An efficient sequential strategy for realizing cross-gradient joint inversion: method and its application to 2-D cross borehole seismic traveltime and DC resistivity tomography

NASA Astrophysics Data System (ADS)

Gao, Ji; Zhang, Haijiang

2018-05-01

Cross-gradient joint inversion that enforces structural similarity between different models has been widely utilized in jointly inverting different geophysical data types. However, it is a challenge to combine different geophysical inversion systems with the cross-gradient structural constraint into one joint inversion system because they may differ greatly in the model representation, forward modelling and inversion algorithm. Here we propose a new joint inversion strategy that can avoid this issue. Different models are separately inverted using the existing inversion packages and model structure similarity is only enforced through cross-gradient minimization between two models after each iteration. Although the data fitting and structural similarity enforcing processes are decoupled, our proposed strategy is still able to choose appropriate models to balance the trade-off between geophysical data fitting and structural similarity. This is realized by using model perturbations from separate data inversions to constrain the cross-gradient minimization process. We have tested this new strategy on 2-D cross borehole synthetic seismic traveltime and DC resistivity data sets. Compared to separate geophysical inversions, our proposed joint inversion strategy fits the separate data sets at comparable levels while at the same time resulting in a higher structural similarity between the velocity and resistivity models.

Joint Loads and Cartilage Stress in Intact Joints of Military Transtibial Amputees: Enhancing Quality of Life

DTIC Science & Technology

2017-04-01

crosstalk); analysis of tested subjects underway. 4) Developed analytical methods to obtain knee joint loads using EMG-driven inverse dynamics; analysis of...13/2018. Completion %: 40. Task 1.3: EMG-driven inverse dynamic (ID) analyses with OpenSim for amputee and control group subjects. Target date: 1...predicted by EMG-driven inverse dynamics. Two-three conference papers are being prepared for submission in February 2017. Other achievements. None

A simple approach to the joint inversion of seismic body and surface waves applied to the southwest U.S.

NASA Astrophysics Data System (ADS)

West, Michael; Gao, Wei; Grand, Stephen

2004-08-01

Body and surface wave tomography have complementary strengths when applied to regional-scale studies of the upper mantle. We present a straight-forward technique for their joint inversion which hinges on treating surface waves as horizontally-propagating rays with deep sensitivity kernels. This formulation allows surface wave phase or group measurements to be integrated directly into existing body wave tomography inversions with modest effort. We apply the joint inversion to a synthetic case and to data from the RISTRA project in the southwest U.S. The data variance reductions demonstrate that the joint inversion produces a better fit to the combined dataset, not merely a compromise. For large arrays, this method offers an improvement over augmenting body wave tomography with a one-dimensional model. The joint inversion combines the absolute velocity of a surface wave model with the high resolution afforded by body waves-both qualities that are required to understand regional-scale mantle phenomena.

Research on joint parameter inversion for an integrated underground displacement 3D measuring sensor.

PubMed

Shentu, Nanying; Qiu, Guohua; Li, Qing; Tong, Renyuan; Shentu, Nankai; Wang, Yanjie

2015-04-13

Underground displacement monitoring is a key means to monitor and evaluate geological disasters and geotechnical projects. There exist few practical instruments able to monitor subsurface horizontal and vertical displacements simultaneously due to monitoring invisibility and complexity. A novel underground displacement 3D measuring sensor had been proposed in our previous studies, and great efforts have been taken in the basic theoretical research of underground displacement sensing and measuring characteristics by virtue of modeling, simulation and experiments. This paper presents an innovative underground displacement joint inversion method by mixing a specific forward modeling approach with an approximate optimization inversion procedure. It can realize a joint inversion of underground horizontal displacement and vertical displacement for the proposed 3D sensor. Comparative studies have been conducted between the measured and inversed parameters of underground horizontal and vertical displacements under a variety of experimental and inverse conditions. The results showed that when experimentally measured horizontal displacements and vertical displacements are both varied within 0~30 mm, horizontal displacement and vertical displacement inversion discrepancies are generally less than 3 mm and 1 mm, respectively, under three kinds of simulated underground displacement monitoring circumstances. This implies that our proposed underground displacement joint inversion method is robust and efficient to predict the measuring values of underground horizontal and vertical displacements for the proposed sensor.

Groundwater contamination in the Roorkee area, India: 2D joint inversion of radiomagnetotelluric and direct current resistivity data

NASA Astrophysics Data System (ADS)

Yogeshwar, P.; Tezkan, B.; Israil, M.; Candansayar, M. E.

2012-01-01

The impact of sewage irrigation and groundwater contamination were investigated near Roorkee in north India using the Direct Current Resistivity (DCR) method and the Radiomagnetotelluric (RMT) method. Intensive field measurements were carried out in the vicinity of a waste disposal site, which was extensively irrigated with sewage water. For comparison a profile was investigated on a reference site, where no contamination was expected. In addition to conventional 1D and 2D inversion, the measured data sets were interpreted using a 2D joint inversion algorithm. The inversion results from the data obtained from the sewage irrigated site indicate a decrease of resistivity up to 75% in comparison with the reference site. The depth range from 5 to 15 m is identified as a shallow unconfined aquifer and the decreased resistivities are ascribed as the influence of contamination. Furthermore, a systematic increase in the resistivities of the shallow unconfined aquifer is detected as we move away from the waste disposal site. The advantages of both, the DCR and RMT methods, are quantitatively integrated by the 2D joint inversion of both data sets and lead to a joint model, which explains both data sets.

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.

Joint inversion for transponder localization and sound-speed profile temporal variation in high-precision acoustic surveys.

PubMed

Li, Zhao; Dosso, Stan E; Sun, Dajun

2016-07-01

This letter develops a Bayesian inversion for localizing underwater acoustic transponders using a surface ship which compensates for sound-speed profile (SSP) temporal variation during the survey. The method is based on dividing observed acoustic travel-time data into time segments and including depth-independent SSP variations for each segment as additional unknown parameters to approximate the SSP temporal variation. SSP variations are estimated jointly with transponder locations, rather than calculated separately as in existing two-step inversions. Simulation and sea-trial results show this localization/SSP joint inversion performs better than two-step inversion in terms of localization accuracy, agreement with measured SSP variations, and computational efficiency.

Geoelectric Characterization of Thermal Water Aquifers Using 2.5D Inversion of VES Measurements

NASA Astrophysics Data System (ADS)

Gyulai, Á.; Szűcs, P.; Turai, E.; Baracza, M. K.; Fejes, Z.

2017-03-01

This paper presents a short theoretical summary of the series expansion-based 2.5D combined geoelectric weighted inversion (CGWI) method and highlights the advantageous way with which the number of unknowns can be decreased due to the simultaneous characteristic of this inversion. 2.5D CGWI is an approximate inversion method for the determination of 3D structures, which uses the joint 2D forward modeling of dip and strike direction data. In the inversion procedure, the Steiner's most frequent value method is applied to the automatic separation of dip and strike direction data and outliers. The workflow of inversion and its practical application are presented in the study. For conventional vertical electrical sounding (VES) measurements, this method can determine the parameters of complex structures more accurately than the single inversion method. Field data show that the 2.5D CGWI which was developed can determine the optimal location for drilling an exploratory thermal water prospecting well. The novelty of this research is that the measured VES data in dip and strike direction are jointly inverted by the 2.5D CGWI method.

Research on Joint Parameter Inversion for an Integrated Underground Displacement 3D Measuring Sensor

PubMed Central

Shentu, Nanying; Qiu, Guohua; Li, Qing; Tong, Renyuan; Shentu, Nankai; Wang, Yanjie

2015-01-01

Underground displacement monitoring is a key means to monitor and evaluate geological disasters and geotechnical projects. There exist few practical instruments able to monitor subsurface horizontal and vertical displacements simultaneously due to monitoring invisibility and complexity. A novel underground displacement 3D measuring sensor had been proposed in our previous studies, and great efforts have been taken in the basic theoretical research of underground displacement sensing and measuring characteristics by virtue of modeling, simulation and experiments. This paper presents an innovative underground displacement joint inversion method by mixing a specific forward modeling approach with an approximate optimization inversion procedure. It can realize a joint inversion of underground horizontal displacement and vertical displacement for the proposed 3D sensor. Comparative studies have been conducted between the measured and inversed parameters of underground horizontal and vertical displacements under a variety of experimental and inverse conditions. The results showed that when experimentally measured horizontal displacements and vertical displacements are both varied within 0 ~ 30 mm, horizontal displacement and vertical displacement inversion discrepancies are generally less than 3 mm and 1 mm, respectively, under three kinds of simulated underground displacement monitoring circumstances. This implies that our proposed underground displacement joint inversion method is robust and efficient to predict the measuring values of underground horizontal and vertical displacements for the proposed sensor. PMID:25871714

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

Kitanidis, Peter

As large-scale, commercial storage projects become operational, the problem of utilizing information from diverse sources becomes more critically important. In this project, we developed, tested, and applied an advanced joint data inversion system for CO 2 storage modeling with large data sets for use in site characterization and real-time monitoring. Emphasis was on the development of advanced and efficient computational algorithms for joint inversion of hydro-geophysical data, coupled with state-of-the-art forward process simulations. The developed system consists of (1) inversion tools using characterization data, such as 3D seismic survey (amplitude images), borehole log and core data, as well as hydraulic,more » tracer and thermal tests before CO 2 injection, (2) joint inversion tools for updating the geologic model with the distribution of rock properties, thus reducing uncertainty, using hydro-geophysical monitoring data, and (3) highly efficient algorithms for directly solving the dense or sparse linear algebra systems derived from the joint inversion. The system combines methods from stochastic analysis, fast linear algebra, and high performance computing. The developed joint inversion tools have been tested through synthetic CO 2 storage examples.« less

Joint Inversion of 1-D Magnetotelluric and Surface-Wave Dispersion Data with an Improved Multi-Objective Genetic Algorithm and Application to the Data of the Longmenshan Fault Zone

NASA Astrophysics Data System (ADS)

Wu, Pingping; Tan, Handong; Peng, Miao; Ma, Huan; Wang, Mao

2018-05-01

Magnetotellurics and seismic surface waves are two prominent geophysical methods for deep underground exploration. Joint inversion of these two datasets can help enhance the accuracy of inversion. In this paper, we describe a method for developing an improved multi-objective genetic algorithm (NSGA-SBX) and applying it to two numerical tests to verify the advantages of the algorithm. Our findings show that joint inversion with the NSGA-SBX method can improve the inversion results by strengthening structural coupling when the discontinuities of the electrical and velocity models are consistent, and in case of inconsistent discontinuities between these models, joint inversion can retain the advantages of individual inversions. By applying the algorithm to four detection points along the Longmenshan fault zone, we observe several features. The Sichuan Basin demonstrates low S-wave velocity and high conductivity in the shallow crust probably due to thick sedimentary layers. The eastern margin of the Tibetan Plateau shows high velocity and high resistivity in the shallow crust, while two low velocity layers and a high conductivity layer are observed in the middle lower crust, probably indicating the mid-crustal channel flow. Along the Longmenshan fault zone, a high conductivity layer from 8 to 20 km is observed beneath the northern segment and decreases with depth beneath the middle segment, which might be caused by the elevated fluid content of the fault zone.

On the joint inversion of geophysical data for models of the coupled core-mantle system

NASA Technical Reports Server (NTRS)

Voorhies, Coerte V.

1991-01-01

Joint inversion of magnetic, earth rotation, geoid, and seismic data for a unified model of the coupled core-mantle system is proposed and shown to be possible. A sample objective function is offered and simplified by targeting results from independent inversions and summary travel time residuals instead of original observations. These data are parameterized in terms of a very simple, closed model of the topographically coupled core-mantle system. Minimization of the simplified objective function leads to a nonlinear inverse problem; an iterative method for solution is presented. Parameterization and method are emphasized; numerical results are not presented.

Inverts permittivity and conductivity with structural constraint in GPR FWI based on truncated Newton method

NASA Astrophysics Data System (ADS)

Ren, Qianci

2018-04-01

Full waveform inversion (FWI) of ground penetrating radar (GPR) is a promising technique to quantitatively evaluate the permittivity and conductivity of near subsurface. However, these two parameters are simultaneously inverted in the GPR FWI, increasing the difficulty to obtain accurate inversion results for both parameters. In this study, I present a structural constrained GPR FWI procedure to jointly invert the two parameters, aiming to force a structural relationship between permittivity and conductivity in the process of model reconstruction. The structural constraint is enforced by a cross-gradient function. In this procedure, the permittivity and conductivity models are inverted alternately at each iteration and updated with hierarchical frequency components in the frequency domain. The joint inverse problem is solved by the truncated Newton method which considering the effect of Hessian operator and using the approximated solution of Newton equation to be the perturbation model in the updating process. The joint inversion procedure is tested by three synthetic examples. The results show that jointly inverting permittivity and conductivity in GPR FWI effectively increases the structural similarities between the two parameters, corrects the structures of parameter models, and significantly improves the accuracy of conductivity model, resulting in a better inversion result than the individual inversion.

VES/TEM 1D joint inversion by using Controlled Random Search (CRS) algorithm

NASA Astrophysics Data System (ADS)

Bortolozo, Cassiano Antonio; Porsani, Jorge Luís; Santos, Fernando Acácio Monteiro dos; Almeida, Emerson Rodrigo

2015-01-01

Electrical (DC) and Transient Electromagnetic (TEM) soundings are used in a great number of environmental, hydrological, and mining exploration studies. Usually, data interpretation is accomplished by individual 1D models resulting often in ambiguous models. This fact can be explained by the way as the two different methodologies sample the medium beneath surface. Vertical Electrical Sounding (VES) is good in marking resistive structures, while Transient Electromagnetic sounding (TEM) is very sensitive to conductive structures. Another difference is VES is better to detect shallow structures, while TEM soundings can reach deeper layers. A Matlab program for 1D joint inversion of VES and TEM soundings was developed aiming at exploring the best of both methods. The program uses CRS - Controlled Random Search - algorithm for both single and 1D joint inversions. Usually inversion programs use Marquadt type algorithms but for electrical and electromagnetic methods, these algorithms may find a local minimum or not converge. Initially, the algorithm was tested with synthetic data, and then it was used to invert experimental data from two places in Paraná sedimentary basin (Bebedouro and Pirassununga cities), both located in São Paulo State, Brazil. Geoelectric model obtained from VES and TEM data 1D joint inversion is similar to the real geological condition, and ambiguities were minimized. Results with synthetic and real data show that 1D VES/TEM joint inversion better recovers simulated models and shows a great potential in geological studies, especially in hydrogeological studies.

Joint time/frequency-domain inversion of reflection data for seabed geoacoustic profiles and uncertainties.

PubMed

Dettmer, Jan; Dosso, Stan E; Holland, Charles W

2008-03-01

This paper develops a joint time/frequency-domain inversion for high-resolution single-bounce reflection data, with the potential to resolve fine-scale profiles of sediment velocity, density, and attenuation over small seafloor footprints (approximately 100 m). The approach utilizes sequential Bayesian inversion of time- and frequency-domain reflection data, employing ray-tracing inversion for reflection travel times and a layer-packet stripping method for spherical-wave reflection-coefficient inversion. Posterior credibility intervals from the travel-time inversion are passed on as prior information to the reflection-coefficient inversion. Within the reflection-coefficient inversion, parameter information is passed from one layer packet inversion to the next in terms of marginal probability distributions rotated into principal components, providing an efficient approach to (partially) account for multi-dimensional parameter correlations with one-dimensional, numerical distributions. Quantitative geoacoustic parameter uncertainties are provided by a nonlinear Gibbs sampling approach employing full data error covariance estimation (including nonstationary effects) and accounting for possible biases in travel-time picks. Posterior examination of data residuals shows the importance of including data covariance estimates in the inversion. The joint inversion is applied to data collected on the Malta Plateau during the SCARAB98 experiment.

Lithological and Surface Geometry Joint Inversions Using Multi-Objective Global Optimization Methods

NASA Astrophysics Data System (ADS)

Lelièvre, Peter; Bijani, Rodrigo; Farquharson, Colin

2016-04-01

Geologists' interpretations about the Earth typically involve distinct rock units with contacts (interfaces) between them. In contrast, standard minimum-structure geophysical inversions are performed on meshes of space-filling cells (typically prisms or tetrahedra) and recover smoothly varying physical property distributions that are inconsistent with typical geological interpretations. There are several approaches through which mesh-based minimum-structure geophysical inversion can help recover models with some of the desired characteristics. However, a more effective strategy may be to consider two fundamentally different types of inversions: lithological and surface geometry inversions. A major advantage of these two inversion approaches is that joint inversion of multiple types of geophysical data is greatly simplified. In a lithological inversion, the subsurface is discretized into a mesh and each cell contains a particular rock type. A lithological model must be translated to a physical property model before geophysical data simulation. Each lithology may map to discrete property values or there may be some a priori probability density function associated with the mapping. Through this mapping, lithological inverse problems limit the parameter domain and consequently reduce the non-uniqueness from that presented by standard mesh-based inversions that allow physical property values on continuous ranges. Furthermore, joint inversion is greatly simplified because no additional mathematical coupling measure is required in the objective function to link multiple physical property models. In a surface geometry inversion, the model comprises wireframe surfaces representing contacts between rock units. This parameterization is then fully consistent with Earth models built by geologists, which in 3D typically comprise wireframe contact surfaces of tessellated triangles. As for the lithological case, the physical properties of the units lying between the contact surfaces are set to a priori values. The inversion is tasked with calculating the geometry of the contact surfaces instead of some piecewise distribution of properties in a mesh. Again, no coupling measure is required and joint inversion is simplified. Both of these inverse problems involve high nonlinearity and discontinuous or non-obtainable derivatives. They can also involve the existence of multiple minima. Hence, one can not apply the standard descent-based local minimization methods used to solve typical minimum-structure inversions. Instead, we are applying Pareto multi-objective global optimization (PMOGO) methods, which generate a suite of solutions that minimize multiple objectives (e.g. data misfits and regularization terms) in a Pareto-optimal sense. Providing a suite of models, as opposed to a single model that minimizes a weighted sum of objectives, allows a more complete assessment of the possibilities and avoids the often difficult choice of how to weight each objective. While there are definite advantages to PMOGO joint inversion approaches, the methods come with significantly increased computational requirements. We are researching various strategies to ameliorate these computational issues including parallelization and problem dimension reduction.

2D joint inversion of dc and scalar audio-magnetotelluric data in the evaluation of low enthalpy geothermal fields

NASA Astrophysics Data System (ADS)

Monteiro Santos, Fernando A.; Afonso, António R. Andrade; Dupis, André

2007-03-01

Audio-magnetotelluric (AMT) and resistivity (dc) surveys are often used in environmental, hydrological and geothermal evaluation. The separate interpretation of those geophysical data sets assuming two-dimensional models frequently produces ambiguous results. The joint inversion of AMT and dc data is advocated by several authors as an efficient method for reducing the ambiguity inherent to each of those methods. This paper presents results obtained from the two-dimensional joint inversion of dipole-dipole and scalar AMT data acquired in a low enthalpy geothermal field situated in a graben. The joint inverted models show a better definition of shallow and deep structures. The results show that the extension of the benefits using joint inversion depends on the number and spacing of the AMT sites. The models obtained from experimental data display a low resistivity zone (<20 Ω m) in the central part of the graben that was correlated with the geothermal reservoir. The resistivity distribution models were used to estimate the distribution of the porosity in the geothermal reservoir applying two different approaches and considering the clay minerals effect. The results suggest that the maximum porosity of the reservoir is not uniform and might be in the range of 12% to 24%.

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.

Joint Inversion of 3d Mt/gravity/magnetic at Pisagua Fault.

NASA Astrophysics Data System (ADS)

Bascur, J.; Saez, P.; Tapia, R.; Humpire, M.

2017-12-01

This work shows the results of a joint inversion at Pisagua Fault using 3D Magnetotellurics (MT), gravity and regional magnetic data. The MT survey has a poor coverage of study area with only 21 stations; however, it allows to detect a low resistivity zone aligned with the Pisagua Fault trace that it is interpreted as a damage zone. The integration of gravity and magnetic data, which have more dense sampling and coverage, adds more detail and resolution to the detected low resistivity structure and helps to improve the structure interpretation using the resulted models (density, magnetic-susceptibility and electrical resistivity). The joint inversion process minimizes a multiple target function which includes the data misfit, model roughness and coupling norms (crossgradient and direct relations) for all geophysical methods considered (MT, gravity and magnetic). This process is solved iteratively using the Gauss-Newton method which updates the model of each geophysical method improving its individual data misfit, model roughness and the coupling with the other geophysical models. For solving the model updates of magnetic and gravity methods were developed dedicated 3D inversion software codes which include the coupling norms with additionals geophysical parameters. The model update of the 3D MT is calculated using an iterative method which sequentially filters the priority model and the output model of a single 3D MT inversion process for obtaining the resistivity model coupled solution with the gravity and magnetic methods.

Joint Inversion of 1-Hz GPS Data and Strong Motion Records for the Rupture Process of the 2008 Iwate-Miyagi Nairiku Earthquake: Objectively Determining Relative Weighting

NASA Astrophysics Data System (ADS)

Wang, Z.; Kato, T.; Wang, Y.

2015-12-01

The spatiotemporal fault slip history of the 2008 Iwate-Miyagi Nairiku earthquake, Japan, is obtained by the joint inversion of 1-Hz GPS waveforms and near-field strong motion records. 1-Hz GPS data from GEONET is processed by GAMIT/GLOBK and then a low-pass filter of 0.05 Hz is applied. The ground surface strong motion records from stations of K-NET and Kik-Net are band-pass filtered for the range of 0.05 ~ 0.3 Hz and integrated once to obtain velocity. The joint inversion exploits a broader frequency band for near-field ground motions, which provides excellent constraints for both the detailed slip history and slip distribution. A fully Bayesian inversion method is performed to simultaneously and objectively determine the rupture model, the unknown relative weighting of multiple data sets and the unknown smoothing hyperparameters. The preferred rupture model is stable for different choices of velocity structure model and station distribution, with maximum slip of ~ 8.0 m and seismic moment of 2.9 × 1019 Nm (Mw 6.9). By comparison with the single inversion of strong motion records, the cumulative slip distribution of joint inversion shows sparser slip distribution with two slip asperities. One common slip asperity extends from the hypocenter southeastward to the ground surface of breakage; another slip asperity, which is unique for joint inversion contributed by 1-Hz GPS waveforms, appears in the deep part of fault where very few aftershocks are occurring. The differential moment rate function of joint and single inversions obviously indicates that rich high frequency waves are radiated in the first three seconds but few low frequency waves.

Joint inversion of high-frequency surface waves with fundamental and higher modes

USGS Publications Warehouse

Luo, Y.; Xia, J.; Liu, J.; Liu, Q.; Xu, S.

2007-01-01

Joint inversion of multimode surface waves for estimating the shear (S)-wave velocity has received much attention in recent years. In this paper, we first analyze sensitivity of phase velocities of multimodes of surface waves for a six-layer earth model, and then we invert surface-wave dispersion curves of the theoretical model and a real-world example. Sensitivity analysis shows that fundamental mode data are more sensitive to the S-wave velocities of shallow layers and are concentrated on a very narrow frequency band, while higher mode data are more sensitive to the parameters of relatively deeper layers and are distributed over a wider frequency band. These properties provide a foundation of using a multimode joint inversion to define S-wave velocities. Inversion results of both synthetic data and a real-world example demonstrate that joint inversion with the damped least-square method and the singular-value decomposition technique to invert high-frequency surface waves with fundamental and higher mode data simultaneously can effectively reduce the ambiguity and improve the accuracy of S-wave velocities. ?? 2007.

Joint inversion of teleseismic receiver functions and magnetotelluric data using a genetic algorithm: Are seismic velocities and electrical conductivities compatible?

NASA Astrophysics Data System (ADS)

Moorkamp, M.; Jones, A. G.; Eaton, D. W.

2007-08-01

Joint inversion of different kinds of geophysical data has the potential to improve model resolution, under the assumption that the different observations are sensitive to the same subsurface features. Here, we examine the compatibility of P-wave teleseismic receiver functions and long-period magnetotelluric (MT) observations, using joint inversion, to infer one-dimensional lithospheric structure. We apply a genetic algorithm to invert teleseismic and MT data from the Slave craton; a region where previous independent analyses of these data have indicated correlated layering of the lithosphere. Examination of model resolution and parameter trade-off suggests that the main features of this area, the Moho, Central Slave Mantle Conductor and the Lithosphere-Asthenosphere boundary, are sensed to varying degrees by both methods. Thus, joint inversion of these two complementary data sets can be used to construct improved models of the lithosphere. Further studies will be needed to assess whether the approach can be applied globally.

Joint inversion of fundamental and higher mode Rayleigh waves

USGS Publications Warehouse

Luo, Y.-H.; Xia, J.-H.; Liu, J.-P.; Liu, Q.-S.

2008-01-01

In this paper, we analyze the characteristics of the phase velocity of fundamental and higher mode Rayleigh waves in a six-layer earth model. The results show that fundamental mode is more sensitive to the shear velocities of shallow layers (< 7 m) and concentrated in a very narrow band (around 18 Hz) while higher modes are more sensitive to the parameters of relatively deeper layers and distributed over a wider frequency band. These properties provide a foundation of using a multi-mode joint inversion to define S-wave velocity. Inversion results of both synthetic data and a real-world example demonstrate that joint inversion with the damped least squares method and the SVD (Singular Value Decomposition) technique to invert Rayleigh waves of fundamental and higher modes can effectively reduce the ambiguity and improve the accuracy of inverted S-wave velocities.

A new algorithm for three-dimensional joint inversion of body wave and surface wave data and its application to the Southern California plate boundary region

NASA Astrophysics Data System (ADS)

Fang, Hongjian; Zhang, Haijiang; Yao, Huajian; Allam, Amir; Zigone, Dimitri; Ben-Zion, Yehuda; Thurber, Clifford; van der Hilst, Robert D.

2016-05-01

We introduce a new algorithm for joint inversion of body wave and surface wave data to get better 3-D P wave (Vp) and S wave (Vs) velocity models by taking advantage of the complementary strengths of each data set. Our joint inversion algorithm uses a one-step inversion of surface wave traveltime measurements at different periods for 3-D Vs and Vp models without constructing the intermediate phase or group velocity maps. This allows a more straightforward modeling of surface wave traveltime data with the body wave arrival times. We take into consideration the sensitivity of surface wave data with respect to Vp in addition to its large sensitivity to Vs, which means both models are constrained by two different data types. The method is applied to determine 3-D crustal Vp and Vs models using body wave and Rayleigh wave data in the Southern California plate boundary region, which has previously been studied with both double-difference tomography method using body wave arrival times and ambient noise tomography method with Rayleigh and Love wave group velocity dispersion measurements. Our approach creates self-consistent and unique models with no prominent gaps, with Rayleigh wave data resolving shallow and large-scale features and body wave data constraining relatively deeper structures where their ray coverage is good. The velocity model from the joint inversion is consistent with local geological structures and produces better fits to observed seismic waveforms than the current Southern California Earthquake Center (SCEC) model.

Imaging Crustal Structure with Waveform and HV Ratio of Body-wave Receiver Function

NASA Astrophysics Data System (ADS)

Chong, J.; Chu, R.; Ni, S.; Meng, Q.; Guo, A.

2017-12-01

It is known that receiver function has less constraint on the absolute velocity, and joint inversion of receiver function and surface wave dispersion has been widely applied to reduce the non-uniqueness of velocity and interface depth. However, some studies indicate that the receiver function itself is capable for determining the absolute shear wave velocity. In this study, we propose to measure the receiver function HV ratio which takes advantage of the amplitude information of the radial and vertical receiver functions to constrain the shear-wave velocity. Numerical analysis indicates that the receiver function HV ratio is sensitive to the average shear wave velocity in the depth range it samples, and can help to reduce the non-uniqueness of receiver function waveform inversion. A joint inversion scheme has been developed, and both synthetic tests and real data application proved the feasibility of the joint inversion. The method has been applied to the dense seismic array of ChinArray program in SE Tibet during the time period from August 2011 to August 2012 in SE Tibet (ChinArray-Himalaya, 2011). The measurements of receiver function HV ratio reveals the lateral variation of the tectonics in of the study region. And main features of the velocity structure imagined by the new joint inversion method are consistent with previous studies. KEYWORDS: receiver function HV ratio, receiver function waveform inversion, crustal structure ReferenceChinArray-Himalaya. 2011. China Seismic Array waveform data of Himalaya Project. Institute of Geophysics, China Earthquake Administration. doi:10.12001/ChinArray.Data. Himalaya. Jiajun Chong, Risheng Chu*, Sidao Ni, Qingjun Meng, Aizhi Guo, 2017. Receiver Function HV Ratio, a New Measurement for Reducing Non-uniqueness of Receiver Function Waveform Inversion. (under revision)

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.

Probabilistic joint inversion of waveforms and polarity data for double-couple focal mechanisms of local earthquakes

NASA Astrophysics Data System (ADS)

Wéber, Zoltán

2018-06-01

Estimating the mechanisms of small (M < 4) earthquakes is quite challenging. A common scenario is that neither the available polarity data alone nor the well predictable near-station seismograms alone are sufficient to obtain reliable focal mechanism solutions for weak events. To handle this situation we introduce here a new method that jointly inverts waveforms and polarity data following a probabilistic approach. The procedure called joint waveform and polarity (JOWAPO) inversion maps the posterior probability density of the model parameters and estimates the maximum likelihood double-couple mechanism, the optimal source depth and the scalar seismic moment of the investigated event. The uncertainties of the solution are described by confidence regions. We have validated the method on two earthquakes for which well-determined focal mechanisms are available. The validation tests show that including waveforms in the inversion considerably reduces the uncertainties of the usually poorly constrained polarity solutions. The JOWAPO method performs best when it applies waveforms from at least two seismic stations. If the number of the polarity data is large enough, even single-station JOWAPO inversion can produce usable solutions. When only a few polarities are available, however, single-station inversion may result in biased mechanisms. In this case some caution must be taken when interpreting the results. We have successfully applied the JOWAPO method to an earthquake in North Hungary, whose mechanism could not be estimated by long-period waveform inversion. Using 17 P-wave polarities and waveforms at two nearby stations, the JOWAPO method produced a well-constrained focal mechanism. The solution is very similar to those obtained previously for four other events that occurred in the same earthquake sequence. The analysed event has a strike-slip mechanism with a P axis oriented approximately along an NE-SW direction.

Joint Inversion of Gravity and Gravity Tensor Data Using the Structural Index as Weighting Function Rate Decay

NASA Astrophysics Data System (ADS)

Ialongo, S.; Cella, F.; Fedi, M.; Florio, G.

2011-12-01

Most geophysical inversion problems are characterized by a number of data considerably higher than the number of the unknown parameters. This corresponds to solve highly underdetermined systems. To get a unique solution, a priori information must be therefore introduced. We here analyze the inversion of the gravity gradient tensor (GGT). Previous approaches to invert jointly or independently more gradient components are by Li (2001) proposing an algorithm using a depth weighting function and Zhdanov et alii (2004), providing a well focused inversion of gradient data. Both the methods give a much-improved solution compared with the minimum length solution, which is invariably shallow and not representative of the true source distribution. For very undetermined problems, this feature is due to the role of the depth weighting matrices used by both the methods. Recently, Cella and Fedi (2011) showed however that for magnetic and gravity data the depth weighting function has to be defined carefully, under a preliminary application of Euler Deconvolution or Depth from Extreme Point methods, yielding the appropriate structural index and then using it as the rate decay of the weighting function. We therefore propose to extend this last approach to invert jointly or independently the GGT tensor using the structural index as weighting function rate decay. In case of a joint inversion, gravity data can be added as well. This multicomponent case is also relevant because the simultaneous use of several components and gravity increase the number of data and reduce the algebraic ambiguity compared to the inversion of a single component. The reduction of such ambiguity was shown in Fedi et al, (2005) decisive to get an improved depth resolution in inverse problems, independently from any form of depth weighting function. The method is demonstrated to synthetic cases and applied to real cases, such as the Vredefort impact area (South Africa), characterized by a complex density distribution, well defining a central uplift area, ring structures and low density sediments. REFERENCES Cella F., and Fedi M., 2011, Inversion of potential field data using the structural index as weighting function rate decay, Geophysical Prospecting, doi: 10.1111/j.1365-2478.2011.00974.x Fedi M., Hansen P. C., and Paoletti V., 2005 Analysis of depth resolution in potential-field inversion. Geophysics, 70, NO. 6 Li, Y., 2001, 3-D inversion of gravity gradiometry data: 71st Annual Meeting, SEG, Expanded Abstracts, 1470-1473. Zhdanov, M. S., Ellis, R. G., and Mukherjee, S., 2004, Regularized focusing inversion of 3-D gravity tensor data: Geophysics, 69, 925-937.

Determination of consistent patterns of range of motion in the ankle joint with a computed tomography stress-test.

PubMed

Tuijthof, Gabriëlle Josephine Maria; Zengerink, Maartje; Beimers, Lijkele; Jonges, Remmet; Maas, Mario; van Dijk, Cornelis Niek; Blankevoort, Leendert

2009-07-01

Measuring the range of motion of the ankle joint can assist in accurate diagnosis of ankle laxity. A computed tomography-based stress-test (3D CT stress-test) was used that determines the three-dimensional position and orientation of tibial, calcaneal and talar bones. The goal was to establish a quantitative database of the normal ranges of motion of the talocrural and subtalar joints. A clinical case on suspected subtalar instability demonstrated the relevance the proposed method. The range of motion was measured for the ankle joints in vivo for 20 subjects using the 3D CT stress-test. Motion of the tibia and calcaneus relative to the talus for eight extreme foot positions were described by helical parameters. High consistency for finite helical axis orientation (n) and rotation (theta) was shown for: talocrural extreme dorsiflexion to extreme plantarflexion (root mean square direction deviation (eta) 5.3 degrees and theta: SD 11.0 degrees), talorucral and subtalar extreme combined eversion-dorsiflexion to combined inversion-plantarflexion (eta: 6.7 degrees , theta: SD 9.0 degrees and eta:6.3 degrees , theta: SD 5.1 degrees), and subtalar extreme inversion to extreme eversion (eta: 6.4 degrees, theta: SD 5.9 degrees). Nearly all dorsi--and plantarflexion occurs in the talocrural joint (theta: mean 63.3 degrees (SD 11 degrees)). The inversion and internal rotation components for extreme eversion to inversion were approximately three times larger for the subtalar joint (theta: mean 22.9 degrees and 29.1 degrees) than for the talocrural joint (theta: mean 8.8 degrees and 10.7 degrees). Comparison of the ranges of motion of the pathologic ankle joint with the healthy subjects showed an increased inversion and axial rotation in the talocrural joint instead of in the suspected subtalar joint. The proposed diagnostic technique and the acquired database of helical parameters of ankle joint ranges of motion are suitable to apply in clinical cases.

Two-dimensional joint inversion of Magnetotelluric and local earthquake data: Discussion on the contribution to the solution of deep subsurface structures

NASA Astrophysics Data System (ADS)

Demirci, İsmail; Dikmen, Ünal; Candansayar, M. Emin

2018-02-01

Joint inversion of data sets collected by using several geophysical exploration methods has gained importance and associated algorithms have been developed. To explore the deep subsurface structures, Magnetotelluric and local earthquake tomography algorithms are generally used individually. Due to the usage of natural resources in both methods, it is not possible to increase data quality and resolution of model parameters. For this reason, the solution of the deep structures with the individual usage of the methods cannot be fully attained. In this paper, we firstly focused on the effects of both Magnetotelluric and local earthquake data sets on the solution of deep structures and discussed the results on the basis of the resolving power of the methods. The presence of deep-focus seismic sources increase the resolution of deep structures. Moreover, conductivity distribution of relatively shallow structures can be solved with high resolution by using MT algorithm. Therefore, we developed a new joint inversion algorithm based on the cross gradient function in order to jointly invert Magnetotelluric and local earthquake data sets. In the study, we added a new regularization parameter into the second term of the parameter correction vector of Gallardo and Meju (2003). The new regularization parameter is enhancing the stability of the algorithm and controls the contribution of the cross gradient term in the solution. The results show that even in cases where resistivity and velocity boundaries are different, both methods influence each other positively. In addition, the region of common structural boundaries of the models are clearly mapped compared with original models. Furthermore, deep structures are identified satisfactorily even with using the minimum number of seismic sources. In this paper, in order to understand the future studies, we discussed joint inversion of Magnetotelluric and local earthquake data sets only in two-dimensional space. In the light of these results and by means of the acceleration on the three-dimensional modelling and inversion algorithms, it is thought that it may be easier to identify underground structures with high resolution.

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.

Joint inversion of time-lapse VSP data for monitoring CO2 injection at the Farnsworth EOR field in Texas

NASA Astrophysics Data System (ADS)

Zhang, M.; Gao, K.; Balch, R. S.; Huang, L.

2016-12-01

During the Development Phase (Phase III) of the U.S. Southwest Regional Partnership on Carbon Sequestration (SWP), time-lapse 3D vertical seismic profiling (VSP) data were acquired to monitor CO2 injection/migration at the Farnsworth Enhanced Oil Recovery (EOR) field, in partnership with the industrial partner Chaparral Energy. The project is to inject a million tons of carbon dioxide into the target formation, the deep oil-bearing Morrow Formation in the Farnsworth Unit EOR field. Quantitative time-lapse seismic monitoring has the potential to track CO2 movement in geologic carbon storage sites. Los Alamos National Laboratory (LANL) has recently developed new full-waveform inversion methods to jointly invert time-lapse seismic data for changes in elastic and anisotropic parameters in target monitoring regions such as a CO2 reservoir. We apply our new joint inversion methods to time-lapse VSP data acquired at the Farnsworth EOR filed, and present some preliminary results showing geophysical properties changes in the reservoir.

The Sensitivity of Joint Inversions of Seismic and Geodynamic Data to Mantle Viscosity

NASA Astrophysics Data System (ADS)

Lu, C.; Grand, S. P.; Forte, A. M.; Simmons, N. A.

2017-12-01

Seismic tomography has mapped the existence of large scale mantle heterogeneities in recent years. However, the origin of these velocity anomalies in terms of chemical and thermal variations is still under debate due to the limitations of tomography. Joint inversion of seismic, geodynamic, and mineral physics observations has proven to be a powerful tool to decouple thermal and chemical effects in the deep mantle (Simmons et al. 2010). The approach initially attempts to find a model that can be explained assuming temperature controls lateral variations in mantle properties and then to consider more complicated lateral variations that account for the presence of chemical heterogeneity to further fit data. The geodynamic observations include Earth's free air gravity field, tectonic plate motions, dynamic topography and the excess ellipticity of the core. The sensitivity of the geodynamic observables to density anomalies, however, depends on an assumed radial mantle viscosity profile. Here we perform joint inversions of seismic and geodynamic data using a number of published viscosity profiles. The goal is to test the sensitivity of joint inversion results to mantle viscosity. For each viscosity model, geodynamic sensitivity kernels are calculated and used to jointly invert the geodynamic observations as well as a new shear wave data set for a model of density and seismic velocity. Also, compared with previous joint inversion studies, two major improvements have been made in our inversion. First, we use a nonlinear inversion to account for anelastic effects. Applying the very fast simulate annealing (VFSA) method, we let the elastic scaling factor and anelastic parameters from mineral physics measurements vary within their possible ranges and find the best fitting model assuming thermal variations are the cause of the heterogeneity. We also include an a priori subducting slab model into the starting model. Thus the geodynamic and seismic signatures of short wavelength subducting slabs are better accounted for in the inversions. Reference: Simmons, N. A., A. M. Forte, L. Boschi, and S. P. Grand (2010), GyPSuM: A joint tomographic model of mantle density and seismic wave speeds, Journal of Geophysical Research: Solid Earth, 115(B12), B12310

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.

Integrating Electromagnetic Data with Other Geophysical Observations for Enhanced Imaging of the Earth: A Tutorial and Review

NASA Astrophysics Data System (ADS)

Moorkamp, Max

2017-09-01

In this review, I discuss the basic principles of joint inversion and constrained inversion approaches and show a few instructive examples of applications of these approaches in the literature. Starting with some basic definitions of the terms joint inversion and constrained inversion, I use a simple three-layered model as a tutorial example that demonstrates the general properties of joint inversion with different coupling methods. In particular, I investigate to which extent combining different geophysical methods can restrict the set of acceptable models and under which circumstances the results can be biased. Some ideas on how to identify such biased results and how negative results can be interpreted conclude the tutorial part. The case studies in the second part have been selected to highlight specific issues such as choosing an appropriate parameter relationship to couple seismic and electromagnetic data and demonstrate the most commonly used approaches, e.g., the cross-gradient constraint and direct parameter coupling. Throughout the discussion, I try to identify topics for future work. Overall, it appears that integrating electromagnetic data with other observations has reached a level of maturity and is starting to move away from fundamental proof-of-concept studies to answering questions about the structure of the subsurface. With a wide selection of coupling methods suited to different geological scenarios, integrated approaches can be applied on all scales and have the potential to deliver new answers to important geological questions.

Joint inversion of apparent resistivity and seismic surface and body wave data

NASA Astrophysics Data System (ADS)

Garofalo, Flora; Sauvin, Guillaume; Valentina Socco, Laura; Lecomte, Isabelle

2013-04-01

A novel inversion algorithm has been implemented to jointly invert apparent resistivity curves from vertical electric soundings, surface wave dispersion curves, and P-wave travel times. The algorithm works in the case of laterally varying layered sites. Surface wave dispersion curves and P-wave travel times can be extracted from the same seismic dataset and apparent resistivity curves can be obtained from continuous vertical electric sounding acquisition. The inversion scheme is based on a series of local 1D layered models whose unknown parameters are thickness h, S-wave velocity Vs, P-wave velocity Vp, and Resistivity R of each layer. 1D models are linked to surface-wave dispersion curves and apparent resistivity curves through classical 1D forward modelling, while a 2D model is created by interpolating the 1D models and is linked to refracted P-wave hodograms. A priori information can be included in the inversion and a spatial regularization is introduced as a set of constraints between model parameters of adjacent models and layers. Both a priori information and regularization are weighted by covariance matrixes. We show the comparison of individual inversions and joint inversion for a synthetic dataset that presents smooth lateral variations. Performing individual inversions, the poor sensitivity to some model parameters leads to estimation errors up to 62.5 %, whereas for joint inversion the cooperation of different techniques reduces most of the model estimation errors below 5% with few exceptions up to 39 %, with an overall improvement. Even though the final model retrieved by joint inversion is internally consistent and more reliable, the analysis of the results evidences unacceptable values of Vp/Vs ratio for some layers, thus providing negative Poisson's ratio values. To further improve the inversion performances, an additional constraint is added imposing Poisson's ratio in the range 0-0.5. The final results are globally improved by the introduction of this constraint further reducing the maximum error to 30 %. The same test was performed on field data acquired in a landslide-prone area close by the town of Hvittingfoss, Norway. Seismic data were recorded on two 160-m long profiles in roll-along mode using a 5-kg sledgehammer as source and 24 4.5-Hz vertical geophones with 4-m separation. First-arrival travel times were picked at every shot locations and surface wave dispersion curves extracted at 8 locations for each profile. 2D resistivity measurements were carried out on the same profiles using Gradient and Dipole-Dipole arrays with 2-m electrode spacing. The apparent resistivity curves were extracted at the same location as for the dispersion curves. The data were subsequently jointly inverted and the resulting model compared to individual inversions. Although models from both, individual and joint inversions are consistent, the estimation error is smaller for joint inversion, and more especially for first-arrival travel times. The joint inversion exploits different sensitivities of the methods to model parameters and therefore mitigates solution nonuniqueness and the effects of intrinsic limitations of the different techniques. Moreover, it produces an internally consistent multi-parametric final model that can be profitably interpreted to provide a better understanding of subsurface properties.

Three dimensional inversion of magnetic survey data collected over kimberlite pipes in presence of remanent magnetization

NASA Astrophysics Data System (ADS)

Zhao, Pengzhi

Magnetic method is a common geophysical technique used to explore kimberlites. The analysis and interpretation of measured magnetic data provides the information of magnetic and geometric properties of potential kimberlite pipes. A crucial parameter of kimberlite magnetic interpretation is the remanent magnetization that dominates the classification of kimberlite. However, the measured magnetic data is the total field affected by the remanent magnetization and the susceptibility. The presence of remanent magnetization can pose severe challenges to the quantitative interpretation of magnetic data by skewing or laterally shifting magnetic anomalies relative to the subsurface source (Haney and Li, 2002). Therefore, identification of remanence effects and determination of remanent magnetization are important in magnetic data interpretation. This project presents a new method to determine the magnetic and geometric properties of kimberlite pipes in the presence of strong remanent magnetization. This method consists of two steps. The first step is to estimate the total magnetization and geometric properties of magnetic anomaly. The second step is to separate the remanent magnetization from the total magnetization. In the first step, a joint parametric inversion of total-field magnetic data and its analytic signal (derived from the survey data by Fourier transform method) is used. The algorithm of the joint inversion is based on the Gauss-Newton method and it is more stable and more accurate than the separate inversion method. It has been tested with synthetic data and applied to interpret the field data from the Lac de Gras, North-West Territories of Canada. The results of the synthetic examples and the field data applications show that joint inversion can recovers the total magnetization and geometric properties of magnetic anomaly with a good data fit and stable convergence. In the second step, the remanent magnetization is separated from the total magnetization by using a determined susceptibility. The susceptibility value is estimated by using the frequency domain electromagnetic data. The inversion method is achieved by a code, named “EM1DFM”, developed by University of British Columbia was designed to construct one of four types of 1D model, using any type of geophysical frequency domain loop-loop data with one of four variations of the inversion algorithm. The results show that the susceptibility of magnetic body is recovered, even if the depth and thickness are not well estimated. This two-step process provides a new way to determine magnetic and geometric properties of kimberlite pipes in the presence of strong remanent magnetization. The joint inversion of the total-field magnetic data and its analytic signal obtains the total magnetization and geometric properties. The frequency domain EM method provides the susceptibility. As a result, the remanent magnetization can be separated from the total magnetization accurately.

Density Imaging of Puy de Dôme Volcano by Joint Inversion of Muographic and Gravimetric Data

NASA Astrophysics Data System (ADS)

Barnoud, A.; Niess, V.; Le Ménédeu, E.; Cayol, V.; Carloganu, C.

2016-12-01

We aim at jointly inverting high density muographic and gravimetric data to robustly infer the density structure of volcanoes. We use the puy de Dôme volcano in France as a proof of principle since high quality data sets are available for both muography and gravimetry. Gravimetric inversion and muography are independent methods that provide an estimation of density distributions. On the one hand, gravimetry allows to reconstruct 3D density variations by inversion. This process is well known to be ill-posed and intrinsically non unique, thus it requires additional constraints (eg. a priori density model). On the other hand, muography provides a direct measurement of 2D mean densities (radiographic images) from the detection of high energy atmospheric muons crossing the volcanic edifice. 3D density distributions can be computed from several radiographic images, but the number of images is generally limited by field constraints and by the limited number of available telescopes. Thus, muon tomography is also ill-posed in practice.In the case of the puy de Dôme volcano, the density structures inferred from gravimetric data (Portal et al. 2016) and from muographic data (Le Ménédeu et al. 2016) show a qualitative agreement but cannot be compared quantitatively. Because each method has different intrinsic resolutions due to the physics (Jourde et al., 2015), the joint inversion is expected to improve the robustness of the inversion. Such joint inversion has already been applied in a volcanic context (Nishiyama et al., 2013).Volcano muography requires state-of-art, high-resolution and large-scale muon detectors (Ambrosino et al., 2015). Instrumental uncertainties and systematic errors may constitute an important limitation for muography and should not be overlooked. For instance, low-energy muons are detected together with ballistic high-energy muons, decreasing the measured value of the mean density closed to the topography.Here, we jointly invert the gravimetric and muographic data to characterize the 3D density distribution of the puy de Dôme volcano. We attempt to precisely identify and estimate the different uncertainties and systematic errors so that they can be accounted for in the inversion scheme.

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.

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.

Pareto joint inversion of 2D magnetotelluric and gravity data

NASA Astrophysics Data System (ADS)

Miernik, Katarzyna; Bogacz, Adrian; Kozubal, Adam; Danek, Tomasz; Wojdyła, Marek

2015-04-01

In this contribution, the first results of the "Innovative technology of petrophysical parameters estimation of geological media using joint inversion algorithms" project were described. At this stage of the development, Pareto joint inversion scheme for 2D MT and gravity data was used. Additionally, seismic data were provided to set some constrains for the inversion. Sharp Boundary Interface(SBI) approach and description model with set of polygons were used to limit the dimensionality of the solution space. The main engine was based on modified Particle Swarm Optimization(PSO). This algorithm was properly adapted to handle two or more target function at once. Additional algorithm was used to eliminate non- realistic solution proposals. Because PSO is a method of stochastic global optimization, it requires a lot of proposals to be evaluated to find a single Pareto solution and then compose a Pareto front. To optimize this stage parallel computing was used for both inversion engine and 2D MT forward solver. There are many advantages of proposed solution of joint inversion problems. First of all, Pareto scheme eliminates cumbersome rescaling of the target functions, that can highly affect the final solution. Secondly, the whole set of solution is created in one optimization run, providing a choice of the final solution. This choice can be based off qualitative data, that are usually very hard to be incorporated into the regular inversion schema. SBI parameterisation not only limits the problem of dimensionality, but also makes constraining of the solution easier. At this stage of work, decision to test the approach using MT and gravity data was made, because this combination is often used in practice. It is important to mention, that the general solution is not limited to this two methods and it is flexible enough to be used with more than two sources of data. Presented results were obtained for synthetic models, imitating real geological conditions, where interesting density distributions are relatively shallow and resistivity changes are related to deeper parts. This kind of conditions are well suited for joint inversion of MT and gravity data. In the next stage of the solution development of further code optimization and extensive tests for real data will be realized. Presented work was supported by Polish National Centre for Research and Development under the contract number POIG.01.04.00-12-279/13

Estimation of pseudo-2D shear-velocity section by inversion of high frequency surface waves

USGS Publications Warehouse

Luo, Y.; Liu, J.; Xia, J.; Xu, Y.; Liu, Q.

2006-01-01

A scheme to generate pseudo-2D shear-velocity sections with high horizontal resolution and low field cost by inversion of high frequency surface waves is presented. It contains six steps. The key step is the joint method of crossed correlation and phase shift scanning. This joint method chooses only two traces to generate image of dispersion curve. For Rayleigh-wave dispersion is most important for estimation of near-surface shear-wave velocity, it can effectively obtain reliable images of dispersion curves with a couple of traces. The result of a synthetic example shows the feasibility of this scheme. ?? 2005 Society of Exploration Geophysicists.

A musculoskeletal shoulder model based on pseudo-inverse and null-space optimization.

PubMed

Terrier, Alexandre; Aeberhard, Martin; Michellod, Yvan; Mullhaupt, Philippe; Gillet, Denis; Farron, Alain; Pioletti, Dominique P

2010-11-01

The goal of the present work was assess the feasibility of using a pseudo-inverse and null-space optimization approach in the modeling of the shoulder biomechanics. The method was applied to a simplified musculoskeletal shoulder model. The mechanical system consisted in the arm, and the external forces were the arm weight, 6 scapulo-humeral muscles and the reaction at the glenohumeral joint, which was considered as a spherical joint. The muscle wrapping was considered around the humeral head assumed spherical. The dynamical equations were solved in a Lagrangian approach. The mathematical redundancy of the mechanical system was solved in two steps: a pseudo-inverse optimization to minimize the square of the muscle stress and a null-space optimization to restrict the muscle force to physiological limits. Several movements were simulated. The mathematical and numerical aspects of the constrained redundancy problem were efficiently solved by the proposed method. The prediction of muscle moment arms was consistent with cadaveric measurements and the joint reaction force was consistent with in vivo measurements. This preliminary work demonstrated that the developed algorithm has a great potential for more complex musculoskeletal modeling of the shoulder joint. In particular it could be further applied to a non-spherical joint model, allowing for the natural translation of the humeral head in the glenoid fossa. Copyright © 2010 IPEM. Published by Elsevier Ltd. All rights reserved.

pyGIMLi: An open-source library for modelling and inversion in geophysics

NASA Astrophysics Data System (ADS)

Rücker, Carsten; Günther, Thomas; Wagner, Florian M.

2017-12-01

Many tasks in applied geosciences cannot be solved by single measurements, but require the integration of geophysical, geotechnical and hydrological methods. Numerical simulation techniques are essential both for planning and interpretation, as well as for the process understanding of modern geophysical methods. These trends encourage open, simple, and modern software architectures aiming at a uniform interface for interdisciplinary and flexible modelling and inversion approaches. We present pyGIMLi (Python Library for Inversion and Modelling in Geophysics), an open-source framework that provides tools for modelling and inversion of various geophysical but also hydrological methods. The modelling component supplies discretization management and the numerical basis for finite-element and finite-volume solvers in 1D, 2D and 3D on arbitrarily structured meshes. The generalized inversion framework solves the minimization problem with a Gauss-Newton algorithm for any physical forward operator and provides opportunities for uncertainty and resolution analyses. More general requirements, such as flexible regularization strategies, time-lapse processing and different sorts of coupling individual methods are provided independently of the actual methods used. The usage of pyGIMLi is first demonstrated by solving the steady-state heat equation, followed by a demonstration of more complex capabilities for the combination of different geophysical data sets. A fully coupled hydrogeophysical inversion of electrical resistivity tomography (ERT) data of a simulated tracer experiment is presented that allows to directly reconstruct the underlying hydraulic conductivity distribution of the aquifer. Another example demonstrates the improvement of jointly inverting ERT and ultrasonic data with respect to saturation by a new approach that incorporates petrophysical relations in the inversion. Potential applications of the presented framework are manifold and include time-lapse, constrained, joint, and coupled inversions of various geophysical and hydrological data sets.

Joint inversions of two VTEM surveys using quasi-3D TDEM and 3D magnetic inversion algorithms

NASA Astrophysics Data System (ADS)

Kaminski, Vlad; Di Massa, Domenico; Viezzoli, Andrea

2016-05-01

In the current paper, we present results of a joint quasi-three-dimensional (quasi-3D) inversion of two versatile time domain electromagnetic (VTEM) datasets, as well as a joint 3D inversion of associated aeromagnetic datasets, from two surveys flown six years apart from one another (2007 and 2013) over a volcanogenic massive sulphide gold (VMS-Au) prospect in northern Ontario, Canada. The time domain electromagnetic (TDEM) data were inverted jointly using the spatially constrained inversion (SCI) approach. In order to increase the coherency in the model space, a calibration parameter was added. This was followed by a joint inversion of the total magnetic intensity (TMI) data extracted from the two surveys. The results of the inversions have been studied and matched with the known geology, adding some new valuable information to the ongoing mineral exploration initiative.

WSJointInv2D-MT-DCR: An efficient joint two-dimensional magnetotelluric and direct current resistivity inversion

NASA Astrophysics Data System (ADS)

Amatyakul, Puwis; Vachiratienchai, Chatchai; Siripunvaraporn, Weerachai

2017-05-01

An efficient joint two-dimensional direct current resistivity (DCR) and magnetotelluric (MT) inversion, referred to as WSJointInv2D-MT-DCR, was developed with FORTRAN 95 based on the data space Occam's inversion algorithm. Our joint inversion software can be used to invert just the MT data or the DCR data, or invert both data sets simultaneously to get the electrical resistivity structures. Since both MT and DCR surveys yield the same resistivity structures, the two data types enhance each other leading to a better interpretation. Two synthetic and a real field survey are used here to demonstrate that the joint DCR and MT surveys can help constrain each other to reduce the ambiguities occurring when inverting the DCR or MT alone. The DCR data increases the lateral resolution of the near surface structures while the MT data reveals the deeper structures. When the MT apparent resistivity suffers from the static shift, the DCR apparent resistivity can serve as a replacement for the estimation of the static shift factor using the joint inversion. In addition, we also used these examples to show the efficiency of our joint inversion code. With the availability of our new joint inversion software, we expect the number of joint DCR and MT surveys to increase in the future.

Common Structure in Different Physical Properties: Electrical Conductivity and Surface Waves Phase Velocity

NASA Astrophysics Data System (ADS)

Mandolesi, E.; Jones, A. G.; Roux, E.; Lebedev, S.

2009-12-01

Recently different studies were undertaken on the correlation between diverse geophysical datasets. Magnetotelluric (MT) data are used to map the electrical conductivity structure behind the Earth, but one of the problems in MT method is the lack in resolution in mapping zones beneath a region of high conductivity. Joint inversion of different datasets in which a common structure is recognizable reduces non-uniqueness and may improve the quality of interpretation when different dataset are sensitive to different physical properties with an underlined common structure. A common structure is recognized if the change of physical properties occur at the same spatial locations. Common structure may be recognized in 1D inversion of seismic and MT datasets, and numerous authors show that also 2D common structure may drive to an improvement of inversion quality while dataset are jointly inverted. In this presentation a tool to constrain MT 2D inversion with phase velocity of surface wave seismic data (SW) is proposed and is being developed and tested on synthetic data. Results obtained suggest that a joint inversion scheme could be applied with success along a section profile for which data are compatible with a 2D MT model.

Joint inversion of 3-D seismic, gravimetric and magnetotelluric data for sub-basalt imaging in the Faroe-Shetland Basin

NASA Astrophysics Data System (ADS)

Heincke, B.; Moorkamp, M.; Jegen, M.; Hobbs, R. W.

2012-12-01

Imaging of sub-basalt sediments with reflection seismic techniques is limited due to absorption, scattering and transmission effects and the presence of peg-leg multiples. Although many of the difficulties facing conventional seismic profiles can be overcome by recording long offset data resolution of sub-basalt sediments in seismic sections is typically still largely restricted. Therefore multi-parametric approaches in general and joint inversion strategies in particular (e.g. Colombo et al., 2008, Jordan et al., 2012) are considered as alternative to gain additional information from sub-basalt structures. Here, we combine in a 3-D joint inversion first-arrival time tomography, FTG gravity and MT data to identify the base basalt and resolve potential sediments underneath. For sub-basalt exploration the three methods complement each other such that the null space is reduced and significantly better resolved models can be obtained than would be possible by the individual methods: The seismic data gives a robust model for the supra-basalt sediments whilst the gravity field is dominated by the high density basalt and basement features. The MT on the other hand is sensitive to the conductivity in both the supra- and sub-basalt sediments. We will present preliminary individual and joint inversion result for a FTG, seismic and MT data set located in the Faroe-Shetland basin. Because the investigated area is rather large (~75 x 40 km) and the individual data sets are relatively huge, we use a joint inversion framework (see Moorkamp et al., 2011) which is designed to handle large amount of data/model parameters. This program has moreover the options to link the individual parameter models either petrophysically using fixed parameter relationships or structurally using the cross-gradient approach. The seismic data set consists of a pattern of 8 intersecting wide-angle seismic profiles with maximum offsets of up to ~24 km. The 3-D gravity data set (size :~ 30 x 30 km) is collected along parallel lines by a shipborne gradiometer and the marine MT data set is composed of 41 stations that are distributed over the whole investigation area. Logging results from a borehole located in the central part of the investigation area enable us to derive parameter relationships between seismic velocities, resistivities and densities that are adequately describe the rock property behaviors of both the basaltic lava flows and sedimentary layers in this region. In addition, a 3-D reflection seismic survey covering the central part allows us to incorporate the top of basalt and other features as constraints in the joint inversions and to evaluate the quality of the final results. Literature: D. Colombo, M. Mantovani, S. Hallinan, M. Virgilio, 2008. Sub-basalt depth imaging using simultaneous joint inversion of seismic and electromagnetic (MT) data: a CRB field study. SEG Expanded Abstract, Las Vegas, USA, 2674-2678. M. Jordan, J. Ebbing, M. Brönner, J. Kamm , Z. Du, P. Eliasson, 2012. Joint Inversion for Improved Sub-salt and Sub-basalt Imaging with Application to the More Margin. EAGE Expanded Abstracts, Copenhagen, DK. M. Moorkamp, B. Heincke, M. Jegen, A.W.Roberts, R.W. Hobbs, 2011. A framework for 3-D joint inversion of MT, gravity and seismic refraction data. Geophysical Journal International, 184, 477-493.

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.

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.

Integration of Visual and Joint Information to Enable Linear Reaching Motions

NASA Astrophysics Data System (ADS)

Eberle, Henry; Nasuto, Slawomir J.; Hayashi, Yoshikatsu

2017-01-01

A new dynamics-driven control law was developed for a robot arm, based on the feedback control law which uses the linear transformation directly from work space to joint space. This was validated using a simulation of a two-joint planar robot arm and an optimisation algorithm was used to find the optimum matrix to generate straight trajectories of the end-effector in the work space. We found that this linear matrix can be decomposed into the rotation matrix representing the orientation of the goal direction and the joint relation matrix (MJRM) representing the joint response to errors in the Cartesian work space. The decomposition of the linear matrix indicates the separation of path planning in terms of the direction of the reaching motion and the synergies of joint coordination. Once the MJRM is numerically obtained, the feedfoward planning of reaching direction allows us to provide asymptotically stable, linear trajectories in the entire work space through rotational transformation, completely avoiding the use of inverse kinematics. Our dynamics-driven control law suggests an interesting framework for interpreting human reaching motion control alternative to the dominant inverse method based explanations, avoiding expensive computation of the inverse kinematics and the point-to-point control along the desired trajectories.

Preventive lateral ligament tester (PLLT): a novel method to evaluate mechanical properties of lateral ankle joint ligaments in the intact ankle.

PubMed

Best, Raymond; Böhle, Caroline; Mauch, Frieder; Brüggemann, Peter G

2016-04-01

To construct and evaluate an ankle arthrometer that registers inversion joint deflection at standardized inversion loads and that, moreover, allows conclusions about the mechanical strain of intact ankle joint ligaments at these loads. Twelve healthy ankles and 12 lower limb cadaver specimens were tested in a self-developed measuring device monitoring passive ankle inversion movement (Inv-ROM) at standardized application of inversion loads of 5, 10 and 15 N. To adjust in vivo and in vitro conditions, the muscular inactivity of the evertor muscles was assured by EMG in vivo. Preliminary, test-retest and trial-to-trial reliabilities were tested in vivo. To detect lateral ligament strain, the cadaveric calcaneofibular ligament was instrumented with a buckle transducer. After post-test harvesting of the ligament with its bony attachments, previously obtained resistance strain gauge results were then transferred to tensile loads, mounting the specimens with their buckle transducers into a hydraulic material testing machine. ICC reliability considering the Inv-ROM and torsional stiffness varied between 0.80 and 0.90. Inv-ROM ranged from 15.3° (±7.3°) at 5 N to 28.3° (±7.6) at 15 N. The different tests revealed a CFL tensile load of 31.9 (±14.0) N at 5 N, 51.0 (±15.8) at 10 N and 75.4 (±21.3) N at 15 N inversion load. A highly reliable arthrometer was constructed allowing not only the accurate detection of passive joint deflections at standardized inversion loads but also reveals some objective conclusions of the intact CFL properties in correlation with the individual inversion deflections. The detection of individual joint deflections at predefined loads in correlation with the knowledge of tensile ligament loads in the future could enable more individual preventive measures, e.g., in high-level athletes.

Three-dimensional geostatistical inversion of flowmeter and pumping test data.

PubMed

Li, Wei; Englert, Andreas; Cirpka, Olaf A; Vereecken, Harry

2008-01-01

We jointly invert field data of flowmeter and multiple pumping tests in fully screened wells to estimate hydraulic conductivity using a geostatistical method. We use the steady-state drawdowns of pumping tests and the discharge profiles of flowmeter tests as our data in the inference. The discharge profiles need not be converted to absolute hydraulic conductivities. Consequently, we do not need measurements of depth-averaged hydraulic conductivity at well locations. The flowmeter profiles contain information about relative vertical distributions of hydraulic conductivity, while drawdown measurements of pumping tests provide information about horizontal fluctuation of the depth-averaged hydraulic conductivity. We apply the method to data obtained at the Krauthausen test site of the Forschungszentrum Jülich, Germany. The resulting estimate of our joint three-dimensional (3D) geostatistical inversion shows an improved 3D structure in comparison to the inversion of pumping test data only.

Joint Inversion of Source Location and Source Mechanism of Induced Microseismics

NASA Astrophysics Data System (ADS)

Liang, C.

2014-12-01

Seismic source mechanism is a useful property to indicate the source physics and stress and strain distribution in regional, local and micro scales. In this study we jointly invert source mechanisms and locations for microseismics induced in fluid fracturing treatment in the oil and gas industry. For the events that are big enough to see waveforms, there are quite a few techniques can be applied to invert the source mechanism including waveform inversion, first polarity inversion and many other methods and variants based on these methods. However, for events that are too small to identify in seismic traces such as the microseismics induced by the fluid fracturing in the Oil and Gas industry, a source scanning algorithms (SSA for short) with waveform stacking are usually applied. At the same time, a joint inversion of location and source mechanism are possible but at a cost of high computation budget. The algorithm is thereby called Source Location and Mechanism Scanning Algorithm, SLMSA for short. In this case, for given velocity structure, all possible combinations of source locations (X,Y and Z) and source mechanism (Strike, Dip and Rake) are used to compute travel-times and polarities of waveforms. Correcting Normal moveout times and polarities, and stacking all waveforms, the (X, Y, Z , strike, dip, rake) combination that gives the strongest stacking waveform is identified as the solution. To solve the problem of high computation problem, CPU-GPU programing is applied. Numerical datasets are used to test the algorithm. The SLMSA has also been applied to a fluid fracturing datasets and reveal several advantages against the location only method: (1) for shear sources, the source only program can hardly locate them because of the canceling out of positive and negative polarized traces, but the SLMSA method can successfully pick up those events; (2) microseismic locations alone may not be enough to indicate the directionality of micro-fractures. The statistics of source mechanisms can certainly provide more knowledges on the orientation of fractures; (3) in our practice, the joint inversion method almost always yield more events than the source only method and for those events that are also picked by the SSA method, the stacking power of SLMSA are always higher than the ones obtained in SSA.

Geoelectrical characterization by joint inversion of VES/TEM in Paraná basin, Brazil

NASA Astrophysics Data System (ADS)

Bortolozo, C. A.; Couto, M. A.; Almeida, E. R.; Porsani, J. L.; Santos, F. M.

2012-12-01

For many years electrical (DC) and transient electromagnetic (TEM) soundings have been used in a great number of environmental, hydrological and mining exploration studies. The data of both methods are interpreted usually by individual 1D models resulting in many cases in ambiguous models. This can be explained by how the two different methodologies sample the subsurface. The vertical electrical sounding (VES) is good on marking very resistive structures, while the transient electromagnetic sounding (TEM) is very sensitive to map conductive structures. Another characteristic is that VES is more sensitive to shallow structures, while TEM soundings can reach deeper structures. A Matlab program for joint inversion of VES and TEM soundings, by using CRS algorithm was developed aiming explore the best of the both methods. Initially, the algorithm was tested with synthetic data and after it was used to invert experimental data from Paraná sedimentary basin. We present the results of a re-interpretation of 46 VES/TEM soundings data set acquired in Bebedouro region in São Paulo State - Brazil. The previous interpretation was based in geoelectrical models obtained by single inversion of the VES and TEM soundings. In this work we present the results with single inversion of VES and TEM sounding inverted by the Curupira Program and a new interpretation based in the joint inversion of both methodologies. The goal is increase the accuracy in determining the underground structures. As a result a new geoelectrical model of the region is obtained.

Correlations among pelvic positions and differences in lower extremity joint angles during walking in female university students.

PubMed

Cho, Misuk

2015-06-01

[Purpose] This study aimed to identify correlations among pelvic positions and differences in lower extremity joint angles during walking in female university students. [Subjects] Thirty female university students were enrolled and their pelvic positions and differences in lower extremity joint angles were measured. [Methods] Pelvic position, pelvic torsion, and pelvic rotation were assessed using the BackMapper. In addition, motion analysis was performed to derive differences between left and right flexion, abduction, and external rotation ranges of hip joints; flexion, abduction, and external rotation ranges of knee joints; and dorsiflexion, inversion, and abduction ranges of ankle joints, according to X, Y, and Z-axes. [Results] Pelvic position was found to be positively correlated with differences between left and right hip flexion (r=0.51), hip abduction (r=0.62), knee flexion (r=0.45), knee abduction (r=0.42), and ankle inversion (r=0.38). In addition, the difference between left and right hip abduction showed a positive correlation with difference between left and right ankle dorsiflexion (r=0.64). Moreover, differences between left and right knee flexion exhibited positive correlations with differences between left and right knee abduction (r=0.41) and ankle inversion (r=0.45). [Conclusion] Bilateral pelvic tilt angles are important as they lead to bilateral differences in lower extremity joint angles during walking.

Time-Lapse Joint Inversion of Cross-Well DC Resistivity and Seismic Data: A Numerical Investigation

EPA Science Inventory

Time-lapse joint inversion of geophysical data is required to image the evolution of oil reservoirs during production and enhanced oil recovery, CO2 sequestration, geothermal fields during production, and to monitor the evolution of contaminant plumes. Joint inversion schemes red...

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 extraction, DFT (discrete Fourier transform) calculation and gradients calculation. Numerical tests demonstrated that the combined envelope inversion + hybrid-domain FWI could obtain much faithful and accurate result than conventional hybrid-domain FWI. The CPU/GPU heterogeneous parallel computation could improve the performance speed.

Trans-dimensional joint inversion of seabed scattering and reflection data.

PubMed

Steininger, Gavin; Dettmer, Jan; Dosso, Stan E; Holland, Charles W

2013-03-01

This paper examines joint inversion of acoustic scattering and reflection data to resolve seabed interface roughness parameters (spectral strength, exponent, and cutoff) and geoacoustic profiles. Trans-dimensional (trans-D) Bayesian sampling is applied with both the number of sediment layers and the order (zeroth or first) of auto-regressive parameters in the error model treated as unknowns. A prior distribution that allows fluid sediment layers over an elastic basement in a trans-D inversion is derived and implemented. Three cases are considered: Scattering-only inversion, joint scattering and reflection inversion, and joint inversion with the trans-D auto-regressive error model. Including reflection data improves the resolution of scattering and geoacoustic parameters. The trans-D auto-regressive model further improves scattering resolution and correctly differentiates between strongly and weakly correlated residual errors.

Joint Geophysical Inversion With Multi-Objective Global Optimization Methods

NASA Astrophysics Data System (ADS)

Lelievre, P. G.; Bijani, R.; Farquharson, C. G.

2015-12-01

Pareto multi-objective global optimization (PMOGO) methods generate a suite of solutions that minimize multiple objectives (e.g. data misfits and regularization terms) in a Pareto-optimal sense. Providing a suite of models, as opposed to a single model that minimizes a weighted sum of objectives, allows a more complete assessment of the possibilities and avoids the often difficult choice of how to weight each objective. We are applying PMOGO methods to three classes of inverse problems. The first class are standard mesh-based problems where the physical property values in each cell are treated as continuous variables. The second class of problems are also mesh-based but cells can only take discrete physical property values corresponding to known or assumed rock units. In the third class we consider a fundamentally different type of inversion in which a model comprises wireframe surfaces representing contacts between rock units; the physical properties of each rock unit remain fixed while the inversion controls the position of the contact surfaces via control nodes. This third class of problem is essentially a geometry inversion, which can be used to recover the unknown geometry of a target body or to investigate the viability of a proposed Earth model. Joint inversion is greatly simplified for the latter two problem classes because no additional mathematical coupling measure is required in the objective function. PMOGO methods can solve numerically complicated problems that could not be solved with standard descent-based local minimization methods. This includes the latter two classes of problems mentioned above. There are significant increases in the computational requirements when PMOGO methods are used but these can be ameliorated using parallelization and problem dimension reduction strategies.

Two-dimensional probabilistic inversion of plane-wave electromagnetic data: methodology, model constraints and joint inversion with electrical resistivity data

NASA Astrophysics Data System (ADS)

Rosas-Carbajal, Marina; Linde, Niklas; Kalscheuer, Thomas; Vrugt, Jasper A.

2014-03-01

Probabilistic inversion methods based on Markov chain Monte Carlo (MCMC) simulation are well suited to quantify parameter and model uncertainty of nonlinear inverse problems. Yet, application of such methods to CPU-intensive forward models can be a daunting task, particularly if the parameter space is high dimensional. Here, we present a 2-D pixel-based MCMC inversion of plane-wave electromagnetic (EM) data. Using synthetic data, we investigate how model parameter uncertainty depends on model structure constraints using different norms of the likelihood function and the model constraints, and study the added benefits of joint inversion of EM and electrical resistivity tomography (ERT) data. Our results demonstrate that model structure constraints are necessary to stabilize the MCMC inversion results of a highly discretized model. These constraints decrease model parameter uncertainty and facilitate model interpretation. A drawback is that these constraints may lead to posterior distributions that do not fully include the true underlying model, because some of its features exhibit a low sensitivity to the EM data, and hence are difficult to resolve. This problem can be partly mitigated if the plane-wave EM data is augmented with ERT observations. The hierarchical Bayesian inverse formulation introduced and used herein is able to successfully recover the probabilistic properties of the measurement data errors and a model regularization weight. Application of the proposed inversion methodology to field data from an aquifer demonstrates that the posterior mean model realization is very similar to that derived from a deterministic inversion with similar model constraints.

Stochastic joint inversion of geoelectrical cross-well data for salt tracer test monitoring to image the hydraulic conductivity field of heterogenous aquifers

NASA Astrophysics Data System (ADS)

Revil, A.; Jardani, A.; Dupont, J.

2012-12-01

The assessment of hydraulic conductivity of heterogeneous aquifers is a difficult task using traditional hydrogeological methods (e.g., steady state or transient pumping tests) due to their low spatial resolution associated with a low density of available piezometers. Geophysical measurements performed at the ground surface and in boreholes provide additional information for increasing the resolution and accuracy of the inverted hydraulic conductivity. We use a stochastic joint inversion of Direct Current (DC) resistivity and Self-Potential (SP) data plus in situ measurement of the salinity in a downstream well during a synthetic salt tracer experiment to reconstruct the hydraulic conductivity field of an heterogeneous aquifer. The pilot point parameterization is used to avoid over-parameterization of the inverse problem. Bounds on the model parameters are used to promote a consistent Markov chain Monte Carlo sampling of the hydrogeological parameters of the model. To evaluate the effectiveness of the inversion process, we compare several scenarios where the geophysical data are coupled or not to the hydrogeological data to map the hydraulic conductivity. We first test the effectiveness of the inversion of each type of data alone, and then we combine the methods two by two. We finally combine all the information together to show the value of each type of geophysical data in the joint inversion process because of their different sensitivity map. The results of the inversion reveal that the self-potential data improve the estimate of hydraulic conductivity especially when the self-potential data are combined to the salt concentration measurement in the second well or to the time-lapse electrical resistivity data. Various tests are also performed to quantify the uncertainty in the inversion when for instance the semi-variogram is not known and its parameters should be inverted as well.

Effect of Direct Ligament Repair and Tenodesis Reconstruction on Simulated Subtalar Joint Instability.

PubMed

Choisne, Julie; Hoch, Matthew C; Alexander, Ian; Ringleb, Stacie I

2017-03-01

Subtalar instability is associated with up to 80% of patients presenting with chronic ankle instability but is often not considered in the diagnosis or treatment. Operative procedures to repair ankle instability have shown good clinical results, but the effects of these reconstruction procedures on isolated subtalar instability are not well understood. The goal of this study was to investigate the effect of the Gould modification of the Broström procedure and a new tenodesis reconstruction procedure on ankle and subtalar joint kinematics after simulating a subtalar injury. Kinematic data were collected on 7 cadaveric ankles during inversion through the range of ankle flexion and during internal rotation. Testing was performed on the intact foot; after sectioning the calcaneofibular ligament, cervical ligament, and interosseous talocalcaneal ligament; after the Gould modification of the Broström procedure was performed; and after tenodesis was performed and sutures from the Gould modification removed. The Gould modification of the Broström procedure significantly decreased subtalar and ankle inversion motion and subtalar internal rotation compared to the unstable condition. The tenodesis method restricted internal rotation at the subtalar joint and ankle inversion compared to the intact state. Both operative procedures improved stability of the ankle complex, but tenodesis was unable to restore subtalar inversion and restricted ankle inversion in maximum plantarflexion. The Gould modification of Broström ligament repair may be a favorable operative procedure for the restoration of subtalar and ankle joint kinematics.

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.

Tsunami Waves Joint Inversion Using Tsunami Inundation, Tsunami Deposits Distribution and Marine-Terrestrial Sediment Signal in Tsunami Deposit

NASA Astrophysics Data System (ADS)

Tang, H.; WANG, J.

2017-12-01

Population living close to coastlines is increasing, which creates higher risks due to coastal hazards, such as the tsunami. However, the generation of a tsunami is not fully understood yet, especially for paleo-tsunami. Tsunami deposits are one of the concrete evidence in the geological record which we can apply for studying paleo-tsunami. The understanding of tsunami deposits has significantly improved over the last decades. There are many inversion models (e.g. TsuSedMod, TSUFLIND, and TSUFLIND-EnKF) to study the overland-flow characteristics based on tsunami deposits. However, none of them tries to reconstruct offshore tsunami wave characteristics (wave form, wave height, and length) based on tsunami deposits. Here we present a state-of-the-art inverse approach to reconstruct offshore tsunami wave based on the tsunami inundation data, the spatial distribution of tsunami deposits and Marine-terrestrial sediment signal in the tsunami deposits. Ensemble Kalman Filter (EnKF) Method is used for assimilating both sediment transport simulations and the field observation data. While more computationally expensive, the EnKF approach potentially provides more accurate reconstructions for tsunami waveform. In addition to the improvement of inversion results, the ensemble-based method can also quantify the uncertainties of the results. Meanwhile, joint inversion improves the resolution of tsunami waves compared with inversions using any single data type. The method will be tested by field survey data and gauge data from the 2011 Tohoku tsunami on Sendai plain area.

Decomposing Large Inverse Problems with an Augmented Lagrangian Approach: Application to Joint Inversion of Body-Wave Travel Times and Surface-Wave Dispersion Measurements

NASA Astrophysics Data System (ADS)

Reiter, D. T.; Rodi, W. L.

2015-12-01

Constructing 3D Earth models through the joint inversion of large geophysical data sets presents numerous theoretical and practical challenges, especially when diverse types of data and model parameters are involved. Among the challenges are the computational complexity associated with large data and model vectors and the need to unify differing model parameterizations, forward modeling methods and regularization schemes within a common inversion framework. The challenges can be addressed in part by decomposing the inverse problem into smaller, simpler inverse problems that can be solved separately, providing one knows how to merge the separate inversion results into an optimal solution of the full problem. We have formulated an approach to the decomposition of large inverse problems based on the augmented Lagrangian technique from optimization theory. As commonly done, we define a solution to the full inverse problem as the Earth model minimizing an objective function motivated, for example, by a Bayesian inference formulation. Our decomposition approach recasts the minimization problem equivalently as the minimization of component objective functions, corresponding to specified data subsets, subject to the constraints that the minimizing models be equal. A standard optimization algorithm solves the resulting constrained minimization problems by alternating between the separate solution of the component problems and the updating of Lagrange multipliers that serve to steer the individual solution models toward a common model solving the full problem. We are applying our inversion method to the reconstruction of the·crust and upper-mantle seismic velocity structure across Eurasia.· Data for the inversion comprise a large set of P and S body-wave travel times·and fundamental and first-higher mode Rayleigh-wave group velocities.

Delineation of a quick clay zone at Smørgrav, Norway, with electromagnetic methods under geotechnical constraints

NASA Astrophysics Data System (ADS)

Kalscheuer, Thomas; Bastani, Mehrdad; Donohue, Shane; Persson, Lena; Aspmo Pfaffhuber, Andreas; Reiser, Fabienne; Ren, Zhengyong

2013-05-01

In many coastal areas of North America and Scandinavia, post-glacial clay sediments have emerged above sea level due to iso-static uplift. These clays are often destabilised by fresh water leaching and transformed to so-called quick clays as at the investigated area at Smørgrav, Norway. Slight mechanical disturbances of these materials may trigger landslides. Since the leaching increases the electrical resistivity of quick clay as compared to normal marine clay, the application of electromagnetic (EM) methods is of particular interest in the study of quick clay structures. For the first time, single and joint inversions of direct-current resistivity (DCR), radiomagnetotelluric (RMT) and controlled-source audiomagnetotelluric (CSAMT) data were applied to delineate a zone of quick clay. The resulting 2-D models of electrical resistivity correlate excellently with previously published data from a ground conductivity metre and resistivity logs from two resistivity cone penetration tests (RCPT) into marine clay and quick clay. The RCPT log into the central part of the quick clay identifies the electrical resistivity of the quick clay structure to lie between 10 and 80 Ω m. In combination with the 2-D inversion models, it becomes possible to delineate the vertical and horizontal extent of the quick clay zone. As compared to the inversions of single data sets, the joint inversion model exhibits sharper resistivity contrasts and its resistivity values are more characteristic of the expected geology. In our preferred joint inversion model, there is a clear demarcation between dry soil, marine clay, quick clay and bedrock, which consists of alum shale and limestone.

Inferring Muscle-Tendon Unit Power from Ankle Joint Power during the Push-Off Phase of Human Walking: Insights from a Multiarticular EMG-Driven Model

PubMed Central

2016-01-01

Introduction Inverse dynamics joint kinetics are often used to infer contributions from underlying groups of muscle-tendon units (MTUs). However, such interpretations are confounded by multiarticular (multi-joint) musculature, which can cause inverse dynamics to over- or under-estimate net MTU power. Misestimation of MTU power could lead to incorrect scientific conclusions, or to empirical estimates that misguide musculoskeletal simulations, assistive device designs, or clinical interventions. The objective of this study was to investigate the degree to which ankle joint power overestimates net plantarflexor MTU power during the Push-off phase of walking, due to the behavior of the flexor digitorum and hallucis longus (FDHL)–multiarticular MTUs crossing the ankle and metatarsophalangeal (toe) joints. Methods We performed a gait analysis study on six healthy participants, recording ground reaction forces, kinematics, and electromyography (EMG). Empirical data were input into an EMG-driven musculoskeletal model to estimate ankle power. This model enabled us to parse contributions from mono- and multi-articular MTUs, and required only one scaling and one time delay factor for each subject and speed, which were solved for based on empirical data. Net plantarflexing MTU power was computed by the model and quantitatively compared to inverse dynamics ankle power. Results The EMG-driven model was able to reproduce inverse dynamics ankle power across a range of gait speeds (R2 ≥ 0.97), while also providing MTU-specific power estimates. We found that FDHL dynamics caused ankle power to slightly overestimate net plantarflexor MTU power, but only by ~2–7%. Conclusions During Push-off, FDHL MTU dynamics do not substantially confound the inference of net plantarflexor MTU power from inverse dynamics ankle power. However, other methodological limitations may cause inverse dynamics to overestimate net MTU power; for instance, due to rigid-body foot assumptions. Moving forward, the EMG-driven modeling approach presented could be applied to understand other tasks or larger multiarticular MTUs. PMID:27764110

Lithospheric architecture of NE China from joint Inversions of receiver functions and surface wave dispersion through Bayesian optimisation

NASA Astrophysics Data System (ADS)

Sebastian, Nita; Kim, Seongryong; Tkalčić, Hrvoje; Sippl, Christian

2017-04-01

The purpose of this study is to develop an integrated inference on the lithospheric structure of NE China using three passive seismic networks comprised of 92 stations. The NE China plain consists of complex lithospheric domains characterised by the co-existence of complex geodynamic processes such as crustal thinning, active intraplate cenozoic volcanism and low velocity anomalies. To estimate lithospheric structures with greater detail, we chose to perform the joint inversion of independent data sets such as receiver functions and surface wave dispersion curves (group and phase velocity). We perform a joint inversion based on principles of Bayesian transdimensional optimisation techniques (Kim etal., 2016). Unlike in the previous studies of NE China, the complexity of the model is determined from the data in the first stage of the inversion, and the data uncertainty is computed based on Bayesian statistics in the second stage of the inversion. The computed crustal properties are retrieved from an ensemble of probable models. We obtain major structural inferences with well constrained absolute velocity estimates, which are vital for inferring properties of the lithosphere and bulk crustal Vp/Vs ratio. The Vp/Vs estimate obtained from joint inversions confirms the high Vp/Vs ratio ( 1.98) obtained using the H-Kappa method beneath some stations. Moreover, we could confirm the existence of a lower crustal velocity beneath several stations (eg: station SHS) within the NE China plain. Based on these findings we attempt to identify a plausible origin for structural complexity. We compile a high-resolution 3D image of the lithospheric architecture of the NE China plain.

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).

Joint Inversion of Body-Wave Arrival Times and Surface-Wave Dispersion Data for Three-Dimensional Seismic Velocity Structure Around SAFOD

NASA Astrophysics Data System (ADS)

Zhang, H.; Thurber, C. H.; Maceira, M.; Roux, P.

2013-12-01

The crust around the San Andreas Fault Observatory at depth (SAFOD) has been the subject of many geophysical studies aimed at characterizing in detail the fault zone structure and elucidating the lithologies and physical properties of the surrounding rocks. Seismic methods in particular have revealed the complex two-dimensional (2D) and three-dimensional (3D) structure of the crustal volume around SAFOD and the strong velocity reduction in the fault damage zone. In this study we conduct a joint inversion using body-wave arrival times and surface-wave dispersion data to image the P-and S-wave velocity structure of the upper crust surrounding SAFOD. The two data types have complementary strengths - the body-wave data have good resolution at depth, albeit only where there are crossing rays between sources and receivers, whereas the surface waves have very good near-surface resolution and are not dependent on the earthquake source distribution because they are derived from ambient noise. The body-wave data are from local earthquakes and explosions, comprising the dataset analyzed by Zhang et al. (2009). The surface-wave data are for Love waves from ambient noise correlations, and are from Roux et al. (2011). The joint inversion code is based on the regional-scale version of the double-difference (DD) tomography algorithm tomoDD. The surface-wave inversion code that is integrated into the joint inversion algorithm is from Maceira and Ammon (2009). The propagator matrix solver in the algorithm DISPER80 (Saito, 1988) is used for the forward calculation of dispersion curves from layered velocity models. We examined how the structural models vary as we vary the relative weighting of the fit to the two data sets and in comparison to the previous separate inversion results. The joint inversion with the 'optimal' weighting shows more clearly the U-shaped local structure from the Buzzard Canyon Fault on the west side of SAF to the Gold Hill Fault on the east side.

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.

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

Syracuse, Ellen Marie; Maceira, Monica; Phillips, William Scott

These are slides which show many graphs and datasets for the above-mentioned topic and then concludes with the following: Joint inversion of multiple geophysical datasets improves recovery of velocity structures, particularly in Vs and in shallow parts of the model, in comparison to travel-time only models. Resulting fits to travel time data are minimally degraded by joint inversions. Correspondingly, fits to independent estimates of ground-truth locations are minimally affected by joint inversions.

Joint inversion of geophysical data using petrophysical clustering and facies deformation wth the level set technique

NASA Astrophysics Data System (ADS)

Revil, A.

2015-12-01

Geological expertise and petrophysical relationships can be brought together to provide prior information while inverting multiple geophysical datasets. The merging of such information can result in more realistic solution in the distribution of the model parameters, reducing ipse facto the non-uniqueness of the inverse problem. We consider two level of heterogeneities: facies, described by facies boundaries and heteroegenities inside each facies determined by a correlogram. In this presentation, we pose the geophysical inverse problem in terms of Gaussian random fields with mean functions controlled by petrophysical relationships and covariance functions controlled by a prior geological cross-section, including the definition of spatial boundaries for the geological facies. The petrophysical relationship problem is formulated as a regression problem upon each facies. The inversion of the geophysical data is performed in a Bayesian framework. We demonstrate the usefulness of this strategy using a first synthetic case for which we perform a joint inversion of gravity and galvanometric resistivity data with the stations located at the ground surface. The joint inversion is used to recover the density and resistivity distributions of the subsurface. In a second step, we consider the possibility that the facies boundaries are deformable and their shapes are inverted as well. We use the level set approach to perform such deformation preserving prior topological properties of the facies throughout the inversion. With the help of prior facies petrophysical relationships and topological characteristic of each facies, we make posterior inference about multiple geophysical tomograms based on their corresponding geophysical data misfits. The method is applied to a second synthetic case showing that we can recover the heterogeneities inside the facies, the mean values for the petrophysical properties, and, to some extent, the facies boundaries using the 2D joint inversion of gravity and galvanometric resistivity data. For this 2D synthetic example, we note that the position of the facies are well-recovered except far from the ground surfce where the sensitivity is too low. The figure shows the evolution of the shape of the facies during the inversion itertion by iteration.

Stochastic joint inversion of hydrogeophysical data for salt tracer test monitoring and hydraulic conductivity imaging

NASA Astrophysics Data System (ADS)

Jardani, A.; Revil, A.; Dupont, J. P.

2013-02-01

The assessment of hydraulic conductivity of heterogeneous aquifers is a difficult task using traditional hydrogeological methods (e.g., steady state or transient pumping tests) due to their low spatial resolution. Geophysical measurements performed at the ground surface and in boreholes provide additional information for increasing the resolution and accuracy of the inverted hydraulic conductivity field. We used a stochastic joint inversion of Direct Current (DC) resistivity and self-potential (SP) data plus in situ measurement of the salinity in a downstream well during a synthetic salt tracer experiment to reconstruct the hydraulic conductivity field between two wells. The pilot point parameterization was used to avoid over-parameterization of the inverse problem. Bounds on the model parameters were used to promote a consistent Markov chain Monte Carlo sampling of the model parameters. To evaluate the effectiveness of the joint inversion process, we compared eight cases in which the geophysical data are coupled or not to the in situ sampling of the salinity to map the hydraulic conductivity. We first tested the effectiveness of the inversion of each type of data alone (concentration sampling, self-potential, and DC resistivity), and then we combined the data two by two. We finally combined all the data together to show the value of each type of geophysical data in the joint inversion process because of their different sensitivity map. We also investigated a case in which the data were contaminated with noise and the variogram unknown and inverted stochastically. The results of the inversion revealed that incorporating the self-potential data improves the estimate of hydraulic conductivity field especially when the self-potential data were combined to the salt concentration measurement in the second well or to the time-lapse cross-well electrical resistivity data. Various tests were also performed to quantify the uncertainty in the inverted hydraulic conductivity field.

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.

Achilles tendon moment arm in humans is not affected by inversion/eversion of the foot: a short report.

PubMed

Wolfram, Susann; Morse, Christopher I; Winwood, Keith L; Hodson-Tole, Emma; McEwan, Islay M

2018-01-01

The triceps surae primarily acts as plantarflexor of the ankle joint. However, the group also causes inversion and eversion at the subtalar joint. Despite this, the Achilles tendon moment arm is generally measured without considering the potential influence of inversion/eversion of the foot during plantarflexion. This study investigated the effect of foot inversion and eversion on the plantarflexion Achilles tendon moment arm. Achilles tendon moment arms were determined using the centre-of-rotation method in magnetic resonance images of the left ankle of 11 participants. The foot was positioned at 15° dorsiflexion, 0° or 15° plantarflexion using a Styrofoam wedge. In each of these positions, the foot was either 10° inverted, neutral or 10° everted using an additional Styrofoam wedge. Achilles tendon moment arm in neutral foot position was 47.93 ± 4.54 mm and did not differ significantly when the foot was positioned in 10° inversion and 10° eversion. Hence, inversion/eversion position of the foot may not considerably affect the length of the Achilles tendon moment arm. This information could be useful in musculoskeletal models of the human lower leg and foot and when estimating Achilles tendon forces during plantarflexion with the foot positioned in inversion or eversion.

Bayesian Approach to the Joint Inversion of Gravity and Magnetic Data, with Application to the Ismenius Area of Mars

NASA Technical Reports Server (NTRS)

Jewell, Jeffrey B.; Raymond, C.; Smrekar, S.; Millbury, C.

2004-01-01

This viewgraph presentation reviews a Bayesian approach to the inversion of gravity and magnetic data with specific application to the Ismenius Area of Mars. Many inverse problems encountered in geophysics and planetary science are well known to be non-unique (i.e. inversion of gravity the density structure of a body). In hopes of reducing the non-uniqueness of solutions, there has been interest in the joint analysis of data. An example is the joint inversion of gravity and magnetic data, with the assumption that the same physical anomalies generate both the observed magnetic and gravitational anomalies. In this talk, we formulate the joint analysis of different types of data in a Bayesian framework and apply the formalism to the inference of the density and remanent magnetization structure for a local region in the Ismenius area of Mars. The Bayesian approach allows prior information or constraints in the solutions to be incorporated in the inversion, with the "best" solutions those whose forward predictions most closely match the data while remaining consistent with assumed constraints. The application of this framework to the inversion of gravity and magnetic data on Mars reveals two typical challenges - the forward predictions of the data have a linear dependence on some of the quantities of interest, and non-linear dependence on others (termed the "linear" and "non-linear" variables, respectively). For observations with Gaussian noise, a Bayesian approach to inversion for "linear" variables reduces to a linear filtering problem, with an explicitly computable "error" matrix. However, for models whose forward predictions have non-linear dependencies, inference is no longer given by such a simple linear problem, and moreover, the uncertainty in the solution is no longer completely specified by a computable "error matrix". It is therefore important to develop methods for sampling from the full Bayesian posterior to provide a complete and statistically consistent picture of model uncertainty, and what has been learned from observations. We will discuss advanced numerical techniques, including Monte Carlo Markov

Sodium inversion recovery MRI on the knee joint at 7 T with an optimal control pulse.

PubMed

Lee, Jae-Seung; Xia, Ding; Madelin, Guillaume; Regatte, Ravinder R

2016-01-01

In the field of sodium magnetic resonance imaging (MRI), inversion recovery (IR) is a convenient and popular method to select sodium in different environments. For the knee joint, IR has been used to suppress the signal from synovial fluids, which improves the correlation between the sodium signal and the concentration of glycosaminoglycans (GAGs) in cartilage tissues. For the better inversion of the magnetization vector under the spatial variations of the B0 and B1 fields, the IR sequence usually employ adiabatic pulses as the inversion pulse. On the other hand, it has been shown that RF shapes robust against the variations of the B0 and B1 fields can be generated by numerical optimization based on optimal control theory. In this work, we compare the performance of fluid-suppressed sodium MRI on the knee joint in vivo, between one implemented with an adiabatic pulse in the IR sequence and the other with the adiabatic pulse replaced by an optimal-control shaped pulse. While the optimal-control pulse reduces the RF power deposited to the body by 58%, the quality of fluid suppression and the signal level of sodium within cartilage are similar between two implementations. Copyright © 2015 Elsevier Inc. All rights reserved.

Applications of the JARS method to study levee sites in southern Texas and southern New Mexico

USGS Publications Warehouse

Ivanov, J.; Miller, R.D.; Xia, J.; Dunbar, J.B.

2007-01-01

We apply the joint analysis of refractions with surface waves (JARS) method to several sites and compare its results to traditional refraction-tomography methods in efforts of finding a more realistic solution to the inverse refraction-traveltime problem. The JARS method uses a reference model, derived from surface-wave shear-wave velocity estimates, as a constraint. In all of the cases JARS estimates appear more realistic than those from the conventional refraction-tomography methods. As a result, we consider, the JARS algorithm as the preferred method for finding solutions to the inverse refraction-tomography problems. ?? 2007 Society of Exploration Geophysicists.

Time-lapse joint inversion of geophysical data with automatic joint constraints and dynamic attributes

NASA Astrophysics Data System (ADS)

Rittgers, J. B.; Revil, A.; Mooney, M. A.; Karaoulis, M.; Wodajo, L.; Hickey, C. J.

2016-12-01

Joint inversion and time-lapse inversion techniques of geophysical data are often implemented in an attempt to improve imaging of complex subsurface structures and dynamic processes by minimizing negative effects of random and uncorrelated spatial and temporal noise in the data. We focus on the structural cross-gradient (SCG) approach (enforcing recovered models to exhibit similar spatial structures) in combination with time-lapse inversion constraints applied to surface-based electrical resistivity and seismic traveltime refraction data. The combination of both techniques is justified by the underlying petrophysical models. We investigate the benefits and trade-offs of SCG and time-lapse constraints. Using a synthetic case study, we show that a combined joint time-lapse inversion approach provides an overall improvement in final recovered models. Additionally, we introduce a new approach to reweighting SCG constraints based on an iteratively updated normalized ratio of model sensitivity distributions at each time-step. We refer to the new technique as the Automatic Joint Constraints (AJC) approach. The relevance of the new joint time-lapse inversion process is demonstrated on the synthetic example. Then, these approaches are applied to real time-lapse monitoring field data collected during a quarter-scale earthen embankment induced-piping failure test. The use of time-lapse joint inversion is justified by the fact that a change of porosity drives concomitant changes in seismic velocities (through its effect on the bulk and shear moduli) and resistivities (through its influence upon the formation factor). Combined with the definition of attributes (i.e. specific characteristics) of the evolving target associated with piping, our approach allows localizing the position of the preferential flow path associated with internal erosion. This is not the case using other approaches.

A harmonic analysis approach to joint inversion of P-receiver functions and wave dispersion data in high dense seismic profiles

NASA Astrophysics Data System (ADS)

Molina-Aguilera, A.; Mancilla, F. D. L.; Julià, J.; Morales, J.

2017-12-01

Joint inversion techniques of P-receiver functions and wave dispersion data implicitly assume an isotropic radial stratified earth. The conventional approach invert stacked radial component receiver functions from different back-azimuths to obtain a laterally homogeneous single-velocity model. However, in the presence of strong lateral heterogeneities as anisotropic layers and/or dipping interfaces, receiver functions are considerably perturbed and both the radial and transverse components exhibit back azimuthal dependences. Harmonic analysis methods exploit these azimuthal periodicities to separate the effects due to the isotropic flat-layered structure from those effects caused by lateral heterogeneities. We implement a harmonic analysis method based on radial and transverse receiver functions components and carry out a synthetic study to illuminate the capabilities of the method in isolating the isotropic flat-layered part of receiver functions and constrain the geometry and strength of lateral heterogeneities. The independent of the baz P receiver function are jointly inverted with phase and group dispersion curves using a linearized inversion procedure. We apply this approach to high dense seismic profiles ( 2 km inter-station distance, see figure) located in the central Betics (western Mediterranean region), a region which has experienced complex geodynamic processes and exhibit strong variations in Moho topography. The technique presented here is robust and can be applied systematically to construct a 3-D model of the crust and uppermost mantle across large networks.

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.

Lateral Ligament Repair and Reconstruction Restore Neither Contact Mechanics of the Ankle Joint nor Motion Patterns of the Hindfoot

PubMed Central

Prisk, Victor R.; Imhauser, Carl W.; O'Loughlin, Padhraig F.; Kennedy, John G.

2010-01-01

Background: Ankle sprains may damage both the lateral ligaments of the hindfoot and the osteochondral tissue of the ankle joint. When nonoperative treatment fails, operative approaches are indicated to restore both native motion patterns at the hindfoot and ankle joint contact mechanics. The goal of the present study was to determine the effect of lateral ligament injury, repair, and reconstruction on ankle joint contact mechanics and hindfoot motion patterns. Methods: Eight cadaveric specimens were tested with use of robotic technology to apply combined compressive (200-N) and inversion (4.5-Nm) loads to the hindfoot at 0° and 20° of plantar flexion. Contact mechanics at the ankle joint were simultaneously measured. A repeated-measures experiment was designed with use of the intact condition as control, with the other conditions including sectioned anterior talofibular and calcaneofibular ligaments, the Broström and Broström-Gould repairs, and graft reconstruction. Results: Ligament sectioning decreased contact area and caused a medial and anterior shift in the center of pressure with inversion loads relative to those with the intact condition. There were no significant differences in inversion or coupled axial rotation with inversion between the Broström repair and the intact condition; however, medial translation of the center of pressure remained elevated after the Broström repair relative to the intact condition. The Gould modification of the Broström procedure provided additional support to the hindfoot relative to the Broström repair, reducing inversion and axial rotation with inversion beyond that of intact ligaments. There were no significant differences in center-of-pressure excursion patterns between the Broström-Gould repair and the intact ligament condition, but this repair increased contact area beyond that with the ligaments intact. Graft reconstruction more closely restored inversion motion than did the Broström-Gould repair at 20° of plantar flexion but limited coupled axial rotation. Graft reconstruction also increased contact areas beyond the lateral ligament-deficient conditions but altered center-of-pressure excursion patterns relative to the intact condition. Conclusions: No lateral ankle ligament reconstruction completely restored native contact mechanics of the ankle joint and hindfoot motion patterns. Clinical Relevance: Our results provide a rationale for conducting long-term, prospective, comparative, in vivo studies to assess the impact of altered mechanics following lateral ligament injury, and its nonoperative and operative treatment, on the development of ankle osteoarthritis. PMID:20962188

Joint body and surface wave tomography applied to the Toba caldera complex (Indonesia)

NASA Astrophysics Data System (ADS)

Jaxybulatov, Kairly; Koulakov, Ivan; Shapiro, Nikolai

2016-04-01

We developed a new algorithm for a joint body and surface wave tomography. The algorithm is a modification of the existing LOTOS code (Koulakov, 2009) developed for local earthquake tomography. The input data for the new method are travel times of P and S waves and dispersion curves of Rayleigh and Love waves. The main idea is that the two data types have complementary sensitivities. The body-wave data have good resolution at depth, where we have enough crossing rays between sources and receivers, whereas the surface waves have very good near-surface resolution. The surface wave dispersion curves can be retrieved from the correlations of the ambient seismic noise and in this case the sampled path distribution does not depend on the earthquake sources. The contributions of the two data types to the inversion are controlled by the weighting of the respective equations. One of the clearest cases where such approach may be useful are volcanic systems in subduction zones with their complex magmatic feeding systems that have deep roots in the mantle and intermediate magma chambers in the crust. In these areas, the joint inversion of different types of data helps us to build a comprehensive understanding of the entire system. We apply our algorithm to data collected in the region surrounding the Toba caldera complex (north Sumatra, Indonesia) during two temporary seismic experiments (IRIS, PASSCAL, 1995, GFZ, LAKE TOBA, 2008). We invert 6644 P and 5240 S wave arrivals and ~500 group velocity dispersion curves of Rayleigh and Love waves. We present a series of synthetic tests and real data inversions which show that joint inversion approach gives more reliable results than the separate inversion of two data types. Koulakov, I., LOTOS code for local earthquake tomographic inversion. Benchmarks for testing tomographic algorithms, Bull. seism. Soc. Am., 99(1), 194-214, 2009, doi:10.1785/0120080013

Advanced Multivariate Inversion Techniques for High Resolution 3D Geophysical Modeling (Invited)

NASA Astrophysics Data System (ADS)

Maceira, M.; Zhang, H.; Rowe, C. A.

2009-12-01

We focus on the development and application of advanced multivariate inversion techniques to generate a realistic, comprehensive, and high-resolution 3D model of the seismic structure of the crust and upper mantle that satisfies several independent geophysical datasets. Building on previous efforts of joint invesion using surface wave dispersion measurements, gravity data, and receiver functions, we have added a fourth dataset, seismic body wave P and S travel times, to the simultaneous joint inversion method. We present a 3D seismic velocity model of the crust and upper mantle of northwest China resulting from the simultaneous, joint inversion of these four data types. Surface wave dispersion measurements are primarily sensitive to seismic shear-wave velocities, but at shallow depths it is difficult to obtain high-resolution velocities and to constrain the structure due to the depth-averaging of the more easily-modeled, longer-period surface waves. Gravity inversions have the greatest resolving power at shallow depths, and they provide constraints on rock density variations. Moreover, while surface wave dispersion measurements are primarily sensitive to vertical shear-wave velocity averages, body wave receiver functions are sensitive to shear-wave velocity contrasts and vertical travel-times. Addition of the fourth dataset, consisting of seismic travel-time data, helps to constrain the shear wave velocities both vertically and horizontally in the model cells crossed by the ray paths. Incorporation of both P and S body wave travel times allows us to invert for both P and S velocity structure, capitalizing on empirical relationships between both wave types’ seismic velocities with rock densities, thus eliminating the need for ad hoc assumptions regarding the Poisson ratios. Our new tomography algorithm is a modification of the Maceira and Ammon joint inversion code, in combination with the Zhang and Thurber TomoDD (double-difference tomography) program.

Joint refraction and reflection travel-time tomography of multichannel and wide-angle seismic data

NASA Astrophysics Data System (ADS)

Begovic, Slaven; Meléndez, Adrià; Ranero, César; Sallarès, Valentí

2017-04-01

Both near-vertical multichannel (MCS) and wide-angle (WAS) seismic data are sensitive to same properties of sampled model, but commonly they are interpreted and modeled using different approaches. Traditional MCS images provide good information on position and geometry of reflectors especially in shallow, commonly sedimentary layers, but have limited or no refracted waves, which severely hampers the retrieval of velocity information. Compared to MCS data, conventional wide-angle seismic (WAS) travel-time tomography uses sparse data (generally stations are spaced by several kilometers). While it has refractions that allow retrieving velocity information, the data sparsity makes it difficult to define velocity and the geometry of geologic boundaries (reflectors) with the appropriate resolution, especially at the shallowest crustal levels. A well-known strategy to overcome these limitations is to combine MCS and WAS data into a common inversion strategy. However, the number of available codes that can jointly invert for both types of data is limited. We have adapted the well-known and widely-used joint refraction and reflection travel-time tomography code tomo2d (Korenaga et al, 2000), and its 3D version tomo3d (Meléndez et al, 2015), to implement streamer data and multichannel acquisition geometries. This allows performing joint travel-time tomographic inversion based on refracted and reflected phases from both WAS and MCS data sets. We show with a series of synthetic tests following a layer-stripping strategy that combining these two data sets into joint travel-time tomographic method the drawbacks of each data set are notably reduced. First, we have tested traditional travel-time inversion scheme using only WAS data (refracted and reflected phases) with typical acquisition geometry with one ocean bottom seismometer (OBS) each 10 km. Second, we have jointly inverted WAS refracted and reflected phases with only streamer (MCS) reflection travel-times. And at the end we have performed joint inversion of combined refracted and reflected phases from both data sets. MCS data set (synthetic) has been produced for a 8 km-long streamer and refracted phases used for the streamer have been downward continued (projected on the seafloor). Taking advantage of high redundancy of MCS data, the definition of geometry of reflectors and velocity of uppermost layers are much improved. Additionally, long- offset wide-angle refracted phases minimize velocity-depth trade-off of reflection travel-time inversion. As a result, the obtained models have increased accuracy in both velocity and reflector's geometry as compared to the independent inversion of each data set. This is further corroborated by performing a statistical parameter uncertainty analysis to explore the effects of unknown initial model and data noise in the linearized inversion scheme.

Calculating the axes of rotation for the subtalar and talocrural joints using 3D bone reconstructions.

PubMed

Parr, W C H; Chatterjee, H J; Soligo, C

2012-04-05

Orientation of the subtalar joint axis dictates inversion and eversion movements of the foot and has been the focus of evolutionary and clinical studies for a number of years. Previous studies have measured the subtalar joint axis against the axis of the whole foot, the talocrural joint axis and, recently, the principal axes of the talus. The present study introduces a new method for estimating average joint axes from 3D reconstructions of bones and applies the method to the talus to calculate the subtalar and talocrural joint axes. The study also assesses the validity of the principal axes as a reference coordinate system against which to measure the subtalar joint axis. In order to define the angle of the subtalar joint axis relative to that of another axis in the talus, we suggest measuring the subtalar joint axis against the talocrural joint axis. We present corresponding 3D vector angles calculated from a modern human skeletal sample. This method is applicable to virtual 3D models acquired through surface-scanning of disarticulated 'dry' osteological samples, as well as to 3D models created from CT or MRI scans. Copyright © 2012 Elsevier Ltd. All rights reserved.

Specific storage and hydraulic conductivity tomography through the joint inversion of hydraulic heads and self-potential data

NASA Astrophysics Data System (ADS)

Ahmed, A. Soueid; Jardani, A.; Revil, A.; Dupont, J. P.

2016-03-01

Transient hydraulic tomography is used to image the heterogeneous hydraulic conductivity and specific storage fields of shallow aquifers using time series of hydraulic head data. Such ill-posed and non-unique inverse problem can be regularized using some spatial geostatistical characteristic of the two fields. In addition to hydraulic heads changes, the flow of water, during pumping tests, generates an electrical field of electrokinetic nature. These electrical field fluctuations can be passively recorded at the ground surface using a network of non-polarizing electrodes connected to a high impedance (> 10 MOhm) and sensitive (0.1 mV) voltmeter, a method known in geophysics as the self-potential method. We perform a joint inversion of the self-potential and hydraulic head data to image the hydraulic conductivity and specific storage fields. We work on a 3D synthetic confined aquifer and we use the adjoint state method to compute the sensitivities of the hydraulic parameters to the hydraulic head and self-potential data in both steady-state and transient conditions. The inverse problem is solved using the geostatistical quasi-linear algorithm framework of Kitanidis. When the number of piezometers is small, the record of the transient self-potential signals provides useful information to characterize the hydraulic conductivity and specific storage fields. These results show that the self-potential method reveals the heterogeneities of some areas of the aquifer, which could not been captured by the tomography based on the hydraulic heads alone. In our analysis, the improvement on the hydraulic conductivity and specific storage estimations were based on perfect knowledge of electrical resistivity field. This implies that electrical resistivity will need to be jointly inverted with the hydraulic parameters in future studies and the impact of its uncertainty assessed with respect to the final tomograms of the hydraulic parameters.

Geoelectrical characterization with 1D VES/TDEM joint inversion in Urupês-SP region, Paraná Basin: Applications to hydrogeology

NASA Astrophysics Data System (ADS)

Leite, David Nakamura; Bortolozo, Cassiano Antonio; Porsani, Jorge Luís; Couto, Marco Antonio; Campaña, Julian David Realpe; dos Santos, Fernando Acácio Monteiro; Rangel, Rodrigo Corrêa; Hamada, Luiz Rodrigo; Sifontes, Rimary Valera; Serejo de Oliveira, Gabriela; Stangari, Marcelo César

2018-04-01

Although Brazil is well known by the large rivers and the Amazon Rain Forest most cities do not have access to sufficient quantities of surface water to supply the population. Because of this 61% of Brazilian population (IBGE, 2003) depends on groundwater resources. In order to help the conscious exploration of this resource in Urupês city (São Paulo State) which is characterized by problems of lack of water, this research applied the transient electromagnetic method (TDEM) and Vertical Electrical Sounding (VES) for the geoelectrical characterization of the interest region. So, the objective of this work was increase the hydrogeological basis for groundwater exploitation of Bauru sedimentary aquifer and Serra Geral fractured aquifer (Paraná Basin). A total of 23 TDEM and 15 VES soundings were conducted during the years of 2009, 2011 and 2012. In addition, 10 pairs of VES/TDEM soundings were acquired with coincident centers to be able to perform the joint inversion. The joint inversion technique is a promising tool, which enables to get the best of both methods, where the VES add the shallow information and TDEM the deeper one. In this work, the individual and joint inversions were performed using the "Curupira" software. After data process and inversion, the results were interpreted based on geological well information provided by the Department of Water and Electrical Power (DAEE) and the Brazilian Geological Survey (CPRM) which enabled to estimate favorable places to exploitation of water in Bauru and Serra Geral aquifers. For the Bauru aquifer, the results suggest areas where thickness exceeds 100 m. In these areas, the resistivity calculated was about 20 Ω·m. Therefore, the sediments have been interpreted as saturated sandy clay. In the basalt layer of Serra Geral Formation, the suggested locations present resistivity values <100 Ω·m at 200 m depth. The indicated places in sedimentary aquifer and the locations in the fractured aquifer will may show alternative sources for groundwater exploitation and water supply for Urupês city.

Motion capability analysis of a quadruped robot as a parallel manipulator

NASA Astrophysics Data System (ADS)

Yu, Jingjun; Lu, Dengfeng; Zhang, Zhongxiang; Pei, Xu

2014-12-01

This paper presents the forward and inverse displacement analysis of a quadruped robot MANA as a parallel manipulator in quadruple stance phase, which is used to obtain the workspace and control the motion of the body. The robot MANA designed on the basis of the structure of quadruped mammal is able to not only walk and turn in the uneven terrain, but also accomplish various manipulating tasks as a parallel manipulator in quadruple stance phase. The latter will be the focus of this paper, however. For this purpose, the leg kinematics is primarily analyzed, which lays the foundation on the gait planning in terms of locomotion and body kinematics analysis as a parallel manipulator. When all four feet of the robot contact on the ground, by assuming there is no slipping at the feet, each contacting point is treated as a passive spherical joint and the kinematic model of parallel manipulator is established. The method for choosing six non-redundant actuated joints for the parallel manipulator from all twelve optional joints is elaborated. The inverse and forward displacement analysis of the parallel manipulator is carried out using the method of coordinate transformation. Finally, based on the inverse and forward kinematic model, two issues on obtaining the reachable workspace of parallel manipulator and planning the motion of the body are implemented and verified by ADAMS simulation.

Joint inversion of hydraulic head and self-potential data associated with harmonic pumping tests

NASA Astrophysics Data System (ADS)

Soueid Ahmed, A.; Jardani, A.; Revil, A.; Dupont, J. P.

2016-09-01

Harmonic pumping tests consist in stimulating an aquifer by the means of hydraulic stimulations at some discrete frequencies. The inverse problem consisting in retrieving the hydraulic properties is inherently ill posed and is usually underdetermined when considering the number of well head data available in field conditions. To better constrain this inverse problem, we add self-potential data recorded at the ground surface to the head data. The self-potential method is a passive geophysical method. Its signals are generated by the groundwater flow through an electrokinetic coupling. We showed using a 3-D saturated unconfined synthetic aquifer that the self-potential method significantly improves the results of the harmonic hydraulic tomography. The hydroelectric forward problem is obtained by solving first the Richards equation, describing the groundwater flow, and then using the result in an electrical Poisson equation describing the self-potential problem. The joint inversion problem is solved using a reduction model based on the principal component geostatistical approach. In this method, the large prior covariance matrix is truncated and replaced by its low-rank approximation, allowing thus for notable computational time and storage savings. Three test cases are studied, to assess the validity of our approach. In the first test, we show that when the number of harmonic stimulations is low, combining the harmonic hydraulic and self-potential data does not improve the inversion results. In the second test where enough harmonic stimulations are performed, a significant improvement of the hydraulic parameters is observed. In the last synthetic test, we show that the electrical conductivity field required to invert the self-potential data can be determined with enough accuracy using an electrical resistivity tomography survey using the same electrodes configuration as used for the self-potential investigation.

Subtalar joint stress imaging with tomosynthesis.

PubMed

Teramoto, Atsushi; Watanabe, Kota; Takashima, Hiroyuki; Yamashita, Toshihiko

2014-06-01

The purpose of this study was to perform stress imaging of hindfoot inversion and eversion using tomosynthesis and to assess the subtalar joint range of motion (ROM) of healthy subjects. The subjects were 15 healthy volunteers with a mean age of 29.1 years. Coronal tomosynthesis stress imaging of the subtalar joint was performed in a total of 30 left and right ankles. A Telos stress device was used for the stress load, and the load was 150 N for both inversion and eversion. Tomographic images in which the posterior talocalcaneal joint could be confirmed on the neutral position images were used in measurements. The angle of the intersection formed by a line through the lateral articular facet of the posterior talocalcaneal joint and a line through the surface of the trochlea of the talus was measured. The mean change in the angle of the calcaneus with respect to the talus was 10.3 ± 4.8° with inversion stress and 5.0 ± 3.8° with eversion stress from the neutral position. The result was a clearer depiction of the subtalar joint, and inversion and eversion ROM of the subtalar joint was shown to be about 15° in healthy subjects. Diagnostic, Level IV.

Joint Stochastic Inversion of Pre-Stack 3D Seismic Data and Well Logs for High Resolution Hydrocarbon Reservoir Characterization

NASA Astrophysics Data System (ADS)

Torres-Verdin, C.

2007-05-01

This paper describes the successful implementation of a new 3D AVA stochastic inversion algorithm to quantitatively integrate pre-stack seismic amplitude data and well logs. The stochastic inversion algorithm is used to characterize flow units of a deepwater reservoir located in the central Gulf of Mexico. Conventional fluid/lithology sensitivity analysis indicates that the shale/sand interface represented by the top of the hydrocarbon-bearing turbidite deposits generates typical Class III AVA responses. On the other hand, layer- dependent Biot-Gassmann analysis shows significant sensitivity of the P-wave velocity and density to fluid substitution. Accordingly, AVA stochastic inversion, which combines the advantages of AVA analysis with those of geostatistical inversion, provided quantitative information about the lateral continuity of the turbidite reservoirs based on the interpretation of inverted acoustic properties (P-velocity, S-velocity, density), and lithotype (sand- shale) distributions. The quantitative use of rock/fluid information through AVA seismic amplitude data, coupled with the implementation of co-simulation via lithotype-dependent multidimensional joint probability distributions of acoustic/petrophysical properties, yields accurate 3D models of petrophysical properties such as porosity and permeability. Finally, by fully integrating pre-stack seismic amplitude data and well logs, the vertical resolution of inverted products is higher than that of deterministic inversions methods.

Test-retest reliability of sudden ankle inversion measurements in subjects with healthy ankle joints.

PubMed

Eechaute, Christophe; Vaes, Peter; Duquet, William; Van Gheluwe, Bart

2007-01-01

Sudden ankle inversion tests have been used to investigate whether the onset of peroneal muscle activity is delayed in patients with chronically unstable ankle joints. Before interpreting test results of latency times in patients with chronic ankle instability and healthy subjects, the reliability of these measures must be first demonstrated. To investigate the test-retest reliability of variables measured during a sudden ankle inversion movement in standing subjects with healthy ankle joints. Validation study. Research laboratory. 15 subjects with healthy ankle joints (30 ankles). Subjects stood on an ankle inversion platform with both feet tightly fixed to independently moveable trapdoors. An unexpected sudden ankle inversion of 50 degrees was imposed. We measured latency and motor response times and electromechanical delay of the peroneus longus muscle, along with the time and angular position of the first and second decelerating moments, the mean and maximum inversion speed, and the total inversion time. Correlation coefficients and standard error of measurements were calculated. Intraclass correlation coefficients ranged from 0.17 for the electromechanical delay of the peroneus longus muscle (standard error of measurement = 2.7 milliseconds) to 0.89 for the maximum inversion speed (standard error of measurement = 34.8 milliseconds). The reliability of the latency and motor response times of the peroneus longus muscle, the time of the first and second decelerating moments, and the mean and maximum inversion speed was acceptable in subjects with healthy ankle joints and supports the investigation of the reliability of these measures in subjects with chronic ankle instability. The lower reliability of the electromechanical delay of the peroneus longus muscle and the angular positions of both decelerating moments calls the use of these variables into question.

3D joint inversion of gravity-gradient and borehole gravity data

NASA Astrophysics Data System (ADS)

Geng, Meixia; Yang, Qingjie; Huang, Danian

2017-12-01

Borehole gravity is increasingly used in mineral exploration due to the advent of slim-hole gravimeters. Given the full-tensor gradiometry data available nowadays, joint inversion of surface and borehole data is a logical next step. Here, we base our inversions on cokriging, which is a geostatistical method of estimation where the error variance is minimised by applying cross-correlation between several variables. In this study, the density estimates are derived using gravity-gradient data, borehole gravity and known densities along the borehole as a secondary variable and the density as the primary variable. Cokriging is non-iterative and therefore is computationally efficient. In addition, cokriging inversion provides estimates of the error variance for each model, which allows direct assessment of the inverse model. Examples are shown involving data from a single borehole, from multiple boreholes, and combinations of borehole gravity and gravity-gradient data. The results clearly show that the depth resolution of gravity-gradient inversion can be improved significantly by including borehole data in addition to gravity-gradient data. However, the resolution of borehole data falls off rapidly as the distance between the borehole and the feature of interest increases. In the case where the borehole is far away from the target of interest, the inverted result can be improved by incorporating gravity-gradient data, especially all five independent components for inversion.

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

Assessment of ankle and hindfoot stability and joint pressures using a human cadaveric model of a large lateral talar process excision: a biomechanical study.

PubMed

Sands, Andrew; White, Charles; Blankstein, Michael; Zderic, Ivan; Wahl, Dieter; Ernst, Manuela; Windolf, Markus; Hagen, Jennifer E; Richards, R Geoff; Stoffel, Karl; Gueorguiev, Boyko

2015-03-01

Lateral talar process fragment excision may be followed by hindfoot instability and altered biomechanics. There is controversy regarding the ideal fragment size for internal fixation versus excision and a concern that excision of a large fragment may lead to significant instability. The aim of this study was to assess the effect of a simulated large lateral talar process excision on ankle and subtalar joint stability.A custom-made seesaw rig was designed to apply inversion/eversion stress loading on 7 fresh-frozen human cadaveric lower legs and investigate them in pre-excision, 5 cm and 10 cm lateral talar process fragment excision states. Anteroposterior radiographs were taken to assess ankle and subtalar joint tilt and calculate angular change from neutral hindfoot alignment to 10-kg forced inversion/eversion. Ankle joint pressures and contact areas were measured under 30-kg axial load in neutral hindfoot alignment.In comparison to the pre-excision state, no significantly different mediolateral angular change was observed in the subtalar joint after 5 and 10 cm lateral talar process fragment excision in inversion and eversion. With respect to the ankle joint, 10-cm fragment excision produced significantly bigger inversion tibiotalar tilt compared with the pre-excision state, P = .04. No significant change of the ankle joint pressure and contact area was detected after 5 and 10-cm excision in comparison with the pre-excison state.An excision of up to 10 cm of the lateral talar process does not cause a significant instability at the level of the subtalar joint but might be a destabilizing factor at the ankle joint under inversion stress. The latter could be related to extensive soft tissue dissection required for resection.

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.

Characterizing crustal and uppermost mantle anisotropy with a depth-dependent tilted hexagonally symmetric elastic tensor: theory and examples

NASA Astrophysics Data System (ADS)

Feng, L.; Xie, J.; Ritzwoller, M. H.

2017-12-01

Two major types of surface wave anisotropy are commonly observed by seismologists but are only rarely interpreted jointly: apparent radial anisotropy, which is the difference in propagation speed between horizontally and vertically polarized waves inferred from Love and Rayleigh waves, and apparent azimuthal anisotropy, which is the directional dependence of surface wave speeds (usually Rayleigh waves). We describe a method of inversion that interprets simultaneous observations of radial and azimuthal anisotropy under the assumption of a hexagonally symmetric elastic tensor with a tilted symmetry axis defined by dip and strike angles. With a full-waveform numerical solver based on the spectral element method (SEM), we verify the validity of the forward theory used for the inversion. We also present two examples, in the US and Tibet, in which we have successfully applied the tomographic method to demonstrate that the two types of apparent anisotropy can be interpreted jointly as a tilted hexagonally symmetric medium.

Efficient calculation of full waveform time domain inversion for electromagnetic problem using fictitious wave domain method and cascade decimation decomposition

NASA Astrophysics Data System (ADS)

Imamura, N.; Schultz, A.

2016-12-01

Recently, a full waveform time domain inverse solution has been developed for the magnetotelluric (MT) and controlled-source electromagnetic (CSEM) methods. The ultimate goal of this approach is to obtain a computationally tractable direct waveform joint inversion to solve simultaneously for source fields and earth conductivity structure in three and four dimensions. This is desirable on several grounds, including the improved spatial resolving power expected from use of a multitude of source illuminations, the ability to operate in areas of high levels of source signal spatial complexity, and non-stationarity. This goal would not be obtainable if one were to adopt the pure time domain solution for the inverse problem. This is particularly true for the case of MT surveys, since an enormous number of degrees of freedom are required to represent the observed MT waveforms across a large frequency bandwidth. This means that for the forward simulation, the smallest time steps should be finer than that required to represent the highest frequency, while the number of time steps should also cover the lowest frequency. This leads to a sensitivity matrix that is computationally burdensome to solve a model update. We have implemented a code that addresses this situation through the use of cascade decimation decomposition to reduce the size of the sensitivity matrix substantially, through quasi-equivalent time domain decomposition. We also use a fictitious wave domain method to speed up computation time of the forward simulation in the time domain. By combining these refinements, we have developed a full waveform joint source field/earth conductivity inverse modeling method. We found that cascade decimation speeds computations of the sensitivity matrices dramatically, keeping the solution close to that of the undecimated case. For example, for a model discretized into 2.6x105 cells, we obtain model updates in less than 1 hour on a 4U rack-mounted workgroup Linux server, which is a practical computational time for the inverse problem.

Measurement of the passive stiffness of ankle joint in 3 DOF using stewart platform type ankle foot device.

PubMed

Nomura, Kenta; Yonezawa, Teru; Mizoguchi, Hiroshi; Takemura, Hiroshi

2016-08-01

This paper presents a method to measure the passive stiffness of an ankle joint in three degrees of freedom (DOF) under two motion speeds (1 Hz and 5 degree/s) using a developed Stewart platform-type device. The developed device can reproduce input motions of the foot in 6 DOF by controlling six pneumatic linear motion actuators. We used the device to measure the passive stiffness of an ankle joint undergoing three kinds of motion, namely dorsi-plantar flexion, inversion-eversion, and adduction-abduction. The measured values of the passive stiffness of the ankle joint in dorsiflexion that we obtained agreed well with that obtained in a previous study, indicating that the developed device is useful for measuring the passive stiffness of ankle joint. In addition, the developed device can be used to measure the stiffness in inversion-eversion and adduction-abduction motions as well, parameters that have never been measured. The results we obtained demonstrated certain interesting features as we varied both the direction and pace of motion (e.g., there were significant differences in the stiffness not only between adduction and abduction during the faster pace, but also between these and the other motions).

Joint inversion of crosshole GPR and temporal moments of tracer data for improved estimation of hydraulic conductivity at the aquifer scale

NASA Astrophysics Data System (ADS)

Lochbühler, T.; Linde, N.

2012-04-01

Geophysical methods are widely used for aquifer characterization, but they usually fail to directly provide models of hydraulic conductivity. Here, a method is presented to jointly invert crosshole ground-penetrating radar (GPR) travel times and hydrological data to estimate the 2-D distribution of both GPR velocities and hydraulic conductivities. The hydrological data are the first temporal moments of tracer breakthrough curves measured at different depths (i.e., the mean arrival times of the tracer at the given locations). Structural resemblance between the geophysical and the hydrological model is enforced by strongly penalizing models for which the cross products of the model gradients are non-zero. The proposed method was first tested on a synthetic categorical facies model. The high resolution of the GPR velocity model markedly improves the hydraulic conductivity model by adding small-scale structures that remain unresolved by the individual inversion of the hydrological data. The method was then applied to field data acquired within a gravel aquifer located close to the Thur River, northeastern Switzerland. The hydrological data used were derived from transfer functions obtained by deconvolving groundwater electrical conductivity time series with electrical conductivity variations of the river water. These data were recorded over several years at three depth levels in three boreholes aligned along the main groundwater flow direction. The transfer functions are interpreted as breakthrough curves of a pulse injection in the river from which we retrieve the first temporal moments. These data were complemented with crosshole GPR data acquired between the three boreholes. Both the individual and joint inversion models provide a smooth hydraulic conductivity model that retrieves the same general trend as EM flowmeter data, but does not resolve small-scale variability.

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.

Joint design of large-tip-angle parallel RF pulses and blipped gradient trajectories.

PubMed

Cao, Zhipeng; Donahue, Manus J; Ma, Jun; Grissom, William A

2016-03-01

To design multichannel large-tip-angle kT-points and spokes radiofrequency (RF) pulses and gradient waveforms for transmit field inhomogeneity compensation in high field magnetic resonance imaging. An algorithm to design RF subpulse weights and gradient blip areas is proposed to minimize a magnitude least-squares cost function that measures the difference between realized and desired state parameters in the spin domain, and penalizes integrated RF power. The minimization problem is solved iteratively with interleaved target phase updates, RF subpulse weights updates using the conjugate gradient method with optimal control-based derivatives, and gradient blip area updates using the conjugate gradient method. Two-channel parallel transmit simulations and experiments were conducted in phantoms and human subjects at 7 T to demonstrate the method and compare it to small-tip-angle-designed pulses and circularly polarized excitations. The proposed algorithm designed more homogeneous and accurate 180° inversion and refocusing pulses than other methods. It also designed large-tip-angle pulses on multiple frequency bands with independent and joint phase relaxation. Pulses designed by the method improved specificity and contrast-to-noise ratio in a finger-tapping spin echo blood oxygen level dependent functional magnetic resonance imaging study, compared with circularly polarized mode refocusing. A joint RF and gradient waveform design algorithm was proposed and validated to improve large-tip-angle inversion and refocusing at ultrahigh field. © 2015 Wiley Periodicals, Inc.

Determining Crust and Upper Mantle Structure by Bayesian Joint Inversion of Receiver Functions and Surface Wave Dispersion at a Single Station: Preparation for Data from the InSight Mission

NASA Astrophysics Data System (ADS)

Jia, M.; Panning, M. P.; Lekic, V.; Gao, C.

2017-12-01

The InSight (Interior Exploration using Seismic Investigations, Geodesy and Heat Transport) mission will deploy a geophysical station on Mars in 2018. Using seismology to explore the interior structure of the Mars is one of the main targets, and as part of the mission, we will use 3-component seismic data to constrain the crust and upper mantle structure including P and S wave velocities and densities underneath the station. We will apply a reversible jump Markov chain Monte Carlo algorithm in the transdimensional hierarchical Bayesian inversion framework, in which the number of parameters in the model space and the noise level of the observed data are also treated as unknowns in the inversion process. Bayesian based methods produce an ensemble of models which can be analyzed to quantify uncertainties and trade-offs of the model parameters. In order to get better resolution, we will simultaneously invert three different types of seismic data: receiver functions, surface wave dispersion (SWD), and ZH ratios. Because the InSight mission will only deliver a single seismic station to Mars, and both the source location and the interior structure will be unknown, we will jointly invert the ray parameter in our approach. In preparation for this work, we first verify our approach by using a set of synthetic data. We find that SWD can constrain the absolute value of velocities while receiver functions constrain the discontinuities. By joint inversion, the velocity structure in the crust and upper mantle is well recovered. Then, we apply our approach to real data from an earth-based seismic station BFO located in Black Forest Observatory in Germany, as already used in a demonstration study for single station location methods. From the comparison of the results, our hierarchical treatment shows its advantage over the conventional method in which the noise level of observed data is fixed as a prior.

Seismic tomography of northeastern Tibetan Plateau from body wave arrival times and surface wave dispersion data

NASA Astrophysics Data System (ADS)

Fang, H.; Yao, H.; Zhang, H.

2017-12-01

Reliable crustal and upper mantle structure is important to understand expansion of material from the Tibetan plateau to its northeastern margin. Previous studies have used either ambient noise tomography or body wave traveltime tomography to obtain the crustal velocity models in northeastern Tibetan Plateau. However, clear differences appear in these models obtained using different datasets. Here we propose to jointly invert local and teleseismic body wave arrival times and surface wave dispersion data from ambient noise cross correlation to obtain a unified P and S wavespeed model of the crust and upper mantle in NE Tibetan Plateau. Following Fang et al. (2016), we adopt the direct inversion strategy for surface wave data (Fang et al., 2015), which eliminates the need to construct the phase/group velocity maps and allows the straightforward incorporation of surface wave dispersion data into the body wave inversion framework. For body wave data including both local and teleseismic arrival times, we use the fast marching method (Rawlinson et al., 2004) in order to trace multiple seismic phases simultaneously. The joint inversion method takes advantage of the complementary strengths of different data types, with local body wave data constraining more on the P than S wavespeed in the crust, surface wave data most sensitive to S wavespeed in the crust and upper mantle, teleseismic body wave data resolving the upper mantle structure. A series of synthetic tests will be used to show the robustness and superiority of the joint inversion method. Besides, the inverted model will be validated by waveform simulation and comparison with other studies, like receiver function imaging. The resultant P and S wavespeed models, as well as the derived Vp/Vs model, will be essential to understand the regional tectonics of the northeastern Tibetan Plateau, and to address the related geodynamic questions of the Tibetan Plateau formation and expansion.

Delineation of sediments below flood basalts by joint inversion of seismic and magnetotelluric data

NASA Astrophysics Data System (ADS)

Manglik, A.; Verma, Saurabh K.

A one-dimensional joint-inversion (JI) scheme considering seismic reflection and refraction, and MT data is developed. Its efficacy to resolve low velocity conducting sediments below high velocity resistive flood basalts is tested for a representative geological model considering noisy, incomplete data. The JI is found to provide improved results in comparison to those obtained by individual seismic and MT inversions.

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

NASA Astrophysics Data System (ADS)

Yi, Seung-Jong

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

Estimating the periodic components of a biomedical signal through inverse problem modelling and Bayesian inference with sparsity enforcing prior

NASA Astrophysics Data System (ADS)

Dumitru, Mircea; Djafari, Ali-Mohammad

2015-01-01

The recent developments in chronobiology need a periodic components variation analysis for the signals expressing the biological rhythms. A precise estimation of the periodic components vector is required. The classical approaches, based on FFT methods, are inefficient considering the particularities of the data (short length). In this paper we propose a new method, using the sparsity prior information (reduced number of non-zero values components). The considered law is the Student-t distribution, viewed as a marginal distribution of a Infinite Gaussian Scale Mixture (IGSM) defined via a hidden variable representing the inverse variances and modelled as a Gamma Distribution. The hyperparameters are modelled using the conjugate priors, i.e. using Inverse Gamma Distributions. The expression of the joint posterior law of the unknown periodic components vector, hidden variables and hyperparameters is obtained and then the unknowns are estimated via Joint Maximum A Posteriori (JMAP) and Posterior Mean (PM). For the PM estimator, the expression of the posterior law is approximated by a separable one, via the Bayesian Variational Approximation (BVA), using the Kullback-Leibler (KL) divergence. Finally we show the results on synthetic data in cancer treatment applications.

Comparative evaluation between anatomic and non-anatomic lateral ligament reconstruction techniques in the ankle joint: A computational study.

PubMed

Purevsuren, Tserenchimed; Batbaatar, Myagmarbayar; Khuyagbaatar, Batbayar; Kim, Kyungsoo; Kim, Yoon Hyuk

2018-03-12

Biomechanical studies have indicated that the conventional non-anatomic reconstruction techniques for lateral ankle sprain (LAS) tend to restrict subtalar joint motion compared to intact ankle joints. Excessive restriction in subtalar motion may lead to chronic pain, functional difficulties, and development of osteoarthritis. Therefore, various anatomic surgical techniques to reconstruct both the anterior talofibular and calcaneofibular ligaments have been introduced. In this study, ankle joint stability was evaluated using multibody computational ankle joint model to assess two new anatomic reconstruction and three popular non-anatomic reconstruction techniques. An LAS injury, three popular non-anatomic reconstruction models (Watson-Jones, Evans, and Chrisman-Snook), and two common types of anatomic reconstruction models were developed based on the intact ankle model. The stability of ankle in both talocrural and subtalar joint were evaluated under anterior drawer test (150 N anterior force), inversion test (3 Nm inversion moment), internal rotational test (3 Nm internal rotation moment), and the combined loading test (9 Nm inversion and internal moment as well as 1800 N compressive force). Our overall results show that the two anatomic reconstruction techniques were superior to the non-anatomic reconstruction techniques in stabilizing both talocrural and subtalar joints. Restricted subtalar joint motion, which mainly observed in Watson-Jones and Chrisman-Snook techniques, was not shown in the anatomical reconstructions. Evans technique was beneficial for subtalar joint as it does not restrict subtalar motion, though Evans technique was insufficient for restoring talocrural joint inversion. The anatomical reconstruction techniques best recovered ankle stability.

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.

Trans-dimensional and hierarchical Bayesian approaches toward rigorous estimation of seismic sources and structures in the Northeast Asia

NASA Astrophysics Data System (ADS)

Kim, Seongryong; Tkalčić, Hrvoje; Mustać, Marija; Rhie, Junkee; Ford, Sean

2016-04-01

A framework is presented within which we provide rigorous estimations for seismic sources and structures in the Northeast Asia. We use Bayesian inversion methods, which enable statistical estimations of models and their uncertainties based on data information. Ambiguities in error statistics and model parameterizations are addressed by hierarchical and trans-dimensional (trans-D) techniques, which can be inherently implemented in the Bayesian inversions. Hence reliable estimation of model parameters and their uncertainties is possible, thus avoiding arbitrary regularizations and parameterizations. Hierarchical and trans-D inversions are performed to develop a three-dimensional velocity model using ambient noise data. To further improve the model, we perform joint inversions with receiver function data using a newly developed Bayesian method. For the source estimation, a novel moment tensor inversion method is presented and applied to regional waveform data of the North Korean nuclear explosion tests. By the combination of new Bayesian techniques and the structural model, coupled with meaningful uncertainties related to each of the processes, more quantitative monitoring and discrimination of seismic events is possible.

The in situ force in the calcaneofibular ligament and the contribution of this ligament to ankle joint stability.

PubMed

Kobayashi, Takuma; Yamakawa, Satoshi; Watanabe, Kota; Kimura, Kei; Suzuki, Daisuke; Otsubo, Hidenori; Teramoto, Atsushi; Fujimiya, Mineko; Fujie, Hiromichi; Yamashita, Toshihiko

2016-12-01

Numerous biomechanical studies of the lateral ankle ligaments have been reported; however, the isolated function of the calcaneofibular ligament has not been clarified. We hypothesize that the calcaneofibular ligament would stabilize the ankle joint complex under multidirectional loading, and that the in situ force in the calcaneofibular ligament would change in each flexed position. Using seven fresh frozen cadaveric lower extremities, the motions and forces of the intact ankle under multidirectional loading were recorded using a 6-degree-of-freedom robotic system. On repeating these intact ankle joint complex motions after the calcaneofibular ligament transection, the in situ force in the calcaneofibular ligament and the contribution of the calcaneofibular ligament to ankle joint complex stability were calculated. Finally, the motions of the calcaneofibular ligament-transected ankle joint complex were recorded. Under an inversion load, significant increases of inversion angle were observed in all the flexed positions following calcaneofibular ligament transection, and the calcaneofibular ligament accounted for 50%-70% of ankle joint complex stability during inversion. The in situ forces in the calcaneofibular ligament under an anterior force, inversion moment, and external rotation moment were larger in the dorsiflexed position than in the plantarflexed position. The calcaneofibular ligament plays a role in stabilizing the ankle joint complex to multidirectional loads and the role differs with load directions. The in situ force of the calcaneofibular ligament is larger at the dorsiflexed position. This ligament provides the primary restraint to the inversion ankle stability. Copyright © 2016 Elsevier Ltd. All rights reserved.

Nonsteady Problem for an Elastic Half-Plane with Mixed Boundary Conditions

NASA Astrophysics Data System (ADS)

Kubenko, V. D.

2016-03-01

An approach to studying nonstationary wave processes in an elastic half-plane with mixed boundary conditions of the fourth boundary-value problem of elasticity is proposed. The Laplace and Fourier transforms are used. The sequential inversion of these transforms or the inversion of the joint transform by the Cagniard method allows obtaining the required solution (stresses, displacements) in a closed analytic form. With this approach, the problem can be solved for various types of loads

Receiver function HV ratio: a new measurement for reducing non-uniqueness of receiver function waveform inversion

NASA Astrophysics Data System (ADS)

Chong, Jiajun; Chu, Risheng; Ni, Sidao; Meng, Qingjun; Guo, Aizhi

2018-02-01

It is known that a receiver function has relatively weak constraint on absolute seismic wave velocity, and that joint inversion of the receiver function with surface wave dispersion has been widely applied to reduce the trade-off of velocity with interface depth. However, some studies indicate that the receiver function itself is capable for determining the absolute shear-wave velocity. In this study, we propose to measure the receiver function HV ratio which takes advantage of the amplitude information of the receiver function to constrain the shear-wave velocity. Numerical analysis indicates that the receiver function HV ratio is sensitive to the average shear-wave velocity in the depth range it samples, and can help to reduce the non-uniqueness of receiver function waveform inversion. A joint inversion scheme has been developed, and both synthetic tests and real data application proved the feasibility of the joint inversion.

Medial joint line bone bruising at MRI complicating acute ankle inversion injury: what is its clinical significance?

PubMed

Chan, V O; Moran, D E; Shine, S; Eustace, S J

2013-10-01

To assess the incidence and clinical significance of medial joint line bone bruising following acute ankle inversion injury. Forty-five patients who underwent ankle magnetic resonance imaging (MRI) within 2 weeks of acute ankle inversion injury were included in this prospective study. Integrity of the lateral collateral ligament complex, presence of medial joint line bone bruising, tibio-talar joint effusion, and soft-tissue swelling were documented. Clinical follow-up at 6 months was carried out to determine the impact of injury on length of time out of work, delay in return to normal walking, delay in return to sports activity, and persistence of medial joint line pain. Thirty-seven patients had tears of the anterior talofibular ligament (ATFL). Twenty-six patients had medial joint line bone bruising with altered marrow signal at the medial aspect of the talus and congruent surface of the medial malleolus. A complete ATFL tear was seen in 92% of the patients with medial joint line bone bruising (p = 0.05). Patients with an ATFL tear and medial joint line bone bruising had a longer delay in return to normal walking (p = 0.0002), longer delay in return to sports activity (p = 0.0001), and persistent medial joint line pain (p = 0.0003). There was no statistically significant difference in outcome for the eight patients without ATFL tears. Medial joint line bone bruising following an acute ankle inversion injury was significantly associated with a complete ATFL tear, longer delay in the return to normal walking and sports activity, as well as persistent medial joint line pain. Its presence should prompt detailed assessment of the lateral collateral ligament complex, particularly the ATFL. Copyright © 2013 The Royal College of Radiologists. Published by Elsevier Ltd. All rights reserved.

Model based approach to UXO imaging using the time domain electromagnetic method

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

Lavely, E.M.

1999-04-01

Time domain electromagnetic (TDEM) sensors have emerged as a field-worthy technology for UXO detection in a variety of geological and environmental settings. This success has been achieved with commercial equipment that was not optimized for UXO detection and discrimination. The TDEM response displays a rich spatial and temporal behavior which is not currently utilized. Therefore, in this paper the author describes a research program for enhancing the effectiveness of the TDEM method for UXO detection and imaging. Fundamental research is required in at least three major areas: (a) model based imaging capability i.e. the forward and inverse problem, (b) detectormore » modeling and instrument design, and (c) target recognition and discrimination algorithms. These research problems are coupled and demand a unified treatment. For example: (1) the inverse solution depends on solution of the forward problem and knowledge of the instrument response; (2) instrument design with improved diagnostic power requires forward and inverse modeling capability; and (3) improved target recognition algorithms (such as neural nets) must be trained with data collected from the new instrument and with synthetic data computed using the forward model. Further, the design of the appropriate input and output layers of the net will be informed by the results of the forward and inverse modeling. A more fully developed model of the TDEM response would enable the joint inversion of data collected from multiple sensors (e.g., TDEM sensors and magnetometers). Finally, the author suggests that a complementary approach to joint inversions is the statistical recombination of data using principal component analysis. The decomposition into principal components is useful since the first principal component contains those features that are most strongly correlated from image to image.« less

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 serial manipulators, its advantage is more noteworthy when applied to parallel systems. An approach of inverse dynamics of a walking machine is also developed, which includes inverse dynamic modeling, foot force distribution, and joint force/torque allocation.

Inferior olive mirrors joint dynamics to implement an inverse controller.

PubMed

Alvarez-Icaza, Rodrigo; Boahen, Kwabena

2012-10-01

To produce smooth and coordinated motion, our nervous systems need to generate precisely timed muscle activation patterns that, due to axonal conduction delay, must be generated in a predictive and feedforward manner. Kawato proposed that the cerebellum accomplishes this by acting as an inverse controller that modulates descending motor commands to predictively drive the spinal cord such that the musculoskeletal dynamics are canceled out. This and other cerebellar theories do not, however, account for the rich biophysical properties expressed by the olivocerebellar complex's various cell types, making these theories difficult to verify experimentally. Here we propose that a multizonal microcomplex's (MZMC) inferior olivary neurons use their subthreshold oscillations to mirror a musculoskeletal joint's underdamped dynamics, thereby achieving inverse control. We used control theory to map a joint's inverse model onto an MZMC's biophysics, and we used biophysical modeling to confirm that inferior olivary neurons can express the dynamics required to mirror biomechanical joints. We then combined both techniques to predict how experimentally injecting current into the inferior olive would affect overall motor output performance. We found that this experimental manipulation unmasked a joint's natural dynamics, as observed by motor output ringing at the joint's natural frequency, with amplitude proportional to the amount of current. These results support the proposal that the cerebellum-in particular an MZMC-is an inverse controller; the results also provide a biophysical implementation for this controller and allow one to make an experimentally testable prediction.

Escript: Open Source Environment For Solving Large-Scale Geophysical Joint Inversion Problems in Python

NASA Astrophysics Data System (ADS)

Gross, Lutz; Altinay, Cihan; Fenwick, Joel; Smith, Troy

2014-05-01

The program package escript has been designed for solving mathematical modeling problems using python, see Gross et al. (2013). Its development and maintenance has been funded by the Australian Commonwealth to provide open source software infrastructure for the Australian Earth Science community (recent funding by the Australian Geophysical Observing System EIF (AGOS) and the AuScope Collaborative Research Infrastructure Scheme (CRIS)). The key concepts of escript are based on the terminology of spatial functions and partial differential equations (PDEs) - an approach providing abstraction from the underlying spatial discretization method (i.e. the finite element method (FEM)). This feature presents a programming environment to the user which is easy to use even for complex models. Due to the fact that implementations are independent from data structures simulations are easily portable across desktop computers and scalable compute clusters without modifications to the program code. escript has been successfully applied in a variety of applications including modeling mantel convection, melting processes, volcanic flow, earthquakes, faulting, multi-phase flow, block caving and mineralization (see Poulet et al. 2013). The recent escript release (see Gross et al. (2013)) provides an open framework for solving joint inversion problems for geophysical data sets (potential field, seismic and electro-magnetic). The strategy bases on the idea to formulate the inversion problem as an optimization problem with PDE constraints where the cost function is defined by the data defect and the regularization term for the rock properties, see Gross & Kemp (2013). This approach of first-optimize-then-discretize avoids the assemblage of the - in general- dense sensitivity matrix as used in conventional approaches where discrete programming techniques are applied to the discretized problem (first-discretize-then-optimize). In this paper we will discuss the mathematical framework for inversion and appropriate solution schemes in escript. We will also give a brief introduction into escript's open framework for defining and solving geophysical inversion problems. Finally we will show some benchmark results to demonstrate the computational scalability of the inversion method across a large number of cores and compute nodes in a parallel computing environment. References: - L. Gross et al. (2013): Escript Solving Partial Differential Equations in Python Version 3.4, The University of Queensland, https://launchpad.net/escript-finley - L. Gross and C. Kemp (2013) Large Scale Joint Inversion of Geophysical Data using the Finite Element Method in escript. ASEG Extended Abstracts 2013, http://dx.doi.org/10.1071/ASEG2013ab306 - T. Poulet, L. Gross, D. Georgiev, J. Cleverley (2012): escript-RT: Reactive transport simulation in Python using escript, Computers & Geosciences, Volume 45, 168-176. http://dx.doi.org/10.1016/j.cageo.2011.11.005.

Unusual exostosis formation of the subtalar joint following an inversion ankle injury.

PubMed

Cisco, R W; Shaffer, M; Kuchler, L

1993-01-01

Exostosis formation following trauma isnot uncommon to the joints of the foot and ankle. The etiology and treatment of these boney lesions is well-documented in the literature. The following is a report of an unusual exostosis of the subtalar joint following inversion ankle injury. This case is unusual in respect to the formation of an adventitious articulation, the size of the lesion, and the pathology.

Trajectory Correction and Locomotion Analysis of a Hexapod Walking Robot with Semi-Round Rigid Feet

PubMed Central

Zhu, Yaguang; Jin, Bo; Wu, Yongsheng; Guo, Tong; Zhao, Xiangmo

2016-01-01

Aimed at solving the misplaced body trajectory problem caused by the rolling of semi-round rigid feet when a robot is walking, a legged kinematic trajectory correction methodology based on the Least Squares Support Vector Machine (LS-SVM) is proposed. The concept of ideal foothold is put forward for the three-dimensional kinematic model modification of a robot leg, and the deviation value between the ideal foothold and real foothold is analyzed. The forward/inverse kinematic solutions between the ideal foothold and joint angular vectors are formulated and the problem of direct/inverse kinematic nonlinear mapping is solved by using the LS-SVM. Compared with the previous approximation method, this correction methodology has better accuracy and faster calculation speed with regards to inverse kinematics solutions. Experiments on a leg platform and a hexapod walking robot are conducted with multi-sensors for the analysis of foot tip trajectory, base joint vibration, contact force impact, direction deviation, and power consumption, respectively. The comparative analysis shows that the trajectory correction methodology can effectively correct the joint trajectory, thus eliminating the contact force influence of semi-round rigid feet, significantly improving the locomotion of the walking robot and reducing the total power consumption of the system. PMID:27589766

Joint maximum-likelihood magnitudes of presumed underground nuclear test explosions

NASA Astrophysics Data System (ADS)

Peacock, Sheila; Douglas, Alan; Bowers, David

2017-08-01

Body-wave magnitudes (mb) of 606 seismic disturbances caused by presumed underground nuclear test explosions at specific test sites between 1964 and 1996 have been derived from station amplitudes collected by the International Seismological Centre (ISC), by a joint inversion for mb and station-specific magnitude corrections. A maximum-likelihood method was used to reduce the upward bias of network mean magnitudes caused by data censoring, where arrivals at stations that do not report arrivals are assumed to be hidden by the ambient noise at the time. Threshold noise levels at each station were derived from the ISC amplitudes using the method of Kelly and Lacoss, which fits to the observed magnitude-frequency distribution a Gutenberg-Richter exponential decay truncated at low magnitudes by an error function representing the low-magnitude threshold of the station. The joint maximum-likelihood inversion is applied to arrivals from the sites: Semipalatinsk (Kazakhstan) and Novaya Zemlya, former Soviet Union; Singer (Lop Nor), China; Mururoa and Fangataufa, French Polynesia; and Nevada, USA. At sites where eight or more arrivals could be used to derive magnitudes and station terms for 25 or more explosions (Nevada, Semipalatinsk and Mururoa), the resulting magnitudes and station terms were fixed and a second inversion carried out to derive magnitudes for additional explosions with three or more arrivals. 93 more magnitudes were thus derived. During processing for station thresholds, many stations were rejected for sparsity of data, obvious errors in reported amplitude, or great departure of the reported amplitude-frequency distribution from the expected left-truncated exponential decay. Abrupt changes in monthly mean amplitude at a station apparently coincide with changes in recording equipment and/or analysis method at the station.

A comparison of subtalar joint motion during anticipated medial cutting turns and level walking using a multi-segment foot model.

PubMed

Jenkyn, T R; Shultz, R; Giffin, J R; Birmingham, T B

2010-02-01

The weight-bearing in-vivo kinematics and kinetics of the talocrural joint, subtalar joint and joints of the foot were quantified using optical motion analysis. Twelve healthy subjects were studied during level walking and anticipated medial turns at self-selected pace. A multi-segment model of the foot using skin-mounted marker triads tracked four foot segments: the hindfoot, midfoot, lateral and medial forefoot. The lower leg and thigh were also tracked. Motion between each of the segments could occur in three degrees of rotational freedom, but only six inter-segmental motions were reported in this study: (1) talocrural dorsi-plantar-flexion, (2) subtalar inversion-eversion, (3) frontal plane hindfoot motion, (4) transverse plane hindfoot motion, (5) forefoot supination-pronation twisting and (6) the height-to-length ratio of the medial longitudinal arch. The motion at the subtalar joint during stance phase of walking (eversion then inversion) was reversed during a turning task (inversion then eversion). The external subtalar joint moment was also changed from a moderate eversion moment during walking to a larger inversion moment during the turn. The kinematics of the talocrural joint and the joints of the foot were similar between these two tasks. During a medial turn, the subtalar joint may act to maintain the motions in the foot and talocrural joint that occur during level walking. This is occurring despite the conspicuously different trajectory of the centre of mass of the body. This may allow the foot complex to maintain its function of energy absorption followed by energy return during stance phase that is best suited to level walking. Copyright 2009 Elsevier B.V. All rights reserved.

A Bayesian inversion for slip distribution of 1 Apr 2007 Mw8.1 Solomon Islands Earthquake

NASA Astrophysics Data System (ADS)

Chen, T.; Luo, H.

2013-12-01

On 1 Apr 2007 the megathrust Mw8.1 Solomon Islands earthquake occurred in the southeast pacific along the New Britain subduction zone. 102 vertical displacement measurements over the southeastern end of the rupture zone from two field surveys after this event provide a unique constraint for slip distribution inversion. In conventional inversion method (such as bounded variable least squares) the smoothing parameter that determines the relative weight placed on fitting the data versus smoothing the slip distribution is often subjectively selected at the bend of the trade-off curve. Here a fully probabilistic inversion method[Fukuda,2008] is applied to estimate distributed slip and smoothing parameter objectively. The joint posterior probability density function of distributed slip and the smoothing parameter is formulated under a Bayesian framework and sampled with Markov chain Monte Carlo method. We estimate the spatial distribution of dip slip associated with the 1 Apr 2007 Solomon Islands earthquake with this method. Early results show a shallower dip angle than previous study and highly variable dip slip both along-strike and down-dip.

An optimal resolved rate law for kindematically 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 was found to cause large joint rates in some case. 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 nonplanar manipulators.

Effective CO2 sequestration monitoring using joint inversion result of seismic and electromagnetic data

NASA Astrophysics Data System (ADS)

Noh, K.; Jeong, S.; Seol, S. J.; Byun, J.; Kwon, T.

2015-12-01

Man-made carbon dioxide (CO2) released into the atmosphere is a significant contributor to the greenhouse gas effect and related global warming. Sequestration of CO2 into saline aquifers has been proposed as one of the most practical options of all geological sequestration possibilities. During CO2 geological sequestration, monitoring is indispensable to delineate the change of CO2 saturation and migration of CO2 in the subsurface. Especially, monitoring of CO2 saturation in aquifers provides useful information for determining amount of injected CO2. Seismic inversion can provide the migration of CO2 plume with high resolution because velocity is reduced when CO2 replaces the pore fluid during CO2 injection. However, the estimation of CO2 saturation using the seismic method is difficult due to the lower sensitivity of the velocity to the saturation when the CO2 saturation up to 20%. On the other hand, marine controlled-source EM (mCSEM) inversion is sensitive to the resistivity changes resulting from variations in CO2 saturation, even though it has poor resolution than seismic method. In this study, we proposed an effective CO2 sequestration monitoring method using joint inversion of seismic and mCSEM data based on a cross-gradient constraint. The method was tested with realistic CO2 injection models in a deep brine aquifer beneath a shallow sea which is selected with consideration for the access convenience for the installation of source and receiver and an environmental safety. Resistivity images of CO2 plume by the proposed method for different CO2 injection stages have been significantly improved over those obtained from individual EM inversion. In addition, we could estimate a reliable CO2 saturation by rock physics model (RPM) using the P-wave velocity and the improved resistivity. The proposed method is a basis of three-dimensional estimation of reservoir parameters such as porosity and fluid saturation, and the method can be also applied for detecting a reservoir and calculating the accurate oil and gas reserves.

A Bayesian trans-dimensional approach for the fusion of multiple geophysical datasets

NASA Astrophysics Data System (ADS)

JafarGandomi, Arash; Binley, Andrew

2013-09-01

We propose a Bayesian fusion approach to integrate multiple geophysical datasets with different coverage and sensitivity. The fusion strategy is based on the capability of various geophysical methods to provide enough resolution to identify either subsurface material parameters or subsurface structure, or both. We focus on electrical resistivity as the target material parameter and electrical resistivity tomography (ERT), electromagnetic induction (EMI), and ground penetrating radar (GPR) as the set of geophysical methods. However, extending the approach to different sets of geophysical parameters and methods is straightforward. Different geophysical datasets are entered into a trans-dimensional Markov chain Monte Carlo (McMC) search-based joint inversion algorithm. The trans-dimensional property of the McMC algorithm allows dynamic parameterisation of the model space, which in turn helps to avoid bias of the post-inversion results towards a particular model. Given that we are attempting to develop an approach that has practical potential, we discretize the subsurface into an array of one-dimensional earth-models. Accordingly, the ERT data that are collected by using two-dimensional acquisition geometry are re-casted to a set of equivalent vertical electric soundings. Different data are inverted either individually or jointly to estimate one-dimensional subsurface models at discrete locations. We use Shannon's information measure to quantify the information obtained from the inversion of different combinations of geophysical datasets. Information from multiple methods is brought together via introducing joint likelihood function and/or constraining the prior information. A Bayesian maximum entropy approach is used for spatial fusion of spatially dispersed estimated one-dimensional models and mapping of the target parameter. We illustrate the approach with a synthetic dataset and then apply it to a field dataset. We show that the proposed fusion strategy is successful not only in enhancing the subsurface information but also as a survey design tool to identify the appropriate combination of the geophysical tools and show whether application of an individual method for further investigation of a specific site is beneficial.

A Study of H-Reflexes in Subjects with Acute Ankle Inversion Injuries

DTIC Science & Technology

1996-12-09

stress to the injured ankle at heel- strike .(57) Any increased inversion stress by way of joint loading in the presence of compromised joint...the present study, may play a role in decreasing the degree of calcaneal inversion just prior to heel- strike and minimize the stress on the lateral...Presentation: * Significant edema/ecchymosis on lateral and medial aspects of ankle. * Possible pitting edema on forefoot (several days post- injury

MRI assessment of bone marrow oedema in the sacroiliac joints of patients with spondyloarthritis: is the SPAIR T2w technique comparable to STIR?

PubMed

Dalto, Vitor Faeda; Assad, Rodrigo Luppino; Crema, Michel Daoud; Louzada-Junior, Paulo; Nogueira-Barbosa, Marcello Henrique

2017-09-01

To compare short tau inversion-recovery (STIR) with another fat saturation method in the assessment of sacroiliac joint inflammation. This prospective cross-sectional study comprised 76 spondyloarthritis (SpA) patients who underwent magnetic resonance imaging of the sacroiliac joints in a 1.5-T scanner, using STIR, spectral attenuated inversion recovery (SPAIR) T2w and spectral presaturation with inversion recovery (SPIR) T1w post-contrast sequences. Two independent readers (R1 and R2) assessed the images using the Spondyloarthritis Research Consortium of Canada (SPARCC) score. We assessed agreement of the SPARCC scores for SPAIR T2w and STIR with that for T1 SPIR post-contrast (reference standard) using the St. Laurent coefficient. We evaluated each sequence using the concordance correlation coefficient (CCC). We observed a strong agreement between STIR and SPAIR T2w sequences. Lin's CCC was 0.94 for R1 and 0.84 for R2 for STIR and 0.94 for R1 and 0.84 for R2 for SPAIR. The interobserver evaluation revealed a good CCC of 0.79 for SPAIR and 0.78 for STIR. STIR technique and SPAIR T2w sequence showed high agreement in the evaluation of sacroiliac joint subchondral bone marrow oedema in patients with SpA. SPAIR T2w may be an alternative to the STIR sequence for this purpose. • There are no studies evaluating which fat saturation technique should be used. • SPAIR T2w may be an alternative to STIR for sacroiliac joint evaluation. • The study will lead to changes in guidelines for spondyloarthritis.

Cryotherapy does not affect peroneal reaction following sudden inversion.

PubMed

Berg, Christine L; Hart, Joseph M; Palmieri-Smith, Riann; Cross, Kevin M; Ingersoll, Christopher D

2007-11-01

If ankle joint cryotherapy impairs the ability of the ankle musculature to counteract potentially injurious forces, the ankle is left vulnerable to injury. To compare peroneal reaction to sudden inversion following ankle joint cryotherapy. Repeated measures design with independent variables, treatment (cryotherapy and control), and time (baseline, immediately post treatment, 15 minutes post treatment, and 30 minutes post treatment). University research laboratory. Twenty-seven healthy volunteers. An ice bag was secured to the lateral ankle joint for 20 minutes. The onset and average root mean square amplitude of EMG activity in the peroneal muscles was calculated following the release of a trap door mechanism causing inversion. There was no statistically significant change from baseline for peroneal reaction time or average peroneal muscle activity at any post treatment time. Cryotherapy does not affect peroneal muscle reaction following sudden inversion perturbation.

Effects on Subtalar Joint Stress Distribution After Cannulated Screw Insertion at Different Positions and Directions.

PubMed

Yuan, Cheng-song; Chen, Wan; Chen, Chen; Yang, Guang-hua; Hu, Chao; Tang, Kang-lai

2015-01-01

We investigated the effects on subtalar joint stress distribution after cannulated screw insertion at different positions and directions. After establishing a 3-dimensional geometric model of a normal subtalar joint, we analyzed the most ideal cannulated screw insertion position and approach for subtalar joint stress distribution and compared the differences in loading stress, antirotary strength, and anti-inversion/eversion strength among lateral-medial antiparallel screw insertion, traditional screw insertion, and ideal cannulated screw insertion. The screw insertion approach allowing the most uniform subtalar joint loading stress distribution was lateral screw insertion near the border of the talar neck plus medial screw insertion close to the ankle joint. For stress distribution uniformity, antirotary strength, and anti-inversion/eversion strength, lateral-medial antiparallel screw insertion was superior to traditional double-screw insertion. Compared with ideal cannulated screw insertion, slightly poorer stress distribution uniformity and better antirotary strength and anti-inversion/eversion strength were observed for lateral-medial antiparallel screw insertion. Traditional single-screw insertion was better than double-screw insertion for stress distribution uniformity but worse for anti-rotary strength and anti-inversion/eversion strength. Lateral-medial antiparallel screw insertion was slightly worse for stress distribution uniformity than was ideal cannulated screw insertion but superior to traditional screw insertion. It was better than both ideal cannulated screw insertion and traditional screw insertion for anti-rotary strength and anti-inversion/eversion strength. Lateral-medial antiparallel screw insertion is an approach with simple localization, convenient operation, and good safety. Copyright © 2015 American College of Foot and Ankle Surgeons. Published by Elsevier Inc. All rights reserved.

Elastic robot control - Nonlinear inversion and linear stabilization

NASA Technical Reports Server (NTRS)

Singh, S. N.; Schy, A. A.

1986-01-01

An approach to the control of elastic robot systems for space applications using inversion, servocompensation, and feedback stabilization is presented. For simplicity, a robot arm (PUMA type) with three rotational joints is considered. The third link is assumed to be elastic. Using an inversion algorithm, a nonlinear decoupling control law u(d) is derived such that in the closed-loop system independent control of joint angles by the three joint torquers is accomplished. For the stabilization of elastic oscillations, a linear feedback torquer control law u(s) is obtained applying linear quadratic optimization to the linearized arm model augmented with a servocompensator about the terminal state. Simulation results show that in spite of uncertainties in the payload and vehicle angular velocity, good joint angle control and damping of elastic oscillations are obtained with the torquer control law u = u(d) + u(s).

Correlation-based regularization and gradient operators for (joint) inversion on unstructured meshes

NASA Astrophysics Data System (ADS)

Jordi, Claudio; Doetsch, Joseph; Günther, Thomas; Schmelzbach, Cedric; Robertsson, Johan

2017-04-01

When working with unstructured meshes for geophysical inversions, special attention should be paid to the design of the operators that are used for regularizing the inverse problem and coupling of different property models in joint inversions. Regularization constraints for inversions on unstructured meshes are often defined in a rather ad-hoc manner and usually only involve the cell to which the operator is applied and its direct neighbours. Similarly, most structural coupling operators for joint inversion, such as the popular cross-gradients operator, are only defined in the direct neighbourhood of a cell. As a result, the regularization and coupling length scales and strength of these operators depend on the discretization as well as cell sizes and shape. Especially for unstructured meshes, where the cell sizes vary throughout the model domain, the dependency of the operator on the discretization may lead to artefacts. Designing operators that are based on a spatial correlation model allows to define correlation length scales over which an operator acts (called footprint), reducing the dependency on the discretization and the effects of variable cell sizes. Moreover, correlation-based operators can accommodate for expected anisotropy by using different length scales in horizontal and vertical directions. Correlation-based regularization operators also known as stochastic regularization operators have already been successfully applied to inversions on regular grids. Here, we formulate stochastic operators for unstructured meshes and apply them in 2D surface and 3D cross-well electrical resistivity tomography data inversion examples of layered media. Especially for the synthetic cross-well example, improved inversion results are achieved when stochastic regularization is used instead of a classical smoothness constraint. For the case of cross-gradients operators for joint inversion, the correlation model is used to define the footprint of the operator and weigh the contributions of the property values that are used to calculate the cross-gradients. In a first series of synthetic-data tests, we examined the mesh dependency of the cross-gradients operators. Compared to operators that are only defined in the direct neighbourhood of a cell, the dependency on the cell size of the cross-gradients calculation is markedly reduced when using operators with larger footprints. A second test with synthetic models focussed on the effect of small-scale variabilities of the parameter value on the cross-gradients calculation. Small-scale variabilities that are superimposed on a global trend of the property value can potentially degrade the cross-gradients calculation and destabilize joint inversion. We observe that the cross-gradients from operators with footprints larger than the length scale of the variabilities are less affected compared to operators with a small footprint. In joint inversions on unstructured meshes, we thus expect the correlation-based coupling operators to ensure robust coupling on a physically meaningful scale.

[Influence of Restricting the Ankle Joint Complex Motions on Gait Stability of Human Body].

PubMed

Li, Yang; Zhang, Junxia; Su, Hailong; Wang, Xinting; Zhang, Yan

2016-10-01

The purpose of this study is to determine how restricting inversion-eversion and pronation-supination motions of the ankle joint complex influences the stability of human gait.The experiment was carried out on a slippery level ground walkway.Spatiotemporal gait parameter,kinematics and kinetics data as well as utilized coefficient of friction(UCOF)were compared between two conditions,i.e.with restriction of the ankle joint complex inversion-eversion and pronation-supination motions(FIXED)and without restriction(FREE).The results showed that FIXED could lead to a significant increase in velocity and stride length and an obvious decrease in double support time.Furthermore,FIXED might affect the motion angle range of knee joint and ankle joint in the sagittal plane.In FIXED condition,UCOF was significantly increased,which could lead to an increase of slip probability and a decrease of gait stability.Hence,in the design of a walker,bipedal robot or prosthetic,the structure design which is used to achieve the ankle joint complex inversion-eversion and pronation-supination motions should be implemented.

Dual Quaternions as Constraints in 4D-DPM Models for Pose Estimation.

PubMed

Martinez-Berti, Enrique; Sánchez-Salmerón, Antonio-José; Ricolfe-Viala, Carlos

2017-08-19

The goal of this research work is to improve the accuracy of human pose estimation using the Deformation Part Model (DPM) without increasing computational complexity. First, the proposed method seeks to improve pose estimation accuracy by adding the depth channel to DPM, which was formerly defined based only on red-green-blue (RGB) channels, in order to obtain a four-dimensional DPM (4D-DPM). In addition, computational complexity can be controlled by reducing the number of joints by taking it into account in a reduced 4D-DPM. Finally, complete solutions are obtained by solving the omitted joints by using inverse kinematics models. In this context, the main goal of this paper is to analyze the effect on pose estimation timing cost when using dual quaternions to solve the inverse kinematics.

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.

Comparative study of joint analysis of microarray gene expression data in survival prediction and risk assessment of breast cancer patients

PubMed Central

2016-01-01

Abstract Microarray gene expression data sets are jointly analyzed to increase statistical power. They could either be merged together or analyzed by meta-analysis. For a given ensemble of data sets, it cannot be foreseen which of these paradigms, merging or meta-analysis, works better. In this article, three joint analysis methods, Z -score normalization, ComBat and the inverse normal method (meta-analysis) were selected for survival prognosis and risk assessment of breast cancer patients. The methods were applied to eight microarray gene expression data sets, totaling 1324 patients with two clinical endpoints, overall survival and relapse-free survival. The performance derived from the joint analysis methods was evaluated using Cox regression for survival analysis and independent validation used as bias estimation. Overall, Z -score normalization had a better performance than ComBat and meta-analysis. Higher Area Under the Receiver Operating Characteristic curve and hazard ratio were also obtained when independent validation was used as bias estimation. With a lower time and memory complexity, Z -score normalization is a simple method for joint analysis of microarray gene expression data sets. The derived findings suggest further assessment of this method in future survival prediction and cancer classification applications. PMID:26504096

Improvements of Travel-time Tomography Models from Joint Inversion of Multi-channel and Wide-angle Seismic Data

NASA Astrophysics Data System (ADS)

Begović, Slaven; Ranero, César; Sallarès, Valentí; Meléndez, Adrià; Grevemeyer, Ingo

2016-04-01

Commonly multichannel seismic reflection (MCS) and wide-angle seismic (WAS) data are modeled and interpreted with different approaches. Conventional travel-time tomography models using solely WAS data lack the resolution to define the model properties and, particularly, the geometry of geologic boundaries (reflectors) with the required accuracy, specially in the shallow complex upper geological layers. We plan to mitigate this issue by combining these two different data sets, specifically taking advantage of the high redundancy of multichannel seismic (MCS) data, integrated with wide-angle seismic (WAS) data into a common inversion scheme to obtain higher-resolution velocity models (Vp), decrease Vp uncertainty and improve the geometry of reflectors. To do so, we have adapted the tomo2d and tomo3d joint refraction and reflection travel time tomography codes (Korenaga et al, 2000; Meléndez et al, 2015) to deal with streamer data and MCS acquisition geometries. The scheme results in a joint travel-time tomographic inversion based on integrated travel-time information from refracted and reflected phases from WAS data and reflected identified in the MCS common depth point (CDP) or shot gathers. To illustrate the advantages of a common inversion approach we have compared the modeling results for synthetic data sets using two different travel-time inversion strategies: We have produced seismic velocity models and reflector geometries following typical refraction and reflection travel-time tomographic strategy modeling just WAS data with a typical acquisition geometry (one OBS each 10 km). Second, we performed joint inversion of two types of seismic data sets, integrating two coincident data sets consisting of MCS data collected with a 8 km-long streamer and the WAS data into a common inversion scheme. Our synthetic results of the joint inversion indicate a 5-10 times smaller ray travel-time misfit in the deeper parts of the model, compared to models obtained using just wide-angle seismic data. As expected, there is an important improvement in the definition of the reflector geometry, which in turn, allows to improve the accuracy of the velocity retrieval just above and below the reflector. To test the joint inversion approach with real data, we combined wide-angle (WAS) seismic and coincident multichannel seismic reflection (MCS) data acquired in the northern Chile subduction zone into a common inversion scheme to obtain a higher-resolution information of upper plate and inter-plate boundary.

The effects of a semi-rigid ankle brace on a simulated isolated subtalar joint instability.

PubMed

Choisne, Julie; Hoch, Matthew C; Bawab, Sebastian; Alexander, Ian; Ringleb, Stacie I

2013-12-01

Subtalar joint instability is hypothesized to occur after injuries to the calcaneofibular ligament (CFL) in isolation or in combination with the cervical and the talocalcaneal interosseous ligaments. A common treatment for hindfoot instability is the application of an ankle brace. However, the ability of an ankle brace to promote subtalar joint stability is not well established. We assessed the kinematics of the subtalar joint, ankle, and hindfoot in the presence of isolated subtalar instability, investigated the effect of bracing in a CFL deficient foot and with a total rupture of the intrinsic ligaments, and evaluated how maximum inversion range of motion is affected by the position of the ankle in the sagittal plane. Kinematics from nine cadaveric feet were collected with the foot placed in neutral, dorsiflexion, and plantar flexion. Motion was applied with and without a brace on an intact foot and after sequentially sectioning the CFL and the intrinsic ligaments. Isolated CFL sectioning increased ankle joint inversion, while sectioning the CFL and intrinsic ligaments affected subtalar joint stability. The brace limited inversion at the subtalar and ankle joints. Additionally, examining the foot in dorsiflexion reduced ankle and subtalar joint motion. © 2013 Orthopaedic Research Society. Published by Wiley Periodicals, Inc.

Joint stability characteristics of the ankle complex after lateral ligamentous injury, part I: a laboratory comparison using arthrometric measurement.

PubMed

Kovaleski, John E; Heitman, Robert J; Gurchiek, Larry R; Hollis, J M; Liu, Wei; Pearsall, Albert W

2014-01-01

The mechanical property of stiffness may be important to investigating how lateral ankle ligament injury affects the behavior of the viscoelastic properties of the ankle complex. A better understanding of injury effects on tissue elastic characteristics in relation to joint laxity could be obtained from cadaveric study. To biomechanically determine the laxity and stiffness characteristics of the cadaver ankle complex before and after simulated injury to the anterior talofibular ligament (ATFL) and calcaneofibular ligament (CFL) during anterior drawer and inversion loading. Cross-sectional study. University research laboratory. Seven fresh-frozen cadaver ankle specimens. All ankles underwent loading before and after simulated lateral ankle injury using an ankle arthrometer. The dependent variables were anterior displacement, anterior end-range stiffness, inversion rotation, and inversion end-range stiffness. Isolated ATFL and combined ATFL and CFL sectioning resulted in increased anterior displacement but not end-range stiffness when compared with the intact ankle. With inversion loading, combined ATFL and CFL sectioning resulted in increased range of motion and decreased end-range stiffness when compared with the intact and ATFL-sectioned ankles. The absence of change in anterior end-range stiffness between the intact and ligament-deficient ankles indicated bony and other soft tissues functioned to maintain stiffness after pathologic joint displacement, whereas inversion loading of the CFL-deficient ankle after pathologic joint displacement indicated the ankle complex was less stiff when supported only by the secondary joint structures.

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.

Structural Damage Detection Using Changes in Natural Frequencies: Theory and Applications

NASA Astrophysics Data System (ADS)

He, K.; Zhu, W. D.

2011-07-01

A vibration-based method that uses changes in natural frequencies of a structure to detect damage has advantages over conventional nondestructive tests in detecting various types of damage, including loosening of bolted joints, using minimum measurement data. Two major challenges associated with applications of the vibration-based damage detection method to engineering structures are addressed: accurate modeling of structures and the development of a robust inverse algorithm to detect damage, which are defined as the forward and inverse problems, respectively. To resolve the forward problem, new physics-based finite element modeling techniques are developed for fillets in thin-walled beams and for bolted joints, so that complex structures can be accurately modeled with a reasonable model size. To resolve the inverse problem, a logistical function transformation is introduced to convert the constrained optimization problem to an unconstrained one, and a robust iterative algorithm using a trust-region method, called the Levenberg-Marquardt method, is developed to accurately detect the locations and extent of damage. The new methodology can ensure global convergence of the iterative algorithm in solving under-determined system equations and deal with damage detection problems with relatively large modeling error and measurement noise. The vibration-based damage detection method is applied to various structures including lightning masts, a space frame structure and one of its components, and a pipeline. The exact locations and extent of damage can be detected in the numerical simulation where there is no modeling error and measurement noise. The locations and extent of damage can be successfully detected in experimental damage detection.

Full Waveform Modelling for Subsurface Characterization with Converted-Wave Seismic Reflection

NASA Astrophysics Data System (ADS)

Triyoso, Wahyu; Oktariena, Madaniya; Sinaga, Edycakra; Syaifuddin, Firman

2017-04-01

While a large number of reservoirs have been explored using P-waves seismic data, P-wave seismic survey ceases to provide adequate result in seismically and geologically challenging areas, like gas cloud, shallow drilling hazards, strong multiples, highly fractured, anisotropy. Most of these reservoir problems can be addressed using P and PS seismic data combination. Multicomponent seismic survey records both P-wave and S-wave unlike conventional survey that only records compressional P-wave. Under certain conditions, conventional energy source can be used to record P and PS data using the fact that compressional wave energy partly converts into shear waves at the reflector. Shear component can be recorded using down going P-wave and upcoming S-wave by placing a horizontal component geophone on the ocean floor. A synthetic model is created based on real data to analyze the effect of gas cloud existence to PP and PS wave reflections which has a similar characteristic to Sub-Volcanic imaging. The challenge within the multicomponent seismic is the different travel time between P-wave and S-wave, therefore the converted-wave seismic data should be processed with different approach. This research will provide a method to determine an optimum converted point known as Common Conversion Point (CCP) that can solve the Asymmetrical Conversion Point of PS data. The value of γ (Vp/Vs) is essential to estimate the right CCP that will be used in converted-wave seismic processing. This research will also continue to the advanced processing method of converted-wave seismic by applying Joint Inversion to PP&PS seismic. Joint Inversion is a simultaneous model-based inversion that estimates the P&S-wave impedance which are consistent with the PP&PS amplitude data. The result reveals a more complex structure mirrored in PS data below the gas cloud area. Through estimated γ section resulted from Joint Inversion, we receive a better imaging improvement below gas cloud area tribute to the converted-wave seismic as additional constrain.

Simultaneous, Joint Inversion of Seismic Body Wave Travel Times and Satellite Gravity Data for Three-Dimensional Tomographic Imaging of Western Colombia

NASA Astrophysics Data System (ADS)

Dionicio, V.; Rowe, C. A.; Maceira, M.; Zhang, H.; Londoño, J.

2009-12-01

We report on the three-dimensional seismic structure of western Colombia determined through the use of a new, simultaneous, joint inversion tomography algorithm. Using data recorded by the national Seismological Network of Colombia (RSNC), we have selected 3,609 earthquakes recorded at 33 sensors distributed throughout the country, with additional data from stations in neighboring countries. 20,338 P-wave arrivals and 17,041 S-wave arrivals are used to invert for structure within a region extending approximately 72.5 to 77.5 degrees West and 2 to 7.5 degrees North. Our algorithm is a modification of the Maceira and Ammon joint inversion code, in combination with the Zhang and Thurber TomoDD (double-difference tomography) program, with a fast LSQR solver operating on the gridded values jointly. The inversion uses gravity anomalies obtained during the GRACE2 satellite mission, and solves using these values with the seismic travel-times through application of an empirical relationship first proposed by Harkrider, mapping densities to Vp and Vs within earth materials. In previous work, Maceira and Ammon demonstrated that incorporation of gravity data predicts shear wave velocities more accurately than the inversion of surface waves alone, particularly in regions where the crust exhibits abrupt and significant lateral variations in lithology, such as the Tarim Basin. The significant complexity of crustal structure in Colombia, due to its active tectonic environment, makes it a good candidate for the application with gravity and body waves. We present the results of this joint inversion and compare it to results obtained using travel times alone

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.

Does Talocrural Joint-Thrust Manipulation Improve Outcomes After Inversion Ankle Sprain?

PubMed

Krueger, Brett; Becker, Laura; Leemkuil, Greta; Durall, Christopher

2015-08-01

Clinical Scenario: Ankle sprains account for roughly 10% of sport-related injuries in the active population. The majority of these injuries occur from excessive ankle inversion, leading to lateral ligamentous injury. In addition to pain and swelling, limitations in ankle range of motion (ROM) and self-reported function are common findings. These limitations are thought to be due in part to loss of mobility in the talocrural joint. Accordingly, some investigators have reported using high-velocity, low-amplitude thrust-manipulation techniques directed at the talocrural joint to address deficits in dorsiflexion (DF) ROM and function. This review was conducted to ascertain the impact of talocrural joint-thrust manipulation (TJM) on DF ROM, self-reported function, and pain in patients with a history of ankle sprain. Focused Clinical Question: In patients with a history of inversion ankle sprain, does TJM improve outcomes in DF ROM, self-reported function, and/or pain?

Mini-batch optimized full waveform inversion with geological constrained gradient filtering

NASA Astrophysics Data System (ADS)

Yang, Hui; Jia, Junxiong; Wu, Bangyu; Gao, Jinghuai

2018-05-01

High computation cost and generating solutions without geological sense have hindered the wide application of Full Waveform Inversion (FWI). Source encoding technique is a way to dramatically reduce the cost of FWI but subject to fix-spread acquisition setup requirement and slow convergence for the suppression of cross-talk. Traditionally, gradient regularization or preconditioning is applied to mitigate the ill-posedness. An isotropic smoothing filter applied on gradients generally gives non-geological inversion results, and could also introduce artifacts. In this work, we propose to address both the efficiency and ill-posedness of FWI by a geological constrained mini-batch gradient optimization method. The mini-batch gradient descent optimization is adopted to reduce the computation time by choosing a subset of entire shots for each iteration. By jointly applying the structure-oriented smoothing to the mini-batch gradient, the inversion converges faster and gives results with more geological meaning. Stylized Marmousi model is used to show the performance of the proposed method on realistic synthetic model.

Movement Characteristics Analysis and Dynamic Simulation of Collaborative Measuring Robot

NASA Astrophysics Data System (ADS)

guoqing, MA; li, LIU; zhenglin, YU; guohua, CAO; yanbin, ZHENG

2017-03-01

Human-machine collaboration is becoming increasingly more necessary, and so collaborative robot applications are also in high demand. We selected a UR10 robot as our research subject for this study. First, we applied D-H coordinate transformation of the robot to establish a link system, and we then used inverse transformation to solve the robot’s inverse kinematics and find all the joints. Use Lagrange method to analysis UR robot dynamics; use ADAMS multibody dynamics simulation software to dynamic simulation; verifying the correctness of the derived kinetic models.

Regularity Aspects in Inverse Musculoskeletal Biomechanics

NASA Astrophysics Data System (ADS)

Lund, Marie; Stâhl, Fredrik; Gulliksson, Mârten

2008-09-01

Inverse simulations of musculoskeletal models computes the internal forces such as muscle and joint reaction forces, which are hard to measure, using the more easily measured motion and external forces as input data. Because of the difficulties of measuring muscle forces and joint reactions, simulations are hard to validate. One way of reducing errors for the simulations is to ensure that the mathematical problem is well-posed. This paper presents a study of regularity aspects for an inverse simulation method, often called forward dynamics or dynamical optimization, that takes into account both measurement errors and muscle dynamics. Regularity is examined for a test problem around the optimum using the approximated quadratic problem. The results shows improved rank by including a regularization term in the objective that handles the mechanical over-determinancy. Using the 3-element Hill muscle model the chosen regularization term is the norm of the activation. To make the problem full-rank only the excitation bounds should be included in the constraints. However, this results in small negative values of the activation which indicates that muscles are pushing and not pulling, which is unrealistic but the error maybe small enough to be accepted for specific applications. These results are a start to ensure better results of inverse musculoskeletal simulations from a numerical point of view.

Using the in-line component for fixed-wing EM 1D inversion

NASA Astrophysics Data System (ADS)

Smiarowski, Adam

2015-09-01

Numerous authors have discussed the utility of multicomponent measurements. Generally speaking, for a vertical-oriented dipole source, the measured vertical component couples to horizontal planar bodies while the horizontal in-line component couples best to vertical planar targets. For layered-earth cases, helicopter EM systems have little or no in-line component response and as a result much of the in-line signal is due to receiver coil rotation and appears as noise. In contrast to this, the in-line component of a fixed-wing airborne electromagnetic (AEM) system with large transmitter-receiver offset can be substantial, exceeding the vertical component in conductive areas. This paper compares the in-line and vertical response of a fixed-wing airborne electromagnetic (AEM) system using a half-space model and calculates sensitivity functions. The a posteriori inversion model parameter uncertainty matrix is calculated for a bathymetry model (conductive layer over more resistive half-space) for two inversion cases; use of vertical component alone is compared to joint inversion of vertical and in-line components. The joint inversion is able to better resolve model parameters. An example is then provided using field data from a bathymetry survey to compare the joint inversion to vertical component only inversion. For each inversion set, the difference between the inverted water depth and ship-measured bathymetry is calculated. The result is in general agreement with that expected from the a posteriori inversion model parameter uncertainty calculation.

Sharp Boundary Inversion of 2D Magnetotelluric Data using Bayesian Method.

NASA Astrophysics Data System (ADS)

Zhou, S.; Huang, Q.

2017-12-01

Normally magnetotelluric(MT) inversion method cannot show the distribution of underground resistivity with clear boundary, even if there are obviously different blocks. Aiming to solve this problem, we develop a Bayesian structure to inverse 2D MT sharp boundary data, using boundary location and inside resistivity as the random variables. Firstly, we use other MT inversion results, like ModEM, to analyze the resistivity distribution roughly. Then, we select the suitable random variables and change its data format to traditional staggered grid parameters, which can be used to do finite difference forward part. Finally, we can shape the posterior probability density(PPD), which contains all the prior information and model-data correlation, by Markov Chain Monte Carlo(MCMC) sampling from prior distribution. The depth, resistivity and their uncertainty can be valued. It also works for sensibility estimation. We applied the method to a synthetic case, which composes two large abnormal blocks in a trivial background. We consider the boundary smooth and the near true model weight constrains that mimic joint inversion or constrained inversion, then we find that the model results a more precise and focused depth distribution. And we also test the inversion without constrains and find that the boundary could also be figured, though not as well. Both inversions have a good valuation of resistivity. The constrained result has a lower root mean square than ModEM inversion result. The data sensibility obtained via PPD shows that the resistivity is the most sensible, center depth comes second and both sides are the worst.

OCT structure, COB location and magmatic type of the S Angolan & SE Brazilian margins from integrated quantitative analysis of deep seismic reflection and gravity anomaly data

NASA Astrophysics Data System (ADS)

Cowie, Leanne; Kusznir, Nick; Horn, Brian

2014-05-01

Integrated quantitative analysis using deep seismic reflection data and gravity inversion have been applied to the S Angolan and SE Brazilian margins to determine OCT structure, COB location and magmatic type. Knowledge of these margin parameters are of critical importance for understanding rifted continental margin formation processes and in evaluating petroleum systems in deep-water frontier oil and gas exploration. The OCT structure, COB location and magmatic type of the S Angolan and SE Brazilian rifted continental margins are much debated; exhumed and serpentinised mantle have been reported at these margins. Gravity anomaly inversion, incorporating a lithosphere thermal gravity anomaly correction, has been used to determine Moho depth, crustal basement thickness and continental lithosphere thinning. Residual Depth Anomaly (RDA) analysis has been used to investigate OCT bathymetric anomalies with respect to expected oceanic bathymetries and subsidence analysis has been used to determine the distribution of continental lithosphere thinning. These techniques have been validated for profiles Lusigal 12 and ISE-01 on the Iberian margin. In addition a joint inversion technique using deep seismic reflection and gravity anomaly data has been applied to the ION-GXT BS1-575 SE Brazil and ION-GXT CS1-2400 S Angola deep seismic reflection lines. The joint inversion method solves for coincident seismic and gravity Moho in the time domain and calculates the lateral variations in crustal basement densities and velocities along the seismic profiles. Gravity inversion, RDA and subsidence analysis along the ION-GXT BS1-575 profile, which crosses the Sao Paulo Plateau and Florianopolis Ridge of the SE Brazilian margin, predict the COB to be located SE of the Florianopolis Ridge. Integrated quantitative analysis shows no evidence for exhumed mantle on this margin profile. The joint inversion technique predicts oceanic crustal thicknesses of between 7 and 8 km thickness with normal oceanic basement seismic velocities and densities. Beneath the Sao Paulo Plateau and Florianopolis Ridge, joint inversion predicts crustal basement thicknesses between 10-15km with high values of basement density and seismic velocities under the Sao Paulo Plateau which are interpreted as indicating a significant magmatic component within the crustal basement. The Sao Paulo Plateau and Florianopolis Ridge are separated by a thin region of crustal basement beneath the salt interpreted as a regional transtensional structure. Sediment corrected RDAs and gravity derived "synthetic" RDAs are of a similar magnitude on oceanic crust, implying negligible mantle dynamic topography. Gravity inversion, RDA and subsidence analysis along the S Angolan ION-GXT CS1-2400 profile suggests that exhumed mantle, corresponding to a magma poor margin, is absent..The thickness of earliest oceanic crust, derived from gravity and deep seismic reflection data, is approximately 7km consistent with the global average oceanic crustal thicknesses. The joint inversion predicts a small difference between oceanic and continental crustal basement density and seismic velocity, with the change in basement density and velocity corresponding to the COB independently determined from RDA and subsidence analysis. The difference between the sediment corrected RDA and that predicted from gravity inversion crustal thickness variation implies that this margin is experiencing approximately 500m of anomalous uplift attributed to mantle dynamic uplift.

Surgical Reconstruction with the Remnant Ligament Improves Joint Position Sense as well as Functional Ankle Instability: A 1-Year Follow-Up Study

PubMed Central

Iwao, Kamizato; Masataka, Deie; Kohei, Fukuhara

2014-01-01

Introduction. Chronic functional instability—characterized by repeated ankle inversion sprains and a subjective sensation of instability—is one of the most common residual disabilities after an inversion sprain. However, whether surgical reconstruction improves sensorimotor control has not been reported to date. The purpose of this study was to assess functional improvement of chronic ankle instability after surgical reconstruction using the remnant ligament. Materials and Methods. We performed 10 cases in the intervention group and 20 healthy individuals as the control group. Before and after surgical reconstruction, we evaluated joint position sense and functional ankle instability by means of a questionnaire. Results and Discussion. There was a statistically significant difference between the control and intervention groups before surgical reconstruction. Three months after surgery in the intervention group, the joint position sense was significantly different from those found preoperatively. Before surgery, the mean score of functional ankle instability in the intervention group was almost twice as low. Three months after surgery, however, the score significantly increased. The results showed that surgical reconstruction using the remnant ligament was effective not only for improving mechanical retensioning but also for ameliorating joint position sense and functional ankle instability. PMID:25401146

An unusual variety of simultaneous fracture dislocation pattern: medial swivel dislocation of talonavicular joint with displaced fractures of the fourth and fifth metatarsals.

PubMed

Inal, Sermet; Inal, Canan

2013-01-01

In published studies, a very rare, special type of Chopart dislocation termed a swivel dislocation has been reported. This injury is characterized by dislocation of the talonavicular joint, but the calcaneocuboid joint remains intact. The foot creates a typical rotational movement without inversion or eversion. The axis of rotation is the interosseous talocalcaneal ligament, which remains intact. We report the case of an 18-year-old male who had experienced a medial swivel dislocation of the talonavicular joint associated with displaced fractures of the fourth and fifth metatarsals. The occurrence, features, and method of treatment of this rare injury are presented. Copyright © 2013 American College of Foot and Ankle Surgeons. Published by Elsevier Inc. All rights reserved.

Optimization of CO2 Surface Flux using GOSAT Total Column CO2: First Results for 2009-2010

NASA Astrophysics Data System (ADS)

Basu, S.; Houweling, S.

2011-12-01

Constraining surface flux estimates of CO2 using satellite measurements has been one of the long-standing goals of the atmospheric inverse modeling community. We present the first results of inverting GOSAT total column CO2 measurements for obtaining global monthly CO2 flux maps over one year (June 2009 to May 2010). We use the SRON RemoTeC retrieval of CO2 for our inversions. The SRON retrieval has been shown to have no bias when compared to TCCON total column measurements, and latitudinal gradients of the retrieved CO2 are consistent with gradients deduced from the surface flask network [Butz et al, 2011]. This makes this retrieval an ideal candidate for atmospheric inversions, which are highly sensitive to spurious gradients. Our inversion system is analogous to the CarbonTracker (CT) data assimilation system; it is initialized with the prior CO2 fluxes of CT, and uses the same atmospheric transport model, i.e., TM5. The two major differences are (a) we add GOSAT CO2 data to the inversion in addition to flask data, and (b) we use a 4DVAR optimization system instead of a Kalman filter. We compare inversions using (a) only GOSAT total column CO2 measurements, (b) only surface flask CO2 measurements, and (c) the joint data set of GOSAT and surface flask measurements. We validate GOSAT-only inversions against the NOAA surface flask network and joint inversions against CONTRAIL and other aircraft campaigns. We see that inverted fluxes from a GOSAT-only inversion are consistent with fluxes from a stations-only inversion, reaffirming the low biases in SRON retrievals. From the joint inversion, we estimate the amount of added constraints upon adding GOSAT total column measurements to existing surface layer measurements.

Pareto-Optimal Multi-objective Inversion of Geophysical Data

NASA Astrophysics Data System (ADS)

Schnaidt, Sebastian; Conway, Dennis; Krieger, Lars; Heinson, Graham

2018-01-01

In the process of modelling geophysical properties, jointly inverting different data sets can greatly improve model results, provided that the data sets are compatible, i.e., sensitive to similar features. Such a joint inversion requires a relationship between the different data sets, which can either be analytic or structural. Classically, the joint problem is expressed as a scalar objective function that combines the misfit functions of multiple data sets and a joint term which accounts for the assumed connection between the data sets. This approach suffers from two major disadvantages: first, it can be difficult to assess the compatibility of the data sets and second, the aggregation of misfit terms introduces a weighting of the data sets. We present a pareto-optimal multi-objective joint inversion approach based on an existing genetic algorithm. The algorithm treats each data set as a separate objective, avoiding forced weighting and generating curves of the trade-off between the different objectives. These curves are analysed by their shape and evolution to evaluate data set compatibility. Furthermore, the statistical analysis of the generated solution population provides valuable estimates of model uncertainty.

Joint inversion of surface and borehole magnetic data to prospect concealed orebodies: A case study from the Mengku iron deposit, northwestern China

NASA Astrophysics Data System (ADS)

Liu, Shuang; Hu, Xiangyun; Zhu, Rixiang

2018-07-01

The Mengku iron deposit is one of the largest magnetite deposits in Xinjiang Province, northwestern China. It is important to accurately delineate the positions and shapes of concealed orebodies for drillhole layout and resource quantity evaluations. Total-field surface and three-component borehole magnetic measurements were carried out in the deposit. We made a joint inversion of the surface and borehole magnetic data to investigate the characteristics of the orebodies. We recovered the distributions of the magnetization intensity using a preconditioned conjugate gradient algorithm. Synthetic examples show that the reconstructed models of the joint inversion yield a better consistency with the true models than those recovered using independent inversion. By using joint inversion, more accurate information is obtained on the position and shape of the orebodies in the Mengku iron deposit. The magnetization distribution of Line 135 reveals that the major magnetite orebodies occur at 200-400 m depth with a lenticular cross-section dipping north-east. The orebodies of Line 143 are modified and buried at 100-200 m depth with an elliptical cross-section caused by fault activities at north-northeast directions. This information is verified by well logs. The borehole component anomalies are combined with surface data to reconstruct the physical property model and improve the ability to distinguish vertical and horizontal directions, which provides an effective approach to prospect buried orebodies.

Research regarding the influence of driving-wires length change on positioning precision of a robotic arm

NASA Astrophysics Data System (ADS)

Ciofu, C.; Stan, G.

2016-08-01

The paper emphasise positioning precision of an elephant's trunk robotic arm which has joints driven by wires with variable length while operating The considered 5 degrees of freedom robotic arm has a particular structure of joint that makes possible inner actuation with wire-driven mechanism. We analyse solely the length change of wires as a consequence due inner winding and unwinding on joints for certain values of rotational angles. Variations in wires length entail joint angular displacements. We analyse positioning precision by taking into consideration equations from inverse kinematics of the elephant's trunk robotic arm. The angular displacements of joints are considered into computational method after partial derivation of positioning equations. We obtain variations of wires length at about tenths of micrometers. These variations employ angular displacements which are about minutes of sexagesimal degree and, thus, define positioning precision of elephant's trunk robotic arms. The analytical method is used for determining aftermath design structure of an elephant's trunk robotic arm with inner actuation through wires on positioning precision. Thus, designers could take suitable decisions on accuracy specifications limits of the robotic arm.

Shear wave velocity model beneath CBJI station West Java, Indonesia from joint inversion of teleseismic receiver functions and surface wave dispersion

NASA Astrophysics Data System (ADS)

Simanungkalit, R. H.; Anggono, T.; Syuhada; Amran, A.; Supriyanto

2018-03-01

Earthquake signal observations around the world allow seismologists to obtain the information of internal structure of the Earth especially the Earth’s crust. In this study, we used joint inversion of receiver functions and surface wave group velocities to investigate crustal structure beneath CBJI station in West Java, Indonesia. Receiver function were calculated from earthquakes with magnitude more than 5 and at distance 30°-90°. Surface wave group velocities were calculated using frequency time analysis from earthquakes at distance of 30°- 40°. We inverted shear wave velocity model beneath the station by conducting joint inversion from receiver functions and surface wave dispersions. We suggest that the crustal thickness beneath CBJI station, West Java, Indonesia is about 35 km.

Source mechanism of the 2006 M5.1 Wen'an Earthquake determined from a joint inversion of local and teleseismic broadband waveform data

NASA Astrophysics Data System (ADS)

Huang, J.; Ni, S.; Niu, F.; Fu, R.

2007-12-01

On July 4th, 2006, a magnitude 5.1 earthquake occurred at Wen'an, {~}100 km south of Beijing, which was felt at Beijing metropolitan area. To better understand the regional tectonics, we have inverted local and teleseismic broadband waveform data to determine the focal mechanism of this earthquake. We selected waveform data of 9 stations from the recently installed Beijing metropolitan digital Seismic Network (BSN). These stations are located within 600 km and cover a good azimuthal range to the earthquake. To better fit the lower amplitude P waveform, we employed two different weights for the P wave and surface wave arrivals, respectively. A grid search method was employed to find the strike, dip and slip of the earthquake that best fits the P and surface waveforms recorded at all the three components (the tangential component of the P-wave arrivals was not used). Synthetic waveforms were computed with an F-K method. Two crustal velocity models were used in the synthetic calculation to reflect a rapid east-west transition in crustal structure observed by seismic and geological studies in the study area. The 3D grid search results in reasonable constraints on the fault geometry and the slip vector with a less well determined focal depth. As such we combined teleseismic waveform data from 8 stations of the Global Seismic Network in a joint inversion. Clearly identifiable depth phases (pP, sP) recorded in the teleseismic stations obviously provided a better constraint on the resulting source depth. Results from the joint inversion indicate that the Wen'an earthquake is mainly a right-lateral strike slip event (-150°) which occurred at a near vertical (dip, 80° ) NNE trend (210°º) fault. The estimated focal depth is {~}14- 15km, and the moment magnitude is 5.1. The estimated fault geometry here agrees well with aftershock distribution and is consistent with the major fault systems in the area which were developed under a NNE-SSW oriented compressional stress field. Key word: waveform modeling method, source mechanism, grid search method, cut and paste method, aftershocks distribution

Analytical Time-Domain Solution of Plane Wave Propagation Across a Viscoelastic Rock Joint

NASA Astrophysics Data System (ADS)

Zou, Yang; Li, Jianchun; Laloui, Lyesse; Zhao, Jian

2017-10-01

The effects of viscoelastic filled rock joints on wave propagation are of great significance in rock engineering. The solutions in time domain for plane longitudinal ( P-) and transverse ( S-) waves propagation across a viscoelastic rock joint are derived based on Maxwell and Kelvin models which are, respectively, applied to describe the viscoelastic deformational behaviour of the rock joint and incorporated into the displacement discontinuity model (DDM). The proposed solutions are verified by comparing with the previous studies on harmonic waves, which are simulated by sinusoidal incident P- and S-waves. Comparison between the predicted transmitted waves and the experimental data for P-wave propagation across a joint filled with clay is conducted. The Maxwell is found to be more appropriate to describe the filled joint. The parametric studies show that wave propagation is affected by many factors, such as the stiffness and the viscosity of joints, the incident angle and the duration of incident waves. Furthermore, the dependences of the transmission and reflection coefficients on the specific joint stiffness and viscosity are different for the joints with Maxwell and Kelvin behaviours. The alternation of the reflected and transmitted waveforms is discussed, and the application scope of this study is demonstrated by an illustration of the effects of the joint thickness. The solutions are also extended for multiple parallel joints with the virtual wave source method and the time-domain recursive method. For an incident wave with arbitrary waveform, it is convenient to adopt the present approach to directly calculate wave propagation across a viscoelastic rock joint without additional mathematical methods such as the Fourier and inverse Fourier transforms.

Predicting Welding Distortion in a Panel Structure with Longitudinal Stiffeners Using Inherent Deformations Obtained by Inverse Analysis Method

PubMed Central

Liang, Wei; Murakawa, Hidekazu

2014-01-01

Welding-induced deformation not only negatively affects dimension accuracy but also degrades the performance of product. If welding deformation can be accurately predicted beforehand, the predictions will be helpful for finding effective methods to improve manufacturing accuracy. Till now, there are two kinds of finite element method (FEM) which can be used to simulate welding deformation. One is the thermal elastic plastic FEM and the other is elastic FEM based on inherent strain theory. The former only can be used to calculate welding deformation for small or medium scale welded structures due to the limitation of computing speed. On the other hand, the latter is an effective method to estimate the total welding distortion for large and complex welded structures even though it neglects the detailed welding process. When the elastic FEM is used to calculate the welding-induced deformation for a large structure, the inherent deformations in each typical joint should be obtained beforehand. In this paper, a new method based on inverse analysis was proposed to obtain the inherent deformations for weld joints. Through introducing the inherent deformations obtained by the proposed method into the elastic FEM based on inherent strain theory, we predicted the welding deformation of a panel structure with two longitudinal stiffeners. In addition, experiments were carried out to verify the simulation results. PMID:25276856

Predicting welding distortion in a panel structure with longitudinal stiffeners using inherent deformations obtained by inverse analysis method.

PubMed

Liang, Wei; Murakawa, Hidekazu

2014-01-01

Welding-induced deformation not only negatively affects dimension accuracy but also degrades the performance of product. If welding deformation can be accurately predicted beforehand, the predictions will be helpful for finding effective methods to improve manufacturing accuracy. Till now, there are two kinds of finite element method (FEM) which can be used to simulate welding deformation. One is the thermal elastic plastic FEM and the other is elastic FEM based on inherent strain theory. The former only can be used to calculate welding deformation for small or medium scale welded structures due to the limitation of computing speed. On the other hand, the latter is an effective method to estimate the total welding distortion for large and complex welded structures even though it neglects the detailed welding process. When the elastic FEM is used to calculate the welding-induced deformation for a large structure, the inherent deformations in each typical joint should be obtained beforehand. In this paper, a new method based on inverse analysis was proposed to obtain the inherent deformations for weld joints. Through introducing the inherent deformations obtained by the proposed method into the elastic FEM based on inherent strain theory, we predicted the welding deformation of a panel structure with two longitudinal stiffeners. In addition, experiments were carried out to verify the simulation results.

Lateral ligament repair and reconstruction restore neither contact mechanics of the ankle joint nor motion patterns of the hindfoot.

PubMed

Prisk, Victor R; Imhauser, Carl W; O'Loughlin, Padhraig F; Kennedy, John G

2010-10-20

Ankle sprains may damage both the lateral ligaments of the hindfoot and the osteochondral tissue of the ankle joint. When nonoperative treatment fails, operative approaches are indicated to restore both native motion patterns at the hindfoot and ankle joint contact mechanics. The goal of the present study was to determine the effect of lateral ligament injury, repair, and reconstruction on ankle joint contact mechanics and hindfoot motion patterns. Eight cadaveric specimens were tested with use of robotic technology to apply combined compressive (200-N) and inversion (4.5-Nm) loads to the hindfoot at 0° and 20° of plantar flexion. Contact mechanics at the ankle joint were simultaneously measured. A repeated-measures experiment was designed with use of the intact condition as control, with the other conditions including sectioned anterior talofibular and calcaneofibular ligaments, the Broström and Broström-Gould repairs, and graft reconstruction. Ligament sectioning decreased contact area and caused a medial and anterior shift in the center of pressure with inversion loads relative to those with the intact condition. There were no significant differences in inversion or coupled axial rotation with inversion between the Broström repair and the intact condition; however, medial translation of the center of pressure remained elevated after the Broström repair relative to the intact condition. The Gould modification of the Broström procedure provided additional support to the hindfoot relative to the Broström repair, reducing inversion and axial rotation with inversion beyond that of intact ligaments. There were no significant differences in center-of-pressure excursion patterns between the Broström-Gould repair and the intact ligament condition, but this repair increased contact area beyond that with the ligaments intact. Graft reconstruction more closely restored inversion motion than did the Broström-Gould repair at 20° of plantar flexion but limited coupled axial rotation. Graft reconstruction also increased contact areas beyond the lateral ligament-deficient conditions but altered center-of-pressure excursion patterns relative to the intact condition. No lateral ankle ligament reconstruction completely restored native contact mechanics of the ankle joint and hindfoot motion patterns.

Uncontrolled Manifold Reference Feedback Control of Multi-Joint Robot Arms

PubMed Central

Togo, Shunta; Kagawa, Takahiro; Uno, Yoji

2016-01-01

The brain must coordinate with redundant bodies to perform motion tasks. The aim of the present study is to propose a novel control model that predicts the characteristics of human joint coordination at a behavioral level. To evaluate the joint coordination, an uncontrolled manifold (UCM) analysis that focuses on the trial-to-trial variance of joints has been proposed. The UCM is a nonlinear manifold associated with redundant kinematics. In this study, we directly applied the notion of the UCM to our proposed control model called the “UCM reference feedback control.” To simplify the problem, the present study considered how the redundant joints were controlled to regulate a given target hand position. We considered a conventional method that pre-determined a unique target joint trajectory by inverse kinematics or any other optimization method. In contrast, our proposed control method generates a UCM as a control target at each time step. The target UCM is a subspace of joint angles whose variability does not affect the hand position. The joint combination in the target UCM is then selected so as to minimize the cost function, which consisted of the joint torque and torque change. To examine whether the proposed method could reproduce human-like joint coordination, we conducted simulation and measurement experiments. In the simulation experiments, a three-link arm with a shoulder, elbow, and wrist regulates a one-dimensional target of a hand through proposed method. In the measurement experiments, subjects performed a one-dimensional target-tracking task. The kinematics, dynamics, and joint coordination were quantitatively compared with the simulation data of the proposed method. As a result, the UCM reference feedback control could quantitatively reproduce the difference of the mean value for the end hand position between the initial postures, the peaks of the bell-shape tangential hand velocity, the sum of the squared torque, the mean value for the torque change, the variance components, and the index of synergy as well as the human subjects. We concluded that UCM reference feedback control can reproduce human-like joint coordination. The inference for motor control of the human central nervous system based on the proposed method was discussed. PMID:27462215

Grading of inflammatory disease activity in the sacroiliac joints with magnetic resonance imaging: comparison between short-tau inversion recovery and gadolinium contrast-enhanced sequences.

PubMed

Madsen, Karen Berenth; Egund, Niels; Jurik, Anne Grethe

2010-02-01

We investigated the potential concordance of 2 different magnetic resonance (MR) sequences - short-tau inversion recovery (STIR) and fat-saturated T1-weighted spin-echo after application of gadolinium (Gd) contrast medium to detect active bone marrow abnormalities at the sacroiliac joints (SIJ) in patients with spondyloarthritis (SpA). Blinded and using the Danish scoring method, we evaluated transaxial MR images of the 2 sequences in 40 patients with SpA with disease duration of 3-14 years. Both the cartilaginous and ligamentous portions of the SIJ were analyzed. There was a significant positive correlation between the activity scores obtained by STIR and Gd-enhanced sequences (p < 0.0001). Agreement in the detection of bone marrow abnormalities occurred in 60 of the 80 joints, 35 with and 25 without signs of active disease. Discordance with STIR-positive marrow activity scores occurred in only 11 joints; Gd-enhanced positive scores in 9 joints. The STIR sequence detected remnants of marrow activity in the periphery of chronic fatty replacement not seen or partly obscured on the Gd sequence. Small subchondral enhancing lesions may not be scored on the STIR sequence, mostly because of reduced image resolution. Active bone marrow abnormalities were detected nearly equally well with STIR and Gd-enhanced fat-suppressed T1 sequences in patients with SpA, with STIR being most sensitive to visualize active abnormalities in the periphery of chronic changes.

Evaluation of joint position sense measured by inversion angle replication error in patients with an osteochondral lesion of the talus.

PubMed

Nakasa, Tomoyuki; Adachi, Nobuo; Shibuya, Hayatoshi; Okuhara, Atsushi; Ochi, Mitsuo

2013-01-01

The etiology of the osteochondral lesion of the talar dome (OLT) remains unclear. A joint position sense deficit of the ankle is reported to be a possible cause of ankle disorder. Repeated contact of the articular surface of the talar dome with the plafond during inversion might be a cause of OLT. The aim of the present study was to evaluate the joint position sense deficit by measuring the replication error of the inversion angle in patients with OLT. The replication error, which is the difference between the index angle and replication angle in inversion, was measured in 15 patients with OLT. The replication error in 15 healthy volunteers was evaluated as a control group. The side to side differences of the replication errors between the patients with OLT and healthy volunteers and the replication errors in each angle between the involved and uninvolved ankle in the patients with OLT were investigated. Finally, the side to side differences of the replication errors between the patients with OLT with a traumatic and nontraumatic history were compared. The side to side difference in the patients with OLT (1.3° ± 0.2°) was significantly greater than that in the healthy subjects (0.4° ± 0.7°) (p ≤ .05). Significant differences were found between the involved and uninvolved sides at 10°, 15°, 20°, and 25° in the patients with OLT. No significant difference (p > .05) was found between the patients with traumatic and nontraumatic OLT. The present study found that the patients with OLT have a joint position sense deficit during inversion movement, regardless of a traumatic history. Although various factors for the etiology of OLT have been reported, the joint position sense deficit in inversion might be a cause of OLT. Copyright © 2013 American College of Foot and Ankle Surgeons. Published by Elsevier Inc. All rights reserved.

Inferring Muscle-Tendon Unit Power from Ankle Joint Power during the Push-Off Phase of Human Walking: Insights from a Multiarticular EMG-Driven Model.

PubMed

Honert, Eric C; Zelik, Karl E

2016-01-01

Inverse dynamics joint kinetics are often used to infer contributions from underlying groups of muscle-tendon units (MTUs). However, such interpretations are confounded by multiarticular (multi-joint) musculature, which can cause inverse dynamics to over- or under-estimate net MTU power. Misestimation of MTU power could lead to incorrect scientific conclusions, or to empirical estimates that misguide musculoskeletal simulations, assistive device designs, or clinical interventions. The objective of this study was to investigate the degree to which ankle joint power overestimates net plantarflexor MTU power during the Push-off phase of walking, due to the behavior of the flexor digitorum and hallucis longus (FDHL)-multiarticular MTUs crossing the ankle and metatarsophalangeal (toe) joints. We performed a gait analysis study on six healthy participants, recording ground reaction forces, kinematics, and electromyography (EMG). Empirical data were input into an EMG-driven musculoskeletal model to estimate ankle power. This model enabled us to parse contributions from mono- and multi-articular MTUs, and required only one scaling and one time delay factor for each subject and speed, which were solved for based on empirical data. Net plantarflexing MTU power was computed by the model and quantitatively compared to inverse dynamics ankle power. The EMG-driven model was able to reproduce inverse dynamics ankle power across a range of gait speeds (R2 ≥ 0.97), while also providing MTU-specific power estimates. We found that FDHL dynamics caused ankle power to slightly overestimate net plantarflexor MTU power, but only by ~2-7%. During Push-off, FDHL MTU dynamics do not substantially confound the inference of net plantarflexor MTU power from inverse dynamics ankle power. However, other methodological limitations may cause inverse dynamics to overestimate net MTU power; for instance, due to rigid-body foot assumptions. Moving forward, the EMG-driven modeling approach presented could be applied to understand other tasks or larger multiarticular MTUs.

Ankle taping can reduce external ankle joint moments during drop landings on a tilted surface.

PubMed

Sato, Nahoko; Nunome, Hiroyuki; Hopper, Luke S; Ikegami, Yasuo

2017-09-20

Ankle taping is commonly used to prevent ankle sprains. However, kinematic assessments investigating the biomechanical effects of ankle taping have provided inconclusive results. This study aimed to determine the effect of ankle taping on the external ankle joint moments during a drop landing on a tilted surface at 25°. Twenty-five participants performed landings on a tilted force platform that caused ankle inversion with and without ankle taping. Landing kinematics were captured using a motion capture system. External ankle inversion moment, the angular impulse due to the medio-lateral and vertical components of ground reaction force (GRF) and their moment arm lengths about the ankle joint were analysed. The foot plantar inclination relative to the ground was assessed. In the taping condition, the foot plantar inclination and ankle inversion angular impulse were reduced significantly compared to that of the control. The only component of the external inversion moment to change significantly in the taped condition was a shortened medio-lateral GRF moment arm length. It can be assumed that the ankle taping altered the foot plantar inclination relative to the ground, thereby shortening the moment arm of medio-lateral GRF that resulted in the reduced ankle inversion angular impulse.

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

PubMed

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

2009-12-01

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

Multi-GPU parallel algorithm design and analysis for improved inversion of probability tomography with gravity gradiometry data

NASA Astrophysics Data System (ADS)

Hou, Zhenlong; Huang, Danian

2017-09-01

In this paper, we make a study on the inversion of probability tomography (IPT) with gravity gradiometry data at first. The space resolution of the results is improved by multi-tensor joint inversion, depth weighting matrix and the other methods. Aiming at solving the problems brought by the big data in the exploration, we present the parallel algorithm and the performance analysis combining Compute Unified Device Architecture (CUDA) with Open Multi-Processing (OpenMP) based on Graphics Processing Unit (GPU) accelerating. In the test of the synthetic model and real data from Vinton Dome, we get the improved results. It is also proved that the improved inversion algorithm is effective and feasible. The performance of parallel algorithm we designed is better than the other ones with CUDA. The maximum speedup could be more than 200. In the performance analysis, multi-GPU speedup and multi-GPU efficiency are applied to analyze the scalability of the multi-GPU programs. The designed parallel algorithm is demonstrated to be able to process larger scale of data and the new analysis method is practical.

OCT structure, COB location and magmatic type of the SE Brazilian & S Angolan margins from integrated quantitative analysis of deep seismic reflection and gravity anomaly data

NASA Astrophysics Data System (ADS)

Cowie, L.; Kusznir, N. J.; Horn, B.

2013-12-01

Knowledge of ocean-continent transition (OCT) structure, continent-ocean boundary (COB) location and magmatic type are of critical importance for understanding rifted continental margin formation processes and in evaluating petroleum systems in deep-water frontier oil and gas exploration. The OCT structure, COB location and magmatic type of the SE Brazilian and S Angolan rifted continental margins are much debated; exhumed and serpentinised mantle have been reported at these margins. Integrated quantitative analysis using deep seismic reflection data and gravity inversion have been used to determine OCT structure, COB location and magmatic type for the SE Brazilian and S Angolan margins. Gravity inversion has been used to determine Moho depth, crustal basement thickness and continental lithosphere thinning. Residual Depth Anomaly (RDA) analysis has been used to investigate OCT bathymetric anomalies with respect to expected oceanic bathymetries and subsidence analysis has been used to determine the distribution of continental lithosphere thinning. These techniques have been validated on the Iberian margin for profiles IAM9 and ISE-01. In addition a joint inversion technique using deep seismic reflection and gravity anomaly data has been applied to the ION-GXT BS1-575 SE Brazil and ION-GXT CS1-2400 S Angola. The joint inversion method solves for coincident seismic and gravity Moho in the time domain and calculates the lateral variations in crustal basement densities and velocities along profile. Gravity inversion, RDA and subsidence analysis along the S Angolan ION-GXT CS1-2400 profile has been used to determine OCT structure and COB location. Analysis suggests that exhumed mantle, corresponding to a magma poor margin, is absent beneath the allochthonous salt. The thickness of earliest oceanic crust, derived from gravity and deep seismic reflection data is approximately 7km. The joint inversion predicts crustal basement densities and seismic velocities which are slightly less than expected for 'normal' oceanic crust. The difference between the sediment corrected RDA and that predicted from gravity inversion crustal thickness variation implies that this margin is experiencing ~300m of anomalous uplift attributed to mantle dynamic uplift. Gravity inversion, RDA and subsidence analysis have also been used to determine OCT structure and COB location along the ION-GXT BS1-575 profile, crossing the Sao Paulo Plateau and Florianopolis Ridge of the SE Brazilian margin. Gravity inversion, RDA and subsidence analysis predict the COB to be located SE of the Florianopolis Ridge. Analysis shows no evidence for exhumed mantle on this margin profile. The joint inversion technique predicts normal oceanic basement seismic velocities and densities and beneath the Sao Paulo Plateau and Florianopolis Ridge predicts crustal basement thicknesses between 10-15km. The Sao Paulo Plateau and Florianopolis Ridge are separated by a thin region of crustal basement beneath the salt interpreted as a regional transtensional structure. Sediment corrected RDAs and gravity derived 'synthetic' RDAs are of a similar magnitude on oceanic crust, implying negligible mantle dynamic topography.

Maximum voluntary joint torque as a function of joint angle and angular velocity: model development and application to the lower limb.

PubMed

Anderson, Dennis E; Madigan, Michael L; Nussbaum, Maury A

2007-01-01

Measurements of human strength can be important during analyses of physical activities. Such measurements have often taken the form of the maximum voluntary torque at a single joint angle and angular velocity. However, the available strength varies substantially with joint position and velocity. When examining dynamic activities, strength measurements should account for these variations. A model is presented of maximum voluntary joint torque as a function of joint angle and angular velocity. The model is based on well-known physiological relationships between muscle force and length and between muscle force and velocity and was tested by fitting it to maximum voluntary joint torque data from six different exertions in the lower limb. Isometric, concentric and eccentric maximum voluntary contractions were collected during hip extension, hip flexion, knee extension, knee flexion, ankle plantar flexion and dorsiflexion. Model parameters are reported for each of these exertion directions by gender and age group. This model provides an efficient method by which strength variations with joint angle and angular velocity may be incorporated into comparisons between joint torques calculated by inverse dynamics and the maximum available joint torques.

Fuzzy logic based robotic controller

NASA Technical Reports Server (NTRS)

Attia, F.; Upadhyaya, M.

1994-01-01

Existing Proportional-Integral-Derivative (PID) robotic controllers rely on an inverse kinematic model to convert user-specified cartesian trajectory coordinates to joint variables. These joints experience friction, stiction, and gear backlash effects. Due to lack of proper linearization of these effects, modern control theory based on state space methods cannot provide adequate control for robotic systems. In the presence of loads, the dynamic behavior of robotic systems is complex and nonlinear, especially where mathematical modeling is evaluated for real-time operators. Fuzzy Logic Control is a fast emerging alternative to conventional control systems in situations where it may not be feasible to formulate an analytical model of the complex system. Fuzzy logic techniques track a user-defined trajectory without having the host computer to explicitly solve the nonlinear inverse kinematic equations. The goal is to provide a rule-based approach, which is closer to human reasoning. The approach used expresses end-point error, location of manipulator joints, and proximity to obstacles as fuzzy variables. The resulting decisions are based upon linguistic and non-numerical information. This paper presents a solution to the conventional robot controller which is independent of computationally intensive kinematic equations. Computer simulation results of this approach as obtained from software implementation are also discussed.

Three-dimensional joint inversion for magnetotelluric resistivity and static shift distributions in complex media

NASA Astrophysics Data System (ADS)

Sasaki, Yutaka; Meju, Max A.

2006-05-01

Accurate interpretation of magnetotelluric (MT) data in the presence of static shift arising from near-surface inhomogeneities is an unresolved problem in three-dimensional (3-D) inversion. While it is well known in 1-D and 2-D studies that static shift can lead to erroneous interpretation, how static shift can influence the result of 3-D inversion is not fully understood and is relevant to improved subsurface analysis. Using the synthetic data generated from 3-D models with randomly distributed heterogeneous overburden and elongate homogeneous overburden that are consistent with geological observations, this paper examines the effects of near-surface inhomogeneity on the accuracy of 3-D inversion models. It is found that small-scale and shallow depth structures are severely distorted while the large-scale structure is marginally distorted in 3-D inversion not accounting for static shift; thus the erroneous near-surface structure does degrade the reconstruction of smaller-scale structure at any depth. However, 3-D joint inversion for resistivity and static shift significantly reduces the artifacts caused by static shifts and improves the overall resolution, irrespective of whether a zero-sum or Gaussian distribution of static shifts is assumed. The 3-D joint inversion approach works equally well for situations where the shallow bodies are of small size or long enough to allow some induction such that the effects of near-surface inhomogeneity are manifested as a frequency-dependent shift rather than a constant shift.

Joint Inversion of Vp, Vs, and Resistivity at SAFOD

NASA Astrophysics Data System (ADS)

Bennington, N. L.; Zhang, H.; Thurber, C. H.; Bedrosian, P. A.

2010-12-01

Seismic and resistivity models at SAFOD have been derived from separate inversions that show significant spatial similarity between the main model features. Previous work [Zhang et al., 2009] used cluster analysis to make lithologic inferences from trends in the seismic and resistivity models. We have taken this one step further by developing a joint inversion scheme that uses the cross-gradient penalty function to achieve structurally similar Vp, Vs, and resistivity images that adequately fit the seismic and magnetotelluric MT data without forcing model similarity where none exists. The new inversion code, tomoDDMT, merges the seismic inversion code tomoDD [Zhang and Thurber, 2003] and the MT inversion code Occam2DMT [Constable et al., 1987; deGroot-Hedlin and Constable, 1990]. We are exploring the utility of the cross-gradients penalty function in improving models of fault-zone structure at SAFOD on the San Andreas Fault in the Parkfield, California area. Two different sets of end-member starting models are being tested. One set is the separately inverted Vp, Vs, and resistivity models. The other set consists of simple, geologically based block models developed from borehole information at the SAFOD drill site and a simplified version of features seen in geophysical models at Parkfield. For both starting models, our preliminary results indicate that the inversion produces a converging solution with resistivity, seismic, and cross-gradient misfits decreasing over successive iterations. We also compare the jointly inverted Vp, Vs, and resistivity models to borehole information from SAFOD to provide a "ground truth" comparison.

Influence of ankle joint plantarflexion and dorsiflexion on lateral ankle sprain: A computational study.

PubMed

Purevsuren, Tserenchimed; Kim, Kyungsoo; Batbaatar, Myagmarbayar; Lee, SuKyoung; Kim, Yoon Hyuk

2018-05-01

Understanding the mechanism of injury involved in lateral ankle sprain is essential to prevent injury, to establish surgical repair and reconstruction, and to plan reliable rehabilitation protocols. Most studies for lateral ankle sprain posit that ankle inversion, internal rotation, and plantarflexion are involved in the mechanism of injury. However, recent studies indicated that ankle dorsiflexion also plays an important role in the lateral ankle sprain mechanism. In this study, the contributions of ankle plantarflexion and dorsiflexion on the ankle joint were evaluated under complex combinations of internal and inversion moments. A multibody ankle joint model including 24 ligaments was developed and validated against two experimental cadaveric studies. The effects of ankle plantarflexion (up to 60°) and dorsiflexion (up to 30°) on the lateral ankle sprain mechanism under ankle inversion moment coupled with internal rotational moment were investigated using the validated model. Lateral ankle sprain injuries can occur during ankle dorsiflexion, in which the calcaneofibular ligament and anterior talofibular ligament tears may occur associated with excessive inversion and internal rotational moment, respectively. Various combinations of inversion and internal moment may lead to anterior talofibular ligament injuries at early ankle plantarflexion, while the inversion moment acts as a primary factor to tear the anterior talofibular ligament in early plantarflexion. It is better to consider inversion and internal rotation as primary factors of the lateral ankle sprain mechanism, while plantarflexion or dorsiflexion can be secondary factor. This information will help to clarify the lateral ankle sprain mechanism of injury.

Joint inversion of marine MT and CSEM data over Gemini prospect, Gulf of Mexico

NASA Astrophysics Data System (ADS)

Constable, S.; Orange, A. S.; Key, K.

2013-12-01

In 2003 we tested a prototype marine controlled-source electromagnetic (CSEM) transmitter over the Gemini salt body in the Gulf of Mexico, collecting one line of data over 15 seafloor receiver instruments using the Cox waveform with a 0.25 Hz fundamental, yielding 3 usable frequencies. Transmission current was 95 amps on a 150 m antenna. We had previously collected 16 sites of marine magnetotelluric (MT) data along this line during the development of broadband marine MT as a tool for mapping salt geometry. Recently we commissioned a finite element code capable of joint CSEM and MT 2D inversion incorporating bathymetry and anisotropy, and this heritage data set provided an opportunity to explore such inversions with real data. We reprocessed the CSEM data to obtain objective error estimates and inverted single frequency CSEM, multi-frequency CSEM, MT, and joint MT and CSEM data sets for a variety of target misfits, using the Occam regularized inversion algorithm. As expected, MT-only inversions produce a smoothed image of the salt and a resistive basement at 9 km depth. The CSEM data image a conductive cap over the salt body and have little sensitivity to the salt or structure at depths beyond about 1500 m below seafloor. However, the joint inversion yields more than the sum of the parts - the outline of the salt body is much sharper and there is much more structural detail even at depths beyond the resolution of the CSEM data. As usual, model complexity greatly depends on target misfit, and even with well-estimated errors the choice of misfit becomes a somewhat subjective decision. Our conclusion is a familiar one; more data are always good.

Joint inversion of marine seismic AVA and CSEM data using statistical rock-physics models and Markov random fields: Stochastic inversion of AVA and CSEM data

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

Chen, J.; Hoversten, G.M.

2011-09-15

Joint inversion of seismic AVA and CSEM data requires rock-physics relationships to link seismic attributes to electrical properties. Ideally, we can connect them through reservoir parameters (e.g., porosity and water saturation) by developing physical-based models, such as Gassmann’s equations and Archie’s law, using nearby borehole logs. This could be difficult in the exploration stage because information available is typically insufficient for choosing suitable rock-physics models and for subsequently obtaining reliable estimates of the associated parameters. The use of improper rock-physics models and the inaccuracy of the estimates of model parameters may cause misleading inversion results. Conversely, it is easy tomore » derive statistical relationships among seismic and electrical attributes and reservoir parameters from distant borehole logs. In this study, we develop a Bayesian model to jointly invert seismic AVA and CSEM data for reservoir parameter estimation using statistical rock-physics models; the spatial dependence of geophysical and reservoir parameters are carried out by lithotypes through Markov random fields. We apply the developed model to a synthetic case, which simulates a CO{sub 2} monitoring application. We derive statistical rock-physics relations from borehole logs at one location and estimate seismic P- and S-wave velocity ratio, acoustic impedance, density, electrical resistivity, lithotypes, porosity, and water saturation at three different locations by conditioning to seismic AVA and CSEM data. Comparison of the inversion results with their corresponding true values shows that the correlation-based statistical rock-physics models provide significant information for improving the joint inversion results.« less

Microseismic Image-domain Velocity Inversion: Case Study From The Marcellus Shale

NASA Astrophysics Data System (ADS)

Shragge, J.; Witten, B.

2017-12-01

Seismic monitoring at injection wells relies on generating accurate location estimates of detected (micro-)seismicity. Event location estimates assist in optimizing well and stage spacings, assessing potential hazards, and establishing causation of larger events. The largest impediment to generating accurate location estimates is an accurate velocity model. For surface-based monitoring the model should capture 3D velocity variation, yet, rarely is the laterally heterogeneous nature of the velocity field captured. Another complication for surface monitoring is that the data often suffer from low signal-to-noise levels, making velocity updating with established techniques difficult due to uncertainties in the arrival picks. We use surface-monitored field data to demonstrate that a new method requiring no arrival picking can improve microseismic locations by jointly locating events and updating 3D P- and S-wave velocity models through image-domain adjoint-state tomography. This approach creates a complementary set of images for each chosen event through wave-equation propagation and correlating combinations of P- and S-wavefield energy. The method updates the velocity models to optimize the focal consistency of the images through adjoint-state inversions. We demonstrate the functionality of the method using a surface array of 192 three-component geophones over a hydraulic stimulation in the Marcellus Shale. Applying the proposed joint location and velocity-inversion approach significantly improves the estimated locations. To assess event location accuracy, we propose a new measure of inconsistency derived from the complementary images. By this measure the location inconsistency decreases by 75%. The method has implications for improving the reliability of microseismic interpretation with low signal-to-noise data, which may increase hydrocarbon extraction efficiency and improve risk assessment from injection related seismicity.

MARE2DEM: a 2-D inversion code for controlled-source electromagnetic and magnetotelluric data

NASA Astrophysics Data System (ADS)

Key, Kerry

2016-10-01

This work presents MARE2DEM, a freely available code for 2-D anisotropic inversion of magnetotelluric (MT) data and frequency-domain controlled-source electromagnetic (CSEM) data from onshore and offshore surveys. MARE2DEM parametrizes the inverse model using a grid of arbitrarily shaped polygons, where unstructured triangular or quadrilateral grids are typically used due to their ease of construction. Unstructured grids provide significantly more geometric flexibility and parameter efficiency than the structured rectangular grids commonly used by most other inversion codes. Transmitter and receiver components located on topographic slopes can be tilted parallel to the boundary so that the simulated electromagnetic fields accurately reproduce the real survey geometry. The forward solution is implemented with a goal-oriented adaptive finite-element method that automatically generates and refines unstructured triangular element grids that conform to the inversion parameter grid, ensuring accurate responses as the model conductivity changes. This dual-grid approach is significantly more efficient than the conventional use of a single grid for both the forward and inverse meshes since the more detailed finite-element meshes required for accurate responses do not increase the memory requirements of the inverse problem. Forward solutions are computed in parallel with a highly efficient scaling by partitioning the data into smaller independent modeling tasks consisting of subsets of the input frequencies, transmitters and receivers. Non-linear inversion is carried out with a new Occam inversion approach that requires fewer forward calls. Dense matrix operations are optimized for memory and parallel scalability using the ScaLAPACK parallel library. Free parameters can be bounded using a new non-linear transformation that leaves the transformed parameters nearly the same as the original parameters within the bounds, thereby reducing non-linear smoothing effects. Data balancing normalization weights for the joint inversion of two or more data sets encourages the inversion to fit each data type equally well. A synthetic joint inversion of marine CSEM and MT data illustrates the algorithm's performance and parallel scaling on up to 480 processing cores. CSEM inversion of data from the Middle America Trench offshore Nicaragua demonstrates a real world application. The source code and MATLAB interface tools are freely available at http://mare2dem.ucsd.edu.

Neural joint control for Space Shuttle Remote Manipulator System

NASA Technical Reports Server (NTRS)

Atkins, Mark A.; Cox, Chadwick J.; Lothers, Michael D.; Pap, Robert M.; Thomas, Charles R.

1992-01-01

Neural networks are being used to control a robot arm in a telerobotic operation. The concept uses neural networks for both joint and inverse kinematics in a robotic control application. An upper level neural network is trained to learn inverse kinematic mappings. The output, a trajectory, is then fed to the Decentralized Adaptive Joint Controllers. This neural network implementation has shown that the controlled arm recovers from unexpected payload changes while following the reference trajectory. The neural network-based decentralized joint controller is faster, more robust and efficient than conventional approaches. Implementations of this architecture are discussed that would relax assumptions about dynamics, obstacles, and heavy loads. This system is being developed to use with the Space Shuttle Remote Manipulator System.

Joint two-dimensional inversion of magnetotelluric and gravity data using correspondence maps

NASA Astrophysics Data System (ADS)

Carrillo, Jonathan; Gallardo, Luis A.

2018-05-01

An accurate characterization of subsurface targets relies on the interpretation of multiple geophysical properties and their relationships. There are mainly two links to jointly invert different geophysical parameters: structural and petrophysical relationships. Structural approaches aim at minimizing topological differences and are widely popular since they need only a few assumptions about models. Conversely, methods based on petrophysical links rely mostly on the property values themselves and can provide a strong coupling between models, but they need to be treated carefully because specific direct relationship must be known or assumed. While some petrophysical relationships are widely accepted, it remains the question whether we may be able to detect them directly from the geophysical data. Currently, there is no reported development that takes full advantage of the flexibility of jointly estimating in-situ empirical relationships and geophysical models for a given geological scenario. We thus developed an algorithm for the two dimensional joint inversion of gravity and magnetotelluric data that seeks simultaneously for a density-resistivity relationship optimal for each studied site described trough a polynomial function. The iterative two-dimensional scheme is tested using synthetic and field data from Cerro Prieto, Mexico. The resulting models show an enhanced resolution with an increased structural and petrophysical correlation. We show that by fitting a functional relationship we increased significantly the coupled geological sense of the models at a little cost in terms of data misfit.

3-D linear inversion of gravity data: method and application to Basse-Terre volcanic island, Guadeloupe, Lesser Antilles

NASA Astrophysics Data System (ADS)

Barnoud, Anne; Coutant, Olivier; Bouligand, Claire; Gunawan, Hendra; Deroussi, Sébastien

2016-04-01

We use a Bayesian formalism combined with a grid node discretization for the linear inversion of gravimetric data in terms of 3-D density distribution. The forward modelling and the inversion method are derived from seismological inversion techniques in order to facilitate joint inversion or interpretation of density and seismic velocity models. The Bayesian formulation introduces covariance matrices on model parameters to regularize the ill-posed problem and reduce the non-uniqueness of the solution. This formalism favours smooth solutions and allows us to specify a spatial correlation length and to perform inversions at multiple scales. We also extract resolution parameters from the resolution matrix to discuss how well our density models are resolved. This method is applied to the inversion of data from the volcanic island of Basse-Terre in Guadeloupe, Lesser Antilles. A series of synthetic tests are performed to investigate advantages and limitations of the methodology in this context. This study results in the first 3-D density models of the island of Basse-Terre for which we identify: (i) a southward decrease of densities parallel to the migration of volcanic activity within the island, (ii) three dense anomalies beneath Petite Plaine Valley, Beaugendre Valley and the Grande-Découverte-Carmichaël-Soufrière Complex that may reflect the trace of former major volcanic feeding systems, (iii) shallow low-density anomalies in the southern part of Basse-Terre, especially around La Soufrière active volcano, Piton de Bouillante edifice and along the western coast, reflecting the presence of hydrothermal systems and fractured and altered rocks.

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

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.

Lithostratigraphic interpretation from joint analysis of seismic tomography and magnetotelluric resistivity models using self-organizing map techniques

NASA Astrophysics Data System (ADS)

Bauer, K.; Muñoz, G.; Moeck, I.

2012-12-01

The combined interpretation of different models as derived from seismic tomography and magnetotelluric (MT) inversion represents a more efficient approach to determine the lithology of the subsurface compared with the separate treatment of each discipline. Such models can be developed independently or by application of joint inversion strategies. After the step of model generation using different geophysical methodologies, a joint interpretation work flow includes the following steps: (1) adjustment of a joint earth model based on the adapted, identical model geometry for the different methods, (2) classification of the model components (e.g. model blocks described by a set of geophysical parameters), and (3) re-mapping of the classified rock types to visualise their distribution within the earth model, and petrophysical characterization and interpretation. One possible approach for the classification of multi-parameter models is based on statistical pattern recognition, where different models are combined and translated into probability density functions. Classes of rock types are identified in these methods as isolated clusters with high probability density function values. Such techniques are well-established for the analysis of two-parameter models. Alternatively we apply self-organizing map (SOM) techniques, which have no limitations in the number of parameters to be analysed in the joint interpretation. Our SOM work flow includes (1) generation of a joint earth model described by so-called data vectors, (2) unsupervised learning or training, (3) analysis of the feature map by adopting image processing techniques, and (4) application of the knowledge to derive a lithological model which is based on the different geophysical parameters. We show the usage of the SOM work flow for a synthetic and a real data case study. Both tests rely on three geophysical properties: P velocity and vertical velocity gradient from seismic tomography, and electrical resistivity from MT inversion. The synthetic data are used as a benchmark test to demonstrate the performance of the SOM method. The real data were collected along a 40 km profile across parts of the NE German basin. The lithostratigraphic model from the joint SOM interpretation consists of eight litho-types and covers Cenozoic, Mesozoic and Paleozoic sediments down to 5 km depth. There is a remarkable agreement between the SOM based model and regional marker horizons interpolated from surrounding 2D industrial seismic data. The most interesting results include (1) distinct properties of the Jurassic (low P velocity gradients, low resistivities) interpreted as the signature of shaly clastics, and (2) a pattern within the Upper Permian Zechstein with decreased resistivities and increased P velocities within the salt depressions on the one hand, and increased resistivities and decreased P velocities in the salt pillows on the other hand. In our interpretation this pattern is related with flow of less dense salt matrix components into the pillows and remaining brittle evaporites within the depressions.

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

PubMed

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

2009-02-01

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

Expecting ankle tilts and wearing an ankle brace influence joint control in an imitated ankle sprain mechanism during walking.

PubMed

Gehring, Dominic; Wissler, Sabrina; Lohrer, Heinz; Nauck, Tanja; Gollhofer, Albert

2014-03-01

A thorough understanding of the functional aspects of ankle joint control is essential to developing effective injury prevention. It is of special interest to understand how neuromuscular control mechanisms and mechanical constraints stabilize the ankle joint. Therefore, the aim of the present study was to determine how expecting ankle tilts and the application of an ankle brace influence ankle joint control when imitating the ankle sprain mechanism during walking. Ankle kinematics and muscle activity were assessed in 17 healthy men. During gait rapid perturbations were applied using a trapdoor (tilting with 24° inversion and 15° plantarflexion). The subjects either knew that a perturbation would definitely occur (expected tilts) or there was only the possibility that a perturbation would occur (potential tilts). Both conditions were conducted with and without a semi-rigid ankle brace. Expecting perturbations led to an increased ankle eversion at foot contact, which was mediated by an altered muscle preactivation pattern. Moreover, the maximal inversion angle (-7%) and velocity (-4%), as well as the reactive muscle response were significantly reduced when the perturbation was expected. While wearing an ankle brace did not influence muscle preactivation nor the ankle kinematics before ground contact, it significantly reduced the maximal ankle inversion angle (-14%) and velocity (-11%) as well as reactive neuromuscular responses. The present findings reveal that expecting ankle inversion modifies neuromuscular joint control prior to landing. Although such motor control strategies are weaker in their magnitude compared with braces, they seem to assist ankle joint stabilization in a close-to-injury situation. Copyright © 2013 Elsevier B.V. All rights reserved.

Mountain Building in Central and Western Tien Shan Orogen: Insight from Joint Inversion of Surface Wave Phase Velocities and Body Wave Travel Times

NASA Astrophysics Data System (ADS)

Wu, S.; Yang, Y.; Wang, K.

2017-12-01

The Tien Shan orogeny, situated in central Asia about 2000 km away from the collision boundary between Indian plate and Eurasian plate, is one of the highest, youngest, and most active intracontinental mountain belts on the earth. It first formed during the Paleozoic times and became reactivated at about 20Ma. Although many studies on the dynamic processes of the Tien Shan orogeny have been carried out before, its tectonic rejuvenation and uplift mechanism are still being debated. A high-resolution model of crust and mantle beneath Tien Shan is critical to discern among competing models for the mountain building. In this study, we collect and process seismic data recorded by several seismic arrays in the central and western Tien Shan region to generate surface wave dispersion curves at 6-140 s period using ambient noise tomography (ANT) and two-plane surface wave tomography (TPWT) methods. Using these dispersion curves, we construct a high-resolution 3-D image of shear wave velocity (Vs) in the crust and upper mantle up to 300 km depth. Our current model constrained only by surface waves shows that, under the Tien Shan orogenic belt, a strong low S-wave velocity anomaly exists in the uppermost mantle down to the depth of 200km, supporting the model that the hot upper mantle is upwelling under the Tien Shan orogenic belt, which may be responsible for the mountain building. To the west of central Tien Shan across the Talas-Fergana fault, low S-wave velocity anomalies in the upper mantle become much weaker and finally disappear beneath the Fergana basin. Because surface waves are insensitive to the structures below 300 km, body wave arrival times will be included for a joint inversion with surface waves to generate S-wave velocity structure from the surface down to the mantle transition zone. The joint inversion of both body and surface waves provide complementary constraints on structures at different depths and helps to achieve a more realistic model compared with body wave or surface wave tomography alone. The joint inversion model will be presented.

Fuzzy logic control of telerobot manipulators

NASA Technical Reports Server (NTRS)

Franke, Ernest A.; Nedungadi, Ashok

1992-01-01

Telerobot systems for advanced applications will require manipulators with redundant 'degrees of freedom' (DOF) that are capable of adapting manipulator configurations to avoid obstacles while achieving the user specified goal. Conventional methods for control of manipulators (based on solution of the inverse kinematics) cannot be easily extended to these situations. Fuzzy logic control offers a possible solution to these needs. A current research program at SRI developed a fuzzy logic controller for a redundant, 4 DOF, planar manipulator. The manipulator end point trajectory can be specified by either a computer program (robot mode) or by manual input (teleoperator). The approach used expresses end-point error and the location of manipulator joints as fuzzy variables. Joint motions are determined by a fuzzy rule set without requiring solution of the inverse kinematics. Additional rules for sensor data, obstacle avoidance and preferred manipulator configuration, e.g., 'righty' or 'lefty', are easily accommodated. The procedure used to generate the fuzzy rules can be extended to higher DOF systems.

Fingerprinting stress: Stylolite and calcite twinning paleopiezometry revealing the complexity of progressive stress patterns during folding—The case of the Monte Nero anticline in the Apennines, Italy

NASA Astrophysics Data System (ADS)

Beaudoin, Nicolas; Koehn, Daniel; Lacombe, Olivier; Lecouty, Alexandre; Billi, Andrea; Aharonov, Einat; Parlangeau, Camille

2016-07-01

In this study we show for the first time how quantitative stress estimates can be derived by combining calcite twinning and stylolite roughness stress fingerprinting techniques in a fold-and-thrust belt. First, we present a new method that gives access to stress inversion using tectonic stylolites without access to the stylolite surface and compare results with calcite twin inversion. Second, we use our new approach to present a high-resolution deformation and stress history that affected Meso-Cenozoic limestone strata in the Monte Nero Anticline during its late Miocene-Pliocene growth in the Umbria-Marche Arcuate Ridge (northern Apennines, Italy). In this area an extensive stylolite-joint/vein network developed during layer-parallel shortening (LPS), as well as during and after folding. Stress fingerprinting illustrates how stress in the sedimentary strata did build up prior to folding during LPS. The stress regime oscillated between strike slip and compressional during LPS before ultimately becoming strike slip again during late stage fold tightening. Our case study shows that high-resolution stress fingerprinting is possible and that this novel method can be used to unravel temporal relationships that relate to local variations of regional orogenic stresses. Beyond regional implications, this study validates our approach as a new powerful toolbox to high-resolution stress fingerprinting in basins and orogens combining joint and vein analysis with sedimentary and tectonic stylolite and calcite twin inversion techniques.

Anisotropic modeling and joint-MAP stitching for improved ultrasound model-based iterative reconstruction of large and thick specimens

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

Almansouri, Hani; Venkatakrishnan, Singanallur V.; Clayton, Dwight A.

One-sided non-destructive evaluation (NDE) is widely used to inspect materials, such as concrete structures in nuclear power plants (NPP). A widely used method for one-sided NDE is the synthetic aperture focusing technique (SAFT). The SAFT algorithm produces reasonable results when inspecting simple structures. However, for complex structures, such as heavily reinforced thick concrete structures, SAFT results in artifacts and hence there is a need for a more sophisticated inversion technique. Model-based iterative reconstruction (MBIR) algorithms, which are typically equivalent to regularized inversion techniques, offer a powerful framework to incorporate complex models for the physics, detector miscalibrations and the materials beingmore » imaged to obtain high quality reconstructions. Previously, we have proposed an ultrasonic MBIR method that signifcantly improves reconstruction quality compared to SAFT. However, the method made some simplifying assumptions on the propagation model and did not disucss ways to handle data that is obtained by raster scanning a system over a surface to inspect large regions. In this paper, we propose a novel MBIR algorithm that incorporates an anisotropic forward model and allows for the joint processing of data obtained from a system that raster scans a large surface. We demonstrate that the new MBIR method can produce dramatic improvements in reconstruction quality compared to SAFT and suppresses articfacts compared to the perviously presented MBIR approach.« less

Anisotropic modeling and joint-MAP stitching for improved ultrasound model-based iterative reconstruction of large and thick specimens

NASA Astrophysics Data System (ADS)

Almansouri, Hani; Venkatakrishnan, Singanallur; Clayton, Dwight; Polsky, Yarom; Bouman, Charles; Santos-Villalobos, Hector

2018-04-01

One-sided non-destructive evaluation (NDE) is widely used to inspect materials, such as concrete structures in nuclear power plants (NPP). A widely used method for one-sided NDE is the synthetic aperture focusing technique (SAFT). The SAFT algorithm produces reasonable results when inspecting simple structures. However, for complex structures, such as heavily reinforced thick concrete structures, SAFT results in artifacts and hence there is a need for a more sophisticated inversion technique. Model-based iterative reconstruction (MBIR) algorithms, which are typically equivalent to regularized inversion techniques, offer a powerful framework to incorporate complex models for the physics, detector miscalibrations and the materials being imaged to obtain high quality reconstructions. Previously, we have proposed an ultrasonic MBIR method that signifcantly improves reconstruction quality compared to SAFT. However, the method made some simplifying assumptions on the propagation model and did not disucss ways to handle data that is obtained by raster scanning a system over a surface to inspect large regions. In this paper, we propose a novel MBIR algorithm that incorporates an anisotropic forward model and allows for the joint processing of data obtained from a system that raster scans a large surface. We demonstrate that the new MBIR method can produce dramatic improvements in reconstruction quality compared to SAFT and suppresses articfacts compared to the perviously presented MBIR approach.

Analysis of the Effects of Normal Walking on Ankle Joint Contact Characteristics After Acute Inversion Ankle Sprain.

PubMed

Bae, Ji Yong; Park, Kyung Soon; Seon, Jong Keun; Jeon, Insu

2015-12-01

To show the causal relationship between normal walking after various lateral ankle ligament (LAL) injuries caused by acute inversion ankle sprains and alterations in ankle joint contact characteristics, finite element simulations of normal walking were carried out using an intact ankle joint model and LAL injury models. A walking experiment using a volunteer with a normal ankle joint was performed to obtain the boundary conditions for the simulations and to support the appropriateness of the simulation results. Contact pressure and strain on the talus articular cartilage and anteroposterior and mediolateral translations of the talus were calculated. Ankles with ruptured anterior talofibular ligaments (ATFLs) had a higher likelihood of experiencing increased ankle joint contact pressures, strains and translations than ATFL-deficient ankles. In particular, ankles with ruptured ATFL + calcaneofibular ligaments and all ruptured ankles had a similar likelihood as the ATFL-ruptured ankles. The push off stance phase was the most likely situation for increased ankle joint contact pressures, strains and translations in LAL-injured ankles.

Concept for a fast analysis method of the energy dissipation at mechanical joints

NASA Astrophysics Data System (ADS)

Wolf, Alexander; Brosius, Alexander

2017-10-01

When designing hybrid parts and structures one major challenge is the design, production and quality assessment of the joining points. While the polymeric composites themselves have excellent material properties, the necessary joints are often the weak link in assembled structures. This paper presents a method of measuring and analysing the energy dissipation at mechanical joining points of hybrid parts. A simplified model is applied based on the characteristic response to different excitation frequencies and amplitudes. The dissipation from damage is the result of relative moments between joining partners und damaged fibres within the composite, whereas the visco-elastic material behaviour causes the intrinsic dissipation. The ambition is to transfer these research findings to the characterisation of mechanical joints in order to quickly assess the general quality of the joint with this non-destructive testing method. The inherent challenge for realising this method is the correct interpretation of the measured energy dissipation and its attribution to either a bad joining point or intrinsic material properties. In this paper the authors present the concept for energy dissipation measurements at different joining points. By inverse analysis a simplified fast semi-analytical model will be developed that allows for a quick basic quality assessment of a given joining point.

Novel Scalable 3-D MT Inverse Solver

NASA Astrophysics Data System (ADS)

Kuvshinov, A. V.; Kruglyakov, M.; Geraskin, A.

2016-12-01

We present a new, robust and fast, three-dimensional (3-D) magnetotelluric (MT) inverse solver. As a forward modelling engine a highly-scalable solver extrEMe [1] is used. The (regularized) inversion is based on an iterative gradient-type optimization (quasi-Newton method) and exploits adjoint sources approach for fast calculation of the gradient of the misfit. The inverse solver is able to deal with highly detailed and contrasting models, allows for working (separately or jointly) with any type of MT (single-site and/or inter-site) responses, and supports massive parallelization. Different parallelization strategies implemented in the code allow for optimal usage of available computational resources for a given problem set up. To parameterize an inverse domain a mask approach is implemented, which means that one can merge any subset of forward modelling cells in order to account for (usually) irregular distribution of observation sites. We report results of 3-D numerical experiments aimed at analysing the robustness, performance and scalability of the code. In particular, our computational experiments carried out at different platforms ranging from modern laptops to high-performance clusters demonstrate practically linear scalability of the code up to thousands of nodes. 1. Kruglyakov, M., A. Geraskin, A. Kuvshinov, 2016. Novel accurate and scalable 3-D MT forward solver based on a contracting integral equation method, Computers and Geosciences, in press.

Change of synovial vascularity in a single finger joint assessed by power doppler sonography correlated with radiographic change in rheumatoid arthritis: comparative study of a novel quantitative score with a semiquantitative score.

PubMed

Fukae, Jun; Kon, Yujiro; Henmi, Mihoko; Sakamoto, Fumihiko; Narita, Akihiro; Shimizu, Masato; Tanimura, Kazuhide; Matsuhashi, Megumi; Kamishima, Tamotsu; Atsumi, Tatsuya; Koike, Takao

2010-05-01

To investigate the relationship between synovial vascularity assessed by quantitative power Doppler sonography (PDS) and progression of structural bone damage in a single finger joint in patients with rheumatoid arthritis (RA). We studied 190 metacarpophalangeal (MCP) joints and 190 proximal interphalangeal (PIP) joints of 19 patients with active RA who had initial treatment with disease-modifying antirheumatic drugs (DMARDs). Patients were examined by clinical and laboratory assessments throughout the study. Hand and foot radiography was performed at baseline and the twentieth week. Magnetic resonance imaging (MRI) was performed at baseline. PDS was performed at baseline and the eighth week. Synovial vascularity was evaluated according to both quantitative and semiquantitative methods. Quantitative PDS was significantly correlated with the enhancement rate of MRI in each single finger joint. Comparing quantitative synovial vascularity and radiographic change in single MCP or PIP joints, the level of vascularity at baseline showed a significant positive correlation with radiographic progression at the twentieth week. The change of vascularity in response to DMARDs, defined as the percentage change in vascularity by the eighth week from baseline, was inversely correlated with radiographic progression in each MCP joint. The quantitative PDS method was more useful than the semiquantitative method for the evaluation of synovial vascularity in a single finger joint. The change of synovial vascularity in a single finger joint determined by quantitative PDS could numerically predict its radiographic progression. Using vascularity as a guide to consider a therapeutic approach would have benefits for patients with active RA.

FOREWORD: 5th International Workshop on New Computational Methods for Inverse Problems

NASA Astrophysics Data System (ADS)

Vourc'h, Eric; Rodet, Thomas

2015-11-01

This volume of Journal of Physics: Conference Series is dedicated to the scientific research presented during the 5th International Workshop on New Computational Methods for Inverse Problems, NCMIP 2015 (http://complement.farman.ens-cachan.fr/NCMIP_2015.html). This workshop took place at Ecole Normale Supérieure de Cachan, on May 29, 2015. The prior editions of NCMIP also took place in Cachan, France, firstly within the scope of ValueTools Conference, in May 2011, and secondly at the initiative of Institut Farman, in May 2012, May 2013 and May 2014. The New Computational Methods for Inverse Problems (NCMIP) workshop focused on recent advances in the resolution of inverse problems. Indeed, inverse problems appear in numerous scientific areas such as geophysics, biological and medical imaging, material and structure characterization, electrical, mechanical and civil engineering, and finances. The resolution of inverse problems consists of estimating the parameters of the observed system or structure from data collected by an instrumental sensing or imaging device. Its success firstly requires the collection of relevant observation data. It also requires accurate models describing the physical interactions between the instrumental device and the observed system, as well as the intrinsic properties of the solution itself. Finally, it requires the design of robust, accurate and efficient inversion algorithms. Advanced sensor arrays and imaging devices provide high rate and high volume data; in this context, the efficient resolution of the inverse problem requires the joint development of new models and inversion methods, taking computational and implementation aspects into account. During this one-day workshop, researchers had the opportunity to bring to light and share new techniques and results in the field of inverse problems. The topics of the workshop were: algorithms and computational aspects of inversion, Bayesian estimation, Kernel methods, learning methods, convex optimization, free discontinuity problems, metamodels, proper orthogonal decomposition, reduced models for the inversion, non-linear inverse scattering, image reconstruction and restoration, and applications (bio-medical imaging, non-destructive evaluation...). NCMIP 2015 was a one-day workshop held in May 2015 which attracted around 70 attendees. Each of the submitted papers has been reviewed by two reviewers. There have been 15 accepted papers. In addition, three international speakers were invited to present a longer talk. The workshop was supported by Institut Farman (ENS Cachan, CNRS) and endorsed by the following French research networks: GDR ISIS, GDR MIA, GDR MOA and GDR Ondes. The program committee acknowledges the following research laboratories: CMLA, LMT, LURPA and SATIE.

Seismicity and structure of Akutan and Makushin Volcanoes, Alaska, using joint body and surface wave tomography

DOE PAGES

Syracuse, E. M.; Maceira, M.; Zhang, H.; ...

2015-02-18

Joint inversions of seismic data recover models that simultaneously fit multiple constraints while playing upon the strengths of each data type. Here, we jointly invert 14 years of local earthquake body wave arrival times from the Alaska Volcano Observatory catalog and Rayleigh wave dispersion curves based upon ambient noise measurements for local V p, V s, and hypocentral locations at Akutan and Makushin Volcanoes using a new joint inversion algorithm.The velocity structure and relocated seismicity of both volcanoes are significantly more complex than many other volcanoes studied using similar techniques. Seismicity is distributed among several areas beneath or beyond themore » flanks of both volcanoes, illuminating a variety of volcanic and tectonic features. The velocity structures of the two volcanoes are exemplified by the presence of narrow high-V p features in the near surface, indicating likely current or remnant pathways of magma to the surface. A single broad low-V p region beneath each volcano is slightly offset from each summit and centered at approximately 7 km depth, indicating a potential magma chamber, where magma is stored over longer time periods. Differing recovery capabilities of the Vp and Vs datasets indicate that the results of these types of joint inversions must be interpreted carefully.« less

Upper limb joint forces and moments during underwater cyclical movements.

PubMed

Lauer, Jessy; Rouard, Annie Hélène; Vilas-Boas, João Paulo

2016-10-03

Sound inverse dynamics modeling is lacking in aquatic locomotion research because of the difficulty in measuring hydrodynamic forces in dynamic conditions. Here we report the successful implementation and validation of an innovative methodology crossing new computational fluid dynamics and inverse dynamics techniques to quantify upper limb joint forces and moments while moving in water. Upper limb kinematics of seven male swimmers sculling while ballasted with 4kg was recorded through underwater motion capture. Together with body scans, segment inertial properties, and hydrodynamic resistances computed from a unique dynamic mesh algorithm capable to handle large body deformations, these data were fed into an inverse dynamics model to solve for joint kinetics. Simulation validity was assessed by comparing the impulse produced by the arms, calculated by integrating vertical forces over a stroke period, to the net theoretical impulse of buoyancy and ballast forces. A resulting gap of 1.2±3.5% provided confidence in the results. Upper limb joint load was within 5% of swimmer׳s body weight, which tends to supports the use of low-load aquatic exercises to reduce joint stress. We expect this significant methodological improvement to pave the way towards deeper insights into the mechanics of aquatic movement and the establishment of practice guidelines in rehabilitation, fitness or swimming performance. Copyright © 2016 Elsevier Ltd. All rights reserved.

Comparison of dynamic treatment regimes via inverse probability weighting.

PubMed

Hernán, Miguel A; Lanoy, Emilie; Costagliola, Dominique; Robins, James M

2006-03-01

Appropriate analysis of observational data is our best chance to obtain answers to many questions that involve dynamic treatment regimes. This paper describes a simple method to compare dynamic treatment regimes by artificially censoring subjects and then using inverse probability weighting (IPW) to adjust for any selection bias introduced by the artificial censoring. The basic strategy can be summarized in four steps: 1) define two regimes of interest, 2) artificially censor individuals when they stop following one of the regimes of interest, 3) estimate inverse probability weights to adjust for the potential selection bias introduced by censoring in the previous step, 4) compare the survival of the uncensored individuals under each regime of interest by fitting an inverse probability weighted Cox proportional hazards model with the dichotomous regime indicator and the baseline confounders as covariates. In the absence of model misspecification, the method is valid provided data are available on all time-varying and baseline joint predictors of survival and regime discontinuation. We present an application of the method to compare the AIDS-free survival under two dynamic treatment regimes in a large prospective study of HIV-infected patients. The paper concludes by discussing the relative advantages and disadvantages of censoring/IPW versus g-estimation of nested structural models to compare dynamic regimes.

Glossary of Foot and Ankle Terms

MedlinePlus

... or she will probably outgrow the condition naturally. Inversion - Twisting in toward the midline of the body. ... with the leg; the subtalar joint, which allows inversion and eversion of the foot with the leg; ...

Joint 3D Inversion of ZTEM Airborne and Ground MT Data with Application to Geothermal Exploration

NASA Astrophysics Data System (ADS)

Wannamaker, P. E.; Maris, V.; Kordy, M. A.

2017-12-01

ZTEM is an airborne electromagnetic (EM) geophysical technique developed by Geotech Inc® where naturally propagated EM fields originating with regional and global lightning discharges (sferics) are measured as a means of inferring subsurface electrical resistivity structure. A helicopter-borne coil platform (bird) measuring the vertical component of magnetic (H) field variations along a flown profile is referenced to a pair of horizontal coils at a fixed location on the ground in order to estimate a tensor H-field transfer function. The ZTEM method is distinct from the traditional magnetotelluric (MT) method in that the electric (E) fields are not considered because of the technological challenge of measuring E-fields in the dielectric air medium. This can lend some non-uniqueness to ZTEM interpretation because a range of conductivity structures in the earth depending upon an assumed background earth resistivity model can fit ZTEM data to within tolerance. MT data do not suffer this particular problem, but they are cumbersome to acquire in their common need for land-based transport often in near-roadless areas and for laying out and digging the electrodes and H coils. The complementary nature of ZTEM and MT logistics and resolution has motivated development of schemes to acquire appropriate amounts of each data type in a single survey and to produce an earth image through joint inversion. In particular, consideration is given to surveys where only sparse MT soundings are needed to drastically reduce the non-uniqueness associated with background uncertainty while straining logistics minimally. Synthetic and field data are analysed using 2D and 3D finite element platforms developed for this purpose. Results to date suggest that indeed dense ZTEM surveys can provide detailed heterogeneous model images with large-scale averages constrained by a modest number of MT soundings. Further research is needed in determining the allowable degree of MT sparseness and the relative weighting of the two data sets in joint inversion.

Sodium inversion recovery MRI of the knee joint in vivo at 7T

NASA Astrophysics Data System (ADS)

Madelin, Guillaume; Lee, Jae-Seung; Inati, Souheil; Jerschow, Alexej; Regatte, Ravinder R.

2010-11-01

The loss of proteoglycans (PG) in the articular cartilage is an early signature of osteoarthritis (OA). The ensuing changes in the fixed charge density in the cartilage can be directly linked to sodium concentration via charge balance. Sodium ions in the knee joint appear in two pools: in the synovial fluids or joint effusion where the ions are in free motion and bound within the cartilage tissue where the Na+ ions have a restricted motion. The ions in these two compartments have therefore different T1 and T2 relaxation times. The purpose of this study is to demonstrate the feasibility of a fluid-suppressed 3D ultrashort TE radial sodium sequence by implementing an inversion recovery (IR) preparation of the magnetization at 7T. This method could allow a more accurate and more sensitive quantification of loss of PG in patients with OA. It is shown that adiabatic pulses offer significantly improved performance in terms of robustness to B1 and B0 inhomogeneities when compared to the hard pulse sequence. Power deposition considerations further pose a limit to the RF inversion power, and we demonstrate in simulations and experiments how a practical compromise can be struck between clean suppression of fluid signals and power deposition levels. Two IR sequences with different types of inversion pulses (a rectangular pulse and an adiabatic pulse) were tested on a liquid phantom, ex vivo on a human knee cadaver and then in vivo on five healthy volunteers, with a (Nyquist) resolution of ∼3.6 mm and a signal-to-noise ratio of ∼30 in cartilage without IR and ∼20 with IR. Due to specific absorption rate limitations, the total acquisition time was ∼17 min for the 3D radial sequence without inversion or with the rectangular IR, and 24:30 min for the adiabatic IR sequence. It is shown that the adiabatic IR sequence generates a more uniform fluid suppression over the whole sample than the rectangular IR sequence.

Sodium inversion recovery MRI of the knee joint in vivo at 7T.

PubMed

Madelin, Guillaume; Lee, Jae-Seung; Inati, Souheil; Jerschow, Alexej; Regatte, Ravinder R

2010-11-01

The loss of proteoglycans (PG) in the articular cartilage is an early signature of osteoarthritis (OA). The ensuing changes in the fixed charge density in the cartilage can be directly linked to sodium concentration via charge balance. Sodium ions in the knee joint appear in two pools: in the synovial fluids or joint effusion where the ions are in free motion and bound within the cartilage tissue where the Na(+) ions have a restricted motion. The ions in these two compartments have therefore different T₁ and T₂ relaxation times. The purpose of this study is to demonstrate the feasibility of a fluid-suppressed 3D ultrashort TE radial sodium sequence by implementing an inversion recovery (IR) preparation of the magnetization at 7T. This method could allow a more accurate and more sensitive quantification of loss of PG in patients with OA. It is shown that adiabatic pulses offer significantly improved performance in terms of robustness to B₁ and B₀ inhomogeneities when compared to the hard pulse sequence. Power deposition considerations further pose a limit to the RF inversion power, and we demonstrate in simulations and experiments how a practical compromise can be struck between clean suppression of fluid signals and power deposition levels. Two IR sequences with different types of inversion pulses (a rectangular pulse and an adiabatic pulse) were tested on a liquid phantom, ex vivo on a human knee cadaver and then in vivo on five healthy volunteers, with a (Nyquist) resolution of ∼3.6 mm and a signal-to-noise ratio of ∼30 in cartilage without IR and ∼20 with IR. Due to specific absorption rate limitations, the total acquisition time was ∼17 min for the 3D radial sequence without inversion or with the rectangular IR, and 24:30 min for the adiabatic IR sequence. It is shown that the adiabatic IR sequence generates a more uniform fluid suppression over the whole sample than the rectangular IR sequence. Copyright © 2010 Elsevier Inc. All rights reserved.

Joint inversion of regional and teleseismic earthquake waveforms

NASA Astrophysics Data System (ADS)

Baker, Mark R.; Doser, Diane I.

1988-03-01

A least squares joint inversion technique for regional and teleseismic waveforms is presented. The mean square error between seismograms and synthetics is minimized using true amplitudes. Matching true amplitudes in modeling requires meaningful estimates of modeling uncertainties and of seismogram signal-to-noise ratios. This also permits calculating linearized uncertainties on the solution based on accuracy and resolution. We use a priori estimates of earthquake parameters to stabilize unresolved parameters, and for comparison with a posteriori uncertainties. We verify the technique on synthetic data, and on the 1983 Borah Peak, Idaho (M = 7.3), earthquake. We demonstrate the inversion on the August 1954 Rainbow Mountain, Nevada (M = 6.8), earthquake and find parameters consistent with previous studies.

Pseudo 2D elastic waveform inversion for attenuation in the near surface

NASA Astrophysics Data System (ADS)

Wang, Yue; Zhang, Jie

2017-08-01

Seismic waveform propagation could be significantly affected by heterogeneities in the near surface zone (0 m-500 m depth). As a result, it is important to obtain as much near surface information as possible. Seismic attenuation, characterized by QP and QS factors, may affect seismic waveform in both phase and amplitude; however, it is rarely estimated and applied to the near surface zone for seismic data processing. Applying a 1D elastic full waveform modelling program, we demonstrate that such effects cannot be overlooked in the waveform computation if the value of the Q factor is lower than approximately 100. Further, we develop a pseudo 2D elastic waveform inversion method in the common midpoint (CMP) domain that jointly inverts early arrivals for QP and surface waves for QS. In this method, although the forward problem is in 1D, by applying 2D model regularization, we obtain 2D QP and QS models through simultaneous inversion. A cross-gradient constraint between the QP and Qs models is applied to ensure structural consistency of the 2D inversion results. We present synthetic examples and a real case study from an oil field in China.

Small-scale electrical resistivity tomography of wet fractured rocks.

PubMed

LaBrecque, Douglas J; Sharpe, Roger; Wood, Thomas; Heath, Gail

2004-01-01

This paper describes a series of experiments that tested the ability of the electrical resistivity tomography (ERT) method to locate correctly wet and dry fractures in a meso-scale model. The goal was to develop a method of monitoring the flow of water through a fractured rock matrix. The model was a four by six array of limestone blocks equipped with 28 stainless steel electrodes. Dry fractures were created by placing pieces of vinyl between one or more blocks. Wet fractures were created by injecting tap water into a joint between blocks. In electrical terms, the dry fractures are resistive and the wet fractures are conductive. The quantities measured by the ERT system are current and voltage around the outside edge of the model. The raw ERT data were translated to resistivity values inside the model using a three-dimensional Occam's inversion routine. This routine was one of the key components of ERT being tested. The model presented several challenges. First, the resistivity of both the blocks and the joints was highly variable. Second, the resistive targets introduced extreme changes the software could not precisely quantify. Third, the abrupt changes inherent in a fracture system were contrary to the smoothly varying changes expected by the Occam's inversion routine. Fourth, the response of the conductive fractures was small compared to the background variability. In general, ERT was able to locate correctly resistive fractures. Problems occurred, however, when the resistive fracture was near the edges of the model or when multiple fractures were close together. In particular, ERT tended to position the fracture closer to the model center than its true location. Conductive fractures yielded much smaller responses than the resistive case. A difference-inversion method was able to correctly locate these targets.

Probabilistic inversion of expert assessments to inform projections about Antarctic ice sheet responses.

PubMed

Fuller, Robert William; Wong, Tony E; Keller, Klaus

2017-01-01

The response of the Antarctic ice sheet (AIS) to changing global temperatures is a key component of sea-level projections. Current projections of the AIS contribution to sea-level changes are deeply uncertain. This deep uncertainty stems, in part, from (i) the inability of current models to fully resolve key processes and scales, (ii) the relatively sparse available data, and (iii) divergent expert assessments. One promising approach to characterizing the deep uncertainty stemming from divergent expert assessments is to combine expert assessments, observations, and simple models by coupling probabilistic inversion and Bayesian inversion. Here, we present a proof-of-concept study that uses probabilistic inversion to fuse a simple AIS model and diverse expert assessments. We demonstrate the ability of probabilistic inversion to infer joint prior probability distributions of model parameters that are consistent with expert assessments. We then confront these inferred expert priors with instrumental and paleoclimatic observational data in a Bayesian inversion. These additional constraints yield tighter hindcasts and projections. We use this approach to quantify how the deep uncertainty surrounding expert assessments affects the joint probability distributions of model parameters and future projections.

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.

Possibilities of magnetotelluric methods in geophysical exploration for ore minerals

NASA Astrophysics Data System (ADS)

Varentsov M., Iv.; Kulikov, V. A.; Yakovlev, A. G.; Yakovlev, D. V.

2013-05-01

In the past decade, the applications of magnetotelluric method in the electric prospecting for ore bodies have been rapidly progressing. In the present work, we summarize the first results on this way. We discuss the specificity of the geoelectrical models in the problems of mining prospecting for ore bodies. The state-of-the-art capabilities of the method, which rely on the synchronous observation systems and the procedure of joint inversion of magnetotelluric and magnetovariational responses, are considered in the context of ore mineral exploration. The results of modeling a typical mining audio-magnetotelluric survey for ore minerals are presented. On the basis of these simulations and the data provided by in-situ soundings, the efficient approaches to the processing, analysis, and inversion of these data are discussed and illustrated. The future trends in magnetotellurics as applied to the mining prospecting are analyzed.

Crustal and Upper Mantle Structure from Joint Inversion of Body Wave and Gravity Data

DTIC Science & Technology

2012-09-01

CRUSTAL AND UPPER MANTLE STRUCTURE FROM JOINT INVERSION OF BODY WAVE AND GRAVITY DATA Eric A. Bergman1, Charlotte Rowe2, and Monica Maceira2...for these events include many readings of direct crustal P and S phases, as well as regional (Pn and Sn) and teleseismic phases. These data have been...the usefulness of the gravity data, we apply high-pass filtering, yielding gravity anomalies that possess higher resolving power for crustal and

Four Weeks of Balance Training does not Affect Ankle Joint Stiffness in Subjects with Unilateral Chronic Ankle Instability

PubMed Central

Jain, Tarang Kumar; Wauneka, Clayton N.; Liu, Wen

2016-01-01

Background Balance training has been shown to be effective in preventing ankle sprain recurrences in subjects with chronic ankle instability (CAI) but the biomechanical pathways underlying the clinical outcomes are still unknown. This study was conducted to determine if a 4-week balance training intervention can alter the mechanical characteristics in ankles with CAI. Methods Twenty-two recreationally active subjects with unilateral CAI were randomized to either a control (n = 11, 35.1 ± 9.3 years) or intervention (n = 11, 33.5 ± 6.6 years) group. Subjects in the intervention group were trained on the affected limb with static and dynamic components using a Biodex balance stability system for 4-weeks. The ankle joint stiffness and neutral zone in inversion and eversion directions on the involved and uninvolved limbs was measured at baseline and post-intervention using a dynamometer. Results At baseline, the mean values of the inversion stiffness (0.69 ± 0.37 Nm/degree) in the involved ankle was significantly lower (p < 0.011, 95% CI [0.563, 0.544]) than that of uninvolved contralateral ankle (0.99 ± 0.41 Nm/degree). With the available sample size, the eversion stiffness, inversion neutral zone, and eversion neutral zone were not found to be significantly different between the involved and uninvolved contralateral ankles. The 4-week balance training intervention failed to show any significant effect on the passive ankle stiffness and neutral zones in inversion and eversion. Conclusion Decreased inversion stiffness in the involved chronic unstable ankle was found that of uninvolved contralateral ankle. The 4-week balance training program intervention was ineffective in altering the mechanical characteristics of ankles with CAI. Level of evidence Randomized controlled clinical trial; Level of evidence, 1. PMID:27642647

Inverse Dynamics Model for the Ankle Joint with Applications in Tibia Malleolus Fracture

NASA Astrophysics Data System (ADS)

Budescu, E.; Merticaru, E.; Chirazi, M.

The paper presents a biomechanical model of the ankle joint, in order to determine the force and the torque of reaction into the articulation, through inverse dynamic analysis, in various stages of the gait. Thus, knowing the acceleration of the foot and the reaction force between foot and ground during the gait, determined by experimental measurement, there was calculated, for five different positions of the foot, the joint reaction forces, on the basis of dynamic balance equations. The values numerically determined were compared with the admissible forces appearing in the technical systems of osteosynthesis of tibia malleolus fracture, in order to emphasize the motion restrictions during bone healing.

A Full Dynamic Compound Inverse Method for output-only element-level system identification and input estimation from earthquake response signals

NASA Astrophysics Data System (ADS)

Pioldi, Fabio; Rizzi, Egidio

2016-08-01

This paper proposes a new output-only element-level system identification and input estimation technique, towards the simultaneous identification of modal parameters, input excitation time history and structural features at the element-level by adopting earthquake-induced structural response signals. The method, named Full Dynamic Compound Inverse Method (FDCIM), releases strong assumptions of earlier element-level techniques, by working with a two-stage iterative algorithm. Jointly, a Statistical Average technique, a modification process and a parameter projection strategy are adopted at each stage to achieve stronger convergence for the identified estimates. The proposed method works in a deterministic way and is completely developed in State-Space form. Further, it does not require continuous- to discrete-time transformations and does not depend on initialization conditions. Synthetic earthquake-induced response signals from different shear-type buildings are generated to validate the implemented procedure, also with noise-corrupted cases. The achieved results provide a necessary condition to demonstrate the effectiveness of the proposed identification method.

Joint-inversion of gravity data and cosmic ray muon flux to detect shallow subsurface density structure beneath volcanoes: Testing the method at a well-characterized site

NASA Astrophysics Data System (ADS)

Roy, M.; Lewis, M.; George, N. K.; Johnson, A.; Dichter, M.; Rowe, C. A.; Guardincerri, E.

2016-12-01

The joint-inversion of gravity data and cosmic ray muon flux measurements has been utilized by a number of groups to image subsurface density structure in a variety of settings, including volcanic edifices. Cosmic ray muons are variably-attenuated depending upon the density structure of the material they traverse, so measuring muon flux through a region of interest provides an independent constraint on the density structure. Previous theoretical studies have argued that the primary advantage of combining gravity and muon data is enhanced resolution in regions not sampled by crossing muon trajectories, e.g. in sensing deeper structure or structure adjacent to the region sampled by muons. We test these ideas by investigating the ability of gravity data alone and the joint-inversion of gravity and muon flux to image subsurface density structure, including voids, in a well-characterized field location. Our study area is a tunnel vault located at the Los Alamos National Laboratory within Quaternary ash-flow tuffs on the Pajarito Plateau, flanking the Jemez Volcano in New Mexico. The regional geology of the area is well-characterized (with density measurements in nearby wells) and the geometry of the tunnel and the surrounding terrain is known. Gravity measurements were made using a Lacoste and Romberg D meter and the muon detector has a conical acceptance region of 45 degrees from the vertical and track resolution of several milliradians. We obtain individual and joint resolution kernels for gravity and muon flux specific to our experimental design and plan to combine measurements of gravity and muon flux both within and above the tunnel to infer density structure. We plan to compare our inferred density structure against the expected densities from the known regional hydro-geologic framework.

Velocity Structure of the Iran Region Using Seismic and Gravity Observations

NASA Astrophysics Data System (ADS)

Syracuse, E. M.; Maceira, M.; Phillips, W. S.; Begnaud, M. L.; Nippress, S. E. J.; Bergman, E.; Zhang, H.

2015-12-01

We present a 3D Vp and Vs model of Iran generated using a joint inversion of body wave travel times, Rayleigh wave dispersion curves, and high-wavenumber filtered Bouguer gravity observations. Our work has two main goals: 1) To better understand the tectonics of a prominent example of continental collision, and 2) To assess the improvements in earthquake location possible as a result of joint inversion. The body wave dataset is mainly derived from previous work on location calibration and includes the first-arrival P and S phases of 2500 earthquakes whose initial locations qualify as GT25 or better. The surface wave dataset consists of Rayleigh wave group velocity measurements for regional earthquakes, which are inverted for a suite of period-dependent Rayleigh wave velocity maps prior to inclusion in the joint inversion for body wave velocities. We use gravity anomalies derived from the global gravity model EGM2008. To avoid mapping broad, possibly dynamic features in the gravity field intovariations in density and body wave velocity, we apply a high-pass wavenumber filter to the gravity measurements. We use a simple, approximate relationship between density and velocity so that the three datasets may be combined in a single inversion. The final optimized 3D Vp and Vs model allows us to explore how multi-parameter tomography addresses crustal heterogeneities in areas of limited coverage and improves travel time predictions. We compare earthquake locations from our models to independent locations obtained from InSAR analysis to assess the improvement in locations derived in a joint-inversion model in comparison to those derived in a more traditional body-wave-only velocity model.

Preparation time influences ankle and knee joint control during dynamic change of direction movements.

PubMed

Fuerst, Patrick; Gollhofer, Albert; Gehring, Dominic

2017-04-01

The influence of preparation time on ankle joint biomechanics during highly dynamic movements is largely unknown. The aim of this study was to evaluate the impact of limited preparation time on ankle joint loading during highly dynamic run-and-cut movements. Thirteen male basketball players performed 45°-sidestep-cutting and 180°-turning manoeuvres in reaction to light signals which appeared during the approach run. Both movements were executed under (1) an easy condition, in which the light signal appeared very early, (2) a medium condition and (3) a hard condition with very little time to prepare the movements. Maximum ankle inversion angles, moments and velocities during ground contact, as well as EMG signals of three lower extremity muscles, were analysed. In 180°-turning movements, reduced preparation time led to significantly increased maximum ankle inversion velocities. Muscular activation levels, however, did not change. Increased inversion velocities, without accompanying changes in muscular activation, may have the potential to destabilise the ankle joint when less preparation time is available. This may result in a higher injury risk during turning movements and should therefore be considered in ankle injury research and the aetiology of ankle sprains.

Test-retest reliability of a new device for assessing ankle joint threshold to detect passive movement in healthy adults.

PubMed

Sun, Wei; Song, Qipeng; Yu, Bing; Zhang, Cui; Mao, Dewei

2015-01-01

This study aimed to evaluate the test-retest reliability of a new device for assessing ankle joint kinesthesia. This device could measure the passive motion threshold of four ankle joint movements, namely plantarflexion, dorsiflexion, inversion and eversion. A total of 21 healthy adults, including 13 males and 8 females, participated in the study. Each participant completed two sessions on two separate days with 1-week interval. The sessions were administered by the same experimenter in the same laboratory. At least 12 trials (three successful trials in each of the four directions) were performed in each session. The mean values in each direction were calculated and analysed. The ICC values of test-retest reliability ranged from 0.737 (dorsiflexion) to 0.935 (eversion), whereas the SEM values ranged from 0.21° (plantarflexion) to 0.52° (inversion). The Bland-Altman plots showed that the reliability of plantarflexion-dorsiflexion was better than that of inversion-eversion. The results evaluated the reliability of the new device as fair to excellent. The new device for assessing kinesthesia could be used to examine the ankle joint kinesthesia.

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

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.

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

Syracuse, E. M.; Maceira, M.; Zhang, H.

Joint inversions of seismic data recover models that simultaneously fit multiple constraints while playing upon the strengths of each data type. Here, we jointly invert 14 years of local earthquake body wave arrival times from the Alaska Volcano Observatory catalog and Rayleigh wave dispersion curves based upon ambient noise measurements for local V p, V s, and hypocentral locations at Akutan and Makushin Volcanoes using a new joint inversion algorithm.The velocity structure and relocated seismicity of both volcanoes are significantly more complex than many other volcanoes studied using similar techniques. Seismicity is distributed among several areas beneath or beyond themore » flanks of both volcanoes, illuminating a variety of volcanic and tectonic features. The velocity structures of the two volcanoes are exemplified by the presence of narrow high-V p features in the near surface, indicating likely current or remnant pathways of magma to the surface. A single broad low-V p region beneath each volcano is slightly offset from each summit and centered at approximately 7 km depth, indicating a potential magma chamber, where magma is stored over longer time periods. Differing recovery capabilities of the Vp and Vs datasets indicate that the results of these types of joint inversions must be interpreted carefully.« less

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.

Joint inversion of phase velocity dispersion and H/V ratio curves from seismic noise recordings using a genetic algorithm, considering higher modes

NASA Astrophysics Data System (ADS)

Parolai, S.; Picozzi, M.; Richwalski, S. M.; Milkereit, C.

2005-01-01

Seismic noise contains information on the local S-wave velocity structure, which can be obtained from the phase velocity dispersion curve by means of array measurements. The H/V ratio from single stations also contains information on the average S-wave velocity and the total thickness of the sedimentary cover. A joint inversion of the two data sets therefore might allow constraining the final model well. We propose a scheme that does not require a starting model because of usage of a genetic algorithm. Furthermore, we tested two suitable cost functions for our data set, using a-priori and data driven weighting. The latter one was more appropriate in our case. In addition, we consider the influence of higher modes on the data sets and use a suitable forward modeling procedure. Using real data we show that the joint inversion indeed allows for better fitting the observed data than using the dispersion curve only.

Research on the Optimization Method of Arm Movement in the Assembly Workshop Based on Ergonomics

NASA Astrophysics Data System (ADS)

Hu, X. M.; Qu, H. W.; Xu, H. J.; Yang, L.; Yu, C. C.

2017-12-01

In order to improve the work efficiency and comfortability, Ergonomics is used to research the work of the operator in the assembly workshop. An optimization algorithm of arm movement in the assembly workshop is proposed. In the algorithm, a mathematical model of arm movement is established based on multi rigid body movement model and D-H method. The solution of inverse kinematics equation on arm movement is solved through kinematics theory. The evaluation functions of each joint movement and the whole arm movement are given based on the comfortability of human body joint. The solution method of the optimal arm movement posture based on the evaluation functions is described. The software CATIA is used to verify that the optimal arm movement posture is valid in an example and the experimental result show the effectiveness of the algorithm.

Rigorous Approach in Investigation of Seismic Structure and Source Characteristicsin Northeast Asia: Hierarchical and Trans-dimensional Bayesian Inversion

NASA Astrophysics Data System (ADS)

Mustac, M.; Kim, S.; Tkalcic, H.; Rhie, J.; Chen, Y.; Ford, S. R.; Sebastian, N.

2015-12-01

Conventional approaches to inverse problems suffer from non-linearity and non-uniqueness in estimations of seismic structures and source properties. Estimated results and associated uncertainties are often biased by applied regularizations and additional constraints, which are commonly introduced to solve such problems. Bayesian methods, however, provide statistically meaningful estimations of models and their uncertainties constrained by data information. In addition, hierarchical and trans-dimensional (trans-D) techniques are inherently implemented in the Bayesian framework to account for involved error statistics and model parameterizations, and, in turn, allow more rigorous estimations of the same. Here, we apply Bayesian methods throughout the entire inference process to estimate seismic structures and source properties in Northeast Asia including east China, the Korean peninsula, and the Japanese islands. Ambient noise analysis is first performed to obtain a base three-dimensional (3-D) heterogeneity model using continuous broadband waveforms from more than 300 stations. As for the tomography of surface wave group and phase velocities in the 5-70 s band, we adopt a hierarchical and trans-D Bayesian inversion method using Voronoi partition. The 3-D heterogeneity model is further improved by joint inversions of teleseismic receiver functions and dispersion data using a newly developed high-efficiency Bayesian technique. The obtained model is subsequently used to prepare 3-D structural Green's functions for the source characterization. A hierarchical Bayesian method for point source inversion using regional complete waveform data is applied to selected events from the region. The seismic structure and source characteristics with rigorously estimated uncertainties from the novel Bayesian methods provide enhanced monitoring and discrimination of seismic events in northeast Asia.

Joint Inversion of Earthquake Source Parameters with local and teleseismic body waves

NASA Astrophysics Data System (ADS)

Chen, W.; Ni, S.; Wang, Z.

2011-12-01

In the classical source parameter inversion algorithm of CAP (Cut and Paste method, by Zhao and Helmberger), waveform data at near distances (typically less than 500km) are partitioned into Pnl and surface waves to account for uncertainties in the crustal models and different amplitude weight of body and surface waves. The classical CAP algorithms have proven effective for resolving source parameters (focal mechanisms, depth and moment) for earthquakes well recorded on relatively dense seismic network. However for regions covered with sparse stations, it is challenging to achieve precise source parameters . In this case, a moderate earthquake of ~M6 is usually recorded on only one or two local stations with epicentral distances less than 500 km. Fortunately, an earthquake of ~M6 can be well recorded on global seismic networks. Since the ray paths for teleseismic and local body waves sample different portions of the focal sphere, combination of teleseismic and local body wave data helps constrain source parameters better. Here we present a new CAP mothod (CAPjoint), which emploits both teleseismic body waveforms (P and SH waves) and local waveforms (Pnl, Rayleigh and Love waves) to determine source parameters. For an earthquake in Nevada that is well recorded with dense local network (USArray stations), we compare the results from CAPjoint with those from the traditional CAP method involving only of local waveforms , and explore the efficiency with bootstraping statistics to prove the results derived by CAPjoint are stable and reliable. Even with one local station included in joint inversion, accuracy of source parameters such as moment and strike can be much better improved.

Diagnosis of retrodiscal tissue in painful temporomandibular joint (TMJ) by fluid-attenuated inversion recovery (FLAIR) signal intensity.

PubMed

Kuroda, Migiwa; Otonari-Yamamoto, Mika; Sano, Tsukasa; Fujikura, Mamiko; Wakoh, Mamoru

2014-09-09

Aims: The purpose of the present study is to analyze the fluid-attenuated inversion recovery (FLAIR) signal intensity of the retrodiscal tissue in a painful temporomandibular joint (TMJ), and to develop a diagnostic system based on FLAIR data. Methodology: The study was based on 33 joints of 17 patients referred for MR imaging of the TMJ. Regions of interest were placed over retrodiscal tissue and gray matter (GM) on FLAIR images. Using signal intensities of GM as reference points, signal intensity ratios (SIR) of retrodiscal tissue were calculated. SIRs in painful TMJ were compared with those in painless TMJ. Wilcoxon's Rank Sum Test was used to analyze the difference in SIRs between the painful and painless groups (P<0·05). Results: The SIRs of retrodiscal tissue were significantly higher in painful joints than in painless joints. Conclusion: FLAIR sequences provide a high signal in patients having painful TMJ, and it suggests that retrodiscal tissue in painful TMJ contains elements such as protein.

Diagnosis of retrodiscal tissue in painful temporomandibular joint (TMJ) by fluid-attenuated inversion recovery (FLAIR) signal intensity.

PubMed

Kuroda, Migiwa; Otonari-Yamamoto, Mika; Sano, Tsukasa; Fujikura, Mamiko; Wakoh, Mamoru

2015-10-01

The purpose of the present study is to analyze the fluid-attenuated inversion recovery (FLAIR) signal intensity of the retrodiscal tissue in a painful temporomandibular joint (TMJ), and to develop a diagnostic system based on FLAIR data. The study was based on 33 joints of 17 patients referred for MR imaging of the TMJ. Regions of interest were placed over retrodiscal tissue and gray matter (GM) on FLAIR images. Using signal intensities of GM as reference points, signal intensity ratios (SIR) of retrodiscal tissue were calculated. SIRs in painful TMJ were compared with those in painless TMJ. Wilcoxon's Rank Sum Test was used to analyze the difference in SIRs between the painful and painless groups (P<0·05). The SIRs of retrodiscal tissue were significantly higher in painful joints than in painless joints. FLAIR sequences provide a high signal in patients having painful TMJ, and it suggests that retrodiscal tissue in painful TMJ contains elements such as protein.

Model Predictive Control considering Reachable Range of Wheels for Leg / Wheel Mobile Robots

NASA Astrophysics Data System (ADS)

Suzuki, Naito; Nonaka, Kenichiro; Sekiguchi, Kazuma

2016-09-01

Obstacle avoidance is one of the important tasks for mobile robots. In this paper, we study obstacle avoidance control for mobile robots equipped with four legs comprised of three DoF SCARA leg/wheel mechanism, which enables the robot to change its shape adapting to environments. Our previous method achieves obstacle avoidance by model predictive control (MPC) considering obstacle size and lateral wheel positions. However, this method does not ensure existence of joint angles which achieves reference wheel positions calculated by MPC. In this study, we propose a model predictive control considering reachable mobile ranges of wheels positions by combining multiple linear constraints, where each reachable mobile range is approximated as a convex trapezoid. Thus, we achieve to formulate a MPC as a quadratic problem with linear constraints for nonlinear problem of longitudinal and lateral wheel position control. By optimization of MPC, the reference wheel positions are calculated, while each joint angle is determined by inverse kinematics. Considering reachable mobile ranges explicitly, the optimal joint angles are calculated, which enables wheels to reach the reference wheel positions. We verify its advantages by comparing the proposed method with the previous method through numerical simulations.

Stress regimes in the northwest of Iran from stress inversion of earthquake focal mechanisms

NASA Astrophysics Data System (ADS)

Afra, Mahsa; Moradi, Ali; Pakzad, Mehrdad

2017-11-01

Northwestern Iran is one of the seismically active regions with a high seismic risk in the world. This area is a part of the complex tectonic system due to the interaction between Arabia, Anatolia and Eurasia. The purpose of this study is to deduce the stress regimes in the northwestern Iran and surrounding regions from stress inversion of earthquake focal mechanisms. We compile 92 focal mechanisms data from the Global CMT catalogue and other sources and also determine the focal mechanisms of 14 earthquakes applying the moment tensor inversion. We divide the studied region into 9 zones using similarity of the horizontal GPS velocities and existing focal mechanisms. We implement two stress inversion methods, Multiple Inverse Method and Iterative Joint Inversion Method, which provide comparable results in terms of orientations of maximum horizontal stress axes SHmax. The similar results of the two methods should make us more confident about the interpretations. We consider zones of exclusion surrounding all the earthquakes according to independent focal mechanisms hypothesis. The hypothesis says that the inversion should involve events that are far enough from each other in order that any previous event doesn't affect the stress field near the earthquake under consideration. Accordingly we deal with the matter by considering zones of exclusion around all the events. The result of exclusion is only significant for eastern Anatolia. The stress regime in this region changes from oblique to strike slip faulting because of the exclusion. In eastern Anatolia, the direction of maximum horizontal stress is nearly north-south. The direction alters to east-west in Talesh region. Errors of σ1 are lower in all zones comparing with errors of σ2 and σ3 and there is a trade-off between data resolution and covariance of the model. The results substantiate the strike-slip and thrust faulting stress regimes in the northwest of Iran.

Dynamic Inversion based Control of a Docking Mechanism

NASA Technical Reports Server (NTRS)

Kulkarni, Nilesh V.; Ippolito, Corey; Krishnakumar, Kalmanje

2006-01-01

The problem of position and attitude control of the Stewart platform based docking mechanism is considered motivated by its future application in space missions requiring the autonomous docking capability. The control design is initiated based on the framework of the intelligent flight control architecture being developed at NASA Ames Research Center. In this paper, the baseline position and attitude control system is designed using dynamic inversion with proportional-integral augmentation. The inverse dynamics uses a Newton-Euler formulation that includes the platform dynamics, the dynamics of the individual legs along with viscous friction in the joints. Simulation results are presented using forward dynamics simulated by a commercial physics engine that builds the system as individual elements with appropriate joints and uses constrained numerical integration,

A Common 16p11.2 Inversion Underlies the Joint Susceptibility to Asthma and Obesity

PubMed Central

González, Juan R.; Cáceres, Alejandro; Esko, Tonu; Cuscó, Ivon; Puig, Marta; Esnaola, Mikel; Reina, Judith; Siroux, Valerie; Bouzigon, Emmanuelle; Nadif, Rachel; Reinmaa, Eva; Milani, Lili; Bustamante, Mariona; Jarvis, Deborah; Antó, Josep M.; Sunyer, Jordi; Demenais, Florence; Kogevinas, Manolis; Metspalu, Andres; Cáceres, Mario; Pérez-Jurado, Luis A.

2014-01-01

The prevalence of asthma and obesity is increasing worldwide, and obesity is a well-documented risk factor for asthma. The mechanisms underlying this association and parallel time trends remain largely unknown but genetic factors may be involved. Here, we report on a common ∼0.45 Mb genomic inversion at 16p11.2 that can be accurately genotyped via SNP array data. We show that the inversion allele protects against the joint occurrence of asthma and obesity in five large independent studies (combined sample size of 317 cases and 543 controls drawn from a total of 5,809 samples; combined OR = 0.48, p = 5.5 × 10−6). Allele frequencies show remarkable worldwide population stratification, ranging from 10% in East Africa to 49% in Northern Europe, consistent with discordant and extreme genetic drifts or adaptive selections after human migration out of Africa. Inversion alleles strongly correlate with expression levels of neighboring genes, especially TUFM (p = 3.0 × 10−40) that encodes a mitochondrial protein regulator of energy balance and inhibitor of type 1 interferon, and other candidates for asthma (IL27) and obesity (APOB48R and SH2B1). Therefore, by affecting gene expression, the ∼0.45 Mb 16p11.2 inversion provides a genetic basis for the joint susceptibility to asthma and obesity, with a population attributable risk of 39.7%. Differential mitochondrial function and basal energy balance of inversion alleles might also underlie the potential selection signature that led to their uneven distribution in world populations. PMID:24560518

Coupled land surface-subsurface hydrogeophysical inverse modeling to estimate soil organic carbon content and explore associated hydrological and thermal dynamics in the Arctic tundra

NASA Astrophysics Data System (ADS)

Phuong Tran, Anh; Dafflon, Baptiste; Hubbard, Susan S.

2017-09-01

Quantitative characterization of soil organic carbon (OC) content is essential due to its significant impacts on surface-subsurface hydrological-thermal processes and microbial decomposition of OC, which both in turn are important for predicting carbon-climate feedbacks. While such quantification is particularly important in the vulnerable organic-rich Arctic region, it is challenging to achieve due to the general limitations of conventional core sampling and analysis methods, and to the extremely dynamic nature of hydrological-thermal processes associated with annual freeze-thaw events. In this study, we develop and test an inversion scheme that can flexibly use single or multiple datasets - including soil liquid water content, temperature and electrical resistivity tomography (ERT) data - to estimate the vertical distribution of OC content. Our approach relies on the fact that OC content strongly influences soil hydrological-thermal parameters and, therefore, indirectly controls the spatiotemporal dynamics of soil liquid water content, temperature and their correlated electrical resistivity. We employ the Community Land Model to simulate nonisothermal surface-subsurface hydrological dynamics from the bedrock to the top of canopy, with consideration of land surface processes (e.g., solar radiation balance, evapotranspiration, snow accumulation and melting) and ice-liquid water phase transitions. For inversion, we combine a deterministic and an adaptive Markov chain Monte Carlo (MCMC) optimization algorithm to estimate a posteriori distributions of desired model parameters. For hydrological-thermal-to-geophysical variable transformation, the simulated subsurface temperature, liquid water content and ice content are explicitly linked to soil electrical resistivity via petrophysical and geophysical models. We validate the developed scheme using different numerical experiments and evaluate the influence of measurement errors and benefit of joint inversion on the estimation of OC and other parameters. We also quantify the propagation of uncertainty from the estimated parameters to prediction of hydrological-thermal responses. We find that, compared to inversion of single dataset (temperature, liquid water content or apparent resistivity), joint inversion of these datasets significantly reduces parameter uncertainty. We find that the joint inversion approach is able to estimate OC and sand content within the shallow active layer (top 0.3 m of soil) with high reliability. Due to the small variations of temperature and moisture within the shallow permafrost (here at about 0.6 m depth), the approach is unable to estimate OC with confidence. However, if the soil porosity is functionally related to the OC and mineral content, which is often observed in organic-rich Arctic soil, the uncertainty of OC estimate at this depth remarkably decreases. Our study documents the value of the new surface-subsurface, deterministic-stochastic inversion approach, as well as the benefit of including multiple types of data to estimate OC and associated hydrological-thermal dynamics.

Control of a flexible bracing manipulator: Integration of current research work to realize the bracing manipulator

NASA Technical Reports Server (NTRS)

Kwon, Dong-Soo

1991-01-01

All research results about flexible manipulator control were integrated to show a control scenario of a bracing manipulator. First, dynamic analysis of a flexible manipulator was done for modeling. Second, from the dynamic model, the inverse dynamic equation was derived, and the time domain inverse dynamic method was proposed for the calculation of the feedforward torque and the desired flexible coordinate trajectories. Third, a tracking controller was designed by combining the inverse dynamic feedforward control with the joint feedback control. The control scheme was applied to the tip position control of a single link flexible manipulator for zero and non-zero initial condition cases. Finally, the contact control scheme was added to the position tracking control. A control scenario of a bracing manipulator is provided and evaluated through simulation and experiment on a single link flexible manipulator.

FOREWORD: 4th International Workshop on New Computational Methods for Inverse Problems (NCMIP2014)

NASA Astrophysics Data System (ADS)

2014-10-01

This volume of Journal of Physics: Conference Series is dedicated to the scientific contributions presented during the 4th International Workshop on New Computational Methods for Inverse Problems, NCMIP 2014 (http://www.farman.ens-cachan.fr/NCMIP_2014.html). This workshop took place at Ecole Normale Supérieure de Cachan, on May 23, 2014. The prior editions of NCMIP also took place in Cachan, France, firstly within the scope of ValueTools Conference, in May 2011 (http://www.ncmip.org/2011/), and secondly at the initiative of Institut Farman, in May 2012 and May 2013, (http://www.farman.ens-cachan.fr/NCMIP_2012.html), (http://www.farman.ens-cachan.fr/NCMIP_2013.html). The New Computational Methods for Inverse Problems (NCMIP) Workshop focused on recent advances in the resolution of inverse problems. Indeed, inverse problems appear in numerous scientific areas such as geophysics, biological and medical imaging, material and structure characterization, electrical, mechanical and civil engineering, and finances. The resolution of inverse problems consists of estimating the parameters of the observed system or structure from data collected by an instrumental sensing or imaging device. Its success firstly requires the collection of relevant observation data. It also requires accurate models describing the physical interactions between the instrumental device and the observed system, as well as the intrinsic properties of the solution itself. Finally, it requires the design of robust, accurate and efficient inversion algorithms. Advanced sensor arrays and imaging devices provide high rate and high volume data; in this context, the efficient resolution of the inverse problem requires the joint development of new models and inversion methods, taking computational and implementation aspects into account. During this one-day workshop, researchers had the opportunity to bring to light and share new techniques and results in the field of inverse problems. The topics of the workshop were: algorithms and computational aspects of inversion, Bayesian estimation, Kernel methods, learning methods, convex optimization, free discontinuity problems, metamodels, proper orthogonal decomposition, reduced models for the inversion, non-linear inverse scattering, image reconstruction and restoration, and applications (bio-medical imaging, non-destructive evaluation...). NCMIP 2014 was a one-day workshop held in May 2014 which attracted around sixty attendees. Each of the submitted papers has been reviewed by two reviewers. There have been nine accepted papers. In addition, three international speakers were invited to present a longer talk. The workshop was supported by Institut Farman (ENS Cachan, CNRS) and endorsed by the following French research networks (GDR ISIS, GDR MIA, GDR MOA, GDR Ondes). The program committee acknowledges the following research laboratories: CMLA, LMT, LURPA, SATIE. Eric Vourc'h and Thomas Rodet

Two-dimensional frequency-domain acoustic full-waveform inversion with rugged topography

NASA Astrophysics Data System (ADS)

Zhang, Qian-Jiang; Dai, Shi-Kun; Chen, Long-Wei; Li, Kun; Zhao, Dong-Dong; Huang, Xing-Xing

2015-09-01

We studied finite-element-method-based two-dimensional frequency-domain acoustic FWI under rugged topography conditions. The exponential attenuation boundary condition suitable for rugged topography is proposed to solve the cutoff boundary problem as well as to consider the requirement of using the same subdivision grid in joint multifrequency inversion. The proposed method introduces the attenuation factor, and by adjusting it, acoustic waves are sufficiently attenuated in the attenuation layer to minimize the cutoff boundary effect. Based on the law of exponential attenuation, expressions for computing the attenuation factor and the thickness of attenuation layers are derived for different frequencies. In multifrequency-domain FWI, the conjugate gradient method is used to solve equations in the Gauss-Newton algorithm and thus minimize the computation cost in calculating the Hessian matrix. In addition, the effect of initial model selection and frequency combination on FWI is analyzed. Examples using numerical simulations and FWI calculations are used to verify the efficiency of the proposed method.

Systematic Quantification of Stabilizing Effects of Subtalar Joint Soft-Tissue Constraints in a Novel Cadaveric Model.

PubMed

Pellegrini, Manuel J; Glisson, Richard R; Wurm, Markus; Ousema, Paul H; Romash, Michael M; Nunley, James A; Easley, Mark E

2016-05-18

Distinguishing between ankle instability and subtalar joint instability is challenging because the contributions of the subtalar joint's soft-tissue constraints are poorly understood. This study quantified the effects on joint stability of systematic sectioning of these constraints followed by application of torsional and drawer loads simulating a manual clinical examination. Subtalar joint motion in response to carefully controlled inversion, eversion, internal rotation, and external rotation moments and multidirectional drawer forces was quantified in fresh-frozen cadaver limbs. Sequential measurements were obtained under axial load approximating a non-weight-bearing clinical setting with the foot in neutral, 10° of dorsiflexion, and 10° and 20° of plantar flexion. The contributions of the components of the inferior extensor retinaculum were documented after incremental sectioning. The calcaneofibular, cervical, and interosseous talocalcaneal ligaments were then sectioned sequentially, in two different orders, to produce five different ligament-insufficiency scenarios. Incremental detachment of the components of the inferior extensor retinaculum had no effect on subtalar motion independent of foot position. Regardless of the subsequent ligament-sectioning order, significant motion increases relative to the intact condition occurred only after transection of the calcaneofibular ligament. Sectioning of this ligament produced increased inversion and external rotation, which was most evident with the foot dorsiflexed. Calcaneofibular ligament disruption results in increases in subtalar inversion and external rotation that might be detectable during a manual examination. Insufficiency of other subtalar joint constraints may result in motion increases that are too subtle to be perceptible. If calcaneofibular ligament insufficiency is established, its reconstruction or repair should receive priority over that of other ankle or subtalar periarticular soft-tissue structures. Copyright © 2016 by The Journal of Bone and Joint Surgery, Incorporated.

Joint transform correlator optical encryption system: Extensions of the recorded encrypted signal and its inverse Fourier transform

NASA Astrophysics Data System (ADS)

Galizzi, Gustavo E.; Cuadrado-Laborde, Christian

2015-10-01

In this work we study the joint transform correlator setup, finding two analytical expressions for the extensions of the joint power spectrum and its inverse Fourier transform. We found that an optimum efficiency is reached, when the bandwidth of the key code is equal to the sum of the bandwidths of the image plus the random phase mask (RPM). The quality of the decryption is also affected by the ratio between the bandwidths of the RPM and the input image, being better as this ratio increases. In addition, the effect on the decrypted image when the detection area is lower than the encrypted signal extension was analyzed. We illustrate these results through several numerical examples.

Analysis of muscle activity and ankle joint movement during the side-hop test.

PubMed

Yoshida, Masahiro; Taniguchi, Keigo; Katayose, Masaki

2011-08-01

Functional performance tests (FPTs) that consist of movements, such as hopping, landing, and cutting, provide useful measurements. Although some tests have been established for kinematic studies of the knee joint, very few tests have been established for the ankle joint. To use the FPT as a test battery for patients with an ankle sprain, it is necessary to document typical patterns of muscle activation and range of motion (ROM) of the ankle joint during FPTs. Therefore, the purpose of this study was to investigate the pattern of the ROM of the ankle inversion/eversion and the muscle activity of the peroneus longus muscle (PL) and the tibial anterior muscle (TA) in normal subjects during the side-hop test. To emphasize the characteristics of ROM and electromyography (EMG) at each phase, the side-hop tests were divided into 4 phases: lateral-hop contact phase (LC), lateral-hop flight phase (LF), medial hop contact phase (MC), and medial hop flight phase (MF), and the ROM of ankle inversion/eversion, a peak angle of ankle inversion, and Integral EMG (IEMG) of PL and TA compared among 4 phases. Fifteen male subjects with no symptoms of ankle joint problems participated in this research. The ROM of ankle inversion/eversion during the side-hop test was 27 ± 3.8° (mean ± SD), and there was a significant difference in the ROM of ankle inversion/eversion among 4 phases (p < 0.05). The phase in which the widest ROM was presented was the MF. A peak angle of the ankle inversion at MC was significantly greater than at LC and MF (p <0.05). A peak angle of the ankle inversion at LF was significantly greater than at LC and MF. The PL remained contracting with 50-160% of maximal voluntary contraction (MVC). The IEMGs of PL in both the contact phases were significantly greater than in both the flight phases (p < 0.05). In addition, the PL activity at LC was significantly greater than at MC. The TA remained contracting at 50-80% of MVC through the side-hop test. The IEMG of TA at both the contact phases was significantly greater than at 2 flight phases. However, there was no significant difference between LC and MF. Results of this study could be useful as basic data when evaluating the validity of the side-hop test for patients with ankle sprain.

2D Inversion of DCR and Time Domain IP data: an example from ore exploration

NASA Astrophysics Data System (ADS)

Adrian, J.; Tezkan, B.

2015-12-01

Ore deposits often appear as disseminated sulfidic materials. Exploring these deposits with the Direct Current Resistivity (DCR) method alone is challenging because the resistivity signatures caused by disseminated material is often hard to detect. The Time-domain Induced Polarization (TDIP) method, on the other hand, is qualified to detect areas with disseminated sulfidic ores due to large electrode polarization effects which result in large chargeability anomalies. By employing both methods we gain information about both, the resistivity and the chargeability distribution of the subsurface.On the poster we present the current state of the development of a 2D smoothness constraint inversion algorithm for DCR and TDIP data. The implemented forward algorithm uses a Finite Element approach with an unstructured mesh. The model parameters resistivity and chargeability are connected by either a simple conductivity pertubation approach or a complex conductivity approach.As a case study, the 2D inversion results of DCR/TDIP and RMT data obtained during a survey on a sulfidic copper ore deposit in Turkey are presented. The presence of an ore deposit is indicated by areas with low resistivity and significantly high chargeability in the inversion models.This work is part of the BMBF/TUEBITAK funded project ``Two-dimensional joint interpretation of Radiomagnetotellurics (RMT), Direct Current Resistivity (DCR) and Induced Polarization (IP) data: an example from ore exploration''.

Determination of three-dimensional joint loading within the lower extremities in snowboarding.

PubMed

Krüger, Andreas; McAlpine, Paul; Borrani, Fabio; Edelmann-Nusser, Jürgen

2012-02-01

In the biomechanical literature only a few studies are available focusing on the determination of joint loading within the lower extremities in snowboarding. These studies are limited to analysis in a restricted capture volume due to the use of optical video-based systems. To overcome this restriction the aim of the present study was to develop a method to determine net joint moments within the lower extremities in snowboarding for complete measurement runs. An experienced snowboarder performed several runs equipped with two custom-made force plates as well as a full-body inertial measurement system. A rigid, multi-segment model was developed to describe the motion and loads within the lower extremities. This model is based on an existing lower-body model and designed to be run by the OpenSim software package. Measured kinetic and kinematic data were imported into the OpenSim program and inverse dynamic calculations were performed. The results illustrate the potential of the developed method for the determination of joint loadings within the lower extremities for complete measurement runs in a real snowboarding environment. The calculated net joint moments of force are reasonable in comparison to the data presented in the literature. A good reliability of the method seems to be indicated by the low data variation between different turns. Due to the unknown accuracy of this method the application for inter-individual studies as well as studies of injury mechanisms may be limited. For intra-individual studies comparing different snowboarding techniques as well as different snowboard equipment the method seems to be beneficial. The validity of the method needs to be studied further.

Stress analysis method for clearance-fit joints with bearing-bypass loads

NASA Technical Reports Server (NTRS)

Naik, R. A.; Crews, J. H., Jr.

1989-01-01

Within a multi-fastener joint, fastener holes may be subjected to the combined effects of bearing loads and loads that bypass the hole to be reacted elsewhere in the joint. The analysis of a joint subjected to search combined bearing and bypass loads is complicated by the usual clearance between the hole and the fastener. A simple analysis method for such clearance-fit joints subjected to bearing-bypass loading has been developed in the present study. It uses an inverse formulation with a linear elastic finite-element analysis. Conditions along the bolt-hole contact arc are specified by displacement constraint equations. The present method is simple to apply and can be implemented with most general purpose finite-element programs since it does not use complicated iterative-incremental procedures. The method was used to study the effects of bearing-bypass loading on bolt-hole contact angles and local stresses. In this study, a rigid, frictionless bolt was used with a plate having the properties of a quasi-isotropic graphite/epoxy laminate. Results showed that the contact angle as well as the peak stresses around the hole and their locations were strongly influenced by the ratio of bearing and bypass loads. For single contact, tension and compression bearing-bypass loading had opposite effects on the contact angle. For some compressive bearing-bypass loads, the hole tended to close on the fastener leading to dual contact. It was shown that dual contact reduces the stress concentration at the fastener and would, therefore, increase joint strength in compression. The results illustrate the general importance of accounting for bolt-hole clearance and contact to accurately compute local bolt-hole stresses for combined bearings and bypass loading.

Joint moments and contact forces in the foot during walking.

PubMed

Kim, Yongcheol; Lee, Kyoung Min; Koo, Seungbum

2018-06-06

The net force and moment of a joint have been widely used to understand joint disease in the foot. Meanwhile, it does not reflect the physiological forces on muscles and contact surfaces. The objective of the study is to estimate active moments by muscles, passive moments by connective tissues and joint contact forces in the foot joints during walking. Joint kinematics and external forces of ten healthy subjects (all males, 24.7 ± 1.2 years) were acquired during walking. The data were entered into the five-segment musculoskeletal foot model to calculate muscle forces and joint contact forces of the foot joints using an inverse dynamics-based optimization. Joint reaction forces and active, passive and net moments of each joint were calculated from muscle and ligament forces. The maximum joint reaction forces were 8.72, 4.31, 2.65, and 3.41 body weight (BW) for the ankle, Chopart's, Lisfranc and metatarsophalangeal joints, respectively. Active and passive moments along with net moments were also obtained. The maximum net moments were 8.6, 8.4, 5.4 and 0.8%BW∙HT, respectively. While the trend of net moment was very similar between the four joints, the magnitudes and directions of the active and passive moments varied between joints. The active and passive moments during walking could reveal the roles of muscles and ligaments in each of the foot joints, which was not obvious in the net moment. This method may help narrow down the source of joint problems if applied to clinical studies. Copyright © 2018 Elsevier Ltd. All rights reserved.

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.

Sensitivity of Rayleigh wave ellipticity and implications for surface wave inversion

NASA Astrophysics Data System (ADS)

Cercato, Michele

2018-04-01

The use of Rayleigh wave ellipticity has gained increasing popularity in recent years for investigating earth structures, especially for near-surface soil characterization. In spite of its widespread application, the sensitivity of the ellipticity function to the soil structure has been rarely explored in a comprehensive and systematic manner. To this end, a new analytical method is presented for computing the sensitivity of Rayleigh wave ellipticity with respect to the structural parameters of a layered elastic half-space. This method takes advantage of the minor decomposition of the surface wave eigenproblem and is numerically stable at high frequency. This numerical procedure allowed to retrieve the sensitivity for typical near surface and crustal geological scenarios, pointing out the key parameters for ellipticity interpretation under different circumstances. On this basis, a thorough analysis is performed to assess how ellipticity data can efficiently complement surface wave dispersion information in a joint inversion algorithm. The results of synthetic and real-world examples are illustrated to analyse quantitatively the diagnostic potential of the ellipticity data with respect to the soil structure, focusing on the possible sources of misinterpretation in data inversion.

Probabilistic inversion of expert assessments to inform projections about Antarctic ice sheet responses

PubMed Central

Wong, Tony E.; Keller, Klaus

2017-01-01

The response of the Antarctic ice sheet (AIS) to changing global temperatures is a key component of sea-level projections. Current projections of the AIS contribution to sea-level changes are deeply uncertain. This deep uncertainty stems, in part, from (i) the inability of current models to fully resolve key processes and scales, (ii) the relatively sparse available data, and (iii) divergent expert assessments. One promising approach to characterizing the deep uncertainty stemming from divergent expert assessments is to combine expert assessments, observations, and simple models by coupling probabilistic inversion and Bayesian inversion. Here, we present a proof-of-concept study that uses probabilistic inversion to fuse a simple AIS model and diverse expert assessments. We demonstrate the ability of probabilistic inversion to infer joint prior probability distributions of model parameters that are consistent with expert assessments. We then confront these inferred expert priors with instrumental and paleoclimatic observational data in a Bayesian inversion. These additional constraints yield tighter hindcasts and projections. We use this approach to quantify how the deep uncertainty surrounding expert assessments affects the joint probability distributions of model parameters and future projections. PMID:29287095

Toward an affordable and user-friendly visual motion capture system.

PubMed

Bonnet, V; Sylla, N; Cherubini, A; Gonzáles, A; Azevedo Coste, C; Fraisse, P; Venture, G

2014-01-01

The present study aims at designing and evaluating a low-cost, simple and portable system for arm joint angle estimation during grasping-like motions. The system is based on a single RGB-D camera and three customized markers. The automatically detected and tracked marker positions were used as inputs to an offline inverse kinematic process based on bio-mechanical constraints to reduce noise effect and handle marker occlusion. The method was validated on 4 subjects with different motions. The joint angles were estimated both with the proposed low-cost system and, a stereophotogrammetric system. Comparative analysis shows good accuracy with high correlation coefficient (r= 0.92) and low average RMS error (3.8 deg).

Joint image encryption and compression scheme based on IWT and SPIHT

NASA Astrophysics Data System (ADS)

Zhang, Miao; Tong, Xiaojun

2017-03-01

A joint lossless image encryption and compression scheme based on integer wavelet transform (IWT) and set partitioning in hierarchical trees (SPIHT) is proposed to achieve lossless image encryption and compression simultaneously. Making use of the properties of IWT and SPIHT, encryption and compression are combined. Moreover, the proposed secure set partitioning in hierarchical trees (SSPIHT) via the addition of encryption in the SPIHT coding process has no effect on compression performance. A hyper-chaotic system, nonlinear inverse operation, Secure Hash Algorithm-256(SHA-256), and plaintext-based keystream are all used to enhance the security. The test results indicate that the proposed methods have high security and good lossless compression performance.

Diagnostics for Confounding of Time-varying and Other Joint Exposures.

PubMed

Jackson, John W

2016-11-01

The effects of joint exposures (or exposure regimes) include those of adhering to assigned treatment versus placebo in a randomized controlled trial, duration of exposure in a cohort study, interactions between exposures, and direct effects of exposure, among others. Unlike the setting of a single point exposure (e.g., propensity score matching), there are few tools to describe confounding for joint exposures or how well a method resolves it. Investigators need tools that describe confounding in ways that are conceptually grounded and intuitive for those who read, review, and use applied research to guide policy. We revisit the implications of exchangeability conditions that hold in sequentially randomized trials, and the bias structure that motivates the use of g-methods, such as marginal structural models. From these, we develop covariate balance diagnostics for joint exposures that can (1) describe time-varying confounding, (2) assess whether covariates are predicted by prior exposures given their past, the indication for g-methods, and (3) describe residual confounding after inverse probability weighting. For each diagnostic, we present time-specific metrics that encompass a wide class of joint exposures, including regimes of multivariate time-varying exposures in censored data, with multivariate point exposures as a special case. We outline how to estimate these directly or with regression and how to average them over person-time. Using a simulated example, we show how these metrics can be presented graphically. This conceptually grounded framework can potentially aid the transparent design, analysis, and reporting of studies that examine joint exposures. We provide easy-to-use tools to implement it.

Joint Inversion of Multi-type and Time-lapse Airborne Electromagnetic Data Sets for Tempo-spatial Variation of Groundwater Salinity

NASA Astrophysics Data System (ADS)

Yang, D.; Oldenburg, D.

2016-12-01

The salinization of the floodplains of Lower Murray River in South Australia has caused negative consequences to the local ecosystem. As part of the Living Murray Initiative, the Clark's Floodplain at Bookpurnong was chosen to examine the effectiveness of different intervention methods from 2005 to 2008. Because of the link between groundwater salinity and electric conductivity, electromagnetic (EM) methods have been an integrated part of the project to test it as a cost-effective tool for monitoring. In this paper, we analyze two airborne EM surveys that assess the salinization at the regional scale: the SkyTEM in 2006 and the RESOLVE in 2008. Conventional interpretation often inverts those data sets separately using the 1D layered earth modeling, which often produces inconsistent images if different surveys are carried out at different times. Here we propose a new approach that considers the coherence in time and across systems. We allow each data set to iteratively construct its own model with guidance from a common reference model that is updated in a democratic voting procedure after every iteration. There are two possible outcomes. If the data sets are intrinsically compatible, the individual models will converge to essentially the same model, like in the regular unimodal joint inversion. If there are survey-specific errors or a change of ground truth, the inversion can still fit the data but leaves discrepancy in the models. By applying this approach to the two data sets at Bookpurnong, we identify an area of increased conductivity at the midstream section of the river that can only be explained by a temporal variation of salinity, a plausible evidence of escalated saline water intrusion due to irrigation on the nearby riverbank. This study illustrates that multi-type time-lapse EM, in conjunction with advanced inversion techniques, can achieve superior temporal resolution for the purpose of groundwater evaluation and management.

Effects of five hindfoot arthrodeses on foot and ankle motion: Measurements in cadaver specimens

PubMed Central

Zhang, Kun; Chen, Yanxi; Qiang, Minfei; Hao, Yini

2016-01-01

Single, double, and triple hindfoot arthrodeses are used to correct hindfoot deformities and relieve chronic pain. However, joint fusion may lead to dysfunction in adjacent articular surfaces. We compared range of motion in adjacent joints before and after arthrodesis to determine the effects of each procedure on joint motion. The theory of moment of couple, bending moment and balanced loading was applied to each of 16 fresh cadaver feet to induce dorsiflexion, plantarflexion, internal rotation, external rotation, inversion, and eversion. Range of motion was measured with a 3-axis coordinate measuring machine in a control foot and in feet after subtalar, talonavicular, calcaneocuboid, double, or triple arthrodesis. All arthrodeses restricted mainly internal-external rotation and inversion-eversion. The restriction in a double arthrodesis was more than that in a single arthrodesis, but that in a calcaneocuboid arthrodesis was relatively low. After triple arthrodeses, the restriction on dorsiflexion and plantarflexion movements was substantial, and internal-external rotation and inversion-eversion were almost lost. Considering that different arthrodesis procedures cause complex, three-dimensional hindfoot motion reductions, we recommend talonavicular or calcaneocuboid arthrodesis for patients with well-preserved functions of plantarflexion/dorsiflexion before operation, subtalar or calcaneocuboid arthrodesis for patients with well-preserved abduction/adduction, and talonavicular arthrodesis for patients with well-preserved eversion/inversion. PMID:27752084

Emulation: A fast stochastic Bayesian method to eliminate model space

NASA Astrophysics Data System (ADS)

Roberts, Alan; Hobbs, Richard; Goldstein, Michael

2010-05-01

Joint inversion of large 3D datasets has been the goal of geophysicists ever since the datasets first started to be produced. There are two broad approaches to this kind of problem, traditional deterministic inversion schemes and more recently developed Bayesian search methods, such as MCMC (Markov Chain Monte Carlo). However, using both these kinds of schemes has proved prohibitively expensive, both in computing power and time cost, due to the normally very large model space which needs to be searched using forward model simulators which take considerable time to run. At the heart of strategies aimed at accomplishing this kind of inversion is the question of how to reliably and practicably reduce the size of the model space in which the inversion is to be carried out. Here we present a practical Bayesian method, known as emulation, which can address this issue. Emulation is a Bayesian technique used with considerable success in a number of technical fields, such as in astronomy, where the evolution of the universe has been modelled using this technique, and in the petroleum industry where history matching is carried out of hydrocarbon reservoirs. The method of emulation involves building a fast-to-compute uncertainty-calibrated approximation to a forward model simulator. We do this by modelling the output data from a number of forward simulator runs by a computationally cheap function, and then fitting the coefficients defining this function to the model parameters. By calibrating the error of the emulator output with respect to the full simulator output, we can use this to screen out large areas of model space which contain only implausible models. For example, starting with what may be considered a geologically reasonable prior model space of 10000 models, using the emulator we can quickly show that only models which lie within 10% of that model space actually produce output data which is plausibly similar in character to an observed dataset. We can thus much more tightly constrain the input model space for a deterministic inversion or MCMC method. By using this technique jointly on several datasets (specifically seismic, gravity, and magnetotelluric (MT) describing the same region), we can include in our modelling uncertainties in the data measurements, the relationships between the various physical parameters involved, as well as the model representation uncertainty, and at the same time further reduce the range of plausible models to several percent of the original model space. Being stochastic in nature, the output posterior parameter distributions also allow our understanding of/beliefs about a geological region can be objectively updated, with full assessment of uncertainties, and so the emulator is also an inversion-type tool in it's own right, with the advantage (as with any Bayesian method) that our uncertainties from all sources (both data and model) can be fully evaluated.

Coupled Land Surface-Subsurface Hydrogeophysical Inverse Modeling to Estimate Soil Organic Carbon Content in an Arctic Tundra

NASA Astrophysics Data System (ADS)

Tran, A. P.; Dafflon, B.; Hubbard, S.

2017-12-01

Soil organic carbon (SOC) is crucial for predicting carbon climate feedbacks in the vulnerable organic-rich Arctic region. However, it is challenging to achieve this property due to the general limitations of conventional core sampling and analysis methods. In this study, we develop an inversion scheme that uses single or multiple datasets, including soil liquid water content, temperature and ERT data, to estimate the vertical profile of SOC content. Our approach relies on the fact that SOC content strongly influences soil hydrological-thermal parameters, and therefore, indirectly controls the spatiotemporal dynamics of soil liquid water content, temperature and their correlated electrical resistivity. The scheme includes several advantages. First, this is the first time SOC content is estimated by using a coupled hydrogeophysical inversion. Second, by using the Community Land Model, we can account for the land surface dynamics (evapotranspiration, snow accumulation and melting) and ice/liquid phase transition. Third, we combine a deterministic and an adaptive Markov chain Monte Carlo optimization algorithm to better estimate the posterior distributions of desired model parameters. Finally, the simulated subsurface variables are explicitly linked to soil electrical resistivity via petrophysical and geophysical models. We validate the developed scheme using synthetic experiments. The results show that compared to inversion of single dataset, joint inversion of these datasets significantly reduces parameter uncertainty. The joint inversion approach is able to estimate SOC content within the shallow active layer with high reliability. Next, we apply the scheme to estimate OC content along an intensive ERT transect in Barrow, Alaska using multiple datasets acquired in the 2013-2015 period. The preliminary results show a good agreement between modeled and measured soil temperature, thaw layer thickness and electrical resistivity. The accuracy of estimated SOC content will be evaluated by comparison with measurements from soil samples along the transect. Our study presents a new surface-subsurface, deterministic-stochastic hydrogeophysical inversion approach, as well as the benefit of including multiple types of data to estimate SOC and associated hydrological-thermal dynamics.

Optimization of a double inversion recovery sequence for noninvasive synovium imaging of joint effusion in the knee.

PubMed

Jahng, Geon-Ho; Jin, Wook; Yang, Dal Mo; Ryu, Kyung Nam

2011-05-01

We wanted to optimize a double inversion recovery (DIR) sequence to image joint effusion regions of the knee, especially intracapsular or intrasynovial imaging in the suprapatellar bursa and patellofemoral joint space. Computer simulations were performed to determine the optimum inversion times (TI) for suppressing both fat and water signals, and a DIR sequence was optimized based on the simulations for distinguishing synovitis from fluid. In vivo studies were also performed on individuals who showed joint effusion on routine knee MR images to demonstrate the feasibility of using the DIR sequence with a 3T whole-body MR scanner. To compare intracapsular or intrasynovial signals on the DIR images, intermediate density-weighted images and/or post-enhanced T1-weighted images were acquired. The timings to enhance the synovial contrast from the fluid components were TI1 = 2830 ms and TI2 = 254 ms for suppressing the water and fat signals, respectively. Improved contrast for the intrasynovial area in the knees was observed with the DIR turbo spin-echo pulse sequence compared to the intermediate density-weighted sequence. Imaging contrast obtained noninvasively with the DIR sequence was similar to that of the post-enhanced T1-weighted sequence. The DIR sequence may be useful for delineating synovium without using contrast materials.

MR Imaging with Metal-suppression Sequences for Evaluation of Total Joint Arthroplasty.

PubMed

Talbot, Brett S; Weinberg, Eric P

2016-01-01

Metallic artifact at orthopedic magnetic resonance (MR) imaging continues to be an important problem, particularly in the realm of total joint arthroplasty. Complications often follow total joint arthroplasty and can be expected for a small percentage of all implanted devices. Postoperative complications involve not only osseous structures but also adjacent soft tissues-a highly problematic area at MR imaging because of artifacts from metallic prostheses. Without special considerations, susceptibility artifacts from ferromagnetic implants can unacceptably degrade image quality. Common artifacts include in-plane distortions (signal loss and signal pileup), poor or absent fat suppression, geometric distortion, and through-section distortion. Basic methods to reduce metallic artifacts include use of spin-echo or fast spin-echo sequences with long echo train lengths, short inversion time inversion-recovery (STIR) sequences for fat suppression, a high bandwidth, thin section selection, and an increased matrix. With care and attention to the alloy type (eg, titanium, cobalt-chromium, stainless steel), orientation of the implant, and magnetic field strength, as well as use of proprietary and nonproprietary metal-suppression techniques, previously nondiagnostic studies can yield key diagnostic information. Specifically, sequences such as the metal artifact reduction sequence (MARS), WARP (Siemens Healthcare, Munich, Germany), slice encoding for metal artifact correction (SEMAC), and multiacquisition with variable-resonance image combination (MAVRIC) can be optimized to reveal pathologic conditions previously hidden by periprosthetic artifacts. Complications of total joint arthroplasty that can be evaluated by using MR imaging with metal-suppression sequences include pseudotumoral conditions such as metallosis and particle disease, infection, aseptic prosthesis loosening, tendon injury, and muscle injury. ©RSNA, 2015.

A common 16p11.2 inversion underlies the joint susceptibility to asthma and obesity.

PubMed

González, Juan R; Cáceres, Alejandro; Esko, Tonu; Cuscó, Ivon; Puig, Marta; Esnaola, Mikel; Reina, Judith; Siroux, Valerie; Bouzigon, Emmanuelle; Nadif, Rachel; Reinmaa, Eva; Milani, Lili; Bustamante, Mariona; Jarvis, Deborah; Antó, Josep M; Sunyer, Jordi; Demenais, Florence; Kogevinas, Manolis; Metspalu, Andres; Cáceres, Mario; Pérez-Jurado, Luis A

2014-03-06

The prevalence of asthma and obesity is increasing worldwide, and obesity is a well-documented risk factor for asthma. The mechanisms underlying this association and parallel time trends remain largely unknown but genetic factors may be involved. Here, we report on a common ~0.45 Mb genomic inversion at 16p11.2 that can be accurately genotyped via SNP array data. We show that the inversion allele protects against the joint occurrence of asthma and obesity in five large independent studies (combined sample size of 317 cases and 543 controls drawn from a total of 5,809 samples; combined OR = 0.48, p = 5.5 × 10(-6)). Allele frequencies show remarkable worldwide population stratification, ranging from 10% in East Africa to 49% in Northern Europe, consistent with discordant and extreme genetic drifts or adaptive selections after human migration out of Africa. Inversion alleles strongly correlate with expression levels of neighboring genes, especially TUFM (p = 3.0 × 10(-40)) that encodes a mitochondrial protein regulator of energy balance and inhibitor of type 1 interferon, and other candidates for asthma (IL27) and obesity (APOB48R and SH2B1). Therefore, by affecting gene expression, the ~0.45 Mb 16p11.2 inversion provides a genetic basis for the joint susceptibility to asthma and obesity, with a population attributable risk of 39.7%. Differential mitochondrial function and basal energy balance of inversion alleles might also underlie the potential selection signature that led to their uneven distribution in world populations. Copyright © 2014 The American Society of Human Genetics. Published by Elsevier Inc. All rights reserved.

Comparison of custom-moulded ankle orthosis with hinged joints and off-the-shelf ankle braces in preventing ankle sprain in lateral cutting movements.

PubMed

Lee, Winson C C; Kobayashi, Toshiki; Choy, Barton T S; Leung, Aaron K L

2012-06-01

A custom moulded ankle orthosis with hinged joints potentially offers a better control over the subtalar joint and the ankle joint during lateral cutting movements, due to total contact design and increase in material strength. To test the above hypothesis by comparing it to three other available orthoses. Repeated measures. Eight subjects with a history of ankle sprains (Grade 2), and 11 subjects without such history performed lateral cutting movements in four test conditions: 1) non-orthotic, 2) custom-moulded ankle orthosis with hinges, 3) Sport-Stirrup, and 4) elastic ankle sleeve with plastic support. A VICON motion analysis system was used to study the motions at the ankle and subtalar joints. The custom-moulded ankle orthosis significantly lowered the inversion angle at initial contact (p = 0.006) and the peak inversion angle (p = 0.000) during lateral cutting movements in comparison to non-orthotic condition, while the other two orthoses did not. The three orthoses did not affect the plantarflexion motions, which had been suggested by previous studies to be important in shock wave attenuation. The custom-moulded ankle orthosis with hinges could better control inversion and thus expected to better prevent ankle sprain in lateral cutting movements. Custom-moulded ankle orthoses are not commonly used in preventing ankle sprains. This study raises the awareness of the use of custom-moulded ankle orthoses which are expected to better prevent ankle sprains.

Computational modeling to predict mechanical function of joints: application to the lower leg with simulation of two cadaver studies.

PubMed

Liacouras, Peter C; Wayne, Jennifer S

2007-12-01

Computational models of musculoskeletal joints and limbs can provide useful information about joint mechanics. Validated models can be used as predictive devices for understanding joint function and serve as clinical tools for predicting the outcome of surgical procedures. A new computational modeling approach was developed for simulating joint kinematics that are dictated by bone/joint anatomy, ligamentous constraints, and applied loading. Three-dimensional computational models of the lower leg were created to illustrate the application of this new approach. Model development began with generating three-dimensional surfaces of each bone from CT images and then importing into the three-dimensional solid modeling software SOLIDWORKS and motion simulation package COSMOSMOTION. Through SOLIDWORKS and COSMOSMOTION, each bone surface file was filled to create a solid object and positioned necessary components added, and simulations executed. Three-dimensional contacts were added to inhibit intersection of the bones during motion. Ligaments were represented as linear springs. Model predictions were then validated by comparison to two different cadaver studies, syndesmotic injury and repair and ankle inversion following ligament transection. The syndesmotic injury model was able to predict tibial rotation, fibular rotation, and anterior/posterior displacement. In the inversion simulation, calcaneofibular ligament extension and angles of inversion compared well. Some experimental data proved harder to simulate accurately, due to certain software limitations and lack of complete experimental data. Other parameters that could not be easily obtained experimentally can be predicted and analyzed by the computational simulations. In the syndesmotic injury study, the force generated in the tibionavicular and calcaneofibular ligaments reduced with the insertion of the staple, indicating how this repair technique changes joint function. After transection of the calcaneofibular ligament in the inversion stability study, a major increase in force was seen in several of the ligaments on the lateral aspect of the foot and ankle, indicating the recruitment of other structures to permit function after injury. Overall, the computational models were able to predict joint kinematics of the lower leg with particular focus on the ankle complex. This same approach can be taken to create models of other limb segments such as the elbow and wrist. Additional parameters can be calculated in the models that are not easily obtained experimentally such as ligament forces, force transmission across joints, and three-dimensional movement of all bones. Muscle activation can be incorporated in the model through the action of applied forces within the software for future studies.

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

Efficient moving target analysis for inverse synthetic aperture radar images via joint speeded-up robust features and regular moment

NASA Astrophysics Data System (ADS)

Yang, Hongxin; Su, Fulin

2018-01-01

We propose a moving target analysis algorithm using speeded-up robust features (SURF) and regular moment in inverse synthetic aperture radar (ISAR) image sequences. In our study, we first extract interest points from ISAR image sequences by SURF. Different from traditional feature point extraction methods, SURF-based feature points are invariant to scattering intensity, target rotation, and image size. Then, we employ a bilateral feature registering model to match these feature points. The feature registering scheme can not only search the isotropic feature points to link the image sequences but also reduce the error matching pairs. After that, the target centroid is detected by regular moment. Consequently, a cost function based on correlation coefficient is adopted to analyze the motion information. Experimental results based on simulated and real data validate the effectiveness and practicability of the proposed method.

Computational structures for robotic computations

NASA Technical Reports Server (NTRS)

Lee, C. S. G.; Chang, P. R.

1987-01-01

The computational problem of inverse kinematics and inverse dynamics of robot manipulators by taking advantage of parallelism and pipelining architectures is discussed. For the computation of inverse kinematic position solution, a maximum pipelined CORDIC architecture has been designed based on a functional decomposition of the closed-form joint equations. For the inverse dynamics computation, an efficient p-fold parallel algorithm to overcome the recurrence problem of the Newton-Euler equations of motion to achieve the time lower bound of O(log sub 2 n) has also been developed.

Self-reported knee joint instability is related to passive mechanical stiffness in medial knee osteoarthritis

PubMed Central

2013-01-01

Background Self-reported knee joint instability compromises function in individuals with medial knee osteoarthritis and may be related to impaired joint mechanics. The purpose of this study was to evaluate the relationship between self-reported instability and the passive varus-valgus mechanical behaviour of the medial osteoarthritis knee. Methods Passive varus-valgus angular laxity and stiffness were assessed using a modified isokinetic dynamometer in 73 participants with medial tibiofemoral osteoarthritis. All participants self-reported the absence or presence of knee instability symptoms and the degree to which instability affected daily activity on a 6-point likert scale. Results Forward linear regression modelling identified a significant inverse relationship between passive mid-range knee stiffness and symptoms of knee instability (r = 0.27; P < 0.05): reduced stiffness was indicative of more severe instability symptoms. Angular laxity and end-range stiffness were not related to instability symptoms (P > 0.05). Conclusions Conceivably, a stiffer passive system may contribute toward greater joint stability during functional activities. Importantly however, net joint stiffness is influenced by both active and passive stiffness, and thus the active neuromuscular system may compensate for reduced passive stiffness in order to maintain joint stability. Future work is merited to examine the role of active stiffness in symptomatic joint stability. PMID:24252592

A comparison of optimisation methods and knee joint degrees of freedom on muscle force predictions during single-leg hop landings.

PubMed

Mokhtarzadeh, Hossein; Perraton, Luke; Fok, Laurence; Muñoz, Mario A; Clark, Ross; Pivonka, Peter; Bryant, Adam L

2014-09-22

The aim of this paper was to compare the effect of different optimisation methods and different knee joint degrees of freedom (DOF) on muscle force predictions during a single legged hop. Nineteen subjects performed single-legged hopping manoeuvres and subject-specific musculoskeletal models were developed to predict muscle forces during the movement. Muscle forces were predicted using static optimisation (SO) and computed muscle control (CMC) methods using either 1 or 3 DOF knee joint models. All sagittal and transverse plane joint angles calculated using inverse kinematics or CMC in a 1 DOF or 3 DOF knee were well-matched (RMS error<3°). Biarticular muscles (hamstrings, rectus femoris and gastrocnemius) showed more differences in muscle force profiles when comparing between the different muscle prediction approaches where these muscles showed larger time delays for many of the comparisons. The muscle force magnitudes of vasti, gluteus maximus and gluteus medius were not greatly influenced by the choice of muscle force prediction method with low normalised root mean squared errors (<48%) observed in most comparisons. We conclude that SO and CMC can be used to predict lower-limb muscle co-contraction during hopping movements. However, care must be taken in interpreting the magnitude of force predicted in the biarticular muscles and the soleus, especially when using a 1 DOF knee. Despite this limitation, given that SO is a more robust and computationally efficient method for predicting muscle forces than CMC, we suggest that SO can be used in conjunction with musculoskeletal models that have a 1 or 3 DOF knee joint to study the relative differences and the role of muscles during hopping activities in future studies. Copyright © 2014 Elsevier Ltd. All rights reserved.

Joint state and parameter estimation of the hemodynamic model by particle smoother expectation maximization method

NASA Astrophysics Data System (ADS)

Aslan, Serdar; Taylan Cemgil, Ali; Akın, Ata

2016-08-01

Objective. In this paper, we aimed for the robust estimation of the parameters and states of the hemodynamic model by using blood oxygen level dependent signal. Approach. In the fMRI literature, there are only a few successful methods that are able to make a joint estimation of the states and parameters of the hemodynamic model. In this paper, we implemented a maximum likelihood based method called the particle smoother expectation maximization (PSEM) algorithm for the joint state and parameter estimation. Main results. Former sequential Monte Carlo methods were only reliable in the hemodynamic state estimates. They were claimed to outperform the local linearization (LL) filter and the extended Kalman filter (EKF). The PSEM algorithm is compared with the most successful method called square-root cubature Kalman smoother (SCKS) for both state and parameter estimation. SCKS was found to be better than the dynamic expectation maximization (DEM) algorithm, which was shown to be a better estimator than EKF, LL and particle filters. Significance. PSEM was more accurate than SCKS for both the state and the parameter estimation. Hence, PSEM seems to be the most accurate method for the system identification and state estimation for the hemodynamic model inversion literature. This paper do not compare its results with Tikhonov-regularized Newton—CKF (TNF-CKF), a recent robust method which works in filtering sense.

Walking patterns and hip contact forces in patients with hip dysplasia.

PubMed

Skalshøi, Ole; Iversen, Christian Hauskov; Nielsen, Dennis Brandborg; Jacobsen, Julie; Mechlenburg, Inger; Søballe, Kjeld; Sørensen, Henrik

2015-10-01

Several studies have investigated walking characteristics in hip dysplasia patients, but so far none have described all hip rotational degrees of freedom during the whole gait cycle. This descriptive study reports 3D joint angles and torques, and furthermore extends previous studies with muscle and joint contact forces in 32 hip dysplasia patients and 32 matching controls. 3D motion capture data from walking and standing trials were analysed. Hip, knee, ankle and pelvis angles were calculated with inverse kinematics for both standing and walking trials. Hip, knee and ankle torques were calculated with inverse dynamics, while hip muscle and joint contact forces were calculated with static optimisation for the walking trials. No differences were found between the two groups while standing. While walking, patients showed decreased hip extension, increased ankle pronation and increased hip abduction and external rotation torques. Furthermore, hip muscle forces were generally lower and shifted to more posteriorly situated muscles, while the hip joint contact force was lower and directed more superiorly. During walking, patients showed lower and more superiorly directed hip joint contact force, which might alleviate pain from an antero-superiorly degenerated joint. Copyright © 2015 Elsevier B.V. All rights reserved.

High Resolution Velocity Structure in Eastern Turkey

NASA Astrophysics Data System (ADS)

Pasyanos, M. E.; Gok, R.; Zor, E.; Walter, W. R.

2004-12-01

We investigate the crust and upper mantle structure of eastern Turkey where the Anatolian, Arabian and Eurasian Plates meet, forming a complex tectonic regime. The Bitlis suture is a continental collision zone between the Anatolian plateau and the Arabian plate. Broadband data available through the Eastern Turkey Seismic Experiment (ETSE) provide a unique opportunity for studying the high resolution velocity structure of the region. Zor et al. (2003) found an average 46 km thick crust in the Anatolian plateau using a six-layered grid search inversion of the ETSE receiver functions. Receiver functions are sensitive to the velocity contrast of interfaces and the relative travel time of converted and reverberated waves between those interfaces. The interpretation of receiver functions alone, however, may result in an apparent depth-velocity trade-off [Ammon et al., 1990]. In order to improve upon this velocity model, we have combined the receiver functions with surface wave data using the joint inversion method of Julia et al. (2000). In this technique, the two sets of observations are combined into a single algebraic equation and each data set is weighted by an estimate of the uncertainty in the observations. The receiver functions are calculated using an iterative time-domain deconvolution technique. We also consider azimuthal changes in the receiver functions and have stacked them into different groups accordingly. We are improving our surface wave model by making Love and Rayleigh dispersion measurements at the ETSE stations and incorporating them into a regional group velocity model for periods between 10 and 100 seconds. Preliminary results indicate a strong trend in the long period group velocities toward the northeast, indicating slow upper mantle velocities in the area consistent with Pn, Sn and receiver function results. Starting models used for the joint inversions include both a 1-D model from a 12-ton dam shot recorded by ETSE [Gurbuz et al., 2004] and the models from the original receiver function inversions. We observe that the joint inversion results are independent of the starting model and converge to the same final model, with some differences compared to the original profiles. While we don't observe significant changes in the first order discontinuities of the model, such as Moho depth, we are better able to resolve features in the crust.

Contribution of tibiofemoral joint contact to net loads at the knee in gait.

PubMed

Walter, Jonathan P; Korkmaz, Nuray; Fregly, Benjamin J; Pandy, Marcus G

2015-07-01

Inverse dynamics analysis is commonly used to estimate the net loads at a joint during human motion. Most lower-limb models of movement represent the knee as a simple hinge joint when calculating muscle forces. This approach is limited because it neglects the contributions from tibiofemoral joint contact forces and may therefore lead to errors in estimated muscle forces. The aim of this study was to quantify the contributions of tibiofemoral joint contact loads to the net knee loads calculated from inverse dynamics for multiple subjects and multiple gait patterns. Tibiofemoral joint contact loads were measured in four subjects with instrumented implants as each subject walked at their preferred speed (normal gait) and performed prescribed gait modifications designed to treat medial knee osteoarthritis. Tibiofemoral contact loads contributed substantially to the net knee extension and knee adduction moments in normal gait with mean values of 16% and 54%, respectively. These findings suggest that knee-contact kinematics and loads should be included in lower-limb models of movement for more accurate determination of muscle forces. The results of this study may be used to guide the development of more realistic lower-limb models that account for the effects of tibiofemoral joint contact at the knee. © 2015 Orthopaedic Research Society. Published by Wiley Periodicals, Inc.

Fast myopic 2D-SIM super resolution microscopy with joint modulation pattern estimation

NASA Astrophysics Data System (ADS)

Orieux, François; Loriette, Vincent; Olivo-Marin, Jean-Christophe; Sepulveda, Eduardo; Fragola, Alexandra

2017-12-01

Super-resolution in structured illumination microscopy (SIM) is obtained through de-aliasing of modulated raw images, in which high frequencies are measured indirectly inside the optical transfer function. Usual approaches that use 9 or 15 images are often too slow for dynamic studies. Moreover, as experimental conditions change with time, modulation parameters must be estimated within the images. This paper tackles the problem of image reconstruction for fast super resolution in SIM, where the number of available raw images is reduced to four instead of nine or fifteen. Within an optimization framework, the solution is inferred via a joint myopic criterion for image and modulation (or acquisition) parameters, leading to what is frequently called a myopic or semi-blind inversion problem. The estimate is chosen as the minimizer of the nonlinear criterion, numerically calculated by means of a block coordinate optimization algorithm. The effectiveness of the proposed method is demonstrated for simulated and experimental examples. The results show precise estimation of the modulation parameters jointly with the reconstruction of the super resolution image. The method also shows its effectiveness for thick biological samples.

Towards adjoint-based inversion of time-dependent mantle convection with nonlinear viscosity

NASA Astrophysics Data System (ADS)

Li, Dunzhu; Gurnis, Michael; Stadler, Georg

2017-04-01

We develop and study an adjoint-based inversion method for the simultaneous recovery of initial temperature conditions and viscosity parameters in time-dependent mantle convection from the current mantle temperature and historic plate motion. Based on a realistic rheological model with temperature-dependent and strain-rate-dependent viscosity, we formulate the inversion as a PDE-constrained optimization problem. The objective functional includes the misfit of surface velocity (plate motion) history, the misfit of the current mantle temperature, and a regularization for the uncertain initial condition. The gradient of this functional with respect to the initial temperature and the uncertain viscosity parameters is computed by solving the adjoint of the mantle convection equations. This gradient is used in a pre-conditioned quasi-Newton minimization algorithm. We study the prospects and limitations of the inversion, as well as the computational performance of the method using two synthetic problems, a sinking cylinder and a realistic subduction model. The subduction model is characterized by the migration of a ridge toward a trench whereby both plate motions and subduction evolve. The results demonstrate: (1) for known viscosity parameters, the initial temperature can be well recovered, as in previous initial condition-only inversions where the effective viscosity was given; (2) for known initial temperature, viscosity parameters can be recovered accurately, despite the existence of trade-offs due to ill-conditioning; (3) for the joint inversion of initial condition and viscosity parameters, initial condition and effective viscosity can be reasonably recovered, but the high dimension of the parameter space and the resulting ill-posedness may limit recovery of viscosity parameters.

3D Hydraulic tomography from joint inversion of the hydraulic heads and self-potential data. (Invited)

NASA Astrophysics Data System (ADS)

Jardani, A.; Soueid Ahmed, A.; Revil, A.; Dupont, J.

2013-12-01

Pumping tests are usually employed to predict the hydraulic conductivity filed from the inversion of the head measurements. Nevertheless, the inverse problem is strongly underdetermined and a reliable imaging requires a considerable number of wells. We propose to add more information to the inversion of the heads by adding (non-intrusive) streaming potentials (SP) data. The SP corresponds to perturbations in the local electrical field caused directly by the fow of the ground water. These SP are obtained with a set of the non-polarising electrodes installed at the ground surface. We developed a geostatistical method for the estimation of the hydraulic conductivity field from measurements of hydraulic heads and SP during pumping and injection experiments. We use the adjoint state method and a recent petrophysical formulation of the streaming potential problem in which the streaming coupling coefficient is derived from the hydraulic conductivity allowed reducing of the unknown parameters. The geostatistical inverse framework is applied to three synthetic case studies with different number of the wells and electrodes used to measure the hydraulic heads and the streaming potentials. To evaluate the benefits of the incorporating of the streaming potential to the hydraulic data, we compared the cases in which the data are coupled or not to map the hydraulic conductivity. The results of the inversion revealed that a dense distribution of electrodes can be used to infer the heterogeneities in the hydraulic conductivity field. Incorporating the streaming potential information to the hydraulic head data improves the estimate of hydraulic conductivity field especially when the number of piezometers is limited.

Joint Processing of Envelope Alignment and Phase Compensation for Isar Imaging

NASA Astrophysics Data System (ADS)

Chen, Tao; Jin, Guanghu; Dong, Zhen

2018-04-01

Range envelope alignment and phase compensation are spilt into two isolated parts in the classical methods of translational motion compensation in Inverse Synthetic Aperture Radar (ISAR) imaging. In classic method of the rotating object imaging, the two reference points of the envelope alignment and the Phase Difference (PD) estimation are probably not the same point, making it difficult to uncouple the coupling term by conducting the correction of Migration Through Resolution Cell (MTRC). In this paper, an improved approach of joint processing which chooses certain scattering point as the sole reference point is proposed to perform with utilizing the Prominent Point Processing (PPP) method. With this end in view, we firstly get the initial image using classical methods from which a certain scattering point can be chose. The envelope alignment and phase compensation using the selected scattering point as the same reference point are subsequently conducted. The keystone transform is thus smoothly applied to further improve imaging quality. Both simulation experiments and real data processing are provided to demonstrate the performance of the proposed method compared with classical method.

Relationship between viscosity of the ankle joint complex and functional ankle instability for inversion ankle sprain patients.

PubMed

Lin, Che-Yu; Kang, Jiunn-Horng; Wang, Chung-Li; Shau, Yio-Wha

2015-03-01

Measurement of viscosity of the ankle joint complex is a novel method to assess mechanical ankle instability. In order to further investigate the clinical significance of the method, this study intended to investigate the relationship between ankle viscosity and severity of functional ankle instability. Cross-sectional study. 15 participants with unilateral inversion ankle sprain and 15 controls were recruited. Their ankles were further classified into stable and unstable ankles. Ankle viscosity was measured by an instrumental anterior drawer test. Severity of functional ankle instability was measured by the Cumberland Ankle Instability Tool. Unstable ankles were compared with stable ankles. Injured ankles were compared with uninjured ankles of both groups. The spearman's rank correlation coefficient was applied to determine the relationship between ankle viscosity and severity of functional ankle instability in unstable ankles. There was a moderate relationship between ankle viscosity and severity of functional ankle instability (r=-0.64, p<0.0001). Unstable ankles exhibited significantly lower viscosity (p<0.005) and more severe functional ankle instability (p<0.0001) than stable ankles. Injured ankles exhibited significantly lower viscosity and more severe functional ankle instability than uninjured ankles (p<0.0001). There was a moderate relationship between ankle viscosity and severity of functional ankle instability. This finding suggested that, severity of functional ankle instability may be partially attributed to mechanical insufficiencies such as the degenerative changes in ankle viscosity following the inversion ankle sprain. In clinical application, measurement of ankle viscosity could be a useful tool to evaluate severity of chronic ankle instability. Copyright © 2014 Sports Medicine Australia. Published by Elsevier Ltd. All rights reserved.

Time-Lapse Acoustic Impedance Inversion in CO2 Sequestration Study (Weyburn Field, Canada)

NASA Astrophysics Data System (ADS)

Wang, Y.; Morozov, I. B.

2016-12-01

Acoustic-impedance (AI) pseudo-logs are useful for characterising subtle variations of fluid content during seismic monitoring of reservoirs undergoing enhanced oil recovery and/or geologic CO2 sequestration. However, highly accurate AI images are required for time-lapse analysis, which may be difficult to achieve with conventional inversion approaches. In this study, two enhancements of time-lapse AI analysis are proposed. First, a well-known uncertainty of AI inversion is caused by the lack of low-frequency signal in reflection seismic data. To resolve this difficulty, we utilize an integrated AI inversion approach combining seismic data, acoustic well logs and seismic-processing velocities. The use of well logs helps stabilizing the recursive AI inverse, and seismic-processing velocities are used to complement the low-frequency information in seismic records. To derive the low-frequency AI from seismic-processing velocity data, an empirical relation is determined by using the available acoustic logs. This method is simple and does not require subjective choices of parameters and regularization schemes as in the more sophisticated joint inversion methods. The second improvement to accurate time-lapse AI imaging consists in time-variant calibration of reflectivity. Calibration corrections consist of time shifts, amplitude corrections, spectral shaping and phase rotations. Following the calibration, average and differential reflection amplitudes are calculated, from which the average and differential AI are obtained. The approaches are applied to a time-lapse 3-D 3-C dataset from Weyburn CO2 sequestration project in southern Saskatchewan, Canada. High quality time-lapse AI volumes are obtained. Comparisons with traditional recursive and colored AI inversions (obtained without using seismic-processing velocities) show that the new method gives a better representation of spatial AI variations. Although only early stages of monitoring seismic data are available, time-lapse AI variations mapped within and near the reservoir zone suggest correlations with CO2 injection. By extending this procedure to elastic impedances, additional constraints on the variations of physical properties within the reservoir can be obtained.

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.

Earthquake Rupture Process Inferred from Joint Inversion of 1-Hz GPS and Strong Motion Data: The 2008 Iwate-Miyagi Nairiku, Japan, Earthquake

NASA Astrophysics Data System (ADS)

Yokota, Y.; Koketsu, K.; Hikima, K.; Miyazaki, S.

2009-12-01

1-Hz GPS data can be used as a ground displacement seismogram. The capability of high-rate GPS to record seismic wave fields for large magnitude (M8 class) earthquakes has been demonstrated [Larson et al., 2003]. Rupture models were inferred solely and supplementarily from 1-Hz GPS data [Miyazaki et al., 2004; Ji et al., 2004; Kobayashi et al., 2006]. However, none of the previous studies have succeeded in inferring the source process of the medium-sized (M6 class) earthquake solely from 1-Hz GPS data. We first compared 1-Hz GPS data with integrated strong motion waveforms for the 2008 Iwate-Miyagi Nairiku, Japan, earthquake. We performed a waveform inversion for the rupture process using 1-Hz GPS data only [Yokota et al., 2009]. We here discuss the rupture processes inferred from the inversion of 1-Hz GPS data of GEONET only, the inversion of strong motion data of K-NET and KiK-net only, and the joint inversion of 1-Hz GPS and strong motion data. The data were inverted to infer the rupture process of the earthquake using the inversion codes by Yoshida et al. [1996] with the revisions by Hikima and Koketsu [2005]. In the 1-Hz GPS inversion result, the total seismic moment is 2.7×1019 Nm (Mw: 6.9) and the maximum slip is 5.1 m. These results are approximately equal to 2.4×1019 Nm and 4.5 m from the inversion of strong motion data. The difference in the slip distribution on the northern fault segment may come from long-period motions possibly recorded only in 1-Hz GPS data. In the joint inversion result, the total seismic moment is 2.5×1019 Nm and the maximum slip is 5.4 m. These values also agree well with the result of 1-Hz GPS inversion. In all the series of snapshots that show the dynamic features of the rupture process, the rupture propagated bilaterally from the hypocenter to the south and north. The northern rupture speed is faster than the northern one. These agreements demonstrate the ability of 1-Hz GPS data to infer not only static, but also dynamic features of a medium-sized (M6 class) earthquake, although some details, such as the shallow extension of the southern asperity, are missing, due possibly to their limitations such as the sampling interval of 1 s and the sparse GPS stations distiribution in the near field of the earthquake. The result of the joint inversion indiates that these minor discrepancies can be reduced by the introduction of strong motion data. Continuous GPS monitoring at a much higher rate (e.g., 10 Hz) will also be helpful for reducing the minor discrepancies.

Predicting tibiotalar and subtalar joint angles from skin-marker data with dual-fluoroscopy as a reference standard.

PubMed

Nichols, Jennifer A; Roach, Koren E; Fiorentino, Niccolo M; Anderson, Andrew E

2016-09-01

Evidence suggests that the tibiotalar and subtalar joints provide near six degree-of-freedom (DOF) motion. Yet, kinematic models frequently assume one DOF at each of these joints. In this study, we quantified the accuracy of kinematic models to predict joint angles at the tibiotalar and subtalar joints from skin-marker data. Models included 1 or 3 DOF at each joint. Ten asymptomatic subjects, screened for deformities, performed 1.0m/s treadmill walking and a balanced, single-leg heel-rise. Tibiotalar and subtalar joint angles calculated by inverse kinematics for the 1 and 3 DOF models were compared to those measured directly in vivo using dual-fluoroscopy. Results demonstrated that, for each activity, the average error in tibiotalar joint angles predicted by the 1 DOF model were significantly smaller than those predicted by the 3 DOF model for inversion/eversion and internal/external rotation. In contrast, neither model consistently demonstrated smaller errors when predicting subtalar joint angles. Additionally, neither model could accurately predict discrete angles for the tibiotalar and subtalar joints on a per-subject basis. Differences between model predictions and dual-fluoroscopy measurements were highly variable across subjects, with joint angle errors in at least one rotation direction surpassing 10° for 9 out of 10 subjects. Our results suggest that both the 1 and 3 DOF models can predict trends in tibiotalar joint angles on a limited basis. However, as currently implemented, neither model can predict discrete tibiotalar or subtalar joint angles for individual subjects. Inclusion of subject-specific attributes may improve the accuracy of these models. Copyright © 2016 Elsevier B.V. All rights reserved.

On-site ocean horizontal aerosol extinction coefficient inversion under different weather conditions on the Bo-hai and Huang-hai Seas

NASA Astrophysics Data System (ADS)

Zeng, Xianjiang; Xia, Min; Ge, Yinghui; Guo, Wenping; Yang, Kecheng

2018-03-01

In this paper, we explore the horizontal extinction characteristics under different weather conditions on the ocean surface with on-site experiments on the Bo-hai and Huang-hai Seas in the summer of 2016. An experimental lidar system is designed to collect the on-site experimental data. By aiming at the inhomogeneity and uncertainty of the horizontal aerosol in practice, a joint retrieval method is proposed to retrieve the aerosol extinction coefficients (AEC) from the raw data along the optical path. The retrieval results of both the simulated and the real signals demonstrate that the joint retrieval method is practical. Finally, the sequence observation results of the on-site experiments under different weather conditions are reported and analyzed. These results can provide the attenuation information to analyze the atmospheric aerosol characteristics on the ocean surface.

The Precambrian crustal structure of East Africa

NASA Astrophysics Data System (ADS)

Young, A. J.; Tugume, F.; Nyblade, A.; Julia, J.; Mulibo, G.

2011-12-01

We present new results on crustal structure from East Africa from analyzing P wave receiver functions. The data for this study come from temporary AfricaArray broadband seismic stations deployed between 2007 and 2011 in Uganda, Tanzania and Zambia. Receiver functions have been computed using an iterative deconvolution method. Crustal structure has been imaged using the H-k stacking method and by jointly inverting the receiver functions and surface wave phase and group velocities. The results show remarkably uniform crust throughout the Archean and Proterozoic terrains that comprise the Precambrian tectonic framework of the region. Crustal thickness for most terrains is between 37 and 40 km, and Poisson's ratio is between 0.25 and 0.27. Results from the joint inversion yield average crustal Vs values of 3.6 to 3.7 km/s. For most terrains, a thin (1-5 km) thick high velocity (Vs>4.0 km/s) is found at the base of the crust.

Probabilistic inversion with graph cuts: Application to the Boise Hydrogeophysical Research Site

NASA Astrophysics Data System (ADS)

Pirot, Guillaume; Linde, Niklas; Mariethoz, Grégoire; Bradford, John H.

2017-02-01

Inversion methods that build on multiple-point statistics tools offer the possibility to obtain model realizations that are not only in agreement with field data, but also with conceptual geological models that are represented by training images. A recent inversion approach based on patch-based geostatistical resimulation using graph cuts outperforms state-of-the-art multiple-point statistics methods when applied to synthetic inversion examples featuring continuous and discontinuous property fields. Applications of multiple-point statistics tools to field data are challenging due to inevitable discrepancies between actual subsurface structure and the assumptions made in deriving the training image. We introduce several amendments to the original graph cut inversion algorithm and present a first-ever field application by addressing porosity estimation at the Boise Hydrogeophysical Research Site, Boise, Idaho. We consider both a classical multi-Gaussian and an outcrop-based prior model (training image) that are in agreement with available porosity data. When conditioning to available crosshole ground-penetrating radar data using Markov chain Monte Carlo, we find that the posterior realizations honor overall both the characteristics of the prior models and the geophysical data. The porosity field is inverted jointly with the measurement error and the petrophysical parameters that link dielectric permittivity to porosity. Even though the multi-Gaussian prior model leads to posterior realizations with higher likelihoods, the outcrop-based prior model shows better convergence. In addition, it offers geologically more realistic posterior realizations and it better preserves the full porosity range of the prior.

Reappraisal of the 2010 Maule, 2014 Iquique, 2015 Illapel through Inversion of Geodetic Data and Tsunami Waveforms Using the Optimal Time Alignment (OTA) Method

NASA Astrophysics Data System (ADS)

Romano, F.; Lorito, S.; Piatanesi, A.; Volpe, M.; Lay, T.; Tolomei, C.; Murphy, S.; Tonini, R.; Escalante, C.; Castro, M. J.; Gonzalez-Vida, J. M.; Macias, J.

2017-12-01

The Chile subduction zone is one of the most seismically active regions in the world and it hosted a number of great tsunamigenic earthquakes in the past. In particular, during the last 7 years three M8+ earthquakes occurred nearby the Chilean coasts, that is the 2010 M8.8 Maule, the 2014 M8.1 Iquique, and the M8.3 2015 Illapel earthquakes. The rupture process of these earthquakes has been studied by using different kind of geophysical observations such as seismic, geodetic, and tsunami data; in particular, tsunami waveforms are important for constraining the slip on the offshore portion of the fault. However, it has been shown that forward modelling of tsunami data can be affected by unavailability of accurate bathymetric models, especially in the vicinity of the tide-gauges; and in the far field by water density gradients, ocean floor elasticity, or geopotential gravity changes, generally neglected. This could result in a mismatch between observed and predicted tsunami signals thus affecting the retrieved tsunami source image. Recently, a method has been proposed for automatic correction during the nonlinear inversion of the mismatch (optimal time alignment, OTA; Romano et al., GRL, 2016). Here, we present a reappraisal of the joint inversion of tsunami data with OTA procedure and geodetic data, for the Maule, Iquique, and Illapel earthquakes. We compare the results with those obtained by tsunami inversion without using OTA and with other published inversion results.

Coupled land surface–subsurface hydrogeophysical inverse modeling to estimate soil organic carbon content and explore associated hydrological and thermal dynamics in the Arctic tundra

DOE PAGES

Tran, Anh Phuong; Dafflon, Baptiste; Hubbard, Susan S.

2017-09-06

Quantitative characterization of soil organic carbon (OC) content is essential due to its significant impacts on surface–subsurface hydrological–thermal processes and microbial decomposition of OC, which both in turn are important for predicting carbon–climate feedbacks. While such quantification is particularly important in the vulnerable organic-rich Arctic region, it is challenging to achieve due to the general limitations of conventional core sampling and analysis methods, and to the extremely dynamic nature of hydrological–thermal processes associated with annual freeze–thaw events. In this study, we develop and test an inversion scheme that can flexibly use single or multiple datasets – including soil liquid watermore » content, temperature and electrical resistivity tomography (ERT) data – to estimate the vertical distribution of OC content. Our approach relies on the fact that OC content strongly influences soil hydrological–thermal parameters and, therefore, indirectly controls the spatiotemporal dynamics of soil liquid water content, temperature and their correlated electrical resistivity. We employ the Community Land Model to simulate nonisothermal surface–subsurface hydrological dynamics from the bedrock to the top of canopy, with consideration of land surface processes (e.g., solar radiation balance, evapotranspiration, snow accumulation and melting) and ice–liquid water phase transitions. For inversion, we combine a deterministic and an adaptive Markov chain Monte Carlo (MCMC) optimization algorithm to estimate a posteriori distributions of desired model parameters. For hydrological–thermal-to-geophysical variable transformation, the simulated subsurface temperature, liquid water content and ice content are explicitly linked to soil electrical resistivity via petrophysical and geophysical models. We validate the developed scheme using different numerical experiments and evaluate the influence of measurement errors and benefit of joint inversion on the estimation of OC and other parameters. We also quantify the propagation of uncertainty from the estimated parameters to prediction of hydrological–thermal responses. We find that, compared to inversion of single dataset (temperature, liquid water content or apparent resistivity), joint inversion of these datasets significantly reduces parameter uncertainty. We find that the joint inversion approach is able to estimate OC and sand content within the shallow active layer (top 0.3 m of soil) with high reliability. Due to the small variations of temperature and moisture within the shallow permafrost (here at about 0.6 m depth), the approach is unable to estimate OC with confidence. However, if the soil porosity is functionally related to the OC and mineral content, which is often observed in organic-rich Arctic soil, the uncertainty of OC estimate at this depth remarkably decreases. Our study documents the value of the new surface–subsurface, deterministic–stochastic inversion approach, as well as the benefit of including multiple types of data to estimate OC and associated hydrological–thermal dynamics.« less

Coupled land surface–subsurface hydrogeophysical inverse modeling to estimate soil organic carbon content and explore associated hydrological and thermal dynamics in the Arctic tundra

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

Tran, Anh Phuong; Dafflon, Baptiste; Hubbard, Susan S.

Quantitative characterization of soil organic carbon (OC) content is essential due to its significant impacts on surface–subsurface hydrological–thermal processes and microbial decomposition of OC, which both in turn are important for predicting carbon–climate feedbacks. While such quantification is particularly important in the vulnerable organic-rich Arctic region, it is challenging to achieve due to the general limitations of conventional core sampling and analysis methods, and to the extremely dynamic nature of hydrological–thermal processes associated with annual freeze–thaw events. In this study, we develop and test an inversion scheme that can flexibly use single or multiple datasets – including soil liquid watermore » content, temperature and electrical resistivity tomography (ERT) data – to estimate the vertical distribution of OC content. Our approach relies on the fact that OC content strongly influences soil hydrological–thermal parameters and, therefore, indirectly controls the spatiotemporal dynamics of soil liquid water content, temperature and their correlated electrical resistivity. We employ the Community Land Model to simulate nonisothermal surface–subsurface hydrological dynamics from the bedrock to the top of canopy, with consideration of land surface processes (e.g., solar radiation balance, evapotranspiration, snow accumulation and melting) and ice–liquid water phase transitions. For inversion, we combine a deterministic and an adaptive Markov chain Monte Carlo (MCMC) optimization algorithm to estimate a posteriori distributions of desired model parameters. For hydrological–thermal-to-geophysical variable transformation, the simulated subsurface temperature, liquid water content and ice content are explicitly linked to soil electrical resistivity via petrophysical and geophysical models. We validate the developed scheme using different numerical experiments and evaluate the influence of measurement errors and benefit of joint inversion on the estimation of OC and other parameters. We also quantify the propagation of uncertainty from the estimated parameters to prediction of hydrological–thermal responses. We find that, compared to inversion of single dataset (temperature, liquid water content or apparent resistivity), joint inversion of these datasets significantly reduces parameter uncertainty. We find that the joint inversion approach is able to estimate OC and sand content within the shallow active layer (top 0.3 m of soil) with high reliability. Due to the small variations of temperature and moisture within the shallow permafrost (here at about 0.6 m depth), the approach is unable to estimate OC with confidence. However, if the soil porosity is functionally related to the OC and mineral content, which is often observed in organic-rich Arctic soil, the uncertainty of OC estimate at this depth remarkably decreases. Our study documents the value of the new surface–subsurface, deterministic–stochastic inversion approach, as well as the benefit of including multiple types of data to estimate OC and associated hydrological–thermal dynamics.« less

A Joint Optimization Criterion for Blind DS-CDMA Detection

NASA Astrophysics Data System (ADS)

Durán-Díaz, Iván; Cruces-Alvarez, Sergio A.

2006-12-01

This paper addresses the problem of the blind detection of a desired user in an asynchronous DS-CDMA communications system with multipath propagation channels. Starting from the inverse filter criterion introduced by Tugnait and Li in 2001, we propose to tackle the problem in the context of the blind signal extraction methods for ICA. In order to improve the performance of the detector, we present a criterion based on the joint optimization of several higher-order statistics of the outputs. An algorithm that optimizes the proposed criterion is described, and its improved performance and robustness with respect to the near-far problem are corroborated through simulations. Additionally, a simulation using measurements on a real software-radio platform at 5 GHz has also been performed.

Results of a joint NOAA/NASA sounder simulation study

NASA Technical Reports Server (NTRS)

Phillips, N.; Susskind, Joel; Mcmillin, L.

1988-01-01

This paper presents the results of a joint NOAA and NASA sounder simulation study in which the accuracies of atmospheric temperature profiles and surface skin temperature measuremnents retrieved from two sounders were compared: (1) the currently used IR temperature sounder HIRS2 (High-resolution Infrared Radiation Sounder 2); and (2) the recently proposed high-spectral-resolution IR sounder AMTS (Advanced Moisture and Temperature Sounder). Simulations were conducted for both clear and partial cloud conditions. Data were analyzed at NASA using a physical inversion technique and at NOAA using a statistical technique. Results show significant improvement of AMTS compared to HIRS2 for both clear and cloudy conditions. The improvements are indicated by both methods of data analysis, but the physical retrievals outperform the statistical retrievals.

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.

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

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 kinematics calculations.

Joint Inversion of Crustal and Uppermost Mantle Structure in Western China

DTIC Science & Technology

2013-11-02

western China from this project. Approved for public release; distribution is unlimited. 21 References Ammon, C. J., G. E. Randall , and G. Zandt, On...the non-uniqueness of receiver function inversions, J. Geophys. Res., 95(B10), pp. 15303-15318, 1990. Benson , G., et al., Processing seismic

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.

Determination of rock-sample anisotropy from P- and S-wave traveltime inversion

NASA Astrophysics Data System (ADS)

Pšenčík, Ivan; Růžek, Bohuslav; Lokajíček, Tomáš; Svitek, Tomáš

2018-04-01

We determine anisotropy of a rock sample from laboratory measurements of P- and S-wave traveltimes using weak-anisotropy approximation and parametri-zation of the medium by a special set of anisotropy parameters. For the traveltime inversion we use first-order velocity expressions in the weak-anisotropy approximation, which allow to deal with P and S waves separately. Each wave is described by 15 anisotropy parameters, 9 of which are common for both waves. The parameters allow an approximate construction of separate P- or common S-wave phase-velocity surfaces. Common S wave concept is used to simplify the treatment of S waves. In order to obtain all 21 anisotropy parameters, P- and S-wave traveltimes must be inverted jointly. The proposed inversion scheme has several advantages. As a consequence of the use of weak-anisotropy approximation and assumed homogeneity of the rock sample, equations used for the inversion are linear. Thus the inversion procedure is non-iterative. In the approximation used, phase and ray velocities are equal in their magnitude and direction. Thus analysis whether the measured velocity is the ray or phase velocity is unnecessary. Another advantage of the proposed inversion scheme is that, thanks to the use of the common S-wave concept, it does not require identification of S-wave modes. It is sufficient to know the two S-wave traveltimes without specification, to which S-wave mode they belong. The inversion procedure is tested first on synthetic traveltimes and then used for the inversion of traveltimes measured in laboratory. In both cases, we perform first the inversion of P-wave traveltimes alone and then joint inversion of P- and S-wave traveltimes, and compare the results.

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.

Relationship between mechanical ankle joint laxity and subjective function.

PubMed

Hubbard-Turner, Tricia

2012-10-01

An increase in ankle joint laxity has been reported in patients with chronic ankle instability (CAI). However, it is not known if this increase in joint laxity is responsible for the subjective level of functional deficits also reported in these patients. One hundred twenty subjects with unilateral CAI (55 males, 65 females; age, 20.6 ± 1.5 years; mass, 74.5 ± 13.6 kg; height, 174.2 ± 9.7 cm) participated in the study. Mechanical joint stability was measured with an instrumented ankle arthrometer. The arthrometer measured ankle joint motion for anterior/posterior translation and inversion/eversion angular displacement. Subjective level of function was assessed with the foot and ankle disability index (FADI) and foot and ankle disability index sport (FADIS). Bivariate correlations using Pearson Product Moments were made between all dependent variables taken on the unstable ankles. The strongest relationship was between anterior laxity and the FADIS (r = -0.88, p < 0.0001). As scores on the FADIS decreased, anterior laxity increased. Similar significant results were reported for anterior laxity and the FADI (r = -0.65, p = 0.013), as well as inversion laxity and the FADI (r = -0.53, p = 0.017) and FADIS (r = -0.45, p = 0.013). These data demonstrate that there appears to be a relationship between anterior and inversion ankle laxity and subjective function in those with CAI. Although numerous insufficiencies develop after an ankle sprain, increased laxity may cause some of the subjective functional deficits reported in those with CAI. Strategies to prevent increased laxity following ankle sprain may improve the patient's subjective level of function.

Tackling missing radiographic progression data: multiple imputation technique compared with inverse probability weights and complete case analysis.

PubMed

Descalzo, Miguel Á; Garcia, Virginia Villaverde; González-Alvaro, Isidoro; Carbonell, Jordi; Balsa, Alejandro; Sanmartí, Raimon; Lisbona, Pilar; Hernandez-Barrera, Valentín; Jiménez-Garcia, Rodrigo; Carmona, Loreto

2013-02-01

To describe the results of different statistical ways of addressing radiographic outcome affected by missing data--multiple imputation technique, inverse probability weights and complete case analysis--using data from an observational study. A random sample of 96 RA patients was selected for a follow-up study in which radiographs of hands and feet were scored. Radiographic progression was tested by comparing the change in the total Sharp-van der Heijde radiographic score (TSS) and the joint erosion score (JES) from baseline to the end of the second year of follow-up. MI technique, inverse probability weights in weighted estimating equation (WEE) and CC analysis were used to fit a negative binomial regression. Major predictors of radiographic progression were JES and joint space narrowing (JSN) at baseline, together with baseline disease activity measured by DAS28 for TSS and MTX use for JES. Results from CC analysis show larger coefficients and s.e.s compared with MI and weighted techniques. The results from the WEE model were quite in line with those of MI. If it seems plausible that CC or MI analysis may be valid, then MI should be preferred because of its greater efficiency. CC analysis resulted in inefficient estimates or, translated into non-statistical terminology, could guide us into inaccurate results and unwise conclusions. The methods discussed here will contribute to the use of alternative approaches for tackling missing data in observational studies.

Kinetics of throwing arm joints and the trunk motion during an overarm distance throw by skilled Japanese elementary school boys.

PubMed

Kobayashi, Yasuto; Ae, Michiyoshi; Miyazaki, Akiyo; Fujii, Norihisa; Iiboshi, Akira; Nakatani, Hideki

2016-09-01

The purpose of this study was to investigate joint kinetics of the throwing arms and role of trunk motion in skilled elementary school boys during an overarm distance throw. Throwing motions of 42 boys from second, fourth, and sixth grade were videotaped with three high-speed cameras operating at 300 fps. Seven skilled boys from each grade were selected on the basis of throwing distance for three-dimensional kinetic analysis. Joint forces, torques, and torque powers of the throwing arm joints were calculated from reconstructed three-dimensional coordinate data smoothed at cut-off frequencies of 10.5-15 Hz and by the inverse dynamics method. Throwing distance and ball velocity significantly increased with school grade. The angular velocity of elbow extension before ball release increased with school grade, although no significant increase between the grades was observed in peak extension torque of elbow joint. The joint torque power of shoulder internal/external rotation tended to increase with school grade. When teaching the overarm throw, elementary school teachers should observe large backward twisting of trunk during the striding phase and should keep in mind that young children, such as second graders (age 8 years), will be unable to effectively utilise shoulder external/internal rotation during the throwing phase.

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.

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 RAYINVR package. The modular layout of the code makes it straightforward to include other types of geophysical data, i.e. gravity. The code has been tested using synthetic examples with fairly simple 2D geometries, mainly for checking the validity of the calculations. The inversion generally converges towards the correct solution, although there could be stability problems if the starting model is too erroneous. We have also applied the code to field data from seismic refraction and multi-electrode resistivity measurements at typical sand-gravel groundwater reservoirs. The tests are promising, as the calculated depths agree fairly well with information from drilling and the velocity and resistivity values appear reasonable. Current work includes better regularization of the inversion as well as defining individual weight factors for the different datasets, as the present algorithm tends to constrain the depths mainly by using the seismic data. More complex synthetic examples will also be tested, including models addressing the seismic hidden-layer problem.

Auscultation des barrages en beton par ecoute microsismique: Detectabilite et localisation des evenements

NASA Astrophysics Data System (ADS)

Giroux, Bernard

The aging of dams leads to their degradation and is therefore a threat to normal operation, and is potentially dangerous. Ideally, a method continuously monitoring the majority of the structure would help considerably the management of operations. The feasibility of such a technique is the topic of this thesis. The principle underlying the proposed method is to listen to microseismic events generated by the cracking of the concrete dam. A method based on this principle is used to detect and attempt to predict rockbursts in the mining industry. The method procedure is the following: given a sensor network distributed over a dam, one wishes to detect the microseismic events emitted by structure cracking, to locate the source in space and time, and ultimately to characterize the stress field causing the emission. The seismic quality factor Q is usually used to quantify attenuation. Presented is a technique to reduce the noise bias in the calculation of the amplitude spectrum ratio. The results so obtained show a Q factor of order ranging from 5 to 10. A new method using genetic algorithms is presented to evaluate Q and the coupling jointly. According to our results, sensor coupling varies from 0,2 to 0,8. The corresponding Q factor attains a value of 60. Also, the ambient noise level must be known in order to establish from which distance the seismic energy can be measured. Reference RMS values of 10-5 m/s for velocity and 10-1 m/s 2 for acceleration are used as an upper limit for the computation of a so-called "critical detection radius". Thirdly, the seismic responses of circular cracks having areas of 0,01, 0,1 and 1,0 m2 were computed for a model equivalent to the Carillon Dam, for Q values varying from 5 to 100. Considering that an adequate coupling can be obtained (equivalent to Q = 50) and that a signal to noise ratio of 100 allows for the detection of the seismic signal, one can expect to detect an event caused by a 0,01 m 2 defect at a distance of 25 m. In the second part of this work, a method for locating the seismic sources based on the joint hypocenter-velocity inversion of traveltime data is presented. The inversion method relies on raytrace forward modeling. This method was tested and implemented in the inversion code. Finally, tests with synthetic data were conducted to assess the performance of the inversion program. The results show that an accurate location is achieved with about ten sensors, provided that some sensors are placed at the upstream base of the structure, the remainder being on the crest and downstream side of the dam. (Abstract shortened by UMI.)

Talofibular interval changes after acute ankle sprain: a stress ultrasonography study of ankle laxity.

PubMed

Croy, Theodore; Saliba, Susan; Saliba, Ethan; Anderson, Mark W; Hertel, Jay

2013-11-01

Quantifying talocrural joint laxity after ankle sprain is problematic. Stress ultrasonography (US) can image the lateral talocrural joint and allow the measurement of the talofibular interval, which may suggest injury to the anterior talofibular ligament (ATFL). The acute talofibular interval changes after lateral ankle sprain are unknown. Twenty-five participants (9 male, 16 female; age 21.8 ± 3.2 y, height 167.8 ± 34.1 cm, mass 72.7 ± 13.8 kg) with 27 acute, lateral ankle injuries underwent bilateral stress US imaging at baseline (<7 d) and on the affected ankle at 3 wk and 6 wk from injury in 3 ankle conditions: neutral, anterior drawer, and inversion. Talofibular interval (mm) was measured using imaging software and self-reported function (activities of daily living [ADL] and sports) by the Foot and Ankle Ability Measure (FAAM). The talofibular interval increased with anterior-drawer stress in the involved ankle (22.65 ± 3.75 mm; P = .017) over the uninvolved ankle (19.45 ± 2.35 mm; limb × position F1,26 = 4.9, P = .035) at baseline. Inversion stress also resulted in greater interval changes (23.41 ± 2.81 mm) than in the uninvolved ankles (21.13 ± 2.08 mm). A main effect for time was observed for inversion (F2,52 = 4.3, P = .019, 21.93 ± 2.24 mm) but not for anterior drawer (F2,52 = 3.1, P = .055, 21.18 ± 2.34 mm). A significant reduction in the talofibular interval took place between baseline and week 3 inversion measurements only (F1,26 = 5.6, P = .026). FAAM-ADL and sports results increased significantly from baseline to wk 3 (21.9 ± 16.2, P < .0001 and 23.8 ± 16.9, P < .0001) and from wk 3 to wk 6 (2.5 ± 4.4, P = .009 and 10.5 ± 13.2, P = .001). Stress US methods identified increased talofibular interval changes suggestive of talocrural laxity and ATFL injury using anterior drawer and inversion stress that, despite significant improvements in self-reported function, only marginally improved during the 6 wk after ankle sprain. Stress US provides a safe, repeatable, and quantifiable method of measuring the talofibular interval and may augment manual stress examinations in acute ankle injuries.

Higher medially-directed joint reaction forces are a characteristic of dysplastic hips: A comparative study using subject-specific musculoskeletal models.

PubMed

Harris, Michael D; MacWilliams, Bruce A; Bo Foreman, K; Peters, Christopher L; Weiss, Jeffrey A; Anderson, Andrew E

2017-03-21

Acetabular dysplasia is a known cause of hip osteoarthritis. In addition to abnormal anatomy, changes in kinematics, joint reaction forces (JRFs), and muscle forces could cause tissue damage to the cartilage and labrum, and may contribute to pain and fatigue. The objective of this study was to compare lower extremity joint angles, moments, hip JRFs and muscle forces during gait between patients with symptomatic acetabular dysplasia and healthy controls. Marker trajectories and ground reaction forces were measured in 10 dysplasia patients and 10 typically developing control subjects. A musculoskeletal model was scaled in OpenSim to each subject and subject-specific hip joint centers were determined using reconstructions from CT images. Joint kinematics and moments were calculated using inverse kinematics and inverse dynamics, respectively. Muscle forces and hip JRFs were estimated with static optimization. Inter-group differences were tested for statistical significance (p≤0.05) and large effect sizes (d≥0.8). Results demonstrated that dysplasia patients had higher medially directed JRFs. Joint angles and moments were mostly similar between the groups, but large inter-group effect sizes suggested some restriction in range of motion by patients at the hip and ankle. Higher medially-directed JRFs and inter-group differences in hip muscle forces likely stem from lateralization of the hip joint center in dysplastic patients. Joint force differences, combined with reductions in range of motion at the hip and ankle may also indicate compensatory strategies by patients with dysplasia to maintain joint stability. Copyright © 2017 Elsevier Ltd. All rights reserved.

Higher Medially-directed Joint Reaction Forces are a Characteristic of Dysplastic Hips: A Comparative Study Using Subject-Specific Musculoskeletal Models

PubMed Central

Harris, Michael D.; MacWilliams, Bruce A.; Foreman, K. Bo; Peters, Christopher L.; Weiss, Jeffrey A.; Anderson, Andrew E.

2018-01-01

Acetabular dysplasia is a known cause of hip osteoarthritis. In addition to abnormal anatomy, changes in kinematics, joint reaction forces (JRFs), and muscle forces could cause tissue damage to the cartilage and labrum, and may contribute to pain and fatigue. The objective of this study was to compare lower extremity joint angles, moments, hip JRFs and muscle forces during gait between patients with symptomatic acetabular dysplasia and healthy controls. Marker trajectories and ground reaction forces were measured in 10 dysplasia patients and 10 typically developing control subjects. A musculoskeletal model was scaled in OpenSim to each subject and subject-specific hip joint centers were determined using reconstructions from CT images. Joint kinematics and moments were calculated using inverse kinematics and inverse dynamics, respectively. Muscle forces and hip JRFs were estimated with static optimization. Inter-group differences were tested for statistical significance (p≤0.05) and large effect sizes (d≥0.8). Results demonstrated that dysplasia patients had higher medially directed JRFs. Joint angles and moments were mostly similar between the groups, but large inter-group effect sizes suggested some restriction in range of motion by patients at the hip and ankle. Higher medially-directed JRFs and inter-group differences in hip muscle forces likely stem from lateralization of the hip joint center in dysplastic patients. Joint force differences, combined with reductions in range of motion at the hip and ankle may also indicate compensatory strategies by patients with dysplasia to maintain joint stability. PMID:28233552

The effects of core-reflected waves on finite fault inversion with teleseismic body wave data

NASA Astrophysics Data System (ADS)

Qian, Y.; Ni, S.; Wei, S.

2016-12-01

Reliable estimation of rupture processes for a large earthquake is valuable for post-seismic rescue, tsunami alert, seismotectonic studies, as well as earthquake physics. Finite-fault inversion has been widely accepted to reconstruct the spatial-temporal distribution of rupture processes, which can be obtained by individual or jointly inversion of seismic, geodetic and tsunami data sets. Among the above observations, teleseismic (30° 90°) body waves, usually P and SH waves, have been used extensively in such inversions because their propagation are well understood and readily available for large earthquakes with good coverages of slowness and azimuth. However, finite fault inversion methods usually assume turning P and SH waves without inclusion of core-reflected waves when calculating the synthetic waveforms, which may result in systematic error in finite-fault inversions. For the core-reflected SH wave ScS, it is expected to be strong due to total reflection from Core-Mantle-Boundary. Moreover, the time interval between direct S and ScS could be smaller than the duration of large earthquakes for large epicentral distances. In order to improve the accuracy of finite fault inversion with teleseismic body waves, we develop a procedure named multitel3 to compute Greens' functions that contain both turning waves (P, pP, sP, S, sS et al.) and core-reflected phases (PcP and ScS) and apply it to finite fault inversions. This ray-based method can rapidly calculate teleseismic body wave synthetics with flexibility for path calibration of 3D mantle structure. The new Green's function is plugged into finite fault inversion package to replace the original Green's function with only turning P and SH waves. With the 2008 Mw7.9 Wenchuan earthquake as example, a series of numerical tests conducted on synthetic data are used to assess the performance of our approach. We also explore this new procedure's stability when there are discrepancies between the parameters of input model and the priori information of inverse model, such as strike, dip of finite fault and so on. With the quantified code, we apply it to study rupture process of the 2016 Mw7.8 Sumatra earthquake.

An industrial robot singular trajectories planning based on graphs and neural networks

NASA Astrophysics Data System (ADS)

Łęgowski, Adrian; Niezabitowski, Michał

2016-06-01

Singular trajectories are rarely used because of issues during realization. A method of planning trajectories for given set of points in task space with use of graphs and neural networks is presented. In every desired point the inverse kinematics problem is solved in order to derive all possible solutions. A graph of solutions is made. The shortest path is determined to define required nodes in joint space. Neural networks are used to define the path between these nodes.

Active and passive electrical and seismic time-lapse monitoring of earthen embankments

NASA Astrophysics Data System (ADS)

Rittgers, Justin Bradley

In this dissertation, I present research involving the application of active and passive geophysical data collection, data assimilation, and inverse modeling for the purpose of earthen embankment infrastructure assessment. Throughout the dissertation, I identify several data characteristics, and several challenges intrinsic to characterization and imaging of earthen embankments and anomalous seepage phenomena, from both a static and time-lapse geophysical monitoring perspective. I begin with the presentation of a field study conducted on a seeping earthen dam, involving static and independent inversions of active tomography data sets, and self-potential modeling of fluid flow within a confined aquifer. Additionally, I present results of active and passive time-lapse geophysical monitoring conducted during two meso-scale laboratory experiments involving the failure and self-healing of embankment filter materials via induced vertical cracking. Identified data signatures and trends, as well as 4D inversion results, are discussed as an underlying motivation for conducting subsequent research. Next, I present a new 4D acoustic emissions source localization algorithm that is applied to passive seismic monitoring data collected during a full-scale embankment failure test. Acoustic emissions localization results are then used to help spatially constrain 4D inversion of collocated self-potential monitoring data. I then turn to time-lapse joint inversion of active tomographic data sets applied to the characterization and monitoring of earthen embankments. Here, I develop a new technique for applying spatiotemporally varying structural joint inversion constraints. The new technique, referred to as Automatic Joint Constraints (AJC), is first demonstrated on a synthetic 2D joint model space, and is then applied to real geophysical monitoring data sets collected during a full-scale earthen embankment piping-failure test. Finally, I discuss some non-technical issues related to earthen embankment failures from a Science, Technology, Engineering, and Policy (STEP) perspective. Here, I discuss how the proclaimed scientific expertise and shifting of responsibility (Responsibilization) by governing entities tasked with operating and maintaining water storage and conveyance infrastructure throughout the United States tends to create barriers for 1) public voice and participation in relevant technical activities and outcomes, 2) meaningful discussions with the public and media during crisis communication, and 3) public perception of risk and the associated resilience of downhill communities.

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

Knee joint forces: prediction, measurement, and significance

PubMed Central

D’Lima, Darryl D.; Fregly, Benjamin J.; Patil, Shantanu; Steklov, Nikolai; Colwell, Clifford W.

2011-01-01

Knee forces are highly significant in osteoarthritis and in the survival and function of knee arthroplasty. A large number of studies have attempted to estimate forces around the knee during various activities. Several approaches have been used to relate knee kinematics and external forces to internal joint contact forces, the most popular being inverse dynamics, forward dynamics, and static body analyses. Knee forces have also been measured in vivo after knee arthroplasty, which serves as valuable validation of computational predictions. This review summarizes the results of published studies that measured knee forces for various activities. The efficacy of various methods to alter knee force distribution, such as gait modification, orthotics, walking aids, and custom treadmills are analyzed. Current gaps in our knowledge are identified and directions for future research in this area are outlined. PMID:22468461

Current-induced alternating reversed dual-echo-steady-state for joint estimation of tissue relaxation and electrical properties.

PubMed

Lee, Hyunyeol; Sohn, Chul-Ho; Park, Jaeseok

2017-07-01

To develop a current-induced, alternating reversed dual-echo-steady-state-based magnetic resonance electrical impedance tomography for joint estimation of tissue relaxation and electrical properties. The proposed method reverses the readout gradient configuration of conventional, in which steady-state-free-precession (SSFP)-ECHO is produced earlier than SSFP-free-induction-decay (FID) while alternating current pulses are applied in between the two SSFPs to secure high sensitivity of SSFP-FID to injection current. Additionally, alternating reversed dual-echo-steady-state signals are modulated by employing variable flip angles over two orthogonal injections of current pulses. Ratiometric signal models are analytically constructed, from which T 1 , T 2 , and current-induced B z are jointly estimated by solving a nonlinear inverse problem for conductivity reconstruction. Numerical simulations and experimental studies are performed to investigate the feasibility of the proposed method in estimating relaxation parameters and conductivity. The proposed method, if compared with conventional magnetic resonance electrical impedance tomography, enables rapid data acquisition and simultaneous estimation of T 1 , T 2 , and current-induced B z , yielding a comparable level of signal-to-noise ratio in the parameter estimates while retaining a relative conductivity contrast. We successfully demonstrated the feasibility of the proposed method in jointly estimating tissue relaxation parameters as well as conductivity distributions. It can be a promising, rapid imaging strategy for quantitative conductivity estimation. Magn Reson Med 78:107-120, 2017. © 2016 International Society for Magnetic Resonance in Medicine. © 2016 International Society for Magnetic Resonance in Medicine.

The validity of the first and second generation Microsoft Kinect™ for identifying joint center locations during static postures.

PubMed

Xu, Xu; McGorry, Raymond W

2015-07-01

The Kinect™ sensor released by Microsoft is a low-cost, portable, and marker-less motion tracking system for the video game industry. Since the first generation Kinect sensor was released in 2010, many studies have been conducted to examine the validity of this sensor when used to measure body movement in different research areas. In 2014, Microsoft released the computer-used second generation Kinect sensor with a better resolution for the depth sensor. However, very few studies have performed a direct comparison between all the Kinect sensor-identified joint center locations and their corresponding motion tracking system-identified counterparts, the result of which may provide some insight into the error of the Kinect-identified segment length, joint angles, as well as the feasibility of adapting inverse dynamics to Kinect-identified joint centers. The purpose of the current study is to first propose a method to align the coordinate system of the Kinect sensor with respect to the global coordinate system of a motion tracking system, and then to examine the accuracy of the Kinect sensor-identified coordinates of joint locations during 8 standing and 8 sitting postures of daily activities. The results indicate the proposed alignment method can effectively align the Kinect sensor with respect to the motion tracking system. The accuracy level of the Kinect-identified joint center location is posture-dependent and joint-dependent. For upright standing posture, the average error across all the participants and all Kinect-identified joint centers is 76 mm and 87 mm for the first and second generation Kinect sensor, respectively. In general, standing postures can be identified with better accuracy than sitting postures, and the identification accuracy of the joints of the upper extremities is better than for the lower extremities. This result may provide some information regarding the feasibility of using the Kinect sensor in future studies. Copyright © 2015 Elsevier Ltd and The Ergonomics Society. All rights reserved.

Effects of Lateral and Medial Wedged Insoles on Knee and Ankle Internal Joint Moments During Walking in Healthy Men.

PubMed

Fukuchi, Claudiane A; Lewinson, Ryan T; Worobets, Jay T; Stefanyshyn, Darren J

2016-11-01

Wedged insoles have been used to treat knee pathologies and to prevent injuries. Although they have received much attention for the study of knee injury, the effects of wedges on ankle joint biomechanics are not well understood. This study sought to evaluate the immediate effects of lateral and medial wedges on knee and ankle internal joint loading and center of pressure (CoP) in men during walking. Twenty-one healthy men walked at 1.4 m/sec in five footwear conditions: neutral, 6° (LW6) and 9° (LW9) lateral wedges, and 6° (MW6) and 9° (MW9) medial wedges. Peak internal knee abduction moments and angular impulses, internal ankle inversion moments and angular impulses, and mediolateral CoP were analyzed. Analysis of variance with post hoc analysis and Pearson correlations were performed to detect differences between conditions. No differences in internal knee joint loading were found between neutral and any of the wedge conditions. However, as the wedge angle increased from medial to lateral, the internal ankle inversion moment (LW6: P = .020; LW9: P < .001; MW6: P = .046; MW9: P < .001) and angular impulse (LW9: P = .012) increased, and the CoP shifted laterally (LW9: P < .001) and medially (MW9: P < .001) compared with the neutral condition. Neither lateral nor medial wedges were effective in altering internal knee joint loading during walking. However, the greater internal ankle inversion moment and angular impulse observed with lateral wedges could lead to a higher risk of ankle injury. Thus, caution should be taken when lateral wedges need to be prescribed.

Joint Procrustes Analysis for Simultaneous Nonsingular Transformation of Component Score and Loading Matrices

ERIC Educational Resources Information Center

Adachi, Kohei

2009-01-01

In component analysis solutions, post-multiplying a component score matrix by a nonsingular matrix can be compensated by applying its inverse to the corresponding loading matrix. To eliminate this indeterminacy on nonsingular transformation, we propose Joint Procrustes Analysis (JPA) in which component score and loading matrices are simultaneously…

A Longitudinal Study of Maternal Interactional Styles and Infant Visualization.

ERIC Educational Resources Information Center

Saxon, Terrill F.; And Others

1997-01-01

Examined interactional and attentional relationships in 65 mother-infant dyads (infants at ages 6 and 8 months), focusing on attention following (AF), attention switching (AS), and joint attention. Found that AF and AS were unrelated at 6 months but inversely related at 8 months. AF and AS were unrelated to joint attention. (MDM)

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.

The role of environmental heterogeneity in meta-analysis of gene-environment interactions with quantitative traits.

PubMed

Li, Shi; Mukherjee, Bhramar; Taylor, Jeremy M G; Rice, Kenneth M; Wen, Xiaoquan; Rice, John D; Stringham, Heather M; Boehnke, Michael

2014-07-01

With challenges in data harmonization and environmental heterogeneity across various data sources, meta-analysis of gene-environment interaction studies can often involve subtle statistical issues. In this paper, we study the effect of environmental covariate heterogeneity (within and between cohorts) on two approaches for fixed-effect meta-analysis: the standard inverse-variance weighted meta-analysis and a meta-regression approach. Akin to the results in Simmonds and Higgins (), we obtain analytic efficiency results for both methods under certain assumptions. The relative efficiency of the two methods depends on the ratio of within versus between cohort variability of the environmental covariate. We propose to use an adaptively weighted estimator (AWE), between meta-analysis and meta-regression, for the interaction parameter. The AWE retains full efficiency of the joint analysis using individual level data under certain natural assumptions. Lin and Zeng (2010a, b) showed that a multivariate inverse-variance weighted estimator retains full efficiency as joint analysis using individual level data, if the estimates with full covariance matrices for all the common parameters are pooled across all studies. We show consistency of our work with Lin and Zeng (2010a, b). Without sacrificing much efficiency, the AWE uses only univariate summary statistics from each study, and bypasses issues with sharing individual level data or full covariance matrices across studies. We compare the performance of the methods both analytically and numerically. The methods are illustrated through meta-analysis of interaction between Single Nucleotide Polymorphisms in FTO gene and body mass index on high-density lipoprotein cholesterol data from a set of eight studies of type 2 diabetes. © 2014 WILEY PERIODICALS, INC.

Inversion of potential field data using the finite element method on parallel computers

NASA Astrophysics Data System (ADS)

Gross, L.; Altinay, C.; Shaw, S.

2015-11-01

In this paper we present a formulation of the joint inversion of potential field anomaly data as an optimization problem with partial differential equation (PDE) constraints. The problem is solved using the iterative Broyden-Fletcher-Goldfarb-Shanno (BFGS) method with the Hessian operator of the regularization and cross-gradient component of the cost function as preconditioner. We will show that each iterative step requires the solution of several PDEs namely for the potential fields, for the adjoint defects and for the application of the preconditioner. In extension to the traditional discrete formulation the BFGS method is applied to continuous descriptions of the unknown physical properties in combination with an appropriate integral form of the dot product. The PDEs can easily be solved using standard conforming finite element methods (FEMs) with potentially different resolutions. For two examples we demonstrate that the number of PDE solutions required to reach a given tolerance in the BFGS iteration is controlled by weighting regularization and cross-gradient but is independent of the resolution of PDE discretization and that as a consequence the method is weakly scalable with the number of cells on parallel computers. We also show a comparison with the UBC-GIF GRAV3D code.

Constraining gross primary production and ecosystem respiration estimates for North America using atmospheric observations of carbonyl sulfide (OCS) and CO2

NASA Astrophysics Data System (ADS)

He, W.; Ju, W.; Chen, H.; Peters, W.; van der Velde, I.; Baker, I. T.; Andrews, A. E.; Zhang, Y.; Launois, T.; Campbell, J. E.; Suntharalingam, P.; Montzka, S. A.

2016-12-01

Carbonyl sulfide (OCS) is a promising novel atmospheric tracer for studying carbon cycle processes. OCS shares a similar pathway as CO2 during photosynthesis but not released through a respiration-like process, thus could be used to partition Gross Primary Production (GPP) from Net Ecosystem-atmosphere CO2 Exchange (NEE). This study uses joint atmospheric observations of OCS and CO2 to constrain GPP and ecosystem respiration (Re). Flask data from tower and aircraft sites over North America are collected. We employ our recently developed CarbonTracker (CT)-Lagrange carbon assimilation system, which is based on the CT framework and the Weather Research and Forecasting - Stochastic Time-Inverted Lagrangian Transport (WRF-STILT) model, and the Simple Biosphere model with simulated OCS (SiB3-OCS) that provides prior GPP, Re and plant uptake fluxes of OCS. Derived plant OCS fluxes from both process model and GPP-scaled model are tested in our inversion. To investigate the ability of OCS to constrain GPP and understand the uncertainty propagated from OCS modeling errors to constrained fluxes in a dual-tracer system including OCS and CO2, two inversion schemes are implemented and compared: (1) a two-step scheme, which firstly optimizes GPP using OCS observations, and then simultaneously optimizes GPP and Re using CO2 observations with OCS-constrained GPP in the first step as prior; (2) a joint scheme, which simultaneously optimizes GPP and Re using OCS and CO2 observations. We will evaluate the result using an estimated GPP from space-borne solar-induced fluorescence observations and a data-driven GPP upscaled from FLUXNET data with a statistical model (Jung et al., 2011). Preliminary result for the year 2010 shows the joint inversion makes simulated mole fractions more consistent with observations for both OCS and CO2. However, the uncertainty of OCS simulation is larger than that of CO2. The two-step and joint schemes perform similarly in improving the consistence with observations for OCS, implicating that OCS could provide independent constraint in joint inversion. Optimization makes less total GPP and Re but more NEE, when testing with prior CO2 fluxes from two biosphere models. This study gives an in-depth insight into the role of joint atmospheric OCS and CO2 observations in constraining CO2 fluxes.

Joint Inversion Modelling of Geophysical Data From Lough Neagh Basin

NASA Astrophysics Data System (ADS)

Vozar, J.; Moorkamp, M.; Jones, A. G.; Rath, V.; Muller, M. R.

2015-12-01

Multi-dimensional modelling of geophysical data collected in the Lough Neagh Basin is presented in the frame of the IRETHERM project. The Permo-Triassic Lough Neagh Basin, situated in the southeastern part of Northern Ireland, exhibits elevated geothermal gradient (~30 °C/km) in the exploratory drilled boreholes. This is taken to indicate good geothermal exploitation potential in the Sherwood Sandstone aquifer for heating, and possibly even electricity production, purposes. We have used a 3-D joint inversion framework for modelling the magnetotelluric (MT) and gravity data collected to the north of the Lough Neagh to derive robust subsurface geological models. Comprehensive supporting geophysical and geological data (e.g. borehole logs and reflection seismic images) have been used in order to analyze and model the MT and gravity data. The geophysical data sets were provided by the Geological Survey of Northern Ireland (GSNI). Considering correct objective function weighting in favor of noise-free MT response functions is particularly important in joint inversion. There is no simple way how to correct distortion effects the 3-D responses as can be done in 1-D or 2-D case. We have used the Tellus Project airborne EM data to constrain magnetotelluric data and correct them for near surface effects. The shallow models from airborne data are used to constrain the uppermost part of 3-D inversion model. Preliminary 3-D joint inversion modeling reveals that the Sherwood Sandstone Group and the Permian Sandstone Formation are imaged as a conductive zone at the depth range of 500 m to 2000 m with laterally varying thickness, depth, and conductance. The conductive target sediments become shallower and thinner to the north and they are laterally continuous. To obtain better characterization of thermal transport properties of investigated area we used porosity and resistivity data from the Annaghmore and Ballymacilroy boreholes to estimate the relations between porosity/permeability and electrical conductivity. The formulae are based on generalized Archie's law for multiple phases. The conductive layers are interpreted as water bearing or geothermal fluids and estimated porosity and permeability indicates potential to act as geothermal aquifer.

Geodynamic constraints on deep-mantle buoyancy: Implications for thermochemical structure of LLSVP and large-scale upwellings under the Pacific Ocean.

NASA Astrophysics Data System (ADS)

Forte, A. M.; Glisovic, P.; Grand, S. P.; Lu, C.; Simmons, N. A.; Rowley, D. B.

2015-12-01

Convection-related data constrain lower-mantle density anomalies that contribute to mantle convective flow. These include global gravity and topography anomalies, plate motions and excess ellipticity of the core-mantle boundary (CMB). Each datum possesses differing wavelength and depth dependent resolution of heterogeneity and thus the strongest constraints on density anomalies are obtained by jointly inverting all data in combination. The joint-inversions employ viscous response functions (i.e. geodynamic kernels) for a flowing mantle. Non-uniqueness is greatly reduced by including seismic and mineral physics data into the joint inversions. We present the results of inversions where seismic and geodynamic data are singly and jointly inverted to map density anomalies. Employing mineral physical data we estimate thermal and compositional contributions to density anomalies. We evaluate the extent to which "Large Low Shear Velocity Provinces" (LLSVP) are anomalous and we determine their impact on the global pattern of convective flow. The inversions yield consistent maps of lower-mantle flow (see figure) that are dominated by two large upwellings, under the Western Pacific (next to the Caroline microplate) and Eastern Pacific (under the East Pacific Rise). These hot upwellings effectively delimit the margins of the Pacific LLSVP, suggesting intrinsic negative buoyancy within this structure impedes large-scale upwellings in the mantle above. These two upwellings do not resemble classical mantle "plumes" found in simple isoviscous and isochemical convection models but their contribution to mass and heat transport across the lower mantle is significant and thus behave similarly to plumes. The large scale of these upwellings may be understood in terms of the high viscosity in the lower mantle, inferred from geodynamic constraints on mantle rheology. Very-long time convection simulations initiated with present-day structure inferred from these inversions show the two Pacific upwellings possess remarkable geographic fixity and longevity extending over several hundred million years, again a consequence of the high viscosity in the lower mantle. These upwellings are fed by large heat flux across the CMB (from 12 to 20 TW) and should play a major role in the thermal evolution of the mantle.

Testing joint inversion techniques of gravity data and cosmic ray muon flux at a well-characterized site for use in the detection of subsurface density structures beneath volcanoes.

NASA Astrophysics Data System (ADS)

Cosburn, K.; Roy, M.; Rowe, C. A.; Guardincerri, E.

2017-12-01

Obtaining accurate static and time-dependent shallow subsurface density structure beneath volcanic, hydrogeologic, and tectonic targets can help illuminate active processes of fluid flow and magma transport. A limitation of using surface gravity measurements for such imaging is that these observations are vastly underdetermined and non-unique. In order to hone in on a more accurate solution, other data sets are needed to provide constraints, typically seismic or borehole observations. The spatial resolution of these techniques, however, is relatively poor, and a novel solution to this problem in recent years has been to use attenuation of the cosmic ray muon flux, which provides an independent constraint on density. In this study we present a joint inversion of gravity and cosmic ray muon flux observations to infer the density structure of a target rock volume at a well-characterized site near Los Alamos, New Mexico, USA. We investigate the shallow structure of a mesa formed by the Quaternary ash-flow tuffs on the Pajarito Plateau, flanking the Jemez volcano in New Mexico. Gravity measurements were made using a Lacoste and Romberg D meter on the surface of the mesa and inside a tunnel beneath the mesa. Muon flux measurements were also made at the mesa surface and at various points within the same tunnel using a muon detector having an acceptance region of 45 degrees from the vertical and a track resolution of several milliradians. We expect the combination of muon and gravity data to provide us with enhanced resolution as well as the ability to sense deeper structures in our region of interest. We use Bayesian joint inversion techniques on the gravity-muon dataset to test these ideas, building upon previous work using gravity inversion alone to resolve density structure in our study area. Both the regional geology and geometry of our study area is well-known and we assess the inferred density structure from our gravity-muon joint inversion within this known geologic framework.

Estimation of the full-field dynamic response of a floating bridge using Kalman-type filtering algorithms

NASA Astrophysics Data System (ADS)

Petersen, Ø. W.; Øiseth, O.; Nord, T. S.; Lourens, E.

2018-07-01

Numerical predictions of the dynamic response of complex structures are often uncertain due to uncertainties inherited from the assumed load effects. Inverse methods can estimate the true dynamic response of a structure through system inversion, combining measured acceleration data with a system model. This article presents a case study of full-field dynamic response estimation of a long-span floating bridge: the Bergøysund Bridge in Norway. This bridge is instrumented with a network of 14 triaxial accelerometers. The system model consists of 27 vibration modes with natural frequencies below 2 Hz, obtained from a tuned finite element model that takes the fluid-structure interaction with the surrounding water into account. Two methods, a joint input-state estimation algorithm and a dual Kalman filter, are applied to estimate the full-field response of the bridge. The results demonstrate that the displacements and the accelerations can be estimated at unmeasured locations with reasonable accuracy when the wave loads are the dominant source of excitation.

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 cutting motions should try to land with a neutral ankle orientation and keep the center of pressure from shifting laterally.

Lower extremity EMG-driven modeling of walking with automated adjustment of musculoskeletal geometry

PubMed Central

Meyer, Andrew J.; Patten, Carolynn

2017-01-01

Neuromusculoskeletal disorders affecting walking ability are often difficult to manage, in part due to limited understanding of how a patient’s lower extremity muscle excitations contribute to the patient’s lower extremity joint moments. To assist in the study of these disorders, researchers have developed electromyography (EMG) driven neuromusculoskeletal models utilizing scaled generic musculoskeletal geometry. While these models can predict individual muscle contributions to lower extremity joint moments during walking, the accuracy of the predictions can be hindered by errors in the scaled geometry. This study presents a novel EMG-driven modeling method that automatically adjusts surrogate representations of the patient’s musculoskeletal geometry to improve prediction of lower extremity joint moments during walking. In addition to commonly adjusted neuromusculoskeletal model parameters, the proposed method adjusts model parameters defining muscle-tendon lengths, velocities, and moment arms. We evaluated our EMG-driven modeling method using data collected from a high-functioning hemiparetic subject walking on an instrumented treadmill at speeds ranging from 0.4 to 0.8 m/s. EMG-driven model parameter values were calibrated to match inverse dynamic moments for five degrees of freedom in each leg while keeping musculoskeletal geometry close to that of an initial scaled musculoskeletal model. We found that our EMG-driven modeling method incorporating automated adjustment of musculoskeletal geometry predicted net joint moments during walking more accurately than did the same method without geometric adjustments. Geometric adjustments improved moment prediction errors by 25% on average and up to 52%, with the largest improvements occurring at the hip. Predicted adjustments to musculoskeletal geometry were comparable to errors reported in the literature between scaled generic geometric models and measurements made from imaging data. Our results demonstrate that with appropriate experimental data, joint moment predictions for walking generated by an EMG-driven model can be improved significantly when automated adjustment of musculoskeletal geometry is included in the model calibration process. PMID:28700708

Image segmentation and registration for the analysis of joint motion from 3D MRI

NASA Astrophysics Data System (ADS)

Hu, Yangqiu; Haynor, David R.; Fassbind, Michael; Rohr, Eric; Ledoux, William

2006-03-01

We report an image segmentation and registration method for studying joint morphology and kinematics from in vivo MRI scans and its application to the analysis of ankle joint motion. Using an MR-compatible loading device, a foot was scanned in a single neutral and seven dynamic positions including maximal flexion, rotation and inversion/eversion. A segmentation method combining graph cuts and level sets was developed which allows a user to interactively delineate 14 bones in the neutral position volume in less than 30 minutes total, including less than 10 minutes of user interaction. In the subsequent registration step, a separate rigid body transformation for each bone is obtained by registering the neutral position dataset to each of the dynamic ones, which produces an accurate description of the motion between them. We have processed six datasets, including 3 normal and 3 pathological feet. For validation our results were compared with those obtained from 3DViewnix, a semi-automatic segmentation program, and achieved good agreement in volume overlap ratios (mean: 91.57%, standard deviation: 3.58%) for all bones. Our tool requires only 1/50 and 1/150 of the user interaction time required by 3DViewnix and NIH Image Plus, respectively, an improvement that has the potential to make joint motion analysis from MRI practical in research and clinical applications.

Quantifying uncertainties of seismic Bayesian inversion of Northern Great Plains

NASA Astrophysics Data System (ADS)

Gao, C.; Lekic, V.

2017-12-01

Elastic waves excited by earthquakes are the fundamental observations of the seismological studies. Seismologists measure information such as travel time, amplitude, and polarization to infer the properties of earthquake source, seismic wave propagation, and subsurface structure. Across numerous applications, seismic imaging has been able to take advantage of complimentary seismic observables to constrain profiles and lateral variations of Earth's elastic properties. Moreover, seismic imaging plays a unique role in multidisciplinary studies of geoscience by providing direct constraints on the unreachable interior of the Earth. Accurate quantification of uncertainties of inferences made from seismic observations is of paramount importance for interpreting seismic images and testing geological hypotheses. However, such quantification remains challenging and subjective due to the non-linearity and non-uniqueness of geophysical inverse problem. In this project, we apply a reverse jump Markov chain Monte Carlo (rjMcMC) algorithm for a transdimensional Bayesian inversion of continental lithosphere structure. Such inversion allows us to quantify the uncertainties of inversion results by inverting for an ensemble solution. It also yields an adaptive parameterization that enables simultaneous inversion of different elastic properties without imposing strong prior information on the relationship between them. We present retrieved profiles of shear velocity (Vs) and radial anisotropy in Northern Great Plains using measurements from USArray stations. We use both seismic surface wave dispersion and receiver function data due to their complementary constraints of lithosphere structure. Furthermore, we analyze the uncertainties of both individual and joint inversion of those two data types to quantify the benefit of doing joint inversion. As an application, we infer the variation of Moho depths and crustal layering across the northern Great Plains.

Crustal seismic structure beneath the southwest Yunnan region from joint inversion of body-wave and surface wave data

NASA Astrophysics Data System (ADS)

Luo, Y.; Thurber, C. H.; Zeng, X.; Zhang, L.

2016-12-01

Data from 71 broadband stations of a dense transportable array deployed in southwest Yunnan makes it possible to improve the resolution of the seismic model in this region. Continuous waveforms from 12 permanent stations of the China National Seismic Network were also used in this study. We utilized one-year continuous vertical component records to compute ambient noise cross-correlation functions (NCF). More than 3,000 NCFs were obtained and used to measure group velocities between 5 and 25 seconds with the frequency-time analysis method. This frequency band is most sensitive to crustal seismic structure, especially the upper and middle crust. The group velocity at short-period shows a clear azimuthal anisotropy with a north-south fast direction. The fast direction is consistent with previous seismic results revealed from shear wave splitting. More than 2,000 group velocity measurements were employed to invert the surface wave dispersion data for group velocity maps. We applied a finite difference forward modeling algorithm with an iterative inversion. A new body-wave and surface wave joint inversion algorithm (Fang et al., 2016) was utilized to improve the resolution of both P and S models. About 60,000 P wave and S wave arrivals from 1,780 local earthquakes, which occurred from May 2011 to December 2013 with magnitudes larger than 2.0, were manually picked. The new high-resolution seismic structure shows good consistency with local geological features, e.g. Tengchong Volcano. The earthquake locations also were refined with our new velocity model.

Crust and Upper Mantle Structure from Joint Inversion of Body Wave and Gravity Data (Postprint). Annual Report 1

DTIC Science & Technology

2012-05-10

Basin, China , the crust and subduction zone beneath western Colombia, and a thermally active region within Utah in the central United States...Burlacu, R., Rowe, C., and Y. Yang (2009). Joint geophysical imaging of the geothermal sites in the Utah area using seismic body waves, surface waves and

Characterization of the groundwater aquifers at El Sadat City by joint inversion of VES and TEM data

NASA Astrophysics Data System (ADS)

Massoud, Usama; Kenawy, Abeer A.; Ragab, El-Said A.; Abbas, Abbas M.; El-Kosery, Heba M.

2014-12-01

Vertical Electrical Sounding (VES) and Transient ElectroMagnetic (TEM) survey have been applied for characterizing the groundwater aquifers at El Sadat industrial area. El-Sadat city is one of the most important industrial cities in Egypt. It has been constructed more than three decades ago at about 80 km northwest of Cairo along the Cairo-Alexandria desert road. Groundwater is the main source of water supplies required for domestic, municipal and industrial activities in this area due to the lack of surface water sources. So, it is important to maintain this vital resource in order to sustain the development plans of this city. In this study, VES and TEM data were identically measured at 24 stations along 3 profiles trending NE-SW with the elongation of the study area. The measuring points were arranged in a grid-like pattern with both inter-station spacing and line-line distance of about 2 km. After performing the necessary processing steps, the VES and TEM data sets were inverted individually to multi-layer models, followed by a joint inversion of both data sets. Joint inversion process has succeeded to overcome the model-equivalence problem encountered in the inversion of individual data set. Then, the joint models were used for the construction of a number of cross sections and contour maps showing the lateral and vertical distribution of the geoelectrical parameters in the subsurface medium. Interpretation of the obtained results and correlation with the available geological and hydrogeological information revealed TWO aquifer systems in the area. The shallow Pleistocene aquifer consists of sand and gravel saturated with fresh water and exhibits large thickness exceeding 200 m. The deep Pliocene aquifer is composed of clay and sand and shows low resistivity values. The water-bearing layer of the Pleistocene aquifer and the upper surface of Pliocene aquifer are continuous and no structural features have cut this continuity through the investigated area.

Medial knee joint contact force in the intact limb during walking in recently ambulatory service members with unilateral limb loss: a cross-sectional study

PubMed Central

Krupenevich, Rebecca L.; Pruziner, Alison L.; Wolf, Erik J.; Schnall, Barri L.

2017-01-01

Background Individuals with unilateral lower limb amputation have a high risk of developing knee osteoarthritis (OA) in their intact limb as they age. This risk may be related to joint loading experienced earlier in life. We hypothesized that loading during walking would be greater in the intact limb of young US military service members with limb loss than in controls with no limb loss. Methods Cross-sectional instrumented gait analysis at self-selected walking speeds with a limb loss group (N = 10, age 27 ± 5 years, 170 ± 36 days since last surgery) including five service members with transtibial limb loss and five with transfemoral limb loss, all walking independently with their first prosthesis for approximately two months. Controls (N = 10, age 30 ± 4 years) were service members with no overt demographical risk factors for knee OA. 3D inverse dynamics modeling was performed to calculate joint moments and medial knee joint contact forces (JCF) were calculated using a reduction-based musculoskeletal modeling method and expressed relative to body weight (BW). Results Peak JCF and maximum JCF loading rate were significantly greater in limb loss (184% BW, 2,469% BW/s) vs. controls (157% BW, 1,985% BW/s), with large effect sizes. Results were robust to probabilistic perturbations to the knee model parameters. Discussion Assuming these data are reflective of joint loading experienced in daily life, they support a “mechanical overloading” hypothesis for the risk of developing knee OA in the intact limb of limb loss subjects. Examination of the evolution of gait mechanics, joint loading, and joint health over time, as well as interventions to reduce load or strengthen the ability of the joint to withstand loads, is warranted. PMID:28168120

Joint Inversion for Lithospheric Structures: Implications for the Growth and Deformation in Northeastern Tibetan Plateau

NASA Astrophysics Data System (ADS)

Deng, Yangfan; Li, Jiangtao; Song, Xiaodong; Zhu, Lupei

2018-05-01

Several geodynamic models have been proposed for the deformation mechanism of Tibetan Plateau (TP), but it remains controversial. Here we applied a method of joint inversion of receiver functions and surface wave dispersions with P wave velocity constraint to a dense linear array in the NE Tibet. The results show that the geological blocks, separated by major faults at the surface, are characterized by distinct features in the crust, the Moho, and the uppermost mantle. The main features include crustal low-velocity zones (LVZs) with variable strengths, anomalous Vp/Vs ratios that are correlated with LVZs, a large Moho jump, and other abrupt changes near major faults, strong mantle lithosphere anomalies, and correlation of crustal and mantle velocities. The results suggest a lithospheric-scale deformation of continuous shortening as well as localized faulting, which is affected by the strength of the lithosphere blocks. The thickened mantle lithosphere can be removed, which facilitates the formation of middle-lower crustal LVZ and flow. However, such flow is likely a consequence of the deformation rather than a driving force for the outward growth of the TP. The proposed model of TP deformation and growth can reconcile the continuous deformation within the blocks and major faults at the surface.

Maximum likelihood bolometric tomography for the determination of the uncertainties in the radiation emission on JET TOKAMAK

NASA Astrophysics Data System (ADS)

Craciunescu, Teddy; Peluso, Emmanuele; Murari, Andrea; Gelfusa, Michela; JET Contributors

2018-05-01

The total emission of radiation is a crucial quantity to calculate the power balances and to understand the physics of any Tokamak. Bolometric systems are the main tool to measure this important physical quantity through quite sophisticated tomographic inversion methods. On the Joint European Torus, the coverage of the bolometric diagnostic, due to the availability of basically only two projection angles, is quite limited, rendering the inversion a very ill-posed mathematical problem. A new approach, based on the maximum likelihood, has therefore been developed and implemented to alleviate one of the major weaknesses of traditional tomographic techniques: the difficulty to determine routinely the confidence intervals in the results. The method has been validated by numerical simulations with phantoms to assess the quality of the results and to optimise the configuration of the parameters for the main types of emissivity encountered experimentally. The typical levels of statistical errors, which may significantly influence the quality of the reconstructions, have been identified. The systematic tests with phantoms indicate that the errors in the reconstructions are quite limited and their effect on the total radiated power remains well below 10%. A comparison with other approaches to the inversion and to the regularization has also been performed.

Numerical Simulation of Tension Properties for Al-Cu Alloy Friction Stir-Welded Joints with GTN Damage Model

NASA Astrophysics Data System (ADS)

Sun, Guo-Qin; Sun, Feng-Yang; Cao, Fang-Li; Chen, Shu-Jun; Barkey, Mark E.

2015-11-01

The numerical simulation of tensile fracture behavior on Al-Cu alloy friction stir-welded joint was performed with the Gurson-Tvergaard-Needleman (GTN) damage model. The parameters of the GTN model were studied in each region of the friction stir-welded joint by means of inverse identification. Based on the obtained parameters, the finite element model of the welded joint was built to predict the fracture behavior and tension properties. Good agreement can be found between the numerical and experimental results in the location of the tensile fracture and the mechanical properties.

Joint inversion of shear wave travel time residuals and geoid and depth anomalies for long-wavelength variations in upper mantle temperature and composition along the Mid-Atlantic Ridge

NASA Technical Reports Server (NTRS)

Sheehan, Anne F.; Solomon, Sean C.

1991-01-01

Measurements were carried out for SS-S differential travel time residuals for nearly 500 paths crossing the northern Mid-Atlantic Ridge, assuming that the residuals are dominated by contributions from the upper mantle near the surface bounce point of the reflected phase SS. Results indicate that the SS-S travel time residuals decrease linearly with square root of age, to an age of 80-100 Ma, in general agreement with the plate cooling model. A joint inversion was formulated of travel time residuals and geoid and bathymetric anomalies for lateral variation in the upper mantle temperature and composition. The preferred inversion solutions were found to have variations in upper mantle temperature along the Mid-Atlantic Ridge of about 100 K. It was calculated that, for a constant bulk composition, such a temperature variation would produce about a 7-km variation in crustal thickness, larger than is generally observed.

Frequency dependent Qα and Qβ in the Umbria-Marche (Italy) region using a quadratic approximation of the coda-normalization method

NASA Astrophysics Data System (ADS)

de Lorenzo, Salvatore; Bianco, Francesca; Del Pezzo, Edoardo

2013-06-01

The coda normalization method is one of the most used methods in the inference of attenuation parameters Qα and Qβ. Since, in this method, the geometrical spreading exponent γ is an unknown model parameter, the most part of studies assumes a fixed γ, generally equal to 1. However γ and Q could be also jointly inferred from the non-linear inversion of coda-normalized logarithms of amplitudes, but the trade-off between γ and Q could give rise to unreasonable values of these parameters. To minimize the trade-off between γ and Q, an inversion method based on a parabolic expression of the coda-normalization equation has been developed. The method has been applied to the waveforms recorded during the 1997 Umbria-Marche seismic crisis. The Akaike criterion has been used to compare results of the parabolic model with those of the linear model, corresponding to γ = 1. A small deviation from the spherical geometrical spreading has been inferred, but this is accompanied by a significant variation of Qα and Qβ values. For almost all the considered stations, Qα smaller than Qβ has been inferred, confirming that seismic attenuation, in the Umbria-Marche region, is controlled by crustal pore fluids.

The Origin and Mantle Dynamics of Quaternary Intraplate Volcanism in Northeast China From Joint Inversion of Surface Wave and Body Wave

NASA Astrophysics Data System (ADS)

Guo, Zhen; Wang, Kai; Yang, Yingjie; Tang, Youcai; John Chen, Y.; Hung, Shu-Huei

2018-03-01

We present a 3-D model of NE China by joint inversion of body and surface waves. The joint inversion significantly improves the resolution at shallow depths compared with body wave tomography alone and provides seismic evidence for the origin of Quaternary volcanism in NE China. Our model reveals that the mantle upwelling beneath the Changbaishan volcano originates from the transition zone and extends up to 60 km, and spreads at the base of the lithosphere with the upwelling head 5 times wider than the raising tail in the lower upper mantle. However, low velocities beneath the Halaha and Abaga volcanoes in the Xingmeng belt are confined to depths shallower than 150 km, suggesting that magmatism in the Xingmeng belt is more likely caused by localized asthenospheric upwelling at shallow depths rather than from the common deep source. A small-scale sublithospheric mantle convection may control the spatial and temporal distribution of Quaternary magmatism in NE China; that is, the upwelling beneath the Changbaishan volcano triggers the downwelling beneath the southern Songliao basin, where the high velocity imaged extends to 300 km. The downwelling may further induce localized upwelling in the surrounding areas, such as the Halaha and Abaga volcanoes. Thanks to the joint constraints from both surface and body waves, we can estimate the dimension of the convection cell. The convection cell is located between 42°N and 45°N, spreads around 500 km in the W-E direction measured from the distance between centers of downwelling and upwelling, and extends to 300 km vertically.

Recursive mass matrix factorization and inversion: An operator approach to open- and closed-chain multibody dynamics

NASA Technical Reports Server (NTRS)

Rodriguez, G.; Kreutz, K.

1988-01-01

This report advances a linear operator approach for analyzing the dynamics of systems of joint-connected rigid bodies.It is established that the mass matrix M for such a system can be factored as M=(I+H phi L)D(I+H phi L) sup T. This yields an immediate inversion M sup -1=(I-H psi L) sup T D sup -1 (I-H psi L), where H and phi are given by known link geometric parameters, and L, psi and D are obtained recursively by a spatial discrete-step Kalman filter and by the corresponding Riccati equation associated with this filter. The factors (I+H phi L) and (I-H psi L) are lower triangular matrices which are inverses of each other, and D is a diagonal matrix. This factorization and inversion of the mass matrix leads to recursive algortihms for forward dynamics based on spatially recursive filtering and smoothing. The primary motivation for advancing the operator approach is to provide a better means to formulate, analyze and understand spatial recursions in multibody dynamics. This is achieved because the linear operator notation allows manipulation of the equations of motion using a very high-level analytical framework (a spatial operator algebra) that is easy to understand and use. Detailed lower-level recursive algorithms can readily be obtained for inspection from the expressions involving spatial operators. The report consists of two main sections. In Part 1, the problem of serial chain manipulators is analyzed and solved. Extensions to a closed-chain system formed by multiple manipulators moving a common task object are contained in Part 2. To retain ease of exposition in the report, only these two types of multibody systems are considered. However, the same methods can be easily applied to arbitrary multibody systems formed by a collection of joint-connected regid bodies.

TOMO3D: 3-D joint refraction and reflection traveltime tomography parallel code for active-source seismic data—synthetic test

NASA Astrophysics Data System (ADS)

Meléndez, A.; Korenaga, J.; Sallarès, V.; Miniussi, A.; Ranero, C. R.

2015-10-01

We present a new 3-D traveltime tomography code (TOMO3D) for the modelling of active-source seismic data that uses the arrival times of both refracted and reflected seismic phases to derive the velocity distribution and the geometry of reflecting boundaries in the subsurface. This code is based on its popular 2-D version TOMO2D from which it inherited the methods to solve the forward and inverse problems. The traveltime calculations are done using a hybrid ray-tracing technique combining the graph and bending methods. The LSQR algorithm is used to perform the iterative regularized inversion to improve the initial velocity and depth models. In order to cope with an increased computational demand due to the incorporation of the third dimension, the forward problem solver, which takes most of the run time (˜90 per cent in the test presented here), has been parallelized with a combination of multi-processing and message passing interface standards. This parallelization distributes the ray-tracing and traveltime calculations among available computational resources. The code's performance is illustrated with a realistic synthetic example, including a checkerboard anomaly and two reflectors, which simulates the geometry of a subduction zone. The code is designed to invert for a single reflector at a time. A data-driven layer-stripping strategy is proposed for cases involving multiple reflectors, and it is tested for the successive inversion of the two reflectors. Layers are bound by consecutive reflectors, and an initial velocity model for each inversion step incorporates the results from previous steps. This strategy poses simpler inversion problems at each step, allowing the recovery of strong velocity discontinuities that would otherwise be smoothened.

Time-lapse Joint Inversion of Geophysical Data and its Applications to Geothermal Prospecting - GEODE

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

Revil, Andre

2015-12-31

The objectives of this project were to develop new algorithms to decrease the cost of drilling for geothermal targets during the exploration phase of a hydrothermal field and to improve the monitoring of a geothermal field to better understand its plumbing system and keep the resource renewable. We developed both new software and algorithms for geothermal explorations (that can also be used in other areas of interest to the DOE) and we applied the methods to a geothermal field of interest to ORMAT in Nevada.

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.

A Global Upper-Mantle Tomographic Model of Shear Attenuation

NASA Astrophysics Data System (ADS)

Karaoglu, H.; Romanowicz, B. A.

2016-12-01

Mapping anelastic 3D structure within the earth's mantle is key to understanding present day mantle dynamics, as it provides complementary constraints to those obtained from elastic structure, with the potential to distinguish between thermal and compositional heterogeneity. For this, we need to measure seismic wave amplitudes, which are sensitive to both elastic (through focusing and scattering) and anelastic structure. The elastic effects are less pronounced at long periods, so previous global upper-mantle attenuation models are based on teleseismic surface wave data, sometimes including overtones. In these studies, elastic effects are considered either indirectly, by eliminating data strongly contaminated by them (e.g. Romanowicz, 1995; Gung and Romanowicz, 2004), or by correcting for elastic focusing effects using an approximate linear approach (Dalton et al., 2008). Additionally, in these studies, the elastic structure is held fixed when inverting for intrinsic attenuation . The importance of (1) having a good starting elastic model, (2) accurate modeling of the seismic wavefield and (3) joint inversion for elastic and anelastic structure, becomes more evident as the targeted resolution level increases. Also, velocity dispersion effects due to anelasticity need to be taken into account. Here, we employ a hybrid full waveform inversion method, inverting jointly for global elastic and anelastic upper mantle structure, starting from the latest global 3D shear velocity model built by our group (French and Romanowicz, 2014), using the spectral element method for the forward waveform modeling (Capdeville et al., 2003), and normal-mode perturbation theory (NACT - Li and Romanowicz, 1995) for kernel computations. We present a 3D upper-mantle anelastic model built by using three component fundamental and overtone surface waveforms down to 60 s as well as long period body waveforms down to 30 s. We also include source and site effects to first order as frequency independent scalar factors. The robustness of the inversion method is assessed through synthetic and resolution tests. We discuss salient features of the resulting anelastic model and in particular the well-resolved strong correlation with tectonics observed in the first 200 km of the mantle.

LIDAR and Millimeter-Wave Cloud RADAR (MWCR) techniques for joint observations of cirrus in Shouxian (32.56°N, 116.78°E), China

NASA Astrophysics Data System (ADS)

Bu, Lingbing; Pan, Honglin; Kumar, K. Raghavendra; Huang, Xingyou; Gao, Haiyang; Qin, Yanqiu; Liu, Xinbo; Kim, Dukhyeon

2016-10-01

Cirrus plays an important role in the regulation of the Earth-atmosphere radiation budget. The joint observation using both the LIght Detection And Ranging (LIDAR) and Millimeter-Wave Cloud RADAR (MWCR) was implemented in this study to obtain properties of cirrus at Atmospheric Radiation Measurement (ARM) mobile facility in Shouxian (32.56°N, 116.78°E, 21 m above sea level), China during May-December 2008. We chose the simultaneous measurements of LIDAR and MWCR with effective data days, and the days must with cirrus. Hence, the cirrus properties based on 37 days of data between October 18th and December 13th, 2008 were studied in the present work. By comparing the LIDAR data with the MWCR data, we analyzed the detection capabilities of both instruments quantitatively for measuring the cirrus. The LIDAR cannot penetrate through the thicker cirrus with optical depth (τ) of more than 1.5, while the MWCR cannot sense the clouds with an optical depth of less than 0.3. Statistical analysis showed that the mean cloud base height (CBH) and cloud thickness (CT) of cirrus were 6.5±0.8 km and 2.1±1.1 km, respectively. Furthermore, we investigated three existing inversion methods for deriving the ice water content (IWC) by using the separate LIDAR, MWCR, and the combination of both, respectively. Based on the comparative analysis, a novel joint method was provided to obtain more accurate IWC. In this joint method, cirrus was divided into three different categories according to the optical depth (τ≤0.3, τ≥1.5, and 0.3<τ<1.5). Based on the joint method used in this study, the mean IWC was calculated by means of the statistics, which showed that the mean IWC of cirrus was 0.011±0.008 g m-3.

Electromigration analysis of solder joints under ac load: A mean time to failure model

NASA Astrophysics Data System (ADS)

Yao, Wei; Basaran, Cemal

2012-03-01

In this study, alternating current (ac) electromigration (EM) degradation simulations were carried out for Sn95.5%Ag4.0%Cu0.5 (SAC405- by weight) solder joints. Mass transport analysis was conducted with viscoplastic material properties for quantifying damage mechanism in solder joints. Square, sine, and triangle current wave forms ac were used as input signals. dc and pulsed dc (PDC) electromigration analysis were conducted for comparison purposes. The maximum current density ranged from 2.2×106A/cm2 to 5.0×106A/cm2, frequency ranged from 0.05 Hz to 5 Hz with ambient temperature varying from 350 K to 450 K. Because the room temperature is nearly two-thirds of SAC solder joint's melting point on absolute temperature scale (494.15 K), viscoplastic material model is essential. Entropy based damage evolution model was used to investigate mean time to failure (MTF) behavior of solder joints subjected to ac stressing. It was observed that MTF was inversely proportional to ambient temperature T1.1 in Celsius and also inversely proportional to current density j0.27 in A/cm2. Higher frequency will lead to a shorter lifetime with in the frequency range we studied, and a relationship is proposed as MTF∝f-0.41. Lifetime of a solder joint subjected to ac is longer compared with dc and PDC loading conditions. By introducing frequency, ambient temperature and current density dependency terms, a modified MTTF equation was proposed for solder joints subjected to ac current stressing.

Potential of fluid-attenuated inversion recovery (FLAIR) in identification of temporomandibular joint effusion compared with T2-weighted images.

PubMed

Imoto, Kenichi; Otonari-Yamamoto, Mika; Nishikawa, Keiichi; Sano, Tsukasa; Yamamoto, Aya

2011-08-01

The purpose of this study was to determine the potential of fluid-attenuated inversion recovery (FLAIR) sequence images in the identification of joint effusion (JE) compared with T2-weighted images. A total of 31 joints (28 patients) with JE were investigated by magnetic resonance imaging (MRI). Regions of interest were placed over JE, cerebrospinal fluid (CSF), and gray matter (GM) on T2-weighted and FLAIR images and their signal intensities compared. The signal intensity ratios (SIRs) of JE and CSF were calculated with GM as the reference point. The Pearson product-moment correlation coefficient was used for the statistical analysis. The SIR of JE showed a strong correlation between T2-weighted and FLAIR images. However, no correlation was observed for CSF. The average suppression ratio for JE was lower than that for CSF. MRI using FLAIR sequences revealed that JE was not just water content, but a fluid accumulation containing elements such as protein. Further studies are needed, and FLAIR sequences could be useful for the diagnosis of pain and symptoms of the temporomandibular joint (TMJ). Copyright © 2011 Mosby, Inc. All rights reserved.

Lithology-derived structure classification from the joint interpretation of magnetotelluric and seismic models

USGS Publications Warehouse

Bedrosian, P.A.; Maercklin, N.; Weckmann, U.; Bartov, Y.; Ryberg, T.; Ritter, O.

2007-01-01

Magnetotelluric and seismic methods provide complementary information about the resistivity and velocity structure of the subsurface on similar scales and resolutions. No global relation, however, exists between these parameters, and correlations are often valid for only a limited target area. Independently derived inverse models from these methods can be combined using a classification approach to map geologic structure. The method employed is based solely on the statistical correlation of physical properties in a joint parameter space and is independent of theoretical or empirical relations linking electrical and seismic parameters. Regions of high correlation (classes) between resistivity and velocity can in turn be mapped back and re-examined in depth section. The spatial distribution of these classes, and the boundaries between them, provide structural information not evident in the individual models. This method is applied to a 10 km long profile crossing the Dead Sea Transform in Jordan. Several prominent classes are identified with specific lithologies in accordance with local geology. An abrupt change in lithology across the fault, together with vertical uplift of the basement suggest the fault is sub-vertical within the upper crust. ?? 2007 The Authors Journal compilation ?? 2007 RAS.

Finite-frequency tomography using adjoint methods-Methodology and examples using membrane surface waves

NASA Astrophysics Data System (ADS)

Tape, Carl; Liu, Qinya; Tromp, Jeroen

2007-03-01

We employ adjoint methods in a series of synthetic seismic tomography experiments to recover surface wave phase-speed models of southern California. Our approach involves computing the Fréchet derivative for tomographic inversions via the interaction between a forward wavefield, propagating from the source to the receivers, and an `adjoint' wavefield, propagating from the receivers back to the source. The forward wavefield is computed using a 2-D spectral-element method (SEM) and a phase-speed model for southern California. A `target' phase-speed model is used to generate the `data' at the receivers. We specify an objective or misfit function that defines a measure of misfit between data and synthetics. For a given receiver, the remaining differences between data and synthetics are time-reversed and used as the source of the adjoint wavefield. For each earthquake, the interaction between the regular and adjoint wavefields is used to construct finite-frequency sensitivity kernels, which we call event kernels. An event kernel may be thought of as a weighted sum of phase-specific (e.g. P) banana-doughnut kernels, with weights determined by the measurements. The overall sensitivity is simply the sum of event kernels, which defines the misfit kernel. The misfit kernel is multiplied by convenient orthonormal basis functions that are embedded in the SEM code, resulting in the gradient of the misfit function, that is, the Fréchet derivative. A non-linear conjugate gradient algorithm is used to iteratively improve the model while reducing the misfit function. We illustrate the construction of the gradient and the minimization algorithm, and consider various tomographic experiments, including source inversions, structural inversions and joint source-structure inversions. Finally, we draw connections between classical Hessian-based tomography and gradient-based adjoint tomography.

Sequential Bayesian Geostatistical Inversion and Evaluation of Combined Data Worth for Aquifer Characterization at the Hanford 300 Area

NASA Astrophysics Data System (ADS)

Murakami, H.; Chen, X.; Hahn, M. S.; Over, M. W.; Rockhold, M. L.; Vermeul, V.; Hammond, G. E.; Zachara, J. M.; Rubin, Y.

2010-12-01

Subsurface characterization for predicting groundwater flow and contaminant transport requires us to integrate large and diverse datasets in a consistent manner, and quantify the associated uncertainty. In this study, we sequentially assimilated multiple types of datasets for characterizing a three-dimensional heterogeneous hydraulic conductivity field at the Hanford 300 Area. The datasets included constant-rate injection tests, electromagnetic borehole flowmeter tests, lithology profile and tracer tests. We used the method of anchored distributions (MAD), which is a modular-structured Bayesian geostatistical inversion method. MAD has two major advantages over the other inversion methods. First, it can directly infer a joint distribution of parameters, which can be used as an input in stochastic simulations for prediction. In MAD, in addition to typical geostatistical structural parameters, the parameter vector includes multiple point values of the heterogeneous field, called anchors, which capture local trends and reduce uncertainty in the prediction. Second, MAD allows us to integrate the datasets sequentially in a Bayesian framework such that it updates the posterior distribution, as a new dataset is included. The sequential assimilation can decrease computational burden significantly. We applied MAD to assimilate different combinations of the datasets, and then compared the inversion results. For the injection and tracer test assimilation, we calculated temporal moments of pressure build-up and breakthrough curves, respectively, to reduce the data dimension. A massive parallel flow and transport code PFLOTRAN is used for simulating the tracer test. For comparison, we used different metrics based on the breakthrough curves not used in the inversion, such as mean arrival time, peak concentration and early arrival time. This comparison intends to yield the combined data worth, i.e. which combination of the datasets is the most effective for a certain metric, which will be useful for guiding the further characterization effort at the site and also the future characterization projects at the other sites.

Lithospheric structure beneath Eastern Africa from joint inversion of receiver functions and Rayleigh wave velocities

NASA Astrophysics Data System (ADS)

Dugda, Mulugeta Tuji

Crust and upper mantle structure beneath eastern Africa has been investigated using receiver functions and surface wave dispersion measurements to understand the impact of the hotspot tectonism found there on the lithospheric structure of the region. In the first part of this thesis, I applied H-kappa stacking of receiver functions, and a joint inversion of receiver functions and Rayleigh wave group velocities to determine the crustal parameters under Djibouti. The two methods give consistent results. The crust beneath the GEOSCOPE station ATD has a thickness of 23+/-1.5 km and a Poisson's ratio of 0.31+/-0.02. Previous studies give crustal thickness beneath Djibouti to be between 8 and 10 km. I found it necessary to reinterprete refraction profiles for Djibouti from a previous study. The crustal structure obtained for ATD is similar to adjacent crustal structure in many other parts of central and eastern Afar. The high Poisson's ratio and Vp throughout most of the crust indicate a mafic composition, suggesting that the crust in Afar consists predominantly of new igneous rock emplaced during the late synrift stage where extension is accommodated within magmatic segments by diking. In the second part of this thesis, the seismic velocity structure of the crust and upper mantle beneath Ethiopia and Djibouti has been investigated by jointly inverting receiver functions and Rayleigh wave group velocities to obtain new constraints on the thermal structure of the lithosphere. Crustal structure from the joint inversion for Ethiopia and Djibouti is similar to previously published models. Beneath the Main Ethiopian Rift (MER) and Afar, the lithospheric mantle has a maximum shear wave velocity of 4.1-4.2 km/s and extends to a depth of at most 50 km. In comparison to the lithosphere away from the East African Rift System in Tanzania, where the lid extends to depths of ˜100-125 km and has a maximum shear velocity of 4.6 km/s, the mantle lithosphere under the Ethiopian Plateau appears to have been thinned by ˜30-50 km and the maximum shear wave velocity reduced by ˜0.3 km/s. Results from a 1D conductive thermal model suggest that the shear velocity structure of the lithosphere beneath the Ethiopian Plateau can be explained by a plume model, if a plume rapidly thinned the lithosphere by ˜30--50 km at the time of the flood basalt volcanism (c. 30 Ma), and if warm plume material has remained beneath the lithosphere since then. About 45-65% of the 1-1.5 km of plateau uplift in Ethiopia can be attributed to the thermally perturbed lithospheric structure. In the final part of this thesis, the shear-wave velocity structure of the crust and upper mantle beneath Kenya has been obtained from a joint inversion of receiver functions, and Rayleigh wave group and phase velocities. The crustal structure from the joint inversion is consistent with crustal structure published previously by different authors. The lithospheric mantle beneath the East African Plateau in Kenya is similar to the lithosphere under the East African Plateau in Tanzania. Beneath the Kenya Rift, the lithosphere extends to a depth of at most ˜75 km. The lithosphere under the Kenya Plateau is not perturbed when compared to the highly perturbed lithosphere beneath the Ethiopian Plateau. On the other hand, the lithosphere under the Kenya Rift is perturbed as compared to the Kenya Plateau or the rest of the East African Plateau, but is not as perturbed as the lithosphere beneath the Main Ethiopian Rift or the Afar. Although Kenya and Ethiopia have similar uplift and rifting histories, they have different volcanic histories. Much of Ethiopia has been affected by the Afar Flood Basalt volcanism, which may be the cause of this difference in lithospheric structure between these two regions.

Optimization, Monotonicity and the Determination of Nash Equilibria — An Algorithmic Analysis

NASA Astrophysics Data System (ADS)

Lozovanu, D.; Pickl, S. W.; Weber, G.-W.

2004-08-01

This paper is concerned with the optimization of a nonlinear time-discrete model exploiting the special structure of the underlying cost game and the property of inverse matrices. The costs are interlinked by a system of linear inequalities. It is shown that, if the players cooperate, i.e., minimize the sum of all the costs, they achieve a Nash equilibrium. In order to determine Nash equilibria, the simplex method can be applied with respect to the dual problem. An introduction into the TEM model and its relationship to an economic Joint Implementation program is given. The equivalence problem is presented. The construction of the emission cost game and the allocation problem is explained. The assumption of inverse monotony for the matrices leads to a new result in the area of such allocation problems. A generalization of such problems is presented.

Microwave inversion of leaf area and inclination angle distributions from backscattered data

NASA Technical Reports Server (NTRS)

Lang, R. H.; Saleh, H. A.

1985-01-01

The backscattering coefficient from a slab of thin randomly oriented dielectric disks over a flat lossy ground is used to reconstruct the inclination angle and area distributions of the disks. The disks are employed to model a leafy agricultural crop, such as soybeans, in the L-band microwave region of the spectrum. The distorted Born approximation, along with a thin disk approximation, is used to obtain a relationship between the horizontal-like polarized backscattering coefficient and the joint probability density of disk inclination angle and disk radius. Assuming large skin depth reduces the relationship to a linear Fredholm integral equation of the first kind. Due to the ill-posed nature of this equation, a Phillips-Twomey regularization method with a second difference smoothing condition is used to find the inversion. Results are obtained in the presence of 1 and 10 percent noise for both leaf inclination angle and leaf radius densities.

Inversion of magnetotelluric data using integral equation approach with variable sensitivity domain: Application to EarthScope MT data

NASA Astrophysics Data System (ADS)

Čuma, Martin; Gribenko, Alexander; Zhdanov, Michael S.

2017-09-01

We have developed a multi-level parallel magnetotelluric (MT) integral equation based inversion program which uses variable sensitivity domain. The limited sensitivity of the data, which decreases with increasing frequency, is exploited by a receiver sensitivity domain, which also varies with frequency. We assess the effect of inverting principal impedances, full impedance tensor, and full tensor jointly with magnetovariational data (tipper). We first apply this method to several models and then invert the EarthScope MT data. We recover well the prominent features in the area including resistive structure associated with the Juan de Fuca slab subducting beneath the northwestern United States, the conductive zone of partially melted material above the subducting slab at the Cascade volcanic arc, conductive features in the Great Basin and in the area of Yellowstone associated with the hot spot, and resistive areas to the east corresponding to the older and more stable cratons.

Parallelized Three-Dimensional Resistivity Inversion Using Finite Elements And Adjoint State Methods

NASA Astrophysics Data System (ADS)

Schaa, Ralf; Gross, Lutz; Du Plessis, Jaco

2015-04-01

The resistivity method is one of the oldest geophysical exploration methods, which employs one pair of electrodes to inject current into the ground and one or more pairs of electrodes to measure the electrical potential difference. The potential difference is a non-linear function of the subsurface resistivity distribution described by an elliptic partial differential equation (PDE) of the Poisson type. Inversion of measured potentials solves for the subsurface resistivity represented by PDE coefficients. With increasing advances in multichannel resistivity acquisition systems (systems with more than 60 channels and full waveform recording are now emerging), inversion software require efficient storage and solver algorithms. We developed the finite element solver Escript, which provides a user-friendly programming environment in Python to solve large-scale PDE-based problems (see https://launchpad.net/escript-finley). Using finite elements, highly irregular shaped geology and topography can readily be taken into account. For the 3D resistivity problem, we have implemented the secondary potential approach, where the PDE is decomposed into a primary potential caused by the source current and the secondary potential caused by changes in subsurface resistivity. The primary potential is calculated analytically, and the boundary value problem for the secondary potential is solved using nodal finite elements. This approach removes the singularity caused by the source currents and provides more accurate 3D resistivity models. To solve the inversion problem we apply a 'first optimize then discretize' approach using the quasi-Newton scheme in form of the limited-memory Broyden-Fletcher-Goldfarb-Shanno (L-BFGS) method (see Gross & Kemp 2013). The evaluation of the cost function requires the solution of the secondary potential PDE for each source current and the solution of the corresponding adjoint-state PDE for the cost function gradients with respect to the subsurface resistivity. The Hessian of the regularization term is used as preconditioner which requires an additional PDE solution in each iteration step. As it turns out, the relevant PDEs are naturally formulated in the finite element framework. Using the domain decomposition method provided in Escript, the inversion scheme has been parallelized for distributed memory computers with multi-core shared memory nodes. We show numerical examples from simple layered models to complex 3D models and compare with the results from other methods. The inversion scheme is furthermore tested on a field data example to characterise localised freshwater discharge in a coastal environment.. References: L. Gross and C. Kemp (2013) Large Scale Joint Inversion of Geophysical Data using the Finite Element Method in escript. ASEG Extended Abstracts 2013, http://dx.doi.org/10.1071/ASEG2013ab306

Estimating uncertainties in complex joint inverse problems

NASA Astrophysics Data System (ADS)

Afonso, Juan Carlos

2016-04-01

Sources of uncertainty affecting geophysical inversions can be classified either as reflective (i.e. the practitioner is aware of her/his ignorance) or non-reflective (i.e. the practitioner does not know that she/he does not know!). Although we should be always conscious of the latter, the former are the ones that, in principle, can be estimated either empirically (by making measurements or collecting data) or subjectively (based on the experience of the researchers). For complex parameter estimation problems in geophysics, subjective estimation of uncertainty is the most common type. In this context, probabilistic (aka Bayesian) methods are commonly claimed to offer a natural and realistic platform from which to estimate model uncertainties. This is because in the Bayesian approach, errors (whatever their nature) can be naturally included as part of the global statistical model, the solution of which represents the actual solution to the inverse problem. However, although we agree that probabilistic inversion methods are the most powerful tool for uncertainty estimation, the common claim that they produce "realistic" or "representative" uncertainties is not always justified. Typically, ALL UNCERTAINTY ESTIMATES ARE MODEL DEPENDENT, and therefore, besides a thorough characterization of experimental uncertainties, particular care must be paid to the uncertainty arising from model errors and input uncertainties. We recall here two quotes by G. Box and M. Gunzburger, respectively, of special significance for inversion practitioners and for this session: "…all models are wrong, but some are useful" and "computational results are believed by no one, except the person who wrote the code". In this presentation I will discuss and present examples of some problems associated with the estimation and quantification of uncertainties in complex multi-observable probabilistic inversions, and how to address them. Although the emphasis will be on sources of uncertainty related to the forward and statistical models, I will also address other uncertainties associated with data and uncertainty propagation.

A stochastic approach for model reduction and memory function design in hydrogeophysical inversion

NASA Astrophysics Data System (ADS)

Hou, Z.; Kellogg, A.; Terry, N.

2009-12-01

Geophysical (e.g., seismic, electromagnetic, radar) techniques and statistical methods are essential for research related to subsurface characterization, including monitoring subsurface flow and transport processes, oil/gas reservoir identification, etc. For deep subsurface characterization such as reservoir petroleum exploration, seismic methods have been widely used. Recently, electromagnetic (EM) methods have drawn great attention in the area of reservoir characterization. However, considering the enormous computational demand corresponding to seismic and EM forward modeling, it is usually a big problem to have too many unknown parameters in the modeling domain. For shallow subsurface applications, the characterization can be very complicated considering the complexity and nonlinearity of flow and transport processes in the unsaturated zone. It is warranted to reduce the dimension of parameter space to a reasonable level. Another common concern is how to make the best use of time-lapse data with spatial-temporal correlations. This is even more critical when we try to monitor subsurface processes using geophysical data collected at different times. The normal practice is to get the inverse images individually. These images are not necessarily continuous or even reasonably related, because of the non-uniqueness of hydrogeophysical inversion. We propose to use a stochastic framework by integrating minimum-relative-entropy concept, quasi Monto Carlo sampling techniques, and statistical tests. The approach allows efficient and sufficient exploration of all possibilities of model parameters and evaluation of their significances to geophysical responses. The analyses enable us to reduce the parameter space significantly. The approach can be combined with Bayesian updating, allowing us to treat the updated ‘posterior’ pdf as a memory function, which stores all the information up to date about the distributions of soil/field attributes/properties, then consider the memory function as a new prior and generate samples from it for further updating when more geophysical data is available. We applied this approach for deep oil reservoir characterization and for shallow subsurface flow monitoring. The model reduction approach reliably helps reduce the joint seismic/EM/radar inversion computational time to reasonable levels. Continuous inversion images are obtained using time-lapse data with the “memory function” applied in the Bayesian inversion.

Preliminary research of a novel center-driven robot for upper extremity rehabilitation.

PubMed

Cao, Wujing; Zhang, Fei; Yu, Hongliu; Hu, Bingshan; Meng, Qiaoling

2018-01-19

Loss of upper limb function often appears after stroke. Robot-assisted systems are becoming increasingly common in upper extremity rehabilitation. Rehabilitation robot provides intensive motor therapy, which can be performed in a repetitive, accurate and controllable manner. This study aims to propose a novel center-driven robot for upper extremity rehabilitation. A new power transmission mechanism is designed to transfer the power to elbow and shoulder joints from three motors located on the base. The forward and inverse kinematics equations of the center-driven robot (CENTROBOT) are deduced separately. The theoretical values of the scope of joint movements are obtained with the Denavit-Hartenberg parameters method. A prototype of the CENTROBOT is developed and tested. The elbow flexion/extension, shoulder flexion/extension and shoulder adduction/abduction can be realized of the center-driven robot. The angles value of joints are in conformity with the theoretical value. The CENTROBOT reduces the overall size of the robot arm, the influence of motor noise, radiation and other adverse factors by setting all motors on the base. It can satisfy the requirements of power and movement transmission of the robot arm.

2D and 3D separate and joint inversion of airborne ZTEM and ground AMT data: Synthetic model studies

NASA Astrophysics Data System (ADS)

Sasaki, Yutaka; Yi, Myeong-Jong; Choi, Jihyang

2014-05-01

The ZTEM (Z-axis Tipper Electromagnetic) method measures naturally occurring audio-frequency magnetic fields and obtains the tipper function that defines the relationship among the three components of the magnetic field. Since the anomalous tipper responses are caused by the presence of lateral resistivity variations, the ZTEM survey is most suited for detecting and delineating conductive bodies extending to considerable depths, such as graphitic dykes encountered in the exploration of unconformity type uranium deposit. Our simulations shows that inversion of ZTEM data can detect reasonably well multiple conductive dykes placed 1 km apart. One important issue regarding ZTEM inversion is the effect of the initial model, because homogeneous half-space and (1D) layered structures produce no responses. For the 2D model with multiple conductive dykes, the inversion results were useful for locating the dykes even when the initial model was not close to the true background resistivity. For general 3D structures, however, the resolution of the conductive bodies can be reduced considerably depending on the initial model. This is because the tipper magnitudes from 3D conductors are smaller due to boundary charges than the 2D responses. To alleviate this disadvantage of ZTEM surveys, we combined ZTEM and audio-frequency magnetotelluric (AMT) data. Inversion of sparse AMT data was shown to be effective in providing a good initial model for ZTEM inversion. Moreover, simultaneously inverting both data sets led to better results than the sequential approach by enabling to identify structural features that were difficult to resolve from the individual data sets.

tomo3d: a new 3-D joint refraction and reflection travel-time tomography code for active-source seismic data

NASA Astrophysics Data System (ADS)

Meléndez, A.; Korenaga, J.; Sallares, V.; Ranero, C. R.

2012-12-01

We present the development state of tomo3d, a code for three-dimensional refraction and reflection travel-time tomography of wide-angle seismic data based on the previous two-dimensional version of the code, tomo2d. The core of both forward and inverse problems is inherited from the 2-D version. The ray tracing is performed by a hybrid method combining the graph and bending methods. The graph method finds an ordered array of discrete model nodes, which satisfies Fermat's principle, that is, whose corresponding travel time is a global minimum within the space of discrete nodal connections. The bending method is then applied to produce a more accurate ray path by using the nodes as support points for an interpolation with beta-splines. Travel time tomography is formulated as an iterative linearized inversion, and each step is solved using an LSQR algorithm. In order to avoid the singularity of the sensitivity kernel and to reduce the instability of inversion, regularization parameters are introduced in the inversion in the form of smoothing and damping constraints. Velocity models are built as 3-D meshes, and velocity values at intermediate locations are obtained by trilinear interpolation within the corresponding pseudo-cubic cell. Meshes are sheared to account for topographic relief. A floating reflector is represented by a 2-D grid, and depths at intermediate locations are calculated by bilinear interpolation within the corresponding square cell. The trade-off between the resolution of the final model and the associated computational cost is controlled by the relation between the selected forward star for the graph method (i.e. the number of nodes that each node considers as its neighbors) and the refinement of the velocity mesh. Including reflected phases is advantageous because it provides a better coverage and allows us to define the geometry of those geological interfaces with velocity contrasts sharp enough to be observed on record sections. The code also offers the possibility of including water-layer multiples in the modeling, which is useful whenever these phases can be followed to greater offsets than the primary ones. This increases the amount of information available from the data, yielding more extensive and better constrained velocity and geometry models. We will present synthetic results from benchmark tests for the forward and inverse problems, as well as from more complex inversion tests for different inversions possibilities such as one with travel times from refracted waves only (i.e. first arrivals) and one with travel-times from both refracted and reflected waves. In addition, we will show some preliminary results for the inversion of real 3-D OBS data acquired off-shore Ecuador and Colombia.

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

Lucas, D. D.; Yver Kwok, C.; Cameron-Smith, P.

Emission rates of greenhouse gases (GHGs) entering into the atmosphere can be inferred using mathematical inverse approaches that combine observations from a network of stations with forward atmospheric transport models. Some locations for collecting observations are better than others for constraining GHG emissions through the inversion, but the best locations for the inversion may be inaccessible or limited by economic and other non-scientific factors. We present a method to design an optimal GHG observing network in the presence of multiple objectives that may be in conflict with each other. As a demonstration, we use our method to design a prototypemore » network of six stations to monitor summertime emissions in California of the potent GHG 1,1,1,2-tetrafluoroethane (CH 2FCF 3, HFC-134a). We use a multiobjective genetic algorithm to evolve network configurations that seek to jointly maximize the scientific accuracy of the inferred HFC-134a emissions and minimize the associated costs of making the measurements. The genetic algorithm effectively determines a set of "optimal" observing networks for HFC-134a that satisfy both objectives (i.e., the Pareto frontier). The Pareto frontier is convex, and clearly shows the tradeoffs between performance and cost, and the diminishing returns in trading one for the other. Without difficulty, our method can be extended to design optimal networks to monitor two or more GHGs with different emissions patterns, or to incorporate other objectives and constraints that are important in the practical design of atmospheric monitoring networks.« less

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

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.

Recovery of surface mass redistribution from a joint inversion of GPS and GRACE data - A methodology and results from the Australian and other continents

NASA Astrophysics Data System (ADS)

Han, S. C.; Tangdamrongsub, N.; Razeghi, S. M.

2017-12-01

We present a methodology to invert a regional set of vertical displacement data from Global Positioning System (GPS) to determine surface mass redistribution. It is assumed that GPS deformation is a result of the Earth's elastic response to the surface mass load of hydrology, atmosphere, and ocean. The identical assumption is made when global geopotential change data from Gravity Recovery And Climate Experiment (GRACE) are used to determine surface mass changes. We developed an algorithm to estimate the spectral information of displacements from "regional" GPS data through regional spherical (Slepian) basis functions and apply the load Love numbers to estimate the mass load. We rigorously examine all systematic errors caused by various truncations (spherical harmonic series and Slepian series) and the smoothing constraint applied to the GPS-only inversion. We demonstrate the technique by processing 16 years of daily vertical motions determined from 114 GPS stations in Australia. The GPS inverted surface mass changes are validated against GRACE data, atmosphere and ocean models, and a land surface model. Seasonal and inter-annual terrestrial mass variations from GPS are in good agreement with GRACE data and the water storage models. The GPS recovery compares better with the water storage model around the smaller coastal basins of Australia than two different GRACE solutions. The sub-monthly mass changes from GPS provide meaningful results agreeing with atmospheric mass changes in central Australia. Finally, we integrate GPS data from different continents with GRACE in the least-square normal equations and solve for the global surface mass changes by jointly inverting GPS and GRACE data. We present the results of surface mass changes from the GPS-only inversion and from the joint GPS-GRACE inversion.

Regularized joint inverse estimation of extreme rainfall amounts in ungauged coastal basins of El Salvador

USGS Publications Warehouse

Friedel, M.J.

2008-01-01

A regularized joint inverse procedure is presented and used to estimate the magnitude of extreme rainfall events in ungauged coastal river basins of El Salvador: Paz, Jiboa, Grande de San Miguel, and Goascoran. Since streamflow measurements reflect temporal and spatial rainfall information, peak-flow discharge is hypothesized to represent a similarity measure suitable for regionalization. To test this hypothesis, peak-flow discharge values determined from streamflow recurrence information (10-year, 25-year, and 100-year) collected outside the study basins are used to develop regional (country-wide) regression equations. Peak-flow discharge derived from these equations together with preferred spatial parameter relations as soft prior information are used to constrain the simultaneous calibration of 20 tributary basin models. The nonlinear range of uncertainty in estimated parameter values (1 curve number and 3 recurrent rainfall amounts for each model) is determined using an inverse calibration-constrained Monte Carlo approach. Cumulative probability distributions for rainfall amounts indicate differences among basins for a given return period and an increase in magnitude and range among basins with increasing return interval. Comparison of the estimated median rainfall amounts for all return periods were reasonable but larger (3.2-26%) than rainfall estimates computed using the frequency-duration (traditional) approach and individual rain gauge data. The observed 25-year recurrence rainfall amount at La Hachadura in the Paz River basin during Hurricane Mitch (1998) is similar in value to, but outside and slightly less than, the estimated rainfall confidence limits. The similarity in joint inverse and traditionally computed rainfall events, however, suggests that the rainfall observation may likely be due to under-catch and not model bias. ?? Springer Science+Business Media B.V. 2007.

Joint innversion of seismic and magnetotelluric data in the Parkfield Region of California using the normalized cross-gradient constraint

USGS Publications Warehouse

Bennington, Ninfa L.; Zhang, Haijiang; Thurber, Cliff; Bedrosian, Paul A.

2015-01-01

We present jointly inverted models of P-wave velocity (Vp) and electrical resistivity for a two-dimensional profile centered on the San Andreas Fault Observatory at Depth (SAFOD). Significant structural similarity between main features of the separately inverted Vp and resistivity models is exploited by carrying out a joint inversion of the two datasets using the normalized cross-gradient constraint. This constraint favors structurally similar Vp and resistivity images that adequately fit the seismic and magnetotelluric (MT) datasets. The new inversion code, tomoDDMT, merges the seismic inversion code tomoDD and the forward modeling and sensitivity kernel subroutines of the MT inversion code OCCAM2DMT. TomoDDMT is tested on a synthetic dataset and demonstrates the code’s ability to more accurately resolve features of the input synthetic structure relative to the separately inverted resistivity and velocity models. Using tomoDDMT, we are able to resolve a number of key issues raised during drilling at SAFOD. We are able to infer the distribution of several geologic units including the Salinian granitoids, the Great Valley sequence, and the Franciscan Formation. The distribution and transport of fluids at both shallow and great depths is also examined. Low values of velocity/resistivity attributed to a feature known as the Eastern Conductor (EC) can be explained in two ways: the EC is a brine-filled, high porosity region, or this region is composed largely of clay-rich shales of the Franciscan. The Eastern Wall, which lies immediately adjacent to the EC, is unlikely to be a fluid pathway into the San Andreas Fault’s seismogenic zone due to its observed higher resistivity and velocity values.

Giant Cells Osseous Tumor in the Tarsal Canal after Lateral Ankle Sprain

PubMed Central

Lughi, Marcello

2018-01-01

Ankle sprain can cause injuries to the anatomic structures surrounding the tibiotarsal joint. A possible extra-articular pathology is to be hypothesized and diagnosed as early as possible. The subtalar joint, for anatomical and functional reasons, is one of the most damaged joints following an ankle sprain. In spite of this, its involvement is often underestimated. The clinical case presented in the present article is referred to a giant cells osseous tumor in the tarsal canal that was diagnosed 2 months after an inversion ankle sprain. PMID:29675509

Optical joint transform correlation on the DMD. [deformable mirror device

NASA Technical Reports Server (NTRS)

Knopp, Jerome; Juday, Richard D.

1989-01-01

Initial experimental investigation of the deformable mirror device (DMD) in a joint optical transform correlation is reported. The inverted cloverleaf version of the DMD, in which form the DMD is phase-mostly but of limited phase range, is used. Binarized joint Fourier transforms were calculated for similar and dissimilar objects and written onto the DMD. Inverse Fourier transform was done in a diffraction order for which the DMD shows phase-mostly modulation. Matched test objects produced sharp correlation, distinct objects did not. Further studies are warranted and they are outlined.

What is the effect of physical activity on the knee joint? A systematic review.

PubMed

Urquhart, Donna M; Tobing, Jephtah F L; Hanna, Fahad S; Berry, Patricia; Wluka, Anita E; Ding, Changhai; Cicuttini, Flavia M

2011-03-01

Although several studies have examined the relationship between physical activity and knee osteoarthritis, the effect of physical activity on knee joint health is unclear. The aim of this systematic review was to examine the relationships between physical activity and individual joint structures at the knee. Computer-aided searches were conducted up until November 2008, and the reference lists of key articles were examined. The methodological quality of selected studies was assessed based on established criteria, and a best-evidence synthesis was used to summarize the results. We found that the relationships between physical activity and individual joint structures at the knee differ. There was strong evidence for a positive association between physical activity and tibiofemoral osteophytes. However, we also found strong evidence for the absence of a relationship between physical activity and joint space narrowing, a surrogate method of assessing cartilage. Moreover, there was limited evidence from magnetic resonance imaging studies for a positive relationship between physical activity and cartilage volume and strong evidence for an inverse relationship between physical activity and cartilage defects. This systematic review found that knee structures are affected differently by physical activity. Although physical activity is associated with an increase in radiographic osteophytes, there was no related increase in joint space narrowing, rather emerging evidence of an associated increase in cartilage volume and decrease in cartilage defects on magnetic resonance imaging. Given that optimizing cartilage health is important in preventing osteoarthritis, these findings indicate that physical activity is beneficial, rather than detrimental, to joint health.

Robot geometry calibration

NASA Technical Reports Server (NTRS)

Hayati, Samad; Tso, Kam; Roston, Gerald

1988-01-01

Autonomous robot task execution requires that the end effector of the robot be positioned accurately relative to a reference world-coordinate frame. The authors present a complete formulation to identify the actual robot geometric parameters. The method applies to any serial link manipulator with arbitrary order and combination of revolute and prismatic joints. A method is also presented to solve the inverse kinematic of the actual robot model which usually is not a so-called simple robot. Experimental results performed by utilizing a PUMA 560 with simple measurement hardware are presented. As a result of this calibration a precision move command is designed and integrated into a robot language, RCCL, and used in the NASA Telerobot Testbed.

Analytical magmatic source modelling from a joint inversion of ground deformation and focal mechanisms data

NASA Astrophysics Data System (ADS)

Cannavo', Flavio; Scandura, Danila; Palano, Mimmo; Musumeci, Carla

2014-05-01

Seismicity and ground deformation represent the principal geophysical methods for volcano monitoring and provide important constraints on subsurface magma movements. The occurrence of migrating seismic swarms, as observed at several volcanoes worldwide, are commonly associated with dike intrusions. In addition, on active volcanoes, (de)pressurization and/or intrusion of magmatic bodies stress and deform the surrounding crustal rocks, often causing earthquakes randomly distributed in time within a volume extending about 5-10 km from the wall of the magmatic bodies. Despite advances in space-based, geodetic and seismic networks have significantly improved volcano monitoring in the last decades on an increasing worldwide number of volcanoes, quantitative models relating deformation and seismicity are not common. The observation of several episodes of volcanic unrest throughout the world, where the movement of magma through the shallow crust was able to produce local rotation of the ambient stress field, introduces an opportunity to improve the estimate of the parameters of a deformation source. In particular, during these episodes of volcanic unrest a radial pattern of P-axes of the focal mechanism solutions, similar to that of ground deformation, has been observed. Therefore, taking into account additional information from focal mechanisms data, we propose a novel approach to volcanic source modeling based on the joint inversion of deformation and focal plane solutions assuming that both observations are due to the same source. The methodology is first verified against a synthetic dataset of surface deformation and strain within the medium, and then applied to real data from an unrest episode occurred before the May 13th 2008 eruption at Mt. Etna (Italy). The main results clearly indicate as the joint inversion improves the accuracy of the estimated source parameters of about 70%. The statistical tests indicate that the source depth is the parameter with the highest increment of accuracy. In addition a sensitivity analysis confirms that displacements data are more useful to constrain the pressure and the horizontal location of the source than its depth, while the P-axes better constrain the depth estimation.

The Crust and Upper Mantle Structure of the Iranian Plateau from Joint Waveform Tomography Imaging of Body and Surface Waves

NASA Astrophysics Data System (ADS)

Roecker, S. W.; Priestley, K. F.; Tatar, M.

2014-12-01

The Iranian Plateau forms a broad zone of deformation between the colliding Arabian and Eurasian plates. The convergence is accommodated in the Zagros Mountains of SW Iran, the Alborz Mountains of northern Iran, and the Kopeh Dagh Mountains of NE Iran. These deforming belts are separated by relatively aseismic depressions such as the Lut Block. It has been suggested that the Arabia-Eurasia collision is similar to the Indo-Eurasia collision but at a early point of development and therefore, it may provide clues to our understanding of the earlier stages of the continent-continent collision process. We present results of the analysis of seismic data collected along two NE-SW trending transects across the Iranian Plateau. The first profile extends from near Bushere on the Persian Gulf coast to near to the Iran-Turkmenistan border north of Mashad, and consists of seismic recordings along the SW portion of the line in 2000-2001 and recording along the NE portion of the line in 2003 and 2006-2008. The second profile extends from near the Iran-Iraq border near the Dezfel embayment to the south Caspian Sea coast north of Tehran. We apply the combined 2.5D finite element waveform tomography algorithm of Baker and Roecker [2014] to jointly invert teleseismic body and surface waves to determine the elastic wavespeed structures of these areas. The joint inversion of these different types of waves affords similar types of advantages that are common to combined surface wave dispersion/receiver function inversions in compensating for intrinsic weaknesses in horizontal and vertical resolution capabilities. We compare results recovered from a finite difference approach to document the effects of various assumptions related to their application, such as the inclusion of topography, on the models recovered. We also apply several different inverse methods, starting with simple gradient techniques to the more sophisticated pseudo-Hessian or L-BFGS approach, and find that the latter are generally more robust. Modeling of receiver functions and surface wave dispersion prior to the analysis is shown to be an efficacious way to generate starting models for this analysis.

Altimetry, gravimetry, GPS and viscoelastic modeling data for the joint inversion for glacial isostatic adjustment in Antarctica (ESA STSE Project REGINA)

NASA Astrophysics Data System (ADS)

Sasgen, Ingo; Martín-Español, Alba; Horvath, Alexander; Klemann, Volker; Petrie, Elizabeth J.; Wouters, Bert; Horwath, Martin; Pail, Roland; Bamber, Jonathan L.; Clarke, Peter J.; Konrad, Hannes; Wilson, Terry; Drinkwater, Mark R.

2018-03-01

The poorly known correction for the ongoing deformation of the solid Earth caused by glacial isostatic adjustment (GIA) is a major uncertainty in determining the mass balance of the Antarctic ice sheet from measurements of satellite gravimetry and to a lesser extent satellite altimetry. In the past decade, much progress has been made in consistently modeling ice sheet and solid Earth interactions; however, forward-modeling solutions of GIA in Antarctica remain uncertain due to the sparsity of constraints on the ice sheet evolution, as well as the Earth's rheological properties. An alternative approach towards estimating GIA is the joint inversion of multiple satellite data - namely, satellite gravimetry, satellite altimetry and GPS, which reflect, with different sensitivities, trends in recent glacial changes and GIA. Crucial to the success of this approach is the accuracy of the space-geodetic data sets. Here, we present reprocessed rates of surface-ice elevation change (Envisat/Ice, Cloud,and land Elevation Satellite, ICESat; 2003-2009), gravity field change (Gravity Recovery and Climate Experiment, GRACE; 2003-2009) and bedrock uplift (GPS; 1995-2013). The data analysis is complemented by the forward modeling of viscoelastic response functions to disc load forcing, allowing us to relate GIA-induced surface displacements with gravity changes for different rheological parameters of the solid Earth. The data and modeling results presented here are available in the PANGAEA database (https://doi.org/10.1594/PANGAEA.875745). The data sets are the input streams for the joint inversion estimate of present-day ice-mass change and GIA, focusing on Antarctica. However, the methods, code and data provided in this paper can be used to solve other problems, such as volume balances of the Antarctic ice sheet, or can be applied to other geographical regions in the case of the viscoelastic response functions. This paper presents the first of two contributions summarizing the work carried out within a European Space Agency funded study: Regional glacial isostatic adjustment and CryoSat elevation rate corrections in Antarctica (REGINA).

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

NASA Technical Reports Server (NTRS)

Newman, Dava J.

1995-01-01

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

Characterization and control of self-motions in redundant manipulators

NASA Technical Reports Server (NTRS)

Burdick, J.; Seraji, Homayoun

1989-01-01

The presence of redundant degrees of freedom in a manipulator structure leads to a physical phenomenon known as a self-motion, which is a continuous motion of the manipulator joints that leaves the end-effector motionless. In the first part of the paper, a global manifold mapping reformulation of manipulator kinematics is reviewed, and the inverse kinematic solution for redundant manipulators is developed in terms of self-motion manifolds. Global characterizations of the self-motion manifolds in terms of their number, geometry, homotopy class, and null space are reviewed using examples. Much previous work in redundant manipulator control has been concerned with the redundancy resolution problem, in which methods are developed to determine, or resolve, the motion of the joints in order to achieve end-effector trajectory control while optimizing additional objective functions. Redundancy resolution problems can be equivalently posed as the control of self-motions. Alternatives for redundancy resolution are briefly discussed.

Lithospheric Structure of the Arabian Shield From the Joint Inversion of Receiver Function and Surface-Wave Dispersion Observations

DTIC Science & Technology

2007-01-01

dashed lines correspond to observations and predictions, respectively. 9 Inversion results corresponding to the stations located within the Asir t~er- 17...wave velocity models ............................................................. A-2 A3 Asir terrane S-wave velocity models...island-arc terranes ( Asir , Hijaz and Midyan), and to the east, one terrane of continental affinity (Afif) and one terrane of possible continental

Pareto Joint Inversion of Love and Quasi Rayleigh's waves - synthetic study

NASA Astrophysics Data System (ADS)

Bogacz, Adrian; Dalton, David; Danek, Tomasz; Miernik, Katarzyna; Slawinski, Michael A.

2017-04-01

In this contribution the specific application of Pareto joint inversion in solving geophysical problem is presented. Pareto criterion combine with Particle Swarm Optimization were used to solve geophysical inverse problems for Love and Quasi Rayleigh's waves. Basic theory of forward problem calculation for chosen surface waves is described. To avoid computational problems some simplification were made. This operation allowed foster and more straightforward calculation without lost of solution generality. According to the solving scheme restrictions, considered model must have exact two layers, elastic isotropic surface layer and elastic isotropic half space with infinite thickness. The aim of the inversion is to obain elastic parameters and model geometry using dispersion data. In calculations different case were considered, such as different number of modes for different wave types and different frequencies. Created solutions are using OpenMP standard for parallel computing, which help in reduction of computational times. The results of experimental computations are presented and commented. This research was performed in the context of The Geomechanics Project supported by Husky Energy. Also, this research was partially supported by the Natural Sciences and Engineering Research Council of Canada, grant 238416-2013, and by the Polish National Science Center under contract No. DEC-2013/11/B/ST10/0472.

Intrinsic Risk Factors of Lateral Ankle Sprain: A Systematic Review and Meta-analysis.

PubMed

Kobayashi, Takumi; Tanaka, Masashi; Shida, Masahiro

2016-01-01

Lateral ankle ligamentous sprain (LAS) is one of the most common injuries in recreational activities and competitive sports. Many studies have attempted to determine whether there are certain intrinsic factors that can predict LAS. However, no consensus has been reached on the predictive intrinsic factors. To identify the intrinsic risk factors of LAS by meta-analysis from data in randomized control trials and prospective cohort studies. A systematic computerized literature search of MEDLINE, CINAHL, ScienceDirect, SPORTDiscus, and Cochrane Register of Clinical Trials was performed. A computerized literature search from inception to January 2015 resulted in 1133 studies of the LAS intrinsic risk factors written in English. Systematic review. Level 4. The modified quality index was used to assess the quality of the design of the papers and the standardized mean difference was used as an index to pool included study outcomes. Eight articles were included in this systematic review. Meta-analysis results showed that body mass index, slow eccentric inversion strength, fast concentric plantar flexion strength, passive inversion joint position sense, and peroneus brevis reaction time correlated with LAS. Body mass index, slow eccentric inversion strength, fast concentric plantar flexion strength, passive inversion joint position sense, and the reaction time of the peroneus brevis were associated with significantly increased risk of LAS.

Trans-Dimensional Bayesian Imaging of 3-D Crustal and Upper Mantle Structure in Northeast Asia

NASA Astrophysics Data System (ADS)

Kim, S.; Tkalcic, H.; Rhie, J.; Chen, Y.

2016-12-01

Imaging 3-D structures using stepwise inversions of ambient noise and receiver function data is now a routine work. Here, we carry out the inversion in the trans-dimensional and hierarchical extension of the Bayesian framework to obtain rigorous estimates of uncertainty and high-resolution images of crustal and upper mantle structures beneath Northeast (NE) Asia. The methods inherently account for data sensitivities by means of using adaptive parameterizations and treating data noise as free parameters. Therefore, parsimonious results from the methods are balanced out between model complexity and data fitting. This allows fully exploiting data information, preventing from over- or under-estimation of the data fit, and increases model resolution. In addition, the reliability of results is more rigorously checked through the use of Bayesian uncertainties. It is shown by various synthetic recovery tests that complex and spatially variable features are well resolved in our resulting images of NE Asia. Rayleigh wave phase and group velocity tomograms (8-70 s), a 3-D shear-wave velocity model from depth inversions of the estimated dispersion maps, and regional 3-D models (NE China, the Korean Peninsula, and the Japanese islands) from joint inversions with receiver function data of dense networks are presented. High-resolution models are characterized by a number of tectonically meaningful features. We focus our interpretation on complex patterns of sub-lithospheric low velocity structures that extend from back-arc regions to continental margins. We interpret the anomalies in conjunction with distal and distributed intraplate volcanoes in NE Asia. Further discussion on other imaged features will be presented.

Estimation of ligament strains and joint moments in the ankle during a supination sprain injury.

PubMed

Wei, Feng; Fong, Daniel Tik-Pui; Chan, Kai-Ming; Haut, Roger C

2015-01-01

This study presents the ankle ligament strains and ankle joint moments during an accidental injury event diagnosed as a grade I anterior talofibular ligament (ATaFL) sprain. A male athlete accidentally sprained his ankle while performing a cutting motion in a laboratory setting. The kinematic data were input to a three-dimensional rigid-body foot model for simulation analyses. Maximum strains in 20 ligaments were evaluated in simulations that investigated various combinations of the reported ankle joint motions. Temporal strains in the ATaFL and the calcaneofibular ligament (CaFL) were then compared and the three-dimensional ankle joint moments were evaluated from the model. The ATaFL and CaFL were highly strained when the inversion motion was simulated (10% for ATaFL and 12% for CaFL). These ligament strains were increased significantly when either or both plantarflexion and internal rotation motions were added in a temporal fashion (up to 20% for ATaFL and 16% for CaFL). Interestingly, at the time strain peaked in the ATaFL, the plantarflexion angle was not large but apparently important. This computational simulation study suggested that an inversion moment of approximately 23 N m plus an internal rotation moment of approximately 11 N m and a small plantarflexion moment may have generated a strain of 15-20% in the ATaFL to produce a grade I ligament injury in the athlete's ankle. This injury simulation study exhibited the potentially important roles of plantarflexion and internal rotation, when combined with a large inversion motion, to produce a grade I ATaFL injury in the ankle of this athlete.

Effects of crustal layering on source parameter inversion from coseismic geodetic data

NASA Astrophysics Data System (ADS)

Amoruso, A.; Crescentini, L.; Fidani, C.

2004-10-01

We study the effect of a superficial layer overlying a half-space on the surface displacements caused by uniform slipping of a dip-slip normal rectangular fault. We compute static coseismic displacements using a 3-D analytical code for different characteristics of the layered medium, different fault geometries and different configurations of bench marks to simulate different kinds of geodetic data (GPS, Synthetic Aperture Radar, and levellings). We perform both joint and separate inversions of the three components of synthetic displacement without constraining fault parameters, apart from strike and rake, and using a non-linear global inversion technique under the assumption of homogeneous half-space. Differences between synthetic displacements computed in the presence of the superficial soft layer and in a homogeneous half-space do not show a simple regular behaviour, even if a few features can be identified. Consequently, also retrieved parameters of the homogeneous equivalent fault obtained by unconstrained inversion of surface displacements do not show a simple regular behaviour. We point out that the presence of a superficial layer may lead to misestimating several fault parameters both using joint and separate inversions of the three components of synthetic displacement and that the effects of the presence of the superficial layer can change whether all fault parameters are left free in the inversions or not. In the inversion of any kind of coseismic geodetic data, fault size and slip can be largely misestimated, but the product (fault length) × (fault width) × slip, which is proportional to the seismic moment for a given rigidity modulus, is often well determined (within a few per cent). Because inversion of coseismic geodetic data assuming a layered medium is impracticable, we suggest that only a case-to-case study involving some kind of recursive determination of fault parameters through data correction seems to give the proper approach when layering is important.

Full body musculoskeletal model for muscle-driven simulation of human gait

PubMed Central

Rajagopal, Apoorva; Dembia, Christopher L.; DeMers, Matthew S.; Delp, Denny D.; Hicks, Jennifer L.; Delp, Scott L.

2017-01-01

Objective Musculoskeletal models provide a non-invasive means to study human movement and predict the effects of interventions on gait. Our goal was to create an open-source, three-dimensional musculoskeletal model with high-fidelity representations of the lower limb musculature of healthy young individuals that can be used to generate accurate simulations of gait. Methods Our model includes bony geometry for the full body, 37 degrees of freedom to define joint kinematics, Hill-type models of 80 muscle-tendon units actuating the lower limbs, and 17 ideal torque actuators driving the upper body. The model’s musculotendon parameters are derived from previous anatomical measurements of 21 cadaver specimens and magnetic resonance images of 24 young healthy subjects. We tested the model by evaluating its computational time and accuracy of simulations of healthy walking and running. Results Generating muscle-driven simulations of normal walking and running took approximately 10 minutes on a typical desktop computer. The differences between our muscle-generated and inverse dynamics joint moments were within 3% (RMSE) of the peak inverse dynamics joint moments in both walking and running, and our simulated muscle activity showed qualitative agreement with salient features from experimental electromyography data. Conclusion These results suggest that our model is suitable for generating muscle-driven simulations of healthy gait. We encourage other researchers to further validate and apply the model to study other motions of the lower-extremity. Significance The model is implemented in the open source software platform OpenSim. The model and data used to create and test the simulations are freely available at https://simtk.org/home/full_body/, allowing others to reproduce these results and create their own simulations. PMID:27392337

Crustal structure across the NE Tibetan Plateau and Ordos Block from the joint inversion of receiver functions and Rayleigh-wave dispersions

NASA Astrophysics Data System (ADS)

Li, Yonghua; Wang, Xingchen; Zhang, Ruiqing; Wu, Qingju; Ding, Zhifeng

2017-05-01

We investigated the crustal structure at 34 stations using the H-κ stacking method and jointly inverting receiver functions with Rayleigh-wave phase and group velocities. These seismic stations are distributed along a profile extending across the Songpan-Ganzi Terrane, Qinling-Qilian terranes and southwestern Ordos Basin. Our results reveal the variation in crustal thickness across this profile. We found thick crust beneath the Songpan-Ganzi Terrane (47-59 km) that decreases to 45-47 km in the west Qinling and Qilian terranes, and reaches its local minimum beneath the southwestern Ordos Block (43-51 km) at an average crustal thickness of 46.7 ± 2.5 km. A low-velocity zone in the upper crust was found beneath most of the stations in NE Tibet, which may be indicative of partial melt or a weak detachment layer. Our observations of low to moderate Vp/Vs (1.67-1.79) represent a felsic to intermediate crustal composition. The shear velocity models estimated from joint inversions also reveal substantial lateral variations in velocity beneath the profile, which is mainly reflected in the lower crustal velocities. For the Ordos Block, the average shear wave velocities below 20 km are 3.8 km/s, indicating an intermediate-to-felsic lower crust. The thick NE Tibet crust is characterized by slow shear wave velocities (3.3-3.6 km/s) below 20 km and lacks high-velocity material (Vs ≥ 4.0 km/s) in the lower crust, which may be attributed to mafic lower crustal delamination or/and the thickening of the upper and middle crust.

ANNIT - An Efficient Inversion Algorithm based on Prediction Principles

NASA Astrophysics Data System (ADS)

Růžek, B.; Kolář, P.

2009-04-01

Solution of inverse problems represents meaningful job in geophysics. The amount of data is continuously increasing, methods of modeling are being improved and the computer facilities are also advancing great technical progress. Therefore the development of new and efficient algorithms and computer codes for both forward and inverse modeling is still up to date. ANNIT is contributing to this stream since it is a tool for efficient solution of a set of non-linear equations. Typical geophysical problems are based on parametric approach. The system is characterized by a vector of parameters p, the response of the system is characterized by a vector of data d. The forward problem is usually represented by unique mapping F(p)=d. The inverse problem is much more complex and the inverse mapping p=G(d) is available in an analytical or closed form only exceptionally and generally it may not exist at all. Technically, both forward and inverse mapping F and G are sets of non-linear equations. ANNIT solves such situation as follows: (i) joint subspaces {pD, pM} of original data and model spaces D, M, resp. are searched for, within which the forward mapping F is sufficiently smooth that the inverse mapping G does exist, (ii) numerical approximation of G in subspaces {pD, pM} is found, (iii) candidate solution is predicted by using this numerical approximation. ANNIT is working in an iterative way in cycles. The subspaces {pD, pM} are searched for by generating suitable populations of individuals (models) covering data and model spaces. The approximation of the inverse mapping is made by using three methods: (a) linear regression, (b) Radial Basis Function Network technique, (c) linear prediction (also known as "Kriging"). The ANNIT algorithm has built in also an archive of already evaluated models. Archive models are re-used in a suitable way and thus the number of forward evaluations is minimized. ANNIT is now implemented both in MATLAB and SCILAB. Numerical tests show good performance of the algorithm. Both versions and documentation are available on Internet and anybody can download them. The goal of this presentation is to offer the algorithm and computer codes for anybody interested in the solution to inverse problems.

Composite Materials NDE Using Enhanced Leaky Lamb Wave Dispersion Data Acquisition Method

NASA Technical Reports Server (NTRS)

Bar-Cohen, Yoseph; Mal, Ajit; Lih, Shyh-Shiuh; Chang, Zensheu

1999-01-01

The leaky Lamb wave (LLW) technique is approaching a maturity level that is making it an attractive quantitative NDE tool for composites and bonded joints. Since it was first observed in 1982, the phenomenon has been studied extensively, particularly in composite materials. The wave is induced by oblique insonification using a pitch-catch arrangement and the plate wave modes are detected by identifying minima in the reflected spectra to obtain the dispersion data. The wave behavior in multi-orientation laminates has been well documented and corroborated experimentally with high accuracy. The sensitivity of the wave to the elastic constants of the material and to the boundary conditions led to the capability to measure the elastic properties of bonded joints. Recently, the authors significantly enhanced the LLW method's capability by increasing the speed of the data acquisition, the number of modes that can be identified and the accuracy of the data inversion. In spite of the theoretical and experimental progress, methods that employ oblique insonification of composites are still not being applied as standard industrial NDE methods. The authors investigated the issues that are hampering the transition of the LLW to industrial applications and identified 4 key issues. The current capability of the method and the nature of these issues are described in this paper.

Rapid processing of data based on high-performance algorithms for solving inverse problems and 3D-simulation of the tsunami and earthquakes

NASA Astrophysics Data System (ADS)

Marinin, I. V.; Kabanikhin, S. I.; Krivorotko, O. I.; Karas, A.; Khidasheli, D. G.

2012-04-01

We consider new techniques and methods for earthquake and tsunami related problems, particularly - inverse problems for the determination of tsunami source parameters, numerical simulation of long wave propagation in soil and water and tsunami risk estimations. In addition, we will touch upon the issue of database management and destruction scenario visualization. New approaches and strategies, as well as mathematical tools and software are to be shown. The long joint investigations by researchers of the Institute of Mathematical Geophysics and Computational Mathematics SB RAS and specialists from WAPMERR and Informap have produced special theoretical approaches, numerical methods, and software tsunami and earthquake modeling (modeling of propagation and run-up of tsunami waves on coastal areas), visualization, risk estimation of tsunami, and earthquakes. Algorithms are developed for the operational definition of the origin and forms of the tsunami source. The system TSS numerically simulates the source of tsunami and/or earthquakes and includes the possibility to solve the direct and the inverse problem. It becomes possible to involve advanced mathematical results to improve models and to increase the resolution of inverse problems. Via TSS one can construct maps of risks, the online scenario of disasters, estimation of potential damage to buildings and roads. One of the main tools for the numerical modeling is the finite volume method (FVM), which allows us to achieve stability with respect to possible input errors, as well as to achieve optimum computing speed. Our approach to the inverse problem of tsunami and earthquake determination is based on recent theoretical results concerning the Dirichlet problem for the wave equation. This problem is intrinsically ill-posed. We use the optimization approach to solve this problem and SVD-analysis to estimate the degree of ill-posedness and to find the quasi-solution. The software system we developed is intended to create technology «no frost», realizing a steady stream of direct and inverse problems: solving the direct problem, the visualization and comparison with observed data, to solve the inverse problem (correction of the model parameters). The main objective of further work is the creation of a workstation operating emergency tool that could be used by an emergency duty person in real time.

Columnar joint morphology and cooling rate: A starch-water mixture experiment

NASA Astrophysics Data System (ADS)

Toramaru, A.; Matsumoto, T.

2004-02-01

An analogue experiment using a starch-water mixture has been carried out in order to understand the effect of cooling rate on the morphological characteristics of a basalt columnar joint. If the contraction of material is essential for the formation of columnar joint structure, the water loss rate by desiccation (hereafter referred to as desiccation rate) in the experiment is analogous to the cooling rate in solidifying basalt. In the experiment the desiccation rate is controlled by varying the distance between the starch-water mixture and a lamp used as the heat source. We find that there are three regimes in the relation between joint formation and desiccation rate: (1) At desiccation rates higher than ˜1.4 × 10-2 (g cm-2 h-1) (normal columnar joint regime), the average cross-sectional area S of a column is inversely proportional to the average desiccation rate, (i.e., S ∝ -δ, with δ = 1). (2) Between that desiccation rate and a critical desiccation rate, 0.8 × 10-2 (g/cm2h), S approaches infinity as decreases close to a critical desiccation rate (i.e., exponent δ monotonically increases from unity to infinity) (critical regime). (3) Below the critical desiccation rate, no columnar structure forms (no columnar joint regime forms). Applying the present experimental result to the formation of basalt column, the basalt columnar cross-sectional area is inversely proportional to the cooling rate with factors including elasticity, crack growth coefficient, thermal expansion, glass transition temperature, and crack density ratio at stress maximum. Also, it can be predicted that there exists a critical cooling rate below which the columnar joint does not form; the presence of a critical regime between the normal columnar jointing and no columnar jointing during a certain cooling rate range can also be predicted. We find that at higher cooling rate the preferred column shape is a pentagon, whereas at lower cooling rate it is a hexagon.

Spatial delineation, fluid-lithology characterization, and petrophysical modeling of deepwater Gulf of Mexico reservoirs though joint AVA deterministic and stochastic inversion of three-dimensional partially-stacked seismic amplitude data and well logs

NASA Astrophysics Data System (ADS)

Contreras, Arturo Javier

This dissertation describes a novel Amplitude-versus-Angle (AVA) inversion methodology to quantitatively integrate pre-stack seismic data, well logs, geologic data, and geostatistical information. Deterministic and stochastic inversion algorithms are used to characterize flow units of deepwater reservoirs located in the central Gulf of Mexico. A detailed fluid/lithology sensitivity analysis was conducted to assess the nature of AVA effects in the study area. Standard AVA analysis indicates that the shale/sand interface represented by the top of the hydrocarbon-bearing turbidite deposits generate typical Class III AVA responses. Layer-dependent Biot-Gassmann analysis shows significant sensitivity of the P-wave velocity and density to fluid substitution, indicating that presence of light saturating fluids clearly affects the elastic response of sands. Accordingly, AVA deterministic and stochastic inversions, which combine the advantages of AVA analysis with those of inversion, have provided quantitative information about the lateral continuity of the turbidite reservoirs based on the interpretation of inverted acoustic properties and fluid-sensitive modulus attributes (P-Impedance, S-Impedance, density, and LambdaRho, in the case of deterministic inversion; and P-velocity, S-velocity, density, and lithotype (sand-shale) distributions, in the case of stochastic inversion). The quantitative use of rock/fluid information through AVA seismic data, coupled with the implementation of co-simulation via lithotype-dependent multidimensional joint probability distributions of acoustic/petrophysical properties, provides accurate 3D models of petrophysical properties such as porosity, permeability, and water saturation. Pre-stack stochastic inversion provides more realistic and higher-resolution results than those obtained from analogous deterministic techniques. Furthermore, 3D petrophysical models can be more accurately co-simulated from AVA stochastic inversion results. By combining AVA sensitivity analysis techniques with pre-stack stochastic inversion, geologic data, and awareness of inversion pitfalls, it is possible to substantially reduce the risk in exploration and development of conventional and non-conventional reservoirs. From the final integration of deterministic and stochastic inversion results with depositional models and analogous examples, the M-series reservoirs have been interpreted as stacked terminal turbidite lobes within an overall fan complex (the Miocene MCAVLU Submarine Fan System); this interpretation is consistent with previous core data interpretations and regional stratigraphic/depositional studies.

Optimization-Based Approach for Joint X-Ray Fluorescence and Transmission Tomographic Inversion

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

Di, Zichao; Leyffer, Sven; Wild, Stefan M.

2016-01-01

Fluorescence tomographic reconstruction, based on the detection of photons coming from fluorescent emission, can be used for revealing the internal elemental composition of a sample. On the other hand, conventional X-ray transmission tomography can be used for reconstructing the spatial distribution of the absorption coefficient inside a sample. In this work, we integrate both X-ray fluorescence and X-ray transmission data modalities and formulate a nonlinear optimization-based approach for reconstruction of the elemental composition of a given object. This model provides a simultaneous reconstruction of both the quantitative spatial distribution of all elements and the absorption effect in the sample. Mathematicallymore » speaking, we show that compared with the single-modality inversion (i.e., the X-ray transmission or fluorescence alone), the joint inversion provides a better-posed problem, which implies a better recovery. Therefore, the challenges in X-ray fluorescence tomography arising mainly from the effects of self-absorption in the sample are partially mitigated. The use of this technique is demonstrated on the reconstruction of several synthetic samples.« less

The Influence of Processing on Strengthening Mechanisms in Pb-Free Solder Joints

NASA Astrophysics Data System (ADS)

Mutuku, Francis; Arfaei, Babak; Cotts, Eric J.

2017-04-01

The number, and the spacing, of Ag3Sn precipitates in Sn-Ag-Cu/Cu solder joints were related to separate processing parameters. The mechanical properties of an individual solder joint were directly related to the resulting distribution of different dispersoids in the joint. As the number of Ag3Sn precipitates increased, so did solder joint strength and shear fatigue lifetime. The room-temperature shear fatigue lifetime was inversely correlated with the separation between Ag3Sn precipitates. Bi and Sb solid solution strengthening was found to result in significantly larger values of shear strength and shear fatigue lifetime for one Pb-free solder. Room-temperature shear fatigue lifetime tests were identified as a relatively straightforward, yet sensitive means to gain insight into the reliability of Sn-Ag-Cu (SAC) solder joints.

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.

A biomechanical analysis of common lunge tasks in badminton.

PubMed

Kuntze, Gregor; Mansfield, Neil; Sellers, William

2010-01-01

The lunge is regularly used in badminton and is recognized for the high physical demands it places on the lower limbs. Despite its common occurrence, little information is available on the biomechanics of lunging in the singles game. A video-based pilot study confirmed the relatively high frequency of lunging, approximately 15% of all movements, in competitive singles games. The biomechanics and performance characteristics of three badminton-specific lunge tasks (kick, step-in, and hop lunge) were investigated in the laboratory with nine experienced male badminton players. Ground reaction forces and kinematic data were collected and lower limb joint kinetics calculated using an inverse dynamics approach. The step-in lunge was characterized by significantly lower mean horizontal reaction force at drive-off and lower mean peak hip joint power than the kick lunge. The hop lunge resulted in significantly larger mean reaction forces during loading and drive-off phases, as well as significantly larger mean peak ankle joint moments and knee and ankle joint powers than the kick or step-in lunges. These findings indicate that, within the setting of this investigation, the step-in lunge may be beneficial for reducing the muscular demands of lunge recovery and that the hop lunge allows for higher positive power output, thereby presenting an efficient lunging method.

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.

Delayed latency of peroneal reflex to sudden inversion with ankle taping or bracing.

PubMed

Shima, N; Maeda, A; Hirohashi, K

2005-01-01

The purpose of the present study was to examine the effects of ankle taping and bracing based on the peroneal reflex in the hypermobile and normal ankle joints with and without history of ankle injury. Thirty-six ankle joints of 18 collegiate American football athletes with and without previous history of injury were studied. The angle of talar tilt (TT) was measured by stress radiograph for classifying normal (TT5 degrees ) ankles. They were tested with taping, bracing, and without any supports as a control. The latency of peroneus longus muscle was measured by a sudden inversion of 25 degrees using surface EMG signals. The results of the present study show no significant three-way Group (hypermobile or normal ankles) by History (previously injured or uninjured ankles) by Condition (control, taping, or bracing) interaction, while Condition main effect was significant (p<0.05). There were significant differences between control (80.8 ms) and taping (83.8 ms, p<0.01), between control and bracing (83.0 ms, p<0.05), but not between taping and bracing (p>0.05). In conclusion, ankle taping and bracing delayed the peroneal reflex latency not only for hypermobile ankles and/or injured ankle joints but also for intact ankle joints.

Biofeedback for Gait Retraining Based on Real-Time Estimation of Tibiofemoral Joint Contact Forces.

PubMed

Pizzolato, Claudio; Reggiani, Monica; Saxby, David J; Ceseracciu, Elena; Modenese, Luca; Lloyd, David G

2017-09-01

Biofeedback assisted rehabilitation and intervention technologies have the potential to modify clinically relevant biomechanics. Gait retraining has been used to reduce the knee adduction moment, a surrogate of medial tibiofemoral joint loading often used in knee osteoarthritis research. In this paper, we present an electromyogram-driven neuromusculoskeletal model of the lower-limb to estimate, in real-time, the tibiofemoral joint loads. The model included 34 musculotendon units spanning the hip, knee, and ankle joints. Full-body inverse kinematics, inverse dynamics, and musculotendon kinematics were solved in real-time from motion capture and force plate data to estimate the knee medial tibiofemoral contact force (MTFF). We analyzed five healthy subjects while they were walking on an instrumented treadmill with visual biofeedback of their MTFF. Each subject was asked to modify their gait in order to vary the magnitude of their MTFF. All subjects were able to increase their MTFF, whereas only three subjects could decrease it, and only after receiving verbal suggestions about possible gait modification strategies. Results indicate the important role of knee muscle activation patterns in modulating the MTFF. While this paper focused on the knee, the technology can be extended to examine the musculoskeletal tissue loads at different sites of the human body.

Microstructural and Mechanical Properties of Welded High Strength Steel Plate Using SMAW and SAW Method for LPG Storage Tanks

NASA Astrophysics Data System (ADS)

Winarto, Winarto; Riastuti, Rini; Kumeidi, Nur

2018-03-01

Indonesian government policy to convert energy consumption for domestic household from kerosene to liquefied petroleum gas (LPG) may lead to the increasing demand for LPG storage tank. LPG storage tank with a large capacity generally used the HSLA steel material of ASTM A516 Grade 70 joined by SMAW or combination between SMAW and SAW method. The heat input can affect the microstructure and mechanical properties of the weld area. The input heat is proportional to the welding current and the arc voltage, but inversely proportional to its welding speed. The result shows that the combination of SMAW-SAW process yield the lower hardness in the HAZ and the fusion zone compared to the singe SMAW process. PWHT mainly applied to reduce residual stress of welded joint. The result shows that PWHT can reduce the hardness in the HAZ and the fusion zone in comparing with the singe SMAW process. The microstructure of weld joint shows a coarser structure in the combined welding process (SMAW-SAW) comparing with the single welding process (SMAW).

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.

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.

In vitro V(D)J recombination: signal joint formation.

PubMed

Cortes, P; Weis-Garcia, F; Misulovin, Z; Nussenzweig, A; Lai, J S; Li, G; Nussenzweig, M C; Baltimore, D

1996-11-26

The first step of V(D)J recombination, specific cleavage at the recombination signal sequence (RSS), can be carried out by the recombination activating proteins RAG1 and RAG2. In vivo, the cleaved coding and signal ends must be rejoined to generate functional antigen receptors and maintain chromosomal integrity. We have investigated signal joint formation using deletion and inversion substrates in a cell free system. RAG1 and RAG2 alone or in combination were unable to generate signal joints. However, RAG1 and RAG2 complemented with nuclear extracts were able to recombine an extrachromosomal substrate and form precise signal joints. The in vitro reaction resembled authentic V(D)J recombination in being Ku-antigen-dependent.

Analysis of elements in a minimal amount of temporomandibular joint fluid on fluid-attenuated inversion recovery magnetic resonance images.

PubMed

Hanyuda, Hitoshi; Otonari-Yamamoto, Mika; Imoto, Kenichi; Sakamoto, Junichiro; Kodama, Sayaka; Kamio, Takashi; Sano, Tsukasa

2013-01-01

The aim of this study was to elucidate possible elements in minimal amounts of fluid (MF) in the temporomandibular joint by analyzing signal intensities in T2-weighted and fluid-attenuated inversion recovery (FLAIR) magnetic resonance (MR) images. Fifteen joints (15 patients) with MF were subjected to MR imaging to obtain T2-weighted and FLAIR images. Regions of interest were placed on MF, cerebrospinal fluid (CSF), and gray matter (GM), and their signal intensities were measured on both images. The signal intensity ratio (SIR) obtained by the signal intensity of GM between MF and CSF was compared in T2-weighted and FLAIR images. The average SIR of MF was lower than that of CSF on T2-weighted images, whereas it was higher on FLAIR images. The average suppression ratio of the signal intensity was lower for MF (24.1%) than for CSF (71.4%). MF may contain elements such as protein that are capable of inducing a shortened T1 relaxation time on MR images. Copyright © 2013 Elsevier Inc. All rights reserved.

The CAFE Experiment: A Joint Seismic and MT Investigation of the Cascadia Subduction System

DTIC Science & Technology

2013-02-01

In this thesis we present results from inversion of data using dense arrays of collocated seismic and magnetotelluric stations located in the Cascadia...implicit in the standard MT inversion provides tools that enable us to generate a more accurate MT model. This final MT model clearly demonstrates...references within, Hacker, 2008) have given us the tools to better interpret geophysical evidence. Improvements in the thermal modeling of subduction zones

Resolution analysis of finite fault source inversion using one- and three-dimensional Green's functions 2. Combining seismic and geodetic data

USGS Publications Warehouse

Wald, D.J.; Graves, R.W.

2001-01-01

Using numerical tests for a prescribed heterogeneous earthquake slip distribution, we examine the importance of accurate Green's functions (GF) for finite fault source inversions which rely on coseismic GPS displacements and leveling line uplift alone and in combination with near-source strong ground motions. The static displacements, while sensitive to the three-dimensional (3-D) structure, are less so than seismic waveforms and thus are an important contribution, particularly when used in conjunction with waveform inversions. For numerical tests of an earthquake source and data distribution modeled after the 1994 Northridge earthquake, a joint geodetic and seismic inversion allows for reasonable recovery of the heterogeneous slip distribution on the fault. In contrast, inaccurate 3-D GFs or multiple 1-D GFs allow only partial recovery of the slip distribution given strong motion data alone. Likewise, using just the GPS and leveling line data requires significant smoothing for inversion stability, and hence, only a blurred vision of the prescribed slip is recovered. Although the half-space approximation for computing the surface static deformation field is no longer justifiable based on the high level of accuracy for current GPS data acquisition and the computed differences between 3-D and half-space surface displacements, a layered 1-D approximation to 3-D Earth structure provides adequate representation of the surface displacement field. However, even with the half-space approximation, geodetic data can provide additional slip resolution in the joint seismic and geodetic inversion provided a priori fault location and geometry are correct. Nevertheless, the sensitivity of the static displacements to the Earth structure begs caution for interpretation of surface displacements, particularly those recorded at monuments located in or near basin environments. Copyright 2001 by the American Geophysical Union.

General phase regularized reconstruction using phase cycling.

PubMed

Ong, Frank; Cheng, Joseph Y; Lustig, Michael

2018-07-01

To develop a general phase regularized image reconstruction method, with applications to partial Fourier imaging, water-fat imaging and flow imaging. The problem of enforcing phase constraints in reconstruction was studied under a regularized inverse problem framework. A general phase regularized reconstruction algorithm was proposed to enable various joint reconstruction of partial Fourier imaging, water-fat imaging and flow imaging, along with parallel imaging (PI) and compressed sensing (CS). Since phase regularized reconstruction is inherently non-convex and sensitive to phase wraps in the initial solution, a reconstruction technique, named phase cycling, was proposed to render the overall algorithm invariant to phase wraps. The proposed method was applied to retrospectively under-sampled in vivo datasets and compared with state of the art reconstruction methods. Phase cycling reconstructions showed reduction of artifacts compared to reconstructions without phase cycling and achieved similar performances as state of the art results in partial Fourier, water-fat and divergence-free regularized flow reconstruction. Joint reconstruction of partial Fourier + water-fat imaging + PI + CS, and partial Fourier + divergence-free regularized flow imaging + PI + CS were demonstrated. The proposed phase cycling reconstruction provides an alternative way to perform phase regularized reconstruction, without the need to perform phase unwrapping. It is robust to the choice of initial solutions and encourages the joint reconstruction of phase imaging applications. Magn Reson Med 80:112-125, 2018. © 2017 International Society for Magnetic Resonance in Medicine. © 2017 International Society for Magnetic Resonance in Medicine.

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.

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.

Inferring Fault Frictional and Reservoir Hydraulic Properties From Injection-Induced Seismicity

NASA Astrophysics Data System (ADS)

Jagalur-Mohan, Jayanth; Jha, Birendra; Wang, Zheng; Juanes, Ruben; Marzouk, Youssef

2018-02-01

Characterizing the rheological properties of faults and the evolution of fault friction during seismic slip are fundamental problems in geology and seismology. Recent increases in the frequency of induced earthquakes have intensified the need for robust methods to estimate fault properties. Here we present a novel approach for estimation of aquifer and fault properties, which combines coupled multiphysics simulation of injection-induced seismicity with adaptive surrogate-based Bayesian inversion. In a synthetic 2-D model, we use aquifer pressure, ground displacements, and fault slip measurements during fluid injection to estimate the dynamic fault friction, the critical slip distance, and the aquifer permeability. Our forward model allows us to observe nonmonotonic evolutions of shear traction and slip on the fault resulting from the interplay of several physical mechanisms, including injection-induced aquifer expansion, stress transfer along the fault, and slip-induced stress relaxation. This interplay provides the basis for a successful joint inversion of induced seismicity, yielding well-informed Bayesian posterior distributions of dynamic friction and critical slip. We uncover an inverse relationship between dynamic friction and critical slip distance, which is in agreement with the small dynamic friction and large critical slip reported during seismicity on mature faults.

Analysis of Multiallelic CNVs by Emulsion Haplotype Fusion PCR.

PubMed

Tyson, Jess; Armour, John A L

2017-01-01

Emulsion-fusion PCR recovers long-range sequence information by combining products in cis from individual genomic DNA molecules. Emulsion droplets act as very numerous small reaction chambers in which different PCR products from a single genomic DNA molecule are condensed into short joint products, to unite sequences in cis from widely separated genomic sites. These products can therefore provide information about the arrangement of sequences and variants at a larger scale than established long-read sequencing methods. The method has been useful in defining the phase of variants in haplotypes, the typing of inversions, and determining the configuration of sequence variants in multiallelic CNVs. In this description we outline the rationale for the application of emulsion-fusion PCR methods to the analysis of multiallelic CNVs, and give practical details for our own implementation of the method in that context.

Efficacy of double inversion recovery magnetic resonance imaging for the evaluation of the synovium in the femoro-patellar joint without contrast enhancement.

PubMed

Son, Ye Na; Jin, Wook; Jahng, Geon-Ho; Cha, Jang Gyu; Park, Yong Sung; Yun, Seong Jong; Park, So Young; Park, Ji Seon; Ryu, Kyung Nam

2018-02-01

To investigate the efficacy of double inversion recovery (DIR) sequence for evaluating the synovium of the femoro-patellar joint without contrast enhancement (CE). Two radiologists independently evaluated the axial DIR and CE T1-weighted fat-saturated (CET1FS) images of 33 knees for agreement; the visualisation and distribution of the synovium were evaluated using a four-point visual scaling system at each of the five levels of the femoro-patellar joint and the location of the thickest synovium. The maximal synovial thickness at each sequence was measured by consensus. The interobserver agreement was good (κ = 0.736) for the four-point scale, and was excellent for the location of the thickest synovium on DIR and CET1FS (κ = 0.955 and 0.954). The intersequential agreement for the area with the thickest synovium was also excellent (κ = 0.845 and κ = 0.828). The synovial thickness on each sequence showed excellent correlation (r = 0.872). The DIR showed as good a correlation as CET1FS for the evaluation of the synovium at the femoro-patellar joint. DIR may be a useful MR technique for evaluating the synovium without CE. • DIR can be useful for evaluating the synovium of the femoro-patellar joint. • Interobserver and intersequential agreements between DIR and CET1FS were good. • Mean thickness of the synovium was significantly different between two sequences.

Joint and constrained inversions in a complex geological setting, example from the Skellefte District

NASA Astrophysics Data System (ADS)

Garcia Juanatey, M. A.; Lelievre, P. G.; Juhlin, C.; Farquharson, C. G.

2015-12-01

The Skellefte District is a very rich metallogenic province in northern Sweden. It is of Paleoproterozoic age and consists of mainly metavolcanic rocks. Even though the district has been intensively studied, many questions still remain about its emplacement. The complicated structural setting, and the great extension of post-glacial sediments, pose a challenge for geophysical and geological investigations. Most recent research efforts in the area have been directed at the construction of 3D geological models through the combined interpretation of independently modeled geophysical and geological data. Our aim is to take these studies further and derive, through joint and constraint inversions, a common 3D earth model consistent with all the available data. By integrating the datasets already at the modelling stage we intend to reduce significantly the uncertainties associated to the constructed 3D models.The available geophysics in the district includes regional gravity and magnetic data acquired by the Geological Survey of Sweden in the 1970s, four lines of seismic reflection data totalling approximately 70 km, and more than 60 magnetotelluric sites spread across the area. The existing geological data (from surface, borehole, and in-mine observations) is condensed on interpreted surfaces representing the most important lithological boundaries. Additionally, there are density and susceptibility values obtained from samples across the whole district. We are looking for the best way to integrate the different geophysical datasets with geologically-constrained joint and cooperative inversions.

tomo3d: a new 3-D joint refraction and reflection travel-time tomography code for active-source seismic data

NASA Astrophysics Data System (ADS)

Meléndez, A.; Korenaga, J.; Sallarès, V.; Ranero, C. R.

2012-04-01

We present the development state of tomo3d, a code for three-dimensional refraction and reflection travel-time tomography of wide-angle seismic data based on the previous two-dimensional version of the code, tomo2d. The core of both forward and inverse problems is inherited from the 2-D version. The ray tracing is performed by a hybrid method combining the graph and bending methods. The graph method finds an ordered array of discrete model nodes, which satisfies Fermat's principle, that is, whose corresponding travel time is a global minimum within the space of discrete nodal connections. The bending method is then applied to produce a more accurate ray path by using the nodes as support points for an interpolation with beta-splines. Travel time tomography is formulated as an iterative linearized inversion, and each step is solved using an LSQR algorithm. In order to avoid the singularity of the sensitivity kernel and to reduce the instability of inversion, regularization parameters are introduced in the inversion in the form of smoothing and damping constraints. Velocity models are built as 3-D meshes, and velocity values at intermediate locations are obtained by trilinear interpolation within the corresponding pseudo-cubic cell. Meshes are sheared to account for topographic relief. A floating reflector is represented by a 2-D grid, and depths at intermediate locations are calculated by bilinear interpolation within the corresponding square cell. The trade-off between the resolution of the final model and the associated computational cost is controlled by the relation between the selected forward star for the graph method (i.e. the number of nodes that each node considers as its neighbors) and the refinement of the velocity mesh. Including reflected phases is advantageous because it provides a better coverage and allows us to define the geometry of those geological interfaces with velocity contrasts sharp enough to be observed on record sections. The code also offers the possibility of including water-layer multiples in the modeling, whenever this phase can be followed to greater offsets than the primary phases. This increases the quantity of useful information in the data and yields more extensive and better constrained velocity and geometry models. We will present results from benchmark tests for forward and inverse problems, as well as synthetic tests comparing an inversion with refractions only and another one with both refractions and reflections.

Variational approach to direct and inverse problems of atmospheric pollution studies

NASA Astrophysics Data System (ADS)

Penenko, Vladimir; Tsvetova, Elena; Penenko, Alexey

2016-04-01

We present the development of a variational approach for solving interrelated problems of atmospheric hydrodynamics and chemistry concerning air pollution transport and transformations. The proposed approach allows us to carry out complex studies of different-scale physical and chemical processes using the methods of direct and inverse modeling [1-3]. We formulate the problems of risk/vulnerability and uncertainty assessment, sensitivity studies, variational data assimilation procedures [4], etc. A computational technology of constructing consistent mathematical models and methods of their numerical implementation is based on the variational principle in the weak constraint formulation specifically designed to account for uncertainties in models and observations. Algorithms for direct and inverse modeling are designed with the use of global and local adjoint problems. Implementing the idea of adjoint integrating factors provides unconditionally monotone and stable discrete-analytic approximations for convection-diffusion-reaction problems [5,6]. The general framework is applied to the direct and inverse problems for the models of transport and transformation of pollutants in Siberian and Arctic regions. The work has been partially supported by the RFBR grant 14-01-00125 and RAS Presidium Program I.33P. References: 1. V. Penenko, A.Baklanov, E. Tsvetova and A. Mahura . Direct and inverse problems in a variational concept of environmental modeling //Pure and Applied Geoph.(2012) v.169: 447-465. 2. V. V. Penenko, E. A. Tsvetova, and A. V. Penenko Development of variational approach for direct and inverse problems of atmospheric hydrodynamics and chemistry, Izvestiya, Atmospheric and Oceanic Physics, 2015, Vol. 51, No. 3, p. 311-319, DOI: 10.1134/S0001433815030093. 3. V.V. Penenko, E.A. Tsvetova, A.V. Penenko. Methods based on the joint use of models and observational data in the framework of variational approach to forecasting weather and atmospheric composition quality// Russian meteorology and hydrology, V. 40, Issue: 6, Pages: 365-373, DOI: 10.3103/S1068373915060023. 4. A.V. Penenko and V.V. Penenko. Direct data assimilation method for convection-diffusion models based on splitting scheme. Computational technologies, 19(4):69-83, 2014. 5. V.V. Penenko, E.A. Tsvetova, A.V. Penenko Variational approach and Euler's integrating factors for environmental studies// Computers and Mathematics with Applications, 2014, V.67, Issue 12, Pages 2240-2256, DOI:10.1016/j.camwa.2014.04.004 6. V.V. Penenko, E.A. Tsvetova. Variational methods of constructing monotone approximations for atmospheric chemistry models // Numerical analysis and applications, 2013, V. 6, Issue 3, pp 210-220, DOI 10.1134/S199542391303004X

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 increase in peroneus longus activity may be the result of a change in preprogrammed feed-forward motor control.

A joint global carbon inversion system using both CO2 and 13CO2 atmospheric concentration data

NASA Astrophysics Data System (ADS)

Chen, Jing M.; Mo, Gang; Deng, Feng

2017-03-01

Observations of 13CO2 at 73 sites compiled in the GLOBALVIEW database are used for an additional constraint in a global atmospheric inversion of the surface CO2 flux using CO2 observations at 210 sites (62 collocated with 13CO2 sites) for the 2002-2004 period for 39 land regions and 11 ocean regions. This constraint is implemented using prior CO2 fluxes estimated with a terrestrial ecosystem model and an ocean model. These models simulate 13CO2 discrimination rates of terrestrial photosynthesis and ocean-atmosphere diffusion processes. In both models, the 13CO2 disequilibrium between fluxes to and from the atmosphere is considered due to the historical change in atmospheric 13CO2 concentration. This joint inversion system using both13CO2 and CO2 observations is effectively a double deconvolution system with consideration of the spatial variations of isotopic discrimination and disequilibrium. Compared to the CO2-only inversion, this 13CO2 constraint on the inversion considerably reduces the total land carbon sink from 3.40 ± 0.84 to 2.53 ± 0.93 Pg C year-1 but increases the total oceanic carbon sink from 1.48 ± 0.40 to 2.36 ± 0.49 Pg C year-1. This constraint also changes the spatial distribution of the carbon sink. The largest sink increase occurs in the Amazon, while the largest source increases are in southern Africa, and Asia, where CO2 data are sparse. Through a case study, in which the spatial distribution of the annual 13CO2 discrimination rate over land is ignored by treating it as a constant at the global average of -14. 1 ‰, the spatial distribution of the inverted CO2 flux over land was found to be significantly modified (up to 15 % for some regions). The uncertainties in our disequilibrium flux estimation are 8.0 and 12.7 Pg C year-1 ‰ for land and ocean, respectively. These uncertainties induced the unpredictability of 0.47 and 0.54 Pg C year-1 in the inverted CO2 fluxes for land and ocean, respectively. Our joint inversion system is therefore useful for improving the partitioning between ocean and land sinks and the spatial distribution of the inverted carbon flux.

Using 3D Simulation of Elastic Wave Propagation in Laplace Domain for Electromagnetic-Seismic Inverse Modeling

NASA Astrophysics Data System (ADS)

Petrov, P.; Newman, G. A.

2010-12-01

Quantitative imaging of the subsurface objects is essential part of modern geophysical technology important in oil and gas exploration and wide-range engineering applications. A significant advancement in developing a robust, high resolution imaging technology is concerned with using the different geophysical measurements (gravity, EM and seismic) sense the subsurface structure. A joint image of the subsurface geophysical attributes (velocity, electrical conductivity and density) requires the consistent treatment of the different geophysical data (electromagnetic and seismic) due to their differing physical nature - diffusive and attenuated propagation of electromagnetic energy and nonlinear, multiple scattering wave propagation of seismic energy. Recent progress has been reported in the solution of this problem by reducing the complexity of seismic wave field. Works formed by Shin and Cha (2009 and 2008) suggests that low-pass filtering the seismic trace via Laplace-Fourier transformation can be an effective approach for obtaining seismic data that has similar spatial resolution to EM data. The effect of Laplace- Fourier transformation on the low-pass filtered trace changes the modeling of the seismic wave field from multi-wave propagation to diffusion. The key benefit of transformation is that diffusive wave-field inversion works well for both data sets seismic (Shin and Cha, 2008) and electromagnetic (Commer and Newman 2008, Newman et al., 2010). Moreover the different data sets can also be matched for similar and consistent resolution. Finally, the low pass seismic image is also an excellent choice for a starting model when analyzing the entire seismic waveform to recover the high spatial frequency components of the seismic image; its reflectivity (Shin and Cha, 2009). Without a good starting model full waveform seismic imaging and migration can encounter serious difficulties. To produce seismic wave fields consistent for joint imaging in the Laplace-Fourier domain we had developed 3D code for full-wave field simulation in the elastic media which take into account nonlinearity introduced by free-surface effects. Our approach is based on the velocity-stress formulation. In the contrast to conventional formulation we defined the material properties such as density and Lame constants not at nodal points but within cells. This second order finite differences method formulated in the cell-based grid, generate numerical solutions compatible with analytical ones within the range errors determinate by dispersion analysis. Our simulator will be embedded in an inversion scheme for joint seismic- electromagnetic imaging. It also offers possibilities for preconditioning the seismic wave propagation problems in the frequency domain. References. Shin, C. & Cha, Y. (2009), Waveform inversion in the Laplace-Fourier domain, Geophys. J. Int. 177(3), 1067- 1079. Shin, C. & Cha, Y. H. (2008), Waveform inversion in the Laplace domain, Geophys. J. Int. 173(3), 922-931. Commer, M. & Newman, G. (2008), New advances in three-dimensional controlled-source electromagnetic inversion, Geophys. J. Int. 172(2), 513-535. Newman, G. A., Commer, M. & Carazzone, J. J. (2010), Imaging CSEM data in the presence of electrical anisotropy, Geophysics, in press.

Determination of elastic moduli from measured acoustic velocities.

PubMed

Brown, J Michael

2018-06-01

Methods are evaluated in solution of the inverse problem associated with determination of elastic moduli for crystals of arbitrary symmetry from elastic wave velocities measured in many crystallographic directions. A package of MATLAB functions provides a robust and flexible environment for analysis of ultrasonic, Brillouin, or Impulsive Stimulated Light Scattering datasets. Three inverse algorithms are considered: the gradient-based methods of Levenberg-Marquardt and Backus-Gilbert, and a non-gradient-based (Nelder-Mead) simplex approach. Several data types are considered: body wave velocities alone, surface wave velocities plus a side constraint on X-ray-diffraction-based axes compressibilities, or joint body and surface wave velocities. The numerical algorithms are validated through comparisons with prior published results and through analysis of synthetic datasets. Although all approaches succeed in finding low-misfit solutions, the Levenberg-Marquardt method consistently demonstrates effectiveness and computational efficiency. However, linearized gradient-based methods, when applied to a strongly non-linear problem, may not adequately converge to the global minimum. The simplex method, while slower, is less susceptible to being trapped in local misfit minima. A "multi-start" strategy (initiate searches from more than one initial guess) provides better assurance that global minima have been located. Numerical estimates of parameter uncertainties based on Monte Carlo simulations are compared to formal uncertainties based on covariance calculations. Copyright © 2018 Elsevier B.V. All rights reserved.

Inverse modeling of CO2 sources and sinks using satellite observations of CO2 from TES and surface flask measurements

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

Nassar, Ray; Jones, DBA; Kulawik, SS

2011-01-01

We infer CO2 surface fluxes using satellite observations of mid-tropospheric CO2 from the Tropospheric Emission Spectrometer (TES) and measurements of CO2 from surface flasks in a time-independent inversion analysis based on the GEOS-Chem model. Using TES CO2 observations over oceans, spanning 40 S 40 N, we find that the horizontal and vertical coverage of the TES and flask data are complementary. This complementarity is demonstrated by combining the datasets in a joint inversion, which provides better constraints than from either dataset alone, when a posteriori CO2 distributions are evaluated against independent ship and aircraft CO2 data. In particular, the jointmore » inversion offers improved constraints in the tropics where surface measurements are sparse, such as the tropical forests of South America. Aggregating the annual surface-to-atmosphere fluxes from the joint inversion for the year 2006 yields 1.13 0.21 PgC for the global ocean, 2.77 0.20 PgC for the global land biosphere and 3.90 0.29 PgC for the total global natural flux (defined as the sum of all biospheric, oceanic, and biomass burning contributions but excluding CO2 emissions from fossil fuel combustion). These global ocean and global land fluxes are shown to be near the median of the broad range of values from other inversion results for 2006. To achieve these results, a bias in TES CO2 in the Southern Hemisphere was assessed and corrected using aircraft flask data, and we demonstrate that our results have low sensitivity to variations in the bias correction approach. Overall, this analysis suggests that future carbon data assimilation systems can benefit by integrating in situ and satellite observations of CO2 and that the vertical information provided by satellite observations of mid-tropospheric CO2 combined with measurements of surface CO2, provides an important additional constraint for flux inversions.« less

Understanding acute ankle ligamentous sprain injury in sports

PubMed Central

Fong, Daniel TP; Chan, Yue-Yan; Mok, Kam-Ming; Yung, Patrick SH; Chan, Kai-Ming

2009-01-01

This paper summarizes the current understanding on acute ankle sprain injury, which is the most common acute sport trauma, accounting for about 14% of all sport-related injuries. Among, 80% are ligamentous sprains caused by explosive inversion or supination. The injury motion often happens at the subtalar joint and tears the anterior talofibular ligament (ATFL) which possesses the lowest ultimate load among the lateral ligaments at the ankle. For extrinsic risk factors to ankle sprain injury, prescribing orthosis decreases the risk while increased exercise intensity in soccer raises the risk. For intrinsic factors, a foot size with increased width, an increased ankle eversion to inversion strength, plantarflexion strength and ratio between dorsiflexion and plantarflexion strength, and limb dominance could increase the ankle sprain injury risk. Players with a previous sprain history, players wearing shoes with air cells, players who do not stretch before exercising, players with inferior single leg balance, and overweight players are 4.9, 4.3, 2.6, 2.4 and 3.9 times more likely to sustain an ankle sprain injury. The aetiology of most ankle sprain injuries is incorrect foot positioning at landing – a medially-deviated vertical ground reaction force causes an explosive supination or inversion moment at the subtalar joint in a short time (about 50 ms). Another aetiology is the delayed reaction time of the peroneal muscles at the lateral aspect of the ankle (60–90 ms). The failure supination or inversion torque is about 41–45 Nm to cause ligamentous rupture in simulated spraining tests on cadaver. A previous case report revealed that the ankle joint reached 48 degrees inversion and 10 degrees internal rotation during an accidental grade I ankle ligamentous sprain injury during a dynamic cutting trial in laboratory. Diagnosis techniques and grading systems vary, but the management of ankle ligamentous sprain injury is mainly conservative. Immobilization should not be used as it results in joint stiffness, muscle atrophy and loss of proprioception. Traditional Chinese medicine such as herbs, massage and acupuncture were well applied in China in managing sports injuries, and was reported to be effective in relieving pain, reducing swelling and edema, and restoring normal ankle function. Finally, the best practice of sports medicine would be to prevent the injury. Different previous approaches, including designing prophylactice devices, introducing functional interventions, as well as change of games rules were highlighted. This paper allows the readers to catch up with the previous researches on ankle sprain injury, and facilitate the future research idea on sport-related ankle sprain injury. PMID:19640309

Pulse-Inversion Subharmonic Ultrafast Active Cavitation Imaging in Tissue Using Fast Eigenspace-Based Adaptive Beamforming and Cavitation Deconvolution.

PubMed

Bai, Chen; Xu, Shanshan; Duan, Junbo; Jing, Bowen; Yang, Miao; Wan, Mingxi

2017-08-01

Pulse-inversion subharmonic (PISH) imaging can display information relating to pure cavitation bubbles while excluding that of tissue. Although plane-wave-based ultrafast active cavitation imaging (UACI) can monitor the transient activities of cavitation bubbles, its resolution and cavitation-to-tissue ratio (CTR) are barely satisfactory but can be significantly improved by introducing eigenspace-based (ESB) adaptive beamforming. PISH and UACI are a natural combination for imaging of pure cavitation activity in tissue; however, it raises two problems: 1) the ESB beamforming is hard to implement in real time due to the enormous amount of computation associated with the covariance matrix inversion and eigendecomposition and 2) the narrowband characteristic of the subharmonic filter will incur a drastic degradation in resolution. Thus, in order to jointly address these two problems, we propose a new PISH-UACI method using novel fast ESB (F-ESB) beamforming and cavitation deconvolution for nonlinear signals. This method greatly reduces the computational complexity by using F-ESB beamforming through dimensionality reduction based on principal component analysis, while maintaining the high quality of ESB beamforming. The degraded resolution is recovered using cavitation deconvolution through a modified convolution model and compressive deconvolution. Both simulations and in vitro experiments were performed to verify the effectiveness of the proposed method. Compared with the ESB-based PISH-UACI, the entire computation of our proposed approach was reduced by 99%, while the axial resolution gain and CTR were increased by 3 times and 2 dB, respectively, confirming that satisfactory performance can be obtained for monitoring pure cavitation bubbles in tissue erosion.

Designing optimal greenhouse gas observing networks that consider performance and cost

DOE PAGES

Lucas, D. D.; Yver Kwok, C.; Cameron-Smith, P.; ...

2015-06-16

Emission rates of greenhouse gases (GHGs) entering into the atmosphere can be inferred using mathematical inverse approaches that combine observations from a network of stations with forward atmospheric transport models. Some locations for collecting observations are better than others for constraining GHG emissions through the inversion, but the best locations for the inversion may be inaccessible or limited by economic and other non-scientific factors. We present a method to design an optimal GHG observing network in the presence of multiple objectives that may be in conflict with each other. As a demonstration, we use our method to design a prototypemore » network of six stations to monitor summertime emissions in California of the potent GHG 1,1,1,2-tetrafluoroethane (CH 2FCF 3, HFC-134a). We use a multiobjective genetic algorithm to evolve network configurations that seek to jointly maximize the scientific accuracy of the inferred HFC-134a emissions and minimize the associated costs of making the measurements. The genetic algorithm effectively determines a set of "optimal" observing networks for HFC-134a that satisfy both objectives (i.e., the Pareto frontier). The Pareto frontier is convex, and clearly shows the tradeoffs between performance and cost, and the diminishing returns in trading one for the other. Without difficulty, our method can be extended to design optimal networks to monitor two or more GHGs with different emissions patterns, or to incorporate other objectives and constraints that are important in the practical design of atmospheric monitoring networks.« less

Advanced Multivariate Inversion Techniques for High Resolution 3D Geophysical Modeling

DTIC Science & Technology

2011-09-01

of seismic ambient noise – has been used to image crustal Vs variation with a lateral resolution upward of 100 km either on regional or on sub...to East Africa, we solve for velocity structure in an area with less lateral heterogeneity but great tectonic complexity. To increase the...demonstrate correlation with crustal geology. Figure 1 shows the 3D S-wave velocity model obtained from the joint inversion. The low-velocity anomaly

Empirical Green's function analysis: Taking the next step

USGS Publications Warehouse

Hough, S.E.

1997-01-01

An extension of the empirical Green's function (EGF) method is presented that involves determination of source parameters using standard EGF deconvolution, followed by inversion for a common attenuation parameter for a set of colocated events. Recordings of three or more colocated events can thus be used to constrain a single path attenuation estimate. I apply this method to recordings from the 1995-1996 Ridgecrest, California, earthquake sequence; I analyze four clusters consisting of 13 total events with magnitudes between 2.6 and 4.9. I first obtain corner frequencies, which are used to infer Brune stress drop estimates. I obtain stress drop values of 0.3-53 MPa (with all but one between 0.3 and 11 MPa), with no resolved increase of stress drop with moment. With the corner frequencies constrained, the inferred attenuation parameters are very consistent; they imply an average shear wave quality factor of approximately 20-25 for alluvial sediments within the Indian Wells Valley. Although the resultant spectral fitting (using corner frequency and ??) is good, the residuals are consistent among the clusters analyzed. Their spectral shape is similar to the the theoretical one-dimensional response of a layered low-velocity structure in the valley (an absolute site response cannot be determined by this method, because of an ambiguity between absolute response and source spectral amplitudes). I show that even this subtle site response can significantly bias estimates of corner frequency and ??, if it is ignored in an inversion for only source and path effects. The multiple-EGF method presented in this paper is analogous to a joint inversion for source, path, and site effects; the use of colocated sets of earthquakes appears to offer significant advantages in improving resolution of all three estimates, especially if data are from a single site or sites with similar site response.

Mapping soil salinity and a fresh-water intrusion in three-dimensions using a quasi-3d joint-inversion of DUALEM-421S and EM34 data

NASA Astrophysics Data System (ADS)

Zare, Ehsan; Huang, Jingyi; Koganti, Triven; Triantafilis, John

2017-04-01

In order to understand the drivers of topsoil salinization, the distribution and movement of salt in accordance with groundwater need mapping. In this study, we described a method to map the distribution of soil salinity, as measured by the electrical conductivity of a saturated soil-paste extract (ECe), and in 3-dimensions around a water storage reservoir in an irrigated field near Bourke, New South Wales, Australia. A quasi-3d electromagnetic conductivity image (EMCI) or model of the true electrical conductivity (sigma) was developed using 133 apparent electrical conductivity (ECa) measurements collected on a 50 m grid and using various coil arrays of DUALEM-421S and EM34 instruments. For the DUALEM-421S we considered ECa in horizontal coplanar (i.e., 1 mPcon, 2 mPcon and 4 mPcon) and vertical coplanar (i.e., 1 mHcon, 2 mHcon and 4 mHcon) arrays. For the EM34, three measurements in the horizontal mode (i.e., EM34-10H, EM34-20H and EM34-40H) were considered. We estimated σ using a quasi-3d joint-inversion algorithm (EM4Soil). The best correlation (R2 = 0.92) between σ and measured soil ECe was identified when a forward modelling (FS), inversion algorithm (S2) and damping factor (lambda = 0.2) were used and using both DUALEM-421 and EM34 data; but not including the 4 m coil arrays of the DUALEM-421S. A linear regression calibration model was used to predict ECe in 3-dimensions beneath the study field. The predicted ECe was consistent with previous studies and revealed the distribution of ECe and helped to infer a freshwater intrusion from a water storage reservoir at depth and as a function of its proximity to near-surface prior stream channels and buried paleochannels. It was concluded that this method can be applied elsewhere to map the soil salinity and water movement and provide guidance for improved land management.|

Mapping soil salinity and a fresh-water intrusion in three-dimensions using a quasi-3d joint-inversion of DUALEM-421S and EM34 data.

PubMed

Huang, J; Koganti, T; Santos, F A Monteiro; Triantafilis, J

2017-01-15

In order to understand the drivers of topsoil salinization, the distribution and movement of salt in accordance with groundwater need mapping. In this study, we described a method to map the distribution of soil salinity, as measured by the electrical conductivity of a saturated soil-paste extract (EC e ), and in 3-dimensions around a water storage reservoir in an irrigated field near Bourke, New South Wales, Australia. A quasi-3d electromagnetic conductivity image (EMCI) or model of the true electrical conductivity (σ) was developed using 133 apparent electrical conductivity (EC a ) measurements collected on a 50m grid and using various coil arrays of DUALEM-421S and EM34 instruments. For the DUALEM-421S we considered EC a in horizontal coplanar (i.e., 1mPcon, 2mPcon and 4mPcon) and vertical coplanar (i.e., 1mHcon, 2mHcon and 4mHcon) arrays. For the EM34, three measurements in the horizontal mode (i.e., EM34-10H, EM34-20H and EM34-40H) were considered. We estimated σ using a quasi-3d joint-inversion algorithm (EM4Soil). The best correlation (R 2 =0.92) between σ and measured soil EC e was identified when a forward modelling (FS), inversion algorithm (S2) and damping factor (λ=0.2) were used and using both DUALEM-421 and EM34 data; but not including the 4m coil arrays of the DUALEM-421S. A linear regression calibration model was used to predict EC e in 3-dimensions beneath the study field. The predicted EC e was consistent with previous studies and revealed the distribution of EC e and helped to infer a freshwater intrusion from a water storage reservoir at depth and as a function of its proximity to near-surface prior stream channels and buried paleochannels. It was concluded that this method can be applied elsewhere to map the soil salinity and water movement and provide guidance for improved land management. Copyright © 2016 Elsevier B.V. All rights reserved.

The State of Stress Beyond the Borehole

NASA Astrophysics Data System (ADS)

Johnson, P. A.; Coblentz, D. D.; Maceira, M.; Delorey, A. A.; Guyer, R. A.

2015-12-01

The state of stress controls all in-situ reservoir activities and yet we lack the quantitative means to measure it. This problem is important in light of the fact that the subsurface provides more than 80 percent of the energy used in the United States and serves as a reservoir for geological carbon sequestration, used fuel disposition, and nuclear waste storage. Adaptive control of subsurface fractures and fluid flow is a crosscutting challenge being addressed by the new Department of Energy SubTER Initiative that has the potential to transform subsurface energy production and waste storage strategies. Our methodology to address the above mentioned matter is based on a novel Advance Multi-Physics Tomographic (AMT) approach for determining the state of stress, thereby facilitating our ability to monitor and control subsurface geomechanical processes. We developed the AMT algorithm for deriving state-of-stress from integrated density and seismic velocity models and demonstrate the feasibility by applying the AMT approach to synthetic data sets to assess accuracy and resolution of the method as a function of the quality and type of geophysical data. With this method we can produce regional- to basin-scale maps of the background state of stress and identify regions where stresses are changing. Our approach is based on our major advances in the joint inversion of gravity and seismic data to obtain the elastic properties for the subsurface; and coupling afterwards the output from this joint-inversion with theoretical model such that strain (and subsequently) stress can be computed. Ultimately we will obtain the differential state of stress over time to identify and monitor critically stressed faults and evolving regions within the reservoir, and relate them to anthropogenic activities such as fluid/gas injection.

Joint Source Location and Focal Mechanism Inversion: efficiency, accuracy and applications

NASA Astrophysics Data System (ADS)

Liang, C.; Yu, Y.

2017-12-01

The analysis of induced seismicity has become a common practice to evaluate the results of hydraulic fracturing treatment. Liang et al (2016) proposed a joint Source Scanning Algorithms (jSSA for short) to obtain microseismic events and focal mechanisms simultaneously. The jSSA is superior over traditional SSA in many aspects, but the computation cost is too significant to be applied in real time monitoring. In this study, we have developed several scanning schemas to reduce computation time. A multi-stage scanning schema is proved to be able to improve the efficiency significantly while also retain its accuracy. A series of tests have been carried out by using both real field data and synthetic data to evaluate the accuracy of the method and its dependence on noise level, source depths, focal mechanisms and other factors. The surface-based arrays have better constraints on horizontal location errors (<20m) and angular errors of P axes (within 10 degree, for S/N>0.5). For sources with varying rakes, dips, strikes and depths, the errors are mostly controlled by the partition of positive and negative polarities in different quadrants. More evenly partitioned polarities in different quadrants yield better results in both locations and focal mechanisms. Nevertheless, even with bad resolutions for some FMs, the optimized jSSA method can still improve location accuracies significantly. Based on much more densely distributed events and focal mechanisms, a gridded stress inversion is conducted to get a evenly distributed stress field. The full potential of the jSSA has yet to be explored in different directions, especially in earthquake seismology as seismic array becoming incleasingly dense.

Towards Full-Waveform Ambient Noise Inversion

NASA Astrophysics Data System (ADS)

Sager, K.; Ermert, L. A.; Boehm, C.; Fichtner, A.

2016-12-01

Noise tomography usually works under the assumption that the inter-station ambient noise correlation is equal to a scaled version of the Green function between the two receivers. This assumption, however, is only met under specific conditions, e.g. wavefield diffusivity and equipartitioning, or the isotropic distribution of both mono- and dipolar uncorrelated noise sources. These assumptions are typically not satisfied in the Earth. This inconsistency inhibits the exploitation of the full waveform information contained in noise correlations in order to constrain Earth structure and noise generation. To overcome this limitation, we attempt to develop a method that consistently accounts for the distribution of noise sources, 3D heterogeneous Earth structure and the full seismic wave propagation physics. This is intended to improve the resolution of tomographic images, to refine noise source location, and thereby to contribute to a better understanding of noise generation. We introduce an operator-based formulation for the computation of correlation functions and apply the continuous adjoint method that allows us to compute first and second derivatives of misfit functionals with respect to source distribution and Earth structure efficiently. Based on these developments we design an inversion scheme using a 2D finite-difference code. To enable a joint inversion for noise sources and Earth structure, we investigate the following aspects: The capability of different misfit functionals to image wave speed anomalies and source distribution. Possible source-structure trade-offs, especially to what extent unresolvable structure can be mapped into the inverted noise source distribution and vice versa. In anticipation of real-data applications, we present an extension of the open-source waveform modelling and inversion package Salvus, which allows us to compute correlation functions in 3D media with heterogeneous noise sources at the surface.

On the Salt Water Intrusion into the Durusu Lake, Istanbul: A Joint Central Loop TEM And Multi-Electrode ERT Field Survey

NASA Astrophysics Data System (ADS)

Ardali, Ayça Sultan; Tezkan, Bülent; Gürer, Aysan

2018-02-01

Durusu Lake is the biggest and most important freshwater source supplying drinking water to the European side of Istanbul. In this study, electrical resistivity tomography (ERT) and transient electromagnetic (TEM) measurements were applied to detect a possible salt water intrusion into the lake and to delineate the subsurface structure in the north of Durusu Lake. The ERT and TEM measurements were carried out along six parallel profiles extending from the sea coast to the lake shore on the dune barrier. TEM data were interpreted using different 1-D inversion methods such as Occam, Marquardt, and laterally constrained inversion (LCI). ERT data were interpreted using 2-D inversion techniques. The inversion results of ERT and TEM data were shown as resistivity depth sections including topography. The sand layer spreading over the basin has a resistivity of 150-400 Ωm with a thickness of 5-10 m. The sandy layer with clay, silt, and gravel has a resistivity of 15-100 Ωm and a thickness of 10-40 m followed by a clay layer of a resistivity below 10 Ωm. When the inversion of these data is interpreted along with the hydrogeology of the area, it is concluded that the salt water intrusion along the dune barrier is not common and occurs at a particular area where the distance between lake and sea is very close. Using information from boreholes around the lake, it was verified that the common conductive region at depths of 30 m or more consists of clay layers and clay lenses.

External rotation elastic bands at the lower limb decrease rearfoot eversion during walking: a preliminary proof of concept

PubMed Central

Souza, Thales R.; Araújo, Vanessa L.; Silva, Paula L.; Carvalhais, Viviane O. C.; Resende, Renan A.; Fonseca, Sérgio T.

2016-01-01

ABSTRACT Background Reducing rearfoot eversion is a commonly desired effect in clinical practice to prevent or treat musculoskeletal dysfunction. Interventions that pull the lower limb into external rotation may reduce rearfoot eversion. Objective This study investigated whether the use of external rotation elastic bands, of different levels of stiffness, will decrease rearfoot eversion during walking. We hypothesized that the use of elastic bands would decrease rearfoot eversion and that the greater the band stiffness, the greater the eversion reduction. Method Seventeen healthy participants underwent three-dimensional kinematic analysis of the rearfoot and shank. The participants walked on a treadmill with and without high- and low-stiffness bands. Frontal-plane kinematics of the rearfoot-shank joint complex was obtained during the stance phase of walking. Repeated-measures ANOVAs were used to compare discrete variables that described rearfoot eversion-inversion: mean eversion-inversion; eversion peak; and eversion-inversion range of motion. Results The low-stiffness and high-stiffness bands significantly decreased eversion and increased mean eversion-inversion (p≤0.037) and eversion peak (p≤0.006) compared with the control condition. Both bands also decreased eversion-inversion range of motion (p≤0.047) compared with control by reducing eversion. The high-stiffness band condition was not significantly different from the low-stiffness band condition for any variables (p≥0.479). Conclusion The results indicated that the external rotation bands decreased rearfoot eversion during walking. This constitutes preliminary experimental evidence suggesting that increasing external rotation moments at the lower limb may reduce rearfoot eversion, which needs further testing. PMID:27849289

Iterative joint inversion of in-situ stress state along Simeulue-Nias Island

NASA Astrophysics Data System (ADS)

Agustina, Anisa; Sahara, David P.; Nugraha, Andri Dian

2017-07-01

In-situ stress inversion from focal mechanisms requires knowledge of which of the two nodal planes is the fault. This is challenging, in particular, because of the inherent ambiguity of focal mechanisms the fault and the auxiliary nodal plane could not be distinguished. A relatively new inversion technique for estimating both stress and fault plane is developed by Vavryĉuk in 2014. The fault orientations are determined by applying the fault instability constraint, and the stress is calculated in iterations. In this study, this method is applied to a high-density earthquake regions, Simeulue-Batu Island. This area is interesting to be investigated because of the occurrence of the two large earthquakes, i.e. Aceh 2004 and Nias 2005 earthquake. The inversion was done based on 343 focal mechanisms data with Magnitude ≥5.5 Mw between 25th Mei 1977- 25th August 2015 from Harvard and Global Centroid Moment Tensor (GCMT) catalog. The area is divided into some grids, in which the analysis of stress orientation variation and its shape ratio is done for each grid. Stress inversion results show that there are three segments along Simeulue-Batu Island based on the variation of orientation stress σ1. The stress characteristics of each segments are discussed, i.e. shape ratio, principal stress orientation and subduction angle. Interestingly, the highest value of shape ratio is 0.93 and its association with the large earthquake Aceh 2004. This suggest that the zonation obtained in this study could also be used as a proxy for the hazard map.

Imaging of 2-D multichannel land seismic data using an iterative inversion-migration scheme, Naga Thrust and Fold Belt, Assam, India

NASA Astrophysics Data System (ADS)

Jaiswal, Priyank; Dasgupta, Rahul

2010-05-01

We demonstrate that imaging of 2-D multichannel land seismic data can be effectively accomplished by a combination of reflection traveltime tomography and pre-stack depth migration (PSDM); we refer to the combined process as "the unified imaging". The unified imaging comprises cyclic runs of joint reflection and direct arrival inversion and pre-stack depth migration. From one cycle to another, both the inversion and the migration provide mutual feedbacks that are guided by the geological interpretation. The unified imaging is implemented in two broad stages. The first stage is similar to the conventional imaging except that it involves a significant use of velocity model from the inversion of the direct arrivals for both datuming and stacking velocity analysis. The first stage ends with an initial interval velocity model (from the stacking velocity analysis) and a corresponding depth migrated image. The second stage updates the velocity model and the depth image from the first stage in a cyclic manner; a single cycle comprises a single run of reflection traveltime inversion followed by PSDM. Interfaces used in the inversion are interpretations of the PSDM image in the previous cycle and the velocity model used in PSDM is from the joint inversion in the current cycle. Additionally in every cycle interpreted horizons in the stacked data are inverted as zero-offset reflections for constraining the interfaces; the velocity model is maintained stationary for the zero-offset inversion. A congruency factor, j, which measures the discrepancy between interfaces from the interpretation of the PSDM image and their corresponding counterparts from the inversion of the zero-offset reflections within assigned uncertainties, is computed in every cycle. A value of unity for jindicates that images from both the inversion and the migration are equivalent; at this point the unified imaging is said to have converged and is halted. We apply the unified imaging to 2-D multichannel seismic data from the Naga Thrust and Fold Belt (NTFB), India, were several exploratory wells in the last decade targeting sub-thrust leads in the footwall have failed. This failure is speculatively due to incorrect depth images which are in turn attributed to incorrect velocity models that are developed using conventional methods. The 2-D seismic data in this study is acquired perpendicular to the trend of the NTFB where the outcropping hanging wall has a topographic culmination. The acquisition style is split-spread with 30 m shot and receiver spacing and a nominal fold of 90. The data are recorded with a sample interval of 2 ms. Overall the data have a moderate signal-to-noise ratio and a broad frequency bandwidth of 8-80 Hz. The seismic line contains the failed exploratory well in the central part. The final results from unified imaging (both the depth image and the corresponding velocity model) suggest presence of a triangle zone, which was previously undiscovered. Conventional imaging had falsely portrayed the triangle zone as structural high which was interpreted as an anticline. As a result, the exploratory well, meant to target the anticline, met with pressure changes which were neither expected nor explained. The unified imaging results not only explain the observations in the well but also reveal new leads in the region. The velocity model from unified imaging was also found to be adequate for frequency-domain full-waveform imaging of the hanging wall. Results from waveform inversion are further corroborated by the geological interpretation of the exploratory well.

A high-resolution genetic map of yellow monkeyflower identifies chemical defense QTLs and recombination rate variation.

PubMed

Holeski, Liza M; Monnahan, Patrick; Koseva, Boryana; McCool, Nick; Lindroth, Richard L; Kelly, John K

2014-03-13

Genotyping-by-sequencing methods have vastly improved the resolution and accuracy of genetic linkage maps by increasing both the number of marker loci as well as the number of individuals genotyped at these loci. Using restriction-associated DNA sequencing, we construct a dense linkage map for a panel of recombinant inbred lines derived from a cross between divergent ecotypes of Mimulus guttatus. We used this map to estimate recombination rate across the genome and to identify quantitative trait loci for the production of several secondary compounds (PPGs) of the phenylpropanoid pathway implicated in defense against herbivores. Levels of different PPGs are correlated across recombinant inbred lines suggesting joint regulation of the phenylpropanoid pathway. However, the three quantitative trait loci identified in this study each act on a distinct PPG. Finally, we map three putative genomic inversions differentiating the two parental populations, including a previously characterized inversion that contributes to life-history differences between the annual/perennial ecotypes. Copyright © 2014 Holeski et al.

Logarithmic Laplacian Prior Based Bayesian Inverse Synthetic Aperture Radar Imaging.

PubMed

Zhang, Shuanghui; Liu, Yongxiang; Li, Xiang; Bi, Guoan

2016-04-28

This paper presents a novel Inverse Synthetic Aperture Radar Imaging (ISAR) algorithm based on a new sparse prior, known as the logarithmic Laplacian prior. The newly proposed logarithmic Laplacian prior has a narrower main lobe with higher tail values than the Laplacian prior, which helps to achieve performance improvement on sparse representation. The logarithmic Laplacian prior is used for ISAR imaging within the Bayesian framework to achieve better focused radar image. In the proposed method of ISAR imaging, the phase errors are jointly estimated based on the minimum entropy criterion to accomplish autofocusing. The maximum a posterior (MAP) estimation and the maximum likelihood estimation (MLE) are utilized to estimate the model parameters to avoid manually tuning process. Additionally, the fast Fourier Transform (FFT) and Hadamard product are used to minimize the required computational efficiency. Experimental results based on both simulated and measured data validate that the proposed algorithm outperforms the traditional sparse ISAR imaging algorithms in terms of resolution improvement and noise suppression.

Lower extremity joint kinetics and lumbar curvature during squat and stoop lifting

PubMed Central

Hwang, Seonhong; Kim, Youngeun; Kim, Youngho

2009-01-01

Background In this study, kinematics and kinetics of the lower extremity joint and the lumbar lordosis during two different symmetrical lifting techniques(squat and stoop) were examined using the three-dimensional motion analysis. Methods Twenty-six young male volunteers were selected for the subjects in this study. While they lifted boxes weighing 5, 10 and 15 kg by both squat and stoop lifting techniques, their motions were captured and analyzed using the 3D motion analysis system which was synchronized with two forceplates and the electromyographic system. Joint kinematics was determined by the forty-three reflective markers which were attached on the anatomical locations based on the VICON Plug-in-Gait marker placement protocol. Joint kinetics was analyzed by using the inverse dynamics. Paired t-test and Kruskal-Wallis test was used to compare the differences of variables between two techniques, and among three different weights. Correlation coefficient was calculated to explain the role of lower limb joint motion in relation to the lumbar lordosis. Results There were not significant differences in maximum lumbar joint moments between two techniques. The hip and ankle contributed the most part of the support moment during squat lifting, and the knee flexion moment played an important role in stoop lifting. The hip, ankle and lumbar joints generated power and only the knee joint absorbed power in the squat lifting. The knee and ankle joints absorbed power, the hip and lumbar joints generated power in the stoop lifting. The bi-articular antagonist muscles' co-contraction around the knee joint during the squat lifting and the eccentric co-contraction of the gastrocnemius and the biceps femoris were found important for maintaining the straight leg during the stoop lifting. At the time of lordotic curvature appearance in the squat lifting, there were significant correlations in all three lower extremity joint moments with the lumbar joint. Differently, only the hip moment had significant correlation with the lumbar joint in the stoop lifting. Conclusion In conclusion, the knee extension which is prominent kinematics during the squat lifting was produced by the contributions of the kinetic factors from the hip and ankle joints(extensor moment and power generation) and the lumbar extension which is prominent kinematics during the stoop lifting could be produced by the contributions of the knee joint kinetic factors(flexor moment, power absorption, bi-articular muscle function). PMID:19183507

Effect of External Ankle Support on Ankle and Knee Biomechanics During the Cutting Maneuver in Basketball Players.

PubMed

Klem, Nardia-Rose; Wild, Catherine Y; Williams, Sian A; Ng, Leo

2017-03-01

Despite the high prevalence of lower extremity injuries in female basketball players as well as a high proportion of athletes who wear ankle braces, there is a paucity of research pertaining to the effects of ankle bracing on ankle and knee biomechanics during basketball-specific tasks. To compare the effects of a lace-up brace (ASO), a hinged brace (Active T2), and no ankle bracing (control) on ankle and knee joint kinematics and joint reaction forces in female basketball athletes during a cutting maneuver. Controlled laboratory study. Twenty healthy, semi-elite female basketball players performed a cutting task under both ankle brace conditions (lace-up ankle brace and hinged ankle brace) and a no-brace condition. The 3-dimensional kinematics of the ankle and knee during the cutting maneuver were measured with an 18-camera motion analysis system (250 Hz), and ground-reaction force data were collected by use of a multichannel force plate (2000 Hz) to quantify ankle and knee joint reaction forces. Conditions were randomized using a block randomization method. Compared with the control condition, the hinged ankle brace significantly restricted peak ankle inversion (mean difference, 1.7°; P = .023). No significant difference was found between the lace-up brace and the control condition ( P = .865). Compared with the lace-up brace, the hinged brace significantly reduced ankle and knee joint compressive forces at the time of peak ankle dorsiflexion (mean difference, 1.5 N/kg [ P = .018] and 1.4 N/kg [ P = .013], respectively). Additionally, the hinged ankle brace significantly reduced knee anterior shear forces compared with the lace-up brace both during the deceleration phase and at peak ankle dorsiflexion (mean difference, 0.8 N/kg [ P = .018] and 0.9 N/kg [ P = .011], respectively). The hinged ankle brace significantly reduced ankle inversion compared with the no-brace condition and reduced ankle and knee joint forces compared with the lace-up brace in a female basketball population during a cutting task. Compared with the lace-up brace, the hinged brace may be a better choice of prophylactic ankle support for female basketball players from a biomechanical perspective. However, both braces increased knee internal rotation and knee abduction angles, which may be problematic for a population that already has a high prevalence of knee injuries.

Joint release rate estimation and measurement-by-measurement model correction for atmospheric radionuclide emission in nuclear accidents: An application to wind tunnel experiments.

PubMed

Li, Xinpeng; Li, Hong; Liu, Yun; Xiong, Wei; Fang, Sheng

2018-03-05

The release rate of atmospheric radionuclide emissions is a critical factor in the emergency response to nuclear accidents. However, there are unavoidable biases in radionuclide transport models, leading to inaccurate estimates. In this study, a method that simultaneously corrects these biases and estimates the release rate is developed. Our approach provides a more complete measurement-by-measurement correction of the biases with a coefficient matrix that considers both deterministic and stochastic deviations. This matrix and the release rate are jointly solved by the alternating minimization algorithm. The proposed method is generic because it does not rely on specific features of transport models or scenarios. It is validated against wind tunnel experiments that simulate accidental releases in a heterogonous and densely built nuclear power plant site. The sensitivities to the position, number, and quality of measurements and extendibility of the method are also investigated. The results demonstrate that this method effectively corrects the model biases, and therefore outperforms Tikhonov's method in both release rate estimation and model prediction. The proposed approach is robust to uncertainties and extendible with various center estimators, thus providing a flexible framework for robust source inversion in real accidents, even if large uncertainties exist in multiple factors. Copyright © 2017 Elsevier B.V. All rights reserved.

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.

A-law/Mu-law Dynamic Range Compression Deconvolution (Preprint)

DTIC Science & Technology

2008-02-04

noise filtering via the spectrum proportionality filter, and second the signal deblurring via the inverse filter. In this process for regions when...is the joint image of motion impulse response and the noisy blurred image with signal to noise ratio 5, 6(A’) is the gray level recovered image...joint image of motion impulse response and the noisy blurred image with signal to noise ratio 5, (A’) the gray level recovered image using the A-law

Robotic Compliant Motion Control for Aircraft Refueling Applications

DTIC Science & Technology

1988-12-01

J. DUVALL 29 SEP 88 C-26 SUBROUTINE IMPCONST(CONST,MINV, BMAT ) Abstract: This subroutine calculates the 25 constants used by the Fortran subroutine...mass with center of gravity along the joint 6 axis. The desired mass and the damping ( BMAT ) matrices are assumed to be diagonal. Joints angles 4,5...constants. MINV -- A 2x2 matrix containing the elements of the inverse desired mass matrix (diagonal). BMAT -- A 2x2 matrix of damping coefficents (diagonal

The relationship between delta C-13 of organic matter and (CO2(aq)) in ocean surface water - Data from the JGOFS site in the northeast Atlantic Ocean and a model. [Joint Global Ocean Flux Study

NASA Technical Reports Server (NTRS)

Rau, G. H.; Takahashi, T.; Des Marais, D. J.; Repeta, D. J.; Martin, J. H.

1992-01-01

Consistent with the hypothesis that plankton delta C-14 and (CO2(aq)) are inversely related, increases in both sinking and suspended particulate organic matter (POM) delta C-13 detected by the Joint Global Ocean Flux Study (JGOFS) were highly negatively correlated with mixed-layer (CO2(aq)). A model of plant delta C-13 by Farquhar et al. (1982) is adapted to show that under a constant phytoplankton demand for CO2 an inverse nonlinear suspended POM delta C-13 response to ambient (CO2(aq)) is expected. Differences between predicted and observed suspended POM delta C-13 vs. (CO2(aq)) trends and among observed relationships can be reconciled if biological CO2 demand is allowed to vary.

Analysis and Simulation of 3D Scattering due to Heterogeneous Crustal Structure and Surface Topography on Regional Phases; Magnitude and Discrimination

DTIC Science & Technology

2009-07-07

inversion technique that is based on different weights for relatively high frequency waveform modeling of Pnl and relatively long period surface waves (Tan...et al., 2006). Pnl and surface waves are also allowed to shift in time to take into account of uncertainties in velocity structure. Joint...inversion of Pnl and surface waves provides better constraints on focal depth as well as source mechanisms. The pure strike-slip mechanism of the earthquake

Application of principal component analysis (PCA) and improved joint probability distributions to the inverse first-order reliability method (I-FORM) for predicting extreme sea states

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

Eckert-Gallup, Aubrey C.; Sallaberry, Cédric J.; Dallman, Ann R.

Environmental contours describing extreme sea states are generated as the input for numerical or physical model simulations as a part of the standard current practice for designing marine structures to survive extreme sea states. These environmental contours are characterized by combinations of significant wave height (H s) and either energy period (T e) or peak period (T p) values calculated for a given recurrence interval using a set of data based on hindcast simulations or buoy observations over a sufficient period of record. The use of the inverse first-order reliability method (I-FORM) is a standard design practice for generating environmentalmore » contours. This paper develops enhanced methodologies for data analysis prior to the application of the I-FORM, including the use of principal component analysis (PCA) to create an uncorrelated representation of the variables under consideration as well as new distribution and parameter fitting techniques. As a result, these modifications better represent the measured data and, therefore, should contribute to the development of more realistic representations of environmental contours of extreme sea states for determining design loads for marine structures.« less

Application of principal component analysis (PCA) and improved joint probability distributions to the inverse first-order reliability method (I-FORM) for predicting extreme sea states

DOE PAGES

Eckert-Gallup, Aubrey C.; Sallaberry, Cédric J.; Dallman, Ann R.; ...

2016-01-06

Environmental contours describing extreme sea states are generated as the input for numerical or physical model simulations as a part of the standard current practice for designing marine structures to survive extreme sea states. These environmental contours are characterized by combinations of significant wave height (H s) and either energy period (T e) or peak period (T p) values calculated for a given recurrence interval using a set of data based on hindcast simulations or buoy observations over a sufficient period of record. The use of the inverse first-order reliability method (I-FORM) is a standard design practice for generating environmentalmore » contours. This paper develops enhanced methodologies for data analysis prior to the application of the I-FORM, including the use of principal component analysis (PCA) to create an uncorrelated representation of the variables under consideration as well as new distribution and parameter fitting techniques. As a result, these modifications better represent the measured data and, therefore, should contribute to the development of more realistic representations of environmental contours of extreme sea states for determining design loads for marine structures.« less

Reproducible Hydrogeophysical Inversions through the Open-Source Library pyGIMLi

NASA Astrophysics Data System (ADS)

Wagner, F. M.; Rücker, C.; Günther, T.

2017-12-01

Many tasks in applied geosciences cannot be solved by a single measurement method and require the integration of geophysical, geotechnical and hydrological methods. In the emerging field of hydrogeophysics, researchers strive to gain quantitative information on process-relevant subsurface parameters by means of multi-physical models, which simulate the dynamic process of interest as well as its geophysical response. However, such endeavors are associated with considerable technical challenges, since they require coupling of different numerical models. This represents an obstacle for many practitioners and students. Even technically versatile users tend to build individually tailored solutions by coupling different (and potentially proprietary) forward simulators at the cost of scientific reproducibility. We argue that the reproducibility of studies in computational hydrogeophysics, and therefore the advancement of the field itself, requires versatile open-source software. To this end, we present pyGIMLi - a flexible and computationally efficient framework for modeling and inversion in geophysics. The object-oriented library provides management for structured and unstructured meshes in 2D and 3D, finite-element and finite-volume solvers, various geophysical forward operators, as well as Gauss-Newton based frameworks for constrained, joint and fully-coupled inversions with flexible regularization. In a step-by-step demonstration, it is shown how the hydrogeophysical response of a saline tracer migration can be simulated. Tracer concentration data from boreholes and measured voltages at the surface are subsequently used to estimate the hydraulic conductivity distribution of the aquifer within a single reproducible Python script.

On the adequacy of identified Cole Cole models

NASA Astrophysics Data System (ADS)

Xiang, Jianping; Cheng, Daizhan; Schlindwein, F. S.; Jones, N. B.

2003-06-01

The Cole-Cole model has been widely used to interpret electrical geophysical data. Normally an iterative computer program is used to invert the frequency domain complex impedance data and simple error estimation is obtained from the squared difference of the measured (field) and calculated values over the full frequency range. Recently a new direct inversion algorithm was proposed for the 'optimal' estimation of the Cole-Cole parameters, which differs from existing inversion algorithms in that the estimated parameters are direct solutions of a set of equations without the need for an initial guess for initialisation. This paper first briefly investigates the advantages and disadvantages of the new algorithm compared to the standard Levenberg-Marquardt "ridge regression" algorithm. Then, and more importantly, we address the adequacy of the models resulting from both the "ridge regression" and the new algorithm, using two different statistical tests and we give objective statistical criteria for acceptance or rejection of the estimated models. The first is the standard χ2 technique. The second is a parameter-accuracy based test that uses a joint multi-normal distribution. Numerical results that illustrate the performance of both testing methods are given. The main goals of this paper are (i) to provide the source code for the new ''direct inversion'' algorithm in Matlab and (ii) to introduce and demonstrate two methods to determine the reliability of a set of data before data processing, i.e., to consider the adequacy of the resulting Cole-Cole model.

Adjoint-state inversion of electric resistivity tomography data of seawater intrusion at the Argentona coastal aquifer (Spain)

NASA Astrophysics Data System (ADS)

Fernández-López, Sheila; Carrera, Jesús; Ledo, Juanjo; Queralt, Pilar; Luquot, Linda; Martínez, Laura; Bellmunt, Fabián

2016-04-01

Seawater intrusion in aquifers is a complex phenomenon that can be characterized with the help of electric resistivity tomography (ERT) because of the low resistivity of seawater, which underlies the freshwater floating on top. The problem is complex because of the need for joint inversion of electrical and hydraulic (density dependent flow) data. Here we present an adjoint-state algorithm to treat electrical data. This method is a common technique to obtain derivatives of an objective function, depending on potentials with respect to model parameters. The main advantages of it are its simplicity in stationary problems and the reduction of computational cost respect others methodologies. The relationship between the concentration of chlorides and the resistivity values of the field is well known. Also, these resistivities are related to the values of potentials measured using ERT. Taking this into account, it will be possible to define the different resistivities zones from the field data of potential distribution using the basis of inverse problem. In this case, the studied zone is situated in Argentona (Baix Maresme, Catalonia), where the values of chlorides obtained in some wells of the zone are too high. The adjoint-state method will be used to invert the measured data using a new finite element code in C ++ language developed in an open-source framework called Kratos. Finally, the information obtained numerically with our code will be checked with the information obtained with other codes.

The joint inversion of phase dispersion curves and receiver functions at the margin of East European Craton

NASA Astrophysics Data System (ADS)

Chrapkiewicz, Kajetan; Wilde-Piórko, Monika; Polkowski, Marcin

2017-04-01

For the first time a joint inversion of Rayleigh-wave phase velocity dispersion curves and P receiver functions has been applied to study the south-western margin of East European Craton (EEC) in Poland. The area of investigation lies in the vicinity of Trans-European Suture Zone (TESZ) regarded as the most prominent lithospheric boundary in Europe separating the Precambrian EEC from assemblage of Phanerozoic-accreted terranes (e.g. Pharaoh, 1999). While the sedimentary and crystalline crust of EEC's margin has been precisely recognized with the borehole and refraction data compilation (Grad et al., 2016), the structure of lithosphere-asthenosphere boundary (LAB) underneath remains poorly understood. To address this issue, the passive seismic experiment „13 BB Star" (2013-2016) was carried out in northern Poland - just at the margin of EEC. For each station of „13 BB Star" network we obtained a credible 1-D shear-wave velocity model with linearized damped least-squares inversion (Herrmann, 2013) down to the depth of 250 km. The joint inversion of receiver functions and surface-wave dispersion curves has proved to be a natural approach when inferring the nature of cratonic LAB (e.g. Bodin et al., 2014). It's sensitive to both absolute velocities and sharp discontinuities and thus provides a better vertical resolution compared to surface wave data alone. The results indicate the presence of steady 4 per cent grow in the shear-wave velocity between 120 and 180 km depth and gradual 6 per cent drop over 180-220 km depth range. The latter may be interpreted as the LAB with depth and absolute-velocity change similar to those reported for other cratons (Kind et al., 2012). National Science Centre Poland provided financial support for this work by NCN grant DEC-2011/02/A/ST10/00284.

Crustal structure of the northern Menderes Massif, western Turkey, imaged by joint gravity and magnetic inversion

NASA Astrophysics Data System (ADS)

Gessner, Klaus; Gallardo, Luis A.; Wedin, Francis; Sener, Kerim

2016-10-01

In western Anatolia, the Anatolide domain of the Tethyan orogen is exposed in one of the Earth's largest metamorphic core complexes, the Menderes Massif. The Menderes Massif experienced a two-stage exhumation: tectonic denudation in the footwall of a north-directed Miocene extensional detachment, followed by fragmentation by E-W and NW-SE-trending graben systems. Along the northern boundary of the core complex, the tectonic units of the Vardar-Izmir-Ankara suture zone overly the stage one footwall of the core complex, the northern Menderes Massif. In this study, we explore the structure of the upper crust in the northern Menderes Massif with cross-gradient joint inversion of gravity and aeromagnetic data along a series of 10-km-deep profiles. Our inversions, which are based on gravity and aeromagnetic measurements and require no geological and petrophysical constraints, reveal the salient features of the Earth's upper crust. We image the northern Menderes Massif as a relatively homogenous domain of low magnetization and medium to high density, with local anomalies related to the effect of interspersed igneous bodies and shallow basins. In contrast, both the northern and western boundaries of the northern Menderes Massif stand out as domains where dense mafic, metasedimentary and ultramafic domains with a weak magnetic signature alternate with low-density igneous complexes with high magnetization. With our technique, we are able to delineate Miocene basins and igneous complexes, and map the boundary between intermediate to mafic-dominated subduction-accretion units of the suture zone and the underlying felsic crust of the Menderes Massif. We demonstrate that joint gravity and magnetic inversion are not only capable of imaging local and regional changes in crustal composition, but can also be used to map discontinuities of geodynamic significance such as the Vardar-Izmir-Ankara suture and the West Anatolia Transfer Zone.

Full waveform time domain solutions for source and induced magnetotelluric and controlled-source electromagnetic fields using quasi-equivalent time domain decomposition and GPU parallelization

NASA Astrophysics Data System (ADS)

Imamura, N.; Schultz, A.

2015-12-01

Recently, a full waveform time domain solution has been developed for the magnetotelluric (MT) and controlled-source electromagnetic (CSEM) methods. The ultimate goal of this approach is to obtain a computationally tractable direct waveform joint inversion for source fields and earth conductivity structure in three and four dimensions. This is desirable on several grounds, including the improved spatial resolving power expected from use of a multitude of source illuminations of non-zero wavenumber, the ability to operate in areas of high levels of source signal spatial complexity and non-stationarity, etc. This goal would not be obtainable if one were to adopt the finite difference time-domain (FDTD) approach for the forward problem. This is particularly true for the case of MT surveys, since an enormous number of degrees of freedom are required to represent the observed MT waveforms across the large frequency bandwidth. It means that for FDTD simulation, the smallest time steps should be finer than that required to represent the highest frequency, while the number of time steps should also cover the lowest frequency. This leads to a linear system that is computationally burdensome to solve. We have implemented our code that addresses this situation through the use of a fictitious wave domain method and GPUs to speed up the computation time. We also substantially reduce the size of the linear systems by applying concepts from successive cascade decimation, through quasi-equivalent time domain decomposition. By combining these refinements, we have made good progress toward implementing the core of a full waveform joint source field/earth conductivity inverse modeling method. From results, we found the use of previous generation of CPU/GPU speeds computations by an order of magnitude over a parallel CPU only approach. In part, this arises from the use of the quasi-equivalent time domain decomposition, which shrinks the size of the linear system dramatically.

Preliminary Results of Crustal Structure beneath the Wabash Valley Seismic Zone Using Teleseismic Receiver Functions and Ambient Noise Tomography

NASA Astrophysics Data System (ADS)

Zhu, L.; Aziz Zanjani, A.; Hu, S.; Liu, Y.; Herrmann, R. B.; Conder, J. A.

2015-12-01

As part of a on-going EarthScope FlexArray project, we deployed 45 broadband seismographs in a 300-km-long linear profile across the Wabash Valley Seismic Zone (WVSZ). Here we present preliminary results of crustal structure beneath WVSZ based on teleseismic receiver functions and ambient noise tomography. We combined waveform data of the temporary stations in 2014 with those of permanent seismic stations and the transportable array stations in our study area since 2011. We found 656 teleseismic events with clear P-wave signals and obtained 2657 good-quality receiver functions of 84 stations using a time-domain iterative deconvolution method. We estimated crustal thickness and Vp/Vs ratio beneath each station using the H-κ stacking method. A high-resolution crustal structural image along the linear profile was obtained using the Common-Conversion-Point (CCP) stacking method. We also measured Rayleigh-wave phase and group velocities from 5 to 50 s by cross-correlating ambient noises between stations and did joint-inversion of receiver functions and surface wave dispersions for S-velocity structures beneath selected stations. The results show that the average crustal thickness in the region is 47 km with a gentle increase of crustal thickness from southeast to northwest. A mid-crustal interface is identified in the CCP image that also deepens from 15 km in the southeastern end to >20 km in the northwest. The CCP image shows that the low-velocity sedimentary layer along the profile is broad and is thickest (~10 km) near the center of the Wabash Valley. Beneath the center of the Valley there is a 40-km-wide positive velocity discontinuity at a depth of 40 km in the lower crust that might be the top of a rift pillow in this failed continental rift. Further results using 3D joint inversion and CCP migration will be presented at the meeting.

A Framework for a Supervisory Expert System for Robotic Manipulators with Joint-Position Limits and Joint-Rate Limits

NASA Technical Reports Server (NTRS)

Mutambara, Arthur G. O.; Litt, Jonathan

1998-01-01

This report addresses the problem of path planning and control of robotic manipulators which have joint-position limits and joint-rate limits. The manipulators move autonomously and carry out variable tasks in a dynamic, unstructured and cluttered environment. The issue considered is whether the robotic manipulator can achieve all its tasks, and if it cannot, the objective is to identify the closest achievable goal. This problem is formalized and systematically solved for generic manipulators by using inverse kinematics and forward kinematics. Inverse kinematics are employed to define the subspace, workspace and constrained workspace, which are then used to identify when a task is not achievable. The closest achievable goal is obtained by determining weights for an optimal control redistribution scheme. These weights are quantified by using forward kinematics. Conditions leading to joint rate limits are identified, in particular it is established that all generic manipulators have singularities at the boundary of their workspace, while some have loci of singularities inside their workspace. Once the manipulator singularity is identified the command redistribution scheme is used to compute the closest achievable Cartesian velocities. Two examples are used to illustrate the use of the algorithm: A three link planar manipulator and the Unimation Puma 560. Implementation of the derived algorithm is effected by using a supervisory expert system to check whether the desired goal lies in the constrained workspace and if not, to evoke the redistribution scheme which determines the constraint relaxation between end effector position and orientation, and then computes optimal gains.

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.

Mechanical instability destabilises the ankle joint directly in the ankle-sprain mechanism.

PubMed

Gehring, Dominic; Faschian, Katrin; Lauber, Benedikt; Lohrer, Heinz; Nauck, Tanja; Gollhofer, Albert

2014-03-01

Despite massive research efforts, it remains unclear how mechanical ankle instability (MAI) and functional ankle instability (FAI) affect joint control in the situation of ankle sprain. Thus, the purpose of this study was to evaluate whether individuals with MAI have deficits in stabilising their ankle joint in a close-to-injury situation compared with those with FAI and healthy controls. Ankle-joint control was assessed by means of three-dimensional motion analysis and electromyography in participants with FAI and MAI (n=19), in participants with pure FAI (n=9) and in healthy controls (n=18). Close-to-injury situations were simulated during standing, walking and jumping by means of a custom-made tilt platform. Individuals with FAI and MAI displayed significantly greater maximum ankle inversion angles (+5°) and inversion velocities (+50°/s) in the walking and jumping conditions compared to those with pure FAI and controls. Furthermore, individuals in the FAI and MAI group showed a significantly decreased pre-activation of the peroneus longus muscle during jumping compared to those with FAI. No differences between groups were found for plantar flexion and internal rotation, or for muscle activities following tilting of the platform. The present study demonstrates that MAI is characterised by impairments of ankle-joint control in close-to-injury situations. This could make these individuals more prone to recurrent ankle sprains, and suggests the need for additional mechanical support such as braces or even surgery. In addition, the study highlights the fact that dynamic experimental test conditions in the acting participant are needed to further unravel the mystery of chronic ankle instability.

Ankle instability effects on joint position sense when stepping across the active movement extent discrimination apparatus.

PubMed

Witchalls, Jeremy; Waddington, Gordon; Blanch, Peter; Adams, Roger

2012-01-01

Individuals with and without functional ankle instability have been tested for deficits in lower limb proprioception with varied results. To determine whether a new protocol for testing participants' joint position sense during stepping is reliable and can detect differences between participants with unstable and stable ankles. Descriptive laboratory study. University clinical laboratory. Sample of convenience involving 21 young adult university students and staff. Ankle stability was categorized by score on the Cumberland Ankle Instability Tool; 13 had functional ankle instability, 8 had healthy ankles. Test-retest of ankle joint position sense when stepping onto and across the Active Movement Extent Discrimination Apparatus twice, separated by an interim test, standing still on the apparatus and moving only 1 ankle into inversion. Difference in scores between groups with stable and unstable ankles and between test repeats. Participants with unstable ankles were worse at differentiating between inversion angles underfoot in both testing protocols. On repeated testing with the stepping protocol, performance of the group with unstable ankles was improved (Cohen d = 1.06, P = .006), whereas scores in the stable ankle group did not change in the second test (Cohen d = 0.04, P = .899). Despite this improvement, the unstable group remained worse at differentiating inversion angles on the stepping retest (Cohen d = 0.99, P = .020). The deficits on proprioceptive tests shown by individuals with functional ankle instability improved with repeated exposure to the test situation. The learning effect may be the result of systematic exposure to ankle-angle variation that led to movement-specific learning or increased confidence when stepping across the apparatus.

Data-driven layer-stripping strategy in 3-D joint refraction and reflection travel-time tomography with TOMO3D

NASA Astrophysics Data System (ADS)

Meléndez, Adrià; Korenaga, Jun; Sallarès, Valentí; Miniussi, Alain; Ranero, César

2015-04-01

We present a new 3-D travel-time tomography code (TOMO3D) for the modelling of active-source seismic data that uses the arrival times of both refracted and reflected seismic phases to derive the propagation velocity distribution and the geometry of reflecting boundaries in the subsurface. The combination of refracted and reflected data provides a denser coverage of the study area. Moreover, because refractions only depend on the velocity parameters, they contribute to the mitigation of the negative effect of the ambiguity between layer thickness and propagation velocity that is intrinsic to the reflections that define these boundaries. This code is based on its renowned 2-D version TOMO2D from which it inherited the methods to solve the forward and inverse problems. The forward travel-time calculations are conducted using a hybrid ray-tracing technique combining the graph or shortest path method and the bending method. The LSQR algorithm is used to perform the iterative inversion of travel-time residuals to update the initial velocity and depth models. In order to cope with the increased computational demand due to the incorporation of the third dimension, the forward problem solver, which takes by far most of the run time (~90%), has been parallelised with a combination of MP and MPI standards. This parallelisation distributes the ray-tracing and travel-time calculations among the available computational resources, allowing the user to set the number of nodes, processors and cores to be used. The code's performance was evaluated with a complex synthetic case simulating a subduction zone. The objective is to retrieve the velocity distribution of both upper and lower plates and the geometry of the interplate and Moho boundaries. Our tomography method is designed to deal with a single reflector per inversion, and we show that a data-driven layer-stripping strategy allows to successfully recover several reflectors in successive inversions. This strategy consists in building the final velocity model layer by layer, sequentially extending it down with each inversion of a new, deeper reflector. One advantage of layer stripping is that it allows us to introduce and keep strong velocity contrasts associated to geological discontinuities that would otherwise be smoothened. Another advantage is that it poses simpler inverse problems at each step, facilitating the minimisation of travel-time residuals and ensuring a good control on each partial model before adding new data corresponding to deeper layers. Finally, we discuss the parallel performance of the code in this particular synthetic case.

Probing the Detailed Seismic Velocity Structure of Subduction Zones Using Advanced Seismic Tomography Methods

NASA Astrophysics Data System (ADS)

Zhang, H.; Thurber, C. H.

2005-12-01

Subduction zones are one of the most important components of the Earth's plate tectonic system. Knowing the detailed seismic velocity structure within and around subducting slabs is vital to understand the constitution of the slab, the cause of intermediate depth earthquakes inside the slab, the fluid distribution and recycling, and tremor occurrence [Hacker et al., 2001; Obara, 2002].Thanks to the ability of double-difference tomography [Zhang and Thurber, 2003] to resolve the fine-scale structure near the source region and the favorable seismicity distribution inside many subducting slabs, it is now possible to characterize the fine details of the velocity structure and earthquake locations inside the slab, as shown in the study of the Japan subduction zone [Zhang et al., 2004]. We further develop the double-difference tomography method in two aspects: the first improvement is to use an adaptive inversion mesh rather than a regular inversion grid and the second improvement is to determine a reliable Vp/Vs structure using various strategies rather than directly from Vp and Vs [see our abstract ``Strategies to solve for a better Vp/Vs model using P and S arrival time'' at Session T29]. The adaptive mesh seismic tomography method is based on tetrahedral diagrams and can automatically adjust the inversion mesh according to the ray distribution so that the inversion mesh nodes are denser where there are more rays and vice versa [Zhang and Thurber, 2005]. As a result, the number of inversion mesh nodes is greatly reduced compared to a regular inversion grid with comparable spatial resolution, and the tomographic system is more stable and better conditioned. This improvement is quite valuable for characterizing the fine structure of the subduction zone considering the highly uneven distribution of earthquakes within and around the subducting slab. The second improvement, to determine a reliable Vp/Vs model, lies in jointly inverting Vp, Vs, and Vp/Vs using P, S, and S-P times in a manner similar to double-difference tomography. Obtaining a reliable Vp/Vs model of the subduction zone is more helpful for understanding its mechanical and petrologic properties. Our applications of the original version of double-difference tomography to several subduction zones beneath northern Honshu, Japan, the Wellington region, New Zealand, and Alaska, United States, have shown evident velocity variations within and around the subducting slab, which likely is evidence of dehydration reactions of various hydrous minerals that are hypothesized to be responsible for intermediate depth earthquakes. We will show the new velocity models for these subduction zones by applying our advanced tomographic methods.

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

Inversion of source mechanism of 1989 Loma Prieta earthquake by three-dimensional FEM Green‧s function

NASA Astrophysics Data System (ADS)

Zeng, Hai-Rong; Song, Hui-Zhen

1999-05-01

Based on three-dimensional joint finite element, this paper discusses the theory and methodology about inversion of geodetic data. The FEM and inversion formula is given in detail; also a related code is developed. By use of the Green’s function about 3-D FEM, we invert geodetic measurements of coseismic deformation of the 1989 M S=7.1 Loma Prieta earthquake to determine its source mechanism. The result indicates that the slip on the fault plane is very heterogeneous. The maximum slip and shear stress are located about 10 km to northwest of the earthquake source; the stress drop is about more than 1 MPa.

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.

Practical approach to subject-specific estimation of knee joint contact force.

PubMed

Knarr, Brian A; Higginson, Jill S

2015-08-20

Compressive forces experienced at the knee can significantly contribute to cartilage degeneration. Musculoskeletal models enable predictions of the internal forces experienced at the knee, but validation is often not possible, as experimental data detailing loading at the knee joint is limited. Recently available data reporting compressive knee force through direct measurement using instrumented total knee replacements offer a unique opportunity to evaluate the accuracy of models. Previous studies have highlighted the importance of subject-specificity in increasing the accuracy of model predictions; however, these techniques may be unrealistic outside of a research setting. Therefore, the goal of our work was to identify a practical approach for accurate prediction of tibiofemoral knee contact force (KCF). Four methods for prediction of knee contact force were compared: (1) standard static optimization, (2) uniform muscle coordination weighting, (3) subject-specific muscle coordination weighting and (4) subject-specific strength adjustments. Walking trials for three subjects with instrumented knee replacements were used to evaluate the accuracy of model predictions. Predictions utilizing subject-specific muscle coordination weighting yielded the best agreement with experimental data; however this method required in vivo data for weighting factor calibration. Including subject-specific strength adjustments improved models' predictions compared to standard static optimization, with errors in peak KCF less than 0.5 body weight for all subjects. Overall, combining clinical assessments of muscle strength with standard tools available in the OpenSim software package, such as inverse kinematics and static optimization, appears to be a practical method for predicting joint contact force that can be implemented for many applications. Copyright © 2015 Elsevier Ltd. All rights reserved.

Practical approach to subject-specific estimation of knee joint contact force

PubMed Central

Knarr, Brian A.; Higginson, Jill S.

2015-01-01

Compressive forces experienced at the knee can significantly contribute to cartilage degeneration. Musculoskeletal models enable predictions of the internal forces experienced at the knee, but validation is often not possible, as experimental data detailing loading at the knee joint is limited. Recently available data reporting compressive knee force through direct measurement using instrumented total knee replacements offer a unique opportunity to evaluate the accuracy of models. Previous studies have highlighted the importance of subject-specificity in increasing the accuracy of model predictions; however, these techniques may be unrealistic outside of a research setting. Therefore, the goal of our work was to identify a practical approach for accurate prediction of tibiofemoral knee contact force (KCF). Four methods for prediction of knee contact force were compared: (1) standard static optimization, (2) uniform muscle coordination weighting, (3) subject-specific muscle coordination weighting and (4) subject-specific strength adjustments. Walking trials for three subjects with instrumented knee replacements were used to evaluate the accuracy of model predictions. Predictions utilizing subject-specific muscle coordination weighting yielded the best agreement with experimental data, however this method required in vivo data for weighting factor calibration. Including subject-specific strength adjustments improved models’ predictions compared to standard static optimization, with errors in peak KCF less than 0.5 body weight for all subjects. Overall, combining clinical assessments of muscle strength with standard tools available in the OpenSim software package, such as inverse kinematics and static optimization, appears to be a practical method for predicting joint contact force that can be implemented for many applications. PMID:25952546

An optimized transversely isotropic, hyper-poro-viscoelastic finite element model of the meniscus to evaluate mechanical degradation following traumatic loading

PubMed Central

Wheatley, Benjamin B.; Fischenich, Kristine M.; Button, Keith D.; Haut, Roger C.; Haut Donahue, Tammy L.

2015-01-01

Inverse finite element (FE) analysis is an effective method to predict material behavior, evaluate mechanical properties, and study differences in biological tissue function. The meniscus plays a key role in load distribution within the knee joint and meniscal degradation is commonly associated with the onset of osteoarthritis. In the current study, a novel transversely isotropic hyper-poro-viscoelastic constitutive formulation was incorporated in a FE model to evaluate changes in meniscal material properties following tibiofemoral joint impact. A non-linear optimization scheme was used to fit the model output to indentation relaxation experimental data. This study is the first to investigate rate of relaxation in healthy versus impacted menisci. Stiffness was found to be decreased (p=0.003), while the rate of tissue relaxation increased (p=0.010) at twelve weeks post impact. Total amount of relaxation, however, did not change in the impacted tissue (p=0.513). PMID:25776872

JUPITER PROJECT - MERGING INVERSE PROBLEM FORMULATION TECHNOLOGIES

EPA Science Inventory

The JUPITER (Joint Universal Parameter IdenTification and Evaluation of Reliability) project seeks to enhance and build on the technology and momentum behind two of the most popular sensitivity analysis, data assessment, calibration, and uncertainty analysis programs used in envi...

Subtalar joint arthroscopy for sinus tarsi syndrome: a review of 29 cases.

PubMed

Oloff, L M; Schulhofer, S D; Bocko, A P

2001-01-01

Twenty-nine consecutive patients who underwent diagnostic or therapeutic subtalar joint arthroscopy for sinus tarsi syndrome were retrospectively reviewed. The mean length of follow-up was 18 months. There was a history of trauma in 86% of the patients, with an inversion sprain being the most common predisposing injury (63%). All patients had a primary preoperative diagnosis of sinus tarsi syndrome. Magnetic resonance imaging was useful in identifying subtalar joint chronic synovitis and/or fibrosis in all 26 patients who were imaged. Subtalar joint synovectomy was the most common procedure performed. Twelve patients had 15 additional operative procedures. One patient required an arthrotomy secondary to arthrofibrosis. There were no postoperative complications. The mean return to full activity was 4 months. The mean postoperative AOFAS Ankle-Hindfoot Scale score was 85 points. Subtalar joint arthroscopy has proven to be a relatively safe and effective diagnostic and therapeutic technique in the management of sinus tarsi syndrome.

New Inversion and Interpretation of Public-Domain Electromagnetic Survey Data from Selected Areas in Alaska

NASA Astrophysics Data System (ADS)

Smith, B. D.; Kass, A.; Saltus, R. W.; Minsley, B. J.; Deszcz-Pan, M.; Bloss, B. R.; Burns, L. E.

2013-12-01

Public-domain airborne geophysical surveys (combined electromagnetics and magnetics), mostly collected for and released by the State of Alaska, Division of Geological and Geophysical Surveys (DGGS), are a unique and valuable resource for both geologic interpretation and geophysical methods development. A new joint effort by the US Geological Survey (USGS) and the DGGS aims to add value to these data through the application of novel advanced inversion methods and through innovative and intuitive display of data: maps, profiles, voxel-based models, and displays of estimated inversion quality and confidence. Our goal is to make these data even more valuable for interpretation of geologic frameworks, geotechnical studies, and cryosphere studies, by producing robust estimates of subsurface resistivity that can be used by non-geophysicists. The available datasets, which are available in the public domain, include 39 frequency-domain electromagnetic datasets collected since 1993, and continue to grow with 5 more data releases pending in 2013. The majority of these datasets were flown for mineral resource purposes, with one survey designed for infrastructure analysis. In addition, several USGS datasets are included in this study. The USGS has recently developed new inversion methodologies for airborne EM data and have begun to apply these and other new techniques to the available datasets. These include a trans-dimensional Markov Chain Monte Carlo technique, laterally-constrained regularized inversions, and deterministic inversions which include calibration factors as a free parameter. Incorporation of the magnetic data as an additional constraining dataset has also improved the inversion results. Processing has been completed in several areas, including Fortymile and the Alaska Highway surveys, and continues in others such as the Styx River and Nome surveys. Utilizing these new techniques, we provide models beyond the apparent resistivity maps supplied by the original contractors, allowing us to produce a variety of products, such as maps of resistivity as a function of depth or elevation, cross section maps, and 3D voxel models, which have been treated consistently both in terms of processing and error analysis throughout the state. These products facilitate a more fruitful exchange between geologists and geophysicists and a better understanding of uncertainty, and the process results in iterative development and improvement of geologic models, both on small and large scales.

Geophysical Modeling in Eurasia: 2D Crustal P and LG Propagation; Upper- Mantle Shear Wave Propagation and Anisotropy; and 3D, Joint, Simultaneous Inversions

DTIC Science & Technology

2008-09-01

improved resolution for shallow geologic structures . Jointly inverting these datasets with seismic body wave (S) travel times provides additional...constraints on the shallow structure and an enhanced 3D shear wave model for our study area in western China. 2008 Monitoring Research Review...for much of Eurasia, although the Arabian Shield and Arctic are less well recovered. The upper velocity gradient was tested for 10-degree cells

Joint probabilistic determination of earthquake location and velocity structure: application to local and regional events

NASA Astrophysics Data System (ADS)

Beucler, E.; Haugmard, M.; Mocquet, A.

2016-12-01

The most widely used inversion schemes to locate earthquakes are based on iterative linearized least-squares algorithms and using an a priori knowledge of the propagation medium. When a small amount of observations is available for moderate events for instance, these methods may lead to large trade-offs between outputs and both the velocity model and the initial set of hypocentral parameters. We present a joint structure-source determination approach using Bayesian inferences. Monte-Carlo continuous samplings, using Markov chains, generate models within a broad range of parameters, distributed according to the unknown posterior distributions. The non-linear exploration of both the seismic structure (velocity and thickness) and the source parameters relies on a fast forward problem using 1-D travel time computations. The a posteriori covariances between parameters (hypocentre depth, origin time and seismic structure among others) are computed and explicitly documented. This method manages to decrease the influence of the surrounding seismic network geometry (sparse and/or azimuthally inhomogeneous) and a too constrained velocity structure by inferring realistic distributions on hypocentral parameters. Our algorithm is successfully used to accurately locate events of the Armorican Massif (western France), which is characterized by moderate and apparently diffuse local seismicity.

Comparison of different statistical methods for estimation of extreme sea levels with wave set-up contribution

NASA Astrophysics Data System (ADS)

Kergadallan, Xavier; Bernardara, Pietro; Benoit, Michel; Andreewsky, Marc; Weiss, Jérôme

2013-04-01

Estimating the probability of occurrence of extreme sea levels is a central issue for the protection of the coast. Return periods of sea level with wave set-up contribution are estimated here in one site : Cherbourg in France in the English Channel. The methodology follows two steps : the first one is computation of joint probability of simultaneous wave height and still sea level, the second one is interpretation of that joint probabilities to assess a sea level for a given return period. Two different approaches were evaluated to compute joint probability of simultaneous wave height and still sea level : the first one is multivariate extreme values distributions of logistic type in which all components of the variables become large simultaneously, the second one is conditional approach for multivariate extreme values in which only one component of the variables have to be large. Two different methods were applied to estimate sea level with wave set-up contribution for a given return period : Monte-Carlo simulation in which estimation is more accurate but needs higher calculation time and classical ocean engineering design contours of type inverse-FORM in which the method is simpler and allows more complex estimation of wave setup part (wave propagation to the coast for example). We compare results from the two different approaches with the two different methods. To be able to use both Monte-Carlo simulation and design contours methods, wave setup is estimated with an simple empirical formula. We show advantages of the conditional approach compared to the multivariate extreme values approach when extreme sea-level occurs when either surge or wave height is large. We discuss the validity of the ocean engineering design contours method which is an alternative when computation of sea levels is too complex to use Monte-Carlo simulation method.

[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.

Inversion polymorphism and extra bristles in Indian natural populations of Drosophila ananassae: joint variation.

PubMed

Das, A; Mohanty, S; Parida, B B

1994-10-01

Five Indian natural populations of Drosophila ananassae were analysed for chromosome inversions and the presence of individuals with extra scutellar bristles in the F1 progeny of isofemale lines initiated from naturally impregnated females. Three commonly occurring inversions were found in these populations with varying frequencies as was the number of individuals with extra bristles (e.b.). Female individuals were more often found to carry extra scutellar bristles than were males. This result reveals that polygenic loci responsible for the determination of e.b. are widespread in Indian natural populations of D. ananassae. A significant positive correlation between the inversion frequency and the number of individuals with e.b. was detected in the isofemale lines of all the five populations. The 2L inversion, alpha, was found to be closely associated with individuals with the e.b. phenotype. The observed results are compared with earlier results obtained for D. melanogaster. The association of the alpha inversion with the e.b. phenotype is discussed in relation to chromosomal evolution in the melanogaster species group.

Multiple imputation to account for measurement error in marginal structural models

PubMed Central

Edwards, Jessie K.; Cole, Stephen R.; Westreich, Daniel; Crane, Heidi; Eron, Joseph J.; Mathews, W. Christopher; Moore, Richard; Boswell, Stephen L.; Lesko, Catherine R.; Mugavero, Michael J.

2015-01-01

Background Marginal structural models are an important tool for observational studies. These models typically assume that variables are measured without error. We describe a method to account for differential and non-differential measurement error in a marginal structural model. Methods We illustrate the method estimating the joint effects of antiretroviral therapy initiation and current smoking on all-cause mortality in a United States cohort of 12,290 patients with HIV followed for up to 5 years between 1998 and 2011. Smoking status was likely measured with error, but a subset of 3686 patients who reported smoking status on separate questionnaires composed an internal validation subgroup. We compared a standard joint marginal structural model fit using inverse probability weights to a model that also accounted for misclassification of smoking status using multiple imputation. Results In the standard analysis, current smoking was not associated with increased risk of mortality. After accounting for misclassification, current smoking without therapy was associated with increased mortality [hazard ratio (HR): 1.2 (95% CI: 0.6, 2.3)]. The HR for current smoking and therapy (0.4 (95% CI: 0.2, 0.7)) was similar to the HR for no smoking and therapy (0.4; 95% CI: 0.2, 0.6). Conclusions Multiple imputation can be used to account for measurement error in concert with methods for causal inference to strengthen results from observational studies. PMID:26214338

Brief communication: Cineradiographic analysis of the chimpanzee (Pan troglodytes) talonavicular and calcaneocuboid joints.

PubMed

Thompson, Nathan E; Holowka, Nicholas B; O'Neill, Matthew C; Larson, Susan G

2014-08-01

During terrestrial locomotion, chimpanzees exhibit dorsiflexion of the midfoot between midstance and toe-off of stance phase, a phenomenon that has been called the "midtarsal break." This motion is generally absent during human bipedalism, and in chimpanzees is associated with more mobile foot joints than in humans. However, the contribution of individual foot joints to overall foot mobility in chimpanzees is poorly understood, particularly on the medial side of the foot. The talonavicular (TN) and calcaneocuboid (CC) joints have both been suggested to contribute significantly to midfoot mobility and to the midtarsal break in chimpanzees. To evaluate the relative magnitude of motion that can occur at these joints, we tracked skeletal motion of the hindfoot and midfoot during passive plantarflexion and dorsiflexion manipulations using cineradiography. The sagittal plane range of motion was 38 ± 10° at the TN joint and 14 ± 8° at the CC joint. This finding indicates that the TN joint is more mobile than the CC joint during ankle plantarflexion-dorsiflexion. We suggest that the larger range of motion at the TN joint during dorsiflexion is associated with a rotation (inversion-eversion) across the transverse tarsal joint, which may occur in addition to sagittal plane motion. © 2014 Wiley Periodicals, Inc.

SDM - A geodetic inversion code incorporating with layered crust structure and curved fault geometry

NASA Astrophysics Data System (ADS)

Wang, Rongjiang; Diao, Faqi; Hoechner, Andreas

2013-04-01

Currently, inversion of geodetic data for earthquake fault ruptures is most based on a uniform half-space earth model because of its closed-form Green's functions. However, the layered structure of the crust can significantly affect the inversion results. The other effect, which is often neglected, is related to the curved fault geometry. Especially, fault planes of most mega thrust earthquakes vary their dip angle with depth from a few to several tens of degrees. Also the strike directions of many large earthquakes are variable. For simplicity, such curved fault geometry is usually approximated to several connected rectangular segments, leading to an artificial loss of the slip resolution and data fit. In this presentation, we introduce a free FORTRAN code incorporating with the layered crust structure and curved fault geometry in a user-friendly way. The name SDM stands for Steepest Descent Method, an iterative algorithm used for the constrained least-squares optimization. The new code can be used for joint inversion of different datasets, which may include systematic offsets, as most geodetic data are obtained from relative measurements. These offsets are treated as unknowns to be determined simultaneously with the slip unknowns. In addition, a-priori and physical constraints are considered. The a-priori constraint includes the upper limit of the slip amplitude and the variation range of the slip direction (rake angle) defined by the user. The physical constraint is needed to obtain a smooth slip model, which is realized through a smoothing term to be minimized with the misfit to data. In difference to most previous inversion codes, the smoothing can be optionally applied to slip or stress-drop. The code works with an input file, a well-documented example of which is provided with the source code. Application examples are demonstrated.

Optimization schemes for the inversion of Bouguer gravity anomalies

NASA Astrophysics Data System (ADS)

Zamora, Azucena

Data sets obtained from measurable physical properties of the Earth structure have helped advance the understanding of its tectonic and structural processes and constitute key elements for resource prospecting. 2-Dimensional (2-D) and 3-D models obtained from the inversion of geophysical data sets are widely used to represent the structural composition of the Earth based on physical properties such as density, seismic wave velocities, magnetic susceptibility, conductivity, and resistivity. The inversion of each one of these data sets provides structural models whose consistency depends on the data collection process, methodology, and overall assumptions made in their individual mathematical processes. Although sampling the same medium, seismic and non-seismic methods often provide inconsistent final structural models of the Earth with varying accuracy, sensitivity, and resolution. Taking two or more geophysical data sets with complementary characteristics (e.g. having higher resolution at different depths) and combining their individual strengths to create a new improved structural model can help achieve higher accuracy and resolution power with respect to its original components while reducing their ambiguity and uncertainty effects. Gravity surveying constitutes a cheap, non-invasive, and non-destructive passive remote sensing method that helps to delineate variations in the gravity field. These variations can originate from regional anomalies due to deep density variations or from residual anomalies related to shallow density variations [41]. Since gravity anomaly inversions suffer from significant non-uniqueness (allowing two or more distinct density structures to have the same gravity signature) and small changes in parameters can highly impact the resulting model, the inversion of gravity data represents an ill-posed mathematical problem. However, gravity studies have demonstrated the effectiveness of this method to trace shallow subsurface density variations associated with structural changes [16]; therefore, it complements those geophysical methods with the same depth resolution that sample a different physical property (e.g. electromagnetic surveys sampling electric conductivity) or even those with different depth resolution sampling an alternative physical property (e.g. large scale seismic reflection surveys imaging the crust and top upper mantle using seismic velocity fields). In order to improve the resolution of Bouguer gravity anomalies, and reduce their ambiguity and uncertainty for the modeling of the shallow crust, we propose the implementation of primal-dual interior point methods for the optimization of density structure models through the introduction of physical constraints for transitional areas obtained from previously acquired geophysical data sets. This dissertation presents in Chapter 2 an initial forward model implementation for the calculation of Bouguer gravity anomalies in the Porphyry Copper-Molybdenum (Cu-Mo) Copper Flat Mine region located in Sierra County, New Mexico. In Chapter 3, we present a constrained optimization framework (using interior-point methods) for the inversion of 2-D models of Earth structures delineating density contrasts of anomalous bodies in uniform regions and/or boundaries between layers in layered environments. We implement the proposed algorithm using three different synthetic gravitational data sets with varying complexity. Specifically, we improve the 2-dimensional density structure models by getting rid of unacceptable solutions (geologically unfeasible models or those not satisfying the required constraints) given the reduction of the solution space. Chapter 4 shows the results from the implementation of our algorithm for the inversion of gravitational data obtained from the area surrounding the Porphyry Cu-Mo Cooper Flat Mine in Sierra County, NM. Information obtained from previous induced polarization surveys and core samples served as physical constraints for the inversion parameters. Finally, in order to achieve higher resolution, Chapter 5 introduces a 3-D theoretical framework for the joint inversion of Bouguer gravity anomalies and surface wave dispersion using interior-point methods. Through this work, we expect to contribute to the creation of additional tools for the development of 2- and 3-D models depicting the Earth's geological processes and to the widespread use of constrained optimization techniques for the inversion of geophysical data sets.

In vivo kinematic study of the tarsal joints complex based on fluoroscopic 3D-2D registration technique.

PubMed

Chen Wang, M D; Geng, Xiang; Wang, Shaobai; Xin Ma, M D; Xu Wang, M D; Jiazhang Huang, M D; Chao Zhang, M D; Li Chen, M S; Yang, Junsheng; Wang, Kan

2016-09-01

The tarsal bones articulate with each other and demonstrate complicated kinematic characteristics. The in vivo motions of these tarsal joints during normal gait are still unclear. Seven healthy subjects were recruited and fourteen feet in total were tested in the current study. Three dimensional models of the tarsal bones were first created using CT scanning. Corresponding local 3D coordinate systems of each tarsal bone was subsequently established for 6DOF motion decompositions. The fluoroscopy system captured the lateral fluoroscopic images of the targeted tarsal region whilst the subject was walking. Seven key pose images during the stance phase were selected and 3D to 2D bone model registrations were performed on each image to determine joint positions. The 6DOF motions of each tarsal joint during gait were then obtained by connecting these positions together. The TNJ (talo-navicular joint) exhibited the largest ROMs (range of motion) on all rotational directions with 7.39±2.75°of dorsi/plantarflexion, 21.12±4.68°of inversion/eversion, and 16.11±4.44°of internal/external rotation. From heel strike to midstance, the TNJ, STJ (subtalar joint), and CCJ (calcaneao-cuboid joint) were associated with 5.97°, 5.04°, and 3.93°of dorsiflexion; 15.46°, 8.21°, and 5.82°of eversion; and 9.75°, 7.6°, and 4.99°of external rotation, respectively. Likewise, from midstance to heel off, the TNJ, STJ, and CCJ were associated with 6.39, 6.19°, and 4.47°of plantarflexion; 18.57°, 11.86°, and 6.32°of inversion and 13.95°, 9.66°, and 7.58°of internal rotation, respectively. In conclusion, among the tarsal joints, the TNJ exhibited the greatest rotational mobility. Synchronous and homodromous rotational motions were detected for TNJ, STJ, and CCJ during the stance phase. Copyright © 2016 Elsevier B.V. All rights reserved.

Advances in Geophysical Methods at Parkfield, California

NASA Astrophysics Data System (ADS)

Bennington, Ninfa

The Parkfield segment of the San Andreas fault (SAF) is one of the most highly monitored fault sites in the world. I carry out two studies, taking advantage of the dense set of geophysical observations obtained for this segment of the fault. In the first study, I use geodetic data to had a model of coseismic slip for the 2004 Parkfield earthquake with the constraint that the edges of coseismic slip patches preferentially align with aftershocks. Application of the aftershock distribution constraint on coseismic slip yields a model that agrees in location and amplitude with features observed in previous geodetic studies and the majority of strong motion studies. The curvature-constrained solution shows slip primarily between aftershock "streaks" with the continuation of moderate levels of slip towards the 2004 Parkfield earthquake hypocenter. The observed continuation of coseismic slip towards the hypocenter is in good agreement with strong motion studies but is not observed in the majority of published geodetic slip models, which I attribute to resolution limitations. In the second study, I develop tomoDDMT, a joint inversion code that simultaneously inverts for resistivity and seismic velocity models under the cross- gradient constraint. This constraint uses a weighted penalty function to encourage areas where the two models are changing to be structurally similar. I present jointly inverted models of P-wave velocity (Vp) and resistivity for a cross-section centered on the San Andreas Fault Observatory at Depth (SAFOD). The joint inversion scheme achieves structurally similar Vp and resistivity images that adequately fit the seismic and MT data without forcing model similarity where none exists. Using tomoDDMT, I obtain models or resistivity and Vp that yield increased insight into the geologic structure at Parkfield. I address key issues including: the location of the Franciscan formation at depth, the spatial extent of the Upper Great Valley sequence, the validity of the eastern wall as a fluid pathway, the distribution of the eastern conductor, and the distribution of the Salinian block at depth.

Hip and knee joints are more stabilized than driven during the stance phase of gait: an analysis of the 3D angle between joint moment and joint angular velocity.

PubMed

Dumas, R; Cheze, L

2008-08-01

Joint power is commonly used in orthopaedics, ergonomics or sports analysis but its clinical interpretation remains controversial. Some basic principles on muscle actions and energy transfer have been proposed in 2D. The decomposition of power on 3 axes, although questionable, allows the same analysis in 3D. However, these basic principles have been widely criticized, mainly because bi-articular muscles must be considered. This requires a more complex computation in order to determine how the individual muscle force contributes to drive the joint. Conversely, with simple 3D inverse dynamics, the analysis of both joint moment and angular velocity directions is essential to clarify when the joint moment can contribute or not to drive the joint. The present study evaluates the 3D angle between the joint moment and the joint angular velocity and investigates when the hip, knee and ankle joints are predominantly driven (angle close to 0 degrees and 180 degrees ) or stabilized (angle close to 90 degrees ) during gait. The 3D angle curves show that the three joints are never fully but only partially driven and that the hip and knee joints are mainly stabilized during the stance phase. The notion of stabilization should be further investigated, especially for subjects with motion disorders or prostheses.

An automated method for depth-dependent crustal anisotropy detection with receiver function

NASA Astrophysics Data System (ADS)

Licciardi, Andrea; Piana Agostinetti, Nicola

2015-04-01

Crustal seismic anisotropy can be generated by a variety of geological factors (e.g. alignment of minerals/cracks, presence of fluids etc...). In the case of transversely isotropic media approximation, information about strength and orientation of the anisotropic symmetry axis (including dip) can be extracted from the analysis of P-to-S conversions by means of teleseismic receiver functions (RF). Classically this has been achieved through probabilistic inversion encoding a forward solver for anisotropic media. This approach strongly relies on apriori choices regarding Earth's crust parameterization and velocity structure, requires an extensive knowledge of the RF method and involves time consuming trial and error steps. We present an automated method for reducing the non-uniqueness in this kind of inversions and for retrieving depth-dependent seismic anisotropy parameters in the crust with a resolution of some hundreds of meters. The method involves a multi-frequency approach (for better absolute Vs determination) and the decomposition of the RF data-set in its azimuthal harmonics (to separate the effects of isotropic and anisotropic component). A first inversion of the isotropic component (Zero-order harmonics) by means of a Reversible jump Markov Chain Monte Carlo (RjMCMC) provides the posterior probability distribution for the position of the velocity jumps at depth, from which information on the number of layers and the S-wave velocity structure below a broadband seismic station can be extracted. This information together with that encoded in the first order harmonic is jointly used in an automated way to: (1) determine the number of anisotropic layers and their approximate position at depth, and (2) narrow the search boundaries for layer thickness and S-wave velocity. Finaly, an inversion is carried out with a Neighbourhood Algorithm (NA), where the free parameters are represented by the anisotropic structure beneath the seismic station. We tested the method against synthetic RF with correlated Gaussian noise to investigate the resolution power for multiple and thin (1-5 km) anisotropic layers in the crust. The algorithm correctly retrieves the true models for the number and the position of the anisotropic layers, their strength and orientation of the anisotropic symmetry axis, although the trend direction is better constrained than the dip angle. The method is then applied to a real data-set and the results compared with previous RF studies.

Comparative myology of the ankle of Leopardus wiedii and L. geoffroyi (Carnivora: Felidae): functional consistency with osteology, locomotor habits and hunting in captivity.

PubMed

Morales, Miriam M; Moyano, S Rocío; Ortiz, Agustina M; Ercoli, Marcos D; Aguado, Luis I; Cardozo, Sergio A; Giannini, Norberto P

2018-02-01

Leopardus wiedii (margay) is the only arboreal Neotropical felid able to climb head-first down trees, due to its ability to rotate its tarsal joint 180°. A closely related, similar-sized species, L. geoffroyi (Geoffroy's cat) exhibits more typical terrestrial habits and lacks the arboreal capabilities of L. wiedii. There is osteological evidence that supports a mechanical specialization of L. wiedii's tarsal joint for inversion, but there have been no studies on the myology of this specialization. Based on comparative gross-anatomy dissections of zeugo- and autopodial muscles related to the ankle joint of one margay specimen and two Geoffroýs cats, we identified myological specializations of L. wiedii that support its arboreal abilities. In addition, we documented both species hunting the same prey (domestic pigeon Columba livia, Aves: Columbidae) in captivity, to complement. We report differences in the origin, insertion and belly in 8 of the 10 dissected muscles. At least 3 of these interspecific variations can be associated with strengthening of the main muscles that command inversion/eversion movements of the tarsal joint and support the body weight in the head-down climbing position typical of L. wiedii. Frame-by-frame video reconstructions depict the sequence of movements in these species while hunting and highlight the advantages of the arboreal abilities of L. wiedii. Copyright © 2017 Elsevier GmbH. All rights reserved.

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.

Interpretation of magnetotelluric resistivity and phase soundings over horizontal layers

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

Patella, D.

1976-02-01

The present paper deals with a new inverse method for quantitatively interpreting magnetotelluric apparent resistivity and phase-lag sounding curves over horizontally stratified earth sections. The recurrent character of the general formula relating the wave impedance of an (n-l)-layered medium to that of an n-layered medium suggests the use of the method of reduction to a lower boundary plane, as originally termed by Koefoed in the case of dc resistivity soundings. The layering parameters are so directly derived by a simple iterative procedure. The method is applicable for any number of layers but only when both apparent resistivity and phase-lag soundingmore » curves are jointly available. Moreover no sophisticated algorithm is required: a simple desk electronic calculator together with a sheet of two-layer apparent resistivity and phase-lag master curves are sufficient to reproduce earth sections which, in the range of equivalence, are all consistent with field data.« less

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.

Deep structure of the Alborz Mountains by joint inversion of P receiver functions and dispersion curves

NASA Astrophysics Data System (ADS)

Rastgoo, Mehdi; Rahimi, Habib; Motaghi, Khalil; Shabanian, Esmaeil; Romanelli, Fabio; Panza, Giuliano F.

2018-04-01

The Alborz Mountains represent a tectonically and seismically active convergent boundary in the Arabia - Eurasia collision zone, in western Asia. The orogenic belt has undergone a long-lasted tectono-magmatic history since the Cretaceous. The relationship between shallow and deep structures in this complex tectonic domain is not straightforward. We present a 2D velocity model constructed by the assemblage of 1D shear wave velocity (Vs) models from 26 seismic stations, mainly distributed along the southern flank of the Alborz Mountains. The shear wave velocity structure has been estimated beneath each station using joint inversion of P-waves receiver functions and Rayleigh wave dispersion curves. A substantiation of the Vs inversion results sits on the modeling of Bouguer gravity anomaly data. Our velocity and density models show low velocity/density anomalies in uppermost mantle of western and central Alborz at a depth range of ∼50-100 km. In deeper parts of the uppermost mantle (depth range of 100-150 km), a high velocity/density anomaly is located beneath most of the Mountain range. The spatial pattern of these low and high velocity/density structures in the upper mantle is interpreted as the result of post collisional delamination of lower part of the western and central Alborz lithosphere.

3D joint inversion modeling of the lithospheric density structure based on gravity, geoid and topography data — Application to the Alborz Mountains (Iran) and South Caspian Basin region

NASA Astrophysics Data System (ADS)

Motavalli-Anbaran, Seyed-Hani; Zeyen, Hermann; Ebrahimzadeh Ardestani, Vahid

2013-02-01

We present a 3D algorithm to obtain the density structure of the lithosphere from joint inversion of free air gravity, geoid and topography data based on a Bayesian approach with Gaussian probability density functions. The algorithm delivers the crustal and lithospheric thicknesses and the average crustal density. Stabilization of the inversion process may be obtained through parameter damping and smoothing as well as use of a priori information like crustal thicknesses from seismic profiles. The algorithm is applied to synthetic models in order to demonstrate its usefulness. A real data application is presented for the area of northern Iran (with the Alborz Mountains as main target) and the South Caspian Basin. The resulting model shows an important crustal root (up to 55 km) under the Alborz Mountains and a thin crust (ca. 30 km) under the southernmost South Caspian Basin thickening northward to the Apsheron-Balkan Sill to 45 km. Central and NW Iran is underlain by a thin lithosphere (ca. 90-100 km). The lithosphere thickens under the South Caspian Basin until the Apsheron-Balkan Sill where it reaches more than 240 km. Under the stable Turan platform, we find a lithospheric thickness of 160-180 km.