgus before and after surgery and in relation to a control group. Methods Seventeen females with hallux valgus, who underwent first metatarsal osteotomy, constituted our experimental group. The control group consisted of thirteen females. Kinematic data during walking were obtained using the Vicon MX system. Findings Our results showed that hallux valgus before surgery affects spatiotemporal parameters and lower limb and pelvis kinematics during walking. Hallux valgus surgery further increased the differences that were present before surgery. Specifically after hallux valgus surgery, the walking speed decreased even more (p=0.09, η2= 0.19) while step time increased (p=0.002, η2=0.44) on both legs. The maximum ankle plantar flexion of the operated leg during toe off decreased to a greater extend (p=0.03, η2=0.26). The asymmetry in the hip and the pelvis movements in the frontal plane (present preoperatively) persisted after surgery. Interpretation Hallux valgus is not an isolated problem of the first ray, which could be just surgically addressed by correcting the foot’s alignment. It is a long-term progressive malfunction of the foot affecting the entire kinematic chain of the lower extremity. PMID:27792950

  18. Solving coupled groundwater flow systems using a Jacobian Free Newton Krylov method

    NASA Astrophysics Data System (ADS)

    Mehl, S.

    2012-12-01

    Jacobian Free Newton Kyrlov (JFNK) methods can have several advantages for simulating coupled groundwater flow processes versus conventional methods. Conventional methods are defined here as those based on an iterative coupling (rather than a direct coupling) and/or that use Picard iteration rather than Newton iteration. In an iterative coupling, the systems are solved separately, coupling information is updated and exchanged between the systems, and the systems are re-solved, etc., until convergence is achieved. Trusted simulators, such as Modflow, are based on these conventional methods of coupling and work well in many cases. An advantage of the JFNK method is that it only requires calculation of the residual vector of the system of equations and thus can make use of existing simulators regardless of how the equations are formulated. This opens the possibility of coupling different process models via augmentation of a residual vector by each separate process, which often requires substantially fewer changes to the existing source code than if the processes were directly coupled. However, appropriate perturbation sizes need to be determined for accurate approximations of the Frechet derivative, which is not always straightforward. Furthermore, preconditioning is necessary for reasonable convergence of the linear solution required at each Kyrlov iteration. Existing preconditioners can be used and applied separately to each process which maximizes use of existing code and robust preconditioners. In this work, iteratively coupled parent-child local grid refinement models of groundwater flow and groundwater flow models with nonlinear exchanges to streams are used to demonstrate the utility of the JFNK approach for Modflow models. Use of incomplete Cholesky preconditioners with various levels of fill are examined on a suite of nonlinear and linear models to analyze the effect of the preconditioner. Comparisons of convergence and computer simulation time are made using

  19. Kinematic Parameters of Signed Verbs

    ERIC Educational Resources Information Center

    Malaia, Evie; Wilbur, Ronnie B.; Milkovic, Marina

    2013-01-01

    Purpose: Sign language users recruit physical properties of visual motion to convey linguistic information. Research on American Sign Language (ASL) indicates that signers systematically use kinematic features (e.g., velocity, deceleration) of dominant hand motion for distinguishing specific semantic properties of verb classes in production…

  20. Scalable subsurface inverse modeling of huge data sets with an application to tracer concentration breakthrough data from magnetic resonance imaging

    DOE PAGES

    Lee, Jonghyun; Yoon, Hongkyu; Kitanidis, Peter K.; ...

    2016-06-09

    When characterizing subsurface properties is crucial for reliable and cost-effective groundwater supply management and contaminant remediation. With recent advances in sensor technology, large volumes of hydro-geophysical and geochemical data can be obtained to achieve high-resolution images of subsurface properties. However, characterization with such a large amount of information requires prohibitive computational costs associated with “big data” processing and numerous large-scale numerical simulations. To tackle such difficulties, the Principal Component Geostatistical Approach (PCGA) has been proposed as a “Jacobian-free” inversion method that requires much smaller forward simulation runs for each iteration than the number of unknown parameters and measurements needed inmore » the traditional inversion methods. PCGA can be conveniently linked to any multi-physics simulation software with independent parallel executions. In our paper, we extend PCGA to handle a large number of measurements (e.g. 106 or more) by constructing a fast preconditioner whose computational cost scales linearly with the data size. For illustration, we characterize the heterogeneous hydraulic conductivity (K) distribution in a laboratory-scale 3-D sand box using about 6 million transient tracer concentration measurements obtained using magnetic resonance imaging. Since each individual observation has little information on the K distribution, the data was compressed by the zero-th temporal moment of breakthrough curves, which is equivalent to the mean travel time under the experimental setting. Moreover, only about 2,000 forward simulations in total were required to obtain the best estimate with corresponding estimation uncertainty, and the estimated K field captured key patterns of the original packing design, showing the efficiency and effectiveness of the proposed method. This article is protected by copyright. All rights reserved.« less

  1. A kinematic model to assess spinal motion during walking.

    PubMed

    Konz, Regina J; Fatone, Stefania; Stine, Rebecca L; Ganju, Aruna; Gard, Steven A; Ondra, Stephen L

    2006-11-15

    A 3-dimensional multi-segment kinematic spine model was developed for noninvasive analysis of spinal motion during walking. Preliminary data from able-bodied ambulators were collected and analyzed using the model. Neither the spine's role during walking nor the effect of surgical spinal stabilization on gait is fully understood. Typically, gait analysis models disregard the spine entirely or regard it as a single rigid structure. Data on regional spinal movements, in conjunction with lower limb data, associated with walking are scarce. KinTrak software (Motion Analysis Corp., Santa Rosa, CA) was used to create a biomechanical model for analysis of 3-dimensional regional spinal movements. Measuring known angles from a mechanical model and comparing them to the calculated angles validated the kinematic model. Spine motion data were collected from 10 able-bodied adults walking at 5 self-selected speeds. These results were compared to data reported in the literature. The uniaxial angles measured on the mechanical model were within 5 degrees of the calculated kinematic model angles, and the coupled angles were within 2 degrees. Regional spine kinematics from able-bodied subjects calculated with this model compared well to data reported by other authors. A multi-segment kinematic spine model has been developed and validated for analysis of spinal motion during walking. By understanding the spine's role during ambulation and the cause-and-effect relationship between spine motion and lower limb motion, preoperative planning may be augmented to restore normal alignment and balance with minimal negative effects on walking.

  2. Design of a Two-Step Calibration Method of Kinematic Parameters for Serial Robots

    NASA Astrophysics Data System (ADS)

    WANG, Wei; WANG, Lei; YUN, Chao

    2017-03-01

    Serial robots are used to handle workpieces with large dimensions, and calibrating kinematic parameters is one of the most efficient ways to upgrade their accuracy. Many models are set up to investigate how many kinematic parameters can be identified to meet the minimal principle, but the base frame and the kinematic parameter are indistinctly calibrated in a one-step way. A two-step method of calibrating kinematic parameters is proposed to improve the accuracy of the robot's base frame and kinematic parameters. The forward kinematics described with respect to the measuring coordinate frame are established based on the product-of-exponential (POE) formula. In the first step the robot's base coordinate frame is calibrated by the unit quaternion form. The errors of both the robot's reference configuration and the base coordinate frame's pose are equivalently transformed to the zero-position errors of the robot's joints. The simplified model of the robot's positioning error is established in second-power explicit expressions. Then the identification model is finished by the least square method, requiring measuring position coordinates only. The complete subtasks of calibrating the robot's 39 kinematic parameters are finished in the second step. It's proved by a group of calibration experiments that by the proposed two-step calibration method the average absolute accuracy of industrial robots is updated to 0.23 mm. This paper presents that the robot's base frame should be calibrated before its kinematic parameters in order to upgrade its absolute positioning accuracy.

  3. Improved Quasi-Newton method via PSB update for solving systems of nonlinear equations

    NASA Astrophysics Data System (ADS)

    Mamat, Mustafa; Dauda, M. K.; Waziri, M. Y.; Ahmad, Fadhilah; Mohamad, Fatma Susilawati

    2016-10-01

    The Newton method has some shortcomings which includes computation of the Jacobian matrix which may be difficult or even impossible to compute and solving the Newton system in every iteration. Also, the common setback with some quasi-Newton methods is that they need to compute and store an n × n matrix at each iteration, this is computationally costly for large scale problems. To overcome such drawbacks, an improved Method for solving systems of nonlinear equations via PSB (Powell-Symmetric-Broyden) update is proposed. In the proposed method, the approximate Jacobian inverse Hk of PSB is updated and its efficiency has improved thereby require low memory storage, hence the main aim of this paper. The preliminary numerical results show that the proposed method is practically efficient when applied on some benchmark problems.

  4. Effect of thong style flip-flops on children’s barefoot walking and jogging kinematics

    PubMed Central

    2013-01-01

    Background Thong style flip-flops are a popular form of footwear for children. Health professionals relate the wearing of thongs to foot pathology and deformity despite the lack of quantitative evidence to support or refute the benefits or disadvantages of children wearing thongs. The purpose of this study was to compare the effect of thong footwear on children’s barefoot three dimensional foot kinematics during walking and jogging. Methods Thirteen healthy children (age 10.3 ± 1.6 SD years) were recruited from the metropolitan area of Sydney Australia following a national press release. Kinematic data were recorded at 200 Hz using a 14 camera motion analysis system (Cortex, Motion Analysis Corporation, Santa Rosa, USA) and simultaneous ground reaction force were measured using a force platform (Model 9281B, Kistler, Winterthur, Switzerland). A three-segment foot model was used to describe three dimensional ankle, midfoot and one dimensional hallux kinematics during the stance sub-phases of contact, midstance and propulsion. Results Thongs resulted in increased ankle dorsiflexion during contact (by 10.9°, p; = 0.005 walk and by 8.1°, p; = 0.005 jog); increased midfoot plantarflexion during midstance (by 5.0°, p; = 0.037 jog) and propulsion (by 6.7°, p; = 0.044 walk and by 5.4°, p;= 0.020 jog); increased midfoot inversion during contact (by 3.8°, p;= 0.042 jog) and reduced hallux dorsiflexion during walking 10% prior to heel strike (by 6.5°, p; = 0.005) at heel strike (by 4.9°, p; = 0.031) and 10% post toe-off (by 10.7°, p; = 0.001). Conclusions Ankle dorsiflexion during the contact phase of walking and jogging, combined with reduced hallux dorsiflexion during walking, suggests a mechanism to retain the thong during weight acceptance. Greater midfoot plantarflexion throughout midstance while walking and throughout midstance and propulsion while jogging may indicate a gripping action to sustain the thong during stance. While these compensations exist

  5. In vivo determination of total knee arthroplasty kinematics

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

    Komistek, Richard D; Mahfouz, Mohamed R; Bertin, Kim

    2008-01-01

    The objective of this study was to determine if consistent posterior femoral rollback of an asymmetrical posterior cruciate retaining (PCR) total knee arthroplasty was mostly influenced by the implant design, surgical technique, or presence of a well-functioning posterior cruciate ligament (PCL). Three-dimensional femorotibial kinematics was determined for 80 subjects implanted by 3 surgeons, and each subject was evaluated under fluoroscopic surveillance during a deep knee bend. All subjects in this present study having an intact PCL had a well-functioning PCR knee and experienced normal kinematic patterns, although less in magnitude than the normal knee. In addition, a surprising finding wasmore » that, on average, subjects without a PCL still achieved posterior femoral rollback from full extension to maximum knee flexion. The findings in this study revealed that implant design did contribute to the normal kinematics demonstrated by subjects having this asymmetrical PCR total knee arthroplasty.« less

  6. Kinematics of reflections in subsurface offset and angle-domain image gathers

    NASA Astrophysics Data System (ADS)

    Dafni, Raanan; Symes, William W.

    2018-05-01

    Seismic migration in the angle-domain generates multiple images of the earth's interior in which reflection takes place at different scattering-angles. Mechanically, the angle-dependent reflection is restricted to happen instantaneously and at a fixed point in space: Incident wave hits a discontinuity in the subsurface media and instantly generates a scattered wave at the same common point of interaction. Alternatively, the angle-domain image may be associated with space-shift (regarded as subsurface offset) extended migration that artificially splits the reflection geometry. Meaning that, incident and scattered waves interact at some offset distance. The geometric differences between the two approaches amount to a contradictory angle-domain behaviour, and unlike kinematic description. We present a phase space depiction of migration methods extended by the peculiar subsurface offset split and stress its profound dissimilarity. In spite of being in radical contradiction with the general physics, the subsurface offset reveals a link to some valuable angle-domain quantities, via post-migration transformations. The angle quantities are indicated by the direction normal to the subsurface offset extended image. They specifically define the local dip and scattering angles if the velocity at the split reflection coordinates is the same for incident and scattered wave pairs. Otherwise, the reflector normal is not a bisector of the opening angle, but of the corresponding slowness vectors. This evidence, together with the distinguished geometry configuration, fundamentally differentiates the angle-domain decomposition based on the subsurface offset split from the conventional decomposition at a common reflection point. An asymptotic simulation of angle-domain moveout curves in layered media exposes the notion of split versus common reflection point geometry. Traveltime inversion methods that involve the subsurface offset extended migration must accommodate the split geometry

  7. Feeding kinematics and performance of Hawaiian stream gobies, Awaous guamensis and Lentipes concolor: linkage of functional morphology and ecology.

    PubMed

    Maie, Takashi; Wilson, Megan P; Schoenfuss, Heiko L; Blob, Richard W

    2009-03-01

    Distributions of Hawaiian stream fishes are typically interrupted by waterfalls that divide streams into multiple segments. Larvae hatch upstream, are flushed into the ocean, and must climb these waterfalls to reach adult habitats when returning back to freshwater as part of an amphidromous life cycle. Stream surveys and studies of climbing performance show that Lentipes concolor Gill can reach fast-flowing upper stream segments but that Awaous guamensis Valenciennes reaches only slower, lower stream segments. Gut content analyses for these two species indicate considerable overlap in diet, suggesting that feeding kinematics and performance of these two species might be comparable. Alternatively, feeding kinematics and performance of these species might be expected to differ in relation to the different flow regimes in their habitat (feeding in faster stream currents for L. concolor versus in slower currents for A. guamensis). To test these alternative hypotheses, we compared food capturing kinematics and performance during suction feeding behaviors of A. guamensis and L. concolor using morphological data and high-speed video. Lentipes concolor showed both a significantly larger gape angle and faster jaw opening than A. guamensis. Geometric models calculated that despite the inverse relationship of gape size and suction pressure generation, the fast jaw motions of L. concolor allow it to achieve higher pressure differentials than A. guamensis. Such elevated suction pressure would enhance the ability of L. concolor to successfully capture food in the fast stream reaches it typically inhabits. Differences in jaw morphology may contribute to these differences in performance, as the lever ratio for jaw opening is about 10% lower in L. concolor compared with A. guamensis, suiting the jaws of L. concolor better for fast opening. Copyright 2008 Wiley-Liss, Inc.

  8. Kinematic Determination of an Unmodeled Serial Manipulator by Means of an IMU

    NASA Astrophysics Data System (ADS)

    Ciarleglio, Constance A.

    Kinematic determination for an unmodeled manipulator is usually done through a-priori knowledge of the manipulator physical characteristics or external sensor information. The mathematics of the kinematic estimation, often based on Denavit- Hartenberg convention, are complex and have high computation requirements, in addition to being unique to the manipulator for which the method is developed. Analytical methods that can compute kinematics on-the fly have the potential to be highly beneficial in dynamic environments where different configurations and variable manipulator types are often required. This thesis derives a new screw theory based method of kinematic determination, using a single inertial measurement unit (IMU), for use with any serial, revolute manipulator. The method allows the expansion of reconfigurable manipulator design and simplifies the kinematic process for existing manipulators. A simulation is presented where the theory of the method is verified and characterized with error. The method is then implemented on an existing manipulator as a verification of functionality.

  9. New Kinematical Constraints on Cosmic Acceleration

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

    Rapetti, David; Allen, Steve W.; Amin, Mustafa A.

    2007-05-25

    We present and employ a new kinematical approach to ''dark energy'' studies. We construct models in terms of the dimensionless second and third derivatives of the scale factor a(t) with respect to cosmic time t, namely the present-day value of the deceleration parameter q{sub 0} and the cosmic jerk parameter, j(t). An elegant feature of this parameterization is that all {Lambda}CDM models have j(t)=1 (constant), which facilitates simple tests for departures from the {Lambda}CDM paradigm. Applying our model to redshift-independent distance measurements, from type Ia supernovae and X-ray cluster gas mass fraction measurements, we obtain clear statistical evidence for amore » late time transition from a decelerating to an accelerating phase. For a flat model with constant jerk, j(t)=j, we measure q{sub 0}=-0.81 {+-} 0.14 and j=2.16 +0.81 -0.75, results that are consistent with {Lambda}CDM at about the 1{sigma} confidence level. In comparison to dynamical analyses, the kinematical approach uses a different model set and employs a minimum of prior information, being independent of any particular gravity theory. The results obtained with this new approach therefore provide important additional information and we argue that both kinematical and dynamical techniques should be employed in future dark energy studies, where possible.« less

  10. Influence of Component Rotation in Total Knee Arthroplasty on Tibiofemoral Kinematics-A Cadaveric Investigation.

    PubMed

    Maderbacher, Guenther; Keshmiri, Armin; Springorum, Hans R; Maderbacher, Hermann; Grifka, Joachim; Baier, Clemens

    2017-09-01

    Physiological tibiofemoral kinematics have been shown to be important for good knee function after total knee arthroplasty (TKA). The purpose of the present study was to investigate the influence of component rotation on tibiofemoral kinematics during knee flexion. We asked which axial component alignment best reconstructs physiological tibiofemoral kinematics and which combinations should be avoided. Ten healthy cadaveric knees were examined. By means of a navigational device, tibiofemoral kinematics between 0° and 90° of flexion were assessed before and after TKA using the following different rotational component alignment: femoral components: ligament balanced, 6° internal, 3° external rotation, and 6° external rotation in relation to the posterior condylar line; tibial components: self-adapted, 6° internal rotation, and 6° external rotation. Physiological tibiofemoral kinematics could be partly reconstructed by TKA. Ligament-balanced femoral rotation and 6° femoral external rotation both in combination with 6° tibial component external rotation, and 3° femoral external rotation in combination with 6° tibial component internal rotation or self-aligning tibial component were able to restore tibial longitudinal rotation. Largest kinematical differences were found for the combination femoral component internal and tibial component external rotations. From a kinematic-based view, surgeons should avoid internal rotation of femoral components. However, even often recommended combinations of rotational component alignment (3° femoral external and tibial external rotation) significantly change tibiofemoral kinematics. Self-aligning tibial components solely restored tibiofemoral kinematics with the combination of 3° femoral component of external rotation. For the future, navigational devices might help to axially align components to restore patient-specific and natural tibiofemoral kinematics. Copyright © 2017 Elsevier Inc. All rights reserved.

  11. Kinematic Tests of Small Arms

    DTIC Science & Technology

    2016-03-15

    muzzle devices, such as flash suppressors and muzzle compensators, if the items are designed to be operator removable. Use the ammunition that will...muzzle brake or adding a sound suppressor . A kinematics study is also a diagnostic tool to investigate weapon problems such as poor functioning with

  12. Kinematic Diversity in Rorqual Whale Feeding Mechanisms.

    PubMed

    Cade, David E; Friedlaender, Ari S; Calambokidis, John; Goldbogen, Jeremy A

    2016-10-10

    Rorqual whales exhibit an extreme lunge filter-feeding strategy characterized by acceleration to high speed and engulfment of a large volume of prey-laden water [1-4]. Although tagging studies have quantified the kinematics of lunge feeding, the timing of engulfment relative to body acceleration has been modeled conflictingly because it could never be directly measured [5-7]. The temporal coordination of these processes has a major impact on the hydrodynamics and energetics of this high-cost feeding strategy [5-9]. If engulfment and body acceleration are temporally distinct, the overall cost of this dynamic feeding event would be minimized. However, greater temporal overlap of these two phases would theoretically result in higher drag and greater energetic costs. To address this discrepancy, we used animal-borne synchronized video and 3D movement sensors to quantify the kinematics of both the skull and body during feeding events. Krill-feeding blue and humpback whales exhibited temporally distinct acceleration and engulfment phases, with humpback whales reaching maximum gape earlier than blue whales. In these whales, engulfment coincided largely with body deceleration; however, humpback whales pursuing more agile fish demonstrated highly variable coordination of skull and body kinematics in the context of complex prey-herding techniques. These data suggest that rorquals modulate the coordination of acceleration and engulfment to optimize foraging efficiency by minimizing locomotor costs and maximizing prey capture. Moreover, this newfound kinematic diversity observed among rorquals indicates that the energetic efficiency of foraging is driven both by the whale's engulfment capacity and the comparative locomotor capabilities of predator and prey. VIDEO ABSTRACT. Copyright © 2016 Elsevier Ltd. All rights reserved.

  13. Studying Upper-Limb Kinematics Using Inertial Sensors Embedded in Mobile Phones.

    PubMed

    Roldan-Jimenez, Cristina; Cuesta-Vargas, Antonio; Bennett, Paul

    2015-05-20

    In recent years, there has been a great interest in analyzing upper-limb kinematics. Inertial measurement with mobile phones is a convenient and portable analysis method for studying humerus kinematics in terms of angular mobility and linear acceleration. The aim of this analysis was to study upper-limb kinematics via mobile phones through six physical properties that correspond to angular mobility and acceleration in the three axes of space. This cross-sectional study recruited healthy young adult subjects. Humerus kinematics was studied in 10 young adults with the iPhone4. They performed flexion and abduction analytical tasks. Mobility angle and lineal acceleration in each of its axes (yaw, pitch, and roll) were obtained with the iPhone4. This device was placed on the right half of the body of each subject, in the middle third of the humerus, slightly posterior. Descriptive statistics were calculated. Descriptive graphics of analytical tasks performed were obtained. The biggest range of motion was found in pitch angle, and the biggest acceleration was found in the y-axis in both analytical tasks. Focusing on tridimensional kinematics, bigger range of motion and acceleration was found in abduction (209.69 degrees and 23.31 degrees per second respectively). Also, very strong correlation was found between angular mobility and linear acceleration in abduction (r=.845) and flexion (r=.860). The use of an iPhone for humerus tridimensional kinematics is feasible. This supports use of the mobile phone as a device to analyze upper-limb kinematics and to facilitate the evaluation of the patient. ©Cristina Roldan-Jimenez, Antonio Cuesta-Vargas, Paul Bennett. Originally published in JMIR Rehabilitation and Assistive Technology (http://rehab.jmir.org), 20.05.2015.

  14. A real-time computational model for estimating kinematics of ankle ligaments.

    PubMed

    Zhang, Mingming; Davies, T Claire; Zhang, Yanxin; Xie, Sheng Quan

    2016-01-01

    An accurate assessment of ankle ligament kinematics is crucial in understanding the injury mechanisms and can help to improve the treatment of an injured ankle, especially when used in conjunction with robot-assisted therapy. A number of computational models have been developed and validated for assessing the kinematics of ankle ligaments. However, few of them can do real-time assessment to allow for an input into robotic rehabilitation programs. An ankle computational model was proposed and validated to quantify the kinematics of ankle ligaments as the foot moves in real-time. This model consists of three bone segments with three rotational degrees of freedom (DOFs) and 12 ankle ligaments. This model uses inputs for three position variables that can be measured from sensors in many ankle robotic devices that detect postures within the foot-ankle environment and outputs the kinematics of ankle ligaments. Validation of this model in terms of ligament length and strain was conducted by comparing it with published data on cadaver anatomy and magnetic resonance imaging. The model based on ligament lengths and strains is in concurrence with those from the published studies but is sensitive to ligament attachment positions. This ankle computational model has the potential to be used in robot-assisted therapy for real-time assessment of ligament kinematics. The results provide information regarding the quantification of kinematics associated with ankle ligaments related to the disability level and can be used for optimizing the robotic training trajectory.

  15. Morphometric and kinematic sperm subpopulations in split ejaculates of normozoospermic men

    PubMed Central

    Santolaria, Pilar; Soler, Carles; Recreo, Pilar; Carretero, Teresa; Bono, Araceli; Berné, José M; Yániz, Jesús L

    2016-01-01

    This study was designed to analyze the sperm kinematic and morphometric subpopulations in the different fractions of the ejaculate in normozoospermic men. Ejaculates from eight normozoospermic men were collected by masturbation in three fractions after 3–5 days of sexual abstinence. Analyses of sperm motility by computer-assisted sperm analysis (CASA-Mot), and of sperm morphometry by computer-assisted sperm morphometry analysis (CASA-Morph) using fluorescence were performed. Clustering and discriminant procedures were performed to identify sperm subpopulations in the kinematic and morphometric data obtained. Clustering procedures resulted in the classification of spermatozoa into three kinematic subpopulations (slow with low ALH [35.6% of all motile spermatozoa], with circular trajectories [32.0%], and rapid with high ALH [32.4%]), and three morphometric subpopulations (large-round [33.9% of all spermatozoa], elongated [32.0%], and small [34.10%]). The distribution of kinematic sperm subpopulations was different among ejaculate fractions (P < 0.001), with higher percentages of spermatozoa exhibiting slow movements with low ALH in the second and third portions, and with a more homogeneous distribution of kinematic sperm subpopulations in the first portion. The distribution of morphometric sperm subpopulations was also different among ejaculate fractions (P < 0.001), with more elongated spermatozoa in the first, and of small spermatozoa in the third, portion. It is concluded that important variations in the distribution of kinematic and morphometric sperm subpopulations exist between ejaculate fractions, with possible functional implications. PMID:27624985

  16. Kinematic path planning for space-based robotics

    NASA Astrophysics Data System (ADS)

    Seereeram, Sanjeev; Wen, John T.

    1998-01-01

    Future space robotics tasks require manipulators of significant dexterity, achievable through kinematic redundancy and modular reconfigurability, but with a corresponding complexity of motion planning. Existing research aims for full autonomy and completeness, at the expense of efficiency, generality or even user friendliness. Commercial simulators require user-taught joint paths-a significant burden for assembly tasks subject to collision avoidance, kinematic and dynamic constraints. Our research has developed a Kinematic Path Planning (KPP) algorithm which bridges the gap between research and industry to produce a powerful and useful product. KPP consists of three key components: path-space iterative search, probabilistic refinement, and an operator guidance interface. The KPP algorithm has been successfully applied to the SSRMS for PMA relocation and dual-arm truss assembly tasks. Other KPP capabilities include Cartesian path following, hybrid Cartesian endpoint/intermediate via-point planning, redundancy resolution and path optimization. KPP incorporates supervisory (operator) input at any detail to influence the solution, yielding desirable/predictable paths for multi-jointed arms, avoiding obstacles and obeying manipulator limits. This software will eventually form a marketable robotic planner suitable for commercialization in conjunction with existing robotic CAD/CAM packages.

  17. Adaptive control of an exoskeleton robot with uncertainties on kinematics and dynamics.

    PubMed

    Brahmi, Brahim; Saad, Maarouf; Ochoa-Luna, Cristobal; Rahman, Mohammad H

    2017-07-01

    In this paper, we propose a new adaptive control technique based on nonlinear sliding mode control (JSTDE) taking into account kinematics and dynamics uncertainties. This approach is applied to an exoskeleton robot with uncertain kinematics and dynamics. The adaptation design is based on Time Delay Estimation (TDE). The proposed strategy does not necessitate the well-defined dynamic and kinematic models of the system robot. The updated laws are designed using Lyapunov-function to solve the adaptation problem systematically, proving the close loop stability and ensuring the convergence asymptotically of the outputs tracking errors. Experiments results show the effectiveness and feasibility of JSTDE technique to deal with the variation of the unknown nonlinear dynamics and kinematics of the exoskeleton model.

  18. A review of instrumentation kinematics of engine-driven nickel-titanium instruments.

    PubMed

    Çapar, I D; Arslan, H

    2016-02-01

    Over the years, NiTi alloys have become indispensable materials in endodontic treatment. With technological advancements in metallurgy, manufacturers have attempted to produce instruments with enhanced features. In parallel with these developments, endodontic motors have undergone improvements in terms of torque control and kinematics that are adjustable in different directions. This review presents an overview of the advancements in instrumentation kinematics and the effect of instrumentation kinematics on root canal shaping procedures and instrument performance. The literature search for this narrative review was conducted in Google Scholar, Scopus, PubMed and Web of Science using the keywords 'kinematics and endodontics' and 'reciprocation and endodontics'. In addition, historical literature was searched using the keyword 'nickel-titanium and endodontics'. Overall, 143 articles were included up to 2015. © 2015 International Endodontic Journal. Published by John Wiley & Sons Ltd.

  19. A bio-inspired kinematic controller for obstacle avoidance during reaching tasks with real robots.

    PubMed

    Srinivasa, Narayan; Bhattacharyya, Rajan; Sundareswara, Rashmi; Lee, Craig; Grossberg, Stephen

    2012-11-01

    This paper describes a redundant robot arm that is capable of learning to reach for targets in space in a self-organized fashion while avoiding obstacles. Self-generated movement commands that activate correlated visual, spatial and motor information are used to learn forward and inverse kinematic control models while moving in obstacle-free space using the Direction-to-Rotation Transform (DIRECT). Unlike prior DIRECT models, the learning process in this work was realized using an online Fuzzy ARTMAP learning algorithm. The DIRECT-based kinematic controller is fault tolerant and can handle a wide range of perturbations such as joint locking and the use of tools despite not having experienced them during learning. The DIRECT model was extended based on a novel reactive obstacle avoidance direction (DIRECT-ROAD) model to enable redundant robots to avoid obstacles in environments with simple obstacle configurations. However, certain configurations of obstacles in the environment prevented the robot from reaching the target with purely reactive obstacle avoidance. To address this complexity, a self-organized process of mental rehearsals of movements was modeled, inspired by human and animal experiments on reaching, to generate plans for movement execution using DIRECT-ROAD in complex environments. These mental rehearsals or plans are self-generated by using the Fuzzy ARTMAP algorithm to retrieve multiple solutions for reaching each target while accounting for all the obstacles in its environment. The key aspects of the proposed novel controller were illustrated first using simple examples. Experiments were then performed on real robot platforms to demonstrate successful obstacle avoidance during reaching tasks in real-world environments. Copyright © 2012 Elsevier Ltd. All rights reserved.

  20. Grasp planning under uncertainty

    NASA Technical Reports Server (NTRS)

    Erkmen, A. M.; Stephanou, H. E.

    1989-01-01

    The planning of dexterous grasps for multifingered robot hands operating in uncertain environments is covered. A sensor-based approach to the planning of a reach path prior to grasping is first described. An on-line, joint space finger path planning algorithm for the enclose phase of grasping was then developed. The algorithm minimizes the impact momentum of the hand. It uses a Preshape Jacobian matrix to map task-level hand preshape requirements into kinematic constraints. A master slave scheme avoids inter-finger collisions and reduces the dimensionality of the planning problem.

  1. A School Experiment in Kinematics: Shooting from a Ballistic Cart

    ERIC Educational Resources Information Center

    Kranjc, T.; Razpet, N.

    2011-01-01

    Many physics textbooks start with kinematics. In the lab, students observe the motions, describe and make predictions, and get acquainted with basic kinematics quantities and their meaning. Then they can perform calculations and compare the results with experimental findings. In this paper we describe an experiment that is not often done, but is…

  2. Tibial rotation kinematics subsequent to knee arthroplasty

    PubMed Central

    Collins, Duane J.; Khatib, Yasser H.; Parker, David A.; Jenkin, Deanne E.; Molnar, Robert B.

    2015-01-01

    Background The use of computer assisted joint replacement has facilitated precise intraoperative measurement of knee kinematics. The changes in “screw home mechanism” (SHM) resulting from Total Knee Arthroplasty (TKA) with different prostheses and constraints has not yet been accurately described. Methods A pilot study was first completed. Intraoperative kinematic data was collected two groups of 15 patients receiving different prostheses. Results On average, patients lost 5.3° of ER (SD = 6.1°). There was no significant difference between the prostheses or different prosthetic constraints. Conclusions There significant loss of SHM after TKA. Further research is required to understand its impact on patient function. PMID:25829754

  3. The SPM Kinematic Catalogue of Planetary Nebulae

    NASA Astrophysics Data System (ADS)

    López, J. A.; Richer, M. G.; Riesgo, H.; Steffen, W.; García-Segura, G.; Meaburn, J.; Bryce, M.

    The San Pedro Mártir Kinematic Catalogue of Planetary Nebulae aims at providing detailed kinematic information for galactic planetary nebulae (PNe) and bright PNe in the Local Group. The database provides long-slit, Echelle spectra and images where the location of the slits on the nebula are indicated. As a tool to help interpret the 2D line profiles or position-velocity data, an atlas of synthetic emission line spectra accompanies the Catalogue. The atlas has been produced with the code SHAPE and contains synthetic spectra for all the main morphological groups for a wide range of spatial orientations and slit locations over the nebula.

  4. Kinematic Analysis of Speech Sound Sequencing Errors Induced by Delayed Auditory Feedback.

    PubMed

    Cler, Gabriel J; Lee, Jackson C; Mittelman, Talia; Stepp, Cara E; Bohland, Jason W

    2017-06-22

    Delayed auditory feedback (DAF) causes speakers to become disfluent and make phonological errors. Methods for assessing the kinematics of speech errors are lacking, with most DAF studies relying on auditory perceptual analyses, which may be problematic, as errors judged to be categorical may actually represent blends of sounds or articulatory errors. Eight typical speakers produced nonsense syllable sequences under normal and DAF (200 ms). Lip and tongue kinematics were captured with electromagnetic articulography. Time-locked acoustic recordings were transcribed, and the kinematics of utterances with and without perceived errors were analyzed with existing and novel quantitative methods. New multivariate measures showed that for 5 participants, kinematic variability for productions perceived to be error free was significantly increased under delay; these results were validated by using the spatiotemporal index measure. Analysis of error trials revealed both typical productions of a nontarget syllable and productions with articulatory kinematics that incorporated aspects of both the target and the perceived utterance. This study is among the first to characterize articulatory changes under DAF and provides evidence for different classes of speech errors, which may not be perceptually salient. New methods were developed that may aid visualization and analysis of large kinematic data sets. https://doi.org/10.23641/asha.5103067.

  5. Kinematic Analysis of Speech Sound Sequencing Errors Induced by Delayed Auditory Feedback

    PubMed Central

    Lee, Jackson C.; Mittelman, Talia; Stepp, Cara E.; Bohland, Jason W.

    2017-01-01

    Purpose Delayed auditory feedback (DAF) causes speakers to become disfluent and make phonological errors. Methods for assessing the kinematics of speech errors are lacking, with most DAF studies relying on auditory perceptual analyses, which may be problematic, as errors judged to be categorical may actually represent blends of sounds or articulatory errors. Method Eight typical speakers produced nonsense syllable sequences under normal and DAF (200 ms). Lip and tongue kinematics were captured with electromagnetic articulography. Time-locked acoustic recordings were transcribed, and the kinematics of utterances with and without perceived errors were analyzed with existing and novel quantitative methods. Results New multivariate measures showed that for 5 participants, kinematic variability for productions perceived to be error free was significantly increased under delay; these results were validated by using the spatiotemporal index measure. Analysis of error trials revealed both typical productions of a nontarget syllable and productions with articulatory kinematics that incorporated aspects of both the target and the perceived utterance. Conclusions This study is among the first to characterize articulatory changes under DAF and provides evidence for different classes of speech errors, which may not be perceptually salient. New methods were developed that may aid visualization and analysis of large kinematic data sets. Supplemental Material https://doi.org/10.23641/asha.5103067 PMID:28655038

  6. Kinematic Signatures of Telic and Atelic Events in ASL Predicates

    ERIC Educational Resources Information Center

    Malaia, Evie; Wilbur, Ronnie B.

    2012-01-01

    This article presents an experimental investigation of kinematics of verb sign production in American Sign Language (ASL) using motion capture data. The results confirm that event structure differences in the meaning of the verbs are reflected in the kinematic formation: for example, in the telic verbs (throw, hit), the end-point of the event is…

  7. A Morpho-kinematic and Spectroscopic study of Bipolar Planetary Nebulae

    NASA Astrophysics Data System (ADS)

    Clyne, Niall

    2015-09-01

    In this thesis, studies of the kinematic properties for a sample of Galactic bipolar planetary nebulae, based on optical and infrared observations, were performed using a morpho-kinematic code, optical and NIR diagnostic diagrams, and techniques using data analyses. The mechanisms that form complex bipolar planetary nebulae remain unclear, and their shapes can be generated either as a planetary or symbiotic nebula. The origin of the material ionised by the white dwarf is very different in these two scenarios, and it complicates the understanding of the morphologies of planetary nebulae. The physical properties, structure, and dynamics of the bipolar nebulae, MyCn 18, M 2-9, Mz 3, Hen 2-104, and Abell 14, are each investigated in detail with the aim of understanding their nature, shaping mechanisms, and evolutionary history. For MyCn 18, VLT infrared images, VLT ISAAC infrared spectra, and long-slit optical echelle spectra are used to investigate the inner and outer regions of the nebula. The morpho-kinematic modelling tool shape was used to firmly constrain the structure and kinematics of the source. A timescale analysis was used to help determine the kinematical age of the nebula and its main components. A spectroscopic study of MyCn 18's central region reveals the detailed make-up of its nebular composition. Molecular hydrogen, atomic helium, and Brackett gamma emission are detected in the central regions. ISAAC spectra from a slit position along the narrow waist of the nebula demonstrate that the ionised gas resides closer to the centre of the nebula than the molecular emission. A final reconstructed 3-D model of MyCn 18 was generated, providing kinematical information on the expansion velocity of its nebular components by means of position-velocity arrays (or observed long-slit spectra). A kinematical age of the nebula and its components were obtained using the position-velocity arrays and timescale analysis. For M 2-9, Mz 3, and Hen 2-104, long-slit optical

  8. Is Active Tectonics on Madagascar Consistent with Somalian Plate Kinematics?

    NASA Astrophysics Data System (ADS)

    Stamps, D. S.; Kreemer, C.; Rajaonarison, T. A.

    2017-12-01

    The East African Rift System (EARS) actively breaks apart the Nubian and Somalian tectonic plates. Madagascar finds itself at the easternmost boundary of the EARS, between the Rovuma block, Lwandle plate, and the Somalian plate. Earthquake focal mechanisms and N-S oriented fault structures on the continental island suggest that Madagascar is experiencing east-west oriented extension. However, some previous plate kinematic studies indicate minor compressional strains across Madagascar. This inconsistency may be due to uncertainties in Somalian plate rotation. Past estimates of the rotation of the Somalian plate suffered from a poor coverage of GPS stations, but some important new stations are now available for a re-evaluation. In this work, we revise the kinematics of the Somalian plate. We first calculate a new GPS velocity solution and perform block kinematic modeling to evaluate the Somalian plate rotation. We then estimate new Somalia-Rovuma and Somalia-Lwandle relative motions across Madagascar and evaluate whether they are consistent with GPS measurements made on the island itself, as well as with other kinematic indicators.

  9. Proximal arm kinematics affect grip force-load force coordination

    PubMed Central

    Vermillion, Billy C.; Lum, Peter S.

    2015-01-01

    During object manipulation, grip force is coordinated with load force, which is primarily determined by object kinematics. Proximal arm kinematics may affect grip force control, as proximal segment motion could affect control of distal hand muscles via biomechanical and/or neural pathways. The aim of this study was to investigate the impact of proximal kinematics on grip force modulation during object manipulation. Fifteen subjects performed three vertical lifting tasks that involved distinct proximal kinematics (elbow/shoulder), but resulted in similar end-point (hand) trajectories. While temporal coordination of grip and load forces remained similar across the tasks, proximal kinematics significantly affected the grip force-to-load force ratio (P = 0.042), intrinsic finger muscle activation (P = 0.045), and flexor-extensor ratio (P < 0.001). Biomechanical coupling between extrinsic hand muscles and the elbow joint cannot fully explain the observed changes, as task-related changes in intrinsic hand muscle activation were greater than in extrinsic hand muscles. Rather, between-task variation in grip force (highest during task 3) appears to contrast to that in shoulder joint velocity/acceleration (lowest during task 3). These results suggest that complex neural coupling between the distal and proximal upper extremity musculature may affect grip force control during movements, also indicated by task-related changes in intermuscular coherence of muscle pairs, including intrinsic finger muscles. Furthermore, examination of the fingertip force showed that the human motor system may attempt to reduce variability in task-relevant motor output (grip force-to-load force ratio), while allowing larger fluctuations in output less relevant to task goal (shear force-to-grip force ratio). PMID:26289460

  10. Fatigue effects on bar kinematics during the bench press.

    PubMed

    Duffey, Michael J; Challis, John H

    2007-05-01

    The bench press is one of the most popular weight training exercises. Although most training regimens incorporate multiple repetition sets, there are few data describing how the kinematics of a lift change during a set to failure. To examine these changes, recreational lifters (10 men and 8 women) were recruited. The maximum weight each subject could bench press (1RM) was determined. Subjects then performed as many repetitions as possible at 75% of the 1RM load. Three-dimensional kinematic data were recorded and analyzed for all lifts. Statistical analysis revealed that differences between maximal and submaximal lifts and the kinematics of a submaximal lift change as a subject approaches failure in a set. The time to lift the bar more than doubled from the first to the last repetition, causing a decrease in both mean and peak upward velocity. Furthermore, the peak upward velocity occurred much earlier in the lift phase in these later repetitions. The path the bar followed also changed, with subjects keeping the bar more directly over the shoulder during the lift. In general, most of the kinematic variables analyzed became more similar to those of the maximal lift as the subjects progressed through the set, but there was considerable variation between subjects as to which repetition was most like the maximal lift. This study shows that there are definite changes in the lifting kinematics in recreational lifters during a set to failure and suggests it may be particularly important for coaches and less-skilled lifters to focus on developing the proper bar path, rather than reaching momentary muscular failure, in the early part of a training program.

  11. Multi-scale signed envelope inversion

    NASA Astrophysics Data System (ADS)

    Chen, Guo-Xin; Wu, Ru-Shan; Wang, Yu-Qing; Chen, Sheng-Chang

    2018-06-01

    Envelope inversion based on modulation signal mode was proposed to reconstruct large-scale structures of underground media. In order to solve the shortcomings of conventional envelope inversion, multi-scale envelope inversion was proposed using new envelope Fréchet derivative and multi-scale inversion strategy to invert strong contrast models. In multi-scale envelope inversion, amplitude demodulation was used to extract the low frequency information from envelope data. However, only to use amplitude demodulation method will cause the loss of wavefield polarity information, thus increasing the possibility of inversion to obtain multiple solutions. In this paper we proposed a new demodulation method which can contain both the amplitude and polarity information of the envelope data. Then we introduced this demodulation method into multi-scale envelope inversion, and proposed a new misfit functional: multi-scale signed envelope inversion. In the numerical tests, we applied the new inversion method to the salt layer model and SEG/EAGE 2-D Salt model using low-cut source (frequency components below 4 Hz were truncated). The results of numerical test demonstrated the effectiveness of this method.

  12. Time-reversal and Bayesian inversion

    NASA Astrophysics Data System (ADS)

    Debski, Wojciech

    2017-04-01

    Probabilistic inversion technique is superior to the classical optimization-based approach in all but one aspects. It requires quite exhaustive computations which prohibit its use in huge size inverse problems like global seismic tomography or waveform inversion to name a few. The advantages of the approach are, however, so appealing that there is an ongoing continuous afford to make the large inverse task as mentioned above manageable with the probabilistic inverse approach. One of the perspective possibility to achieve this goal relays on exploring the internal symmetry of the seismological modeling problems in hand - a time reversal and reciprocity invariance. This two basic properties of the elastic wave equation when incorporating into the probabilistic inversion schemata open a new horizons for Bayesian inversion. In this presentation we discuss the time reversal symmetry property, its mathematical aspects and propose how to combine it with the probabilistic inverse theory into a compact, fast inversion algorithm. We illustrate the proposed idea with the newly developed location algorithm TRMLOC and discuss its efficiency when applied to mining induced seismic data.

  13. Impact of an incremental running test on jumping kinematics in endurance runners: can jumping kinematic explain the post-activation potentiation phenomenon?

    PubMed

    García-Pinillos, Felipe; Molina-Molina, Alejandro; Latorre-Román, Pedro Á

    2016-06-01

    This study aimed to determine whether kinematic data during countermovement jump (CMJ) might explain post-activation potentiation (PAP) phenomenon after an exhausting running test. Thirty-three trained endurance runners performed the Léger Test; an incremental test which consists of continuous running between two lines 20 m apart. CMJ performance was determined before (pre-test) and immediately after the protocol (post-test). Sagittal plane, video of CMJs was recorded and kinematic data were obtained throughout 2-Dimensional analysis. In addition to the duration of eccentric and concentric phases of CMJ, hip, knee and ankle angles were measured at four key points during CMJ: the lowest position of the squat, take-off, landing, and at the lowest position after landing. Additionally, heart rate was monitored, and rate of perceived exertion was recorded at post-test. Analysis of variance revealed a significant improvement in CMJ (p = 0.002) at post-test. Cluster analysis grouped according to whether PAP was experienced (responders group: RG, n = 25) or not (non-responders group: NRG, n = 8) relative to CMJ change from rest to post-test. RG significantly improved (p < 0.001) the performance in CMJ, whereas NRG remained unchanged. Kinematic data did not show significant differences between RG and NRG. Thus, the data suggest that jumping kinematic does not provide the necessary information to explain PAP phenomenon after intensive running exercises in endurance athletes.

  14. 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.

  15. Climbing fibers predict movement kinematics and performance errors.

    PubMed

    Streng, Martha L; Popa, Laurentiu S; Ebner, Timothy J

    2017-09-01

    Requisite for understanding cerebellar function is a complete characterization of the signals provided by complex spike (CS) discharge of Purkinje cells, the output neurons of the cerebellar cortex. Numerous studies have provided insights into CS function, with the most predominant view being that they are evoked by error events. However, several reports suggest that CSs encode other aspects of movements and do not always respond to errors or unexpected perturbations. Here, we evaluated CS firing during a pseudo-random manual tracking task in the monkey ( Macaca mulatta ). This task provides extensive coverage of the work space and relative independence of movement parameters, delivering a robust data set to assess the signals that activate climbing fibers. Using reverse correlation, we determined feedforward and feedback CSs firing probability maps with position, velocity, and acceleration, as well as position error, a measure of tracking performance. The direction and magnitude of the CS modulation were quantified using linear regression analysis. The major findings are that CSs significantly encode all three kinematic parameters and position error, with acceleration modulation particularly common. The modulation is not related to "events," either for position error or kinematics. Instead, CSs are spatially tuned and provide a linear representation of each parameter evaluated. The CS modulation is largely predictive. Similar analyses show that the simple spike firing is modulated by the same parameters as the CSs. Therefore, CSs carry a broader array of signals than previously described and argue for climbing fiber input having a prominent role in online motor control. NEW & NOTEWORTHY This article demonstrates that complex spike (CS) discharge of cerebellar Purkinje cells encodes multiple parameters of movement, including motor errors and kinematics. The CS firing is not driven by error or kinematic events; instead it provides a linear representation of each

  16. pynoddy 1.0: an experimental platform for automated 3-D kinematic and potential field modelling

    NASA Astrophysics Data System (ADS)

    Florian Wellmann, J.; Thiele, Sam T.; Lindsay, Mark D.; Jessell, Mark W.

    2016-03-01

    We present a novel methodology for performing experiments with subsurface structural models using a set of flexible and extensible Python modules. We utilize the ability of kinematic modelling techniques to describe major deformational, tectonic, and magmatic events at low computational cost to develop experiments testing the interactions between multiple kinematic events, effect of uncertainty regarding event timing, and kinematic properties. These tests are simple to implement and perform, as they are automated within the Python scripting language, allowing the encapsulation of entire kinematic experiments within high-level class definitions and fully reproducible results. In addition, we provide a link to geophysical potential-field simulations to evaluate the effect of parameter uncertainties on maps of gravity and magnetics. We provide relevant fundamental information on kinematic modelling and our implementation, and showcase the application of our novel methods to investigate the interaction of multiple tectonic events on a pre-defined stratigraphy, the effect of changing kinematic parameters on simulated geophysical potential fields, and the distribution of uncertain areas in a full 3-D kinematic model, based on estimated uncertainties in kinematic input parameters. Additional possibilities for linking kinematic modelling to subsequent process simulations are discussed, as well as additional aspects of future research. Our modules are freely available on github, including documentation and tutorial examples, and we encourage the contribution to this project.

  17. pynoddy 1.0: an experimental platform for automated 3-D kinematic and potential field modelling

    NASA Astrophysics Data System (ADS)

    Wellmann, J. F.; Thiele, S. T.; Lindsay, M. D.; Jessell, M. W.

    2015-11-01

    We present a novel methodology for performing experiments with subsurface structural models using a set of flexible and extensible Python modules. We utilise the ability of kinematic modelling techniques to describe major deformational, tectonic, and magmatic events at low computational cost to develop experiments testing the interactions between multiple kinematic events, effect of uncertainty regarding event timing, and kinematic properties. These tests are simple to implement and perform, as they are automated within the Python scripting language, allowing the encapsulation of entire kinematic experiments within high-level class definitions and fully reproducible results. In addition, we provide a~link to geophysical potential-field simulations to evaluate the effect of parameter uncertainties on maps of gravity and magnetics. We provide relevant fundamental information on kinematic modelling and our implementation, and showcase the application of our novel methods to investigate the interaction of multiple tectonic events on a pre-defined stratigraphy, the effect of changing kinematic parameters on simulated geophysical potential-fields, and the distribution of uncertain areas in a full 3-D kinematic model, based on estimated uncertainties in kinematic input parameters. Additional possibilities for linking kinematic modelling to subsequent process simulations are discussed, as well as additional aspects of future research. Our modules are freely available on github, including documentation and tutorial examples, and we encourage the contribution to this project.

  18. The kinematic footprints of five stellar streams in Andromeda's halo

    NASA Astrophysics Data System (ADS)

    Chapman, S. C.; Ibata, R.; Irwin, M.; Koch, A.; Letarte, B.; Martin, N.; Collins, M.; Lewis, G. F.; McConnachie, A.; Peñarrubia, J.; Rich, R. M.; Trethewey, D.; Ferguson, A.; Huxor, A.; Tanvir, N.

    2008-11-01

    We present a spectroscopic analysis of five stellar streams (`A', `B', `Cr', `Cp' and `D') as well as the extended star cluster, EC4, which lies within Stream`C', all discovered in the halo of M31 from our Canada-France-Hawaii Telescope/MegaCam survey. These spectroscopic results were initially serendipitous, making use of our existing observations from the DEep Imaging Multi-Object Spectrograph mounted on the Keck II telescope, and thereby emphasizing the ubiquity of tidal streams that account for ~70 per cent of the M31 halo stars in the targeted fields. Subsequent spectroscopy was then procured in Stream`C' and Stream`D' to trace the velocity gradient along the streams. Nine metal-rich ([Fe/H] ~ -0.7) stars at vhel = -349.5kms-1,σv,corr ~ 5.1 +/- 2.5km s-1 are proposed as a serendipitous detection of Stream`Cr', with follow-up kinematic identification at a further point along the stream. Seven metal-poor ([Fe/H] ~-1.3) stars confined to a narrow, 15 km s-1 velocity bin centred at vhel = -285.6, σv,corr = 4.3+1.7-1.4 km s-1 represent a kinematic detection of Stream`Cp', again with follow-up kinematic identification further along the stream. For the cluster EC4, candidate member stars with average [Fe/H] ~-1.4, are found at vhel = -282 suggesting it could be related to Stream`Cp'. No similarly obvious cold kinematic candidate is found for Stream`D', although candidates are proposed in both of two spectroscopic pointings along the stream (both at ~ -400km s-1). Spectroscopy near the edge of Stream`B' suggests a likely kinematic detection at vhel ~ -330, σv,corr ~ 6.9km s-1, while a candidate kinematic detection of Stream`A' is found (plausibly associated to M33 rather than M31) with vhel ~ -170, σv,corr = 12.5km s-1. The low dispersion of the streams in kinematics, physical thickness and metallicity makes it hard to reconcile with a scenario whereby these stream structures as an ensemble are related to the giant southern stream. We conclude that the M31 stellar

  19. The Effect of Backpack Load Carriage on the Kinetics and Kinematics of Ankle and Knee Joints During Uphill Walking.

    PubMed

    Lee, Jinkyu; Yoon, Yong-Jin; Shin, Choongsoo S

    2017-12-01

    The purpose of this study was to investigate the effect of load carriage on the kinematics and kinetics of the ankle and knee joints during uphill walking, including joint work, range of motion (ROM), and stance time. Fourteen males walked at a self-selected speed on an uphill (15°) slope wearing military boots and carrying a rifle in hand without a backpack (control condition) and with a backpack. The results showed that the stance time significantly decreased with backpack carriage (p < .05). The mediolateral impulse significantly increased with backpack carriage (p < .05). In the ankle joints, the inversion-eversion, and dorsi-plantar flexion ROM in the ankle joints increased with backpack carriage (p < .05). The greater dorsi-plantar flexion ROM with backpack carriage suggested 1 strategy for obtaining high plantar flexor power during uphill walking. The result of the increased mediolateral impulse and inversion-eversion ROM in the ankle joints indicated an increase in body instability caused by an elevated center of mass with backpack carriage during uphill walking. The decreased stance time indicated that an increase in walking speed could be a compensatory mechanism for reducing the instability of the body during uphill walking while carrying a heavy backpack.

  20. Mandibular kinematics represented by a non-orthogonal floating axis joint coordinate system.

    PubMed

    Leader, Joseph K; Boston, J Robert; Debski, Richard E; Rudy, Thomas E

    2003-02-01

    There are many methods used to represent joint kinematics (e.g., roll, pitch, and yaw angles; instantaneous center of rotation; kinematic center; helical axis). Often in biomechanics internal landmarks are inferred from external landmarks. This study represents mandibular kinematics using a non-orthogonal floating axis joint coordinate system based on 3-D geometric models with parameters that are "clinician friendly" and mathematically rigorous. Kinematics data for two controls were acquired from passive fiducial markers attached to a custom dental clutch. The geometric models were constructed from MRI data. The superior point along the arc of the long axis of the condyle was used to define the coordinate axes. The kinematic data and geometric models were registered through fiducial markers visible during both protocols. The mean absolute maxima across the subjects for sagittal rotation, coronal rotation, axial rotation, medial-lateral translation, anterior-posterior translation, and inferior-superior translation were 34.10 degrees, 1.82 degrees, 1.14 degrees, 2.31, 21.07, and 6.95 mm, respectively. All the parameters, except for one subject's axial rotation, were reproducible across two motion recording sessions. There was a linear correlation between sagittal rotation and translation, the dominant motion plane, with approximately 1.5 degrees of rotation per millimeter of translation. The novel approach of combining the floating axis system with geometric models succinctly described mandibular kinematics with reproducible and clinician friendly parameters.

  1. Unmanned Systems: A Lab Based Robotic Arm for Grasping Phase II

    DTIC Science & Technology

    2016-12-01

    Leap Motion Controller, inverse kinematics, DH parameters. 15. NUMBER OF PAGES 89 16. PRICE CODE 17. SECURITY CLASSIFICATION OF REPORT...robotic actuator. Inverse kinematics and Denavit-Hartenberg (DH) parameters will be briefly explained. A. POSITION ANALYSIS According to [3] and... inverse kinematic” method and allows us to calculate the actuator’s position in order to move the robot’s end effector to a specific point in space

  2. Kinematics of the symbiotic system R Aqr

    NASA Astrophysics Data System (ADS)

    Navarro, S.; Corral, L. J.; Steffen, W.

    2014-04-01

    We present the results of the kinematical analysis of the symbiotic system R Aqr. We obtained high dispersion spectra with the MES spectrograph at the 2.1 m telescope of San Pedro Mártir (MEZCAL). The used filter were Ha + [NII], (λc = 6575Å, Δλ = 90Å). We analyse the [NII] λλ6583 line. When the observations are compared with previous ones by Solf (1992) we detected an important change in the projected velocities of the observed knots, supporting the idea of a precessing jet. We are working also in a 3-D kinematic model for the object using the measured velocities and the state of the model is presented.

  3. Spiral galaxy HI models, rotation curves and kinematic classifications

    NASA Astrophysics Data System (ADS)

    Wiegert, Theresa B. V.

    Although galaxy interactions cause dramatic changes, galaxies also continue to form stars and evolve when they are isolated. The dark matter (DM) halo may influence this evolution since it generates the rotational behaviour of galactic disks which could affect local conditions in the gas. Therefore we study neutral hydrogen kinematics of non-interacting, nearby spiral galaxies, characterising their rotation curves (RC) which probe the DM halo; delineating kinematic classes of galaxies; and investigating relations between these classes and galaxy properties such as disk size and star formation rate (SFR). To generate the RCs, we use GalAPAGOS (by J. Fiege). My role was to test and help drive the development of this software, which employs a powerful genetic algorithm, constraining 23 parameters while using the full 3D data cube as input. The RC is here simply described by a tanh-based function which adequately traces the global RC behaviour. Extensive testing on artificial galaxies show that the kinematic properties of galaxies with inclination >40 degrees, including edge-on galaxies, are found reliably. Using a hierarchical clustering algorithm on parametrised RCs from 79 galaxies culled from literature generates a preliminary scheme consisting of five classes. These are based on three parameters: maximum rotational velocity, turnover radius and outer slope of the RC. To assess the relationship between DM content and the kinematic classes, we generate mass models for 10 galaxies from the THINGS and WHISP surveys, and J. Irwin's sample. In most cases mass models using GalAPAGOS RCs were similar to those using traditional "tilted-ring'' method RCs. The kinematic classes are mainly distinguished by their rotational velocity. We confirm correlations between increasing velocity and B-magnitude, optical disk size, and find earlier type galaxies among the strong rotators. SFR also increases with maximum rotational velocity. Given our limited subsample, we cannot discern a

  4. Brain dopamine and kinematics of graphomotor functions.

    PubMed

    Lange, Klaus W; Mecklinger, Lara; Walitza, Susanne; Becker, Georg; Gerlach, Manfred; Naumann, Markus; Tucha, Oliver

    2006-10-01

    Three experiments were performed in an attempt to achieve a better understanding of the effect of dopamine on handwriting. In the first experiment, kinematic aspects of handwriting movements were compared between healthy participants and patients with Parkinson's disease (PD) on their usual dopaminergic treatment and following withdrawal of dopaminergic medication. In the second experiment, the writing performance of healthy participants with a hyperechogenicity of the substantia nigra as detected by transcranial sonography (TCS) was compared with the performance of healthy participants with low echogenicity of the substantia nigra. The third experiment examined the effect of central dopamine reduction on kinematic aspects of handwriting movements in healthy adults using acute phenylalanine and tyrosine depletion (APTD). A digitising tablet was used for the assessment of handwriting movements. Participants were asked to perform a simple writing task. Movement time, distance, velocity, acceleration and measures of fluency of handwriting movements were measured. The kinematic analysis of handwriting movements revealed that alterations of central dopaminergic neurotransmission adversely affect movement execution during handwriting. In comparison to the automatic processing of handwriting movements displayed by control participants, participants with an altered dopaminergic neurotransmission shifted from an automatic to a controlled processing of movement execution. Central dopamine appears to be of particular importance with regard to the automatic execution of well-learned movements.

  5. Plasma inverse transition acceleration

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

    Xie, Ming

    It can be proved fundamentally from the reciprocity theorem with which the electromagnetism is endowed that corresponding to each spontaneous process of radiation by a charged particle there is an inverse process which defines a unique acceleration mechanism, from Cherenkov radiation to inverse Cherenkov acceleration (ICA) [1], from Smith-Purcell radiation to inverse Smith-Purcell acceleration (ISPA) [2], and from undulator radiation to inverse undulator acceleration (IUA) [3]. There is no exception. Yet, for nearly 30 years after each of the aforementioned inverse processes has been clarified for laser acceleration, inverse transition acceleration (ITA), despite speculation [4], has remained the least understood,more » and above all, no practical implementation of ITA has been found, until now. Unlike all its counterparts in which phase synchronism is established one way or the other such that a particle can continuously gain energy from an acceleration wave, the ITA to be discussed here, termed plasma inverse transition acceleration (PITA), operates under fundamentally different principle. As a result, the discovery of PITA has been delayed for decades, waiting for a conceptual breakthrough in accelerator physics: the principle of alternating gradient acceleration [5, 6, 7, 8, 9, 10]. In fact, PITA was invented [7, 8] as one of several realizations of the new principle.« less

  6. Kinematic analysis of crank -cam mechanism of process equipment

    NASA Astrophysics Data System (ADS)

    Podgornyj, Yu I.; Skeeba, V. Yu; Martynova, T. G.; Pechorkina, N. S.; Skeeba, P. Yu

    2018-03-01

    This article discusses how to define the kinematic parameters of a crank-cam mechanism. Using the mechanism design, the authors have developed a calculation model and a calculation algorithm that allowed the definition of kinematic parameters of the mechanism, including crank displacements, angular velocities and acceleration, as well as driven link (rocker arm) angular speeds and acceleration. All calculations were performed using the Mathcad mathematical package. The results of the calculations are reported as numerical values.

  7. The Dark Matter Halo Profile Of NGC 2976 Via Stellar Kinematics

    NASA Astrophysics Data System (ADS)

    Adams, Joshua J.; Gebhardt, K.; Hill, G. J.; van den Bosch, R. C. E.; Blanc, G. A.

    2011-01-01

    The observations of kinematics in low surface brightness (LSB) and dwarf late type galaxies have stubbornly resisted giving clear evidence for the cuspy Navarro-Frenk-White (NFW) dark matter (DM) halo profiles that simulations with ΛCDM inputs predict. Instead, most LSBs and late type dwarfs suggest cored DM halos or the observations are not yet constraining enough to rule out cusps. One viable theory to explain cored DM halos relies on the gravitational perturbation of a growing baryonic disk that is then rapidly removed causing the halo to expand to a cored equilibrium. Weakly self-interacting dark matter has also been invoked to explain cored DM halos. This problem may loom large over small galaxy formation and growth. However, different measurements can be taken to further test the apparent problem. Most previous data have relied on HI or Hα as kinematic tracers. A small number of works have studied the problem with longslit stellar kinematics. Ideally, the advantages of 2D spectroscopic coverage and a collisionless kinematic tracer would be combined. So far, NGC 2976 has made one of the cleanest cases for a cored DM halo via integral field spectroscopy in Hα. We here report on observations of NGC 2976 with the large field-of-view fiber-fed Visible Integral field Replicable Unit Spectrograph Prototype (VIRUS-P) at R=3200 to concurrently measure the gaseous and stellar kinematics and probe the DM halo. We find that the gas and stellar kinematics disagree both in the magnitude of their second velocity moments and their detailed profiles. We unexpectedly find emission features in one of NGC 2976's two large star-forming regions which may be indicative of carbon-rich Wolf-Rayet stars. A putative bar further complicates the use of gaseous tracers. We solve the Jeans equations with stellar kinematics to reevaluate the DM profile in this exemplar galaxy of the core-cusp problem.

  8. The Hungtsaiping landslide:A kinematic model based on morphology

    NASA Astrophysics Data System (ADS)

    Huang, W.-K.; Chu, H.-K.; Lo, C.-M.; Lin, M.-L.

    2012-04-01

    A large and deep-seated landslide at Hungtsaiping was triggered by the 7.3 magnitude 1999 Chi-Chi earthquake. Extensive site investigations of the landslide were conducted including field reconnaissance, geophysical exploration, borehole logs, and laboratory experiments. Thick colluvium was found around the landslide area and indicated the occurrence of a large ancient landslide. This study presents the catastrophic landslide event which occurred during the Chi-Chi earthquake. The mechanism of the 1999 landslide which cannot be revealed by the underground exploration data alone, is clarified. This research include investigations of the landslide kinematic process and the deposition geometry. A 3D discrete element method (program), PFC3D, was used to model the kinematic process that led to the landslide. The proposed procedure enables a rational and efficient way to simulate the landslide dynamic process. Key word: Hungtsaiping catastrophic landslide, kinematic process, deposition geometry, discrete element method

  9. Scapular kinematics and muscle activities during pushing tasks.

    PubMed

    Huang, Chun-Kai; Siu, Ka-Chun; Lien, Hen-Yu; Lee, Yun-Ju; Lin, Yang-Hua

    2013-01-01

    Pushing tasks are functional activities of daily living. However, shoulder complaints exist among workers exposed to regular pushing conditions. It is crucial to investigate the control of shoulder girdles during pushing tasks. The objective of the study was to demonstrate scapular muscle activities and motions on the dominant side during pushing tasks and the relationship between scapular kinematics and muscle activities in different pushing conditions. Thirty healthy adults were recruited to push a four-wheel cart in six pushing conditions. The electromyographic signals of the upper trapezius (UT) and serratus anterior (SA) muscles were recorded. A video-based system was used for measuring the movement of the shoulder girdle and scapular kinematics. Differences in scapular kinematics and muscle activities due to the effects of handle heights and weights of the cart were analyzed using two-way ANOVA with repeated measures. The relationships between scapular kinematics and muscle activities were examined by Pearson's correlation coefficients. The changes in upper trapezius and serratus anterior muscle activities increased significantly with increased pushing weights in the one-step pushing phase. The UT/SA ratio on the dominant side decreases significantly with increased handle heights in the one-step pushing phase. The changes in upward rotation, lateral slide and elevation of the scapula decreased with increased pushing loads in the trunk-forward pushing phase. This study indicated that increased pushing loads result in decreased motions of upward rotation, lateral slide and elevation of the scapula; decreased handle heights result in relatively increased activities of the serratus anterior muscles during pushing tasks.

  10. Ionised gas kinematics in bipolar H II regions

    NASA Astrophysics Data System (ADS)

    Dalgleish, Hannah S.; Longmore, Steven N.; Peters, Thomas; Henshaw, Jonathan D.; Veitch-Michaelis, Joshua L.; Urquhart, James S.

    2018-05-01

    Stellar feedback plays a fundamental role in shaping the evolution of galaxies. Here we explore the use of ionised gas kinematics in young, bipolar H II regions as a probe of early feedback in these star-forming environments. We have undertaken a multi-wavelength study of a young, bipolar H II region in the Galactic disc, G316.81-0.06, which lies at the centre of a massive (˜103 M⊙) infrared-dark cloud filament. It is still accreting molecular gas as well as driving a ˜0.2 pc ionised gas outflow perpendicular to the filament. Intriguingly, we observe a large velocity gradient (47.81 ± 3.21 km s-1 pc-1) across the ionised gas in a direction perpendicular to the outflow. This kinematic signature of the ionised gas shows a reasonable correspondence with the simulations of young H II regions. Based on a qualitative comparison between our observations and these simulations, we put forward a possible explanation for the velocity gradients observed in G316.81-0.06. If the velocity gradient perpendicular to the outflow is caused by rotation of the ionised gas, then we infer that this rotation is a direct result of the initial net angular momentum in the natal molecular cloud. If this explanation is correct, this kinematic signature should be common in other young (bipolar) H II regions. We suggest that further quantitative analysis of the ionised gas kinematics of young H II regions, combined with additional simulations, should improve our understanding of feedback at these early stages.

  11. 2D kinematic signatures of boxy/peanut bulges

    NASA Astrophysics Data System (ADS)

    Iannuzzi, Francesca; Athanassoula, E.

    2015-07-01

    We study the imprints of boxy/peanut structures on the 2D line-of-sight kinematics of simulated disc galaxies. The models under study belong to a family with varying initial gas fraction and halo triaxiality, plus few other control runs with different structural parameters; the kinematic information was extracted using the Voronoi-binning technique and parametrized up to the fourth order of a Gauss-Hermite series. Building on a previous work for the long-slit case, we investigate the 2D kinematic behaviour in the edge-on projection as a function of the boxy/peanut strength and position angle; we find that for the strongest structures the highest moments show characteristic features away from the mid-plane in a range of position angles. We also discuss the masking effect of a classical bulge and the ambiguity in discriminating kinematically this spherically symmetric component from a boxy/peanut bulge seen end-on. Regarding the face-on case, we extend existing results to encompass the effect of a second buckling and find that this phenomenon spurs an additional set of even deeper minima in the fourth moment. Finally, we show how the results evolve when inclining the disc away from perfectly edge-on and face-on. The behaviour of stars born during the course of the simulations is discussed and confronted to that of the pre-existing disc. The general aim of our study is providing a handle to identify boxy/peanut structures and their properties in latest generation Integral Field Unit observations of nearby disc galaxies.

  12. Exploiting the MODIS albedos with the Two-stream Inversion Package (JRC-TIP): 2. Fractions of transmitted and absorbed fluxes in the vegetation and soil layers

    NASA Astrophysics Data System (ADS)

    Pinty, B.; Clerici, M.; Andredakis, I.; Kaminski, T.; Taberner, M.; Verstraete, M. M.; Gobron, N.; Plummer, S.; Widlowski, J.-L.

    2011-05-01

    The two-stream model parameters and associated uncertainties retrieved by inversion against MODIS broadband visible and near-infrared white sky surface albedos were discussed in a companion paper. The present paper concentrates on the partitioning of the solar radiation fluxes delivered by the Joint Research Centre Two-stream Inversion Package (JRC-TIP). The estimation of the various flux fractions related to the vegetation and the background layers separately capitalizes on the probability density functions of the model parameters discussed in the companion paper. The propagation of uncertainties from the observations to the model parameters is achieved via the Hessian of the cost function and yields a covariance matrix of posterior parameter uncertainties. This matrix is propagated to the radiation fluxes via the model's Jacobian matrix of first derivatives. Results exhibit a rather good spatiotemporal consistency given that the prior values on the model parameters are not specified as a function of land cover type and/or vegetation phenological states. A specific investigation based on a scenario imposing stringent conditions of leaf absorbing and scattering properties highlights the impact of such constraints that are, as a matter of fact, currently adopted in vegetation index approaches. Special attention is also given to snow-covered and snow-contaminated areas since these regions encompass significant reflectance changes that strongly affect land surface processes. A definite asset of the JRC-TIP lies in its capability to control and ultimately relax a number of assumptions that are often implicit in traditional approaches. These features greatly help us understand the discrepancies between the different data sets of land surface properties and fluxes that are currently available. Through a series of selected examples, the inverse procedure implemented in the JRC-TIP is shown to be robust, reliable, and compliant with large-scale processing requirements

  13. The brown dwarf kinematics project

    NASA Astrophysics Data System (ADS)

    Faherty, Jackie K.

    2010-10-01

    Brown dwarfs are a recent addition to the plethora of objects studied in Astronomy. With theoretical masses between 13 and 75 MJupiter , they lack sustained stable Hydrogen burning so they never join the stellar main sequence. They have physical properties similar to both planets and low-mass stars so studies of their population inform on both. The distances and kinematics of brown dwarfs provide key statistical constraints on their ages, moving group membership, absolute brightnesses, evolutionary trends, and multiplicity. Yet, until my thesis, fundamental measurements of parallax and proper motion were made for only a relatively small fraction of the known population. To address this deficiency, I initiated the Brown Dwarf Kinematics (BDKP). Over the past four years I have re-imaged the majority of spectroscopically confirmed field brown dwarfs (or ultracool dwarfs---UCDs) and created the largest proper motion catalog for ultracool dwarfs to date. Using new astrometric information I examined population characteristics such as ages calculated from velocity dispersions and correlations between kinematics and colors. Using proper motions, I identified several new wide co-moving companions and investigated binding energy (and hence formation) limitations as well as the frequency of hierarchical companions. Concurrently over the past four years I have been conducting a parallax survey of 84 UCDs including those showing spectral signatures of youth, metal-poor brown dwarfs, and those within 20 pc of the Sun. Using absolute magnitude relations in J,H, and K, I identified overluminous binary candidates and investigated known flux-reversal binaries. Using current evolutionary models, I compared the MK vs J-K color magnitude diagram to model predictions and found that the low-surface gravity dwarfs are significantly red-ward and underluminous of predictions and a handful of late-type T dwarfs may require thicker clouds to account for their scatter.

  14. Kinematic primitives for walking and trotting gaits of a quadruped robot with compliant legs.

    PubMed

    Spröwitz, Alexander T; Ajallooeian, Mostafa; Tuleu, Alexandre; Ijspeert, Auke Jan

    2014-01-01

    In this work we research the role of body dynamics in the complexity of kinematic patterns in a quadruped robot with compliant legs. Two gait patterns, lateral sequence walk and trot, along with leg length control patterns of different complexity were implemented in a modular, feed-forward locomotion controller. The controller was tested on a small, quadruped robot with compliant, segmented leg design, and led to self-stable and self-stabilizing robot locomotion. In-air stepping and on-ground locomotion leg kinematics were recorded, and the number and shapes of motion primitives accounting for 95% of the variance of kinematic leg data were extracted. This revealed that kinematic patterns resulting from feed-forward control had a lower complexity (in-air stepping, 2-3 primitives) than kinematic patterns from on-ground locomotion (νm4 primitives), although both experiments applied identical motor patterns. The complexity of on-ground kinematic patterns had increased, through ground contact and mechanical entrainment. The complexity of observed kinematic on-ground data matches those reported from level-ground locomotion data of legged animals. Results indicate that a very low complexity of modular, rhythmic, feed-forward motor control is sufficient for level-ground locomotion in combination with passive compliant legged hardware.

  15. Kinematic primitives for walking and trotting gaits of a quadruped robot with compliant legs

    PubMed Central

    Spröwitz, Alexander T.; Ajallooeian, Mostafa; Tuleu, Alexandre; Ijspeert, Auke Jan

    2014-01-01

    In this work we research the role of body dynamics in the complexity of kinematic patterns in a quadruped robot with compliant legs. Two gait patterns, lateral sequence walk and trot, along with leg length control patterns of different complexity were implemented in a modular, feed-forward locomotion controller. The controller was tested on a small, quadruped robot with compliant, segmented leg design, and led to self-stable and self-stabilizing robot locomotion. In-air stepping and on-ground locomotion leg kinematics were recorded, and the number and shapes of motion primitives accounting for 95% of the variance of kinematic leg data were extracted. This revealed that kinematic patterns resulting from feed-forward control had a lower complexity (in-air stepping, 2–3 primitives) than kinematic patterns from on-ground locomotion (νm4 primitives), although both experiments applied identical motor patterns. The complexity of on-ground kinematic patterns had increased, through ground contact and mechanical entrainment. The complexity of observed kinematic on-ground data matches those reported from level-ground locomotion data of legged animals. Results indicate that a very low complexity of modular, rhythmic, feed-forward motor control is sufficient for level-ground locomotion in combination with passive compliant legged hardware. PMID:24639645

  16. Geometrically constrained kinematic global navigation satellite systems positioning: Implementation and performance

    NASA Astrophysics Data System (ADS)

    Asgari, Jamal; Mohammadloo, Tannaz H.; Amiri-Simkooei, Ali Reza

    2015-09-01

    GNSS kinematic techniques are capable of providing precise coordinates in extremely short observation time-span. These methods usually determine the coordinates of an unknown station with respect to a reference one. To enhance the precision, accuracy, reliability and integrity of the estimated unknown parameters, GNSS kinematic equations are to be augmented by possible constraints. Such constraints could be derived from the geometric relation of the receiver positions in motion. This contribution presents the formulation of the constrained kinematic global navigation satellite systems positioning. Constraints effectively restrict the definition domain of the unknown parameters from the three-dimensional space to a subspace defined by the equation of motion. To test the concept of the constrained kinematic positioning method, the equation of a circle is employed as a constraint. A device capable of moving on a circle was made and the observations from 11 positions on the circle were analyzed. Relative positioning was conducted by considering the center of the circle as the reference station. The equation of the receiver's motion was rewritten in the ECEF coordinates system. A special attention is drawn onto how a constraint is applied to kinematic positioning. Implementing the constraint in the positioning process provides much more precise results compared to the unconstrained case. This has been verified based on the results obtained from the covariance matrix of the estimated parameters and the empirical results using kinematic positioning samples as well. The theoretical standard deviations of the horizontal components are reduced by a factor ranging from 1.24 to 2.64. The improvement on the empirical standard deviation of the horizontal components ranges from 1.08 to 2.2.

  17. Differences in foot kinematics between young and older adults during walking.

    PubMed

    Arnold, John B; Mackintosh, Shylie; Jones, Sara; Thewlis, Dominic

    2014-02-01

    Our understanding of age-related changes to foot function during walking has mainly been based on plantar pressure measurements, with little information on differences in foot kinematics between young and older adults. The purpose of this study was to investigate the differences in foot kinematics between young and older adults during walking using a multi-segment foot model. Joint kinematics of the foot and ankle for 20 young (mean age 23.2 years, standard deviation (SD) 3.0) and 20 older adults (mean age 73.2 years, SD 5.1) were quantified during walking with a 12 camera Vicon motion analysis system using a five segment kinematic model. Differences in kinematics were compared between older adults and young adults (preferred and slow walking speeds) using Student's t-tests or if indicated, Mann-Whitney U tests. Effect sizes (Cohen's d) for the differences were also computed. The older adults had a less plantarflexed calcaneus at toe-off (-9.6° vs. -16.1°, d = 1.0, p = <0.001), a smaller sagittal plane range of motion (ROM) of the midfoot (11.9° vs. 14.8°, d = 1.3, p = <0.001) and smaller coronal plane ROM of the metatarsus (3.2° vs. 4.3°, d = 1.1, p = 0.006) compared to the young adults. Walking speed did not influence these differences, as they remained present when groups walked at comparable speeds. The findings of this study indicate that independent of walking speed, older adults exhibit significant differences in foot kinematics compared to younger adults, characterised by less propulsion and reduced mobility of multiple foot segments. Copyright © 2013 Elsevier B.V. All rights reserved.

  18. The effect of kinematic parameters on inelastic scattering of glyoxal.

    PubMed

    Duca, Mariana D

    2004-10-08

    The effect of kinematic parameters (relative velocity v(rel), relative momentum p(rel), and relative energy E(rel)) on the rotational and rovibrational inelastic scatterings of 0(0)K(0)S(1) trans-glyoxal has been investigated by colliding glyoxal seeded in He or Ar with target gases D2, He, or Ne at different scattering angles in crossed supersonic beams. The inelastic spectra for target gases He and D2 acquired with two different sets of kinematic parameters revealed no significant differences. This result shows that kinematic factors have the major influence in the inelastic scattering channel competition whereas the intermolecular potential energy surface plays only a secondary role. The well-defined exponential dependence of relative cross sections on exchanged angular momentum identifies angular momentum as the dominant kinematic factor in collision-induced rotationally and rovibrationally inelastic scatterings. This is supported by the behavior of the relative inelastic cross sections data in a "slope-p(rel)" representation. In this form, the data show a trend nearly independent of the target gas identity. Representations involving E(rel) and v(rel) show trends specific to the target gas.

  19. Kinematic signature of a rotating bar near a resonance

    NASA Technical Reports Server (NTRS)

    Weinberg, Martin D.

    1994-01-01

    Recent work based on H I, star count and emission data suggests that the Milky Way has rotating bar-like features. In this paper, I show that such features cause distinctive stellar kinematic signatures near Outer Lindblad Resonance (OLR) and Inner Lindblad Resonance (ILR). The effect of these resonances may be observable far from the peak density of the pattern and relatively nearby the solar position. The details of the kinematic signatures depend on the evolutionary history of the 'bar' and therefore velocity data, both systematic and velocity dispersion, may be used to probe the evolutionary history as well as the present state of Galaxy. Kinematic models for a variety of sample scenarios are presented. Models with evolving pattern speeds show significantly stronger dispersion signatures than those with static pattern speeds, suggesting that useful observational constraints are possible. The models are applied to the proposed rotating spheroid and bar models; we find (1) none of these models chosen to represent the proposed large-scale rotating spheroid are consistent with the stellar kinematics and (2) a Galactic bar with semimajor axis of 3 kpc will cause a large increase in velocity dispersion in the vicinity of OLR (approximately 5 kpc) with little change in the net radial motion and such a signature is suggested by K-giant velocity data. Potential future observations and analyses are discussed.

  20. Evaluation of colonoscopy technical skill levels by use of an objective kinematic-based system.

    PubMed

    Obstein, Keith L; Patil, Vaibhav D; Jayender, Jagadeesan; San José Estépar, Raúl; Spofford, Inbar S; Lengyel, Balazs I; Vosburgh, Kirby G; Thompson, Christopher C

    2011-02-01

    Colonoscopy requires training and experience to ensure accuracy and safety. Currently, no objective, validated process exists to determine when an endoscopist has attained technical competence. Kinematics data describing movements of laparoscopic instruments have been used in surgical skill assessment to define expert surgical technique. We have developed a novel system to record kinematics data during colonoscopy and quantitatively assess colonoscopist performance. To use kinematic analysis of colonoscopy to quantitatively assess endoscopic technical performance. Prospective cohort study. Tertiary-care academic medical center. This study involved physicians who perform colonoscopy. Application of a kinematics data collection system to colonoscopy evaluation. Kinematics data, validated task load assessment instrument, and technical difficulty visual analog scale. All 13 participants completed the colonoscopy to the terminal ileum on the standard colon model. Attending physicians reached the terminal ileum quicker than fellows (median time, 150.19 seconds vs 299.86 seconds; p<.01) with reduced path lengths for all 4 sensors, decreased flex (1.75 m vs 3.14 m; P=.03), smaller tip angulation, reduced absolute roll, and lower curvature of the endoscope. With performance of attending physicians serving as the expert reference standard, the mean kinematic score increased by 19.89 for each decrease in postgraduate year (P<.01). Overall, fellows experienced greater mental, physical, and temporal demand than did attending physicians. Small cohort size. Kinematic data and score calculation appear useful in the evaluation of colonoscopy technical skill levels. The kinematic score appears to consistently vary by year of training. Because this assessment is nonsubjective, it may be an improvement over current methods for determination of competence. Ongoing studies are establishing benchmarks and characteristic profiles of skill groups based on kinematics data. Copyright © 2011