Reachability and Real-Time Actuation Strategies for the Active SLIP Model

DTIC Science & Technology

2015-06-01

spring leg, the Spring Loaded Inverted Pendulum (SLIP) is a prevalent model for analyzing running and hopping. In this work we consider an actuated...forced symmetry of the stance phase for the Spring-Loaded Inverted Pendulum , In Proceedings of the 2012 IEEE International Conference on Robotics and...Networks. Automatica, 49(1):206-213, 2013 (v) G. Piovan and K. Byl. Enforced symmetry of the stance phase for the spring-loaded inverted pendulum . In

Inverting the Pendulum Using Fuzzy Control (Center Director's Discretionary Fund (Project 93-02)

NASA Technical Reports Server (NTRS)

Kissel, R. R.; Sutherland, W. T.

1997-01-01

A single pendulum was simulated in software and then built on a rotary base. A fuzzy controller was used to show its advantages as a nonlinear controller since bringing the pendulum inverted is extremely nonlinear. The controller was implemented in a Motorola 6811 microcontroller. A double pendulum was simulated and fuzzy control was used to hold it in a vertical position. The double pendulum was not built into hardware for lack of time. This project was for training and to show advantages of fuzzy control.

The frequency of human, manual adjustments in balancing an inverted pendulum is constrained by intrinsic physiological factors

PubMed Central

Loram, Ian D; Gawthrop, Peter J; Lakie, Martin

2006-01-01

While standing naturally and when manually or pedally balancing an equivalent inverted pendulum, the load sways slowly (characteristic unidirectional duration ∼1 s) and the controller, calf muscles or hand, makes more frequent adjustments (characteristic unidirectional duration 400 ms). Here we test the hypothesis that these durations reflect load properties rather than some intrinsic property of the human neuromuscular system. Using a specialized set-up mechanically analogous to real standing, subjects manually balanced inverted pendulums with different moments of inertia through a compliant spring representing the Achilles tendon. The spring bias was controlled by a sensitive joystick via a servo motor and accurate visual feedback was provided on an oscilloscope. As moment of inertia decreased, inverted pendulum sway size increased and it became difficult to sustain successful balance. The mean duration of unidirectional balance adjustments did not change. Moreover, the mean duration of unidirectional inverted pendulum sway reduced only slightly, remaining around 1 s. The simplest explanation is that balance was maintained by a process of manual adjustments intrinsically limited to a mean frequency of two to three unidirectional adjustments per second corresponding to intermittent control observed in manual tracking experiments. Consequently the inverted pendulum sway duration, mechanically related to the bias duration, reflects an intrinsic constraint of the neuromuscular control system. Given the similar durations of sway and muscle adjustments observed in real standing, we postulate that the characteristic duration of unidirectional standing sway reflects intrinsic intermittent control rather than the inertial properties of the body. PMID:16973712

Technical strategy of triple jump: differences of inverted pendulum model between hop-dominated and balance techniques.

PubMed

Fujibayashi, Nobuaki; Otsuka, Mitsuo; Yoshioka, Shinsuke; Isaka, Tadao

2017-10-24

The present study aims to cross-sectionally clarify the characteristics of the motions of an inverted pendulum model, a stance leg, a swing leg and arms in different triple-jumping techniques to understand whether or not hop displacement is relatively longer rather than step and jump displacements. Eighteen male athletes performed the triple jump with a full run-up. Based on the technique of the jumpers, they were classified as hop-dominated (n = 10) or balance (n = 8) jumpers. The kinematic data were calculated using motion capture and compared between the two techniques using the inverted pendulum model. The hop-dominated jumpers had a significantly longer hop displacement and faster vertical centre-of-mass (COM) velocity of their whole body at hop take-off, which was generated by faster rotation behaviours of inverted pendulum model and faster swinging behaviours of arms. Conversely, balance jumpers had a significantly longer jump displacement and faster horizontal COM velocity of their whole body at take-off, which was generated by a stiffer inverted pendulum model and stance leg. The results demonstrate that hop-dominated and balance jumpers enhanced each dominated-jump displacement using different swing- and stance-leg motions. This information may help to enhance the actual displacement of triple jumpers using different jumping techniques.

Response of pendulums to complex input ground motion

USGS Publications Warehouse

Graizer, V.; Kalkan, E.

2008-01-01

Dynamic response of most seismological instruments and many engineering structures to ground shaking can be represented via response of a pendulum (single-degree-of-freedom oscillator). In most studies, pendulum response is simplified by considering the input from uni-axial translational motion alone. Complete ground motion however, includes not only translational components but also rotations (tilt and torsion). In this paper, complete equations of motion for three following types of pendulum are described: (i) conventional (mass-on-rod), (ii) mass-on-spring type, and (iii) inverted (astatic), then their response sensitivities to each component of complex ground motion are examined. The results of this study show that a horizontal pendulum similar to an accelerometer used in strong motion measurements is practically sensitive to translational motion and tilt only, while inverted pendulum commonly utilized to idealize multi-degree-of-freedom systems is sensitive not only to translational components, but also to angular accelerations and tilt. For better understanding of the inverted pendulum's dynamic behavior under complex ground excitation, relative contribution of each component of motion on response variants is carefully isolated. The systematically applied loading protocols indicate that vertical component of motion may create time-dependent variations on pendulum's oscillation period; yet most dramatic impact on response is produced by the tilting (rocking) component. ?? 2007 Elsevier Ltd. All rights reserved.

Lyapunov optimal feedback control of a nonlinear inverted pendulum

NASA Technical Reports Server (NTRS)

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

1989-01-01

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

Stability of controlled inverted pendulum under permanent horizontal perturbations of the supporting point

NASA Astrophysics Data System (ADS)

Aleksandrov, V. V.; Reyes-Romero, M.; Sidorenko, G. Yu.; Temoltzi-Auila, R.

2010-04-01

We consider the problem of choosing a test perturbation of a movable foundation of a single-link inverted pendulum so as to test a vestibular prosthesis prototype located at the top of this pendulum in an extreme situation. The obtained results permit concluding that the information transmitted from otolithic organs of the human vestibular system to muscles of the locomotor apparatus is very important and improves the quality of stabilization of the human vertical posture preventing the possible fall.

Optical Kapitza pendulum

NASA Astrophysics Data System (ADS)

Jones, Philip H.; Smart, Thomas J.; Richards, Christopher J.; Cubero, David

2016-09-01

The Kapitza pendulum is the paradigm for the phenomenon of dynamical stabilization, whereby an otherwise unstable system achieves a stability that is induced by fast modulation of a control parameter. In the classic, macroscopic Kapitza pendulum, a rigid pendulum is stabilized in the upright, inverted pendulum using a particle confined in a ring-shaped optical trap, subject to a drag force via fluid flow and driven via oscillating the potential in a direction parallel to the fluid flow. In the regime of vanishing Reynold's number with high-frequency driving the inverted pendulum is no longer stable, but new equilibrium positions appear that depend on the amplitude of driving. As the driving frequency is decreased a yet different behavior emerges where stability of the pendulum depends also on the details of the pendulum hydrodynamics. We present a theory for the observed induced stability of the overdamped pendulum based on the separation of timescales in the pendulum motion as formulated by Kapitza, but with the addition of a viscous drag. Excellent agreement is found between the predicted behavior from the analytical theory and the experimental results across the range of pendulum driving frequencies. We complement these results with Brownian motion simulations, and we characterize the stabilized pendulum by both time- and frequency-domain analyses of the pendulum Brownian motion.

A composite controller for trajectory tracking applied to the Furuta pendulum.

PubMed

Aguilar-Avelar, Carlos; Moreno-Valenzuela, Javier

2015-07-01

In this paper, a new composite scheme is proposed, where the total control action is composed of the sum of a feedback-linearization-based controller and an energy-based compensation. This new proposition is applied to the rotary inverted pendulum or Furuta pendulum. The Furuta pendulum is a well-known underactuated mechanical system with two degrees of freedom. The control objective in this case is the tracking of a desired periodic trajectory in the actuated joint, while the unactuated link is regulated at the upward position. The closed-loop system is analyzed showing uniformly ultimately boundedness of the error trajectories. The design procedure is shown in a constructive form, such that it may be applied to other underactuated mechanical systems, with the proper definitions of the output function and the energy function. Numerical simulations and real-time experiments show the practical viability of the controller. Finally, the proposed algorithm is compared with a tracking controller previously reported in the literature. The new algorithm shows better performance in both arm trajectory tracking and pendulum regulation. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Interpreting lateral dynamic weight shifts using a simple inverted pendulum model.

PubMed

Kennedy, Michael W; Bretl, Timothy; Schmiedeler, James P

2014-01-01

Seventy-five young, healthy adults completed a lateral weight-shifting activity in which each shifted his/her center of pressure (CoP) to visually displayed target locations with the aid of visual CoP feedback. Each subject's CoP data were modeled using a single-link inverted pendulum system with a spring-damper at the joint. This extends the simple inverted pendulum model of static balance in the sagittal plane to lateral weight-shifting balance. The model controlled pendulum angle using PD control and a ramp setpoint trajectory, and weight-shifting was characterized by both shift speed and a non-minimum phase (NMP) behavior metric. This NMP behavior metric examines the force magnitude at shift initiation and provides weight-shifting balance performance information that parallels the examination of peak ground reaction forces in gait analysis. Control parameters were optimized on a subject-by-subject basis to match balance metrics for modeled results to metric values calculated from experimental data. Overall, the model matches experimental data well (average percent error of 0.35% for shifting speed and 0.05% for NMP behavior). These results suggest that the single-link inverted pendulum model can be used effectively to capture lateral weight-shifting balance, as it has been shown to model static balance. Copyright © 2014 Elsevier B.V. All rights reserved.

A new paradigm for human stick balancing: a suspended not an inverted pendulum.

PubMed

Lee, Kwee-Yum; O'Dwyer, Nicholas; Halaki, Mark; Smith, Richard

2012-09-01

We studied 14 skilled subjects balancing a stick (a television antenna, 52 cm, 34 g) on their middle fingertip. Comprehensive three-dimensional analyses revealed that the movement of the finger was 1.75 times that of the stick tip, such that the balanced stick behaved more like a normal noninverted pendulum than the inverted pendulum common to engineering models for stick balancing using motors. The average relation between the torque applied to the stick and its angle of deviation from the vertical was highly linear, consistent with simple harmonic motion. We observed clearly greater rotational movement of the stick in the anteroposterior plane than the mediolateral plane. Despite this magnitude difference, the duration of stick oscillatory cycles was very similar in both planes, again consistent with simple harmonic motion. The control parameter in balancing was the ratio of active torque applied to the stick relative to gravitational torque. It determined both the pivot point and oscillatory cycle period of the pendulum. The pivot point was located at the radius of gyration (about the centre of mass) of the stick from its centre of mass, showing that the subjects attuned to the gravitational dynamics and mass distribution of the stick. Hence, the key to controlling instability here was mastery of the physics of the unstable object. The radius of gyration may--similar to centre of mass--contribute to the kinesthesis of rotating limb segments and control of their gravitational dynamics.

Square-Wave Model for a Pendulum with Oscillating Suspension

ERIC Educational Resources Information Center

Yorke, Ellen D.

1978-01-01

Demonstrates that if a sinusoidal oscillation of the point of support of a pendulum is approximated by a square wave, a matrix method may be used to discuss parametric resonance and the stability of the inverted pendulum. (Author/SL)

Reinforcement learning for stabilizing an inverted pendulum naturally leads to intermittent feedback control as in human quiet standing.

PubMed

Michimoto, Kenjiro; Suzuki, Yasuyuki; Kiyono, Ken; Kobayashi, Yasushi; Morasso, Pietro; Nomura, Taishin

2016-08-01

Intermittent feedback control for stabilizing human upright stance is a promising strategy, alternative to the standard time-continuous stiffness control. Here we show that such an intermittent controller can be established naturally through reinforcement learning. To this end, we used a single inverted pendulum model of the upright posture and a very simple reward function that gives a certain amount of punishments when the inverted pendulum falls or changes its position in the state space. We found that the acquired feedback controller exhibits hallmarks of the intermittent feedback control strategy, namely the action of the feedback controller is switched-off intermittently when the state of the pendulum is located near the stable manifold of the unstable saddle-type upright equilibrium of the inverted pendulum with no active control: this action provides an opportunity to exploit transiently converging dynamics toward the unstable upright position with no help of the active feedback control. We then speculate about a possible physiological mechanism of such reinforcement learning, and suggest that it may be related to the neural activity in the pedunculopontine tegmental nucleus (PPN) of the brainstem. This hypothesis is supported by recent evidence indicating that PPN might play critical roles for generation and regulation of postural tonus, reward prediction, as well as postural instability in patients with Parkinson's disease.

Intermittent Feedback-Control Strategy for Stabilizing Inverted Pendulum on Manually Controlled Cart as Analogy to Human Stick Balancing

PubMed Central

Yoshikawa, Naoya; Suzuki, Yasuyuki; Kiyono, Ken; Nomura, Taishin

2016-01-01

The stabilization of an inverted pendulum on a manually controlled cart (cart-inverted-pendulum; CIP) in an upright position, which is analogous to balancing a stick on a fingertip, is considered in order to investigate how the human central nervous system (CNS) stabilizes unstable dynamics due to mechanical instability and time delays in neural feedback control. We explore the possibility that a type of intermittent time-delayed feedback control, which has been proposed for human postural control during quiet standing, is also a promising strategy for the CIP task and stick balancing on a fingertip. Such a strategy hypothesizes that the CNS exploits transient contracting dynamics along a stable manifold of a saddle-type unstable upright equilibrium of the inverted pendulum in the absence of control by inactivating neural feedback control intermittently for compensating delay-induced instability. To this end, the motions of a CIP stabilized by human subjects were experimentally acquired, and computational models of the system were employed to characterize the experimental behaviors. We first confirmed fat-tailed non-Gaussian temporal fluctuation in the acceleration distribution of the pendulum, as well as the power-law distributions of corrective cart movements for skilled subjects, which was previously reported for stick balancing. We then showed that the experimental behaviors could be better described by the models with an intermittent delayed feedback controller than by those with the conventional continuous delayed feedback controller, suggesting that the human CNS stabilizes the upright posture of the pendulum by utilizing the intermittent delayed feedback-control strategy. PMID:27148031

Intermittent Feedback-Control Strategy for Stabilizing Inverted Pendulum on Manually Controlled Cart as Analogy to Human Stick Balancing.

PubMed

Yoshikawa, Naoya; Suzuki, Yasuyuki; Kiyono, Ken; Nomura, Taishin

2016-01-01

The stabilization of an inverted pendulum on a manually controlled cart (cart-inverted-pendulum; CIP) in an upright position, which is analogous to balancing a stick on a fingertip, is considered in order to investigate how the human central nervous system (CNS) stabilizes unstable dynamics due to mechanical instability and time delays in neural feedback control. We explore the possibility that a type of intermittent time-delayed feedback control, which has been proposed for human postural control during quiet standing, is also a promising strategy for the CIP task and stick balancing on a fingertip. Such a strategy hypothesizes that the CNS exploits transient contracting dynamics along a stable manifold of a saddle-type unstable upright equilibrium of the inverted pendulum in the absence of control by inactivating neural feedback control intermittently for compensating delay-induced instability. To this end, the motions of a CIP stabilized by human subjects were experimentally acquired, and computational models of the system were employed to characterize the experimental behaviors. We first confirmed fat-tailed non-Gaussian temporal fluctuation in the acceleration distribution of the pendulum, as well as the power-law distributions of corrective cart movements for skilled subjects, which was previously reported for stick balancing. We then showed that the experimental behaviors could be better described by the models with an intermittent delayed feedback controller than by those with the conventional continuous delayed feedback controller, suggesting that the human CNS stabilizes the upright posture of the pendulum by utilizing the intermittent delayed feedback-control strategy.

Functional Role of the Front and Back Legs During a Track Start with Special Reference to an Inverted Pendulum Model in College Swimmers.

PubMed

Ikeda, Yusuke; Ichikawa, Hiroshi; Nara, Rio; Baba, Yasuhiro; Shimoyama, Yoshimitsu; Kubo, Yasuyuki

2016-10-01

This study investigated factors that determine the velocity of the center of mass (CM) and flight distance from a track start to devise effective technical and physical training methods. Nine male and 5 female competitive swimmers participated in this study. Kinematics and ground reaction forces of the front and back legs were recorded using a video camera and force plates. The track start was modeled as an inverted pendulum system including a compliant leg, connecting the CM and front edge of the starting block. The increase in the horizontal velocity of the CM immediately after the start signal was closely correlated with the rotational component of the inverted pendulum. This rotational component at hands-off was significantly correlated with the average vertical force of the back plate from the start signal to hands-off (r = .967, P < .001). The flight distance / height was significantly correlated with the average vertical force of the front plate from the back foot-off to front foot-off (r = .783, P < .01). The results indicate that the legs on the starting block in the track start play a different role in the behavior of the inverted pendulum.

Anticipation by basketball defenders: an explanation based on the three-dimensional inverted pendulum model.

PubMed

Fujii, Keisuke; Shinya, Masahiro; Yamashita, Daichi; Kouzaki, Motoki; Oda, Shingo

2014-01-01

We previously estimated the timing when ball game defenders detect relevant information through visual input for reacting to an attacker's running direction after a cutting manoeuvre, called cue timing. The purpose of this study was to investigate what specific information is relevant for defenders, and how defenders process this information to decide on their opponents' running direction. In this study, we hypothesised that defenders extract information regarding the position and velocity of the attackers' centre of mass (CoM) and the contact foot. We used a model which simulates the future trajectory of the opponent's CoM based upon an inverted pendulum movement. The hypothesis was tested by comparing observed defender's cue timing, model-estimated cue timing using the inverted pendulum model (IPM cue timing) and cue timing using only the current CoM position (CoM cue timing). The IPM cue timing was defined as the time when the simulated pendulum falls leftward or rightward given the initial values for position and velocity of the CoM and the contact foot at the time. The model-estimated IPM cue timing and the empirically observed defender's cue timing were comparable in median value and were significantly correlated, whereas the CoM cue timing was significantly more delayed than the IPM and the defender's cue timings. Based on these results, we discuss the possibility that defenders may be able to anticipate the future direction of an attacker by forwardly simulating inverted pendulum movement.

Dynamic stabilization of an optomechanical oscillator

DTIC Science & Technology

2014-10-20

respectively. The proper frequency of the pendulum is ω0 = √ g/, where g is the gravitational acceleration and is the length of the pendulum . The...controlled experiments. In this paper we discuss one such situation, the dynamic stabilization of a mechanical system such as an inverted pendulum . The...quantumoptomechanics, macroscopic quantum system, dynamic stabilization, Kapitza pendulum REPORT DOCUMENTATION PAGE 11. SPONSOR/MONITOR’S REPORT NUMBER(S

Predictive Feature Selection for Genetic Policy Search

DTIC Science & Technology

2014-05-22

inverted pendulum balancing problem (Gomez and Miikkulainen, 1999), where the agent must learn a policy in a continuous state space using discrete...algorithms to automate the process of training and/or designing NNs, mitigate these drawbacks and allow NNs to be easily applied to RL domains (Sher, 2012...racing simulator and the double inverted pendulum balance environments. It also includes parameter settings for all algorithms included in the study

Computer simulation of multigrid body dynamics and control

NASA Technical Reports Server (NTRS)

Swaminadham, M.; Moon, Young I.; Venkayya, V. B.

1990-01-01

The objective is to set up and analyze benchmark problems on multibody dynamics and to verify the predictions of two multibody computer simulation codes. TREETOPS and DISCOS have been used to run three example problems - one degree-of-freedom spring mass dashpot system, an inverted pendulum system, and a triple pendulum. To study the dynamics and control interaction, an inverted planar pendulum with an external body force and a torsional control spring was modeled as a hinge connected two-rigid body system. TREETOPS and DISCOS affected the time history simulation of this problem. System state space variables and their time derivatives from two simulation codes were compared.

Human balancing of an inverted pendulum: position control by small, ballistic-like, throw and catch movements

PubMed Central

Loram, Ian D; Lakie, Martin

2002-01-01

In standing, there are small sways of the body. Our interest is to use an artificial task to illuminate the mechanisms underlying the sways and to account for changes in their size. Using the ankle musculature, subjects balanced a large inverted pendulum. The equilibrium of the pendulum is unstable and quasi-regular sway was observed like that in quiet standing. By giving full attention to minimising sway subjects could systematically reduce pendulum movement. The pendulum position, the torque generated at each ankle and the soleus and tibialis anterior EMGs were recorded. Explanations about how the human inverted pendulum is balanced usually ignore the fact that balance is maintained over a range of angles and not just at one angle. Any resting equilibrium position of the pendulum is unstable and in practice temporary; movement to a different resting equilibrium position can only be accomplished by a biphasic ‘throw and catch’ pattern of torque and not by an elastic mechanism. Results showed that balance was achieved by the constant repetition of a neurally generated ballistic-like biphasic pattern of torque which can control both position and sway size. A decomposition technique revealed that there was a substantial contribution to changes in torque from intrinsic mechanical ankle stiffness; however, by itself this was insufficient to maintain balance or to control position. Minimisation of sway size was caused by improvement in the accuracy of the anticipatory torque impulses. We hypothesise that examination of centre of mass and centre of pressure data for quiet standing will duplicate these results. PMID:11986396

Acceleration control system for semi-active in-car crib with joint application of regular and inverted pendulum mechanisms

NASA Astrophysics Data System (ADS)

Kawashima, T.

2016-09-01

To reduce the risk of injury to an infant in an in-car crib (or in a child safety bed) collision shock during a car crash, it is necessary to maintain a constant force acting on the crib below a certain allowable value. To realize this objective, we propose a semi-active in-car crib system with the joint application of regular and inverted pendulum mechanisms. The arms of the proposed crib system support the crib like a pendulum while the pendulum system itself is supported like an inverted pendulum by the arms. In addition, the friction torque of each arm is controlled using a brake mechanism that enables the proposed in-car crib to decrease the acceleration of the crib gradually and maintain it around the target value. This system not only reduces the impulsive force but also transfers the force to the infant's back using a spin control system, i.e., the impulse force acts is made to act perpendicularly on the crib. The spin control system was developed in our previous work. This work focuses on the acceleration control system. A semi-active control law with acceleration feedback is introduced, and the effectiveness of the system is demonstrated using numerical simulation and model experiment.

Maple[R] Version of the "Indian Rope Trick". Classroom Notes

ERIC Educational Resources Information Center

Knight, D. G.

2004-01-01

If the point of suspension of a multiple pendulum is suitably oscillated then the pendulum can remain in motion in an upside-down position. Since such pendulums can model flexible materials, this inverted motion is sometimes referred to as an 'Indian rope trick'. Despite the complexity of the governing differential equations, this rope trick can…

A Performance Comparison of Xenon and Krypton Propellant on an SPT-100 Hall Thruster (Preprint)

DTIC Science & Technology

2011-08-10

plume data from electrostatic probes. This paper presents the results of performance measurements made using an inverted pendulum thrust stand. Krypton...inverted pendulum thrust stand. Krypton operating conditions were tested over a large range of operating powers from 800 W to 3.9 kW. Analysis of how...advantages for missions where high thrust at reduced specific impulse is advantageous, primarily for orbit raising missions. Bismuth’s main drawback is

Effect of reduced gravity on the preferred walk-run transition speed

NASA Technical Reports Server (NTRS)

Kram, R.; Domingo, A.; Ferris, D. P.

1997-01-01

We investigated the effect of reduced gravity on the human walk-run gait transition speed and interpreted the results using an inverted-pendulum mechanical model. We simulated reduced gravity using an apparatus that applied a nearly constant upward force at the center of mass, and the subjects walked and ran on a motorized treadmill. In the inverted pendulum model for walking, gravity provides the centripetal force needed to keep the pendulum in contact with the ground. The ratio of the centripetal and gravitational forces (mv2/L)/(mg) reduces to the dimensionless Froude number (v2/gL). Applying this model to a walking human, m is body mass, v is forward velocity, L is leg length and g is gravity. In normal gravity, humans and other bipeds with different leg lengths all choose to switch from a walk to a run at different absolute speeds but at approximately the same Froude number (0.5). We found that, at lower levels of gravity, the walk-run transition occurred at progressively slower absolute speeds but at approximately the same Froude number. This supports the hypothesis that the walk-run transition is triggered by the dynamics of an inverted-pendulum system.

Morphological evolution of spiders predicted by pendulum mechanics.

PubMed

Moya-Laraño, Jordi; Vinković, Dejan; De Mas, Eva; Corcobado, Guadalupe; Moreno, Eulalia

2008-03-26

Animals have been hypothesized to benefit from pendulum mechanics during suspensory locomotion, in which the potential energy of gravity is converted into kinetic energy according to the energy-conservation principle. However, no convincing evidence has been found so far. Demonstrating that morphological evolution follows pendulum mechanics is important from a biomechanical point of view because during suspensory locomotion some morphological traits could be decoupled from gravity, thus allowing independent adaptive morphological evolution of these two traits when compared to animals that move standing on their legs; i.e., as inverted pendulums. If the evolution of body shape matches simple pendulum mechanics, animals that move suspending their bodies should evolve relatively longer legs which must confer high moving capabilities. We tested this hypothesis in spiders, a group of diverse terrestrial generalist predators in which suspensory locomotion has been lost and gained a few times independently during their evolutionary history. In spiders that hang upside-down from their webs, their legs have evolved disproportionately longer relative to their body sizes when compared to spiders that move standing on their legs. In addition, we show how disproportionately longer legs allow spiders to run faster during suspensory locomotion and how these same spiders run at a slower speed on the ground (i.e., as inverted pendulums). Finally, when suspensory spiders are induced to run on the ground, there is a clear trend in which larger suspensory spiders tend to run much more slowly than similar-size spiders that normally move as inverted pendulums (i.e., wandering spiders). Several lines of evidence support the hypothesis that spiders have evolved according to the predictions of pendulum mechanics. These findings have potentially important ecological and evolutionary implications since they could partially explain the occurrence of foraging plasticity and dispersal constraints as well as the evolution of sexual size dimorphism and sociality.

Robust sliding mode control applied to double Inverted pendulum system

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

Mahjoub, Sonia; Derbel, Nabil; Mnif, Faical

A three hierarchical sliding mode control is presented for a class of an underactuated system which can overcome the mismatched perturbations. The considered underactuated system is a double inverted pendulum (DIP), can be modeled by three subsystems. Such structure allows the construction of several designs of hierarchies for the controller. For all hierarchical designs, the asymptotic stability of every layer sliding mode surface and the sliding mode surface of subsystems are proved theoretically by Barbalat's lemma. Simulation results show the validity of these methods.

A Performance and Plume Comparison of Xenon and Krypton Propellant on the SPT-100

DTIC Science & Technology

2012-07-02

HET (1.35 kW), performance measurements were made using an inverted pendulum thrust stand. The plume was also characterized by a Faraday probe and RPA...performance reduction for the case of the flight model SPT-100 HET (1.35 kW), per- formance measurements were made using an inverted pendulum thrust stand...where high thrust at reduced specific impulse is advantageous, such as orbit raising missions. Bismuth’s main drawback is that the metal must be

The time-delayed inverted pendulum: Implications for human balance control

NASA Astrophysics Data System (ADS)

Milton, John; Cabrera, Juan Luis; Ohira, Toru; Tajima, Shigeru; Tonosaki, Yukinori; Eurich, Christian W.; Campbell, Sue Ann

2009-06-01

The inverted pendulum is frequently used as a starting point for discussions of how human balance is maintained during standing and locomotion. Here we examine three experimental paradigms of time-delayed balance control: (1) mechanical inverted time-delayed pendulum, (2) stick balancing at the fingertip, and (3) human postural sway during quiet standing. Measurements of the transfer function (mechanical stick balancing) and the two-point correlation function (Hurst exponent) for the movements of the fingertip (real stick balancing) and the fluctuations in the center of pressure (postural sway) demonstrate that the upright fixed point is unstable in all three paradigms. These observations imply that the balanced state represents a more complex and bounded time-dependent state than a fixed-point attractor. Although mathematical models indicate that a sufficient condition for instability is for the time delay to make a corrective movement, τn, be greater than a critical delay τc that is proportional to the length of the pendulum, this condition is satisfied only in the case of human stick balancing at the fingertip. Thus it is suggested that a common cause of instability in all three paradigms stems from the difficulty of controlling both the angle of the inverted pendulum and the position of the controller simultaneously using time-delayed feedback. Considerations of the problematic nature of control in the presence of delay and random perturbations ("noise") suggest that neural control for the upright position likely resembles an adaptive-type controller in which the displacement angle is allowed to drift for small displacements with active corrections made only when θ exceeds a threshold. This mechanism draws attention to an overlooked type of passive control that arises from the interplay between retarded variables and noise.

Stability and Control of Human Trunk Movement During Walking.

PubMed

Wu, Q.; Sepehri, N.; Thornton-Trump, A. B.; Alexander, M.

1998-01-01

A mathematical model has been developed to study the control mechanisms of human trunk movement during walking. The trunk is modeled as a base-excited inverted pendulum with two-degrees of rotational freedom. The base point, corresponding to the bony landmark of the sacrum, can move in three-dimensional space in a general way. Since the stability of upright posture is essential for human walking, a controller has been designed such that the stability of the pendulum about the upright position is guaranteed. The control laws are developed based on Lyapunov's stability theory and include feedforward and linear feedback components. It is found that the feedforward component plays a critical role in keeping postural stability, and the linear feedback component, (resulting from viscoelastic function of the musculoskeletal system) can effectively duplicate the pattern of trunk movement. The mathematical model is validated by comparing the simulation results with those based on gait measurements performed in the Biomechanics Laboratory at the University of Manitoba.

A New Fuzzy-Evidential Controller for Stabilization of the Planar Inverted Pendulum System

PubMed Central

Tang, Yongchuan; Zhou, Deyun

2016-01-01

In order to realize the stability control of the planar inverted pendulum system, which is a typical multi-variable and strong coupling system, a new fuzzy-evidential controller based on fuzzy inference and evidential reasoning is proposed. Firstly, for each axis, a fuzzy nine-point controller for the rod and a fuzzy nine-point controller for the cart are designed. Then, in order to coordinate these two controllers of each axis, a fuzzy-evidential coordinator is proposed. In this new fuzzy-evidential controller, the empirical knowledge for stabilization of the planar inverted pendulum system is expressed by fuzzy rules, while the coordinator of different control variables in each axis is built incorporated with the dynamic basic probability assignment (BPA) in the frame of fuzzy inference. The fuzzy-evidential coordinator makes the output of the control variable smoother, and the control effect of the new controller is better compared with some other work. The experiment in MATLAB shows the effectiveness and merit of the proposed method. PMID:27482707

A New Fuzzy-Evidential Controller for Stabilization of the Planar Inverted Pendulum System.

PubMed

Tang, Yongchuan; Zhou, Deyun; Jiang, Wen

2016-01-01

In order to realize the stability control of the planar inverted pendulum system, which is a typical multi-variable and strong coupling system, a new fuzzy-evidential controller based on fuzzy inference and evidential reasoning is proposed. Firstly, for each axis, a fuzzy nine-point controller for the rod and a fuzzy nine-point controller for the cart are designed. Then, in order to coordinate these two controllers of each axis, a fuzzy-evidential coordinator is proposed. In this new fuzzy-evidential controller, the empirical knowledge for stabilization of the planar inverted pendulum system is expressed by fuzzy rules, while the coordinator of different control variables in each axis is built incorporated with the dynamic basic probability assignment (BPA) in the frame of fuzzy inference. The fuzzy-evidential coordinator makes the output of the control variable smoother, and the control effect of the new controller is better compared with some other work. The experiment in MATLAB shows the effectiveness and merit of the proposed method.

High-power, null-type, inverted pendulum thrust stand.

PubMed

Xu, Kunning G; Walker, Mitchell L R

2009-05-01

This article presents the theory and operation of a null-type, inverted pendulum thrust stand. The thrust stand design supports thrusters having a total mass up to 250 kg and measures thrust over a range of 1 mN to 5 N. The design uses a conventional inverted pendulum to increase sensitivity, coupled with a null-type feature to eliminate thrust alignment error due to deflection of thrust. The thrust stand position serves as the input to the null-circuit feedback control system and the output is the current to an electromagnetic actuator. Mechanical oscillations are actively damped with an electromagnetic damper. A closed-loop inclination system levels the stand while an active cooling system minimizes thermal effects. The thrust stand incorporates an in situ calibration rig. The thrust of a 3.4 kW Hall thruster is measured for thrust levels up to 230 mN. The uncertainty of the thrust measurements in this experiment is +/-0.6%, determined by examination of the hysteresis, drift of the zero offset and calibration slope variation.

Intermittent control with ankle, hip, and mixed strategies during quiet standing: a theoretical proposal based on a double inverted pendulum model.

PubMed

Suzuki, Yasuyuki; Nomura, Taishin; Casadio, Maura; Morasso, Pietro

2012-10-07

Human upright posture, as a mechanical system, is characterized by an instability of saddle type, involving both stable and unstable dynamic modes. The brain stabilizes such system by generating active joint torques, according to a time-delayed neural feedback control. What is still unsolved is a clear understanding of the control strategies and the control mechanisms that are used by the central nervous system in order to stabilize the unstable posture in a robust way while maintaining flexibility. Most studies in this direction have been limited to the single inverted pendulum model, which is useful for formalizing fundamental mechanical aspects but insufficient for addressing more general issues concerning neural control strategies. Here we consider a double inverted pendulum model in the sagittal plane with small passive viscoelasticity at the ankle and hip joints. Despite difficulties in stabilizing the double pendulum model in the presence of the large feedback delay, we show that robust and flexible stabilization of the upright posture can be established by an intermittent control mechanism that achieves the goal of stabilizing the body posture according to a "divide and conquer strategy", which switches among different controllers in different parts of the state space of the double inverted pendulum. Remarkably, it is shown that a global, robust stability is achieved even if the individual controllers are unstable and the information exploited for switching from one controller to another is severely delayed, as it happens in biological reality. Moreover, the intermittent controller can automatically resolve coordination among multiple active torques associated with the muscle synergy, leading to the emergence of distinct temporally coordinated active torque patterns, referred to as the intermittent ankle, hip, and mixed strategies during quiet standing, depending on the passive elasticity at the hip joint. Copyright © 2012 Elsevier Ltd. All rights reserved.

Ultra-Stable Beacon Source for Laboratory Testing of Optical Tracking

NASA Technical Reports Server (NTRS)

Aso, Yoichi; Marka, Szabolcs; Kovalik, Joseph

2008-01-01

The ultra-stable beacon source (USBS) provides a laser-beam output with a very low angular jitter and can be used as an absolute angular reference to simulate a beacon in the laboratory. The laser is mounted on the top of a very short (approximately equal to 1 m) inverted pendulum (IP) with its optical axis parallel to the carbon fiber pendulum leg. The 85-cm, carbon fiber rods making up the leg are very lightweight and rigid, and are supported by a flex-joint at the bottom (see figure). The gimbal-mounted laser is a weight-adjustable load of about 1.5 kg with its center of rotation co-located with the center of percussion of the inverted pendulum. This reduces the coupling of transverse motion at the base of the pendulum to angular motion of the laser at the top. The inverted pendulum is mounted on a gimbal with its center of rotation coinciding with the pivot position of the inverted pendulum flexure joint. This reduces coupling of ground tilt at the inverted pendulum base to motion of the laser mounted at the top. The mass of the top gimbal is adjusted to give the pendulum a very low resonant frequency (approximately equal to 10 mHz) that filters transverse seismic disturbances from the ground where the base is attached. The motion of the IP is monitored by an optical-lever sensor. The laser light is reflected by the mirror on the IP, and then is detected by a quadrant photo-detector (QPD). The position of the beam spot on the QPD corresponds to the tilt of the IP. Damping of this motion is provided by two coil and magnet pairs. The bottom gimbal mount consists of two plates. The IP is mounted on the second plate. The first plate is supported by two posts through needles and can be rotated about the axis connecting the tips of the needles. The second plate hangs from the first plate and can be rotated about the axis perpendicular to the first plate. As a result, the second plate acts as a two-axis rotation stage. Its center of rotation is located at the effective bending point of the flex-joint. The second plate is pressed against two screw actuators by the weight of the IP. The screw actuators are orthogonal to each other and are used to adjust the inclination of the second plate. The actuators are driven by stepper motors. The whole IP system is housed in a box made of Lexan plastic plates to provide isolation from air currents and temperature variations. The signals from the sensors are processed and recorded with a PC using the xPC Target realtime environment of Math- Works. The control algorithms are written using the Simulink package from The MathWorks.

Dynamic Modeling and Simulation of a Rotational Inverted Pendulum

NASA Astrophysics Data System (ADS)

Duart, J. L.; Montero, B.; Ospina, P. A.; González, E.

2017-01-01

This paper presents an alternative way to the dynamic modeling of a rotational inverted pendulum using the classic mechanics known as Euler-Lagrange allows to find motion equations that describe our model. It also has a design of the basic model of the system in SolidWorks software, which based on the material and dimensions of the model provides some physical variables necessary for modeling. In order to verify the theoretical results, It was made a contrast between the solutions obtained by simulation SimMechanics-Matlab and the system of equations Euler-Lagrange, solved through ODE23tb method included in Matlab bookstores for solving equations systems of the type and order obtained. This article comprises a pendulum trajectory analysis by a phase space diagram that allows the identification of stable and unstable regions of the system.

Naturally Inspired Firefly Controller For Stabilization Of Double Inverted Pendulum

NASA Astrophysics Data System (ADS)

Srikanth, Kavirayani; Nagesh, Gundavarapu

2015-12-01

A double inverted pendulum plant as an established model that is analyzed as part of this work was tested under the influence of time delay, where the controller was fine tuned using a firefly algorithm taking into considering the fitness function of variation of the cart position and to minimize the cart position displacement and still stabilize it effectively. The naturally inspired algorithm which imitates the fireflies definitely is an energy efficient method owing to the inherent logic of the way the fireflies respond collectively and has shown that critical time delays makes the system healthy.

Reinforcement learning: Solving two case studies

NASA Astrophysics Data System (ADS)

Duarte, Ana Filipa; Silva, Pedro; dos Santos, Cristina Peixoto

2012-09-01

Reinforcement Learning algorithms offer interesting features for the control of autonomous systems, such as the ability to learn from direct interaction with the environment, and the use of a simple reward signalas opposed to the input-outputs pairsused in classic supervised learning. The reward signal indicates the success of failure of the actions executed by the agent in the environment. In this work, are described RL algorithmsapplied to two case studies: the Crawler robot and the widely known inverted pendulum. We explore RL capabilities to autonomously learn a basic locomotion pattern in the Crawler, andapproach the balancing problem of biped locomotion using the inverted pendulum.

Motion of a pendulum with damping and vibrating axis of suspension at unconventional values of parameters

NASA Astrophysics Data System (ADS)

Demidov, Ivan; Sorokin, Vladislav

2018-05-01

Motion of a pendulum with damping and vibrating axis of suspension is considered at unconventional values of parameters. Case when the frequency of external loading and the natural frequency of the pendulum in the absence of this loading are of the same order is studied. Vibration intensity is assumed to be relatively low. In this case, the corresponding equation of the pendulum's motions doesn't involve an explicit small parameter. To solve the equation a new modification of the method of direct separation of motions is used. As the result, stability conditions of the pendulum inverted position are determined. Effects of damping on these conditions are discussed.

The quadruped robot adaptive control in trotting gait walking on slopes

NASA Astrophysics Data System (ADS)

Zhang, Shulong; Ma, Hongxu; Yang, Yu; Wang, Jian

2017-10-01

The quadruped robot can be decomposed into a planar seven-link closed kinematic chain in the direction of supporting line and a linear inverted pendulum in normal direction of supporting line. The ground slope can be estimated by using the body attitude information and supporting legs length. The slope degree is used in feedback, to achieve the point of quadruped robot adaptive control walking on slopes. The simulation results verify that the quadruped robot can achieves steady locomotion on the slope with the control strategy proposed in this passage.

Nonlinear adaptive networks: A little theory, a few applications

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

Jones, R.D.; Qian, S.; Barnes, C.W.

1990-01-01

We present the theory of nonlinear adaptive networks and discuss a few applications. In particular, we review the theory of feedforward backpropagation networks. We than present the theory of the Connectionist Normalized Linear Spline network in both its feedforward and iterated modes. Also, we briefly discuss the theory of stochastic cellular automata. We then discuss applications to chaotic time series tidal prediction in Venice Lagoon, sonar transient detection, control of nonlinear processes, balancing a double inverted pendulum and design advice for free electron lasers. 26 refs., 23 figs.

Moving beyond quiet stance: applicability of the inverted pendulum model to stooping and crouching postures.

PubMed

Weaver, Tyler B; Glinka, Michal N; Laing, Andrew C

2014-11-07

Currently, it is unknown whether the inverted pendulum model is applicable to stooping or crouching postures. Therefore, the aim of this study was to determine the degree of applicability of the inverted pendulum model to these postures, via examination of the relationship between the centre of mass (COM) acceleration and centre of pressure (COP)-COM difference. Ten young adults held static standing, stooping and crouching postures, each for 20s. For both the anterior-posterior (AP) and medio-lateral (ML) directions, the time-varying COM acceleration and the COP-COM were computed, and the relationship between these two variables was determined using Pearson's correlation coefficients. Additionally, in both directions, the average absolute COM acceleration, average absolute COP-COM signal, and the inertial component (i.e., -I/Wh) were compared across postures. Pearson correlation coefficients revealed a significant negative relationship between the COM acceleration and COP-COM signal for all comparisons, regardless of the direction (p<0.001). While no effect of posture was observed in the AP direction (p=0.463), in the ML direction, the correlation coefficients for stooping were different (i.e., stronger) than standing (p=0.008). Regardless of direction, the average absolute COM acceleration for both the stooping and crouching postures was greater than standing (p<0.002). The high correlations indicate that the inverted pendulum model is applicable to stooping and crouching postures. Due to their importance in completing activities of daily living, there is merit in determining what type of motor strategies are used to control such postures and whether these strategies change with age. Crown Copyright © 2014. Published by Elsevier Ltd. All rights reserved.

Estimation of Alpine Skier Posture Using Machine Learning Techniques

PubMed Central

Nemec, Bojan; Petrič, Tadej; Babič, Jan; Supej, Matej

2014-01-01

High precision Global Navigation Satellite System (GNSS) measurements are becoming more and more popular in alpine skiing due to the relatively undemanding setup and excellent performance. However, GNSS provides only single-point measurements that are defined with the antenna placed typically behind the skier's neck. A key issue is how to estimate other more relevant parameters of the skier's body, like the center of mass (COM) and ski trajectories. Previously, these parameters were estimated by modeling the skier's body with an inverted-pendulum model that oversimplified the skier's body. In this study, we propose two machine learning methods that overcome this shortcoming and estimate COM and skis trajectories based on a more faithful approximation of the skier's body with nine degrees-of-freedom. The first method utilizes a well-established approach of artificial neural networks, while the second method is based on a state-of-the-art statistical generalization method. Both methods were evaluated using the reference measurements obtained on a typical giant slalom course and compared with the inverted-pendulum method. Our results outperform the results of commonly used inverted-pendulum methods and demonstrate the applicability of machine learning techniques in biomechanical measurements of alpine skiing. PMID:25313492

Robust hopping based on virtual pendulum posture control.

PubMed

Sharbafi, Maziar A; Maufroy, Christophe; Ahmadabadi, Majid Nili; Yazdanpanah, Mohammad J; Seyfarth, Andre

2013-09-01

A new control approach to achieve robust hopping against perturbations in the sagittal plane is presented in this paper. In perturbed hopping, vertical body alignment has a significant role for stability. Our approach is based on the virtual pendulum concept, recently proposed, based on experimental findings in human and animal locomotion. In this concept, the ground reaction forces are pointed to a virtual support point, named virtual pivot point (VPP), during motion. This concept is employed in designing the controller to balance the trunk during the stance phase. New strategies for leg angle and length adjustment besides the virtual pendulum posture control are proposed as a unified controller. This method is investigated by applying it on an extension of the spring loaded inverted pendulum (SLIP) model. Trunk, leg mass and damping are added to the SLIP model in order to make the model more realistic. The stability is analyzed by Poincaré map analysis. With fixed VPP position, stability, disturbance rejection and moderate robustness are achieved, but with a low convergence speed. To improve the performance and attain higher robustness, an event-based control of the VPP position is introduced, using feedback of the system states at apexes. Discrete linear quartic regulator is used to design the feedback controller. Considerable enhancements with respect to stability, convergence speed and robustness against perturbations and parameter changes are achieved.

Introduction to the Treatment of Non-Linear Effects Using a Gravitational Pendulum

ERIC Educational Resources Information Center

Weltner, Klaus; Esperidiao, Antonio Sergio C.; Miranda, Paulo

2004-01-01

We show that the treatment of pendulum movement, other than the linear approximation,may be an instructive experimentally based introduction to the physics of non-linear effects. Firstly the natural frequency of a gravitational pendulum is measured as function of its amplitude. Secondly forced oscillations of a gravitational pendulum are…

Effect of intermittent feedback control on robustness of human-like postural control system

NASA Astrophysics Data System (ADS)

Tanabe, Hiroko; Fujii, Keisuke; Suzuki, Yasuyuki; Kouzaki, Motoki

2016-03-01

Humans have to acquire postural robustness to maintain stability against internal and external perturbations. Human standing has been recently modelled using an intermittent feedback control. However, the causality inside of the closed-loop postural control system associated with the neural control strategy is still unknown. Here, we examined the effect of intermittent feedback control on postural robustness and of changes in active/passive components on joint coordinative structure. We implemented computer simulation of a quadruple inverted pendulum that is mechanically close to human tiptoe standing. We simulated three pairs of joint viscoelasticity and three choices of neural control strategies for each joint: intermittent, continuous, or passive control. We examined postural robustness for each parameter set by analysing the region of active feedback gain. We found intermittent control at the hip joint was necessary for model stabilisation and model parameters affected the robustness of the pendulum. Joint sways of the pendulum model were partially smaller than or similar to those of experimental data. In conclusion, intermittent feedback control was necessary for the stabilisation of the quadruple inverted pendulum. Also, postural robustness of human-like multi-link standing would be achieved by both passive joint viscoelasticity and neural joint control strategies.

Effect of intermittent feedback control on robustness of human-like postural control system.

PubMed

Tanabe, Hiroko; Fujii, Keisuke; Suzuki, Yasuyuki; Kouzaki, Motoki

2016-03-02

Humans have to acquire postural robustness to maintain stability against internal and external perturbations. Human standing has been recently modelled using an intermittent feedback control. However, the causality inside of the closed-loop postural control system associated with the neural control strategy is still unknown. Here, we examined the effect of intermittent feedback control on postural robustness and of changes in active/passive components on joint coordinative structure. We implemented computer simulation of a quadruple inverted pendulum that is mechanically close to human tiptoe standing. We simulated three pairs of joint viscoelasticity and three choices of neural control strategies for each joint: intermittent, continuous, or passive control. We examined postural robustness for each parameter set by analysing the region of active feedback gain. We found intermittent control at the hip joint was necessary for model stabilisation and model parameters affected the robustness of the pendulum. Joint sways of the pendulum model were partially smaller than or similar to those of experimental data. In conclusion, intermittent feedback control was necessary for the stabilisation of the quadruple inverted pendulum. Also, postural robustness of human-like multi-link standing would be achieved by both passive joint viscoelasticity and neural joint control strategies.

Effect of intermittent feedback control on robustness of human-like postural control system

PubMed Central

Tanabe, Hiroko; Fujii, Keisuke; Suzuki, Yasuyuki; Kouzaki, Motoki

2016-01-01

Humans have to acquire postural robustness to maintain stability against internal and external perturbations. Human standing has been recently modelled using an intermittent feedback control. However, the causality inside of the closed-loop postural control system associated with the neural control strategy is still unknown. Here, we examined the effect of intermittent feedback control on postural robustness and of changes in active/passive components on joint coordinative structure. We implemented computer simulation of a quadruple inverted pendulum that is mechanically close to human tiptoe standing. We simulated three pairs of joint viscoelasticity and three choices of neural control strategies for each joint: intermittent, continuous, or passive control. We examined postural robustness for each parameter set by analysing the region of active feedback gain. We found intermittent control at the hip joint was necessary for model stabilisation and model parameters affected the robustness of the pendulum. Joint sways of the pendulum model were partially smaller than or similar to those of experimental data. In conclusion, intermittent feedback control was necessary for the stabilisation of the quadruple inverted pendulum. Also, postural robustness of human-like multi-link standing would be achieved by both passive joint viscoelasticity and neural joint control strategies. PMID:26931281

Robustness of delayed multistable systems with application to droop-controlled inverter-based microgrids

NASA Astrophysics Data System (ADS)

Efimov, Denis; Schiffer, Johannes; Ortega, Romeo

2016-05-01

Motivated by the problem of phase-locking in droop-controlled inverter-based microgrids with delays, the recently developed theory of input-to-state stability (ISS) for multistable systems is extended to the case of multistable systems with delayed dynamics. Sufficient conditions for ISS of delayed systems are presented using Lyapunov-Razumikhin functions. It is shown that ISS multistable systems are robust with respect to delays in a feedback. The derived theory is applied to two examples. First, the ISS property is established for the model of a nonlinear pendulum and delay-dependent robustness conditions are derived. Second, it is shown that, under certain assumptions, the problem of phase-locking analysis in droop-controlled inverter-based microgrids with delays can be reduced to the stability investigation of the nonlinear pendulum. For this case, corresponding delay-dependent conditions for asymptotic phase-locking are given.

Robust Control Algorithm for a Two Cart System and an Inverted Pendulum

NASA Technical Reports Server (NTRS)

Wilson, Chris L.; Capo-Lugo, Pedro

2011-01-01

The Rectilinear Control System can be used to simulate a launch vehicle during liftoff. Several control schemes have been developed that can control different dynamic models of the rectilinear plant. A robust control algorithm was developed that can control a pendulum to maintain an inverted position. A fluid slosh tank will be attached to the pendulum in order to test robustness in the presence of unknown slosh characteristics. The rectilinear plant consists of a DC motor and three carts mounted in series. Each cart s weight can be adjusted with brass masses and the carts can be coupled with springs. The pendulum is mounted on the first cart and an adjustable air damper can be attached to the third cart if desired. Each cart and the pendulum have a quadrature encoder to determine position. Full state feedback was implemented in order to develop the control algorithm along with a state estimator to determine the velocity states of the system. A MATLAB program was used to convert the state space matrices from continuous time to discrete time. This program also used a desired phase margin and damping ratio to determine the feedback gain matrix that would be used in the LabVIEW program. This experiment will allow engineers to gain a better understanding of liquid propellant slosh dynamics, therefore enabling them to develop more robust control algorithms for launch vehicle systems

Prediction and control of chaotic processes using nonlinear adaptive networks

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

Jones, R.D.; Barnes, C.W.; Flake, G.W.

1990-01-01

We present the theory of nonlinear adaptive networks and discuss a few applications. In particular, we review the theory of feedforward backpropagation networks. We then present the theory of the Connectionist Normalized Linear Spline network in both its feedforward and iterated modes. Also, we briefly discuss the theory of stochastic cellular automata. We then discuss applications to chaotic time series, tidal prediction in Venice lagoon, finite differencing, sonar transient detection, control of nonlinear processes, control of a negative ion source, balancing a double inverted pendulum and design advice for free electron lasers and laser fusion targets.

Control of a Robot Dancer for Enhancing Haptic Human-Robot Interaction in Waltz.

PubMed

Hongbo Wang; Kosuge, K

2012-01-01

Haptic interaction between a human leader and a robot follower in waltz is studied in this paper. An inverted pendulum model is used to approximate the human's body dynamics. With the feedbacks from the force sensor and laser range finders, the robot is able to estimate the human leader's state by using an extended Kalman filter (EKF). To reduce interaction force, two robot controllers, namely, admittance with virtual force controller, and inverted pendulum controller, are proposed and evaluated in experiments. The former controller failed the experiment; reasons for the failure are explained. At the same time, the use of the latter controller is validated by experiment results.

Human balancing of an inverted pendulum with a compliant linkage: neural control by anticipatory intermittent bias

PubMed Central

Lakie, Martin; Caplan, Nicholas; Loram, Ian D

2003-01-01

These experiments were prompted by the recent discovery that the intrinsic stiffness of the ankle is inadequate to stabilise passively the body in standing. Our hope was that showing how a large inverted pendulum was manually balanced with low intrinsic stiffness would elucidate the active control of human standing. The results show that the pendulum can be satisfactorily stabilised when intrinsic stiffness is low. Analysis of sway size shows that intrinsic stiffness actually plays little part in stabilisation. The sway duration is also substantially independent of intrinsic stiffness. This suggests that the characteristic sway of the pendulum, rather than being dictated by stiffness and inertia, may result from the control pattern of hand movements. The key points revealed by these experiments are that with low intrinsic stiffness the hand provides pendulum stability by intermittently altering the bias of the spring and, on average, the hand moves in opposition to the load. The results lead to a new and testable hypothesis; namely that in standing, the calf muscle shortens as the body sways forward and lengthens as it sways backwards. These findings are difficult to reconcile with stretch reflex control of the pendulum and are of particular relevance to standing. They may also be relevant to postural maintenance in general whenever the CNS controls muscles which operate through compliant linkages. The results also suggest that in standing, rather than providing passive stability, the intrinsic stiffness acts as an energy efficient buffer which provides decoupling between muscle and body. PMID:12832494

Performance of an inverted pendulum model directly applied to normal human gait.

PubMed

Buczek, Frank L; Cooney, Kevin M; Walker, Matthew R; Rainbow, Michael J; Concha, M Cecilia; Sanders, James O

2006-03-01

In clinical gait analysis, we strive to understand contributions to body support and propulsion as this forms a basis for treatment selection, yet the relative importance of gravitational forces and joint powers can be controversial even for normal gait. We hypothesized that an inverted pendulum model, propelled only by gravity, would be inadequate to predict velocities and ground reaction forces during gait. Unlike previous ballistic and passive dynamic walking studies, we directly compared model predictions to gait data for 24 normal children. We defined an inverted pendulum from the average center-of-pressure to the instantaneous center-of-mass, and derived equations of motion during single support that allowed a telescoping action. Forward and inverse dynamics predicted pendulum velocities and ground reaction forces, and these were statistically and graphically compared to actual gait data for identical strides. Results of forward dynamics replicated those in the literature, with reasonable predictions for velocities and anterior ground reaction forces, but poor predictions for vertical ground reaction forces. Deviations from actual values were explained by joint powers calculated for these subjects. With a telescoping action during inverse dynamics, predicted vertical forces improved dramatically and gained a dual-peak pattern previously missing in the literature, yet expected for normal gait. These improvements vanished when telescoping terms were set to zero. Because this telescoping action is difficult to explain without muscle activity, we believe these results support the need for both gravitational forces and joint powers in normal gait. Our approach also begins to quantify the relative contributions of each.

Validation of a robotic balance system for investigations in the control of human standing balance.

PubMed

Luu, Billy L; Huryn, Thomas P; Van der Loos, H F Machiel; Croft, Elizabeth A; Blouin, Jean-Sébastien

2011-08-01

Previous studies have shown that human body sway during standing approximates the mechanics of an inverted pendulum pivoted at the ankle joints. In this study, a robotic balance system incorporating a Stewart platform base was developed to provide a new technique to investigate the neural mechanisms involved in standing balance. The robotic system, programmed with the mechanics of an inverted pendulum, controlled the motion of the body in response to a change in applied ankle torque. The ability of the robotic system to replicate the load properties of standing was validated by comparing the load stiffness generated when subjects balanced their own body to the robot's mechanical load programmed with a low (concentrated-mass model) or high (distributed-mass model) inertia. The results show that static load stiffness was not significantly (p > 0.05) different for standing and the robotic system. Dynamic load stiffness for the robotic system increased with the frequency of sway, as predicted by the mechanics of an inverted pendulum, with the higher inertia being accurately matched to the load properties of the human body. This robotic balance system accurately replicated the physical model of standing and represents a useful tool to simulate the dynamics of a standing person. © 2011 IEEE

Experimental Evaluation of Balance Prediction Models for Sit-to-Stand Movement in the Sagittal Plane

PubMed Central

Pena Cabra, Oscar David; Watanabe, Takashi

2013-01-01

Evaluation of balance control ability would become important in the rehabilitation training. In this paper, in order to make clear usefulness and limitation of a traditional simple inverted pendulum model in balance prediction in sit-to-stand movements, the traditional simple model was compared to an inertia (rotational radius) variable inverted pendulum model including multiple-joint influence in the balance predictions. The predictions were tested upon experimentation with six healthy subjects. The evaluation showed that the multiple-joint influence model is more accurate in predicting balance under demanding sit-to-stand conditions. On the other hand, the evaluation also showed that the traditionally used simple inverted pendulum model is still reliable in predicting balance during sit-to-stand movement under non-demanding (normal) condition. Especially, the simple model was shown to be effective for sit-to-stand movements with low center of mass velocity at the seat-off. Moreover, almost all trajectories under the normal condition seemed to follow the same control strategy, in which the subjects used extra energy than the minimum one necessary for standing up. This suggests that the safety considerations come first than the energy efficiency considerations during a sit to stand, since the most energy efficient trajectory is close to the backward fall boundary. PMID:24187580

Inverted Pendulum Standing Apparatus for Investigating Closed-Loop Control of Ankle Joint Muscle Contractions during Functional Electrical Stimulation.

PubMed

Tan, John F; Masani, Kei; Vette, Albert H; Zariffa, José; Robinson, Mark; Lynch, Cheryl; Popovic, Milos R

2014-01-01

The restoration of arm-free standing in individuals with paraplegia can be facilitated via functional electrical stimulation (FES). In developing adequate control strategies for FES systems, it remains challenging to test the performance of a particular control scheme on human subjects. In this study, we propose a testing platform for developing effective control strategies for a closed-loop FES system for standing. The Inverted Pendulum Standing Apparatus (IPSA) is a mechanical inverted pendulum, whose angular position is determined by the subject's ankle joint angle as controlled by the FES system while having the subject's body fixed in a standing frame. This approach provides a setup that is safe, prevents falling, and enables a research and design team to rigorously test various closed-loop controlled FES systems applied to the ankle joints. To demonstrate the feasibility of using the IPSA, we conducted a case series that employed the device for studying FES closed-loop controllers for regulating ankle joint kinematics during standing. The utilized FES system stimulated, in able-bodied volunteers, the plantarflexors as they prevent toppling during standing. Four different conditions were compared, and we were able to show unique performance of each condition using the IPSA. We concluded that the IPSA is a useful tool for developing and testing closed-loop controlled FES systems for regulating ankle joint position during standing.

Inverted Pendulum Standing Apparatus for Investigating Closed-Loop Control of Ankle Joint Muscle Contractions during Functional Electrical Stimulation

PubMed Central

Tan, John F.; Masani, Kei; Vette, Albert H.; Zariffa, José; Robinson, Mark; Lynch, Cheryl; Popovic, Milos R.

2014-01-01

The restoration of arm-free standing in individuals with paraplegia can be facilitated via functional electrical stimulation (FES). In developing adequate control strategies for FES systems, it remains challenging to test the performance of a particular control scheme on human subjects. In this study, we propose a testing platform for developing effective control strategies for a closed-loop FES system for standing. The Inverted Pendulum Standing Apparatus (IPSA) is a mechanical inverted pendulum, whose angular position is determined by the subject's ankle joint angle as controlled by the FES system while having the subject's body fixed in a standing frame. This approach provides a setup that is safe, prevents falling, and enables a research and design team to rigorously test various closed-loop controlled FES systems applied to the ankle joints. To demonstrate the feasibility of using the IPSA, we conducted a case series that employed the device for studying FES closed-loop controllers for regulating ankle joint kinematics during standing. The utilized FES system stimulated, in able-bodied volunteers, the plantarflexors as they prevent toppling during standing. Four different conditions were compared, and we were able to show unique performance of each condition using the IPSA. We concluded that the IPSA is a useful tool for developing and testing closed-loop controlled FES systems for regulating ankle joint position during standing. PMID:27350992

Stabilization of an inverted pendulum-cart system by fractional PI-state feedback.

PubMed

Bettayeb, M; Boussalem, C; Mansouri, R; Al-Saggaf, U M

2014-03-01

This paper deals with pole placement PI-state feedback controller design to control an integer order system. The fractional aspect of the control law is introduced by a dynamic state feedback as u(t)=K(p)x(t)+K(I)I(α)(x(t)). The closed loop characteristic polynomial is thus fractional for which the roots are complex to calculate. The proposed method allows us to decompose this polynomial into a first order fractional polynomial and an integer order polynomial of order n-1 (n being the order of the integer system). This new stabilization control algorithm is applied for an inverted pendulum-cart test-bed, and the effectiveness and robustness of the proposed control are examined by experiments. Crown Copyright © 2013. Published by Elsevier Ltd. All rights reserved.

Human balancing of an inverted pendulum: is sway size controlled by ankle impedance?

PubMed Central

Loram, Ian D; Kelly, Sue M; Lakie, Martin

2001-01-01

Using the ankle musculature, subjects balanced a large inverted pendulum. The equilibrium of the pendulum is unstable and quasi-regular sway was observed like that in quiet standing. Two main questions were addressed. Can subjects systematically change sway size in response to instruction and availability of visual feedback? If so, do subjects decrease sway size by increasing ankle impedance or by some alternative mechanism? The position of the pendulum, the torque generated at each ankle and the soleus and tibialis anterior EMG were recorded. Results showed that subjects could significantly reduce the mean sway size of the pendulum by giving full attention to that goal. With visual feedback sway size could be minimised significantly more than without visual feedback. In changing sway size, the frequency of the sways was not changed. Results also revealed that ankle impedance and muscle co-contraction were not significantly changed when the sway size was decreased. As the ankle impedance and sway frequency do not change when the sway size is decreased, this implies no change in ankle stiffness or viscosity. Increasing ankle impedance, stiffness or viscosity are not the only methods by which sway size could be reduced. A reduction in torque noise or torque inaccuracy via a predictive process which provides active damping could reduce sway size without changing ankle impedance and is plausible given the data. Such a strategy involving motion recognition and generation of an accurate motor response may require higher levels of control than changing ankle impedance by altering reflex or feedforward gain. PMID:11313453

Conical Pendulum--Linearization Analyses

ERIC Educational Resources Information Center

Dean, Kevin; Mathew, Jyothi

2016-01-01

A theoretical analysis is presented, showing the derivations of seven different linearization equations for the conical pendulum period "T", as a function of radial and angular parameters. Experimental data obtained over a large range of fixed conical pendulum lengths (0.435 m-2.130 m) are plotted with the theoretical lines and…

Physics in the laundromat

NASA Astrophysics Data System (ADS)

McDonald, Kirk T.

1998-03-01

The spin cycle of a washing machine involves motion that is stabilized by the Coriolis force, similar to the case of the motion of shafts of large turbines. This system is an example of a stable inverted pendulum.

Recommended Practices in Thrust Measurements

NASA Technical Reports Server (NTRS)

Polk, James E.; Pancotti, Anthony; Haag, Thomas; King, Scott; Walker, Mitchell; Blakely, Joseph; Ziemer, John

2013-01-01

Accurate, direct measurement of thrust or impulse is one of the most critical elements of electric thruster characterization, and one of the most difficult measurements to make. The American Institute of Aeronautics and Astronautics has started an initiative to develop standards for many important measurement processes in electric propulsion, including thrust measurements. This paper summarizes recommended practices for the design, calibration, and operation of pendulum thrust stands, which are widely recognized as the best approach for measuring micro N- to mN-level thrust and micro Ns-level impulse bits. The fundamentals of pendulum thrust stand operation are reviewed, along with its implementation in hanging pendulum, inverted pendulum, and torsional balance configurations. Methods of calibration and recommendations for calibration processes are presented. Sources of error are identified and methods for data processing and uncertainty analysis are discussed. This review is intended to be the first step toward a recommended practices document to help the community produce high quality thrust measurements.

Analysis of the linearity of half periods of the Lorentz pendulum

NASA Astrophysics Data System (ADS)

Wickramasinghe, T.; Ochoa, R.

2005-05-01

We analyze the motion of the Lorentz pendulum, a simple pendulum whose length is changed at a constant rate k. We show both analytically and numerically that the half period Tn, the time between half oscillations as measured from midpoint to midpoint, increases linearly with the oscillation number n such that Tn+1-Tn≈kπ2/2g, where g is the acceleration due to gravity. A video camera is used to record the motion of the oscillating bob of the pendulum and verify the linearity of Tn with oscillation number. The theory and the experiment are suitable for an advanced undergraduate laboratory.

An Apparatus to Demonstrate Linear and Nonlinear Oscillations of a Pendulum

ERIC Educational Resources Information Center

Mayer, V. V.; Varaksina, E. I.

2016-01-01

A physical pendulum with a magnetic load is proposed for comparison of linear and nonlinear oscillations. The magnetic load is repelled by permanent magnets which are disposed symmetrically relative to the load. It is established that positions of the pendulum and the magnets determine the dependence of restoring force on displacement of the load.…

Robotic system construction with mechatronic components inverted pendulum: humanoid robot

NASA Astrophysics Data System (ADS)

Sandru, Lucian Alexandru; Crainic, Marius Florin; Savu, Diana; Moldovan, Cristian; Dolga, Valer; Preitl, Stefan

2017-03-01

Mechatronics is a new methodology used to achieve an optimal design of an electromechanical product. This methodology is collection of practices, procedures and rules used by those who work in particular branch of knowledge or discipline. Education in mechatronics at the Polytechnic University Timisoara is organized on three levels: bachelor, master and PhD studies. These activities refer and to design the mechatronics systems. In this context the design, implementation and experimental study of a family of mechatronic demonstrator occupy an important place. In this paper, a variant for a mechatronic demonstrator based on the combination of the electrical and mechanical components is proposed. The demonstrator, named humanoid robot, is equivalent with an inverted pendulum. Is presented the analyze of components for associated functions of the humanoid robot. This type of development the mechatronic systems by the combination of hardware and software, offers the opportunity to build the optimal solutions.

Middle School Science Notes

ERIC Educational Resources Information Center

School Science Review, 1977

1977-01-01

Includes methods for using harmonographs in demonstrating motion of pendulums, constructing an electrostatic "bell," inverting mirror images, demonstrating the corrosion rate of steel, demonstrating expansion, studying rate of reaction between magnesium and hydrochloric acid, using matchboxes in science for containers, problem boxes, building…

Linear active disturbance rejection control of underactuated systems: the case of the Furuta pendulum.

PubMed

Ramírez-Neria, M; Sira-Ramírez, H; Garrido-Moctezuma, R; Luviano-Juárez, A

2014-07-01

An Active Disturbance Rejection Control (ADRC) scheme is proposed for a trajectory tracking problem defined on a nonfeedback linearizable Furuta Pendulum example. A desired rest to rest angular position reference trajectory is to be tracked by the horizontal arm while the unactuated vertical pendulum arm stays around its unstable vertical position without falling down during the entire maneuver and long after it concludes. A linear observer-based linear controller of the ADRC type is designed on the basis of the flat tangent linearization of the system around an arbitrary equilibrium. The advantageous combination of flatness and the ADRC method makes it possible to on-line estimate and cancels the undesirable effects of the higher order nonlinearities disregarded by the linearization. These effects are triggered by fast horizontal arm tracking maneuvers driving the pendulum substantially away from the initial equilibrium point. Convincing experimental results, including a comparative test with a sliding mode controller, are presented. © 2013 ISA. Published by ISA. All rights reserved.

Validation of the Inverted Pendulum Model in standing for transtibial prosthesis users.

PubMed

Rusaw, David F; Ramstrand, Simon

2016-01-01

Often in balance assessment variables associated with the center of pressure are used to draw conclusions about an individual's balance. Validity of these conclusions rests upon assumptions that movement of the center of pressure is inter-dependent on movement of the center of mass. This dependency is mechanical and is referred to as the Inverted Pendulum Model. The following study aimed to validate this model both kinematically and kinetically, in transtibial prosthesis users and a control group. Prosthesis users (n=6) and matched control participants (n=6) stood quietly while force and motion data were collected under three conditions (eyes-open, eyes-closed, and weight-bearing feedback). Correlation coefficients were used to investigate the relationships between height and excursion of markers and center of masses in mediolateral/anteroposterior-directions, difference between center of pressure and center of mass and the center of mass acceleration in mediolateral/anteroposterior directions, magnitude of mediolateral/anteroposterior-component forces and center of mass acceleration, angular position of ankle and excursion in mediolateral/anteroposterior-directions, and integrated force signals. Results indicate kinematic validity of similar magnitudes (mean (SD) marker-displacement) between prosthesis users and control group for mediolateral- (r=0.77 (0.17); 0.74 (0.19)) and anteroposterior-directions (r=0.88 (0.18); 0.88 (0.19)). Correlation between difference of center of pressure and center of mass and the center of mass acceleration was negligible on the prosthetic side (r = 0.08 (0.06)) vs. control group (r=-0.51(0.13)). Results indicate kinematic validity of the Inverted Pendulum Model in transtibial prosthesis users but kinetic validity is questionable, particularly on the side with a prosthesis. Copyright © 2015 Elsevier Ltd. All rights reserved.

A simple running model with rolling contact and its role as a template for dynamic locomotion on a hexapod robot.

PubMed

Huang, Ke-Jung; Huang, Chun-Kai; Lin, Pei-Chun

2014-10-07

We report on the development of a robot's dynamic locomotion based on a template which fits the robot's natural dynamics. The developed template is a low degree-of-freedom planar model for running with rolling contact, which we call rolling spring loaded inverted pendulum (R-SLIP). Originating from a reduced-order model of the RHex-style robot with compliant circular legs, the R-SLIP model also acts as the template for general dynamic running. The model has a torsional spring and a large circular arc as the distributed foot, so during locomotion it rolls on the ground with varied equivalent linear stiffness. This differs from the well-known spring loaded inverted pendulum (SLIP) model with fixed stiffness and ground contact points. Through dimensionless steps-to-fall and return map analysis, within a wide range of parameter spaces, the R-SLIP model is revealed to have self-stable gaits and a larger stability region than that of the SLIP model. The R-SLIP model is then embedded as the reduced-order 'template' in a more complex 'anchor', the RHex-style robot, via various mapping definitions between the template and the anchor. Experimental validation confirms that by merely deploying the stable running gaits of the R-SLIP model on the empirical robot with simple open-loop control strategy, the robot can easily initiate its dynamic running behaviors with a flight phase and can move with similar body state profiles to those of the model, in all five testing speeds. The robot, embedded with the SLIP model but performing walking locomotion, further confirms the importance of finding an adequate template of the robot for dynamic locomotion.

The Griffiss Institute Summer Faculty Program

DTIC Science & Technology

2013-05-01

can inherit the advantages of the static approach while overcoming its drawbacks . Our solution is centered on the following: (i) application-layer web...inverted pendulum balancing problem. In these challenging environments we show that our algorithm not only allows NEAT to scale to high-dimensional spaces

Tuning a fuzzy controller using quadratic response surfaces

NASA Technical Reports Server (NTRS)

Schott, Brian; Whalen, Thomas

1992-01-01

Response surface methodology, an alternative method to traditional tuning of a fuzzy controller, is described. An example based on a simulated inverted pendulum 'plant' shows that with (only) 15 trial runs, the controller can be calibrated using a quadratic form to approximate the response surface.

Robust reinforcement learning.

PubMed

Morimoto, Jun; Doya, Kenji

2005-02-01

This letter proposes a new reinforcement learning (RL) paradigm that explicitly takes into account input disturbance as well as modeling errors. The use of environmental models in RL is quite popular for both offline learning using simulations and for online action planning. However, the difference between the model and the real environment can lead to unpredictable, and often unwanted, results. Based on the theory of H(infinity) control, we consider a differential game in which a "disturbing" agent tries to make the worst possible disturbance while a "control" agent tries to make the best control input. The problem is formulated as finding a min-max solution of a value function that takes into account the amount of the reward and the norm of the disturbance. We derive online learning algorithms for estimating the value function and for calculating the worst disturbance and the best control in reference to the value function. We tested the paradigm, which we call robust reinforcement learning (RRL), on the control task of an inverted pendulum. In the linear domain, the policy and the value function learned by online algorithms coincided with those derived analytically by the linear H(infinity) control theory. For a fully nonlinear swing-up task, RRL achieved robust performance with changes in the pendulum weight and friction, while a standard reinforcement learning algorithm could not deal with these changes. We also applied RRL to the cart-pole swing-up task, and a robust swing-up policy was acquired.

Interval type-2 fuzzy PID controller for uncertain nonlinear inverted pendulum system.

PubMed

El-Bardini, Mohammad; El-Nagar, Ahmad M

2014-05-01

In this paper, the interval type-2 fuzzy proportional-integral-derivative controller (IT2F-PID) is proposed for controlling an inverted pendulum on a cart system with an uncertain model. The proposed controller is designed using a new method of type-reduction that we have proposed, which is called the simplified type-reduction method. The proposed IT2F-PID controller is able to handle the effect of structure uncertainties due to the structure of the interval type-2 fuzzy logic system (IT2-FLS). The results of the proposed IT2F-PID controller using a new method of type-reduction are compared with the other proposed IT2F-PID controller using the uncertainty bound method and the type-1 fuzzy PID controller (T1F-PID). The simulation and practical results show that the performance of the proposed controller is significantly improved compared with the T1F-PID controller. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Real-time physics-based 3D biped character animation using an inverted pendulum model.

PubMed

Tsai, Yao-Yang; Lin, Wen-Chieh; Cheng, Kuangyou B; Lee, Jehee; Lee, Tong-Yee

2010-01-01

We present a physics-based approach to generate 3D biped character animation that can react to dynamical environments in real time. Our approach utilizes an inverted pendulum model to online adjust the desired motion trajectory from the input motion capture data. This online adjustment produces a physically plausible motion trajectory adapted to dynamic environments, which is then used as the desired motion for the motion controllers to track in dynamics simulation. Rather than using Proportional-Derivative controllers whose parameters usually cannot be easily set, our motion tracking adopts a velocity-driven method which computes joint torques based on the desired joint angular velocities. Physically correct full-body motion of the 3D character is computed in dynamics simulation using the computed torques and dynamical model of the character. Our experiments demonstrate that tracking motion capture data with real-time response animation can be achieved easily. In addition, physically plausible motion style editing, automatic motion transition, and motion adaptation to different limb sizes can also be generated without difficulty.

Interfacial fluid instabilities and Kapitsa pendula.

PubMed

Krieger, Madison S

2017-07-01

The onset and development of instabilities is one of the central problems in fluid mechanics. Here we develop a connection between instabilities of free fluid interfaces and inverted pendula. When acted upon solely by the gravitational force, the inverted pendulum is unstable. This position can be stabilized by the Kapitsa phenomenon, in which high-frequency low-amplitude vertical vibrations of the base creates a fictitious force which opposes the gravitational force. By transforming the dynamical equations governing a fluid interface into an appropriate pendulum-type equation, we demonstrate how stability can be induced in fluid systems by properly tuned vibrations. We construct a "dictionary"-type relationship between various pendula and the classical Rayleigh-Taylor, Kelvin-Helmholtz, Rayleigh-Plateau and the self-gravitational instabilities. This makes several results in control theory and dynamical systems directly applicable to the study of tunable fluid instabilities, where the critical wavelength depends on the external forces or the instability is suppressed entirely. We suggest some applications and instances of the effect ranging in scale from microns to the radius of a galaxy.

The inverted pendulum model of bipedal standing cannot be stabilized through direct feedback of force and contractile element length and velocity at realistic series elastic element stiffness.

PubMed

van Soest, A J Knoek; Rozendaal, Leonard A

2008-07-01

Control of bipedal standing is typically analyzed in the context of a single-segment inverted pendulum model. The stiffness K (SE) of the series elastic element that transmits the force generated by the contractile elements of the ankle plantarflexors to the skeletal system has been reported to be smaller in magnitude than the destabilizing gravitational stiffness K ( g ). In this study, we assess, in case K (SE) + K ( g ) < 0, if bipedal standing can be locally stable under direct feedback of contractile element length, contractile element velocity (both sensed by muscle spindles) and muscle force (sensed by Golgi tendon organs) to alpha-motoneuron activity. A theoretical analysis reveals that even though positive feedback of force may increase the stiffness of the muscle-tendon complex to values well over the destabilizing gravitational stiffness, dynamic instability makes it impossible to obtain locally stable standing under the conditions assumed.

Stick balancing with reflex delay in case of parametric forcing

NASA Astrophysics Data System (ADS)

Insperger, Tamas

2011-04-01

The effect of parametric forcing on a PD control of an inverted pendulum is analyzed in the presence of feedback delay. The stability of the time-periodic and time-delayed system is determined numerically using the first-order semi-discretization method in the 5-dimensional parameter space of the pendulum's length, the forcing frequency, the forcing amplitude, the proportional and the differential gains. It is shown that the critical length of the pendulum (that can just be balanced against the time-delay) can significantly be decreased by parametric forcing even if the maximum forcing acceleration is limited. The numerical analysis showed that the critical stick length about 30 cm corresponding to the unforced system with reflex delay 0.1 s can be decreased to 18 cm with keeping maximum acceleration below the gravitational acceleration.

Dynamic characteristics of rotor blades with pendulum absorbers

NASA Technical Reports Server (NTRS)

Murthy, V. R.; Goglia, G. L.

1977-01-01

The point transmission matrix for a vertical plane pendulum on a rotating blade undergoing combined flapwise bending, and chordwise bending and torsion is derived. The equilibrium equation of the pendulum is linearized for small oscillations about the steady state. A FORTRAN program was written for the case of a vertical plane pendulum attached to a uniform blade with flapwise bending degree of freedom for cantilever boundary conditions. The frequency has a singular value right at the uncoupled pendulum natural frequency and thus introduces two frequencies corresponding to the nearest natural frequency of the blade without pendulum. In both of these modes it was observed that the pendulum deflection is large. One frequency can be thought of as a coupled pendulum frequency and the other as a coupled bending and pendulum frequency.

Vibration analysis of rotor blades with pendulum absorbers

NASA Technical Reports Server (NTRS)

Murthy, V. R.; Hammond, C. E.

1979-01-01

A comprehensive vibration analysis of rotor blades with spherical pendulum absorbers is presented. Linearized equations of motion for small oscillations about the steady-state deflection of a spherical pendulum on elastic rotor blades undergoing coupled flapwise bending, chordwise bending, and torsional vibrations are obtained. A transmission matrix formulation is given to determine the natural vibrational characteristics of rotor blades with spherical or simple flapping pendulum absorbers. The natural frequencies and mode shapes of a hingeless rotor blade with a spherical pendulum are computed.

Birkhoffian symplectic algorithms derived from Hamiltonian symplectic algorithms

NASA Astrophysics Data System (ADS)

Xin-Lei, Kong; Hui-Bin, Wu; Feng-Xiang, Mei

2016-01-01

In this paper, we focus on the construction of structure preserving algorithms for Birkhoffian systems, based on existing symplectic schemes for the Hamiltonian equations. The key of the method is to seek an invertible transformation which drives the Birkhoffian equations reduce to the Hamiltonian equations. When there exists such a transformation, applying the corresponding inverse map to symplectic discretization of the Hamiltonian equations, then resulting difference schemes are verified to be Birkhoffian symplectic for the original Birkhoffian equations. To illustrate the operation process of the method, we construct several desirable algorithms for the linear damped oscillator and the single pendulum with linear dissipation respectively. All of them exhibit excellent numerical behavior, especially in preserving conserved quantities. Project supported by the National Natural Science Foundation of China (Grant No. 11272050), the Excellent Young Teachers Program of North China University of Technology (Grant No. XN132), and the Construction Plan for Innovative Research Team of North China University of Technology (Grant No. XN129).

Investigations of quantum pendulum dynamics in a spin-1 BEC

NASA Astrophysics Data System (ADS)

Hoang, Thai; Gerving, Corey; Land, Ben; Anquez, Martin; Hamley, Chris; Chapman, Michael

2013-05-01

We investigate the quantum spin dynamics of a spin-1 BEC initialized to an unstable critical point of the dynamical phase space. The subsequent evolution of the collective states of the system is analogous to an inverted simple pendulum in the quantum limit and yields non-classical states with quantum correlations. For short evolution times in the low depletion limit, we observe squeezed states and for longer times beyond the low depletion limit we observe highly non-Gaussian distributions. C.D. Hamley, C.S. Gerving, T.M. Hoang, E.M. Bookjans, and M.S. Chapman, ``Spin-Nematic Squeezed Vacuum in a Quantum Gas,'' Nature Physics 8, 305-308 (2012).

Robust Control Design for Uncertain Nonlinear Dynamic Systems

NASA Technical Reports Server (NTRS)

Kenny, Sean P.; Crespo, Luis G.; Andrews, Lindsey; Giesy, Daniel P.

2012-01-01

Robustness to parametric uncertainty is fundamental to successful control system design and as such it has been at the core of many design methods developed over the decades. Despite its prominence, most of the work on robust control design has focused on linear models and uncertainties that are non-probabilistic in nature. Recently, researchers have acknowledged this disparity and have been developing theory to address a broader class of uncertainties. This paper presents an experimental application of robust control design for a hybrid class of probabilistic and non-probabilistic parametric uncertainties. The experimental apparatus is based upon the classic inverted pendulum on a cart. The physical uncertainty is realized by a known additional lumped mass at an unknown location on the pendulum. This unknown location has the effect of substantially altering the nominal frequency and controllability of the nonlinear system, and in the limit has the capability to make the system neutrally stable and uncontrollable. Another uncertainty to be considered is a direct current motor parameter. The control design objective is to design a controller that satisfies stability, tracking error, control power, and transient behavior requirements for the largest range of parametric uncertainties. This paper presents an overview of the theory behind the robust control design methodology and the experimental results.

PID Controller Design for FES Applied to Ankle Muscles in Neuroprosthesis for Standing Balance

PubMed Central

Rouhani, Hossein; Same, Michael; Masani, Kei; Li, Ya Qi; Popovic, Milos R.

2017-01-01

Closed-loop controlled functional electrical stimulation (FES) applied to the lower limb muscles can be used as a neuroprosthesis for standing balance in neurologically impaired individuals. The objective of this study was to propose a methodology for designing a proportional-integral-derivative (PID) controller for FES applied to the ankle muscles toward maintaining standing balance for several minutes and in the presence of perturbations. First, a model of the physiological control strategy for standing balance was developed. Second, the parameters of a PID controller that mimicked the physiological balance control strategy were determined to stabilize the human body when modeled as an inverted pendulum. Third, this PID controller was implemented using a custom-made Inverted Pendulum Standing Apparatus that eliminated the effect of visual and vestibular sensory information on voluntary balance control. Using this setup, the individual-specific FES controllers were tested in able-bodied individuals and compared with disrupted voluntary control conditions in four experimental paradigms: (i) quiet-standing; (ii) sudden change of targeted pendulum angle (step response); (iii) balance perturbations that simulate arm movements; and (iv) sudden change of targeted angle of a pendulum with individual-specific body-weight (step response). In paradigms (i) to (iii), a standard 39.5-kg pendulum was used, and 12 subjects were involved. In paradigm (iv) 9 subjects were involved. Across the different experimental paradigms and subjects, the FES-controlled and disrupted voluntarily-controlled pendulum angle showed root mean square errors of <1.2 and 2.3 deg, respectively. The root mean square error (all paradigms), rise time, settle time, and overshoot [paradigms (ii) and (iv)] in FES-controlled balance were significantly smaller or tended to be smaller than those observed with voluntarily-controlled balance, implying improved steady-state and transient responses of FES-controlled balance. At the same time, the FES-controlled balance required similar torque levels (no significant difference) as voluntarily-controlled balance. The implemented PID parameters were to some extent consistent among subjects for standard weight conditions and did not require prolonged individual-specific tuning. The proposed methodology can be used to design FES controllers for closed-loop controlled neuroprostheses for standing balance. Further investigation of the clinical implementation of this approach for neurologically impaired individuals is needed. PMID:28676739

Steady States of the Parametric Rotator and Pendulum

ERIC Educational Resources Information Center

Bouzas, Antonio O.

2010-01-01

We discuss several steady-state rotation and oscillation modes of the planar parametric rotator and pendulum with damping. We consider a general elliptic trajectory of the suspension point for both rotator and pendulum, for the latter at an arbitrary angle with gravity, with linear and circular trajectories as particular cases. We treat the…

Requirements for Real-Time Laboratory Experimentation over the Internet.

ERIC Educational Resources Information Center

Salzmann, C.; Latchman, H. A.; Gillet, D.; Crisalle, O. D.

A prototype system based on an inverted pendulum is used to study the Quality of Service and discuss requirements of remote-experimentation systems utilized for carrying out control engineering experiments over the Internet. This class of applications involves the transmission over the network of a variety of data types with their own peculiar…

Learning and Understanding System Stability Using Illustrative Dynamic Texture Examples

ERIC Educational Resources Information Center

Liu, Huaping; Xiao, Wei; Zhao, Hongyan; Sun, Fuchun

2014-01-01

System stability is a basic concept in courses on dynamic system analysis and control for undergraduate students with computer science backgrounds. Typically, this was taught using a simple simulation example of an inverted pendulum. Unfortunately, many difficult issues arise in the learning and understanding of the concepts of stability,…

Robust and novel two degree of freedom fractional controller based on two-loop topology for inverted pendulum.

PubMed

Dwivedi, Prakash; Pandey, Sandeep; Junghare, A S

2018-04-01

A rotary single inverted pendulum (RSIP) typically represents a space booster rocket, Segway and similar systems with unstable equilibrium. This paper proposes a novel two degree of freedom (2-DOF) fractional control strategy based on 2-loop topology for RSIP system which can be extended to control the systems with unstable equilibrium. It comprises feedback and feed-forward paths. Primary controller relates the perturbation attenuation while the secondary controller is accountable for set point tracking. To tune the parameters of proposed fractional controller a simple graphical tuning method based on frequency response is used. The study will serve the outstanding experimental results for both, stabilization and trajectory tracking tasks. The study will also serve to present a comparison of the performance of the proposed controller with the 1-DOF FOPID controller and sliding mode controller (SMC) for the RSIP system. Further to confirm the usability of the proposed controller and to avoid the random perturbations sensitivity, robustness, and stability analysis through fractional root-locus and Bode-plot is investigated. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Approximate analytical solutions to the double-stance dynamics of the lossy spring-loaded inverted pendulum.

PubMed

Shahbazi, Mohammad; Saranlı, Uluç; Babuška, Robert; Lopes, Gabriel A D

2016-12-05

This paper introduces approximate time-domain solutions to the otherwise non-integrable double-stance dynamics of the 'bipedal' spring-loaded inverted pendulum (B-SLIP) in the presence of non-negligible damping. We first introduce an auxiliary system whose behavior under certain conditions is approximately equivalent to the B-SLIP in double-stance. Then, we derive approximate solutions to the dynamics of the new system following two different methods: (i) updated-momentum approach that can deal with both the lossy and lossless B-SLIP models, and (ii) perturbation-based approach following which we only derive a solution to the lossless case. The prediction performance of each method is characterized via a comprehensive numerical analysis. The derived representations are computationally very efficient compared to numerical integrations, and, hence, are suitable for online planning, increasing the autonomy of walking robots. Two application examples of walking gait control are presented. The proposed solutions can serve as instrumental tools in various fields such as control in legged robotics and human motion understanding in biomechanics.

The Pendulum: A Paradigm for the Linear Oscillator

ERIC Educational Resources Information Center

Newburgh, Ronald

2004-01-01

The simple pendulum is a model for the linear oscillator. The usual mathematical treatment of the problem begins with a differential equation that one solves with the techniques of the differential calculus, a formal process that tends to obscure the physics. In this paper we begin with a kinematic description of the motion obtained by experiment…

The Bravais Pendulum: The Distinct Charm of an Almost Forgotten Experiment

ERIC Educational Resources Information Center

Babovic, V. M.; Mekic, S.

2011-01-01

In the year 1851 in Paris, the apparent change of the plane of oscillation of a linear pendulum was observed by Leon Foucault. In the same year, at the same place, the unequal duration of the oscillations of a right- and left-handed conical pendulum was observed by Bravais. Today, the Foucault pendula are common at universities, the Bravais…

Experimental Uncertainty Associated with Traveling Wave Excitation

DTIC Science & Technology

2014-09-15

20 2.9 Schematic of the Lumped Model [6] . . . . . . . . . . . . . . . . . . . . . . . 21 2.10 Multiple Coupled Pendulum [7...model to describe the physical system, the authors chose to employ a coupled pendulum model to represent a rotor. This system is shown in Figure 2.10...System mistuning is introduced by altering pendulum lengths. All other system parameters are equal. A linear viscous proportional damping force is

A 205 Hour Krypton Propellant Life Test of the SPT-100 Operating at 3 kW

DTIC Science & Technology

2013-09-01

advantageous, such as orbit raising missions. Bismuth’s main drawback is that the metal must be vaporized to be ionized and accelerated within a Hall...the performance of the SPT-100 operating on krypton was characterized using an inverted pendulum thrust stand over a wide range of thruster operating

Light rays and the tidal gravitational pendulum

NASA Astrophysics Data System (ADS)

Farley, A. N. St J.

2018-05-01

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

Damping system for torsion modes of mirror isolation filters in TAMA300

NASA Astrophysics Data System (ADS)

Arase, Y.; Takahashi, R.; Arai, K.; Tatsumi, D.; Fukushima, M.; Yamazaki, T.; Fujimoto, Masa-Katsu; Agatsuma, K.; Nakagawa, N.

2008-07-01

The seismic attenuation system (SAS) in TAMA300 consists of a three-legged inverted pendulum and mirror isolation filters in order to provide a high level of seismic isolation. However, the mirror isolation filters have torsion modes with long decay time which disturb the interferometer operation for about half an hour if they get excited. In order to damp the torsion modes of the filters, we constructed a digital damping system using reflective photosensors with a large linear range. This system was installed to all of four SASs. By damping of the target torsion modes, the effective quality factors of the torsion modes are reduced to less than 10 or to unmeasurable level. This system is expected to reduce the inoperative period by the torsion mode excitation, and thus will contribute to improve the duty time of the gravitational wave detector.

Robust Stabilization of T-S Fuzzy Stochastic Descriptor Systems via Integral Sliding Modes.

PubMed

Li, Jinghao; Zhang, Qingling; Yan, Xing-Gang; Spurgeon, Sarah K

2017-09-19

This paper addresses the robust stabilization problem for T-S fuzzy stochastic descriptor systems using an integral sliding mode control paradigm. A classical integral sliding mode control scheme and a nonparallel distributed compensation (Non-PDC) integral sliding mode control scheme are presented. It is shown that two restrictive assumptions previously adopted developing sliding mode controllers for Takagi-Sugeno (T-S) fuzzy stochastic systems are not required with the proposed framework. A unified framework for sliding mode control of T-S fuzzy systems is formulated. The proposed Non-PDC integral sliding mode control scheme encompasses existing schemes when the previously imposed assumptions hold. Stability of the sliding motion is analyzed and the sliding mode controller is parameterized in terms of the solutions of a set of linear matrix inequalities which facilitates design. The methodology is applied to an inverted pendulum model to validate the effectiveness of the results presented.

A torsional MRE joint for a C-shaped robotic leg

NASA Astrophysics Data System (ADS)

Christie, M. D.; Sun, S. S.; Ning, D. H.; Du, H.; Zhang, S. W.; Li, W. H.

2017-01-01

Serving to improve stability and energy efficiency during locomotion, in nature, animals modulate their leg stiffness to adapt to their terrain. Now incorporated into many locomotive robot designs, such compliance control can enable disturbance rejection and improved transition between changing ground conditions. This paper presents a novel design of a variable stiffness leg utilizing a magnetorheological elastomer joint in a literal rolling spring loaded inverted pendulum (R-SLIP) morphology. Through the semi-active control of this hybrid permanent-magnet and coil design, variable stiffness is realized, offering a design which is capable of both softening and stiffening in an adaptive sort of way, with a maximum stiffness change of 48.0%. Experimental characterization first serves to assess the stiffness variation capacity of the torsional joint, and through later comparison with force testing of the leg, the linear stiffness is characterized with the R-SLIP-like behavior of the leg being demonstrated. Through the force relationships applied, a generalized relationship for determining linear stiffness based on joint rotation angle is also proposed, further aiding experimental validation.

Thrust Measurements in Ballistic Pendulum Ablative Laser Propulsion Experiments

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

Brazolin, H.; Rodrigues, N. A. S.; Minucci, M. A. S.

This paper describes a setup for thrust measurement in ablative laser propulsion experiments, based on a simple ballistic pendulum associated to an imaging system, which is being assembled at IEAv. A light aluminium pendulum holding samples is placed inside a 100 liters vacuum chamber with two optical windows: the first (in ZnSe) for the laser beam and the second (in fused quartz) for the pendulum visualization. A TEA-CO{sub 2} laser beam is focused to the samples providing ablation and transferring linear moment to the pendulum as a whole. A CCD video camera captures the oscillatory movement of the pendulum andmore » the its trajectory is obtained by image processing. By fitting the trajectory of the pendulum to a dumped sinusoidal curve is possible to obtain the amplitude of the movement which is directly related to the momentum transfered to the sample.« less

Tidal evolution of the Galilean satellites - A linearized theory

NASA Technical Reports Server (NTRS)

Greenberg, R.

1981-01-01

The Laplace resonance among the Galilean satellites Io, Europa, and Ganymede is traditionally reduced to a pendulum-like dynamical problem by neglecting short-period variations of several orbital elements. However, some of these variations that can now be neglected may once have had longer periods, comparable to the 'pendulum' period, if the system was formerly in deep resonance (pairs of periods even closer to the ratio 2:1 than they are now). In that case, the dynamical system cannot be reduced to fewer than nine dimensions. The nine-dimensional system is linearized here in order to study small variations about equilibrium. When tidal effects are included, the resulting evolution is substantially the same as was indicated by the pendulum approach, except that evolution out of deep resonance is found to be somewhat slower than suggested by extrapolation of the pendulum results. This slower rate helps support the hypothesis that the system may have evolved from deep resonance.

Learning control of inverted pendulum system by neural network driven fuzzy reasoning: The learning function of NN-driven fuzzy reasoning under changes of reasoning environment

NASA Technical Reports Server (NTRS)

Hayashi, Isao; Nomura, Hiroyoshi; Wakami, Noboru

1991-01-01

Whereas conventional fuzzy reasonings are associated with tuning problems, which are lack of membership functions and inference rule designs, a neural network driven fuzzy reasoning (NDF) capable of determining membership functions by neural network is formulated. In the antecedent parts of the neural network driven fuzzy reasoning, the optimum membership function is determined by a neural network, while in the consequent parts, an amount of control for each rule is determined by other plural neural networks. By introducing an algorithm of neural network driven fuzzy reasoning, inference rules for making a pendulum stand up from its lowest suspended point are determined for verifying the usefulness of the algorithm.

The Learning of Visually Guided Action: An Information-Space Analysis of Pole Balancing

ERIC Educational Resources Information Center

Jacobs, David M.; Vaz, Daniela V.; Michaels, Claire F.

2012-01-01

In cart-pole balancing, one moves a cart in 1 dimension so as to balance an attached inverted pendulum. We approached perception-action and learning in this task from an ecological perspective. This entailed identifying a space of informational variables that balancers use as they perform the task and demonstrating that they improve by traversing…

[Evaluation of pendulum testing of spasticity].

PubMed

Le Cavorzin, P; Hernot, X; Bartier, O; Carrault, G; Chagneau, F; Gallien, P; Allain, H; Rochcongar, P

2002-11-01

To identify valid measurements of spasticity derived from the pendulum test of the leg in a representative population of spastic patients. Pendulum testing was performed in 15 spastic and 10 matched healthy subjects. The reflex-mediated torque evoked in quadriceps femoris, as well as muscle mechanical parameters (viscosity and elasticity), were calculated using mathematical modelling. Correlation with the two main measures derived from the pendulum test reported in the literature (the Relaxation Index and the area under the curve) was calculated in order to select the most valid. Among mechanical parameters, only viscosity was found to be significantly higher in the spastic group. As expected, the computed integral of the reflex-mediated torque was found to be larger in spastics than in healthy subjects. A significant non-linear (logarithmic) correlation was found between the clinically-assessed muscle spasticity (Ashworth grading) and the computed reflex-mediated torque, emphasising the non-linear behaviour of this scale. Among measurements derived from the pendulum test which are proposed in the literature for routine estimation of spasticity, the Relaxation Index exhibited an unsuitable U-shaped pattern of variation with increasing reflex-mediated torque. On the opposite, the area under the curve revealed a linear regression, which is more convenient for routine estimation of spasticity. The pendulum test of the leg is a simple technique for the assessment of spastic hypertonia. However, the measurement generally used in the literature (the Relaxation Index) exhibits serious limitations, and would benefit to be replaced by more valid measures, such as the area under the goniometric curve, especially for the assessment of therapeutics.

Learning an Intermittent Control Strategy for Postural Balancing Using an EMG-Based Human-Computer Interface

PubMed Central

Asai, Yoshiyuki; Tateyama, Shota; Nomura, Taishin

2013-01-01

It has been considered that the brain stabilizes unstable body dynamics by regulating co-activation levels of antagonist muscles. Here we critically reexamined this established theory of impedance control in a postural balancing task using a novel EMG-based human-computer interface, in which subjects were asked to balance a virtual inverted pendulum using visual feedback information on the pendulum's position. The pendulum was actuated by a pair of antagonist joint torques determined in real-time by activations of the corresponding pair of antagonist ankle muscles of subjects standing upright. This motor-task raises a frustrated environment; a large feedback time delay in the sensorimotor loop, as a source of instability, might favor adopting the non-reactive, preprogrammed impedance control, but the ankle muscles are relatively hard to co-activate, which hinders subjects from adopting the impedance control. This study aimed at discovering how experimental subjects resolved this frustrated environment through motor learning. One third of subjects adapted to the balancing task in a way of the impedance-like control. It was remarkable, however, that the majority of subjects did not adopt the impedance control. Instead, they acquired a smart and energetically efficient strategy, in which two muscles were inactivated simultaneously at a sequence of optimal timings, leading to intermittent appearance of periods of time during which the pendulum was not actively actuated. Characterizations of muscle inactivations and the pendulum¡Çs sway showed that the strategy adopted by those subjects was a type of intermittent control that utilizes a stable manifold of saddle-type unstable upright equilibrium that appeared in the state space of the pendulum when the active actuation was turned off. PMID:23717398

Volume 2: Compendium of Abstracts

DTIC Science & Technology

2017-06-01

simulation work using a standard running model for legged systems, the Spring Loaded Inverted Pendulum (SLIP) Model. In this model, the dynamics of a single...bar SLIP model is analyzed using a basin of attraction analyses to determine the optimal configuration for running at different velocities and...acquisition, and the automatic target acquisition were then compared to each other. After running trials with the current system, it will be

Towards the SQL: Status of the direct thermal-noise measurements at the ANU

NASA Astrophysics Data System (ADS)

Mow-Lowry, C. M.; Goßler, S.; Slagmolen, B. J. J.; Cumpston, J.; Gray, M. B.; McClelland, D. E.

2006-03-01

We present the preliminary results for an experiment that aims to perform direct measurements of suspension thermal noise. The experiment is based on a niobium flexure membrane approximately 200 µm thickness that is operated as a stable inverted pendulum. A 0.25 g mirror suspended by this flexure membrane is used as the end mirror of a Fabry-Perot test cavity. This test cavity has a length of 12mm and a finesse of about 800. It is mounted at the lowest stage of a quadruple cascaded pendulum suspension, enclosed in a high-vacuum envelope. The length of test cavity is stabilized with 1Hz bandwidth to a Nd:YAG laser, which itself is stabilized with high bandwidth to the length of a suspended Zerodur reference cavity of finesse 6000.

Quantum dynamics of a plane pendulum

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

Leibscher, Monika; Schmidt, Burkhard

A semianalytical approach to the quantum dynamics of a plane pendulum is developed, based on Mathieu functions which appear as stationary wave functions. The time-dependent Schroedinger equation is solved for pendular analogs of coherent and squeezed states of a harmonic oscillator, induced by instantaneous changes of the periodic potential energy function. Coherent pendular states are discussed between the harmonic limit for small displacements and the inverted pendulum limit, while squeezed pendular states are shown to interpolate between vibrational and free rotational motion. In the latter case, full and fractional revivals as well as spatiotemporal structures in the time evolution ofmore » the probability densities (quantum carpets) are quantitatively analyzed. Corresponding expressions for the mean orientation are derived in terms of Mathieu functions in time. For periodic double well potentials, different revival schemes, and different quantum carpets are found for the even and odd initial states forming the ground tunneling doublet. Time evolution of the mean alignment allows the separation of states with different parity. Implications for external (rotational) and internal (torsional) motion of molecules induced by intense laser fields are discussed.« less

Propagation-invariant beams with quantum pendulum spectra: from Bessel beams to Gaussian beam-beams.

PubMed

Dennis, Mark R; Ring, James D

2013-09-01

We describe a new class of propagation-invariant light beams with Fourier transform given by an eigenfunction of the quantum mechanical pendulum. These beams, whose spectra (restricted to a circle) are doubly periodic Mathieu functions in azimuth, depend on a field strength parameter. When the parameter is zero, pendulum beams are Bessel beams, and as the parameter approaches infinity, they resemble transversely propagating one-dimensional Gaussian wave packets (Gaussian beam-beams). Pendulum beams are the eigenfunctions of an operator that interpolates between the squared angular momentum operator and the linear momentum operator. The analysis reveals connections with Mathieu beams, and insight into the paraxial approximation.

Experimental Robot Model Adjustments Based on Force–Torque Sensor Information

PubMed Central

2018-01-01

The computational complexity of humanoid robot balance control is reduced through the application of simplified kinematics and dynamics models. However, these simplifications lead to the introduction of errors that add to other inherent electro-mechanic inaccuracies and affect the robotic system. Linear control systems deal with these inaccuracies if they operate around a specific working point but are less precise if they do not. This work presents a model improvement based on the Linear Inverted Pendulum Model (LIPM) to be applied in a non-linear control system. The aim is to minimize the control error and reduce robot oscillations for multiple working points. The new model, named the Dynamic LIPM (DLIPM), is used to plan the robot behavior with respect to changes in the balance status denoted by the zero moment point (ZMP). Thanks to the use of information from force–torque sensors, an experimental procedure has been applied to characterize the inaccuracies and introduce them into the new model. The experiments consist of balance perturbations similar to those of push-recovery trials, in which step-shaped ZMP variations are produced. The results show that the responses of the robot with respect to balance perturbations are more precise and the mechanical oscillations are reduced without comprising robot dynamics. PMID:29534477

Nonlinear Feedback Control of the Rotary Inverted Pendulum

DTIC Science & Technology

2017-06-01

equations executed in the S-functions were rebuilt using Simulink Math Operation blocks. Building these equations with Math Operations was not...difficult but required attention to detail in order to make sure all the correct operations took place. Simulation outputs using the Math Operations were...compared to those using an S- function to check for correctness. After the math blocks were confirmed to work correctly, the simulation was sent to

Indoor Autonomous Control of a Two-Wheeled Inverted Pendulum Vehicle Using Ultra Wide Band Technology.

PubMed

Xia, Dunzhu; Yao, Yanhong; Cheng, Limei

2017-06-15

In this paper, we aimed to achieve the indoor tracking control of a two-wheeled inverted pendulum (TWIP) vehicle. The attitude data are acquired from a low cost micro inertial measurement unit (IMU), and the ultra-wideband (UWB) technology is utilized to obtain an accurate estimation of the TWIP's position. We propose a dual-loop control method to realize the simultaneous balance and trajectory tracking control for the TWIP vehicle. A robust adaptive second-order sliding mode control (2-RASMC) method based on an improved super-twisting (STW) algorithm is investigated to obtain the control laws, followed by several simulations to verify its robustness. The outer loop controller is designed using the idea of backstepping. Moreover, three typical trajectories, including a circle, a trifolium and a hexagon, have been designed to prove the adaptability of the control combinations. Six different combinations of inner and outer loop control algorithms have been compared, and the characteristics of inner and outer loop algorithm combinations have been analyzed. Simulation results demonstrate its tracking performance and thus verify the validity of the proposed control methods. Trajectory tracking experiments in a real indoor environment have been performed using our experimental vehicle to further validate the feasibility of the proposed algorithm in practice.

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

PubMed

Breniere, Y; Ribreau, C

1998-10-01

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

Ambulatory estimation of mean step length during unconstrained walking by means of COG accelerometry.

PubMed

González, R C; Alvarez, D; López, A M; Alvarez, J C

2009-12-01

It has been reported that spatio-temporal gait parameters can be estimated using an accelerometer to calculate the vertical displacement of the body's centre of gravity. This method has the potential to produce realistic ambulatory estimations of those parameters during unconstrained walking. In this work, we want to evaluate the crude estimations of mean step length so obtained, for their possible application in the construction of an ambulatory walking distance measurement device. Two methods have been tested with a set of volunteers in 20 m excursions. Experimental results show that estimations of walking distance can be obtained with sufficient accuracy and precision for most practical applications (errors of 3.66 +/- 6.24 and 0.96 +/- 5.55%), the main difficulty being inter-individual variability (biggest deviations of 19.70 and 15.09% for each estimator). Also, the results indicate that an inverted pendulum model for the displacement during the single stance phase, and a constant displacement per step during double stance, constitute a valid model for the travelled distance with no need of further adjustments. It allows us to explain the main part of the erroneous distance estimations in different subjects as caused by fundamental limitations of the simple inverted pendulum approach.

Demonstrating the Principle of an rf Paul Ion Trap

NASA Astrophysics Data System (ADS)

Johnson, Andrew; Rabchuk, James

2008-03-01

An rf ion trap uses a time-varying electric field to trap charged ions. This is useful in applications related to quantum computing and mass spectroscopy. There are several mechanical devices described in the literature which have attempted to provide illustrative demonstrations of the principle of rf ion traps, including a mechanically-rotating ``saddle trap'' and the vertically-driven, inverted pendulum^1,2. Neither demonstration, however, successfully demonstrates BOTH the sinusoidal variation in the electric potential of the rf trap AND the parametric stability of the ions in the trap described by Mathieu's equation. We have modified a design of a one-dimensional ponderomotive trap^3 so that it satisfies both criteria for demonstrating the principle of an rf Paul trap. Our studies indicate that trapping stability is highly sensitive to fluxuations in the driving frequency. Results from the demonstration apparatus constructed by the authors will be presented. ^1 Rueckner, W., et al., ``Rotating saddle Paul trap,'' Am. J. Phys., 63 (2), February 1995. ^2 Friedman, M.H., et al., ``The inverted pendulum: A mechanical analogue of a quadrupole mass filter,'' Am. J. Phys., 50 (10), October 1982. ^3 Johnson, A.K. and Rabchuk, J.A., ``A One-Dimensional Ponderomotive Trap,'' ISAAPT 2007 spring meeting, WIU, March 30, 2007.

Physical constraints, fundamental limits, and optimal locus of operating points for an inverted pendulum based actuated dynamic walker.

PubMed

Patnaik, Lalit; Umanand, Loganathan

2015-10-26

The inverted pendulum is a popular model for describing bipedal dynamic walking. The operating point of the walker can be specified by the combination of initial mid-stance velocity (v0) and step angle (φm) chosen for a given walk. In this paper, using basic mechanics, a framework of physical constraints that limit the choice of operating points is proposed. The constraint lines thus obtained delimit the allowable region of operation of the walker in the v0-φm plane. A given average forward velocity vx,avg can be achieved by several combinations of v0 and φm. Only one of these combinations results in the minimum mechanical power consumption and can be considered the optimum operating point for the given vx,avg. This paper proposes a method for obtaining this optimal operating point based on tangency of the power and velocity contours. Putting together all such operating points for various vx,avg, a family of optimum operating points, called the optimal locus, is obtained. For the energy loss and internal energy models chosen, the optimal locus obtained has a largely constant step angle with increasing speed but tapers off at non-dimensional speeds close to unity.

Indoor Autonomous Control of a Two-Wheeled Inverted Pendulum Vehicle Using Ultra Wide Band Technology

PubMed Central

Xia, Dunzhu; Yao, Yanhong; Cheng, Limei

2017-01-01

In this paper, we aimed to achieve the indoor tracking control of a two-wheeled inverted pendulum (TWIP) vehicle. The attitude data are acquired from a low cost micro inertial measurement unit (IMU), and the ultra-wideband (UWB) technology is utilized to obtain an accurate estimation of the TWIP’s position. We propose a dual-loop control method to realize the simultaneous balance and trajectory tracking control for the TWIP vehicle. A robust adaptive second-order sliding mode control (2-RASMC) method based on an improved super-twisting (STW) algorithm is investigated to obtain the control laws, followed by several simulations to verify its robustness. The outer loop controller is designed using the idea of backstepping. Moreover, three typical trajectories, including a circle, a trifolium and a hexagon, have been designed to prove the adaptability of the control combinations. Six different combinations of inner and outer loop control algorithms have been compared, and the characteristics of inner and outer loop algorithm combinations have been analyzed. Simulation results demonstrate its tracking performance and thus verify the validity of the proposed control methods. Trajectory tracking experiments in a real indoor environment have been performed using our experimental vehicle to further validate the feasibility of the proposed algorithm in practice. PMID:28617338

Pendulum motions of extended lunar space elevator

NASA Astrophysics Data System (ADS)

Burov, A. A.; Kosenko, I. I.

2014-09-01

In the usual everyday life, it is well known that the inverted pendulum is unstable and is ready to fall to "all four sides," to the left and to the right, forward and backward. The theoretical studies and the lunar experience of moon robots and astronauts also confirms this property. The question arises: Is this property preserved if the pendulum is "very, very long"? It turns out that the answer is negative; namely, if the pendulum length significantly exceeds the Moon radius, then the radial equilibria at which the pendulum is located along the straight line connecting the Earth and Moon centers are Lyapunov stable and the pendulum does not fall in any direction at all. Moreover, if the pendulum goes beyond the collinear libration points, then it can be extended and manufactured from cables. This property was noted by F. A. Tsander and underlies the so-called lunar space elevator (e.g., see [1]). In the plane of the Earth and Moon orbits, there are some other equilibria which turn out to be unstable. The question is, Are there equilibria at which the pendulum is located outside the orbital plane? In this paper, we show that the answer is positive, but such equilibria are unstable in the secular sense. We also study necessary conditions for the stability of lunar pendulum oscillations in the plane of the lunar orbit. It was numerically discovered that stable and unstable equilibria alternate depending on the oscillation amplitude and the angular velocity of rotation. The study of the lunar elevator dynamics originates in [2]. The concept of lunar elevator was developed in detail in [3, 4]. Several classes of equilibria with the finiteness of the Moon size taken into account were studied in [5]. The possibility of location of an orbital station fixed to the Moon surface by a pair of tethers was investigated in [6]. The problem of orientation of the terminal station of the lunar space elevator was studied in [7]. The influence of the tether length variations on the motion of the lunar tether system was considered in [8]. The alternation of stable and unstable flat oscillations is well known in the problem of satellite oscillations in a circular orbit [9, 10].

A nearly-linear computational-cost scheme for the forward dynamics of an N-body pendulum

NASA Technical Reports Server (NTRS)

Chou, Jack C. K.

1989-01-01

The dynamic equations of motion of an n-body pendulum with spherical joints are derived to be a mixed system of differential and algebraic equations (DAE's). The DAE's are kept in implicit form to save arithmetic and preserve the sparsity of the system and are solved by the robust implicit integration method. At each solution point, the predicted solution is corrected to its exact solution within given tolerance using Newton's iterative method. For each iteration, a linear system of the form J delta X = E has to be solved. The computational cost for solving this linear system directly by LU factorization is O(n exp 3), and it can be reduced significantly by exploring the structure of J. It is shown that by recognizing the recursive patterns and exploiting the sparsity of the system the multiplicative and additive computational costs for solving J delta X = E are O(n) and O(n exp 2), respectively. The formulation and solution method for an n-body pendulum is presented. The computational cost is shown to be nearly linearly proportional to the number of bodies.

Feedback control by online learning an inverse model.

PubMed

Waegeman, Tim; Wyffels, Francis; Schrauwen, Francis

2012-10-01

A model, predictor, or error estimator is often used by a feedback controller to control a plant. Creating such a model is difficult when the plant exhibits nonlinear behavior. In this paper, a novel online learning control framework is proposed that does not require explicit knowledge about the plant. This framework uses two learning modules, one for creating an inverse model, and the other for actually controlling the plant. Except for their inputs, they are identical. The inverse model learns by the exploration performed by the not yet fully trained controller, while the actual controller is based on the currently learned model. The proposed framework allows fast online learning of an accurate controller. The controller can be applied on a broad range of tasks with different dynamic characteristics. We validate this claim by applying our control framework on several control tasks: 1) the heating tank problem (slow nonlinear dynamics); 2) flight pitch control (slow linear dynamics); and 3) the balancing problem of a double inverted pendulum (fast linear and nonlinear dynamics). The results of these experiments show that fast learning and accurate control can be achieved. Furthermore, a comparison is made with some classical control approaches, and observations concerning convergence and stability are made.

Hall Effect Thruster Ground Testing Challenges

DTIC Science & Technology

2009-08-18

the specic impulse, g is Earth’s gravitational constant, η is the thrust efficiency, ṁ is the propellant...lines form a composite spring with an effective spring constant of K . The thruster displaces the inverted pendulum a distance x, and the thrust stand...destabilizing force as shown in Eqn. 5. x = T K − Mgh (5) The effective spring constant is adjusted such that the unstable condition of K = Mg/h is avoided,

Anelastic behavior of a torsion pendulum with a CuBe fiber at low temperature, and implications for a measurement of the gravitational constant

NASA Astrophysics Data System (ADS)

Bantel, Michael Kurt

1998-07-01

Using a torsion pendulum, we have investigated the anelastic properties of a CuBe torsion fiber for shear strains in the range 4×10-7 to 3×10-3 at temperatures 4.2K, 77K, and 295K. The fiber was 20 μm in diameter and 24 cm long, with a torsion constant of 0.033 dyn/cdot cm/cdot rad-1. It suspended an 11 gram azimuthally symmetric torsion pendulum which loaded the fiber to approximately 25% of its tensile strength at room temperature. The natural torsional oscillation frequency of this system was 6.4 mHz. An autocollimator viewing a set of mirrors on the oscillating pendulum served to measure with great accuracy the times at which the pendulum assumed a large set of discrete angular displacements during each oscillation cycle. This enabled a determination of the angular displacement of the pendulum as a function of time to better than a part in 107 of its oscillation amplitude, from which accurate information was obtained on the pendulum's frequency, damping, and harmonic content as functions of the oscillation amplitude. Analysis yields a determination of the fourth order shear elastic constant of CuBe. Expressing the shear potential energy density as: u(/epsilon)=c2ɛ2+c3ɛ3+ c4ɛ4 where ɛ is the shear strain, the values determined for (c2,/ c3,/ c4) are (25, 0.17, -550) GPa respectively. A striking feature of the fiber's internal friction Q-1 is that it appears to be the sum of two independent components: Q-1=Q I-1(T)+ Q II-1(A) where Q I-1(T) is temperature-dependent, varying by a factor of 3 between 4.2 and 77K, and Q II-1(A) is linearly dependent on amplitude and virtually independent of temperature; its linear dependence on amplitude varied by less than 4% between 4.2K and 77K. Interestingly the measurements of: the linear amplitude-dependent Q II-1, the linear component of the amplitude-dependent frequency shift, and the harmonic content associated with a dissipative hysteresis loop, are consistent with the motion generated by a simple stick-slip mechanism. Such a mechanism may be the result of microplastic behavior associated with the motion of dislocations and/or point defects. For a measurement of the gravitational constant using a torsion pendulum, these fiber-related properties may create a maximal 2-5 ppm systematic error assuming a comprehensive analysis is employed.

Mood regulation in bipolar disorders viewed through the pendulum dynamics concept.

PubMed

Koutsoukos, Elias; Angelopoulos, Elias

2014-12-01

Bipolar disorders have been characterized by powerful fluctuations of energy, mood, and thinking patterns. Mood episodes (manic or depressive) could be considered as deviations of a psycho-physiological index above or below a conventionally defined value called 'normothymia'. In the present study, we analyzed the feedback techniques used to suppress the oscillatory activity exhibited on an inverted pendulum device. Subsequently, we examine the degree that this multimodal feedback design could be considered on a hypothetical pendulum where the mood plays the role of the suspended mass, and the force balance compensation circuitry is substituted by drug-specific therapeutic interventions. The study does not concern a model of bipolar illness that could simulate numerically various phases of mood episodes but focuses on the functional similarities regarding the correction treatments applied on the two different oscillating systems giving a potential perspective of how techniques of feedback control may enhance the conceptualization of the treatment schemes followed in recent guidelines for biological treatment of bipolar disorders. Our theoretical consideration, along with observations on clinical level, gives support to the concept that the compensation of the mood oscillations should be adaptive with selective therapeutic interventions that compensate the excited system in different time scales.

The method of Ritz applied to the equation of Hamilton. [for pendulum systems

NASA Technical Reports Server (NTRS)

Bailey, C. D.

1976-01-01

Without any reference to the theory of differential equations, the initial value problem of the nonlinear, nonconservative double pendulum system is solved by the application of the method of Ritz to the equation of Hamilton. Also shown is an example of the reduction of the traditional eigenvalue problem of linear, homogeneous, differential equations of motion to the solution of a set of nonhomogeneous algebraic equations. No theory of differential equations is used. Solution of the time-space path of the linear oscillator is demonstrated and compared to the exact solution.

An Anharmonic Solution to the Equation of Motion for the Simple Pendulum

ERIC Educational Resources Information Center

Johannessen, Kim

2011-01-01

An anharmonic solution to the differential equation describing the oscillations of a simple pendulum at large angles is discussed. The solution is expressed in terms of functions not involving the Jacobi elliptic functions. In the derivation, a sinusoidal expression, including a linear and a Fourier sine series in the argument, has been applied.…

Limits of Stability and Adaptation to Wearing Rocker Bottom Shoes.

PubMed

Vieira, Edgar Ramos; Guerrero, Gerardo; Holt, Daniel; Arreaza, Monica; Veroes, Valentina; Brunt, Denis

2014-06-01

Stability and balance are fundamental during static and dynamic activities. The effects of wearing rocker bottom sole (RBS) shoes on the limits of stability (LOS) and adaptation to wearing RBS shoes need to be investigated. The objectives of this study were to evaluate the LOS when wearing RBS shoes, and to evaluate if people improve their stability while wearing RBS shoes over time. Eleven female subjects with no lower extremity impairments participated in the study. The LOS were tested at baseline and weeks 3 and 6 using a Neurocom SMART EquiTest equipment. Center of pressure (CoP) was determined using force plates, and the center of gravity (CoG) position was estimated from the CoP measures and subjects' anthropometry. Subjects performed a series of tasks that involved leaning in different directions so as to move the vertical projection of their CoG. End-point excursions of the CoG floor projection were calculated as a percentage of the distance between the starting position and the target. Considering the body as an inverted pendulum, we recorded the average angular velocity of the inverted pendulum during the movements and quantified directional control as a percentage of movement toward versus away from the target. Shoe types were compared using paired t tests, and sessions were compared using repeated measures ANOVA. The angular velocities of the inverted pendulum (ie, CoG velocity) were not significantly different between shoe conditions in the front and back directions at baseline (4 ± 3 with RBS vs 5 ± 2 deg/sec with regular shoes, and 4 ± 1 vs 6 ± 4 deg/sec). Front directional control of the CoG was significantly worse with RBS shoes at weeks 3 and 6 ( P < .015). Front end-point excursions were also lower with RBS shoes both at baseline and week 6 ( P < .014). There were no significant changes over time. The findings indicate that the LOS were negatively affected by wearing RBS shoes and that people do not improve their stability while wearing these shoes even after a 6-week period of use. This study shows that wearing RBS shoes increase instability and the instability remains even after wearing these shoes for six weeks.

Non-contact thrust stand calibration method for repetitively pulsed electric thrusters.

PubMed

Wong, Andrea R; Toftul, Alexandra; Polzin, Kurt A; Pearson, J Boise

2012-02-01

A thrust stand calibration technique for use in testing repetitively pulsed electric thrusters for in-space propulsion has been developed and tested using a modified hanging pendulum thrust stand. In the implementation of this technique, current pulses are applied to a solenoid to produce a pulsed magnetic field that acts against a permanent magnet mounted to the thrust stand pendulum arm. The force on the magnet is applied in this non-contact manner, with the entire pulsed force transferred to the pendulum arm through a piezoelectric force transducer to provide a time-accurate force measurement. Modeling of the pendulum arm dynamics reveals that after an initial transient in thrust stand motion the quasi-steady average deflection of the thrust stand arm away from the unforced or "zero" position can be related to the average applied force through a simple linear Hooke's law relationship. Modeling demonstrates that this technique is universally applicable except when the pulsing period is increased to the point where it approaches the period of natural thrust stand motion. Calibration data were obtained using a modified hanging pendulum thrust stand previously used for steady-state thrust measurements. Data were obtained for varying impulse bit at constant pulse frequency and for varying pulse frequency. The two data sets exhibit excellent quantitative agreement with each other. The overall error on the linear regression fit used to determine the calibration coefficient was roughly 1%.

Dynamic Modeling and Simulation of an Underactuated System

NASA Astrophysics Data System (ADS)

Libardo Duarte Madrid, Juan; Ospina Henao, P. A.; González Querubín, E.

2017-06-01

In this paper, is used the Lagrangian classical mechanics for modeling the dynamics of an underactuated system, specifically a rotary inverted pendulum that will have two equations of motion. A basic design of the system is proposed in SOLIDWORKS 3D CAD software, which based on the material and dimensions of the model provides some physical variables necessary for modeling. In order to verify the results obtained, a comparison the CAD model simulated in the environment SimMechanics of MATLAB software with the mathematical model who was consisting of Euler-Lagrange’s equations implemented in Simulink MATLAB, solved with the ODE23tb method, included in the MATLAB libraries for the solution of systems of equations of the type and order obtained. This article also has a topological analysis of pendulum trajectories through a phase space diagram, which allows the identification of stable and unstable regions of the system.

Noninvasive Electrical Neuroimaging of the Human Brain during Mobile Tasks including Walking and Running

DTIC Science & Technology

2012-01-01

not trivial, and the increase is not without drawbacks . For high-density EEG systems, data processing can take a significant amount of time, even...existing wireless transmission systems. Given these drawbacks , a question naturally arises: how many electrodes are needed for MoBI? The answer will...state motor output. Neuroimage 36, 785-792. Kuo, A.D., Donelan, J.M., Ruina, A., 2005. Energetic consequences of walking like an inverted pendulum

A point of application study to determine the accuracy, precision and reliability of a low-cost balance plate for center of pressure measurement.

PubMed

Goble, Daniel J; Khan, Ehran; Baweja, Harsimran S; O'Connor, Shawn M

2018-04-11

Changes in postural sway measured via force plate center of pressure have been associated with many aspects of human motor ability. A previous study validated the accuracy and precision of a relatively new, low-cost and portable force plate called the Balance Tracking System (BTrackS). This work compared a laboratory-grade force plate versus BTrackS during human-like dynamic sway conditions generated by an inverted pendulum device. The present study sought to extend previous validation attempts for BTrackS using a more traditional point of application (POA) approach. Computer numerical control (CNC) guided application of ∼155 N of force was applied five times to each of 21 points on five different BTrackS Balance Plate (BBP) devices with a hex-nose plunger. Results showed excellent agreement (ICC > 0.999) between the POAs and measured COP by the BBP devices, as well as high accuracy (<1% average percent error) and precision (<0.1 cm average standard deviation of residuals). The ICC between BBP devices was exceptionally high (ICC > 0.999) providing evidence of almost perfect inter-device reliability. Taken together, these results provide an important, static corollary to the previously obtained dynamic COP results from inverted pendulum testing of the BBP. Copyright © 2018 Elsevier Ltd. All rights reserved.

Predicting Dynamic Postural Instability Using Center of Mass Time-to-Contact Information

PubMed Central

Hasson, Christopher J.; Van Emmerik, Richard E.A.; Caldwell, Graham E.

2008-01-01

Our purpose was to determine whether spatiotemporal measures of center of mass motion relative to the base of support boundary could predict stepping strategies after upper-body postural perturbations in humans. We expected that inclusion of center of mass acceleration in such time-to-contact (TtC) calculations would give better predictions and more advanced warning of perturbation severity. TtC measures were compared with traditional postural variables, which don’t consider support boundaries, and with an inverted pendulum model of dynamic stability developed by Hof et al. (2005). A pendulum was used to deliver sequentially increasing perturbations to 10 young adults, who were strapped to a wooden backboard that constrained motion to sagittal plane rotation about the ankle joint. Subjects were instructed to resist the perturbations, stepping only if necessary to prevent a fall. Peak center of mass and center of pressure velocity and acceleration demonstrated linear increases with postural challenge. In contrast, boundary relevant minimum TtC values decreased nonlinearly with postural challenge, enabling prediction of stepping responses using quadratic equations. When TtC calculations incorporated center of mass acceleration, the quadratic fits were better and gave more accurate predictions of the TtC values that would trigger stepping responses. In addition, TtC minima occurred earlier with acceleration inclusion, giving more advanced warning of perturbation severity. Our results were in agreement with TtC predictions based on Hof’s model, and suggest that TtC may function as a control parameter, influencing the postural control system’s decision to transition from a stationary base of support to a stepping strategy. PMID:18556003

Proposal of a new electromechanical total artificial heart: the TAH Serpentina.

PubMed

Sauer, I M; Frank, J; Bücherl, E S

1999-03-01

A new type of energy converter for an electro-mechanical total artificial heart (TAH) based on the principle of a unidirectional moving motor is described. Named the TAH Serpentina, the concept consists of 2 major parts, a pendulum shaped movable element fixed on one side using a joint bearing and a special shaped drum cam. Pusher plates are mounted flexibly to the crossbar of the pendulum. A motor drives the special shaped drum cam linked to the pendulum through a ball bearing. The circular motion of the unidirectional moving brushless DC motor is transferred into the linear motion of the pendulum to drive the pusher plates. Using a crossbar with a variable length, the stroke of the pendulum and therefore the displaced blood volume is alterable. To achieve a variable length, an electric driven screw thread or a hydraulic system is possible. Comparable to the natural heart, cardiac output would be determined by frequency and stroke volume.

Approximated Stable Inversion for Nonlinear Systems with Nonhyperbolic Internal Dynamics. Revised

NASA Technical Reports Server (NTRS)

Devasia, Santosh

1999-01-01

A technique to achieve output tracking for nonminimum phase nonlinear systems with non- hyperbolic internal dynamics is presented. The present paper integrates stable inversion techniques (that achieve exact-tracking) with approximation techniques (that modify the internal dynamics) to circumvent the nonhyperbolicity of the internal dynamics - this nonhyperbolicity is an obstruction to applying presently available stable inversion techniques. The theory is developed for nonlinear systems and the method is applied to a two-cart with inverted-pendulum example.

Adiabatic dynamics of one-dimensional classical Hamiltonian dissipative systems

NASA Astrophysics Data System (ADS)

Pritula, G. M.; Petrenko, E. V.; Usatenko, O. V.

2018-02-01

A linearized plane pendulum with the slowly varying mass and length of string and the suspension point moving at a slowly varying speed is presented as an example of a simple 1D mechanical system described by the generalized harmonic oscillator equation, which is a basic model in discussion of the adiabatic dynamics and geometric phase. The expression for the pendulum geometric phase is obtained by three different methods. The pendulum is shown to be canonically equivalent to the damped harmonic oscillator. This supports the mathematical conclusion, not widely accepted in physical community, of no difference between the dissipative and Hamiltonian 1D systems.

Thrust Stand for Electric Propulsion Performance Evaluation

NASA Technical Reports Server (NTRS)

Markusic, T. E.; Jones, J. E.; Cox, M. D.

2004-01-01

An electric propulsion thrust stand capable of supporting thrusters with total mass of up to 125 kg and 1 mN to 1 N thrust levels has been developed and tested. The mechanical design features a conventional hanging pendulum arm attached to a balance mechanism that transforms horizontal motion into amplified vertical motion, with accommodation for variable displacement sensitivity. Unlike conventional hanging pendulum thrust stands, the deflection is independent of the length of the pendulum arm, and no reference structure is required at the end of the pendulum. Displacement is measured using a non-contact, optical linear gap displacement transducer. Mechanical oscillations are attenuated using a passive, eddy current damper. An on-board microprocessor-based level control system, which includes a two axis accelerometer and two linear-displacement stepper motors, continuously maintains the level of the balance mechanism - counteracting mechanical %era drift during thruster testing. A thermal control system, which includes heat exchange panels, thermocouples, and a programmable recirculating water chiller, continuously adjusts to varying thermal loads to maintain the balance mechanism temperature, to counteract thermal drifts. An in-situ calibration rig allows for steady state calibration both prior to and during thruster testing. Thrust measurements were carried out on a well-characterized 1 kW Hall thruster; the thrust stand was shown to produce repeatable results consistent with previously published performance data.

Universal fuzzy integral sliding-mode controllers for stochastic nonlinear systems.

PubMed

Gao, Qing; Liu, Lu; Feng, Gang; Wang, Yong

2014-12-01

In this paper, the universal integral sliding-mode controller problem for the general stochastic nonlinear systems modeled by Itô type stochastic differential equations is investigated. One of the main contributions is that a novel dynamic integral sliding mode control (DISMC) scheme is developed for stochastic nonlinear systems based on their stochastic T-S fuzzy approximation models. The key advantage of the proposed DISMC scheme is that two very restrictive assumptions in most existing ISMC approaches to stochastic fuzzy systems have been removed. Based on the stochastic Lyapunov theory, it is shown that the closed-loop control system trajectories are kept on the integral sliding surface almost surely since the initial time, and moreover, the stochastic stability of the sliding motion can be guaranteed in terms of linear matrix inequalities. Another main contribution is that the results of universal fuzzy integral sliding-mode controllers for two classes of stochastic nonlinear systems, along with constructive procedures to obtain the universal fuzzy integral sliding-mode controllers, are provided, respectively. Simulation results from an inverted pendulum example are presented to illustrate the advantages and effectiveness of the proposed approaches.

Biomechanical and energetic determinants of the walk-trot transition in horses.

PubMed

Griffin, Timothy M; Kram, Rodger; Wickler, Steven J; Hoyt, Donald F

2004-11-01

We studied nine adult horses spanning an eightfold range in body mass (M(b)) (90-720 kg) and a twofold range in leg length (L) (0.7-1.4 m). We measured the horses' walk-trot transition speeds using step-wise speed increments as they locomoted on a motorized treadmill. We then measured their rates of oxygen consumption over a wide range of walking and trotting speeds. We interpreted the transition speed results using a simple inverted-pendulum model of walking in which gravity provides the centripetal force necessary to keep the leg in contact with the ground. By studying a large size range of horses, we were naturally able to vary the absolute walking speed that would produce the same ratio of centripetal to gravitational forces. This ratio, (M(b)v2/L)/(M(b)g), reduces to the dimensionless Froude number (v2/gL), where v is forward speed, L is leg length and g is gravitational acceleration. We found that the absolute walk-trot transition speed increased with size from 1.6 to 2.3 m s(-1), but it occurred at nearly the same Froude number (0.35). In addition, horses spontaneously switched between gaits in a narrow range of speeds that corresponded to the metabolically optimal transition speed. These results support the hypotheses that the walk-trot transition is triggered by inverted-pendulum dynamics and occurs at the speed that maximizes metabolic economy.

Passive control of a falling sphere by elliptic-shaped appendages

NASA Astrophysics Data System (ADS)

Lācis, Uǧis; Olivieri, Stefano; Mazzino, Andrea; Bagheri, Shervin

2017-03-01

The majority of investigations characterizing the motion of single or multiple particles in fluid flows consider canonical body shapes, such as spheres, cylinders, discs, etc. However, protrusions on bodies—either surface imperfections or appendages that serve a function—are ubiquitous in both nature and applications. In this work, we characterize how the dynamics of a sphere with an axis-symmetric wake is modified in the presence of thin three-dimensional elliptic-shaped protrusions. By investigating a wide range of three-dimensional appendages with different aspect ratios and lengths, we clearly show that the sphere with an appendage may robustly undergo an inverted-pendulum-like (IPL) instability. This means that the position of the appendage placed behind the sphere and aligned with the free-stream direction is unstable, similar to how an inverted pendulum is unstable under gravity. Due to this instability, nontrivial forces are generated on the body, leading to turn and drift, if the body is free to fall under gravity. Moreover, we identify the aspect ratio and length of the appendage that induces the largest side force on the sphere, and therefore also the largest drift for a freely falling body. Finally, we explain the physical mechanisms behind these observations in the context of the IPL instability, i.e., the balance between surface area of the appendage exposed to reversed flow in the wake and the surface area of the appendage exposed to fast free-stream flow.

Identification of the contribution of the ankle and hip joints to multi-segmental balance control

PubMed Central

2013-01-01

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

Helicopter vibration suppression using simple pendulum absorbers on the rotor blade

NASA Technical Reports Server (NTRS)

Hamouda, M.-N. H.; Pierce, G. A.

1981-01-01

A design procedure is presented for the installation of simple pendulums on the blades of a helicopter rotor to suppress the root reactions. The procedure consists of a frequency response analysis for a hingeless rotor blade excited by a harmonic variation of spanwise airload distributions during forward flight, as well as a concentrated load at the tip. The structural modeling of the blade provides for elastic degrees of freedom in flap and lead-lag bending plus torsion. Simple flap and lead-lag pendulums are considered individually. Using a rational order scheme, the general nonlinear equations of motion are linearized. A quasi-steady aerodynamic representation is used in the formation of the airloads. The solution of the system equations derives from their representation as a transfer matrix. The results include the effect of pendulum tuning on the minimization of the hub reactions.

Attitude Stability of a Spacecraft with Slosh Mass Subject to Parametric Excitation

NASA Astrophysics Data System (ADS)

Kang, Ja-Young

2003-09-01

The attitude motion of a spin-stabilized, upper-stage spacecraft is investigated based on a two-body model, consisting of a symmetric body, representing the spacecraft, and a spherical pendulum, representing the liquid slag pool entrapped in the aft section of the rocket motor. Exact time-varying nonlinear equations are derived and used to eliminate the drawbacks of conventional linear models. To study the stability of the spacecraft's attitude motion, both the spacecraft and pendulum are assumed to be in states of steady spin about the symmetry axis of the spacecraft and the coupled time-varying nonlinear equation of the pendulum is simplified. A quasi-stationary solution to that equation and approximate resonance conditions are determined in terms of the system parameters. The analysis shows that the pendulum is subject to a combination of parametric and external-type excitation by the main body and that energy from the excited pendulum is fed into the main body to develop the coning instability. In this paper, numerical examples are presented to explain the mechanism of the coning angle growth and how angular momenta and disturbance moments are generated.

Nonlinear analysis of a family of LC tuned inverters. [dc to square wave circuits for power conditioning

NASA Technical Reports Server (NTRS)

Lee, F. C. Y.; Wilson, T. G.

1974-01-01

A family of four dc-to-square-wave LC tuned inverters are analyzed using singular point. Limit cycles and waveshape characteristics are given for three modes of oscillation: quasi-harmonic, relaxation, and discontinuous. An inverter in which the avalanche breakdown of the transistor emitter-to-base junction occurs is discussed and the starting characteristics of this family of inverters are presented. The LC tuned inverters are shown to belong to a family of inverters with a common equivalent circuit consisting of only three 'series' elements: a five-segment piecewise-linear current-controlled resistor, linear inductor, and linear capacitor.

Non-Contact Thrust Stand Calibration Method for Repetitively-Pulsed Electric Thrusters

NASA Technical Reports Server (NTRS)

Wong, Andrea R.; Toftul, Alexandra; Polzin, Kurt A.; Pearson, J. Boise

2011-01-01

A thrust stand calibration technique for use in testing repetitively-pulsed electric thrusters for in-space propulsion has been developed and tested using a modified hanging pendulum thrust stand. In the implementation of this technique, current pulses are applied to a solenoidal coil to produce a pulsed magnetic field that acts against the magnetic field produced by a permanent magnet mounted to the thrust stand pendulum arm. The force on the magnet is applied in this non-contact manner, with the entire pulsed force transferred to the pendulum arm through a piezoelectric force transducer to provide a time-accurate force measurement. Modeling of the pendulum arm dynamics reveals that after an initial transient in thrust stand motion the quasisteady average deflection of the thrust stand arm away from the unforced or zero position can be related to the average applied force through a simple linear Hooke s law relationship. Modeling demonstrates that this technique is universally applicable except when the pulsing period is increased to the point where it approaches the period of natural thrust stand motion. Calibration data were obtained using a modified hanging pendulum thrust stand previously used for steady-state thrust measurements. Data were obtained for varying impulse bit at constant pulse frequency and for varying pulse frequency. The two data sets exhibit excellent quantitative agreement with each other as the constant relating average deflection and average thrust match within the errors on the linear regression curve fit of the data. Quantitatively, the error on the calibration coefficient is roughly 1% of the coefficient value.

Invariant aspects of human locomotion in different gravitational environments.

PubMed

Minetti, A E

2001-01-01

Previous literature showed that walking gait follows the same mechanical paradigm, i.e. the straight/inverted pendulum, regardless the body size, the number of legs, and the amount of gravity acceleration. The Froude number, a dimensionless parameter originally designed to normalize the same (pendulum-like) motion in differently sized subjects, proved to be useful also in the comparison, within the same subject, of walking in heterogravity. In this paper the theory of dynamic similarity is tested by comparing the predictive power of the Froude number in terms of walking speed to previously published data on walking in hypogravity simulators. It is concluded that the Froude number is a good first predictor of the optimal walking speed and of the transition speed between walking and running in different gravitational conditions. According to the Froude number a dynamically similar walking speed on another planet can be calculated as [formula: see text] where V(Earth) is the reference speed on Earth. c 2001. Elsevier Science Ltd. All rights reserved.

Intelligent control of robotic arm/hand systems for the NASA EVA retriever using neural networks

NASA Technical Reports Server (NTRS)

Mclauchlan, Robert A.

1989-01-01

Adaptive/general learning algorithms using varying neural network models are considered for the intelligent control of robotic arm plus dextrous hand/manipulator systems. Results are summarized and discussed for the use of the Barto/Sutton/Anderson neuronlike, unsupervised learning controller as applied to the stabilization of an inverted pendulum on a cart system. Recommendations are made for the application of the controller and a kinematic analysis for trajectory planning to simple object retrieval (chase/approach and capture/grasp) scenarios in two dimensions.

An asymptotic solution to a passive biped walker model

NASA Astrophysics Data System (ADS)

Yudaev, Sergey A.; Rachinskii, Dmitrii; Sobolev, Vladimir A.

2017-02-01

We consider a simple model of a passive dynamic biped robot walker with point feet and legs without knee. The model is a switched system, which includes an inverted double pendulum. Robot’s gait and its stability depend on parameters such as the slope of the ramp, the length of robot’s legs, and the mass distribution along the legs. We present an asymptotic solution of the model. The first correction to the zero order approximation is shown to agree with the numerical solution for a limited parameter range.

A springy pendulum could describe the swing leg kinetics of human walking.

PubMed

Song, Hyunggwi; Park, Heewon; Park, Sukyung

2016-06-14

The dynamics of human walking during various walking conditions could be qualitatively captured by the springy legged dynamics, which have been used as a theoretical framework for bipedal robotics applications. However, the spring-loaded inverted pendulum model describes the motion of the center of mass (CoM), which combines the torso, swing and stance legs together and does not explicitly inform us as to whether the inter-limb dynamics share the springy legged dynamics characteristics of the CoM. In this study, we examined whether the swing leg dynamics could also be represented by springy mechanics and whether the swing leg stiffness shows a dependence on gait speed, as has been observed in CoM mechanics during walking. The swing leg was modeled as a spring-loaded pendulum hinged at the hip joint, which is under forward motion. The model parameters of the loaded mass were adopted from body parameters and anthropometric tables, whereas the free model parameters for the rest length of the spring and its stiffness were estimated to best match the data for the swing leg joint forces. The joint forces of the swing leg were well represented by the springy pendulum model at various walking speeds with a regression coefficient of R(2)>0.8. The swing leg stiffness increased with walking speed and was correlated with the swing frequency, which is consistent with previous observations from CoM dynamics described using the compliant leg. These results suggest that the swing leg also shares the springy dynamics, and the compliant walking model could be extended to better present swing leg dynamics. Copyright © 2016 Elsevier Ltd. All rights reserved.

Tracing the transition of a macro electron shuttle into nonlinear response

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

Kim, Chulki; Prada, Marta; Qin, Hua

We present a study on a macroscopic electron shuttle in the transition from linear to nonlinear response. The shuttle consists of a classical mechanical pendulum situated between two capacitor plates. The metallic pendulum enables mechanical transfer of electrons between the plates, hence allowing to directly trace electron shuttling in the time domain. By applying a high voltage to the plates, we drive the system into a controlled nonlinear response, where we observe period doubling.

The hybrid mass-spring pendulum model of human leg swinging: stiffness in the control of cycle period.

PubMed

Obusek, J P; Holt, K G; Rosenstein, R M

1995-07-01

Human leg swinging is modeled as the harmonic motion of a hybrid mass-spring pendulum. The cycle period is determined by a gravitational component and an elastic component, which is provided by the attachment of a soft-tissue/muscular spring of variable stiffness. To confirm that the stiffness of the spring changes with alterations in the inertial properties of the oscillator and that stiffness is relevant for the control of cycle period, we conducted this study in which the simple pendulum equivalent length was experimentally manipulated by adding mass to the ankle of a comfortably swinging leg. Twenty-four young, healthy adults were videotaped as they swung their right leg under four conditions: no added mass and with masses of 2.27, 4.55, and 6.82kg added to the ankle. Strong, linear relationships between the acceleration and displacement of the swinging leg within subjects and conditions were found, confirming the motion's harmonic nature. Cycle period significantly increased with the added mass. However, the observed increases were not as large as would be predicted by the induced changes in the gravitational component alone. These differences were interpreted as being due to increases in the active muscular stiffness. Significant linear increases in the elastic component (and hence stiffness) were demonstrated with increases in the simple pendulum equivalent length in 20 of the individual subjects, with r2 values ranging between 0.89 and 0.99. Significant linear relationships were also demonstrated between the elastic and gravitational components in 22 subjects, with individual r2 values between 0.90 and 0.99.(ABSTRACT TRUNCATED AT 250 WORDS)

Independent walking as a major skill for the development of anticipatory postural control: evidence from adjustments to predictable perturbations.

PubMed

Cignetti, Fabien; Zedka, Milan; Vaugoyeau, Marianne; Assaiante, Christine

2013-01-01

Although there is suggestive evidence that a link exists between independent walking and the ability to establish anticipatory strategy to stabilize posture, the extent to which this skill facilitates the development of anticipatory postural control remains largely unknown. Here, we examined the role of independent walking on the infants' ability to anticipate predictable external perturbations. Non-walking infants, walking infants and adults were sitting on a platform that produced continuous rotation in the frontal plane. Surface electromyography (EMG) of neck and lower back muscles and the positions of markers located on the platform, the upper body and the head were recorded. Results from cross-correlation analysis between rectified and filtered EMGs and platform movement indicated that although muscle activation already occurred before platform movement in non-walking infants, only walking infants demonstrated an adult-like ability for anticipation. Moreover, results from further cross-correlation analysis between segmental angular displacement and platform movement together with measures of balance control at the end-points of rotation of the platform evidenced two sorts of behaviour. The adults behaved as a non-rigid non-inverted pendulum, rather stabilizing head in space, while both the walking and non-walking infants followed the platform, behaving as a rigid inverted pendulum. These results suggest that the acquisition of independent walking plays a role in the development of anticipatory postural control, likely improving the internal model for the sensorimotor control of posture. However, despite such improvement, integrating the dynamics of an external object, here the platform, within the model to maintain balance still remains challenging in infants.

Kinematic error magnitude in the single-mass inverted pendulum model of human standing posture.

PubMed

Fok, Kai Lon; Lee, Jae; Vette, Albert H; Masani, Kei

2018-06-01

Many postural control studies employ a single-mass inverted pendulum model (IPM) to represent the body during standing. However, it is not known to what degree and for what conditions the model's kinematic assumptions are valid. Our first objective was to quantify the IPM error, corresponding to a distance change between the ankle joint and center of mass (COM) during unrestricted, natural, unperturbed standing. A second objective was to quantify the error of having the ankle joint angle represent the COM angle. Eleven young participants completed five standing conditions: quiet standing with eyes open (EO) and closed (EC), voluntarily swaying forward (VSf) and backward (VSb), and freely moving (FR). The modified Helen-Hayes marker model was used to capture the body kinematics. The COM distance changed <0.1% during EO and EC, <0.25% during VSf and VSb, and <1.5% during FR. The ankle angle moderately and positively correlated with the COM angle for EO, EC, and VSf, indicating that temporal features of the ankle angle moderately represent those of the COM angle. However, a considerable offset between the two existed, which needs to be considered when estimating the COM angle using the ankle angle. For VSb and FR, the correlation coefficients were low and/or negative, suggesting that a large error would result from using the ankle angle as an estimate of the COM angle. Insights from this study will be critical for deciding when to use the IPM in postural control research and for interpreting associated results. Copyright © 2018 Elsevier B.V. All rights reserved.

The strengths and weaknesses of inverted pendulum models of human walking.

PubMed

McGrath, Michael; Howard, David; Baker, Richard

2015-02-01

An investigation into the kinematic and kinetic predictions of two "inverted pendulum" (IP) models of gait was undertaken. The first model consisted of a single leg, with anthropometrically correct mass and moment of inertia, and a point mass at the hip representing the rest of the body. A second model incorporating the physiological extension of a head-arms-trunk (HAT) segment, held upright by an actuated hip moment, was developed for comparison. Simulations were performed, using both models, and quantitatively compared with empirical gait data. There was little difference between the two models' predictions of kinematics and ground reaction force (GRF). The models agreed well with empirical data through mid-stance (20-40% of the gait cycle) suggesting that IP models adequately simulate this phase (mean error less than one standard deviation). IP models are not cyclic, however, and cannot adequately simulate double support and step-to-step transition. This is because the forces under both legs augment each other during double support to increase the vertical GRF. The incorporation of an actuated hip joint was the most novel change and added a new dimension to the classic IP model. The hip moment curve produced was similar to those measured during experimental walking trials. As a result, it was interpreted that the primary role of the hip musculature in stance is to keep the HAT upright. Careful consideration of the differences between the models throws light on what the different terms within the GRF equation truly represent. Copyright © 2014 Elsevier B.V. All rights reserved.

A Sensitivity Analysis of an Inverted Pendulum Balance Control Model.

PubMed

Pasma, Jantsje H; Boonstra, Tjitske A; van Kordelaar, Joost; Spyropoulou, Vasiliki V; Schouten, Alfred C

2017-01-01

Balance control models are used to describe balance behavior in health and disease. We identified the unique contribution and relative importance of each parameter of a commonly used balance control model, the Independent Channel (IC) model, to identify which parameters are crucial to describe balance behavior. The balance behavior was expressed by transfer functions (TFs), representing the relationship between sensory perturbations and body sway as a function of frequency, in terms of amplitude (i.e., magnitude) and timing (i.e., phase). The model included an inverted pendulum controlled by a neuromuscular system, described by several parameters. Local sensitivity of each parameter was determined for both the magnitude and phase using partial derivatives. Both the intrinsic stiffness and proportional gain shape the magnitude at low frequencies (0.1-1 Hz). The derivative gain shapes the peak and slope of the magnitude between 0.5 and 0.9 Hz. The sensory weight influences the overall magnitude, and does not have any effect on the phase. The effect of the time delay becomes apparent in the phase above 0.6 Hz. The force feedback parameters and intrinsic stiffness have a small effect compared with the other parameters. All parameters shape the TF magnitude and phase and therefore play a role in the balance behavior. The sensory weight, time delay, derivative gain, and the proportional gain have a unique effect on the TFs, while the force feedback parameters and intrinsic stiffness contribute less. More insight in the unique contribution and relative importance of all parameters shows which parameters are crucial and critical to identify underlying differences in balance behavior between different patient groups.

Time-Parallel Solutions to Ordinary Differential Equations on GPUs with a New Functional Optimization Approach Related to the Sobolev Gradient Method

DTIC Science & Technology

2012-10-01

black and approximations in cyan and magenta. The second ODE is the pendulum equation, given by: This ODE was also implemented using Crank...The drawback of approaches like the one proposed can be observed with a very simple example. Suppose vector is found by applying 4 linear...public release; distribution unlimited Figure 2. A phase space plot of the Pendulum example. Fine solution (black) contains 32768 time steps

Performance of a 100 kW class applied field MPD thruster

NASA Technical Reports Server (NTRS)

Mantenieks, Maris A.; Sovey, James S.; Myers, Roger M.; Haag, Thomas W.; Raitano, Paul; Parkes, James E.

1989-01-01

Performance of a 100 kW, applied field magnetoplasmadynamic (MPD) thruster was evaluated and sensitivities of discharge characteristics to arc current, mass flow rate, and applied magnetic field were investigated. Thermal efficiencies as high as 60 percent, thrust efficiencies up to 21 percent, and specific impulses of up to 1150 s were attained with argon propellant. Thrust levels up to 2.5 N were directly measured with an inverted pendulum thrust stand at discharge input powers up to 57 kW. It was observed that thrust increased monotonically with the product of arc current and magnet current.

Walking Distance Estimation Using Walking Canes with Inertial Sensors

PubMed Central

Suh, Young Soo

2018-01-01

A walking distance estimation algorithm for cane users is proposed using an inertial sensor unit attached to various positions on the cane. A standard inertial navigation algorithm using an indirect Kalman filter was applied to update the velocity and position of the cane during movement. For quadripod canes, a standard zero-velocity measurement-updating method is proposed. For standard canes, a velocity-updating method based on an inverted pendulum model is proposed. The proposed algorithms were verified by three walking experiments with two different types of canes and different positions of the sensor module. PMID:29342971

Harvesting wind energy to detect weak signals using mechanical stochastic resonance.

PubMed

Breen, Barbara J; Rix, Jillian G; Ross, Samuel J; Yu, Yue; Lindner, John F; Mathewson, Nathan; Wainwright, Elliot R; Wilson, Ian

2016-12-01

Wind is free and ubiquitous and can be harnessed in multiple ways. We demonstrate mechanical stochastic resonance in a tabletop experiment in which wind energy is harvested to amplify weak periodic signals detected via the movement of an inverted pendulum. Unlike earlier mechanical stochastic resonance experiments, where noise was added via electrically driven vibrations, our broad-spectrum noise source is a single flapping flag. The regime of the experiment is readily accessible, with wind speeds ∼20 m/s and signal frequencies ∼1 Hz. We readily obtain signal-to-noise ratios on the order of 10 dB.

Sum-of-squares-based fuzzy controller design using quantum-inspired evolutionary algorithm

NASA Astrophysics Data System (ADS)

Yu, Gwo-Ruey; Huang, Yu-Chia; Cheng, Chih-Yung

2016-07-01

In the field of fuzzy control, control gains are obtained by solving stabilisation conditions in linear-matrix-inequality-based Takagi-Sugeno fuzzy control method and sum-of-squares-based polynomial fuzzy control method. However, the optimal performance requirements are not considered under those stabilisation conditions. In order to handle specific performance problems, this paper proposes a novel design procedure with regard to polynomial fuzzy controllers using quantum-inspired evolutionary algorithms. The first contribution of this paper is a combination of polynomial fuzzy control and quantum-inspired evolutionary algorithms to undertake an optimal performance controller design. The second contribution is the proposed stability condition derived from the polynomial Lyapunov function. The proposed design approach is dissimilar to the traditional approach, in which control gains are obtained by solving the stabilisation conditions. The first step of the controller design uses the quantum-inspired evolutionary algorithms to determine the control gains with the best performance. Then, the stability of the closed-loop system is analysed under the proposed stability conditions. To illustrate effectiveness and validity, the problem of balancing and the up-swing of an inverted pendulum on a cart is used.

The anisosphere as a new tool for interpreting Foucault pendulum experiments. Part I: harmonic oscillators

NASA Astrophysics Data System (ADS)

Verreault, René

2017-08-01

In an attempt to explain the tendency of Foucault pendula to develop elliptical orbits, Kamerlingh Onnes derived equations of motion that suggest the use of great circles on a spherical surface as a graphical illustration for an anisotropic bi-dimensional harmonic oscillator, although he did not himself exploit the idea any further. The concept of anisosphere is introduced in this work as a new means of interpreting pendulum motion. It can be generalized to the case of any two-dimensional (2-D) oscillating system, linear or nonlinear, including the case where coupling between the 2 degrees of freedom is present. Earlier pendulum experiments in the literature are revisited and reanalyzed as a test for the anisosphere approach. While that graphical method can be applied to strongly nonlinear cases with great simplicity, this part I is illustrated through a revisit of Kamerlingh Onnes' dissertation, where a high performance pendulum skillfully emulates a 2-D harmonic oscillator. Anisotropy due to damping is also described. A novel experiment strategy based on the anisosphere approach is proposed. Finally, recent original results with a long pendulum using an electronic recording alidade are presented. A gain in precision over traditional methods by 2-3 orders of magnitude is achieved.

Coupled pendula chains under parametric PT-symmetric driving force

NASA Astrophysics Data System (ADS)

Destyl, E.; Nuiro, S. P.; Pelinovsky, D. E.; Poullet, P.

2017-12-01

We consider a chain of coupled pendula pairs, where each pendulum is connected to the nearest neighbors in the longitudinal and transverse directions. The common strings in each pair are modulated periodically by an external force. In the limit of small coupling and near the 1 : 2 parametric resonance, we derive a novel system of coupled PT-symmetric discrete nonlinear Schrödinger equations, which has Hamiltonian symmetry but has no phase invariance. By using the conserved energy, we find the parameter range for the linear and nonlinear stability of the zero equilibrium. Numerical experiments illustrate how destabilization of the zero equilibrium takes place when the stability constraints are not satisfied. The central pendulum excites nearest pendula and this process continues until a dynamical equilibrium is reached where each pendulum in the chain oscillates at a finite amplitude.

Linear polarization-discriminatory state inverter fabricated by oblique angle deposition.

PubMed

Park, Yong Jun; Sobahan, K M A; Kim, Jin Joo; Hwangbo, Chang Kwon

2009-06-22

In this paper, we report a linear polarization-discriminatory state inverter made of three-layer sculpture thin film fabricated by oblique angle deposition technique. The first and third layers are quarter-wave plates of zigzag structure and the middle of them is a circular Bragg reflector of left-handed helical structure. It is found that the normal incidence of P-polarized light on this polarization-discriminatory state inverter becomes the S-polarized light at output, while the incident S-polarized light of wavelength lying in the Bragg regime is reflected. The microstructure of the linear polarization-discriminatory state inverter is also investigated by using a scanning electron microscope.

Trunk-acceleration based assessment of gait parameters in older persons: a comparison of reliability and validity of four inverted pendulum based estimations.

PubMed

Zijlstra, Agnes; Zijlstra, Wiebren

2013-09-01

Inverted pendulum (IP) models of human walking allow for wearable motion-sensor based estimations of spatio-temporal gait parameters during unconstrained walking in daily-life conditions. At present it is unclear to what extent different IP based estimations yield different results, and reliability and validity have not been investigated in older persons without a specific medical condition. The aim of this study was to compare reliability and validity of four different IP based estimations of mean step length in independent-living older persons. Participants were assessed twice and walked at different speeds while wearing a tri-axial accelerometer at the lower back. For all step-length estimators, test-retest intra-class correlations approached or were above 0.90. Intra-class correlations with reference step length were above 0.92 with a mean error of 0.0 cm when (1) multiplying the estimated center-of-mass displacement during a step by an individual correction factor in a simple IP model, or (2) adding an individual constant for bipedal stance displacement to the estimated displacement during single stance in a 2-phase IP model. When applying generic corrections or constants in all subjects (i.e. multiplication by 1.25, or adding 75% of foot length), correlations were above 0.75 with a mean error of respectively 2.0 and 1.2 cm. Although the results indicate that an individual adjustment of the IP models provides better estimations of mean step length, the ease of a generic adjustment can be favored when merely evaluating intra-individual differences. Further studies should determine the validity of these IP based estimations for assessing gait in daily life. Copyright © 2013 Elsevier B.V. All rights reserved.

Measuring Low Frequency Tilts

PubMed Central

Kohl, M. L.; Levine, J.

1993-01-01

A borehole tiltmeter with a sensitivity of a few nanoradians is described. It is composed of two orthogonal horizontal pendulums with free periods of 1 s. The pendulums are insensitive to barometric pressure fluctuations, and the measured temperature coefficient is less than 30 nrad/°C. The range of the pendulums is about ±5 μ rad, and their response is linear within 1% and stable over several years. The performance of the tiltmeter in the field was evaluated using tidal data obtained from a closely spaced array of boreholes in Southern California. The long-term stability of the tiltmeter is generally better than 1 μ rad/yr. The data also indicate that instruments in boreholes at least 24 m deepare independent of surface effects. Several different capsules designed to couple the instrument to the surrounding material have been tested. In addition, an experimental method for estimating the magnitudes of local perturbation in the regional tilt field is described. PMID:28053466

Design, optimization and numerical modelling of a novel floating pendulum wave energy converter with tide adaptation

NASA Astrophysics Data System (ADS)

Yang, Jing; Zhang, Da-hai; Chen, Ying; Liang, Hui; Tan, Ming; Li, Wei; Ma, Xian-dong

2017-10-01

A novel floating pendulum wave energy converter (WEC) with the ability of tide adaptation is designed and presented in this paper. Aiming to a high efficiency, the buoy's hydrodynamic shape is optimized by enumeration and comparison. Furthermore, in order to keep the buoy's well-designed leading edge always facing the incoming wave straightly, a novel transmission mechanism is then adopted, which is called the tidal adaptation mechanism in this paper. Time domain numerical models of a floating pendulum WEC with or without tide adaptation mechanism are built to compare their performance on various water levels. When comparing these two WECs in terms of their average output based on the linear passive control strategy, the output power of WEC with the tide adaptation mechanism is much steadier with the change of the water level and always larger than that without the tide adaptation mechanism.

Experimental demonstration of active vibration control for flexible structures

NASA Technical Reports Server (NTRS)

Phillips, Douglas J.; Hyland, David C.; Collins, Emmanuel G., Jr.

1990-01-01

Active vibration control of flexible structures for future space missions is addressed. Three experiments that successfully demonstrate control of flexible structures are described. The first is the pendulum experiment. The structure is a 5-m compound pendulum and was designed as an end-to-end test bed for a linear proof mass actuator and its supporting electronics. Experimental results are shown for a maximum-entropy/optimal-projection controller designed to achieve 5 percent damping in the first two pendulum modes. The second experiment was based upon the Harris Multi-Hex prototype experiment (MHPE) apparatus. This is a large optical reflector structure comprising a seven-panel array and supporting truss which typifies a number of generic characteristics of large space systems. The third experiment involved control design and implementation for the ACES structure at NASA Marshall Space Flight Center. The authors conclude with some remarks on the lessons learned from conducting these experiments.

Model based manipulator control

NASA Technical Reports Server (NTRS)

Petrosky, Lyman J.; Oppenheim, Irving J.

1989-01-01

The feasibility of using model based control (MBC) for robotic manipulators was investigated. A double inverted pendulum system was constructed as the experimental system for a general study of dynamically stable manipulation. The original interest in dynamically stable systems was driven by the objective of high vertical reach (balancing), and the planning of inertially favorable trajectories for force and payload demands. The model-based control approach is described and the results of experimental tests are summarized. Results directly demonstrate that MBC can provide stable control at all speeds of operation and support operations requiring dynamic stability such as balancing. The application of MBC to systems with flexible links is also discussed.

Minimizing center of mass vertical movement increases metabolic cost in walking.

PubMed

Ortega, Justus D; Farley, Claire T

2005-12-01

A human walker vaults up and over each stance limb like an inverted pendulum. This similarity suggests that the vertical motion of a walker's center of mass reduces metabolic cost by providing a mechanism for pendulum-like mechanical energy exchange. Alternatively, some researchers have hypothesized that minimizing vertical movements of the center of mass during walking minimizes the metabolic cost, and this view remains prevalent in clinical gait analysis. We examined the relationship between vertical movement and metabolic cost by having human subjects walk normally and with minimal center of mass vertical movement ("flat-trajectory walking"). In flat-trajectory walking, subjects reduced center of mass vertical displacement by an average of 69% (P = 0.0001) but consumed approximately twice as much metabolic energy over a range of speeds (0.7-1.8 m/s) (P = 0.0001). In flat-trajectory walking, passive pendulum-like mechanical energy exchange provided only a small portion of the energy required to accelerate the center of mass because gravitational potential energy fluctuated minimally. Thus, despite the smaller vertical movements in flat-trajectory walking, the net external mechanical work needed to move the center of mass was similar in both types of walking (P = 0.73). Subjects walked with more flexed stance limbs in flat-trajectory walking (P < 0.001), and the resultant increase in stance limb force generation likely helped cause the doubling in metabolic cost compared with normal walking. Regardless of the cause, these findings clearly demonstrate that human walkers consume substantially more metabolic energy when they minimize vertical motion.

Integrated modeling and design for realizing a two-wheeled wheelchair for disabled.

PubMed

Altalmas, Tareq; Aula, Abqori; Ahmad, Salmiah; Tokhi, M O; Akmeliawati, Rini

2016-01-01

Two-wheeled wheelchairs are considered highly nonlinear and complex systems. The systems mimic a double-inverted pendulum scenario and will provide better maneuverability in confined spaces and also to reach higher level of height for pick and place tasks. The challenge resides in modeling and control of the two-wheeled wheelchair to perform comparably to a normal four-wheeled wheelchair. Most common modeling techniques have been accomplished by researchers utilizing the basic Newton's Laws of motion and some have used 3D tools to model the system where the models are much more theoretical and quite far from the practical implementation. This article is aimed at closing the gap between the conventional mathematical modeling approaches where the integrated 3D modeling approach with validation on the actual hardware implementation was conducted. To achieve this, both nonlinear and a linearized model in terms of state space model were obtained from the mathematical model of the system for analysis and, thereafter, a 3D virtual prototype of the wheelchair was developed, simulated, and analyzed. This has increased the confidence level for the proposed platform and facilitated the actual hardware implementation of the two-wheeled wheelchair. Results show that the prototype developed and tested has successfully worked within the specific requirements established.

Application of a sensitivity analysis technique to high-order digital flight control systems

NASA Technical Reports Server (NTRS)

Paduano, James D.; Downing, David R.

1987-01-01

A sensitivity analysis technique for multiloop flight control systems is studied. This technique uses the scaled singular values of the return difference matrix as a measure of the relative stability of a control system. It then uses the gradients of these singular values with respect to system and controller parameters to judge sensitivity. The sensitivity analysis technique is first reviewed; then it is extended to include digital systems, through the derivation of singular-value gradient equations. Gradients with respect to parameters which do not appear explicitly as control-system matrix elements are also derived, so that high-order systems can be studied. A complete review of the integrated technique is given by way of a simple example: the inverted pendulum problem. The technique is then demonstrated on the X-29 control laws. Results show linear models of real systems can be analyzed by this sensitivity technique, if it is applied with care. A computer program called SVA was written to accomplish the singular-value sensitivity analysis techniques. Thus computational methods and considerations form an integral part of many of the discussions. A user's guide to the program is included. The SVA is a fully public domain program, running on the NASA/Dryden Elxsi computer.

Mechanical work for step-to-step transitions is a major determinant of the metabolic cost of human walking.

PubMed

Donelan, J Maxwell; Kram, Rodger; Kuo, Arthur D

2002-12-01

In the single stance phase of walking, center of mass motion resembles that of an inverted pendulum. Theoretically, mechanical work is not necessary for producing the pendular motion, but work is needed to redirect the center of mass velocity from one pendular arc to the next during the transition between steps. A collision model predicts a rate of negative work proportional to the fourth power of step length. Positive work is required to restore the energy lost, potentially exacting a proportional metabolic cost. We tested these predictions with humans (N=9) walking over a range of step lengths (0.4-1.1 m) while keeping step frequency fixed at 1.8 Hz. We measured individual limb external mechanical work using force plates, and metabolic rate using indirect calorimetry. As predicted, average negative and positive external mechanical work rates increased with the fourth power of step length (from 1 W to 38 W; r(2)=0.96). Metabolic rate also increased with the fourth power of step length (from 7 W to 379 W; r(2)=0.95), and linearly with mechanical work rate. Mechanical work for step-to-step transitions, rather than pendular motion itself, appears to be a major determinant of the metabolic cost of walking.

Online learning control using adaptive critic designs with sparse kernel machines.

PubMed

Xu, Xin; Hou, Zhongsheng; Lian, Chuanqiang; He, Haibo

2013-05-01

In the past decade, adaptive critic designs (ACDs), including heuristic dynamic programming (HDP), dual heuristic programming (DHP), and their action-dependent ones, have been widely studied to realize online learning control of dynamical systems. However, because neural networks with manually designed features are commonly used to deal with continuous state and action spaces, the generalization capability and learning efficiency of previous ACDs still need to be improved. In this paper, a novel framework of ACDs with sparse kernel machines is presented by integrating kernel methods into the critic of ACDs. To improve the generalization capability as well as the computational efficiency of kernel machines, a sparsification method based on the approximately linear dependence analysis is used. Using the sparse kernel machines, two kernel-based ACD algorithms, that is, kernel HDP (KHDP) and kernel DHP (KDHP), are proposed and their performance is analyzed both theoretically and empirically. Because of the representation learning and generalization capability of sparse kernel machines, KHDP and KDHP can obtain much better performance than previous HDP and DHP with manually designed neural networks. Simulation and experimental results of two nonlinear control problems, that is, a continuous-action inverted pendulum problem and a ball and plate control problem, demonstrate the effectiveness of the proposed kernel ACD methods.

Inverting the Linear Algebra Classroom

ERIC Educational Resources Information Center

Talbert, Robert

2014-01-01

The inverted classroom is a course design model in which students' initial contact with new information takes place outside of class meetings, and students spend class time on high-level sense-making activities. The inverted classroom model is so called because it inverts or "flips" the usual classroom design where typically class…

Quantum rotor in nanostructured superconductors

PubMed Central

Lin, Shi-Hsin; Milošević, M. V.; Covaci, L.; Jankó, B.; Peeters, F. M.

2014-01-01

Despite its apparent simplicity, the idealized model of a particle constrained to move on a circle has intriguing dynamic properties and immediate experimental relevance. While a rotor is rather easy to set up classically, the quantum regime is harder to realize and investigate. Here we demonstrate that the quantum dynamics of quasiparticles in certain classes of nanostructured superconductors can be mapped onto a quantum rotor. Furthermore, we provide a straightforward experimental procedure to convert this nanoscale superconducting rotor into a regular or inverted quantum pendulum with tunable gravitational field, inertia, and drive. We detail how these novel states can be detected via scanning tunneling spectroscopy. The proposed experiments will provide insights into quantum dynamics and quantum chaos. PMID:24686241

Dynamics identification of a piezoelectric vibrational energy harvester by image analysis with a high speed camera

NASA Astrophysics Data System (ADS)

Wolszczak, Piotr; Łygas, Krystian; Litak, Grzegorz

2018-07-01

This study investigates dynamic responses of a nonlinear vibration energy harvester. The nonlinear mechanical resonator consists of a flexible beam moving like an inverted pendulum between amplitude limiters. It is coupled with a piezoelectric converter, and excited kinematically. Consequently, the mechanical energy input is converted into the electrical power output on the loading resistor included in an electric circuit attached to the piezoelectric electrodes. The curvature of beam mode shapes as well as deflection of the whole beam are examined using a high speed camera. The visual identification results are compared with the voltage output generated by the piezoelectric element for corresponding frequency sweeps and analyzed by the Hilbert transform.

Analysis and modeling of a family of two-transistor parallel inverters

NASA Technical Reports Server (NTRS)

Lee, F. C. Y.; Wilson, T. G.

1973-01-01

A family of five static dc-to-square-wave inverters, each employing a square-loop magnetic core in conjunction with two switching transistors, is analyzed using piecewise-linear models for the nonlinear characteristics of the transistors, diodes, and saturable-core devices. Four of the inverters are analyzed in detail for the first time. These analyses show that, by proper choice of a frame of reference, each of the five quite differently appearing inverter circuits can be described by a common equivalent circuit. This equivalent circuit consists of a five-segment nonlinear resistor, a nonlinear saturable reactor, and a linear capacitor. Thus, by proper interpretation and identification of the parameters in the different circuits, the results of a detailed solution for one of the inverter circuits provide similar information and insight into the local and global behavior of each inverter in the family.

Delay effects in the human sensory system during balancing.

PubMed

Stepan, Gabor

2009-03-28

Mechanical models of human self-balancing often use the Newtonian equations of inverted pendula. While these mathematical models are precise enough on the mechanical side, the ways humans balance themselves are still quite unexplored on the control side. Time delays in the sensory and motoric neural pathways give essential limitations to the stabilization of the human body as a multiple inverted pendulum. The sensory systems supporting each other provide the necessary signals for these control tasks; but the more complicated the system is, the larger delay is introduced. Human ageing as well as our actual physical and mental state affects the time delays in the neural system, and the mechanical structure of the human body also changes in a large range during our lives. The human balancing organ, the labyrinth, and the vision system essentially adapted to these relatively large time delays and parameter regions occurring during balancing. The analytical study of the simplified large-scale time-delayed models of balancing provides a Newtonian insight into the functioning of these organs that may also serve as a basis to support theories and hypotheses on balancing and vision.

Individual and Collective Analyses of the Genesis of Student Reasoning Regarding the Invertible Matrix Theorem in Linear Algebra

ERIC Educational Resources Information Center

Wawro, Megan Jean

2011-01-01

In this study, I considered the development of mathematical meaning related to the Invertible Matrix Theorem (IMT) for both a classroom community and an individual student over time. In this particular linear algebra course, the IMT was a core theorem in that it connected many concepts fundamental to linear algebra through the notion of…

Ankle and hip postural strategies defined by joint torques

NASA Technical Reports Server (NTRS)

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

1999-01-01

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

Numerical study of a novel procedure for installing the tower and Rotor Nacelle Assembly of offshore wind turbines based on the inverted pendulum principle

NASA Astrophysics Data System (ADS)

Guachamin Acero, Wilson; Gao, Zhen; Moan, Torgeir

2017-09-01

Current installation costs of offshore wind turbines (OWTs) are high and profit margins in the offshore wind energy sector are low, it is thus necessary to develop installation methods that are more efficient and practical. This paper presents a numerical study (based on a global response analysis of marine operations) of a novel procedure for installing the tower and Rotor Nacelle Assemblies (RNAs) on bottom-fixed foundations of OWTs. The installation procedure is based on the inverted pendulum principle. A cargo barge is used to transport the OWT assembly in a horizontal position to the site, and a medium-size Heavy Lift Vessel (HLV) is then employed to lift and up-end the OWT assembly using a special upending frame. The main advantage of this novel procedure is that the need for a huge HLV (in terms of lifting height and capacity) is eliminated. This novel method requires that the cargo barge is in the leeward side of the HLV (which can be positioned with the best heading) during the entire installation. This is to benefit from shielding effects of the HLV on the motions of the cargo barge, so the foundations need to be installed with a specific heading based on wave direction statistics of the site and a typical installation season. Following a systematic approach based on numerical simulations of actual operations, potential critical installation activities, corresponding critical events, and limiting (response) parameters are identified. In addition, operational limits for some of the limiting parameters are established in terms of allowable limits of sea states. Following a preliminary assessment of these operational limits, the duration of the entire operation, the equipment used, and weather- and water depth-sensitivity, this novel procedure is demonstrated to be viable.

Mechanical monolithic compact sensors for real-time linear and angular broadband low frequency monitoring and control of spacecrafts and satellites

NASA Astrophysics Data System (ADS)

Barone, F.; Giordano, G.

2017-09-01

In this paper we describe the characteristics and performances of a monolithic sensor designed for low frequency motion measurement of spacecrafts and satellites, whose mechanics is based on the UNISA Folded Pendulum. The latter, developed for ground-based applications, exhibits unique features (compactness, lightness, scalability, low resonance frequency and high quality factor), consequence of the action of the gravitational force on its inertial mass. In this paper we introduce and discuss the general methodology used to extend the application of ground-based folded pendulums to space, also in total absence of gravity, still keeping all their peculiar features and characteristics.

Rapid Inversion: Running Animals and Robots Swing like a Pendulum under Ledges

PubMed Central

Mongeau, Jean-Michel; McRae, Brian; Jusufi, Ardian; Birkmeyer, Paul; Hoover, Aaron M.; Fearing, Ronald; Full, Robert J.

2012-01-01

Escaping from predators often demands that animals rapidly negotiate complex environments. The smallest animals attain relatively fast speeds with high frequency leg cycling, wing flapping or body undulations, but absolute speeds are slow compared to larger animals. Instead, small animals benefit from the advantages of enhanced maneuverability in part due to scaling. Here, we report a novel behavior in small, legged runners that may facilitate their escape by disappearance from predators. We video recorded cockroaches and geckos rapidly running up an incline toward a ledge, digitized their motion and created a simple model to generalize the behavior. Both species ran rapidly at 12–15 body lengths-per-second toward the ledge without braking, dove off the ledge, attached their feet by claws like a grappling hook, and used a pendulum-like motion that can exceed one meter-per-second to swing around to an inverted position under the ledge, out of sight. We discovered geckos in Southeast Asia can execute this escape behavior in the field. Quantification of these acrobatic behaviors provides biological inspiration toward the design of small, highly mobile search-and-rescue robots that can assist us during natural and human-made disasters. We report the first steps toward this new capability in a small, hexapedal robot. PMID:22701594

Learning Dynamic Control of Body Roll Orientation

PubMed Central

Vimal, Vivekanand Pandey; Lackner, James R.; DiZio, Paul

2016-01-01

Our objective was to examine how the control of orientation is learned in a task involving dynamically balancing about an unstable equilibrium point, the gravitational vertical, in the absence of leg reflexes and muscle stiffness. Subjects (n=10) used a joystick to set themselves to the gravitational vertical while seated in a multi-axis rotation system device (MARS) programmed with inverted pendulum dynamics. The MARS is driven by powerful servomotors and can faithfully follow joystick commands up to 2.5 Hz with a 30 ms latency. To make the task extremely difficult, the pendulum constant was set to 600°/sec2. Each subject participated in 5 blocks of 4 trials, with a trial ending after a cumulative 100 s of balancing, excluding reset times when a subject lost control. To characterize performance and learning, we used metrics derived from joystick movements, phase portraits (joystick deflections vs MARS position and MARS velocity vs angular position), and stabilogram diffusion functions. We found that as subjects improved their balancing performance they did so by making fewer destabilizing joystick movements and reducing the number and duration of joystick commands. The control strategy they acquired involved making more persistent short-term joystick movements, waiting longer before making changes to ongoing motion, and only intervening intermittently. PMID:26525709

Force direction patterns promote whole body stability even in hip-flexed walking, but not upper body stability in human upright walking

NASA Astrophysics Data System (ADS)

Müller, Roy; Rode, Christian; Aminiaghdam, Soran; Vielemeyer, Johanna; Blickhan, Reinhard

2017-11-01

Directing the ground reaction forces to a focal point above the centre of mass of the whole body promotes whole body stability in human and animal gaits similar to a physical pendulum. Here we show that this is the case in human hip-flexed walking as well. For all upper body orientations (upright, 25°, 50°, maximum), the focal point was well above the centre of mass of the whole body, suggesting its general relevance for walking. Deviations of the forces' lines of action from the focal point increased with upper body inclination from 25 to 43 mm root mean square deviation (RMSD). With respect to the upper body in upright gait, the resulting force also passed near a focal point (17 mm RMSD between the net forces' lines of action and focal point), but this point was 18 cm below its centre of mass. While this behaviour mimics an unstable inverted pendulum, it leads to resulting torques of alternating sign in accordance with periodic upper body motion and probably provides for low metabolic cost of upright gait by keeping hip torques small. Stabilization of the upper body is a consequence of other mechanisms, e.g. hip reflexes or muscle preflexes.

A new look at the Dynamic Similarity Hypothesis: the importance of swing phase.

PubMed

Raichlen, David A; Pontzer, Herman; Shapiro, Liza J

2013-01-01

The Dynamic Similarity Hypothesis (DSH) suggests that when animals of different size walk at similar Froude numbers (equal ratios of inertial and gravitational forces) they will use similar size-corrected gaits. This application of similarity theory to animal biomechanics has contributed to fundamental insights in the mechanics and evolution of a diverse set of locomotor systems. However, despite its popularity, many mammals fail to walk with dynamically similar stride lengths, a key element of gait that determines spontaneous speed and energy costs. Here, we show that the applicability of the DSH is dependent on the inertial forces examined. In general, the inertial forces are thought to be the centripetal force of the inverted pendulum model of stance phase, determined by the length of the limb. If instead we model inertial forces as the centripetal force of the limb acting as a suspended pendulum during swing phase (determined by limb center of mass position), the DSH for stride length variation is fully supported. Thus, the DSH shows that inter-specific differences in spatial kinematics are tied to the evolution of limb mass distribution patterns. Selection may act on morphology to produce a given stride length, or alternatively, stride length may be a "spandrel" of selection acting on limb mass distribution.

Significant body point labeling and tracking.

PubMed

Azhar, Faisal; Tjahjadi, Tardi

2014-09-01

In this paper, a method is presented to label and track anatomical landmarks (e.g., head, hand/arm, feet), which are referred to as significant body points (SBPs), using implicit body models. By considering the human body as an inverted pendulum model, ellipse fitting and contour moments are applied to classify it as being in Stand, Sit, or Lie posture. A convex hull of the silhouette contour is used to determine the locations of SBPs. The particle filter or a motion flow-based method is used to predict SBPs in occlusion. Stick figures of various activities are generated by connecting the SBPs. The qualitative and quantitative evaluation show that the proposed method robustly labels and tracks SBPs in various activities of two different (low and high) resolution data sets.

Comparison of Two Methods for Calculating the Frictional Properties of Articular Cartilage Using a Simple Pendulum and Intact Mouse Knee Joints

PubMed Central

Drewniak, Elizabeth I.; Jay, Gregory D.; Fleming, Braden C.; Crisco, Joseph J.

2009-01-01

In attempts to better understand the etiology of osteoarthritis, a debilitating joint disease that results in the degeneration of articular cartilage in synovial joints, researchers have focused on joint tribology, the study of joint friction, lubrication, and wear. Several different approaches have been used to investigate the frictional properties of articular cartilage. In this study, we examined two analysis methods for calculating the coefficient of friction (μ) using a simple pendulum system and BL6 murine knee joints (n=10) as the fulcrum. A Stanton linear decay model (Lin μ) and an exponential model that accounts for viscous damping (Exp μ) were fit to the decaying pendulum oscillations. Root mean square error (RMSE), asymptotic standard error (ASE), and coefficient of variation (CV) were calculated to evaluate the fit and measurement precision of each model. This investigation demonstrated that while Lin μ was more repeatable, based on CV (5.0% for Lin μ; 18% for Exp μ), Exp μ provided a better fitting model, based on RMSE (0.165° for Exp μ; 0.391° for Lin μ) and ASE (0.033 for Exp μ; 0.185 for Lin μ), and had a significantly lower coefficient of friction value (0.022±0.007 for Exp μ; 0.042±0.016 for Lin μ) (p=0.001). This study details the use of a simple pendulum for examining cartilage properties in situ that will have applications investigating cartilage mechanics in a variety of species. The Exp μ model provided a more accurate fit to the experimental data for predicting the frictional properties of intact joints in pendulum systems. PMID:19632680

Power and temperature dependent photoluminescence investigation of the linear polarization at normal and inverted interface transitions in InP/InAlAs and InGaAsP/InAlAs QW structures

NASA Astrophysics Data System (ADS)

Esmaielpour, Hamidreza; Whiteside, Vincent R.; Hirst, Louise C.; Forbes, David V.; Walters, Robert J.; Sellers, Ian R.

We present an investigation of the interface effects for InGaAsP/InAlAs QW and InP/InAlAs QW structures capped with an InP layer. Continuous wave photoluminescence (PL) spectroscopy of these samples at 4 K shows features associated with the interfaces of an InAlAs layer grown on an InP layer (normal interface) and an InP layer grown on an InAlAs material (inverted interface). Power dependent PL of the InGaAsP QW indicates that there are two features related to the inverted interface, whereby the linear polarization of one increases and for the other decreases. In addition, a temperature dependent study of this sample shows that as the temperature increases: the linear polarization for both features decreases; at room temperature, there is negligible polarization effect. A power dependent PL study of the InP QW structure shows both normal and inverted interface transitions have opposing trends in linear polarization. Notably, the temperature dependent PL investigation displays a reduction of polarization degree for the inverted interface: as expected; while an increase of polarization for the normal interface was observed. In addition, power and temperature dependence of peak energy of the interface transitions for both samples will be presented.

Fast-scale non-linear distortion analysis of peak-current-controlled buck-boost inverters

NASA Astrophysics Data System (ADS)

Zhang, Hao; Dong, Shuai; Yi, Chuanzhi; Guan, Weimin

2018-02-01

This paper deals with fast-scale non-linear distortion behaviours including asymmetrical period-doubling bifurcation and zero-crossing distortion in peak-current-controlled buck-boost inverters. The underlying mechanisms of the fast-scale non-linear distortion behaviours in inverters are revealed. The folded bifurcation diagram is presented to analyse the asymmetrical phenomenon of fast-scale period-doubling bifurcation. In view of the effect of phase shift and current ripple, the analytical expressions for one pair of critical phase angles are derived by using the design-oriented geometrical current approach. It is shown that the phase shift between inductor current and capacitor voltage should be responsible for the zero-crossing distortion phenomenon. These results obtained here are useful to optimise the circuit design and improve the circuit performance.

Decay of a linear pendulum in a collisional gas: Spatially one-dimensional case

NASA Astrophysics Data System (ADS)

Tsuji, Tetsuro; Aoki, Kazuo

2014-05-01

An infinitely wide plate, subject to an external force in its normal direction obeying Hooke's law, is placed in an infinite expanse of a rarefied gas. When the plate is displaced from its equilibrium position and released, it starts in general an oscillatory motion in its normal direction. This is the one-dimensional setting of a linear pendulum considered previously for a collisionless gas and a special Lorentz gas by the present authors [T. Tsuji and K. Aoki, J. Stat. Phys. 146, 620 (2012), 10.1007/s10955-011-0412-7]. The motion decays as time proceeds because of the drag force on the plate exerted by the surrounding gas. The long-time behavior of the unsteady motion of the gas caused by the motion of the plate is investigated numerically on the basis of the Bhatnagar-Gross-Krook (BGK) model of the Boltzmann equation with special interest in the rate of the decay of the oscillatory motion of the plate. The result provides numerical evidence that the displacement of the plate decays in proportion to an inverse power of time for large time.

Decay of a linear pendulum in a collisional gas: spatially one-dimensional case.

PubMed

Tsuji, Tetsuro; Aoki, Kazuo

2014-05-01

An infinitely wide plate, subject to an external force in its normal direction obeying Hooke's law, is placed in an infinite expanse of a rarefied gas. When the plate is displaced from its equilibrium position and released, it starts in general an oscillatory motion in its normal direction. This is the one-dimensional setting of a linear pendulum considered previously for a collisionless gas and a special Lorentz gas by the present authors [T. Tsuji and K. Aoki, J. Stat. Phys. 146, 620 (2012)]. The motion decays as time proceeds because of the drag force on the plate exerted by the surrounding gas. The long-time behavior of the unsteady motion of the gas caused by the motion of the plate is investigated numerically on the basis of the Bhatnagar-Gross-Krook (BGK) model of the Boltzmann equation with special interest in the rate of the decay of the oscillatory motion of the plate. The result provides numerical evidence that the displacement of the plate decays in proportion to an inverse power of time for large time.

Helicopter vibration suppression using simple pendulum absorbers on the rotor blade

NASA Technical Reports Server (NTRS)

Pierce, G. A.; Hanouva, M. N. H.

1982-01-01

A comprehensive anaytical design procedure for the installation of simple pendulums on the blades of a helicopter rotor to suppress the root reactions is presented. A frequency response anaysis is conducted of typical rotor blades excited by a harmonic variation of spanwise airload distributions as well as a concentrated load at the tip. The results presented included the effect of pendulum tuning on the minimization of the hub reactions. It is found that a properly designed flapping pendulum attenuates the root out-of-plane force and moment whereas the optimum designed lead-lag pendulum attenuates the root in-plane reactions. For optimum pendulum tuning the parameters to be determined are the pendulum uncoupled natural frequency, the pendulum spanwise location and its mass. It is found that the optimum pendulum frequency is in the vicinity of the excitation frequency. For the optimum pendulum a parametric study is conducted. The parameters varied include prepitch, pretwist, precone and pendulum hinge offset.

Quantifying Parkinson's disease progression by simulating gait patterns

NASA Astrophysics Data System (ADS)

Cárdenas, Luisa; Martínez, Fabio; Atehortúa, Angélica; Romero, Eduardo

2015-12-01

Modern rehabilitation protocols of most neurodegenerative diseases, in particular the Parkinson Disease, rely on a clinical analysis of gait patterns. Currently, such analysis is highly dependent on both the examiner expertise and the type of evaluation. Development of evaluation methods with objective measures is then crucial. Physical models arise as a powerful alternative to quantify movement patterns and to emulate the progression and performance of specific treatments. This work introduces a novel quantification of the Parkinson disease progression using a physical model that accurately represents the main gait biomarker, the body Center of Gravity (CoG). The model tracks the whole gait cycle by a coupled double inverted pendulum that emulates the leg swinging for the single support phase and by a damper-spring System (SDP) that recreates both legs in contact with the ground for the double phase. The patterns generated by the proposed model are compared with actual ones learned from 24 subjects in stages 2,3, and 4. The evaluation performed demonstrates a better performance of the proposed model when compared with a baseline model(SP) composed of a coupled double pendulum and a mass-spring system. The Frechet distance measured differences between model estimations and real trajectories, showing for stages 2, 3 and 4 distances of 0.137, 0.155, 0.38 for the baseline and 0.07, 0.09, 0.29 for the proposed method.

Self-learning fuzzy controllers based on temporal back propagation

NASA Technical Reports Server (NTRS)

Jang, Jyh-Shing R.

1992-01-01

This paper presents a generalized control strategy that enhances fuzzy controllers with self-learning capability for achieving prescribed control objectives in a near-optimal manner. This methodology, termed temporal back propagation, is model-insensitive in the sense that it can deal with plants that can be represented in a piecewise-differentiable format, such as difference equations, neural networks, GMDH structures, and fuzzy models. Regardless of the numbers of inputs and outputs of the plants under consideration, the proposed approach can either refine the fuzzy if-then rules if human experts, or automatically derive the fuzzy if-then rules obtained from human experts are not available. The inverted pendulum system is employed as a test-bed to demonstrate the effectiveness of the proposed control scheme and the robustness of the acquired fuzzy controller.

A Personal Navigation System Based on Inertial and Magnetic Field Measurements

DTIC Science & Technology

2010-09-01

MATLAB IMPLEMENTATION.................................................................74 G. A MODEL FOR PENDULUM MOTION SENSOR DATA...76 1. Pendulum Model for MATLAB Simulation....................................76 2. Sensor Data Generated with the Pendulum Model... PENDULUM ..................................................................................................88 I. FILTER PERFORMANCE WITH REAL PENDULUM DATA

Broadband pendulum energy harvester

NASA Astrophysics Data System (ADS)

Liang, Changwei; Wu, You; Zuo, Lei

2016-09-01

A novel electromagnetic pendulum energy harvester with mechanical motion rectifier (MMR) is proposed and investigated in this paper. MMR is a mechanism which rectifies the bidirectional swing motion of the pendulum into unidirectional rotation of the generator by using two one-way clutches in the gear system. In this paper, two prototypes of pendulum energy harvester with MMR and without MMR are designed and fabricated. The dynamic model of the proposed MMR pendulum energy harvester is established by considering the engagement and disengagement of the one way clutches. The simulation results show that the proposed MMR pendulum energy harvester has a larger output power at high frequencies comparing with non-MMR pendulum energy harvester which benefits from the disengagement of one-way clutch during pendulum vibration. Moreover, the proposed MMR pendulum energy harvester is broadband compare with non-MMR pendulum energy harvester, especially when the equivalent inertia is large. An experiment is also conducted to compare the energy harvesting performance of these two prototypes. A flywheel is attached at the end of the generator to make the disengagement more significant. The experiment results also verify that MMR pendulum energy harvester is broadband and has a larger output power at high frequency over the non-MMR pendulum energy harvester.

The Effects of Magnetic-Field Geometry on Longitudinal Oscillations of Solar Prominences: Cross-Sectional Area Variation for Thin Tubes

NASA Technical Reports Server (NTRS)

Luna, M.; Diaz, A. J.; Oliver, R.; Terradas, J.; Karpen, J.

2016-01-01

Solar prominences are subject to both field-aligned (longitudinal) and transverse oscillatory motions, as evidenced by an increasing number of observations. Large-amplitude longitudinal motions provide valuable information on the geometry of the filament channel magnetic structure that supports the cool prominence plasma against gravity. Our pendulum model, in which the restoring force is the gravity projected along the dipped field lines of the magnetic structure, best explains these oscillations. However, several factors can influence the longitudinal oscillations, potentially invalidating the pendulum model. Aims. The aim of this work is to study the influence of large-scale variations in the magnetic field strength along the field lines, i.e., variations of the cross-sectional area along the flux tubes supporting prominence threads. Methods. We studied the normal modes of several flux tube configurations, using linear perturbation analysis, to assess the influence of different geometrical parameters on the oscillation properties. Results. We found that the influence of the symmetric and asymmetric expansion factors on longitudinal oscillations is small.Conclusions. We conclude that the longitudinal oscillations are not significantly influenced by variations of the cross-section of the flux tubes, validating the pendulum model in this context.

Formation of Linear Amplicons with Inverted Duplications in Leishmania Requires the MRE11 Nuclease

PubMed Central

Laffitte, Marie-Claude N.; Genois, Marie-Michelle; Mukherjee, Angana; Légaré, Danielle; Masson, Jean-Yves; Ouellette, Marc

2014-01-01

Extrachromosomal DNA amplification is frequent in the protozoan parasite Leishmania selected for drug resistance. The extrachromosomal amplified DNA is either circular or linear, and is formed at the level of direct or inverted homologous repeated sequences that abound in the Leishmania genome. The RAD51 recombinase plays an important role in circular amplicons formation, but the mechanism by which linear amplicons are formed is unknown. We hypothesized that the Leishmania infantum DNA repair protein MRE11 is required for linear amplicons following rearrangements at the level of inverted repeats. The purified LiMRE11 protein showed both DNA binding and exonuclease activities. Inactivation of the LiMRE11 gene led to parasites with enhanced sensitivity to DNA damaging agents. The MRE11−/− parasites had a reduced capacity to form linear amplicons after drug selection, and the reintroduction of an MRE11 allele led to parasites regaining their capacity to generate linear amplicons, but only when MRE11 had an active nuclease activity. These results highlight a novel MRE11-dependent pathway used by Leishmania to amplify portions of its genome to respond to a changing environment. PMID:25474106

Ru(II)-based metallosurfactant forming inverted aggregates.

PubMed

Domínguez-Gutiérrez, David; Surtchev, Marko; Eiser, Erika; Elsevier, Cornelis J

2006-02-01

Knowing the advantages of incorporating a transition metal into interfaces, we report on the first inverted aggregates formed using metallosurfactants. The metallosurfactant possesses four long linear tails that account for the shielding of the polar headgroup in apolar solvents. The nature of the so-formed aggregates changes dramatically from inverted vesicles (toluene) to inverted micelles (hexane). The size of the aggregates was determined using dynamic light scattering. Atomic force microscopy allowed us to study the dry structure of the vesicles on a glass surface.

Modelling, Simulation, Animation, and Real-Time Control (Mosart) for a Class of Electromechanical Systems: A System-Theoretic Approach

ERIC Educational Resources Information Center

Rodriguez, Armando A.; Metzger, Richard P.; Cifdaloz, Oguzhan; Dhirasakdanon, Thanate; Welfert, Bruno

2004-01-01

This paper describes an interactive modelling, simulation, animation, and real-time control (MoSART) environment for a class of 'cart-pendulum' electromechanical systems that may be used to enhance learning within differential equations and linear algebra classes. The environment is useful for conveying fundamental mathematical/systems concepts…

Index Compression and Efficient Query Processing in Large Web Search Engines

ERIC Educational Resources Information Center

Ding, Shuai

2013-01-01

The inverted index is the main data structure used by all the major search engines. Search engines build an inverted index on their collection to speed up query processing. As the size of the web grows, the length of the inverted list structures, which can easily grow to hundreds of MBs or even GBs for common terms (roughly linear in the size of…

Measuring g with a classroom pendulum using changes in the pendulum string length

NASA Astrophysics Data System (ADS)

Oliveira, V.

2016-11-01

This frontline presents a simple apparatus for measuring the acceleration of gravity using a classroom pendulum. Instead of the traditional method where the pendulum period is measured as a function of its length, here the period is measured as a function of changes in the pendulum string length. The major advantage of this method is that students can measure these changes with a greater accuracy than measuring the total pendulum length.

Enhancing power generation of floating wave power generators by utilization of nonlinear roll-pitch coupling

NASA Astrophysics Data System (ADS)

Yerrapragada, Karthik; Ansari, M. H.; Karami, M. Amin

2017-09-01

We propose utilization of the nonlinear coupling between the roll and pitch motions of wave energy harvesting vessels to increase their power generation by orders of magnitude. Unlike linear vessels that exhibit unidirectional motion, our vessel undergoes both pitch and roll motions in response to frontal waves. This significantly magnifies the motion of the vessel and thus improves the power production by several orders of magnitude. The ocean waves result in roll and pitch motions of the vessel, which in turn causes rotation of an onboard pendulum. The pendulum is connected to an electric generator to produce power. The coupled electro-mechanical system is modeled using energy methods. This paper investigates the power generation of the vessel when the ratio between pitch and roll natural frequencies is about 2 to 1. In that case, a nonlinear energy transfer occurs between the roll and pitch motions, causing the vessel to perform coupled pitch and roll motion even though it is only excited in the pitch direction. It is shown that co-existence of pitch and roll motions significantly enhances the pendulum rotation and power generation. A method for tuning the natural frequencies of the vessel is proposed to make the energy generator robust to variations of the frequency of the incident waves. It is shown that the proposed method enhances the power output of the floating wave power generators by multiple orders of magnitude. A small-scale prototype is developed for the proof of concept. The nonlinear energy transfer and the full rotation of the pendulum in the prototype are observed in the experimental tests.

A micro-machined gyroscope for rotating aircraft.

PubMed

Yan, Qingwen; Zhang, Fuxue; Zhang, Wei

2012-01-01

In this paper we present recent work on the design, fabrication by silicon micromachining, and packaging of a new gyroscope for stabilizing the autopilot of rotating aircraft. It operates based on oscillation of the silicon pendulum between two torsion girders for detecting the Coriolis force. The oscillation of the pendulum is initiated by the rolling and deflecting motion of the rotating carrier. Therefore, the frequency and amplitude of the oscillation are proportional to the rolling frequency and deflecting angular rate of the rotating carrier, and are measured by the sensing electrodes. A modulated pulse with constant amplitude and unequal width is obtained by a linearizing process of the gyroscope output signal and used to control the deflection of the rotating aircraft. Experimental results show that the gyroscope has a resolution of 0.008 °/s and a bias of 56.18 °/h.

A new class of compact high sensitive tiltmeter based on the UNISA folded pendulum mechanical architecture

NASA Astrophysics Data System (ADS)

Barone, Fabrizio; Giordano, Gerardo

2018-02-01

We present the Extended Folded Pendulum Model (EFPM), a model developed for a quantitative description of the dynamical behavior of a folded pendulum generically oriented in space. This model, based on the Tait-Bryan angular reference system, highlights the relationship between the folded pendulum orientation in the gravitational field and its natural resonance frequency. Tis model validated by tests performed with a monolithic UNISA Folded Pendulum, highlights a new technique of implementation of folded pendulum based tiltmeters.

Experiment with Conical Pendulum

ERIC Educational Resources Information Center

Tongaonkar, S. S.; Khadse, V. R.

2011-01-01

Conical pendulum is similar to simple pendulum with the difference that the bob, instead of moving back and forth, swings around in a horizontal circle. Thus, in a conical pendulum the bob moves at a constant speed in a circle with the string tracing out a cone. This paper describes an experiment with conical pendulum, with determination of g from…

Passive appendages generate drift through symmetry breaking

PubMed Central

Lācis, U.; Brosse, N.; Ingremeau, F.; Mazzino, A.; Lundell, F.; Kellay, H.; Bagheri, S.

2014-01-01

Plants and animals use plumes, barbs, tails, feathers, hairs and fins to aid locomotion. Many of these appendages are not actively controlled, instead they have to interact passively with the surrounding fluid to generate motion. Here, we use theory, experiments and numerical simulations to show that an object with a protrusion in a separated flow drifts sideways by exploiting a symmetry-breaking instability similar to the instability of an inverted pendulum. Our model explains why the straight position of an appendage in a fluid flow is unstable and how it stabilizes either to the left or right of the incoming flow direction. It is plausible that organisms with appendages in a separated flow use this newly discovered mechanism for locomotion; examples include the drift of plumed seeds without wind and the passive reorientation of motile animals. PMID:25354545

Improved method of step length estimation based on inverted pendulum model.

PubMed

Zhao, Qi; Zhang, Boxue; Wang, Jingjing; Feng, Wenquan; Jia, Wenyan; Sun, Mingui

2017-04-01

Step length estimation is an important issue in areas such as gait analysis, sport training, or pedestrian localization. In this article, we estimate the step length of walking using a waist-worn wearable computer named eButton. Motion sensors within this device are used to record body movement from the trunk instead of extremities. Two signal-processing techniques are applied to our algorithm design. The direction cosine matrix transforms vertical acceleration from the device coordinates to the topocentric coordinates. The empirical mode decomposition is used to remove the zero- and first-order skew effects resulting from an integration process. Our experimental results show that our algorithm performs well in step length estimation. The effectiveness of the direction cosine matrix algorithm is improved from 1.69% to 3.56% while the walking speed increased.

A Two-Wheeled, Self-Balancing Electric Vehicle Used As an Environmentally Friendly Individual Means of Transport

NASA Astrophysics Data System (ADS)

Bździuch, D.; Grzegożek, W.

2016-09-01

This paper shows a concept of a model of a two-wheeled self-balancing vehicle with an electric motor drive as an environmentally-friendly personal transporter. The principle of work, modelling of construction and performing a simulation are presented and discussed. The visualization of the designed vehicle was made thanks to using Solid Works a computer-aided design program. The vehicle was modelled as an inverted pendulum. The stability of the mechanism in the equilibrium position was studied. An exemplary steering system was also subjected to the analysis that compared two controllers: PID and LQR which enabled to monitor the balance of the vehicle when the required conditions were fulfilled. Modelling of work of the controllers and the evaluation of the obtained results in required conditions were performed in the MATLAB environment.

Time-varying sliding-coefficient-based decoupled terminal sliding-mode control for a class of fourth-order systems.

PubMed

Bayramoglu, Husnu; Komurcugil, Hasan

2014-07-01

A time-varying sliding-coefficient-based decoupled terminal sliding mode control strategy is presented for a class of fourth-order systems. First, the fourth-order system is decoupled into two second-order subsystems. The sliding surface of each subsystem was designed by utilizing time-varying coefficients. Then, the control target of one subsystem to another subsystem was embedded. Thereafter, a terminal sliding mode control method was utilized to make both subsystems converge to their equilibrium points in finite time. The simulation results on the inverted pendulum system demonstrate that the proposed method exhibits a considerable improvement in terms of a faster dynamic response and lower IAE and ITAE values as compared with the existing decoupled control methods. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Multilevel adaptive control of nonlinear interconnected systems.

PubMed

Motallebzadeh, Farzaneh; Ozgoli, Sadjaad; Momeni, Hamid Reza

2015-01-01

This paper presents an adaptive backstepping-based multilevel approach for the first time to control nonlinear interconnected systems with unknown parameters. The system consists of a nonlinear controller at the first level to neutralize the interaction terms, and some adaptive controllers at the second level, in which the gains are optimally tuned using genetic algorithm. The presented scheme can be used in systems with strong couplings where completely ignoring the interactions leads to problems in performance or stability. In order to test the suitability of the method, two case studies are provided: the uncertain double and triple coupled inverted pendulums connected by springs with unknown parameters. The simulation results show that the method is capable of controlling the system effectively, in both regulation and tracking tasks. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Swinging into Pendulums with a Background.

ERIC Educational Resources Information Center

Barrow, Lloyd H.; Cook, Julie

1993-01-01

Explains reasons why students have misconceptions concerning pendulum swings. Presents a series of 10 pendulum task cards to provide middle-school students with a solid mental scaffolding upon which to build their knowledge of kinetic energy and pendulums. (PR)

How Short and Light Can a Simple Pendulum Be for Classroom Use?

ERIC Educational Resources Information Center

Oliveira, V.

2014-01-01

We compare the period of oscillation of an ideal simple pendulum with the period of a more "real" pendulum constituted of a rigid sphere and a rigid slender rod. We determine the relative error in the calculation of the local acceleration of gravity if the period of the ideal pendulum is used instead of the period of this real pendulum.

How short and light can a simple pendulum be for classroom use?

NASA Astrophysics Data System (ADS)

Oliveira, V.

2014-07-01

We compare the period of oscillation of an ideal simple pendulum with the period of a more ‘real’ pendulum constituted of a rigid sphere and a rigid slender rod. We determine the relative error in the calculation of the local acceleration of gravity if the period of the ideal pendulum is used instead of the period of this real pendulum.

A contribution to calculation of the mathematical pendulum

NASA Astrophysics Data System (ADS)

Anakhaev, K. N.

2014-11-01

In this work, as a continuation of rigorous solutions of the mathematical pendulum theory, calculated dependences were obtained in elementary functions (with construction of plots) for a complete description of the oscillatory motion of the pendulum with determination of its parameters, such as the oscillation period, deviation angles, time of motion, angular velocity and acceleration, and strains in the pendulum rod (maximum, minimum, zero, and gravitational). The results of calculations according to the proposed dependences closely (≪1%) coincide with the exact tabulated data for individual points. The conditions of ascending at which the angular velocity, angular acceleration, and strains in the pendulum rod reach their limiting values equal to and 5 m 1 g, respectively, are shown. It was revealed that the angular acceleration does not depend on the pendulum oscillation amplitude; the pendulum rod strain equal to the gravitation force of the pendulum R s = m 1 g at the time instant is also independent on the amplitude. The dependences presented in this work can also be invoked for describing oscillations of a physical pendulum, mass on a spring, electric circuit, etc.

Study of a Car Body Tilting System Using a Variable Link Mechanism: Fundamental Characteristics of Pendulum Motion and Strategy for Perfect Tilting

NASA Astrophysics Data System (ADS)

Yoshida, Hidehisa; Nagai, Masao

This paper analyzes the fundamental dynamic characteristics of a tilting railway vehicle using a variable link mechanism for compensating both the lateral acceleration experienced by passengers and the wheel load imbalance between the inner and outer rails. The geometric relations between the center of rotation, the center of gravity, and the positions of all four links of the tilting system are analyzed. Then, equations of the pendulum motions of the railway vehicle body with a four-link mechanism are derived. A theoretically discussion is given on the geometrical shapes employed in the link mechanism that can simultaneously provide zero lateral acceleration and zero wheel load fluctuation. Then, the perfect tilting condition, which is the control target of the feedforward tilting control, is derived from the linear equation of tilting motion.

Dynamical control of a quantum Kapitza pendulum in a spin-1 BEC

NASA Astrophysics Data System (ADS)

Hoang, Thai; Gerving, Corey; Land, Ben; Anquez, Martin; Hamley, Chris; Chapman, Michael

2013-05-01

We demonstrate dynamic stabilization of an unstable strongly interacting quantum many-body system by periodic manipulation of the phase of the collective states. The experiment employs a spin-1 atomic Bose condensate that has spin dynamics analogous to a non-rigid pendulum in the mean-field limit. The condensate spin is initialized to an unstable (hyperbolic) fixed point of the phase space, where subsequent free evolution gives rise to spin-nematic squeezing and quantum spin mixing. To stabilize the system, periodic microwave pulses are applied that manipulate the spin-nematic fluctuations and limit their growth. The range of pulse periods and phase shifts with which the condensate can be stabilized is measured and compares well with a linear stability analysis of the problem. C.D. Hamley, et al., ``Spin-Nematic Squeezed Vacuum in a Quantum Gas,'' Nature Physics 8, 305-308 (2012).

Complex pendulum biomass sensor

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

Hoskinson, Reed L.; Kenney, Kevin L.; Perrenoud, Ben C.

A complex pendulum system biomass sensor having a plurality of pendulums. The plurality of pendulums allow the system to detect a biomass height and density. Each pendulum has an angular deflection sensor and a deflector at a unique height. The pendulums are passed through the biomass and readings from the angular deflection sensors are fed into a control system. The control system determines whether adjustment of machine settings is appropriate and either displays an output to the operator, or adjusts automatically adjusts the machine settings, such as the speed, at which the pendulums are passed through the biomass. In anmore » alternate embodiment, an entanglement sensor is also passed through the biomass to determine the amount of biomass entanglement. This measure of entanglement is also fed into the control system.« less

Inverter ratio failure detector

NASA Technical Reports Server (NTRS)

Wagner, A. P.; Ebersole, T. J.; Andrews, R. E. (Inventor)

1974-01-01

A failure detector which detects the failure of a dc to ac inverter is disclosed. The inverter under failureless conditions is characterized by a known linear relationship of its input and output voltages and by a known linear relationship of its input and output currents. The detector includes circuitry which is responsive to the detector's input and output voltages and which provides a failure-indicating signal only when the monitored output voltage is less by a selected factor, than the expected output voltage for the monitored input voltage, based on the known voltages' relationship. Similarly, the detector includes circuitry which is responsive to the input and output currents and provides a failure-indicating signal only when the input current exceeds by a selected factor the expected input current for the monitored output current based on the known currents' relationship.

Feasibility and safety of modified inverted T-shaped method using linear stapler with movable cartridge fork for esophagojejunostomy following laparoscopic total gastrectomy.

PubMed

Ohuchida, Kenoki; Nagai, Eishi; Moriyama, Taiki; Shindo, Koji; Manabe, Tatsuya; Ohtsuka, Takao; Shimizu, Shuji; Nakamura, Masafumi

2017-01-01

We previously reported the use of an inverted T-shaped method to obtain a suitable view for hand sewing to close the common entry hole when the linear stapler was fired for esophagojejunostomy after laparoscopic total gastrectomy (LTG). This conventional method involved insertion of the fixed cartridge fork to the Roux limb and the fine movable anvil fork to the esophagus to avoid perforation of the jejunum. However, insertion of the movable anvil fork to the esophagus during this procedure often requires us to strongly push down the main body of the stapler with the fixed cartridge fork to bring the direction of the anvil fork in line with the direction of the long axis of the esophagus while controlling the opening of the movable anvil fork. We therefore modified this complicated inverted T-shaped method using a linear stapler with a movable cartridge fork. This modified method involved insertion of the movable cartridge fork into the Roux limb followed by natural, easy insertion of the fixed anvil fork into the esophagus without controlling the opening of the movable cartridge fork. We performed LTG in a total of 155 consecutive patients with gastric cancer from November 2007 to December 2015 in Kyushu University Hospital. After LTG, we performed the conventional inverted T-shaped method using a linear stapler with a fixed cartridge fork in 61 patients from November 2007 to July 2011 (fixed cartridge group). From August 2011, we used a linear stapler with a movable cartridge fork and performed the modified inverted T-shaped method in 94 patients (movable cartridge group). We herein compare the short-term outcomes in 94 cases of LTG using the modified method (movable cartridge fork) with those in 61 cases using the conventional method (fixed cartridge fork). We found no significant differences in the perioperative or postoperative events between the movable and fixed cartridge groups. One case of anastomotic leakage occurred in the fixed cartridge group, but no anastomotic leakage occurred in the movable cartridge group. Although there were no remarkable differences in the short-term outcomes between the movable and fixed cartridge groups, we believe that the modified inverted T-shaped method is technically more feasible and reliable than the conventional method and will contribute to the improved safety of LTG.

Feasibility and safety of modified inverted T-shaped method using linear stapler with movable cartridge fork for esophagojejunostomy following laparoscopic total gastrectomy

PubMed Central

Ohuchida, Kenoki; Moriyama, Taiki; Shindo, Koji; Manabe, Tatsuya; Ohtsuka, Takao; Shimizu, Shuji; Nakamura, Masafumi

2017-01-01

Background We previously reported the use of an inverted T-shaped method to obtain a suitable view for hand sewing to close the common entry hole when the linear stapler was fired for esophagojejunostomy after laparoscopic total gastrectomy (LTG). This conventional method involved insertion of the fixed cartridge fork to the Roux limb and the fine movable anvil fork to the esophagus to avoid perforation of the jejunum. However, insertion of the movable anvil fork to the esophagus during this procedure often requires us to strongly push down the main body of the stapler with the fixed cartridge fork to bring the direction of the anvil fork in line with the direction of the long axis of the esophagus while controlling the opening of the movable anvil fork. We therefore modified this complicated inverted T-shaped method using a linear stapler with a movable cartridge fork. This modified method involved insertion of the movable cartridge fork into the Roux limb followed by natural, easy insertion of the fixed anvil fork into the esophagus without controlling the opening of the movable cartridge fork. Methods We performed LTG in a total of 155 consecutive patients with gastric cancer from November 2007 to December 2015 in Kyushu University Hospital. After LTG, we performed the conventional inverted T-shaped method using a linear stapler with a fixed cartridge fork in 61 patients from November 2007 to July 2011 (fixed cartridge group). From August 2011, we used a linear stapler with a movable cartridge fork and performed the modified inverted T-shaped method in 94 patients (movable cartridge group). We herein compare the short-term outcomes in 94 cases of LTG using the modified method (movable cartridge fork) with those in 61 cases using the conventional method (fixed cartridge fork). Results We found no significant differences in the perioperative or postoperative events between the movable and fixed cartridge groups. One case of anastomotic leakage occurred in the fixed cartridge group, but no anastomotic leakage occurred in the movable cartridge group. Conclusions Although there were no remarkable differences in the short-term outcomes between the movable and fixed cartridge groups, we believe that the modified inverted T-shaped method is technically more feasible and reliable than the conventional method and will contribute to the improved safety of LTG. PMID:28616606

Lyapunov stability analysis for the generalized Kapitza pendulum

NASA Astrophysics Data System (ADS)

Druzhinina, O. V.; Sevastianov, L. A.; Vasilyev, S. A.; Vasilyeva, D. G.

2017-12-01

In this work generalization of Kapitza pendulum whose suspension point moves in the vertical and horizontal planes is made. Lyapunov stability analysis of the motion for this pendulum subjected to excitation of periodic driving forces and stochastic driving forces that act in the vertical and horizontal planes has been studied. The numerical study of the random motion for generalized Kapitza pendulum under stochastic driving forces has made. It is shown the existence of stable quasi-periodic motion for this pendulum.

Robust fuzzy control subject to state variance and passivity constraints for perturbed nonlinear systems with multiplicative noises.

PubMed

Chang, Wen-Jer; Huang, Bo-Jyun

2014-11-01

The multi-constrained robust fuzzy control problem is investigated in this paper for perturbed continuous-time nonlinear stochastic systems. The nonlinear system considered in this paper is represented by a Takagi-Sugeno fuzzy model with perturbations and state multiplicative noises. The multiple performance constraints considered in this paper include stability, passivity and individual state variance constraints. The Lyapunov stability theory is employed to derive sufficient conditions to achieve the above performance constraints. By solving these sufficient conditions, the contribution of this paper is to develop a parallel distributed compensation based robust fuzzy control approach to satisfy multiple performance constraints for perturbed nonlinear systems with multiplicative noises. At last, a numerical example for the control of perturbed inverted pendulum system is provided to illustrate the applicability and effectiveness of the proposed multi-constrained robust fuzzy control method. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Measurement of whole-body human centers of gravity and moments of inertia.

PubMed

Albery, C B; Schultz, R B; Bjorn, V S

1998-06-01

With the inclusion of women in combat aircraft, the question of safe ejection seat operation has been raised. The potential expanded population of combat pilots would include both smaller and larger ejection seat occupants, which could significantly affect seat performance. The method developed to measure human whole-body CG and MOI used a scale, a knife edge balance, and an inverted torsional pendulum. Subjects' moments of inertia were measured along six different axes. The inertia tensor was calculated from these values, and principal moments of inertia were then derived. Thirty-eight antropometric measurements were also taken for each subject to provide a means for direct correlation of inertial properties to body dimensions and for modeling purposes. Data collected in this study has been used to validate whole-body mass properties predictions. In addition, data will be used to improve Air Force and Navy ejection seat trajectory models for the expanded population.

Robust stabilization of underactuated nonlinear systems: A fast terminal sliding mode approach.

PubMed

Khan, Qudrat; Akmeliawati, Rini; Bhatti, Aamer Iqbal; Khan, Mahmood Ashraf

2017-01-01

This paper presents a fast terminal sliding mode based control design strategy for a class of uncertain underactuated nonlinear systems. Strategically, this development encompasses those electro-mechanical underactuated systems which can be transformed into the so-called regular form. The novelty of the proposed technique lies in the hierarchical development of a fast terminal sliding attractor design for the considered class. Having established sliding mode along the designed manifold, the close loop dynamics become finite time stable which, consequently, result in high precision. In addition, the adverse effects of the chattering phenomenon are reduced via strong reachability condition and the robustness of the system against uncertainties is confirmed theoretically. A simulation as well as experimental study of an inverted pendulum is presented to demonstrate the applicability of the proposed technique. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Stability Assessment of a System Comprising a Single Machine and Inverter with Scalable Ratings

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

Johnson, Brian B; Lin, Yashen; Gevorgian, Vahan

Synchronous machines have traditionally acted as the foundation of large-scale electrical infrastructures and their physical properties have formed the cornerstone of system operations. However, with the increased integration of distributed renewable resources and energy-storage technologies, there is a need to systematically acknowledge the dynamics of power-electronics inverters - the primary energy-conversion interface in such systems - in all aspects of modeling, analysis, and control of the bulk power network. In this paper, we assess the properties of coupled machine-inverter systems by studying an elementary system comprised of a synchronous generator, three-phase inverter, and a load. The inverter model is formulatedmore » such that its power rating can be scaled continuously across power levels while preserving its closed-loop response. Accordingly, the properties of the machine-inverter system can be assessed for varying ratios of machine-to-inverter power ratings. After linearizing the model and assessing its eigenvalues, we show that system stability is highly dependent on the inverter current controller and machine exciter, thus uncovering a key concern with mixed machine-inverter systems and motivating the need for next-generation grid-stabilizing inverter controls.« less

Threat Appeals: The Fear-Persuasion Relationship is Linear and Curvilinear.

PubMed

Dillard, James Price; Li, Ruobing; Huang, Yan

2017-11-01

Drive theory may be seen as the first scientific theory of health and risk communication. However, its prediction of a curvilinear association between fear and persuasion is generally held to be incorrect. A close rereading of Hovland et al. reveals that within- and between-persons processes were conflated. Using a message that advocated obtaining a screening for colonoscopy, this study (N = 259) tested both forms of the inverted-U hypothesis. In the between-persons data, analyses revealed a linear effect that was consistent with earlier investigations. However, the data showed an inverted-U relationship in within-persons data. Hence, the relationship between fear and persuasion is linear or curvilinear depending on the level of analysis.

Critical N = (1, 1) general massive supergravity

NASA Astrophysics Data System (ADS)

Deger, Nihat Sadik; Moutsopoulos, George; Rosseel, Jan

2018-04-01

In this paper we study the supermultiplet structure of N = (1, 1) General Massive Supergravity at non-critical and critical points of its parameter space. To do this, we first linearize the theory around its maximally supersymmetric AdS3 vacuum and obtain the full linearized Lagrangian including fermionic terms. At generic values, linearized modes can be organized as two massless and 2 massive multiplets where supersymmetry relates them in the standard way. At critical points logarithmic modes appear and we find that in three of such points some of the supersymmetry transformations are non-invertible in logarithmic multiplets. However, in the fourth critical point, there is a massive logarithmic multiplet with invertible supersymmetry transformations.

Towards the miniaturization of monolithic folded pendulums: a new approach to the implementation of small and light sensors for ground, space, and marine applications

NASA Astrophysics Data System (ADS)

Barone, F.; Giordano, G.

2018-03-01

The UNISA Folded Pendulum technological platform is very promising for the implementation of high sensitive, large band miniaturized mechanical seismometers and accelerometers in different materials. In fact, the symmetry of its mechanical architecture allows to take full advantage of one of the most relevant properties of the folded pendulum, that is the scalability. This property is very useful for the design of folded pendulums of small size and weight, provided with a suitable combination of physical and geometrical parameters. Using a lagrangian simplified model of folded pendulum, we present and discuss this idea, showing different possible approaches that may lead to the miniaturization of a folded pendulum. Finally we present a first prototype of miniaturized folded pendulum, discussing its characteristics and limitations, in connection with scientific ground, marine and space applications.

Pendulums in the Physics Education Literature: A Bibliography

ERIC Educational Resources Information Center

Gauld, Colin

2004-01-01

Articles about the pendulum in four journals devoted to the teaching of physics and one general science teaching journal (along with other miscellaneous articles from other journals) are listed in three broad categories--types of pendulums, the contexts in which these pendulums are used in physics teaching at secondary or tertiary levels and a…

Pendulum and modified pendulum appliances for maxillary molar distalization in Class II malocclusion - a systematic review.

PubMed

Al-Thomali, Yousef; Basha, Sakeenabi; Mohamed, Roshan Noor

2017-08-01

The main purpose of the present systematic review was to evaluate the quantitative effects of the pendulum appliance and modified pendulum appliances for maxillary molar distalization in Class II malocclusion. Our systematic search included MEDLINE, EMBASE, CINAHL, PsychINFO, Scopus and key journals and review articles; the date of the last search was 30 January 2017. We graded the methodological quality of the studies by means of the Quality Assessment Tool for Quantitative Studies, developed for the Effective Public Health Practice Project (EPHPP). In total, 203 studies were identified for screening, and 25 studies were eligible. The quality assessment rated four (16%) of the study as being of strong quality and 21 (84%) of these studies as being of moderate quality. The pendulum appliances showed mean molar distalization of 2-6.4 mm, distal tipping of molars from 6.67° to 14.50° and anchorage loss with mean premolar and incisor mesial movement of 1.63-3.6 mm and 0.9-6.5 mm, respectively. The bone anchored pendulum appliances (BAPAs) showed mean molar distalization of 4.8-6.4 mm, distal tipping of molars from 9° to 11.3° and mean premolar distalization of 2.7-5.4 mm. Pendulum and modified pendulum appliances are effective in molar distalization. Pendulum appliance with K-loop modification, implant supported pendulum appliance and BAPA significantly reduced anchorage loss of the anterior teeth and distal tipping of the molar teeth.

Reduced-Order Structure-Preserving Model for Parallel-Connected Three-Phase Grid-Tied Inverters

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

Johnson, Brian B; Purba, Victor; Jafarpour, Saber

Next-generation power networks will contain large numbers of grid-connected inverters satisfying a significant fraction of system load. Since each inverter model has a relatively large number of dynamic states, it is impractical to analyze complex system models where the full dynamics of each inverter are retained. To address this challenge, we derive a reduced-order structure-preserving model for parallel-connected grid-tied three-phase inverters. Here, each inverter in the system is assumed to have a full-bridge topology, LCL filter at the point of common coupling, and the control architecture for each inverter includes a current controller, a power controller, and a phase-locked loopmore » for grid synchronization. We outline a structure-preserving reduced-order inverter model with lumped parameters for the setting where the parallel inverters are each designed such that the filter components and controller gains scale linearly with the power rating. By structure preserving, we mean that the reduced-order three-phase inverter model is also composed of an LCL filter, a power controller, current controller, and PLL. We show that the system of parallel inverters can be modeled exactly as one aggregated inverter unit and this equivalent model has the same number of dynamical states as any individual inverter in the system. Numerical simulations validate the reduced-order model.« less

Boxing and mixed martial arts: preliminary traumatic neuromechanical injury risk analyses from laboratory impact dosage data.

PubMed

Bartsch, Adam J; Benzel, Edward C; Miele, Vincent J; Morr, Douglas R; Prakash, Vikas

2012-05-01

In spite of ample literature pointing to rotational and combined impact dosage being key contributors to head and neck injury, boxing and mixed martial arts (MMA) padding is still designed to primarily reduce cranium linear acceleration. The objects of this study were to quantify preliminary linear and rotational head impact dosage for selected boxing and MMA padding in response to hook punches; compute theoretical skull, brain, and neck injury risk metrics; and statistically compare the protective effect of various glove and head padding conditions. An instrumented Hybrid III 50th percentile anthropomorphic test device (ATD) was struck in 54 pendulum impacts replicating hook punches at low (27-29 J) and high (54-58 J) energy. Five padding combinations were examined: unpadded (control), MMA glove-unpadded head, boxing glove-unpadded head, unpadded pendulum-boxing headgear, and boxing glove-boxing headgear. A total of 17 injury risk parameters were measured or calculated. All padding conditions reduced linear impact dosage. Other parameters significantly decreased, significantly increased, or were unaffected depending on padding condition. Of real-world conditions (MMA glove-bare head, boxing glove-bare head, and boxing glove-headgear), the boxing glove-headgear condition showed the most meaningful reduction in most of the parameters. In equivalent impacts, the MMA glove-bare head condition induced higher rotational dosage than the boxing glove-bare head condition. Finite element analysis indicated a risk of brain strain injury in spite of significant reduction of linear impact dosage. In the replicated hook punch impacts, all padding conditions reduced linear but not rotational impact dosage. Head and neck dosage theoretically accumulates fastest in MMA and boxing bouts without use of protective headgear. The boxing glove-headgear condition provided the best overall reduction in impact dosage. More work is needed to develop improved protective padding to minimize linear and rotational impact dosage and develop next-generation standards for head and neck injury risk.

49 CFR 572.193 - Neck assembly.

Code of Federal Regulations, 2014 CFR

2014-10-01

... or V2-B in appendix A to this subpart, to the 49 CFR Part 572 pendulum test fixture (Figure 22, 49... motion of the pendulum longitudinal centerline; (3) Release the pendulum from a height sufficient to achieve a velocity of 5.57 ±0.06 m/s measured at the center of the pendulum accelerometer, as shown in 49...

49 CFR 572.73 - Neck assembly and test procedure.

Code of Federal Regulations, 2011 CFR

2011-10-01

... rotate, while translating in the direction of the pendulum preimpact flight, in reference to the pendulum... displacement at time “T” is defined as the straight line distance between the position relative to the pendulum arm of the head's center of gravity at time “zero;” and the position relative to the pendulum arm of...

49 CFR 572.193 - Neck assembly.

Code of Federal Regulations, 2012 CFR

2012-10-01

... or V2-B in appendix A to this subpart, to the 49 CFR Part 572 pendulum test fixture (Figure 22, 49... motion of the pendulum longitudinal centerline; (3) Release the pendulum from a height sufficient to achieve a velocity of 5.57 ±0.06 m/s measured at the center of the pendulum accelerometer, as shown in 49...

49 CFR 572.73 - Neck assembly and test procedure.

Code of Federal Regulations, 2013 CFR

2013-10-01

... rotate, while translating in the direction of the pendulum preimpact flight, in reference to the pendulum... displacement at time “T” is defined as the straight line distance between the position relative to the pendulum arm of the head's center of gravity at time “zero;” and the position relative to the pendulum arm of...

A Simple Method to Measure the Trajectory of a Spherical Pendulum

ERIC Educational Resources Information Center

Yang, Hujiang; Xiao, Jinghua; Yang, Tianyu; Qiu, Chen

2011-01-01

Compared with a single gravity pendulum, the spherical pendulum behaves more complicatedly in experiments, which makes it difficult to measure. In this paper, we present a method to visualize the trajectories of a spherical pendulum by employing a gravity ball with a lit LED and a digital camera. This new measurement is inexpensive and easy to…

49 CFR 572.193 - Neck assembly.

Code of Federal Regulations, 2013 CFR

2013-10-01

... or V2-B in appendix A to this subpart, to the 49 CFR Part 572 pendulum test fixture (Figure 22, 49... motion of the pendulum longitudinal centerline; (3) Release the pendulum from a height sufficient to achieve a velocity of 5.57 ±0.06 m/s measured at the center of the pendulum accelerometer, as shown in 49...

49 CFR 572.193 - Neck assembly.

Code of Federal Regulations, 2011 CFR

2011-10-01

... or V2-B in appendix A to this subpart, to the 49 CFR Part 572 pendulum test fixture (Figure 22, 49... of motion of the pendulum longitudinal centerline; (3) Release the pendulum from a height sufficient to achieve a velocity of 5.57 ± 0.06 m/s measured at the center of the pendulum accelerometer, as...

49 CFR 572.73 - Neck assembly and test procedure.

Code of Federal Regulations, 2010 CFR

2010-10-01

... rotate, while translating in the direction of the pendulum preimpact flight, in reference to the pendulum... displacement at time “T” is defined as the straight line distance between the position relative to the pendulum arm of the head's center of gravity at time “zero;” and the position relative to the pendulum arm of...

Turning Points of the Spherical Pendulum and the Golden Ratio

ERIC Educational Resources Information Center

Essen, Hanno; Apazidis, Nicholas

2009-01-01

We study the turning point problem of a spherical pendulum. The special cases of the simple pendulum and the conical pendulum are noted. For simple initial conditions the solution to this problem involves the golden ratio, also called the golden section, or the golden number. This number often appears in mathematics where you least expect it. To…

49 CFR 572.73 - Neck assembly and test procedure.

Code of Federal Regulations, 2014 CFR

2014-10-01

... rotate, while translating in the direction of the pendulum preimpact flight, in reference to the pendulum... displacement at time “T” is defined as the straight line distance between the position relative to the pendulum arm of the head's center of gravity at time “zero;” and the position relative to the pendulum arm of...

49 CFR 572.193 - Neck assembly.

Code of Federal Regulations, 2010 CFR

2010-10-01

... or V2-B in appendix A to this subpart, to the 49 CFR Part 572 pendulum test fixture (Figure 22, 49... of motion of the pendulum longitudinal centerline; (3) Release the pendulum from a height sufficient to achieve a velocity of 5.57 ± 0.06 m/s measured at the center of the pendulum accelerometer, as...

49 CFR 572.73 - Neck assembly and test procedure.

Code of Federal Regulations, 2012 CFR

2012-10-01

... rotate, while translating in the direction of the pendulum preimpact flight, in reference to the pendulum... displacement at time “T” is defined as the straight line distance between the position relative to the pendulum arm of the head's center of gravity at time “zero;” and the position relative to the pendulum arm of...

Investigation of Liquid Sloshing in Spin-Stabilized Satellites.

DTIC Science & Technology

1993-01-31

deformation of the spinning structure in addition to the rigid body motion . A Lagrangian approach was used to develop the equations of motion which include...nonlinear relationships for the unknown rigid body motions and linear terms for the relatively small elastic deformations of the members. Appendix F...the rigid body motion of the test assembly. A pendulum analogy was used to model the sloshing liquid in that early program. Several numerical

The Inverted Student Density and Test Scores.

ERIC Educational Resources Information Center

Boldt, Robert F.

The inverted density is one whose contour lines are spheroidal as in the normal distribution, but whose moments differ from those of the normal in that its conditional arrays are not homoscedastic, being quadratic functions of the values of the linear regression functions. It is also platykurtic, its measure of kurtosis ranging from that of the…

Flexor and extensor muscle tone evaluated using the quantitative pendulum test in stroke and parkinsonian patients.

PubMed

Huang, Han-Wei; Ju, Ming-Shaung; Lin, Chou-Ching K

2016-05-01

The aim of this study was to evaluate the flexor and extensor muscle tone of the upper limbs in patients with spasticity or rigidity and to investigate the difference in hypertonia between spasticity and rigidity. The two experimental groups consisted of stroke patients and parkinsonian patients. The control group consisted of age and sex-matched normal subjects. Quantitative upper limb pendulum tests starting from both flexed and extended joint positions were conducted. System identification with a simple linear model was performed and model parameters were derived. The differences between the three groups and two starting positions were investigated by these model parameters and tested by two-way analysis of variance. In total, 57 subjects were recruited, including 22 controls, 14 stroke patients and 21 parkinsonian patients. While stiffness coefficient showed no difference among groups, the number of swings, relaxation index and damping coefficient showed changes suggesting significant hypertonia in the two patient groups. There was no difference between these two patient groups. The test starting from the extended position constantly manifested higher muscle tone in all three groups. In conclusion, the hypertonia of parkinsonian and stroke patients could not be differentiated by the modified pendulum test; the elbow extensors showed a higher muscle tone in both control and patient groups; and hypertonia of both parkinsonian and stroke patients is velocity dependent. Copyright © 2015 Elsevier Ltd. All rights reserved.

Robust design of mass-uncertain rolling-pendulum TMDs for the seismic protection of buildings

NASA Astrophysics Data System (ADS)

Matta, Emiliano; De Stefano, Alessandro

2009-01-01

Commonly used for mitigating wind- and traffic-induced vibrations in flexible structures, passive tuned mass dampers (TMDs) are rarely applied to the seismic control of buildings, their effectiveness to impulsive loads being conditional upon adoption of large mass ratios. Instead of recurring to cumbersome metal or concrete devices, this paper suggests meeting that condition by turning into TMDs non-structural masses sometimes available atop buildings. An innovative roof-garden TMD, for instance, sounds a promising tool capable of combining environmental and structural protection in one device. Unfortunately, the amount of these masses being generally variable, the resulting mass-uncertain TMD (MUTMD) appears prone to mistuning and control loss. In an attempt to minimize such adverse effects, robust analysis and synthesis against mass variations are applied in this study to MUTMDs of the rolling-pendulum type, a configuration characterized by mass-independent natural period. Through simulations under harmonic and recorded ground motions of increasing intensity, the performance of circular and cycloidal rolling-pendulum MUTMDs is evaluated on an SDOF structure in order to illustrate their respective advantages as well as the drawbacks inherent in their non-linear behavior. A possible implementation of a roof-garden TMD on a real building structure is described and its control efficacy numerically demonstrated, showing that in practical applications MUTMDs can become a good alternative to traditional TMDs.

Implied dynamics biases the visual perception of velocity.

PubMed

La Scaleia, Barbara; Zago, Myrka; Moscatelli, Alessandro; Lacquaniti, Francesco; Viviani, Paolo

2014-01-01

We expand the anecdotic report by Johansson that back-and-forth linear harmonic motions appear uniform. Six experiments explore the role of shape and spatial orientation of the trajectory of a point-light target in the perceptual judgment of uniform motion. In Experiment 1, the target oscillated back-and-forth along a circular arc around an invisible pivot. The imaginary segment from the pivot to the midpoint of the trajectory could be oriented vertically downward (consistent with an upright pendulum), horizontally leftward, or vertically upward (upside-down). In Experiments 2 to 5, the target moved uni-directionally. The effect of suppressing the alternation of movement directions was tested with curvilinear (Experiment 2 and 3) or rectilinear (Experiment 4 and 5) paths. Experiment 6 replicated the upright condition of Experiment 1, but participants were asked to hold the gaze on a fixation point. When some features of the trajectory evoked the motion of either a simple pendulum or a mass-spring system, observers identified as uniform the kinematic profiles close to harmonic motion. The bias towards harmonic motion was most consistent in the upright orientation of Experiment 1 and 6. The bias disappeared when the stimuli were incompatible with both pendulum and mass-spring models (Experiments 3 to 5). The results are compatible with the hypothesis that the perception of dynamic stimuli is biased by the laws of motion obeyed by natural events, so that only natural motions appear uniform.

Intelligent clutch control with incremental encoder to improve wear issues of an intercept pendulum in real time

NASA Astrophysics Data System (ADS)

Jalba, C. K.; Diekmann, R.; Epple, S.

2017-01-01

A pendulum impact tester is a technical device which is used to perform plasticity characterizations of metallic materials. Results are calculated based on fracture behavior under pendulum impact loadings according to DIN 50115, DIN 51222/EN 10045. The material is held at the two ends and gets struck in the middle. A mechanical Problem occurs when testing materials with a very high impact toughness. These specimen often do not break when hit by the pendulum. To return the pendulum to its initial position, the operator presses a service button. After a delay of approximately 2 seconds a clutch is activated which connects the arm of the pendulum with an electric motor to return it back upright in start position. At the moment of clutch activation, the pendulum can still swing or bounce with any speed in any direction at any different position. Due to the lack of synchronization between pendulum speed and constant engine speed, the clutch suffers heavy wear of friction. This disadvantage results in considerable service and repair costs for the customer. As a solution to this problem this article presents a customized technical device to significantly increase the lifetime of the clutch. It was accomplished by a precisely controlled activation of the clutch at a point of time when pendulum and motor are at synchronized speed and direction using incremental encoders.

Roles of Abductive Reasoning and Prior Belief in Children's Generation of Hypotheses about Pendulum Motion

ERIC Educational Resources Information Center

Kwon, Yong-Ju; Jeong, Jin-Su; Park, Yun-Bok

2006-01-01

The purpose of the present study was to test the hypothesis that student's abductive reasoning skills play an important role in the generation of hypotheses on pendulum motion tasks. To test the hypothesis, a hypothesis-generating test on pendulum motion, and a prior-belief test about pendulum motion were developed and administered to a sample of…

Foot trajectory approximation using the pendulum model of walking.

PubMed

Fang, Juan; Vuckovic, Aleksandra; Galen, Sujay; Conway, Bernard A; Hunt, Kenneth J

2014-01-01

Generating a natural foot trajectory is an important objective in robotic systems for rehabilitation of walking. Human walking has pendular properties, so the pendulum model of walking has been used in bipedal robots which produce rhythmic gait patterns. Whether natural foot trajectories can be produced by the pendulum model needs to be addressed as a first step towards applying the pendulum concept in gait orthosis design. This study investigated circle approximation of the foot trajectories, with focus on the geometry of the pendulum model of walking. Three able-bodied subjects walked overground at various speeds, and foot trajectories relative to the hip were analysed. Four circle approximation approaches were developed, and best-fit circle algorithms were derived to fit the trajectories of the ankle, heel and toe. The study confirmed that the ankle and heel trajectories during stance and the toe trajectory in both the stance and the swing phases during walking at various speeds could be well modelled by a rigid pendulum. All the pendulum models were centred around the hip with pendular lengths approximately equal to the segment distances from the hip. This observation provides a new approach for using the pendulum model of walking in gait orthosis design.

Approximate non-linear multiparameter inversion for multicomponent single and double P-wave scattering in isotropic elastic media

NASA Astrophysics Data System (ADS)

Ouyang, Wei; Mao, Weijian

2018-03-01

An asymptotic quadratic true-amplitude inversion method for isotropic elastic P waves is proposed to invert medium parameters. The multicomponent P-wave scattered wavefield is computed based on a forward relationship using second-order Born approximation and corresponding high-frequency ray theoretical methods. Within the local double scattering mechanism, the P-wave transmission factors are elaborately calculated, which results in the radiation pattern for P-waves scattering being a quadratic combination of the density and Lamé's moduli perturbation parameters. We further express the elastic P-wave scattered wavefield in a form of generalized Radon transform (GRT). After introducing classical backprojection operators, we obtain an approximate solution of the inverse problem by solving a quadratic non-linear system. Numerical tests with synthetic data computed by finite-differences scheme demonstrate that our quadratic inversion can accurately invert perturbation parameters for strong perturbations, compared with the P-wave single-scattering linear inversion method. Although our inversion strategy here is only syncretized with P-wave scattering, it can be extended to invert multicomponent elastic data containing both P-wave and S-wave information.

Radial forcing and Edgar Allan Poe's lengthening pendulum

NASA Astrophysics Data System (ADS)

McMillan, Matthew; Blasing, David; Whitney, Heather M.

2013-09-01

Inspired by Edgar Allan Poe's The Pit and the Pendulum, we investigate a radially driven, lengthening pendulum. We first show that increasing the length of an undriven pendulum at a uniform rate does not amplify the oscillations in a manner consistent with the behavior of the scythe in Poe's story. We discuss parametric amplification and the transfer of energy (through the parameter of the pendulum's length) to the oscillating part of the system. In this manner, radial driving can easily and intuitively be understood, and the fundamental concept applied in many other areas. We propose and show by a numerical model that appropriately timed radial forcing can increase the oscillation amplitude in a manner consistent with Poe's story. Our analysis contributes a computational exploration of the complex harmonic motion that can result from radially driving a pendulum and sheds light on a mechanism by which oscillations can be amplified parametrically. These insights should prove especially valuable in the undergraduate physics classroom, where investigations into pendulums and oscillations are commonplace.

Tiltmeter studies in earthquake prediction

USGS Publications Warehouse

Johnston, M.

1978-01-01

tilt measurements give us a means of monitoring vertical displacements or local uplift of the crust. The simplest type of tiltmeter is a stationary pendulum (fig. 1). As the Earth's surface distorts locally, the pendulum housing is tilted while, of course, the pendulum continues to hang vertically (that is, in the direction of the gravity vector). The tilt angle is the angle through which the pendulum housing is tilted. The pendulum is the inertial reference (the force of gravity remains unchanged at the site), and tilting of the instrument housing represents the moving reference frame. We note in passing that the tiltmeter could also be used to measure the force of gravity by using the pendulum in the same way as Henry Kater did in his celebrated measurement of g in 1817. 

Desktop chaotic systems: Intuition and visualization

NASA Technical Reports Server (NTRS)

Bright, Michelle M.; Melcher, Kevin J.; Qammar, Helen K.; Hartley, Tom T.

1993-01-01

This paper presents a dynamic study of the Wildwood Pendulum, a commercially available desktop system which exhibits a strange attractor. The purpose of studying this chaotic pendulum is twofold: to gain insight in the paradigmatic approach of modeling, simulating, and determining chaos in nonlinear systems; and to provide a desktop model of chaos as a visual tool. For this study, the nonlinear behavior of this chaotic pendulum is modeled, a computer simulation is performed, and an experimental performance is measured. An assessment of the pendulum in the phase plane shows the strange attractor. Through the use of a box-assisted correlation dimension methodology, the attractor dimension is determined for both the model and the experimental pendulum systems. Correlation dimension results indicate that the pendulum and the model are chaotic and their fractal dimensions are similar.

A simple pendulum laser interferometer for determining the gravitational constant

PubMed Central

Parks, Harold V.; Faller, James E.

2014-01-01

We present a detailed account of our 2004 experiment to measure the Newtonian constant of gravitation with a suspended laser interferometer. The apparatus consists of two simple pendulums hanging from a common support. Each pendulum has a length of 72 cm and their separation is 34 cm. A mirror is embedded in each pendulum bob, which then in combination form a Fabry–Perot cavity. A laser locked to the cavity measures the change in pendulum separation as the gravitational field is modulated due to the displacement of four 120 kg tungsten masses. PMID:25201994

Reduced-Order Structure-Preserving Model for Parallel-Connected Three-Phase Grid-Tied Inverters: Preprint

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

Johnson, Brian B; Purba, Victor; Jafarpour, Saber

Given that next-generation infrastructures will contain large numbers of grid-connected inverters and these interfaces will be satisfying a growing fraction of system load, it is imperative to analyze the impacts of power electronics on such systems. However, since each inverter model has a relatively large number of dynamic states, it would be impractical to execute complex system models where the full dynamics of each inverter are retained. To address this challenge, we derive a reduced-order structure-preserving model for parallel-connected grid-tied three-phase inverters. Here, each inverter in the system is assumed to have a full-bridge topology, LCL filter at the pointmore » of common coupling, and the control architecture for each inverter includes a current controller, a power controller, and a phase-locked loop for grid synchronization. We outline a structure-preserving reduced-order inverter model for the setting where the parallel inverters are each designed such that the filter components and controller gains scale linearly with the power rating. By structure preserving, we mean that the reduced-order three-phase inverter model is also composed of an LCL filter, a power controller, current controller, and PLL. That is, we show that the system of parallel inverters can be modeled exactly as one aggregated inverter unit and this equivalent model has the same number of dynamical states as an individual inverter in the paralleled system. Numerical simulations validate the reduced-order models.« less

The Pendulum as a Vehicle for Transitioning from Classical to Quantum Physics: History, Quantum Concepts, and Educational Challenges

ERIC Educational Resources Information Center

Barnes, Marianne B.; Garner, James; Reid, David

2004-01-01

In this article we use the pendulum as the vehicle for discussing the transition from classical to quantum physics. Since student knowledge of the classical pendulum can be generalized to all harmonic oscillators, we propose that a quantum analysis of the pendulum can lead students into the unanticipated consequences of quantum phenomena at the…

Segmented Hoop as a Physical Pendulum

ERIC Educational Resources Information Center

Layton, William; Rodriguez, Nuria

2013-01-01

An interesting demonstration with a surprising result is to suspend a hoop from a point near its edge and set it swinging in a vertical plane as a pendulum. If a simple pendulum of length equal to the diameter of the hoop is set oscillating at the same time, the two will have nearly the same period. However, the real surprise is if the pendulum is…

A Novel Real-Time Data Acquisition Using an Excel Spreadsheet in Pendulum Experiment Tool with Light-Based Timer

ERIC Educational Resources Information Center

Adhitama, Egy; Fauzi, Ahmad

2018-01-01

In this study, a pendulum experimental tool with a light-based timer has been developed to measure the period of a simple pendulum. The obtained data was automatically recorded in an Excel spreadsheet. The intensity of monochromatic light, sensed by a 3DU5C phototransistor, dynamically changes as the pendulum swings. The changed intensity varies…

Design of an Internal Model Control strategy for single-phase grid-connected PWM inverters and its performance analysis with a non-linear local load and weak grid.

PubMed

Chaves, Eric N; Coelho, Ernane A A; Carvalho, Henrique T M; Freitas, Luiz C G; Júnior, João B V; Freitas, Luiz C

2016-09-01

This paper presents the design of a controller based on Internal Model Control (IMC) applied to a grid-connected single-phase PWM inverter. The mathematical modeling of the inverter and the LCL output filter, used to project the 1-DOF IMC controller, is presented and the decoupling of grid voltage by a Feedforward strategy is analyzed. A Proportional - Resonant Controller (P+Res) was used for the control of the same plant in the running of experimental results, thus moving towards the discussion of differences regarding IMC and P+Res performances, which arrived at the evaluation of the proposed control strategy. The results are presented for typical conditions, for weak-grid and for non-linear local load, in order to verify the behavior of the controller against such situations. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Ask the pendulum: personality predictors of ideomotor performance.

PubMed

Olson, Jay A; Jeyanesan, Ewalina; Raz, Amir

2017-01-01

For centuries, people have asked questions to hand-held pendulums and interpreted their movements as responses from the divine. These movements occur due to the ideomotor effect, wherein priming or thinking of a motion causes muscle movements that end up swinging the pendulum. By associating particular swinging movements with "yes" and "no" responses, we investigated whether pendulums can aid decision-making and which personality traits correlate with this performance. Participants ( N = 80 ) completed a visual detection task in which they searched for a target letter among rapidly presented characters. In the verbal condition, participants stated whether they saw the target in each trial. In the pendulum condition, participants instead mentally "asked" a hand-held pendulum whether the target was present; particular motions signified "yes" and "no". We measured the accuracy of their responses as well as their sensitivity and bias using signal detection theory. We also assessed four personality measures: locus of control (feelings of control over one's life), transliminality (sensitivity to subtle stimuli), need for cognition (preference for analytical thinking), and faith in intuition (preference for intuitive thinking). Overall, locus of control predicted verbal performance and transliminality predicted pendulum performance. Accuracy was low in both conditions (verbal: 57%, pendulum: 53%), but bias was higher in the verbal condition ( d = 1.10 ). We confirmed this bias difference in a second study ( d = 0.47 , N = 40 ). Our results suggest that people have different decision strategies when using a pendulum compared to conscious guessing. These findings may help explain why some people can answer questions more accurately with pendulums and Ouija boards. More broadly, identifying the differences between ideomotor and verbal responses could lead to practical ways to improve decision-making.

Ask the pendulum: personality predictors of ideomotor performance

PubMed Central

Olson, Jay A; Jeyanesan, Ewalina; Raz, Amir

2017-01-01

Abstract For centuries, people have asked questions to hand-held pendulums and interpreted their movements as responses from the divine. These movements occur due to the ideomotor effect, wherein priming or thinking of a motion causes muscle movements that end up swinging the pendulum. By associating particular swinging movements with “yes” and “no” responses, we investigated whether pendulums can aid decision-making and which personality traits correlate with this performance. Participants (N=80) completed a visual detection task in which they searched for a target letter among rapidly presented characters. In the verbal condition, participants stated whether they saw the target in each trial. In the pendulum condition, participants instead mentally “asked” a hand-held pendulum whether the target was present; particular motions signified “yes” and “no”. We measured the accuracy of their responses as well as their sensitivity and bias using signal detection theory. We also assessed four personality measures: locus of control (feelings of control over one’s life), transliminality (sensitivity to subtle stimuli), need for cognition (preference for analytical thinking), and faith in intuition (preference for intuitive thinking). Overall, locus of control predicted verbal performance and transliminality predicted pendulum performance. Accuracy was low in both conditions (verbal: 57%, pendulum: 53%), but bias was higher in the verbal condition (d=1.10). We confirmed this bias difference in a second study (d=0.47, N=40). Our results suggest that people have different decision strategies when using a pendulum compared to conscious guessing. These findings may help explain why some people can answer questions more accurately with pendulums and Ouija boards. More broadly, identifying the differences between ideomotor and verbal responses could lead to practical ways to improve decision-making. PMID:29877514

Realizing Broadband and Invertible Linear-to-circular Polarization Converter with Ultrathin Single-layer Metasurface

PubMed Central

Li, Zhancheng; Liu, Wenwei; Cheng, Hua; Chen, Shuqi; Tian, Jianguo

2015-01-01

The arbitrary control of the polarization states of light has attracted the interest of the scientific community because of the wide range of modern optical applications that such control can afford. However, conventional polarization control setups are bulky and very often operate only within a narrow wavelength range, thereby resisting optical system miniaturization and integration. Here, we present the basic theory, simulated demonstration, and in-depth analysis of a high-performance broadband and invertible linear-to-circular (LTC) polarization converter composed of a single-layer gold nanorod array with a total thickness of ~λ/70 for the near-infrared regime. This setup can transform a circularly polarized wave into a linearly polarized one or a linearly polarized wave with a wavelength-dependent electric field polarization angle into a circularly polarized one in the transmission mode. The broadband and invertible LTC polarization conversion can be attributed to the tailoring of the light interference at the subwavelength scale via the induction of the anisotropic optical resonance mode. This ultrathin single-layer metasurface relaxes the high-precision requirements of the structure parameters in general metasurfaces while retaining the polarization conversion performance. Our findings open up intriguing possibilities towards the realization of novel integrated metasurface-based photonics devices for polarization manipulation, modulation, and phase retardation. PMID:26667360

Charge management for gravitational-wave observatories using UV LEDs

NASA Astrophysics Data System (ADS)

Pollack, S. E.; Turner, M. D.; Schlamminger, S.; Hagedorn, C. A.; Gundlach, J. H.

2010-01-01

Accumulation of electrical charge on the end mirrors of gravitational-wave observatories can become a source of noise limiting the sensitivity of such detectors through electronic couplings to nearby surfaces. Torsion balances provide an ideal means for testing gravitational-wave technologies due to their high sensitivity to small forces. Our torsion pendulum apparatus consists of a movable plate brought near a plate pendulum suspended from a nonconducting quartz fiber. A UV LED located near the pendulum photoejects electrons from the surface, and a UV LED driven electron gun directs photoelectrons towards the pendulum surface. We have demonstrated both charging and discharging of the pendulum with equivalent charging rates of ˜105e/s, as well as spectral measurements of the pendulum charge resulting in a white noise level equivalent to 3×105e/Hz.

Energy behavior of an electromechanical system with internal impacts and uncertainties

NASA Astrophysics Data System (ADS)

Lima, Roberta; Sampaio, Rubens

2016-07-01

This paper analyzes the maximal energy stored in an elastic barrier due to the impacts of a pendulum fitted within a vibro-impact electromechanical system considering the existence of epistemic uncertainties in the system parameters. The vibro-impact electromechanical system is composed of two subsystems. The first subsystem is the electromechanical system composed by a motor, cart and pendulum, and the second is an elastic barrier. The first will be called striker system. The pendulum is fitted within the cart. Its suspension point is fixed in the cart, so that it may exist a relative motion between cart and pendulum. The influence of the DC motor in the dynamic behavior of the pendulum is considered. The coupling between the motor and the cart is made by a scotch yoke mechanism, so that the motor rotational motion is transformed in horizontal cart motion over a rail. The pendulum is modeled as a mathematical pendulum (bar without mass and particle of mass mp at the end). A flexible barrier, placed inside the cart, constrains the pendulum motion. Due to the relative motion between the cart and the pendulum, impacts may occur between these two elements. The objective of the paper is to analyze the energy stored in the barrier due to impacts as a function of some parameters of the electromechanical system from a deterministic and from a stochastic viewpoint. The system is designed as an aid in drilling. The impacts damage or fracture the rock and facilitate the conventional drilling.

Influence of tungsten fiber’s slow drift on the measurement of G with angular acceleration method

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

Luo, Jie; Wu, Wei-Huang; Zhan, Wen-Ze

In the measurement of the gravitational constant G with angular acceleration method, the equilibrium position of torsion pendulum with tungsten fiber undergoes a linear slow drift, which results in a quadratic slow drift on the angular velocity of the torsion balance turntable under feedback control unit. The accurate amplitude determination of the useful angular acceleration signal with known frequency is biased by the linear slow drift and the coupling effect of the drifting equilibrium position and the room fixed gravitational background signal. We calculate the influences of the linear slow drift and the complex coupling effect on the value ofmore » G, respectively. The result shows that the bias of the linear slow drift on G is 7 ppm, and the influence of the coupling effect is less than 1 ppm.« less

Influence of tungsten fiber's slow drift on the measurement of G with angular acceleration method.

PubMed

Luo, Jie; Wu, Wei-Huang; Xue, Chao; Shao, Cheng-Gang; Zhan, Wen-Ze; Wu, Jun-Fei; Milyukov, Vadim

2016-08-01

In the measurement of the gravitational constant G with angular acceleration method, the equilibrium position of torsion pendulum with tungsten fiber undergoes a linear slow drift, which results in a quadratic slow drift on the angular velocity of the torsion balance turntable under feedback control unit. The accurate amplitude determination of the useful angular acceleration signal with known frequency is biased by the linear slow drift and the coupling effect of the drifting equilibrium position and the room fixed gravitational background signal. We calculate the influences of the linear slow drift and the complex coupling effect on the value of G, respectively. The result shows that the bias of the linear slow drift on G is 7 ppm, and the influence of the coupling effect is less than 1 ppm.

Influence of tungsten fiber's slow drift on the measurement of G with angular acceleration method

NASA Astrophysics Data System (ADS)

Luo, Jie; Wu, Wei-Huang; Xue, Chao; Shao, Cheng-Gang; Zhan, Wen-Ze; Wu, Jun-Fei; Milyukov, Vadim

2016-08-01

In the measurement of the gravitational constant G with angular acceleration method, the equilibrium position of torsion pendulum with tungsten fiber undergoes a linear slow drift, which results in a quadratic slow drift on the angular velocity of the torsion balance turntable under feedback control unit. The accurate amplitude determination of the useful angular acceleration signal with known frequency is biased by the linear slow drift and the coupling effect of the drifting equilibrium position and the room fixed gravitational background signal. We calculate the influences of the linear slow drift and the complex coupling effect on the value of G, respectively. The result shows that the bias of the linear slow drift on G is 7 ppm, and the influence of the coupling effect is less than 1 ppm.

Comparison of Virtual Oscillator and Droop Control: Preprint

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

Johnson, Brian B; Rodriguez, Miguel; Dhople, Sairaj

Virtual oscillator control and droop control are two techniques that can be used to ensure synchronization and power sharing of parallel inverters in islanded operation. VOC relies on the implementation of non-linear Van der Pol oscillator equations in the control system of the inverter, acting upon the time-domain instantaneous inverter current and terminal voltage. On the other hand, DC explicitly computes active and reactive power produced by the inverter and relies on limited bandwidth low-pass filters. Even though both methods can be engineered to produce the same steady-state characteristics, their dynamic performances are significantly different. This paper presents analytical andmore » experimental results that aim to compare both methods. It is shown that VOC is inherently faster and enables minimizing the circulating currents. The results are verified using three 120V, 1kW inverters.« less

Assessment of energy harvesting and vibration mitigation of a pendulum dynamic absorber

NASA Astrophysics Data System (ADS)

Kecik, Krzysztof

2018-06-01

The paper presents a novel system for simultaneous energy harvesting and vibration mitigation. The system consists of two main parts: an autoparametric pendulum vibration absorber and an energy harvester device. The recovered energy is from oscillation of a levitating magnet in a coil. The energy harvesting system is mounted in a pendulum structure. The system allows energy recovery from a semi-trivial solution (pendulum in rest) or/and swinging of a pendulum. The influence of harvester parameters on the system response and energy harvesting in a parametric resonance is studied in detail. The harvester device does not decrease vibration reduction effectiveness.

Measure synchronization in a Huygens's non-dissipative two-pendulum clocks system

NASA Astrophysics Data System (ADS)

Tian, Jing; Chen, ZiChen; Qiu, HaiBo; Xi, XiaoQiang

2018-01-01

In this paper, we characterize measure synchronization (MS) in a four-degrees-of-freedom Huygens's two-pendulum clocks system. The two-pendulum clocks are connected by a massless spring with stiffness constant k. We find that with the stiffness constant k increasing, the coupled pendulums system achieves MS above a threshold value of k c . The energy characteristics of measure synchronization have been discussed, it is found that averaged energy of each pendulum system provide us an easy way to characterize MS transition. Furthermore, we discuss the dependence of the critical value for MS transition on initial conditions and the characteristic parameters of the system.

A simple pendulum laser interferometer for determining the gravitational constant.

PubMed

Parks, Harold V; Faller, James E

2014-10-13

We present a detailed account of our 2004 experiment to measure the Newtonian constant of gravitation with a suspended laser interferometer. The apparatus consists of two simple pendulums hanging from a common support. Each pendulum has a length of 72 cm and their separation is 34 cm. A mirror is embedded in each pendulum bob, which then in combination form a Fabry-Perot cavity. A laser locked to the cavity measures the change in pendulum separation as the gravitational field is modulated due to the displacement of four 120 kg tungsten masses. © 2014 The Author(s) Published by the Royal Society. All rights reserved.

Shoulder Injuries and Disorders - Multiple Languages

MedlinePlus

... Af-Soomaali (Somali) Bilingual PDF Health Information Translations Pendulum Exercises for Shoulder - Af-Soomaali (Somali) Bilingual PDF ... Exercises - español (Spanish) Bilingual PDF Health Information Translations Pendulum Exercises for Shoulder - English PDF Pendulum Exercises for ...

Precessional Periods of Long and Short Foucault Pendulums

ERIC Educational Resources Information Center

Soga, Michitoshi

1978-01-01

Derives the precessional period of a Foucault pendulum without using small oscillation amplitudes. Shows that if the path of the pendulum passes through the origin, the periods for differing amplitudes are essentially the same. (GA)

HOLLOTRON switch for megawatt lightweight space inverters

NASA Technical Reports Server (NTRS)

Poeschel, R. L.; Goebel, D. M.; Schumacher, R. W.

1991-01-01

The feasibility of satisfying the switching requirements for a megawatt ultralight inverter system using HOLLOTRON switch technology was determined. The existing experimental switch hardware was modified to investigate a coaxial HOLLOTRON switch configuration and the results were compared with those obtained for a modified linear HOLLOTRON configuration. It was concluded that scaling the HOLLOTRON switch to the current and voltage specifications required for a megawatt converter system is indeed feasible using a modified linear configuration. The experimental HOLLOTRON switch operated at parameters comparable to the scaled coaxial HOLLOTRON. However, the linear HOLLOTRON data verified the capability for meeting all the design objectives simultaneously including current density (greater than 2 A/sq cm), voltage (5 kV), switching frequency (20 kHz), switching time (300 ns), and forward voltage drop (less than or equal to 20 V). Scaling relations were determined and a preliminary design was completed for an engineering model linear HOLLOTRON switch to meet the megawatt converter system specifications.

[Study on molecular recognition technology in active constituents extracted and isolated from Aconitum pendulum].

PubMed

Ma, Xue-Qin; Li, Guo-Shan; Fu, Xue-Yan; Ma, Jing-Zu

2011-03-01

To investigate CD molecular recognition technology applied in active constituents extracted and isolated from traditional Chinese medicine--Aconitum pendulum. The inclusion constant and form probability of the inclusion complex of Aconitum pendulum with p-CD was calculated by UV spectra method. The active constituents of Aconitum pendulum were extracted and isolated by molecular recognition technology. The inclusion complex was identified by UV. The chemical constituents of Aconitum pendulum and inclusion complex was determined by HPLC. The analgesic effects of inclusion complex was investigated by experiment of intraperitoneal injection of acetic acid in rats. The inclusion complex was identified and confirmed by UV spectra method, the chemical components of inclusion complex were simple, and the content of active constituents increased significantly, the analgesic effects of inclusion complex was well. The molecular recognition technology can be used for extracting and isolating active constituents of Aconitum pendulum, and the effects are obvious.

Charge management for gravitational-wave observatories using UV LEDs

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

Pollack, S. E.; Turner, M. D.; Schlamminger, S.

Accumulation of electrical charge on the end mirrors of gravitational-wave observatories can become a source of noise limiting the sensitivity of such detectors through electronic couplings to nearby surfaces. Torsion balances provide an ideal means for testing gravitational-wave technologies due to their high sensitivity to small forces. Our torsion pendulum apparatus consists of a movable plate brought near a plate pendulum suspended from a nonconducting quartz fiber. A UV LED located near the pendulum photoejects electrons from the surface, and a UV LED driven electron gun directs photoelectrons towards the pendulum surface. We have demonstrated both charging and discharging ofmore » the pendulum with equivalent charging rates of {approx}10{sup 5}e/s, as well as spectral measurements of the pendulum charge resulting in a white noise level equivalent to 3x10{sup 5}e/{radical}(Hz).« less

The Reproduction of Scientific Understanding about Pendulum Motion in the Public

NASA Astrophysics Data System (ADS)

Manabu, Sumida

This paper describes life-span development of understanding about pendulum motion and effects of school science. The subjects were 2,766 people ranging from kindergartners up to 88 years senior citizens. The conflict and consensus between children and their parent's understanding of pendulum motion were also analyzed. The kindergartner's understanding, mostly non-scientific, made a marked developmental change to another type of non-scientific understanding by the time they reach G 4. Parents with scientific understanding do not presumably nurture scientifically minded children,even though about half of them can apply scientific conceptions that shorter pendulums swing faster, and the amplitude and speed of pendulum motion do not depend on its weight. There seems to be another type of developmental change from scientific understanding to non-scientific understanding around their fifties. Itis suggested that the scientific understanding in the public about pendulum motion become predominant due to the educational intervention through school science.

Stability Assessment of a System Comprising a Single Machine and Inverter with Scalable Ratings

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

Johnson, Brian B; Lin, Yashen; Gevorgian, Vahan

From the inception of power systems, synchronous machines have acted as the foundation of large-scale electrical infrastructures and their physical properties have formed the cornerstone of system operations. However, power electronics interfaces are playing a growing role as they are the primary interface for several types of renewable energy sources and storage technologies. As the role of power electronics in systems continues to grow, it is crucial to investigate the properties of bulk power systems in low inertia settings. In this paper, we assess the properties of coupled machine-inverter systems by studying an elementary system comprised of a synchronous generator,more » three-phase inverter, and a load. Furthermore, the inverter model is formulated such that its power rating can be scaled continuously across power levels while preserving its closed-loop response. Accordingly, the properties of the machine-inverter system can be assessed for varying ratios of machine-to-inverter power ratings and, hence, differing levels of inertia. After linearizing the model and assessing its eigenvalues, we show that system stability is highly dependent on the interaction between the inverter current controller and machine exciter, thus uncovering a key concern with mixed machine-inverter systems and motivating the need for next-generation grid-stabilizing inverter controls.« less

Design and Experimental Implementation of Optimal Spacecraft Antenna Slews

DTIC Science & Technology

2013-12-01

LINK PENDULUM MODEL ............................................................58  C.  AZIMUTH-ELEVATION SYSTEM...BOUNDARY VALUE PROBLEM ......................77  B.  DOUBLE PENDULUM EXAMPLE............................................................82  C.  SOLVING THE...Figure 15.  Two-link Pendulum .........................................................................................58  Figure 16.  Double

A novel real-time data acquisition using an Excel spreadsheet in pendulum experiment tool with light-based timer

NASA Astrophysics Data System (ADS)

Adhitama, Egy; Fauzi, Ahmad

2018-05-01

In this study, a pendulum experimental tool with a light-based timer has been developed to measure the period of a simple pendulum. The obtained data was automatically recorded in an Excel spreadsheet. The intensity of monochromatic light, sensed by a 3DU5C phototransistor, dynamically changes as the pendulum swings. The changed intensity varies the resistance value and was processed by the microcontroller, ATMega328, to obtain a signal period as a function of time and brightness when the pendulum crosses the light. Through the experiment, using calculated average periods, the gravitational acceleration value has been accurately and precisely determined.

Pendulum Mass Affects the Measurement of Articular Friction Coefficient

PubMed Central

Akelman, Matthew R.; Teeple, Erin; Machan, Jason T.; Crisco, Joseph J.; Jay, Gregory D.; Fleming, Braden C.

2012-01-01

Friction measurements of articular cartilage are important to determine the relative tribologic contributions made by synovial fluid or cartilage, and to assess the efficacy of therapies for preventing the development of post-traumatic osteoarthritis. Stanton’s equation is the most frequently used formula for estimating the whole joint friction coefficient (μ) of an articular pendulum, and assumes pendulum energy loss through a mass-independent mechanism. This study examines if articular pendulum energy loss is indeed mass independent, and compares Stanton’s model to an alternative model, which incorporates viscous damping, for calculating μ. Ten loads (25-100% body weight) were applied in a random order to an articular pendulum using the knees of adult male Hartley guinea pigs (n = 4) as the fulcrum. Motion of the decaying pendulum was recorded and μ was estimated using two models: Stanton’s equation, and an exponential decay function incorporating a viscous damping coefficient. μ estimates decreased as mass increased for both models. Exponential decay model fit error values were 82% less than the Stanton model. These results indicate that μ decreases with increasing mass, and that an exponential decay model provides a better fit for articular pendulum data at all mass values. In conclusion, inter-study comparisons of articular pendulum μ values should not be made without recognizing the loads used, as μ values are mass dependent. PMID:23122223

Pendulum mass affects the measurement of articular friction coefficient.

PubMed

Akelman, Matthew R; Teeple, Erin; Machan, Jason T; Crisco, Joseph J; Jay, Gregory D; Fleming, Braden C

2013-02-01

Friction measurements of articular cartilage are important to determine the relative tribologic contributions made by synovial fluid or cartilage, and to assess the efficacy of therapies for preventing the development of post-traumatic osteoarthritis. Stanton's equation is the most frequently used formula for estimating the whole joint friction coefficient (μ) of an articular pendulum, and assumes pendulum energy loss through a mass-independent mechanism. This study examines if articular pendulum energy loss is indeed mass independent, and compares Stanton's model to an alternative model, which incorporates viscous damping, for calculating μ. Ten loads (25-100% body weight) were applied in a random order to an articular pendulum using the knees of adult male Hartley guinea pigs (n=4) as the fulcrum. Motion of the decaying pendulum was recorded and μ was estimated using two models: Stanton's equation, and an exponential decay function incorporating a viscous damping coefficient. μ estimates decreased as mass increased for both models. Exponential decay model fit error values were 82% less than the Stanton model. These results indicate that μ decreases with increasing mass, and that an exponential decay model provides a better fit for articular pendulum data at all mass values. In conclusion, inter-study comparisons of articular pendulum μ values should not be made without recognizing the loads used, as μ values are mass dependent. Copyright © 2012 Elsevier Ltd. All rights reserved.

Maxillary molar distalization: Pendulum and Fast-Back, comparison between two approaches for Class II malocclusion.

PubMed

Caprioglio, Alberto; Beretta, Matteo; Lanteri, Claudio

2011-01-01

To compare the dento-alveolar and skeletal effects produced by two different molar intraoral distalization appliances, Pendulum and Fast-Back, both followed by fixed appliances, in the treatment of Class II malocclusion. 41 patients for Pendulum (18 males and 23 females) and 35 for Fast-Back (14 males and 21 females) were selected, with a mean age at the start of treatment of 12.11 years in the Pendulum group and 13.3 for in the Fast-Back group. The durations of the distalization phase were 8 months in the Pendulum group and 9 months in the Fast-Back group, and the durations of the second phase of treatment with fixed appliances were 19 months in the Pendulum group and 20 months in the Fast-Back group. Lateral cephalograms were analyzed at 3 observation times: before treatment, after distalization and after comprehensive orthodontic treatment. During molar distalization the Pendulum subjects showed greater distal molar movement and less anchorage loss at both the premolars and maxillary incisors than the Fast-Back subjects. Pendulum and Fast-Back produced similar amounts of distal molar movement and overcorrection of molar relationship at the end of distalization though the Fast-Back induced a more bodily movement. Very little change occurred in the inclination of the mandibular plane at the end of the 2-phase treatment in both groups. At the end of treatment the maxillary first molars were on average 1mm more distal in the Pendulum group compared to the Fast-Back group, while the total molar correction was 3.2mm with 3.9° of distal inclination for the Pendulum and 2mm with 1.1° of mesial inclination for the Fast-Back. Both appliance were equally effective in inducing a satisfactory Class I relationship in 97.2% of the cases. The Pendulum and the Fast-Back induce similar dentoskeletal effects. The use of the two distalization devices, therefore, can be considered clinically equivalent. Copyright © 2011 Società Italiana di Ortodonzia SIDO. Published by Elsevier Srl. All rights reserved.

Examining Functions in Mathematics and Science Using Computer Interfacing.

ERIC Educational Resources Information Center

Walton, Karen Doyle

1988-01-01

Introduces microcomputer interfacing as a method for explaining and demonstrating various aspects of the concept of function. Provides three experiments with illustrations and typical computer graphic displays: pendulum motion, pendulum study using two pendulums, and heat absorption and radiation. (YP)

Implied Dynamics Biases the Visual Perception of Velocity

PubMed Central

La Scaleia, Barbara; Zago, Myrka; Moscatelli, Alessandro; Lacquaniti, Francesco; Viviani, Paolo

2014-01-01

We expand the anecdotic report by Johansson that back-and-forth linear harmonic motions appear uniform. Six experiments explore the role of shape and spatial orientation of the trajectory of a point-light target in the perceptual judgment of uniform motion. In Experiment 1, the target oscillated back-and-forth along a circular arc around an invisible pivot. The imaginary segment from the pivot to the midpoint of the trajectory could be oriented vertically downward (consistent with an upright pendulum), horizontally leftward, or vertically upward (upside-down). In Experiments 2 to 5, the target moved uni-directionally. The effect of suppressing the alternation of movement directions was tested with curvilinear (Experiment 2 and 3) or rectilinear (Experiment 4 and 5) paths. Experiment 6 replicated the upright condition of Experiment 1, but participants were asked to hold the gaze on a fixation point. When some features of the trajectory evoked the motion of either a simple pendulum or a mass-spring system, observers identified as uniform the kinematic profiles close to harmonic motion. The bias towards harmonic motion was most consistent in the upright orientation of Experiment 1 and 6. The bias disappeared when the stimuli were incompatible with both pendulum and mass-spring models (Experiments 3 to 5). The results are compatible with the hypothesis that the perception of dynamic stimuli is biased by the laws of motion obeyed by natural events, so that only natural motions appear uniform. PMID:24667578

Control of Torsional Vibrations by Pendulum Masses

NASA Technical Reports Server (NTRS)

Stieglitz, Albert

1942-01-01

Various versions of pendulum masses have been developed abroad within the past few years by means of which resonant vibrations of rotating shafts can be eliminated at a given tuning. They are already successfully employed on radial engines in the form of pendulous counterweights. Compared with the commonly known torsional vibration dampers, the pendulum masses have the advantage of being structurally very simple, requiring no internal damping and being capable of completely eliminating certain vibrations. Unexplained, so far, remains the problem of behavior of pendulum masses in other critical zones to which they are not tuned, their dynamic behavior at some tuning other than in resonance, and their effect within a compound vibration system and at simultaneous application of several differently tuned pendulous masses. These problems are analyzed in the present report. The results constitute an enlargement of the scope of application of pendulum masses, especially for in-line engines. Among other things it is found that the natural frequency of a system can be raised by means of a correspondingly tuned pendulum mass. The formulas necessary for the design of any practical version are developed, and a pendulum mass having two different natural frequencies simultaneously is described.

A novel pendulum test for measuring roller chain efficiency

NASA Astrophysics Data System (ADS)

Wragge-Morley, R.; Yon, J.; Lock, R.; Alexander, B.; Burgess, S.

2018-07-01

This paper describes a novel pendulum decay test for determining the transmission efficiency of chain drives. The test involves releasing a pendulum with an initial potential energy and measuring its decaying oscillations: under controlled conditions the decay reveals the losses in the transmission to a high degree of accuracy. The main advantage over motorised rigs is that there are significantly fewer sources of friction and inertia and hence measurement error. The pendulum rigs have an accuracy around 0.6% for the measurement of the coefficient of friction, giving an accuracy of transmission efficiency measurement around 0.012%. A theoretical model of chain friction combined with the equations of motion enables the coefficient of friction to be determined from the decay rate of pendulum velocity. The pendulum rigs operate at relatively low speeds. However, they allow an accurate determination of the coefficient of friction to estimate transmission efficiency at higher speeds. The pendulum rig revealed a previously undetected rocking behaviour in the chain links at very small articulation angles. In this regime, the link interfaces were observed to roll against one another rather than slide. This observation indicates that a very high-efficiency transmission can be achieved if the articulation angle is very low.

Technology evaluation of man-rated acceleration test equipment for vestibular research

NASA Technical Reports Server (NTRS)

Taback, I.; Kenimer, R. L.; Butterfield, A. J.

1983-01-01

The considerations for eliminating acceleration noise cues in horizontal, linear, cyclic-motion sleds intended for both ground and shuttle-flight applications are addressed. the principal concerns are the acceleration transients associated with change in direction-of-motion for the carriage. The study presents a design limit for acceleration cues or transients based upon published measurements for thresholds of human perception to linear cyclic motion. The sources and levels for motion transients are presented based upon measurements obtained from existing sled systems. The approaches to a noise-free system recommends the use of air bearings for the carriage support and moving-coil linear induction motors operating at low frequency as the drive system. Metal belts running on air bearing pulleys provide an alternate approach to the driving system. The appendix presents a discussion of alternate testing techniques intended to provide preliminary type data by means of pendulums, linear motion devices and commercial air bearing tables.

Quadriceps femoris spasticity in children with cerebral palsy: measurement with the pendulum test and relationship with gait abnormalities.

PubMed

Szopa, Andrzej; Domagalska-Szopa, Małgorzata; Kidoń, Zenon; Syczewska, Małgorzata

2014-12-16

Development of a reliable and objective test of spasticity is important for assessment and treatment of children with cerebral palsy. The pendulum test has been reported to yield reliable measurements of spasticity and to be sensitive to variations in spasticity in these children. However, the relationship between the pendulum test scores and other objective measures of spasticity has not been studied. The present study aimed to assess the effectiveness of an accelerometer-based pendulum test as a measurement of spasticity in CP, and to explore the correlation between the measurements of this test and the global index of deviation from normal gait in in children with cerebral palsy. We studied thirty-six children with cerebral palsy, including 18 with spastic hemiplegia and 18 with spastic diplegia, and a group of 18 typically-developing children. Knee extensor spasticity was assessed bilaterally using the accelerometer-based pendulum test and three-dimensional gait analysis. The Gillette Gait Index was calculated from the results of the gait analysis. The data from the accelerometer-based pendulum test could be used to distinguish between able-bodied children and children with cerebral palsy. Additionally, two of the measurements, first swing excursion and relaxation index, could be used to differentiate the degree of knee extensor spasticity in the children with cerebral palsy. Only a few moderate correlations were found between the Gillette Gait Index and the pendulum test data. This study demonstrates that the pendulum test can be used to discriminate between typically developing children and children with CP, as well as between various degrees of spasticity, such as spastic hemiplegia and spastic diplegia, in the knee extensor muscle of children with CP. Deviations from normal gait in children with CP were not correlated with the results of the pendulum test.

Comparison of the effects produced by headgear and pendulum appliances followed by fixed orthodontic treatment.

PubMed

Angelieri, Fernanda; de Almeida, Renato Rodrigues; Janson, Guilherme; Castanha Henriques, José Fernando; Pinzan, Arnaldo

2008-12-01

This study compared the effects produced by two different molar distalizers, namely cervical headgear (CHG) and the intraoral pendulum appliance, associated with fixed orthodontic appliances. The headgear group comprised 30 patients (19 females, 11 males), with an initial age of 13.07 years [standard deviation (SD) = 1.3], treated with CHG and fixed orthodontic appliances for a mean period of 3.28 years, and the pendulum group 22 patients (15 females, 7 males), with initial age of 13.75 years (SD = 1.86), treated with the pendulum appliance followed by fixed orthodontic appliances for a mean period of 4.12 years. Lateral cephalograms were taken at the start (T1) and on completion (T2) of orthodontic treatment. The pendulum and CHG groups were similar as to initial age, severity of the Class II malocclusion, gender distribution, initial cephalometric characteristics, and initial and final treatment priority index (TPI). Only treatment time was not similar between the groups, with a need for annualization for data for the pendulum group. The data were compared with independent t-tests. There was significantly greater restriction of maxillary forward growth and improvement of the skeletal maxillomandibular relationship in the CHG group (P < 0.05). The maxillary molars were more mesially tipped and extruded and the mandibular molars more uprighted in the CHG group compared with the pendulum group (P < 0.05). There was more labial tipping of the mandibular incisors and greater overbite reduction in the pendulum group. The pendulum appliance produced only dentoalveolar effects, different from the CHG appliance, which restricted maxillary forward displacement, thus improving the skeletal maxillomandibular relationship.

Analyzing spring pendulum phenomena with a smart-phone acceleration sensor

NASA Astrophysics Data System (ADS)

Kuhn, Jochen; Vogt, Patrik

2012-11-01

This paper describes two further pendulum experiments using the acceleration sensor of a smartphone in this column (for earlier contributions concerning this topic, including the description of the operation and use of the acceleration sensor, see Refs. 1 and 2). In this paper we focus on analyzing spring pendulum phenomena. Therefore two spring pendulum experiments will be described in which a smartphone is used as a pendulum body and SPARKvue3 software is used in conjunction with an iPhone or an iPod touch, or the Accelogger4 app for an Android device.1,2 As described in Ref. 1, the values measured by the smartphone are subsequently exported to a spreadsheet application (e.g., MS Excel) for analysis.

Magnetic effect in the test of the weak equivalence principle using a rotating torsion pendulum

NASA Astrophysics Data System (ADS)

Zhu, Lin; Liu, Qi; Zhao, Hui-Hui; Yang, Shan-Qing; Luo, Pengshun; Shao, Cheng-Gang; Luo, Jun

2018-04-01

The high precision test of the weak equivalence principle (WEP) using a rotating torsion pendulum requires thorough analysis of systematic effects. Here we investigate one of the main systematic effects, the coupling of the ambient magnetic field to the pendulum. It is shown that the dominant term, the interaction between the average magnetic field and the magnetic dipole of the pendulum, is decreased by a factor of 1.1 × 104 with multi-layer magnetic shield shells. The shield shells reduce the magnetic field to 1.9 × 10-9 T in the transverse direction so that the dipole-interaction limited WEP test is expected at η ≲ 10-14 for a pendulum dipole less than 10-9 A m2. The high-order effect, the coupling of the magnetic field gradient to the magnetic quadrupole of the pendulum, would also contribute to the systematic errors for a test precision down to η ˜ 10-14.

Magnetic effect in the test of the weak equivalence principle using a rotating torsion pendulum.

PubMed

Zhu, Lin; Liu, Qi; Zhao, Hui-Hui; Yang, Shan-Qing; Luo, Pengshun; Shao, Cheng-Gang; Luo, Jun

2018-04-01

The high precision test of the weak equivalence principle (WEP) using a rotating torsion pendulum requires thorough analysis of systematic effects. Here we investigate one of the main systematic effects, the coupling of the ambient magnetic field to the pendulum. It is shown that the dominant term, the interaction between the average magnetic field and the magnetic dipole of the pendulum, is decreased by a factor of 1.1 × 10 4 with multi-layer magnetic shield shells. The shield shells reduce the magnetic field to 1.9 × 10 -9 T in the transverse direction so that the dipole-interaction limited WEP test is expected at η ≲ 10 -14 for a pendulum dipole less than 10 -9 A m 2 . The high-order effect, the coupling of the magnetic field gradient to the magnetic quadrupole of the pendulum, would also contribute to the systematic errors for a test precision down to η ∼ 10 -14 .

Development of Gravity Acceleration Measurement Using Simple Harmonic Motion Pendulum Method Based on Digital Technology and Photogate Sensor

NASA Astrophysics Data System (ADS)

Yulkifli; Afandi, Zurian; Yohandri

2018-04-01

Development of gravitation acceleration measurement using simple harmonic motion pendulum method, digital technology and photogate sensor has been done. Digital technology is more practical and optimizes the time of experimentation. The pendulum method is a method of calculating the acceleration of gravity using a solid ball that connected to a rope attached to a stative pole. The pendulum is swung at a small angle resulted a simple harmonic motion. The measurement system consists of a power supply, Photogate sensors, Arduino pro mini and seven segments. The Arduino pro mini receives digital data from the photogate sensor and processes the digital data into the timing data of the pendulum oscillation. The calculation result of the pendulum oscillation time is displayed on seven segments. Based on measured data, the accuracy and precision of the experiment system are 98.76% and 99.81%, respectively. Based on experiment data, the system can be operated in physics experiment especially in determination of the gravity acceleration.

Instability dynamics and breather formation in a horizontally shaken pendulum chain.

PubMed

Xu, Y; Alexander, T J; Sidhu, H; Kevrekidis, P G

2014-10-01

Inspired by the experimental results of Cuevas et al. [Phys. Rev. Lett. 102, 224101 (2009)], we consider theoretically the behavior of a chain of planar rigid pendulums suspended in a uniform gravitational field and subjected to a horizontal periodic driving force applied to the pendulum pivots. We characterize the motion of a single pendulum, finding bistability near the fundamental resonance and near the period-3 subharmonic resonance. We examine the development of modulational instability in a driven pendulum chain and find both a critical chain length and a critical frequency for the appearance of the instability. We study the breather solutions and show their connection to the single-pendulum dynamics and extend our analysis to consider multifrequency breathers connected to the period-3 periodic solution, showing also the possibility of stability in these breather states. Finally we examine the problem of breather generation and demonstrate a robust scheme for generation of on-site and off-site breathers.

Development of a two-dimensional dual pendulum thrust stand for Hall thrusters.

PubMed

Nagao, N; Yokota, S; Komurasaki, K; Arakawa, Y

2007-11-01

A two-dimensional dual pendulum thrust stand was developed to measure thrust vectors [axial and horizontal (transverse) direction thrusts] of a Hall thruster. A thruster with a steering mechanism is mounted on the inner pendulum, and thrust is measured from the displacement between inner and outer pendulums, by which a thermal drift effect is canceled out. Two crossover knife-edges support each pendulum arm: one is set on the other at a right angle. They enable the pendulums to swing in two directions. Thrust calibration using a pulley and weight system showed that the measurement errors were less than 0.25 mN (1.4%) in the main thrust direction and 0.09 mN (1.4%) in its transverse direction. The thrust angle of the thrust vector was measured with the stand using the thruster. Consequently, a vector deviation from the main thrust direction of +/-2.3 degrees was measured with the error of +/-0.2 degrees under the typical operating conditions for the thruster.

Mathematic study of the rotor motion with a pendulum selfbalancing device

NASA Astrophysics Data System (ADS)

Ivkina, O. P.; Ziyakaev, G. R.; Pashkov, E. N.

2016-09-01

The rotary machines used in manufacturing may become unbalanced leading to vibration. In some cases, the problem may be solved by installing self-balancing devices (SBDs). Certain factors, however, exhibit a pronounced effect on the efficiency of these devices. The objective of the research comprised of establishing the most beneficial spatial position of pendulums to minimize the necessary time to repair the rotor unbalance. The mathematical research of the motion of a rotor with pendulum SBDs in the situation of their misalignment was undertaken. This objective was achieved by using the Lagrange equations of the second type. The analysis identified limiting cases of location of the rotor unbalance vector and the vector of housing's unbalance relative to each other, as well as the minimum capacity of the pendulum. When determining pendulums ’ parameters during the SBD design process, it is necessary to take into account the rotor unbalance and the unbalance of the machine body, which is caused by the misalignment of rotor axis and pendulum's axis of rotation.

Development of a software-hardware complex for studying the process of grinding by a pendulum deformer

NASA Astrophysics Data System (ADS)

Borisov, A. P.

2018-01-01

The article is devoted to the development of a software and hardware complex for investigating the grinding process on a pendulum deformer. The hardware part of this complex is the Raspberry Pi model 2B platform, to which a contactless angle sensor is connected, which allows to obtain data on the angle of deviation of the pendulum surface, usb-cameras, which allow to obtain grain images before and after grinding, and stepping motors allowing lifting of the pendulum surface and adjust the clearance between the pendulum and the supporting surfaces. The program part of the complex is written in C # and allows receiving data from the sensor and usb-cameras, processing the received data, and also controlling the synchronous-step motors in manual and automatic mode. The conducted studies show that the rational mode is the deviation of the pendulum surface by an angle of 400, and the location of the grain in the central zone of the support surface, regardless of the orientation of the grain in space. Also, due to the non-contact angle sensor, energy consumption for grinding, speed and acceleration of the pendulum surface, as well as vitreousness of grain and the energy consumption are calculated. With the help of photographs obtained from usb cameras, the work of a pendulum deformer based on the Rebinder formula and calculation of the grain area before and after grinding is determined.

49 CFR 572.123 - Neck assembly and test procedure.

Code of Federal Regulations, 2012 CFR

2012-10-01

... with respect to the pendulum's longitudinal centerline between 74 degrees and 92 degrees. Within this... direction of preimpact flight with respect to the pendulum's longitudinal centerline between 85 degrees and... contact between the pendulum striker plate and the honeycomb material. (c) Test procedure. The test...

49 CFR 572.123 - Neck assembly and test procedure.

Code of Federal Regulations, 2013 CFR

2013-10-01

... with respect to the pendulum's longitudinal centerline between 74 degrees and 92 degrees. Within this... direction of preimpact flight with respect to the pendulum's longitudinal centerline between 85 degrees and... contact between the pendulum striker plate and the honeycomb material. (c) Test procedure. The test...

49 CFR 572.123 - Neck assembly and test procedure.

Code of Federal Regulations, 2010 CFR

2010-10-01

... with respect to the pendulum's longitudinal centerline between 74 degrees and 92 degrees. Within this... direction of preimpact flight with respect to the pendulum's longitudinal centerline between 85 degrees and... contact between the pendulum striker plate and the honeycomb material. (c) Test procedure. The test...

49 CFR 572.123 - Neck assembly and test procedure.

Code of Federal Regulations, 2014 CFR

2014-10-01

... with respect to the pendulum's longitudinal centerline between 74 degrees and 92 degrees. Within this... direction of preimpact flight with respect to the pendulum's longitudinal centerline between 85 degrees and... contact between the pendulum striker plate and the honeycomb material. (c) Test procedure. The test...

49 CFR 572.123 - Neck assembly and test procedure.

Code of Federal Regulations, 2011 CFR

2011-10-01

... with respect to the pendulum's longitudinal centerline between 74 degrees and 92 degrees. Within this... direction of preimpact flight with respect to the pendulum's longitudinal centerline between 85 degrees and... contact between the pendulum striker plate and the honeycomb material. (c) Test procedure. The test...

Pendulum Phenomena and the Assessment of Scientific Inquiry Capabilities

ERIC Educational Resources Information Center

Zachos, Paul

2004-01-01

Phenomena associated with the "pendulum" present numerous opportunities for assessing higher order human capabilities related to "scientific inquiry" and the "discovery" of natural law. This paper illustrates how systematic "assessment of scientific inquiry capabilities", using "pendulum" phenomena, can provide a useful tool for classroom teachers…

Quantization-Based Adaptive Actor-Critic Tracking Control With Tracking Error Constraints.

PubMed

Fan, Quan-Yong; Yang, Guang-Hong; Ye, Dan

2018-04-01

In this paper, the problem of adaptive actor-critic (AC) tracking control is investigated for a class of continuous-time nonlinear systems with unknown nonlinearities and quantized inputs. Different from the existing results based on reinforcement learning, the tracking error constraints are considered and new critic functions are constructed to improve the performance further. To ensure that the tracking errors keep within the predefined time-varying boundaries, a tracking error transformation technique is used to constitute an augmented error system. Specific critic functions, rather than the long-term cost function, are introduced to supervise the tracking performance and tune the weights of the AC neural networks (NNs). A novel adaptive controller with a special structure is designed to reduce the effect of the NN reconstruction errors, input quantization, and disturbances. Based on the Lyapunov stability theory, the boundedness of the closed-loop signals and the desired tracking performance can be guaranteed. Finally, simulations on two connected inverted pendulums are given to illustrate the effectiveness of the proposed method.

Evaluation of the lambda model for human postural control during ankle strategy.

PubMed

Micheau, Philippe; Kron, Aymeric; Bourassa, Paul

2003-09-01

An accurate modeling of human stance might be helpful in assessing postural deficit. The objective of this article is to validate a mathematical postural control model for quiet standing posture. The postural dynamics is modeled in the sagittal plane as an inverted pendulum with torque applied at the ankle joint. The torque control system is represented by the physiological lambda model. Two neurophysiological command variables of the central nervous system, designated lambda and micro, establish the dynamic threshold muscle at which motoneuron recruitment begins. Kinematic data and electromyographic signals were collected on four young males in order to measure small voluntary sway and quiet standing posture. Validation of the mathematical model was achieved through comparison of the experimental and simulated results. The mathematical model allows computation of the unmeasurable neurophysiological commands lambda and micro that control the equilibrium position and stability. Furthermore, with the model it is possible to conclude that low-amplitude body sway during quiet stance is commanded by the central nervous system.

A Robust Control of Two-Wheeled Mobile Manipulator with Underactuated Joint by Nonlinear Backstepping Method

NASA Astrophysics Data System (ADS)

Acar, Cihan; Murakami, Toshiyuki

In this paper, a robust control of two-wheeled mobile manipulator with underactuated joint is considered. Two-wheeled mobile manipulators are dynamically balanced two-wheeled driven systems that do not have any caster or extra wheels to stabilize their body. Two-wheeled mobile manipulators mainly have an important feature that makes them more flexible and agile than the statically stable mobile manipulators. However, two-wheeled mobile manipulator is an underactuated system due to its two-wheeled structure. Therefore, it is required to stabilize the underactuated passive body and, at the same time, control the position of the center of gravity (CoG) of the manipulator in this system. To realize this, nonlinear backstepping based control method with virtual double inverted pendulum model is proposed in this paper. Backstepping is used with sliding mode to increase the robustness of the system against modeling errors and other perturbations. Then robust acceleration control is also achieved by utilizing disturbance observer. Performance of the proposed method is evaluated by several experiments.

Activity patterns in networks stabilized by background oscillations.

PubMed

Hoppensteadt, Frank

2009-07-01

The brain operates in a highly oscillatory environment. We investigate here how such an oscillating background can create stable organized behavior in an array of neuro-oscillators that is not observable in the absence of oscillation, much like oscillating the support point of an inverted pendulum can stabilize its up position, which is unstable without the oscillation. We test this idea in an array of electronic circuits coming from neuroengineering: we show how the frequencies of the background oscillation create a partition of the state space into distinct basins of attraction. Thus, background signals can stabilize persistent activity that is otherwise not observable. This suggests that an image, represented as a stable firing pattern which is triggered by a voltage pulse and is sustained in synchrony or resonance with the background oscillation, can persist as a stable behavior long after the initial stimulus is removed. The background oscillations provide energy for organized behavior in the array, and these behaviors are categorized by the basins of attraction determined by the oscillation frequencies.

Periodic spring-mass running over uneven terrain through feedforward control of landing conditions.

PubMed

Palmer, Luther R; Eaton, Caitrin E

2014-09-01

This work pursues a feedforward control algorithm for high-speed legged locomotion over uneven terrain. Being able to rapidly negotiate uneven terrain without visual or a priori information about the terrain will allow legged systems to be used in time-critical applications and alongside fast-moving humans or vehicles. The algorithm is shown here implemented on a spring-loaded inverted pendulum model in simulation, and can be configured to approach fixed running height over uneven terrain or self-stable terrain following. Offline search identifies unique landing conditions that achieve a desired apex height with a constant stride period over varying ground levels. Because the time between the apex and touchdown events is directly related to ground height, the landing conditions can be computed in real time as continuous functions of this falling time. Enforcing a constant stride period reduces the need for inertial sensing of the apex event, which is nontrivial for physical systems, and allows for clocked feedfoward control of the swing leg.

The Pendulum Equation

ERIC Educational Resources Information Center

Fay, Temple H.

2002-01-01

We investigate the pendulum equation [theta] + [lambda][squared] sin [theta] = 0 and two approximations for it. On the one hand, we suggest that the third and fifth-order Taylor series approximations for sin [theta] do not yield very good differential equations to approximate the solution of the pendulum equation unless the initial conditions are…

Equilibrium and Stability of a Pendulum in an Orbiting Spaceship.

ERIC Educational Resources Information Center

Blitzer, Leon

1979-01-01

Investigates the behavior of a simple pendulum attached to a fixed point inside a satellite moving in a circular orbit about the earth. It is found that the number of equilibrium positions depends on the length of the pendulum and the location of the point of attachment. (HM)

49 CFR 581.6 - Conditions.

Code of Federal Regulations, 2011 CFR

2011-10-01

... the vehicle if they are optional equipment. (b) Pendulum test conditions. The following conditions apply to the pendulum test procedures of § 581.7 (a) and (b). (1) The test device consists of a block... 1963. From the point of release of the device until the onset of rebound, the pendulum suspension...

49 CFR 572.17 - Neck.

Code of Federal Regulations, 2012 CFR

2012-10-01

... (c) of this section, the head shall rotate in reference to the pendulum's longitudinal centerline a... distance between (1) the position relative to the pendulum arm of the head center of gravity at time zero, and (2) the position relative to the pendulum arm of the head center of gravity at time T as...

49 CFR 572.113 - Neck assembly.

Code of Federal Regulations, 2012 CFR

2012-10-01

...) Using neck brackets 78051-303 and -307, mount the head/neck assembly to the part 572 pendulum test... to the plane of motion of the pendulum's longitudinal centerline (see § 572.33, Figure 20, except... (horizontal surface at the base of the skull) rotation with respect to the pendulum's longitudinal centerline...

49 CFR 572.7 - Neck.

Code of Federal Regulations, 2014 CFR

2014-10-01

... paragraph (c) of this section, the head shall rotate in reference to the pendulum's longitudinal centerline... the straight line distance between (1) the position relative to the pendulum arm of the head center of gravity at time zero, and (2) the position relative to the pendulum arm of the head center of gravity at...

49 CFR 581.6 - Conditions.

Code of Federal Regulations, 2013 CFR

2013-10-01

... the vehicle if they are optional equipment. (b) Pendulum test conditions. The following conditions apply to the pendulum test procedures of § 581.7 (a) and (b). (1) The test device consists of a block... 1963. From the point of release of the device until the onset of rebound, the pendulum suspension...

49 CFR 572.143 - Neck-headform assembly and test procedure.

Code of Federal Regulations, 2013 CFR

2013-10-01

... subpart, shall rotate in the direction of preimpact flight with respect to the pendulum's longitudinal... rotation data channels are defined to be zero when the longitudinal centerline of the neck and pendulum are... of preimpact flight with respect to the pendulum's longitudinal centerline between 83 degrees and 93...

49 CFR 572.36 - Test conditions and instrumentation.

Code of Federal Regulations, 2013 CFR

2013-10-01

... be mounted with its sensitive axis colinear with the pendulum's longitudinal centerline. (h) The... acceleration—Class 1000 (2) Neck forces—Class 1000 (3) Neck moments—Class 600 (4) Neck pendulum acceleration—Class 60 (5) Thorax and thorax pendulum acceleration—Class 180 (6) Thorax deflection—Class 180 (7) Knee...

49 CFR 572.17 - Neck.

Code of Federal Regulations, 2014 CFR

2014-10-01

... (c) of this section, the head shall rotate in reference to the pendulum's longitudinal centerline a... distance between (1) the position relative to the pendulum arm of the head center of gravity at time zero, and (2) the position relative to the pendulum arm of the head center of gravity at time T as...

49 CFR 572.133 - Neck assembly and test procedure.

Code of Federal Regulations, 2012 CFR

2012-10-01

... pendulum's longitudinal centerline between 77 degrees and 91 degrees. During the time interval while the... respect to the pendulum's longitudinal centerline between 99 degrees and 114 degrees. During the time... force to occipital condyle. (3) Time-zero is defined as the time of initial contact between the pendulum...

49 CFR 572.17 - Neck.

Code of Federal Regulations, 2013 CFR

2013-10-01

... (c) of this section, the head shall rotate in reference to the pendulum's longitudinal centerline a... distance between (1) the position relative to the pendulum arm of the head center of gravity at time zero, and (2) the position relative to the pendulum arm of the head center of gravity at time T as...

49 CFR 572.113 - Neck assembly.

Code of Federal Regulations, 2011 CFR

2011-10-01

...) Using neck brackets 78051-303 and -307, mount the head/neck assembly to the part 572 pendulum test... to the plane of motion of the pendulum's longitudinal centerline (see § 572.33, Figure 20, except... (horizontal surface at the base of the skull) rotation with respect to the pendulum's longitudinal centerline...

49 CFR 572.17 - Neck.

Code of Federal Regulations, 2010 CFR

2010-10-01

... (c) of this section, the head shall rotate in reference to the pendulum's longitudinal centerline a... distance between (1) the position relative to the pendulum arm of the head center of gravity at time zero, and (2) the position relative to the pendulum arm of the head center of gravity at time T as...

49 CFR 572.133 - Neck assembly and test procedure.

Code of Federal Regulations, 2010 CFR

2010-10-01

... pendulum's longitudinal centerline between 77 degrees and 91 degrees. During the time interval while the... respect to the pendulum's longitudinal centerline between 99 degrees and 114 degrees. During the time... force to occipital condyle. (3) Time-zero is defined as the time of initial contact between the pendulum...

49 CFR 581.6 - Conditions.

Code of Federal Regulations, 2012 CFR

2012-10-01

... the vehicle if they are optional equipment. (b) Pendulum test conditions. The following conditions apply to the pendulum test procedures of § 581.7 (a) and (b). (1) The test device consists of a block... 1963. From the point of release of the device until the onset of rebound, the pendulum suspension...

49 CFR 572.153 - Neck-headform assembly and test procedure.

Code of Federal Regulations, 2014 CFR

2014-10-01

... subpart shall rotate in the direction of pre-impact flight with respect to the pendulum's longitudinal... shall rotate in the direction of preimpact flight with respect to the pendulum's longitudinal centerline... section, on the pendulum so the midsagittal plane of the headform is vertical and coincides with the plane...

49 CFR 572.143 - Neck-headform assembly and test procedure.

Code of Federal Regulations, 2012 CFR

2012-10-01

... subpart, shall rotate in the direction of preimpact flight with respect to the pendulum's longitudinal... rotation data channels are defined to be zero when the longitudinal centerline of the neck and pendulum are... of preimpact flight with respect to the pendulum's longitudinal centerline between 83 degrees and 93...

49 CFR 572.133 - Neck assembly and test procedure.

Code of Federal Regulations, 2013 CFR

2013-10-01

... pendulum's longitudinal centerline between 77 degrees and 91 degrees. During the time interval while the... respect to the pendulum's longitudinal centerline between 99 degrees and 114 degrees. During the time... force to occipital condyle. (3) Time-zero is defined as the time of initial contact between the pendulum...

49 CFR 572.173 - Neck assembly and test procedure.

Code of Federal Regulations, 2012 CFR

2012-10-01

... respect to the pendulum's longitudinal centerline between 76 degrees and 90 degrees. During the time..., referenced in Figure T3, shall rotate in the direction of preimpact flight with respect to the pendulum's... occipital condyle. (3) Time zero is defined as the time of initial contact between the pendulum striker...

49 CFR 581.6 - Conditions.

Code of Federal Regulations, 2010 CFR

2010-10-01

... the vehicle if they are optional equipment. (b) Pendulum test conditions. The following conditions apply to the pendulum test procedures of § 581.7 (a) and (b). (1) The test device consists of a block... 1963. From the point of release of the device until the onset of rebound, the pendulum suspension...

49 CFR 581.6 - Conditions.

Code of Federal Regulations, 2014 CFR

2014-10-01

... the vehicle if they are optional equipment. (b) Pendulum test conditions. The following conditions apply to the pendulum test procedures of § 581.7 (a) and (b). (1) The test device consists of a block... 1963. From the point of release of the device until the onset of rebound, the pendulum suspension...

49 CFR 572.173 - Neck assembly and test procedure.

Code of Federal Regulations, 2014 CFR

2014-10-01

... respect to the pendulum's longitudinal centerline between 76 degrees and 90 degrees. During the time..., referenced in Figure T3, shall rotate in the direction of preimpact flight with respect to the pendulum's... occipital condyle. (3) Time zero is defined as the time of initial contact between the pendulum striker...

49 CFR 572.153 - Neck-headform assembly and test procedure.

Code of Federal Regulations, 2012 CFR

2012-10-01

... subpart shall rotate in the direction of pre-impact flight with respect to the pendulum's longitudinal... shall rotate in the direction of preimpact flight with respect to the pendulum's longitudinal centerline... section, on the pendulum so the midsagittal plane of the headform is vertical and coincides with the plane...

49 CFR 572.17 - Neck.

Code of Federal Regulations, 2011 CFR

2011-10-01

... (c) of this section, the head shall rotate in reference to the pendulum's longitudinal centerline a... distance between (1) the position relative to the pendulum arm of the head center of gravity at time zero, and (2) the position relative to the pendulum arm of the head center of gravity at time T as...

49 CFR 572.113 - Neck assembly.

Code of Federal Regulations, 2013 CFR

2013-10-01

...) Using neck brackets 78051-303 and -307, mount the head/neck assembly to the part 572 pendulum test... to the plane of motion of the pendulum's longitudinal centerline (see § 572.33, Figure 20, except... (horizontal surface at the base of the skull) rotation with respect to the pendulum's longitudinal centerline...

49 CFR 572.7 - Neck.

Code of Federal Regulations, 2012 CFR

2012-10-01

... paragraph (c) of this section, the head shall rotate in reference to the pendulum's longitudinal centerline... the straight line distance between (1) the position relative to the pendulum arm of the head center of gravity at time zero, and (2) the position relative to the pendulum arm of the head center of gravity at...

49 CFR 572.143 - Neck-headform assembly and test procedure.

Code of Federal Regulations, 2010 CFR

2010-10-01

... subpart, shall rotate in the direction of preimpact flight with respect to the pendulum's longitudinal... rotation data channels are defined to be zero when the longitudinal centerline of the neck and pendulum are... of preimpact flight with respect to the pendulum's longitudinal centerline between 83 degrees and 93...

49 CFR 572.173 - Neck assembly and test procedure.

Code of Federal Regulations, 2013 CFR

2013-10-01

... respect to the pendulum's longitudinal centerline between 76 degrees and 90 degrees. During the time..., referenced in Figure T3, shall rotate in the direction of preimpact flight with respect to the pendulum's... occipital condyle. (3) Time zero is defined as the time of initial contact between the pendulum striker...

49 CFR 572.133 - Neck assembly and test procedure.

Code of Federal Regulations, 2014 CFR

2014-10-01

... pendulum's longitudinal centerline between 77 degrees and 91 degrees. During the time interval while the... respect to the pendulum's longitudinal centerline between 99 degrees and 114 degrees. During the time... force to occipital condyle. (3) Time-zero is defined as the time of initial contact between the pendulum...

49 CFR 572.153 - Neck-headform assembly and test procedure.

Code of Federal Regulations, 2013 CFR

2013-10-01

... subpart shall rotate in the direction of pre-impact flight with respect to the pendulum's longitudinal... shall rotate in the direction of preimpact flight with respect to the pendulum's longitudinal centerline... section, on the pendulum so the midsagittal plane of the headform is vertical and coincides with the plane...

49 CFR 572.133 - Neck assembly and test procedure.

Code of Federal Regulations, 2011 CFR

2011-10-01

... pendulum's longitudinal centerline between 77 degrees and 91 degrees. During the time interval while the... respect to the pendulum's longitudinal centerline between 99 degrees and 114 degrees. During the time... force to occipital condyle. (3) Time-zero is defined as the time of initial contact between the pendulum...

49 CFR 572.113 - Neck assembly.

Code of Federal Regulations, 2010 CFR

2010-10-01

...) Using neck brackets 78051-303 and -307, mount the head/neck assembly to the part 572 pendulum test... to the plane of motion of the pendulum's longitudinal centerline (see § 572.33, Figure 20, except... (horizontal surface at the base of the skull) rotation with respect to the pendulum's longitudinal centerline...

49 CFR 572.7 - Neck.

Code of Federal Regulations, 2013 CFR

2013-10-01

... paragraph (c) of this section, the head shall rotate in reference to the pendulum's longitudinal centerline... the straight line distance between (1) the position relative to the pendulum arm of the head center of gravity at time zero, and (2) the position relative to the pendulum arm of the head center of gravity at...

49 CFR 572.153 - Neck-headform assembly and test procedure.

Code of Federal Regulations, 2011 CFR

2011-10-01

... subpart shall rotate in the direction of pre-impact flight with respect to the pendulum's longitudinal... shall rotate in the direction of preimpact flight with respect to the pendulum's longitudinal centerline... section, on the pendulum so the midsagittal plane of the headform is vertical and coincides with the plane...

49 CFR 572.36 - Test conditions and instrumentation.

Code of Federal Regulations, 2014 CFR

2014-10-01

... be mounted with its sensitive axis colinear with the pendulum's longitudinal centerline. (h) The... acceleration—Class 1000 (2) Neck forces—Class 1000 (3) Neck moments—Class 600 (4) Neck pendulum acceleration—Class 60 (5) Thorax and thorax pendulum acceleration—Class 180 (6) Thorax deflection—Class 180 (7) Knee...

Experiments with a Magnetically Controlled Pendulum

ERIC Educational Resources Information Center

Kraftmakher, Yaakov

2007-01-01

A magnetically controlled pendulum is used for observing free and forced oscillations, including nonlinear oscillations and chaotic motion. A data-acquisition system stores the data and displays time series of the oscillations and related phase plane plots, Poincare maps, Fourier spectra and histograms. The decay constant of the pendulum can be…

49 CFR 572.7 - Neck.

Code of Federal Regulations, 2010 CFR

2010-10-01

... paragraph (c) of this section, the head shall rotate in reference to the pendulum's longitudinal centerline... the straight line distance between (1) the position relative to the pendulum arm of the head center of gravity at time zero, and (2) the position relative to the pendulum arm of the head center of gravity at...

49 CFR 572.153 - Neck-headform assembly and test procedure.

Code of Federal Regulations, 2010 CFR

2010-10-01

... subpart shall rotate in the direction of pre-impact flight with respect to the pendulum's longitudinal... shall rotate in the direction of preimpact flight with respect to the pendulum's longitudinal centerline... section, on the pendulum so the midsagittal plane of the headform is vertical and coincides with the plane...

49 CFR 572.113 - Neck assembly.

Code of Federal Regulations, 2014 CFR

2014-10-01

...) Using neck brackets 78051-303 and -307, mount the head/neck assembly to the part 572 pendulum test... to the plane of motion of the pendulum's longitudinal centerline (see § 572.33, Figure 20, except... (horizontal surface at the base of the skull) rotation with respect to the pendulum's longitudinal centerline...

49 CFR 572.7 - Neck.

Code of Federal Regulations, 2011 CFR

2011-10-01

... paragraph (c) of this section, the head shall rotate in reference to the pendulum's longitudinal centerline... the straight line distance between (1) the position relative to the pendulum arm of the head center of gravity at time zero, and (2) the position relative to the pendulum arm of the head center of gravity at...

49 CFR 572.36 - Test conditions and instrumentation.

Code of Federal Regulations, 2011 CFR

2011-10-01

... be mounted with its sensitive axis colinear with the pendulum's longitudinal centerline. (h) The... acceleration—Class 1000 (2) Neck forces—Class 1000 (3) Neck moments—Class 600 (4) Neck pendulum acceleration—Class 60 (5) Thorax and thorax pendulum acceleration—Class 180 (6) Thorax deflection—Class 180 (7) Knee...

49 CFR 572.36 - Test conditions and instrumentation.

Code of Federal Regulations, 2012 CFR

2012-10-01

... be mounted with its sensitive axis colinear with the pendulum's longitudinal centerline. (h) The... acceleration—Class 1000 (2) Neck forces—Class 1000 (3) Neck moments—Class 600 (4) Neck pendulum acceleration—Class 60 (5) Thorax and thorax pendulum acceleration—Class 180 (6) Thorax deflection—Class 180 (7) Knee...

49 CFR 572.143 - Neck-headform assembly and test procedure.

Code of Federal Regulations, 2011 CFR

2011-10-01

... subpart, shall rotate in the direction of preimpact flight with respect to the pendulum's longitudinal... rotation data channels are defined to be zero when the longitudinal centerline of the neck and pendulum are... of preimpact flight with respect to the pendulum's longitudinal centerline between 83 degrees and 93...

49 CFR 572.36 - Test conditions and instrumentation.

Code of Federal Regulations, 2010 CFR

2010-10-01

... be mounted with its sensitive axis colinear with the pendulum's longitudinal centerline. (h) The... acceleration—Class 1000 (2) Neck forces—Class 1000 (3) Neck moments—Class 600 (4) Neck pendulum acceleration—Class 60 (5) Thorax and thorax pendulum acceleration—Class 180 (6) Thorax deflection—Class 180 (7) Knee...

49 CFR 572.143 - Neck-headform assembly and test procedure.

Code of Federal Regulations, 2014 CFR

2014-10-01

... subpart, shall rotate in the direction of preimpact flight with respect to the pendulum's longitudinal... rotation data channels are defined to be zero when the longitudinal centerline of the neck and pendulum are... of preimpact flight with respect to the pendulum's longitudinal centerline between 83 degrees and 93...

"Time: What Is It that It Can Be Measured?"

ERIC Educational Resources Information Center

Raju, C. K.

2006-01-01

Experiments with the simple pendulum are easy, but its motion is nevertheless confounded with simple harmonic motion. However, refined theoretical models of the pendulum can, today, be easily taught using software like CALCODE. Similarly, the cycloidal pendulum is isochronous only in simplified theory. But what "are" theoretically equal intervals…

An analytical approach to the external force-free motion of pendulums on surfaces of constant curvature

NASA Astrophysics Data System (ADS)

Rubio, Rafael M.; Salamanca, Juan J.

2018-07-01

The dynamics of external force free motion of pendulums on surfaces of constant Gaussian curvature is addressed when the pivot moves along a geodesic obtaining the Lagrangian of the system. As an application it is possible the study of elastic and quantum pendulums.

The Pendulum and the Calculus.

ERIC Educational Resources Information Center

Sworder, Steven C.

A pair of experiments, appropriate for the lower division fourth semester calculus or differential equations course, are presented. The second order differential equation representing the equation of motion of a simple pendulum is derived. The period of oscillation for a particular pendulum can be predicted from the solution to this equation. As a…

Multi-directional energy harvesting by piezoelectric cantilever-pendulum with internal resonance

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

Xu, J.; Tang, J., E-mail: jtang@engr.uconn.edu

This letter reports a piezoelectric cantilever-pendulum design for multi-directional energy harvesting. A pendulum is attached to the tip of a piezoelectric cantilever-type energy harvester. This design aims at taking advantage of the nonlinear coupling between the pendulum motion in 3-dimensional space and the beam bending vibration at resonances. Experimental studies indicate that, under properly chosen parameters, 1:2 internal resonance can be induced, which enables the multi-directional energy harvesting with a single cantilever. The advantages of the design with respect to traditional piezoelectric cantilever are examined.

Design and Flight Test of a Cable Angle Feedback Control System for Improving Helicopter Slung Load Operations at Low Speed

DTIC Science & Technology

2014-04-01

improve the damping of the load pendulum motions, but the load feedback generally had the effect of making the load feel heavier to the pilot [28...0.25 2 1000lbs 16,000lbs 0.06 Another important parameter is the slung load pendulum frequency. Using a simple pendulum model, this natural...the expected yaw and heave modes. The presence of the load adds oscillatory pendulum modes in the pitch and roll axes, as expected. Table 2-3

A simple, low-cost, data logging pendulum built from a computer mouse

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

Gintautas, Vadas; Hubler, Alfred

Lessons and homework problems involving a pendulum are often a big part of introductory physics classes and laboratory courses from high school to undergraduate levels. Although laboratory equipment for pendulum experiments is commercially available, it is often expensive and may not be affordable for teachers on fixed budgets, particularly in developing countries. We present a low-cost, easy-to-build rotary sensor pendulum using the existing hardware in a ball-type computer mouse. We demonstrate how this apparatus may be used to measure both the frequency and coefficient of damping of a simple physical pendulum. This easily constructed laboratory equipment makes it possible formore » all students to have hands-on experience with one of the most important simple physical systems.« less

Translation of time-reversal violation in the neutral K-meson system into a table-top mechanical system

NASA Astrophysics Data System (ADS)

Reiser, Andreas; Schubert, Klaus R.; Stiewe, Jürgen

2012-08-01

Weak interactions break time-reversal (T) symmetry in the two-state system of neutral K-mesons. We present and discuss a two-state mechanical system, i.e. a Foucault-type pendulum on a rotating table, for a full representation of {K^0}{{\\overlineK}{}^0} transitions by the pendulum motions including T violation. The pendulum moves with two different oscillation frequencies and two different magnetic dampings. Its equation of motion is identical to the differential equation for the real part of the CPT-symmetric K-meson wavefunction. The pendulum is able to represent microscopic CP and T violation with CPT symmetry owing to the macroscopic Coriolis force, which breaks the symmetry under reversal-of-motion. Video clips of the pendulum motions are given as supplementary material.

The Radon cumulative distribution transform and its application to image classification

PubMed Central

Kolouri, Soheil; Park, Se Rim; Rohde, Gustavo K.

2016-01-01

Invertible image representation methods (transforms) are routinely employed as low-level image processing operations based on which feature extraction and recognition algorithms are developed. Most transforms in current use (e.g. Fourier, Wavelet, etc.) are linear transforms, and, by themselves, are unable to substantially simplify the representation of image classes for classification. Here we describe a nonlinear, invertible, low-level image processing transform based on combining the well known Radon transform for image data, and the 1D Cumulative Distribution Transform proposed earlier. We describe a few of the properties of this new transform, and with both theoretical and experimental results show that it can often render certain problems linearly separable in transform space. PMID:26685245

Broadband chirality and asymmetric transmission in ultrathin 90°-twisted Babinet-inverted metasurfaces

NASA Astrophysics Data System (ADS)

Shi, J. H.; Ma, H. F.; Guan, C. Y.; Wang, Z. P.; Cui, T. J.

2014-04-01

A broadband asymmetric transmission of linearly polarized waves with totally suppressed copolarization transmission is experimentally demonstrated in ultrathin 90°-twisted Babinet-inverted metasurfaces constructed by an array of asymmetrically split ring apertures. The only accessible direction-dependent cross-polarization transmission is allowed in this anisotropic chiral metamaterial. Through full-wave simulation and experiment results, the bilayered Babinet-inverted metasurface reveals broadband artificial chirality and asymmetric transmission, with a transmission contrast that is better than 17.7 dB within a 50% relative bandwidth for two opposite directions. In particular, we can modify polarization conversion efficiency and the bandwidth of asymmetric transmission via parametric study.

What Makes the Foucault Pendulum Move among the Stars?

ERIC Educational Resources Information Center

Phillips, Norman

2004-01-01

Foucault's pendulum exhibition in 1851 occurred in an era now known by development of the theorems of Coriolis and the formulation of dynamical meteorology by Ferrel. Yet today the behavior of the pendulum is often misunderstood. The existence of a horizontal component of Newtonian gravitation is essential for understanding the behavior with…

49 CFR 572.189 - Instrumentation and test conditions.

Code of Federal Regulations, 2014 CFR

2014-10-01

.... The sum mass of the attachments and 1/3 cable mass must not exceed 5 percent of the total pendulum... filtered CFC 180; (3)Neck and lumbar spine pendulum accelerations—Digitally filtered CFC 60; (4) Pelvis... 180. (j)(1) Filter the pendulum acceleration data using a SAE J211 CFC 60 filter. (2) Determine the...

49 CFR 572.189 - Instrumentation and test conditions.

Code of Federal Regulations, 2011 CFR

2011-10-01

... mass of the attachments and 1/3 cable mass must not exceed 5 percent of the total pendulum mass. No... lumbar spine pendulum accelerations—Digitally filtered CFC 60; (4) Pelvis, shoulder, thorax without arm...—Digitally filtered at CFC 600; (6) Thorax deflection—Digitally filtered CFC 180. (j)(1) Filter the pendulum...

49 CFR 572.33 - Neck.

Code of Federal Regulations, 2013 CFR

2013-10-01

... (b) of this section, on a rigid pendulum as shown in Figure 22 so that the head's midsagittal plane is vertical and coincides with the plane of motion of the pendulum's longitudinal axis. ER02JN11.011 (4) Release the pendulum and allow it to fall freely from a height such that the tangential velocity...

49 CFR 572.189 - Instrumentation and test conditions.

Code of Federal Regulations, 2013 CFR

2013-10-01

.... The sum mass of the attachments and 1/3 cable mass must not exceed 5 percent of the total pendulum... filtered CFC 180; (3)Neck and lumbar spine pendulum accelerations—Digitally filtered CFC 60; (4) Pelvis... 180. (j)(1) Filter the pendulum acceleration data using a SAE J211 CFC 60 filter. (2) Determine the...

49 CFR 572.35 - Limbs.

Code of Federal Regulations, 2014 CFR

2014-10-01

... in accordance with paragraph (b)(2) of this section, at 6.9 ft/sec ±0.10 ft/sec by the pendulum defined in § 572.36(b), the peak knee impact force, which is a product of pendulum mass and acceleration... the femur load cell simulator. (v) Guide the pendulum so that there is no significant lateral...

49 CFR 572.33 - Neck.

Code of Federal Regulations, 2011 CFR

2011-10-01

... (b) of this section, on a rigid pendulum as shown in Figure 22 so that the head's midsagittal plane is vertical and coincides with the plane of motion of the pendulum's longitudinal axis. EC01AU91.165 (4) Release the pendulum and allow it to fall freely from a height such that the tangential velocity...

49 CFR 572.35 - Limbs.

Code of Federal Regulations, 2013 CFR

2013-10-01

... in accordance with paragraph (b)(2) of this section, at 6.9 ft/sec ±0.10 ft/sec by the pendulum defined in § 572.36(b), the peak knee impact force, which is a product of pendulum mass and acceleration... the femur load cell simulator. (v) Guide the pendulum so that there is no significant lateral...

49 CFR 572.189 - Instrumentation and test conditions.

Code of Federal Regulations, 2010 CFR

2010-10-01

... mass of the attachments and 1/3 cable mass must not exceed 5 percent of the total pendulum mass. No... lumbar spine pendulum accelerations—Digitally filtered CFC 60; (4) Pelvis, shoulder, thorax without arm...—Digitally filtered at CFC 600; (6) Thorax deflection—Digitally filtered CFC 180. (j)(1) Filter the pendulum...

49 CFR 572.33 - Neck.

Code of Federal Regulations, 2012 CFR

2012-10-01

... (b) of this section, on a rigid pendulum as shown in Figure 22 so that the head's midsagittal plane is vertical and coincides with the plane of motion of the pendulum's longitudinal axis. ER02JN11.011 (4) Release the pendulum and allow it to fall freely from a height such that the tangential velocity...

49 CFR 572.35 - Limbs.

Code of Federal Regulations, 2012 CFR

2012-10-01

... in accordance with paragraph (b)(2) of this section, at 6.9 ft/sec ±0.10 ft/sec by the pendulum defined in § 572.36(b), the peak knee impact force, which is a product of pendulum mass and acceleration... the femur load cell simulator. (v) Guide the pendulum so that there is no significant lateral...

49 CFR 572.33 - Neck.

Code of Federal Regulations, 2010 CFR

2010-10-01

... (b) of this section, on a rigid pendulum as shown in Figure 22 so that the head's midsagittal plane is vertical and coincides with the plane of motion of the pendulum's longitudinal axis. EC01AU91.165 (4) Release the pendulum and allow it to fall freely from a height such that the tangential velocity...

49 CFR 572.183 - Neck assembly.

Code of Federal Regulations, 2013 CFR

2013-10-01

... subpart E pendulum test fixture as shown in Figure U2-A in appendix A to this subpart, so that the... pendulum longitudinal centerline shown in Figure U2-A. Torque the half-spherical screws (175-2004) located... equivalent; (3) Release the pendulum from a height sufficient to allow it to fall freely to achieve an impact...

49 CFR 572.183 - Neck assembly.

Code of Federal Regulations, 2012 CFR

2012-10-01

... subpart E pendulum test fixture as shown in Figure U2-A in appendix A to this subpart, so that the... pendulum longitudinal centerline shown in Figure U2-A. Torque the half-spherical screws (175-2004) located... equivalent; (3) Release the pendulum from a height sufficient to allow it to fall freely to achieve an impact...

49 CFR 572.189 - Instrumentation and test conditions.

Code of Federal Regulations, 2012 CFR

2012-10-01

... mass of the attachments and 1/3 cable mass must not exceed 5 percent of the total pendulum mass. No... lumbar spine pendulum accelerations—Digitally filtered CFC 60; (4) Pelvis, shoulder, thorax without arm...—Digitally filtered at CFC 600; (6) Thorax deflection—Digitally filtered CFC 180. (j)(1) Filter the pendulum...

Analysis of the Pendular and Pitch Motions of a Driven Three-Dimensional Pendulum

ERIC Educational Resources Information Center

Findley, T.; Yoshida, S.; Norwood, D. P.

2007-01-01

A three-dimensional pendulum, modelled after the Laser Interferometer Gravitational-Wave Observatory's suspended optics, was constructed to investigate the pendulum's dynamics due to suspension point motion. In particular, we were interested in studying the pendular-pitch energy coupling. Determination of the pendular's Q value (the quality factor…

Explicit Analytical Solution of a Pendulum with Periodically Varying Length

ERIC Educational Resources Information Center

Yang, Tianzhi; Fang, Bo; Li, Song; Huang, Wenhu

2010-01-01

A pendulum with periodically varying length is an interesting physical system. It has been studied by some researchers using traditional perturbation methods (for example, the averaging method). But due to the limitation of the conventional perturbation methods, the solutions are not valid for long-term prediction of the pendulum. In this paper,…

49 CFR 572.183 - Neck assembly.

Code of Federal Regulations, 2010 CFR

2010-10-01

... subpart E pendulum test fixture as shown in Figure U2-A in appendix A to this subpart, so that the... pendulum longitudinal centerline shown in Figure U2-A. Torque the half-spherical screws (175-2004) located... equivalent; (3) Release the pendulum from a height sufficient to allow it to fall freely to achieve an impact...

49 CFR 572.35 - Limbs.

Code of Federal Regulations, 2011 CFR

2011-10-01

... in accordance with paragraph (b)(2) of this section, at 6.9 ft/sec ±0.10 ft/sec by the pendulum defined in § 572.36(b), the peak knee impact force, which is a product of pendulum mass and acceleration... the femur load cell simulator. (v) Guide the pendulum so that there is no significant lateral...

The Doppler Pendulum Experiment

ERIC Educational Resources Information Center

Lee, C. K.; Wong, H. K.

2011-01-01

An experiment to verify the Doppler effect of sound waves is described. An ultrasonic source is mounted at the end of a simple pendulum. As the pendulum swings, the rapid change of frequency can be recorded by a stationary receiver using a simple frequency-to-voltage converter. The experimental results are in close agreement with the Doppler…

49 CFR 572.183 - Neck assembly.

Code of Federal Regulations, 2011 CFR

2011-10-01

... subpart E pendulum test fixture as shown in Figure U2-A in appendix A to this subpart, so that the... pendulum longitudinal centerline shown in Figure U2-A. Torque the half-spherical screws (175-2004) located... equivalent; (3) Release the pendulum from a height sufficient to allow it to fall freely to achieve an impact...

49 CFR 572.35 - Limbs.

Code of Federal Regulations, 2010 CFR

2010-10-01

... in accordance with paragraph (b)(2) of this section, at 6.9 ft/sec ±0.10 ft/sec by the pendulum defined in § 572.36(b), the peak knee impact force, which is a product of pendulum mass and acceleration... the femur load cell simulator. (v) Guide the pendulum so that there is no significant lateral...

49 CFR 572.33 - Neck.

Code of Federal Regulations, 2014 CFR

2014-10-01

... (b) of this section, on a rigid pendulum as shown in Figure 22 so that the head's midsagittal plane is vertical and coincides with the plane of motion of the pendulum's longitudinal axis. ER02JN11.011 (4) Release the pendulum and allow it to fall freely from a height such that the tangential velocity...

49 CFR 572.183 - Neck assembly.

Code of Federal Regulations, 2014 CFR

2014-10-01

... subpart E pendulum test fixture as shown in Figure U2-A in appendix A to this subpart, so that the... pendulum longitudinal centerline shown in Figure U2-A. Torque the half-spherical screws (175-2004) located... equivalent; (3) Release the pendulum from a height sufficient to allow it to fall freely to achieve an impact...

A Simple, Low-Cost, Data-Logging Pendulum Built from a Computer Mouse

ERIC Educational Resources Information Center

Gintautas, Vadas; Hubler, Alfred

2009-01-01

Lessons and homework problems involving a pendulum are often a big part of introductory physics classes and laboratory courses from high school to undergraduate levels. Although laboratory equipment for pendulum experiments is commercially available, it is often expensive and may not be affordable for teachers on fixed budgets, particularly in…

The Reproduction of Scientific Understanding about Pendulum Motion in the Public

ERIC Educational Resources Information Center

Manabu, Sumida

2004-01-01

This paper describes life-span development of understanding about pendulum motion and effects of school science. The subjects were 2,766 people ranging from kindergartners up to 88 years senior citizens. The conflict and consensus between children and their parent's understanding of pendulum motion were also analyzed. The kindergartner's…

The Multiple Pendulum Problem via Maple[R

ERIC Educational Resources Information Center

Salisbury, K. L.; Knight, D. G.

2002-01-01

The way in which computer algebra systems, such as Maple, have made the study of physical problems of some considerable complexity accessible to mathematicians and scientists with modest computational skills is illustrated by solving the multiple pendulum problem. A solution is obtained for four pendulums with no restriction on the size of the…

Idealisation and Galileo's Pendulum Discoveries: Historical, Philosophical and Pedagogical Considerations

ERIC Educational Resources Information Center

Matthews, Michael R.

2004-01-01

Galileo's discovery of the properties of pendulum motion depended on his adoption of the novel methodology of idealisation. Galileo's laws of pendulum motion could not be accepted until the empiricist methodological constraints placed on science by Aristotle, and by common sense, were overturned. As long as scientific claims were judged by how the…

Human Subject Effects on Torsion Pendulum Oscillations: Further Evidence of Mediation by Convection Currents.

PubMed

Hammerschlag, Richard; Linda Baldwin, Ann; Schwartz, Gary E

When a human subject sits beneath a wire mesh, hemispheric torsion pendulum (TP) a rapid-onset series of oscillations at frequencies both higher and lower than the fundamental frequency of the TP have been consistently observed. This study was designed to replicate and extend prior findings that suggest the human subject effect on TP behavior is due to subject-generated, heat-induced convection currents. Effects on pendulum behavior were tested after draping an aluminized "space blanket" over the subject and by replacing the subject with a thermal mattress pad shaped to approximate the human form. Experiments were performed in a basic science university research laboratory. Real-time recordings and Fast Fourier Transform frequency spectra of pendulum oscillatory movement. The space blanket blocked, while the mattress pad mimicked, the human subject induced complex array of pendulum oscillations. Our findings support and strengthen previous results that suggest the effects of human subjects on behavior of a torsion pendulum are mediated by body-heat-induced air convection rather than an unknown type of biofield. Copyright © 2016 Elsevier Inc. All rights reserved.

Development of a two-dimensional dual pendulum thrust stand for Hall thrusters

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

Nagao, N.; Yokota, S.; Komurasaki, K.

A two-dimensional dual pendulum thrust stand was developed to measure thrust vectors (axial and horizontal (transverse) direction thrusts) of a Hall thruster. A thruster with a steering mechanism is mounted on the inner pendulum, and thrust is measured from the displacement between inner and outer pendulums, by which a thermal drift effect is canceled out. Two crossover knife-edges support each pendulum arm: one is set on the other at a right angle. They enable the pendulums to swing in two directions. Thrust calibration using a pulley and weight system showed that the measurement errors were less than 0.25 mN (1.4%)more » in the main thrust direction and 0.09 mN (1.4%) in its transverse direction. The thrust angle of the thrust vector was measured with the stand using the thruster. Consequently, a vector deviation from the main thrust direction of {+-}2.3 deg. was measured with the error of {+-}0.2 deg. under the typical operating conditions for the thruster.« less

Analytical study of the critical behavior of the nonlinear pendulum

NASA Astrophysics Data System (ADS)

Lima, F. M. S.

2010-11-01

The dynamics of a simple pendulum consisting of a small bob and a massless rigid rod has three possible regimes depending on its total energy E: Oscillatory (when E is not enough for the pendulum to reach the top position), "perpetual ascent" when E is exactly the energy needed to reach the top, and nonoscillatory for greater energies. In the latter regime, the pendulum rotates periodically without velocity inversions. In contrast to the oscillatory regime, for which an exact analytic solution is known, the other two regimes are usually studied by solving the equation of motion numerically. By applying conservation of energy, I derive exact analytical solutions to both the perpetual ascent and nonoscillatory regimes and an exact expression for the pendulum period in the nonoscillatory regime. Based on Cromer's approximation for the large-angle pendulum period, I find a simple approximate expression for the decrease of the period with the initial velocity in the nonoscillatory regime, valid near the critical velocity. This expression is used to study the critical slowing down, which is observed near the transition between the oscillatory and nonoscillatory regimes.

Inverted papilloma of the cervix and vagina: report of 2 cases of a rare lesion associated with human papillomavirus 42.

PubMed

Hennell, Claire; Jamison, Jackie; Wells, Michael; McCluggage, W Glenn

2012-03-01

We report 2 cases of a lesion that we term inverted papilloma of the lower female genital tract, occurring in the cervix and upper vagina of 60- and 50-year-old women, respectively. Microscopically, the features were similar to those of inverted transitional papilloma of the urinary bladder with interconnecting islands, trabeculae, and solid sheets of bland transitional epithelium with an inverted growth pattern. There were small foci of squamous and glandular differentiation in the cervical case. Linear array human papillomavirus genotyping revealed human papillomavirus type 42 in both cases. Inverted papilloma in the lower female genital tract is extremely rare with, as far as we are aware, only 3 previously reported similar cases in the cervix and none in the vagina. Our results suggest that these neoplasms when occurring in the lower female genital tract may be associated with low-risk human papillomavirus, perhaps specifically human papillomavirus 42. Copyright © 2012 Elsevier Inc. All rights reserved.

Relationship between field-aligned currents and inverted-V parallel potential drops observed at midaltitudes

NASA Astrophysics Data System (ADS)

Sakanoi, T.; Fukunishi, H.; Mukai, T.

1995-10-01

The inverted-V field-aligned acceleration region existing in the altitude range of several thousand kilometers plays an essential role for the magnetosphere-ionosphere coupling system. The adiabatic plasma theory predicts a linear relationship between field-aligned current density (J∥) and parallel potential drop (Φ∥), that is, J∥=KΦ∥, where K is the field-aligned conductance. We examined this relationship using the charged particle and magnetic field data obtained from the Akebono (Exos D) satellite. The potential drop above the satellite was derived from the peak energy of downward electrons, while the potential drop below the satellite was derived from two different methods: the peak energy of upward ions and the energy-dependent widening of electron loss cone. On the other hand, field-aligned current densities in the inverted-V region were estimated from the Akebono magnetometer data. Using these potential drops and field-aligned current densities, we estimated the linear field-aligned conductance KJΦ. Further, we obtained the corrected field-aligned conductance KCJΦ by applying the full Knight's formula to the current-voltage relationship. We also independently estimated the field-aligned conductance KTN from the number density and the thermal temperature of magnetospheric source electrons which were obtained by fitting accelerated Maxwellian functions for precipitating electrons. The results are summarized as follows: (1) The latitudinal dependence of parallel potential drops is characterized by a narrow V-shaped structure with a width of 0.4°-1.0°. (2) Although the inverted-V potential region exactly corresponds to the upward field aligned current region, the latitudinal dependence of upward current intensity is an inverted-U shape rather than an inverted-V shape. Thus it is suggested that the field-aligned conductance KCJΦ changes with a V-shaped latitudinal dependence. In many cases, KCJΦ values at the edge of the inverted-V region are about 5-10 times larger than those at the center. (3) By comparing KCJΦ with KTN, KCJΦ is found to be about 2-20 times larger than KTN. These results suggest that low-energy electrons such as trapped electrons, secondary and back-scattered electrons, and ionospheric electrons significantly contribute to upward field-aligned currents in the inverted-V region. It is therefore inferred that non adiabatic pitch angle scattering processes play an important role in the inverted-V region. .

Note: A 1-m Foucault pendulum rolling on a ball.

PubMed

Salva, H R; Benavides, R E; Venturino, J A; Cuscueta, D J; Ghilarducci, A A

2013-10-01

We have built a short Foucault pendulum of 1-m length. The aim of this work was to increase the sensitivity to elliptical trajectories from other longer pendula. The design was a semi-rigid pendulum that rolls over a small ball. The measurements of the movements (azimuth and elliptical trajectory) were done by an optical method. The resulting pendulum works in a medium satisfactory way due to problems of the correct choice of the mass of the bob together with the diameter of the supporting ball. It is also important to keep the rolling surface very clean.

Comparison of strain rates of dart impacted plaques and pendulum impacted bumpers

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

Scammell, K.L.

1987-01-01

The difference in strain rates prevailing during pendulum impact of bumpers versus high speed dart impact of plaques was investigated. Uni-axial strain gages were applied to the tension side of the plaques and bumpers directly opposite the point of impact. The plaques were impacted with an instrumented high rate dart impact tester and the bumpers impacted with a full scale bumper pendulum impact tester. Theoretical calculations and actual strain rate data support the conclusion that the strain rate of a plaque during dart impact significantly exceeds that of bumper strain rate during pendulum impact.

Suspended Patch Antenna Array With Electromagnetically Coupled Inverted Microstrip Feed

NASA Technical Reports Server (NTRS)

Simons, Rainee N.

2000-01-01

The paper demonstrates a four-element suspended patch antenna array, with a parasitic patch layer and an electromagnetically coupled inverted microstrip feed, for linear polarization at K-Band frequencies. This antenna has the following advantages over conventional microstrip antennas: First, the inverted microstrip has lower attenuation than conventional microstrip; hence, conductor loss associated with the antenna corporate feed is lower resulting in higher gain and efficiency. Second, conventional proximity coupled patch antennas require a substrate for the feed and a superstrate for the patch. However, the inverted microstrip fed patch antenna makes use of a single substrate, and hence, is lightweight and low cost. Third, electromagnetic coupling results in wider bandwidth. Details regarding the design and fabrication will be presented as well as measured results including return loss, radiation patterns and cross-polarization levels.

A Comprehensive Analytical Solution of the Nonlinear Pendulum

ERIC Educational Resources Information Center

Ochs, Karlheinz

2011-01-01

In this paper, an analytical solution for the differential equation of the simple but nonlinear pendulum is derived. This solution is valid for any time and is not limited to any special initial instance or initial values. Moreover, this solution holds if the pendulum swings over or not. The method of approach is based on Jacobi elliptic functions…

49 CFR 581.5 - Requirements.

Code of Federal Regulations, 2014 CFR

2014-10-01

... the damage criteria of §§ 581.5(c)(1) through 581.5(c)(9) when impacted by a pendulum-type test device... of 1.5 m.p.h., and when impacted by a pendulum-type test device in accordance with the procedures of... original contours 30 minutes after completion of each pendulum and barrier impact, except where such damage...

49 CFR 581.5 - Requirements.

Code of Federal Regulations, 2011 CFR

2011-10-01

... the damage criteria of §§ 581.5(c)(1) through 581.5(c)(9) when impacted by a pendulum-type test device... of 1.5 m.p.h., and when impacted by a pendulum-type test device in accordance with the procedures of... original contours 30 minutes after completion of each pendulum and barrier impact, except where such damage...

Oscillations of a Simple Pendulum with Extremely Large Amplitudes

ERIC Educational Resources Information Center

Butikov, Eugene I.

2012-01-01

Large oscillations of a simple rigid pendulum with amplitudes close to 180[degrees] are treated on the basis of a physically justified approach in which the cycle of oscillation is divided into several stages. The major part of the almost closed circular path of the pendulum is approximated by the limiting motion, while the motion in the vicinity…

49 CFR 581.5 - Requirements.

Code of Federal Regulations, 2012 CFR

2012-10-01

... the damage criteria of §§ 581.5(c)(1) through 581.5(c)(9) when impacted by a pendulum-type test device... of 1.5 m.p.h., and when impacted by a pendulum-type test device in accordance with the procedures of... original contours 30 minutes after completion of each pendulum and barrier impact, except where such damage...

Measurement of Gravitational Acceleration Using a Computer Microphone Port

ERIC Educational Resources Information Center

Khairurrijal; Eko Widiatmoko; Srigutomo, Wahyu; Kurniasih, Neny

2012-01-01

A method has been developed to measure the swing period of a simple pendulum automatically. The pendulum position is converted into a signal frequency by employing a simple electronic circuit that detects the intensity of infrared light reflected by the pendulum. The signal produced by the electronic circuit is sent to the microphone port and…

Einstein versus the Simple Pendulum Formula: Does Gravity Slow All Clocks?

ERIC Educational Resources Information Center

Puri, Avinash

2015-01-01

According to the Newtonian formula for a simple pendulum, the period of a pendulum is inversely proportional to the square root of "g", the gravitational field strength. Einstein's theory of general relativity leads to the result that time slows down where gravity is intense. The two claims look contradictory and can muddle student and…

A Laboratory Experiment on Coupled Non-Identical Pendulums

ERIC Educational Resources Information Center

Li, Ang; Zeng, Jingyi; Yang, Hujiang; Xiao, Jinghua

2011-01-01

In this paper, coupled pendulums with different lengths are studied. Through steel magnets, each pendulum is coupled with others, and a stepping motor is used to drive the whole system. To record the data automatically, we designed a data acquisition system with a CCD camera connected to a computer. The coupled system shows in-phase, locked-phase…

49 CFR 581.5 - Requirements.

Code of Federal Regulations, 2010 CFR

2010-10-01

... the damage criteria of §§ 581.5(c)(1) through 581.5(c)(9) when impacted by a pendulum-type test device... of 1.5 m.p.h., and when impacted by a pendulum-type test device in accordance with the procedures of... original contours 30 minutes after completion of each pendulum and barrier impact, except where such damage...

49 CFR 581.5 - Requirements.

Code of Federal Regulations, 2013 CFR

2013-10-01

... the damage criteria of §§ 581.5(c)(1) through 581.5(c)(9) when impacted by a pendulum-type test device... of 1.5 m.p.h., and when impacted by a pendulum-type test device in accordance with the procedures of... original contours 30 minutes after completion of each pendulum and barrier impact, except where such damage...

Chemistry and the Pendulum--What Have They to Do with Each Other?

ERIC Educational Resources Information Center

De Berg, K. C.

2006-01-01

Physicists have known for some time that pendulum motion is a useful analogy for other physical processes. Chemists have played with the idea from time to time but the strength of the analogy between pendulum motion and chemical processes has only received prominent published recognition since about 1980, although there are details of the analogy…

Extending the Range for Force Calibration in Magnetic Tweezers

PubMed Central

Daldrop, Peter; Brutzer, Hergen; Huhle, Alexander; Kauert, Dominik J.; Seidel, Ralf

2015-01-01

Magnetic tweezers are a wide-spread tool used to study the mechanics and the function of a large variety of biomolecules and biomolecular machines. This tool uses a magnetic particle and a strong magnetic field gradient to apply defined forces to the molecule of interest. Forces are typically quantified by analyzing the lateral fluctuations of the biomolecule-tethered particle in the direction perpendicular to the applied force. Since the magnetic field pins the anisotropy axis of the particle, the lateral fluctuations follow the geometry of a pendulum with a short pendulum length along and a long pendulum length perpendicular to the field lines. Typically, the short pendulum geometry is used for force calibration by power-spectral-density (PSD) analysis, because the movement of the bead in this direction can be approximated by a simple translational motion. Here, we provide a detailed analysis of the fluctuations according to the long pendulum geometry and show that for this direction, both the translational and the rotational motions of the particle have to be considered. We provide analytical formulas for the PSD of this coupled system that agree well with PSDs obtained in experiments and simulations and that finally allow a faithful quantification of the magnetic force for the long pendulum geometry. We furthermore demonstrate that this methodology allows the calibration of much larger forces than the short pendulum geometry in a tether-length-dependent manner. In addition, the accuracy of determination of the absolute force is improved. Our force calibration based on the long pendulum geometry will facilitate high-resolution magnetic-tweezers experiments that rely on short molecules and large forces, as well as highly parallelized measurements that use low frame rates. PMID:25992733

Oscillators: Old and new perspectives

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

Bhattacharjee, Jayanta K.; Roy, Jyotirmoy

We consider some of the well known oscillators in literature which are known to exhibit interesting effects of nonlinearity. We review the Lindstedt-Poincare technique for dealing with with the nonlinear effects and then go on to introduce the relevance of the renormalization group for the oscillator following the pioneering work of Chen et al. It is pointed out that the traditional Lindstedt-Poincare and the renormalization group techniques have operational connections. We use this to find an unexpected mode softening in the double pendulum. This mode softening prompted us to look for chaos in the double pendulum at low energies-energies thatmore » are just sufficient to allow the outer pendulum to rotate (the double pendulum is known to be chaotic at high energies-energies that are greater than that needed to make both pendulums to rotate). The emergence of the chaos is strongly dependent on initial conditions.« less

Efficiency of SparkJet

NASA Technical Reports Server (NTRS)

Golbabaei-Asl, M.; Knight, D.; Wilkinson, S.

2013-01-01

The thermal efficiency of a SparkJet is evaluated by measuring the impulse response of a pendulum subject to a single spark discharge. The SparkJet is attached to the end of a pendulum. A laser displacement sensor is used to measure the displacement of the pendulum upon discharge. The pendulum motion is a function of the fraction of the discharge energy that is channeled into the heating of the gas (i.e., increasing the translational-rotational temperature). A theoretical perfect gas model is used to estimate the portion of the energy from the heated gas that results in equivalent pendulum displacement as in the experiment. The earlier results from multiple runs for different capacitances of C = 3, 5, 10, 20, and 40(micro)F demonstrate that the thermal efficiency decreases with higher capacitive discharges.1 In the current paper, results from additional run cases have been included and confirm the previous results

Effect of Coannular Flow on Linearized Euler Equation Predictions of Jet Noise

NASA Technical Reports Server (NTRS)

Hixon, R.; Shih, S.-H.; Mankbadi, Reda R.

1997-01-01

An improved version of a previously validated linearized Euler equation solver is used to compute the noise generated by coannular supersonic jets. Results for a single supersonic jet are compared to the results from both a normal velocity profile and an inverted velocity profile supersonic jet.

Code Samples Used for Complexity and Control

NASA Astrophysics Data System (ADS)

Ivancevic, Vladimir G.; Reid, Darryn J.

2015-11-01

The following sections are included: * MathematicaⓇ Code * Generic Chaotic Simulator * Vector Differential Operators * NLS Explorer * 2C++ Code * C++ Lambda Functions for Real Calculus * Accelerometer Data Processor * Simple Predictor-Corrector Integrator * Solving the BVP with the Shooting Method * Linear Hyperbolic PDE Solver * Linear Elliptic PDE Solver * Method of Lines for a Set of the NLS Equations * C# Code * Iterative Equation Solver * Simulated Annealing: A Function Minimum * Simple Nonlinear Dynamics * Nonlinear Pendulum Simulator * Lagrangian Dynamics Simulator * Complex-Valued Crowd Attractor Dynamics * Freeform Fortran Code * Lorenz Attractor Simulator * Complex Lorenz Attractor * Simple SGE Soliton * Complex Signal Presentation * Gaussian Wave Packet * Hermitian Matrices * Euclidean L2-Norm * Vector/Matrix Operations * Plain C-Code: Levenberg-Marquardt Optimizer * Free Basic Code: 2D Crowd Dynamics with 3000 Agents

The Pendulum in the 21st Century-Relic or Trendsetter

ERIC Educational Resources Information Center

Peters, Randall D.

2004-01-01

When identifying instruments that have had great influence on the history of physics, none comes to mind more quickly than the pendulum. Though first treated scientifically by Galileo in the 16th century, and in some respects nearly "dead" by the middle of the 20th century; the pendulum experienced "rebirth" by becoming an archetype of chaos. With…

Analysis of Pendulum Period with an iPod Touch/iPhone

ERIC Educational Resources Information Center

Briggle, Justin

2013-01-01

We describe the use of Apple's iPod touch/iPhone, acting as the pendulum bob, as a means of measuring pendulum period, making use of the device's three-axis digital accelerometer and the freely available SPARKvue app from PASCO scientific. The method can be readily incorporated into an introductory physics laboratory experiment.…

On the Stable Limit Cycle of a Weight-Driven Pendulum Clock

ERIC Educational Resources Information Center

Llibre, J; Teixeira, M. A.

2010-01-01

In a recent paper (Denny 2002 Eur. J. Phys. 23 449-58), entitled "The pendulum clock: a venerable dynamical system", Denny showed that in a first approximation the steady-state motion of a weight-driven pendulum clock is shown to be a stable limit cycle. He placed the problem in a historical context and obtained an approximate solution using the…

49 CFR 572.187 - Lumbar spine.

Code of Federal Regulations, 2013 CFR

2013-10-01

...-headform assembly to the Part 572 pendulum test fixture per procedure in § 572.183(b)(2) and as shown in... assembly (175-5506) to 50 ±5 in-lb; (3) Release the pendulum from a height sufficient to allow it to fall freely to achieve an impact velocity of 6.05 ±0.1 m/s measured at the center of the pendulum...

49 CFR 572.187 - Lumbar spine.

Code of Federal Regulations, 2012 CFR

2012-10-01

...-headform assembly to the Part 572 pendulum test fixture per procedure in § 572.183(b)(2) and as shown in... assembly (175-5506) to 50 ±5 in-lb; (3) Release the pendulum from a height sufficient to allow it to fall freely to achieve an impact velocity of 6.05 ±0.1 m/s measured at the center of the pendulum...

49 CFR 572.187 - Lumbar spine.

Code of Federal Regulations, 2011 CFR

2011-10-01

...-headform assembly to the Part 572 pendulum test fixture per procedure in § 572.183(b)(2) and as shown in... assembly (175-5506) to 50 ± 5 in-lb; (3) Release the pendulum from a height sufficient to allow it to fall freely to achieve an impact velocity of 6.05 ±0.1 m/s measured at the center of the pendulum...

49 CFR 572.187 - Lumbar spine.

Code of Federal Regulations, 2010 CFR

2010-10-01

...-headform assembly to the Part 572 pendulum test fixture per procedure in § 572.183(b)(2) and as shown in... assembly (175-5506) to 50 ± 5 in-lb; (3) Release the pendulum from a height sufficient to allow it to fall freely to achieve an impact velocity of 6.05 ±0.1 m/s measured at the center of the pendulum...

Approximate Expressions for the Period of a Simple Pendulum Using a Taylor Series Expansion

ERIC Educational Resources Information Center

Belendez, Augusto; Arribas, Enrique; Marquez, Andres; Ortuno, Manuel; Gallego, Sergi

2011-01-01

An approximate scheme for obtaining the period of a simple pendulum for large-amplitude oscillations is analysed and discussed. When students express the exact frequency or the period of a simple pendulum as a function of the oscillation amplitude, and they are told to expand this function in a Taylor series, they always do so using the…

49 CFR 572.187 - Lumbar spine.

Code of Federal Regulations, 2014 CFR

2014-10-01

...-headform assembly to the Part 572 pendulum test fixture per procedure in § 572.183(b)(2) and as shown in... assembly (175-5506) to 50 ±5 in-lb; (3) Release the pendulum from a height sufficient to allow it to fall freely to achieve an impact velocity of 6.05 ±0.1 m/s measured at the center of the pendulum...

Working Model of a Foucault Pendulum at Intermediate Latitudes

ERIC Educational Resources Information Center

Sears, Francis W.

1969-01-01

Describes a working model of a Foucault pendulum at intermediate latitudes constructed of a steel drill rod with a steel ball attached at one end. The rod makes an angle of 45 degrees with the rotation axis of a horizontal turntable. The vibrating system is the same as that which led Foucault to construct his first gravity pendulum. (LC)

An inexpensive, multipurpose physical pendulum

NASA Astrophysics Data System (ADS)

Schultz, David

2012-10-01

The pendulum is a highly versatile tool for teaching physics. Many special purpose pendula for student experiments have been described.1-4 In this paper, I describe an inexpensive, multipurpose physical pendulum that can function as both a variable gravity and ballistic pendulum. I designed the apparatus for use in a rotational dynamics unit of the AP Physics C mechanics course. The use of a bike wheel hub pivot allows for low-friction, rugged operation that yields results commensurate with those obtained with much more expensive pendula available on the market (typically 500 per unit5), placing these types of experiments within reach of the teacher on a restricted budget.

Orion GN&C Detection and Mitigation of Parachute Pendulosity

NASA Technical Reports Server (NTRS)

Kane, Mark A.; Wacker, Roger

2016-01-01

New techniques being employed by Orion guidance, navigation, and control (GN&C) using a reaction control system (RCS) under parachutes are described. Pendulosity refers to a pendulum-oscillatory mode that can occur during descent under main parachutes and that has been observed during Orion parachute drop tests. The pendulum mode reduces the ability of GN&C to maneuver the suspended vehicle resulting in undesirable increases to structural loads at touchdown. Parachute redesign efforts have been unsuccessful in reducing the pendulous behavior necessitating GN&C mitigation options. An observer has been developed to estimate the pendulum motion as well as the underlying wind velocity vector. Using this knowledge, the control system maneuvers the vehicle using two separate strategies determined by wind velocity magnitude and pendulum energy thresholds; at high wind velocities the vehicle is aligned with the wind direction and for cases with lower wind velocities and large pendulum amplitudes the vehicle is aligned such that it is perpendicular to the swing plane. Pendulum damping techniques using RCS thrusters are discussed but have not been selected for use onboard the Orion spacecraft. The techniques discussed in this paper will be flown on Exploration Mission 1 (EM-1).

Pendulum Motion in Main Parachute Clusters

NASA Technical Reports Server (NTRS)

Ray, Eric S.; Machin, Ricardo A.

2015-01-01

The coupled dynamics of a cluster of parachutes to a payload are notoriously difficult to predict. Often the payload is designed to be insensitive to the range of attitude and rates that might occur, but spacecraft generally do not have the mass and volume budgeted for this robust of a design. The National Aeronautics and Space Administration (NASA) Orion Capsule Parachute Assembly System (CPAS) implements a cluster of three mains for landing. During testing of the Engineering Development Unit (EDU) design, it was discovered that with a cluster of two mains (a fault tolerance required for human rating) the capsule coupled to the parachute cluster could get into a limit cycle pendulum motion which would exceed the spacecraft landing capability. This pendulum phenomenon could not be predicted with the existing models and simulations. A three phased effort has been undertaken to understand the consequence of the pendulum motion observed, and explore potential design changes that would mitigate this phenomenon. This paper will review the early analysis that was performed of the pendulum motion observed during EDU testing, summarize the analysis ongoing to understand the root cause of the pendulum phenomenon, and discuss the modeling and testing that is being pursued to identify design changes that would mitigate the risk.

World pendulum—a distributed remotely controlled laboratory (RCL) to measure the Earth's gravitational acceleration depending on geographical latitude

NASA Astrophysics Data System (ADS)

Gröber, S.; Vetter, M.; Eckert, B.; Jodl, H.-J.

2007-05-01

We suggest that different string pendulums are positioned at different locations on Earth and measure at each place the gravitational acceleration (accuracy Δg ~ 0.01 m s-2). Each pendulum can be remotely controlled via the internet by a computer located somewhere on Earth. The theoretical part describes the physical origin of this phenomenon g(phiv), that the Earth's effective gravitational acceleration g depends on the angle of latitude phiv. Then, we present all necessary formula to deduce g(phiv) from oscillations of a string pendulum. The technical part explains tips and tricks to realize such an apparatus to measure all necessary values with sufficient accuracy. In addition, we justify the precise dimensions of a physical pendulum such that the formula for a mathematical pendulum is applicable to determine g(phiv) without introducing errors. To conclude, we describe the internet version—the string pendulum as a remotely controlled laboratory. The teaching relevance and educational value will be discussed in detail at the end of this paper including global experimenting, using the internet and communication techniques in teaching and new ways of teaching and learning methods.

Fast, Nonlinear, Fully Probabilistic Inversion of Large Geophysical Problems

NASA Astrophysics Data System (ADS)

Curtis, A.; Shahraeeni, M.; Trampert, J.; Meier, U.; Cho, G.

2010-12-01

Almost all Geophysical inverse problems are in reality nonlinear. Fully nonlinear inversion including non-approximated physics, and solving for probability distribution functions (pdf’s) that describe the solution uncertainty, generally requires sampling-based Monte-Carlo style methods that are computationally intractable in most large problems. In order to solve such problems, physical relationships are usually linearized leading to efficiently-solved, (possibly iterated) linear inverse problems. However, it is well known that linearization can lead to erroneous solutions, and in particular to overly optimistic uncertainty estimates. What is needed across many Geophysical disciplines is a method to invert large inverse problems (or potentially tens of thousands of small inverse problems) fully probabilistically and without linearization. This talk shows how very large nonlinear inverse problems can be solved fully probabilistically and incorporating any available prior information using mixture density networks (driven by neural network banks), provided the problem can be decomposed into many small inverse problems. In this talk I will explain the methodology, compare multi-dimensional pdf inversion results to full Monte Carlo solutions, and illustrate the method with two applications: first, inverting surface wave group and phase velocities for a fully-probabilistic global tomography model of the Earth’s crust and mantle, and second inverting industrial 3D seismic data for petrophysical properties throughout and around a subsurface hydrocarbon reservoir. The latter problem is typically decomposed into 104 to 105 individual inverse problems, each solved fully probabilistically and without linearization. The results in both cases are sufficiently close to the Monte Carlo solution to exhibit realistic uncertainty, multimodality and bias. This provides far greater confidence in the results, and in decisions made on their basis.

High Speed and High Functional Inverter Power Supplies for Plasma Generation and Control, and their Performance

NASA Astrophysics Data System (ADS)

Uesugi, Yoshihiko; Razzak, Mohammad A.; Kondo, Kenji; Kikuchi, Yusuke; Takamura, Shuichi; Imai, Takahiro; Toyoda, Mitsuhiro

The Rapid development of high power and high speed semiconductor switching devices has led to their various applications in related plasma fields. Especially, a high speed inverter power supply can be used as an RF power source instead of conventional linear amplifiers and a power supply to control the magnetic field in a fusion plasma device. In this paper, RF thermal plasma production and plasma heating experiments are described emphasis placed on using a static induction transistor inverter at a frequency range between 200 kHz and 2.5 MHz as an RF power supply. Efficient thermal plasma production is achieved experimentally by using a flexible and easily operated high power semiconductor inverter power supply. Insulated gate bipolar transistor (IGBT) inverter power supplies driven by a high speed digital signal processor are applied as tokamak joule coil and vertical coil power supplies to control plasma current waveform and plasma equilibrium. Output characteristics, such as the arbitrary bipolar waveform generation of a pulse width modulation (PWM) inverter using digital signal processor (DSP) can be successfully applied to tokamak power supplies for flexible plasma current operation and fast position control of a small tokamak.

Applying the min-projection strategy to improve the transient performance of the three-phase grid-connected inverter.

PubMed

Baygi, Mahdi Oloumi; Ghazi, Reza; Monfared, Mohammad

2014-07-01

Applying the min-projection strategy (MPS) to a three-phase grid-connected inverter to improve its transient performance is the main objective of this paper. For this purpose, the inverter is first modeled as a switched linear system. Then, the feasibility of the MPS technique is investigated and the stability criterion is derived. Hereafter, the fundamental equations of the MPS for the control of the inverter are obtained. The proposed scheme is simulated in PSCAD/EMTDC environment. The validity of the MPS approach is confirmed by comparing the obtained results with those of VOC method. The results demonstrate that the proposed method despite its simplicity provides an excellent transient performance, fully decoupled control of active and reactive powers, acceptable THD level and a reasonable switching frequency. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

29 CFR 1928.53 - Protective enclosures for wheel-type agricultural tractors-test procedures and performance...

Code of Federal Regulations, 2013 CFR

2013-07-01

... accomplished by using a 4,410-lb (2,000-kg) weight acting as a pendulum. The impact face of the weight shall be... of the pendulum will swing, or alternatively, two sets of symmetrically located cables may be used at... from the rear, followed by a load to the side on the same enclosure structure. The pendulum swinging...

An Approximate Solution to the Equation of Motion for Large-Angle Oscillations of the Simple Pendulum with Initial Velocity

ERIC Educational Resources Information Center

Johannessen, Kim

2010-01-01

An analytic approximation of the solution to the differential equation describing the oscillations of a simple pendulum at large angles and with initial velocity is discussed. In the derivation, a sinusoidal approximation has been applied, and an analytic formula for the large-angle period of the simple pendulum is obtained, which also includes…

29 CFR 1928.53 - Protective enclosures for wheel-type agricultural tractors-test procedures and performance...

Code of Federal Regulations, 2010 CFR

2010-07-01

... accomplished by using a 4,410-lb (2,000-kg) weight acting as a pendulum. The impact face of the weight shall be... of the pendulum will swing, or alternatively, two sets of symmetrically located cables may be used at... from the rear, followed by a load to the side on the same enclosure structure. The pendulum swinging...

Fluid-Structure Interaction in a Fluid-Filled Composite Structure Subjected to Low Velocity Impact

DTIC Science & Technology

2016-06-01

for creating an E-glass composite cubic structure and a pendulum was designed and built to provide a repeatable low velocity impact. The behavior of...structure and a pendulum was designed and built to provide a repeatable low velocity impact. The behavior of the composite structure was studied at various...SET-UP .......................................................31  1.  Impact Pendulum

29 CFR 1928.53 - Protective enclosures for wheel-type agricultural tractors-test procedures and performance...

Code of Federal Regulations, 2014 CFR

2014-07-01

...,000-kg) weight acting as a pendulum. The impact face of the weight shall be 27 ±1 in. by 27 ±1 in... restraining cables shall be located in the plane in which the center of gravity of the pendulum will swing, or... side on the same enclosure structure. The pendulum swinging from the height determined by paragraph (d...

World Pendulum--A Distributed Remotely Controlled Laboratory (RCL) to Measure the Earth's Gravitational Acceleration Depending on Geographical Latitude

ERIC Educational Resources Information Center

Grober, S.; Vetter, M.; Eckert, B.; Jodl, H.-J.

2007-01-01

We suggest that different string pendulums are positioned at different locations on Earth and measure at each place the gravitational acceleration (accuracy [delta]g is approximately equal to 0.01 m s[superscript -2]). Each pendulum can be remotely controlled via the internet by a computer located somewhere on Earth. The theoretical part describes…

29 CFR 1928.53 - Protective enclosures for wheel-type agricultural tractors-test procedures and performance...

Code of Federal Regulations, 2012 CFR

2012-07-01

... accomplished by using a 4,410-lb (2,000-kg) weight acting as a pendulum. The impact face of the weight shall be... of the pendulum will swing, or alternatively, two sets of symmetrically located cables may be used at... from the rear, followed by a load to the side on the same enclosure structure. The pendulum swinging...

29 CFR 1928.53 - Protective enclosures for wheel-type agricultural tractors-test procedures and performance...

Code of Federal Regulations, 2011 CFR

2011-07-01

... accomplished by using a 4,410-lb (2,000-kg) weight acting as a pendulum. The impact face of the weight shall be... of the pendulum will swing, or alternatively, two sets of symmetrically located cables may be used at... from the rear, followed by a load to the side on the same enclosure structure. The pendulum swinging...

Origin-Dependent Inverted-Repeat Amplification: Tests of a Model for Inverted DNA Amplification

PubMed Central

Brewer, Bonita J.; Payen, Celia; Di Rienzi, Sara C.; Higgins, Megan M.; Ong, Giang; Dunham, Maitreya J.; Raghuraman, M. K.

2015-01-01

DNA replication errors are a major driver of evolution—from single nucleotide polymorphisms to large-scale copy number variations (CNVs). Here we test a specific replication-based model to explain the generation of interstitial, inverted triplications. While no genetic information is lost, the novel inversion junctions and increased copy number of the included sequences create the potential for adaptive phenotypes. The model—Origin-Dependent Inverted-Repeat Amplification (ODIRA)—proposes that a replication error at pre-existing short, interrupted, inverted repeats in genomic sequences generates an extrachromosomal, inverted dimeric, autonomously replicating intermediate; subsequent genomic integration of the dimer yields this class of CNV without loss of distal chromosomal sequences. We used a combination of in vitro and in vivo approaches to test the feasibility of the proposed replication error and its downstream consequences on chromosome structure in the yeast Saccharomyces cerevisiae. We show that the proposed replication error—the ligation of leading and lagging nascent strands to create “closed” forks—can occur in vitro at short, interrupted inverted repeats. The removal of molecules with two closed forks results in a hairpin-capped linear duplex that we show replicates in vivo to create an inverted, dimeric plasmid that subsequently integrates into the genome by homologous recombination, creating an inverted triplication. While other models have been proposed to explain inverted triplications and their derivatives, our model can also explain the generation of human, de novo, inverted amplicons that have a 2:1 mixture of sequences from both homologues of a single parent—a feature readily explained by a plasmid intermediate that arises from one homologue and integrates into the other homologue prior to meiosis. Our tests of key features of ODIRA lend support to this mechanism and suggest further avenues of enquiry to unravel the origins of interstitial, inverted CNVs pivotal in human health and evolution. PMID:26700858

Origin-Dependent Inverted-Repeat Amplification: Tests of a Model for Inverted DNA Amplification.

PubMed

Brewer, Bonita J; Payen, Celia; Di Rienzi, Sara C; Higgins, Megan M; Ong, Giang; Dunham, Maitreya J; Raghuraman, M K

2015-12-01

DNA replication errors are a major driver of evolution--from single nucleotide polymorphisms to large-scale copy number variations (CNVs). Here we test a specific replication-based model to explain the generation of interstitial, inverted triplications. While no genetic information is lost, the novel inversion junctions and increased copy number of the included sequences create the potential for adaptive phenotypes. The model--Origin-Dependent Inverted-Repeat Amplification (ODIRA)-proposes that a replication error at pre-existing short, interrupted, inverted repeats in genomic sequences generates an extrachromosomal, inverted dimeric, autonomously replicating intermediate; subsequent genomic integration of the dimer yields this class of CNV without loss of distal chromosomal sequences. We used a combination of in vitro and in vivo approaches to test the feasibility of the proposed replication error and its downstream consequences on chromosome structure in the yeast Saccharomyces cerevisiae. We show that the proposed replication error-the ligation of leading and lagging nascent strands to create "closed" forks-can occur in vitro at short, interrupted inverted repeats. The removal of molecules with two closed forks results in a hairpin-capped linear duplex that we show replicates in vivo to create an inverted, dimeric plasmid that subsequently integrates into the genome by homologous recombination, creating an inverted triplication. While other models have been proposed to explain inverted triplications and their derivatives, our model can also explain the generation of human, de novo, inverted amplicons that have a 2:1 mixture of sequences from both homologues of a single parent--a feature readily explained by a plasmid intermediate that arises from one homologue and integrates into the other homologue prior to meiosis. Our tests of key features of ODIRA lend support to this mechanism and suggest further avenues of enquiry to unravel the origins of interstitial, inverted CNVs pivotal in human health and evolution.

An energy-optimal solution for transportation control of cranes with double pendulum dynamics: Design and experiments

NASA Astrophysics Data System (ADS)

Sun, Ning; Wu, Yiming; Chen, He; Fang, Yongchun

2018-03-01

Underactuated cranes play an important role in modern industry. Specifically, in most situations of practical applications, crane systems exhibit significant double pendulum characteristics, which makes the control problem quite challenging. Moreover, most existing planners/controllers obtained with standard methods/techniques for double pendulum cranes cannot minimize the energy consumption when fulfilling the transportation tasks. Therefore, from a practical perspective, this paper proposes an energy-optimal solution for transportation control of double pendulum cranes. By applying the presented approach, the transportation objective, including fast trolley positioning and swing elimination, is achieved with minimized energy consumption, and the residual oscillations are suppressed effectively with all the state constrains being satisfied during the entire transportation process. As far as we know, this is the first energy-optimal solution for transportation control of underactuated double pendulum cranes with various state and control constraints. Hardware experimental results are included to verify the effectiveness of the proposed approach, whose superior performance is reflected by being experimentally compared with some comparative controllers.

Measurement of Motion Transfer Functions for Mirror Suspensions

NASA Astrophysics Data System (ADS)

Stuver, Amber; Beilby, Mark; Glancy, Aran; Gonzalez, Gabriela

2001-04-01

Interferometric gravitational wave detectors, such as LIGO, use mirrors suspended in pendulums. The current LIGO dectors use simple pendulums, but advanced LIGO detectors will use multiple pendulums with some stages on soft vertical springs. A drawback of the a multiple pendulum design is that it is difficult to model and predict cross couplings from one vibrational mode to another due to slight unavoidable asymmetries in the real system. Of most concern are the couplings to motion along the optical axis and into angular motions, which have the most potential to contaminate data. Our research focuses on the experimental testing of the pendulum designs for cross couplings with a special dedicated shaking stage. The cross couplings in each degree of freedom, their isolation and damping are investigated in this research though the measurement of transfer functions as filtered though the suspension system. This research is supported by The Pennsylvania State University, the NSF Grant no. PHY-9870032, and the REU program at The Pennsylvania State University.

Idealisation and Galileo's Pendulum Discoveries: Historical, Philosophical and Pedagogical Considerations

NASA Astrophysics Data System (ADS)

Matthews, Michael R.

2004-11-01

Galileo's discovery of the properties of pendulum motion depended on his adoption of the novel methodology of idealisation. Galileo's laws of pendulum motion could not be accepted until the empiricist methodological constraints placed on science by Aristotle, and by common sense, were overturned. As long as scientific claims were judged by how the world was immediately seen to behave, and as long as mathematics and physics were kept separate, then Galileo's pendulum claims could not be substantiated; the evidence was against them. Proof of the laws required not just a new science, but a new way of doing science, a new way of handling evidence, a new methodology of science. This was Galileo's method of idealisatioin. It was the foundation of the Galilean-Newtonian Paradigm which characterised the Scientific Revolution of the 17th century, and the subsequent centuries of modern science. As the pendulum was central to Galileo's and Newton's physics, appreciating the role of idealisation in their work is an instructive way to learn about the nature of science.

Quantitative thickness measurement of polarity-inverted piezoelectric thin-film layer by scanning nonlinear dielectric microscopy

NASA Astrophysics Data System (ADS)

Odagawa, Hiroyuki; Terada, Koshiro; Tanaka, Yohei; Nishikawa, Hiroaki; Yanagitani, Takahiko; Cho, Yasuo

2017-10-01

A quantitative measurement method for a polarity-inverted layer in ferroelectric or piezoelectric thin film is proposed. It is performed nondestructively by scanning nonlinear dielectric microscopy (SNDM). In SNDM, linear and nonlinear dielectric constants are measured using a probe that converts the variation of capacitance related to these constants into the variation of electrical oscillation frequency. In this paper, we describe a principle for determining the layer thickness and some calculation results of the output signal, which are related to the radius of the probe tip and the thickness of the inverted layer. Moreover, we derive an equation that represents the relationship between the output signal and the oscillation frequency of the probe and explain how to determine the thickness from the measured frequency. Experimental results in Sc-doped AlN piezoelectric thin films that have a polarity-inverted layer with a thickness of 1.5 µm fabricated by radio frequency magnetron sputtering showed a fairly good value of 1.38 µm for the thickness of the polarity-inverted layer.

Modeling and Model Identification of Autonomous Underwater Vehicles

DTIC Science & Technology

2015-06-01

setup, based on a quadrifilar pendulum , is developed to measure the moments of inertia of the vehicle. System identification techniques, based on...parametric models of the platforms: an individual channel excitation approach and a free decay pendulum test. The former is applied to THAUS, which can...excite the system in individual channels in four degrees of freedom. These results are verified in the free decay pendulum setup, which has the

29 CFR 1928.52 - Protective frames for wheel-type agricultural tractors-test procedures and performance requirements.

Code of Federal Regulations, 2014 CFR

2014-07-01

... a 4,410-lb (2,000-kg) weight acting as a pendulum. The impact face of the weight shall be 27 ±1 in... restraining cables shall be located in the plane in which the center of gravity of the pendulum will swing, or... pendulum swinging from the height determined by paragraph (d)(3)(ii) of this section shall be used to...

29 CFR 1926.1002 - Protective frames (roll-over protective structures, known as ROPS) for wheel-type agricultural...

Code of Federal Regulations, 2012 CFR

2012-07-01

... produced by using a 4,410-lb (2,000-kg) weight acting as a pendulum. The impact face of the weight shall be... the center of gravity of the pendulum will swing, or more than one restraining cable shall give a... to the side on the same frame. The pendulum dropped from the height (see the definition of “H” in...

29 CFR 1926.1002 - Protective frames (roll-over protective structures, known as ROPS) for wheel-type agricultural...

Code of Federal Regulations, 2011 CFR

2011-07-01

... produced by using a 4,410-lb (2,000-kg) weight acting as a pendulum. The impact face of the weight shall be... the center of gravity of the pendulum will swing, or more than one restraining cable shall give a... to the side on the same frame. The pendulum dropped from the height (see the definition of “H” in...

29 CFR 1926.1002 - Protective frames (roll-over protective structures, known as ROPS) for wheel-type agricultural...

Code of Federal Regulations, 2010 CFR

2010-07-01

... produced by using a 4,410-lb (2,000-kg) weight acting as a pendulum. The impact face of the weight shall be... the center of gravity of the pendulum will swing, or more than one restraining cable shall give a... to the side on the same frame. The pendulum dropped from the height (see the definition of “H” in...

The experimental determination of the moments of inertia of airplanes by a simplified compound-pendulum method

NASA Technical Reports Server (NTRS)

Gracey, William

1948-01-01

A simplified compound-pendulum method for the experimental determination of the moments of inertia of airplanes about the x and y axes is described. The method is developed as a modification of the standard pendulum method reported previously in NACA report, NACA-467. A brief review of the older method is included to form a basis for discussion of the simplified method. (author)

29 CFR 1926.1002 - Protective frames (roll-over protective structures, known as ROPS) for wheel-type agricultural...

Code of Federal Regulations, 2013 CFR

2013-07-01

... produced by using a 4,410-lb (2,000-kg) weight acting as a pendulum. The impact face of the weight shall be... the center of gravity of the pendulum will swing, or more than one restraining cable shall give a... to the side on the same frame. The pendulum dropped from the height (see the definition of “H” in...

Theoretical Pressure Distribution, Apparent Mass, and Moment of Inertia of a Disk Pendulum Oscillating at Low Frequency. M.S. Thesis - George Washington Univ., Washington, D. C.

NASA Technical Reports Server (NTRS)

Dunning, R. S.

1973-01-01

Equations are developed which give the pressure profile, the forces and torques on a disk pendulum by means of point source wave theory from acoustics. The pressure, force and torque equations for an unbaffled disk are developed. These equations are then used to calculate the apparent mass and apparent inertia for the pendulum.

29 CFR 1926.1002 - Protective frames (roll-over protective structures, known as ROPS) for wheel-type agricultural...

Code of Federal Regulations, 2014 CFR

2014-07-01

... produced by using a 4,410-lb (2,000-kg) weight acting as a pendulum. The impact face of the weight shall be... the center of gravity of the pendulum will swing, or more than one restraining cable shall give a... to the side on the same frame. The pendulum dropped from the height (see the definition of “H” in...

A Clinically Realistic Large Animal Model of Intra-Articular Fracture

DTIC Science & Technology

2014-12-01

pendulum system for measuring energy absorption during fracture insult to large animal joints in vivo. J Biomech Eng. 2014 Jun;136(6):064502. PMID:24760051...Model 4. Yucatan Minipig 5. Impact 6. Pendulum 7. Mankin Scoring 8. Inflammatory Cytokines 9. Gait Analysis 10. Incongruity 3. OVERALL...primarily hardware upgrades and ex-vivo experimentation of the pendulum . 3.2.a Device Upgrades The primary hardware upgrade was to instrument the

Novel Out-Coupling Techniques for Terahertz Free Electron Lasers

DTIC Science & Technology

2012-06-01

4  1.   FEL “ Pendulum ” Equation and Electron Dynamics .......................4  2.   FEL...4 B. FEL THEORY 1. FEL “ Pendulum ” Equation and Electron Dynamics The dynamics of electron motion as it passes through the undulator are governed...I.5, then the FEL “ pendulum equation” is derived , (I.7) where is the dimensionless laser field amplitude[1]. From this, it is shown that changes

In full swing? How do pendulum migrant labourers in Vietnam adjust their sexual perspectives to their rural-urban lives?

PubMed

Nguyen, Huong Ngoc; Hardesty, Melissa; Hong, Khuat Thu

2011-11-01

Having emerged only recently due to fast urbanisation and globalisation, pendulum migrant labourers in Vietnam are economically, culturally and socially difficult to locate - though they are estimated to number in their millions. Defined by their frequent migration between village and city, pendulum migrant labourers occupy an extended period of liminality. Are they traditional villagers or liberal city people when it comes to sex? Does city life radically change their views on sexuality? Starting with the premise that living environments play a key role in structuring the practical and symbolic realities of sex, this paper explores how extended periods of circular migration between the village and city - living environments that differ markedly in terms of socioeconomic and cultural conditions - affect the sexual views and perspectives of Vietnamese pendulum migrant labourers. Analysis from in-depth interviews with 23 married pendulum migrant labourers revealed that even though they had been living the pendulum life for several years, they continued to identify themselves, sexually, as traditional villagers. Among labourers the link between sexuality and living environment was a matter of pragmatism - matching 'suitable' sexual behaviour to social, even if imagined, location - and of privilege or 'leagues' - matching behaviour and comportment to social pedigree.

Clinical Usefulness of the Pendulum Test Using a NK Table to Measure the Spasticity of Patients with Brain Lesions

PubMed Central

Kim, Yong-Wook

2013-01-01

. [Purpose] The purpose of the present study was to investigate the clinical usefulness (reliability and validity) of the pendulum test using a Noland-Kuckhoff (NK) table with an attached electrogoniometer to measure the spasticity of patients with brain lesions. [Subjects] The subjects were 31 patients with stroke or traumatic brain injury. [Methods] The intraclass correlation coefficient (ICC) was used to verify the test–retest reliability of spasticity measures obtained using the pendulum test. Pearson's product correlation coefficient was used to examine the validity of the pendulum test using the amplitude of the patellar tendon reflex (PTR) test, an objective and quantitative measure of spasticity. [Results] The test–retest reliability was high, reflecting a significant correlation between the test and the retest (ICCs = 0.95–0.97). A significant negative correlation was found between the amplitude of the PTR test and the four variables measured in the pendulum test (r = −0.77– −0.85). [Conclusion] The pendulum test using a NK table is an objective measure of spasticity and can be used in the clinical setting in place of more expensive and complicated equipment. Further studies are needed to investigate the therapeutic effect of this method on spasticity. PMID:24259775

Clinical usefulness of the pendulum test using a NK table to measure the spasticity of patients with brain lesions.

PubMed

Kim, Yong-Wook

2013-10-01

. [Purpose] The purpose of the present study was to investigate the clinical usefulness (reliability and validity) of the pendulum test using a Noland-Kuckhoff (NK) table with an attached electrogoniometer to measure the spasticity of patients with brain lesions. [Subjects] The subjects were 31 patients with stroke or traumatic brain injury. [Methods] The intraclass correlation coefficient (ICC) was used to verify the test-retest reliability of spasticity measures obtained using the pendulum test. Pearson's product correlation coefficient was used to examine the validity of the pendulum test using the amplitude of the patellar tendon reflex (PTR) test, an objective and quantitative measure of spasticity. [Results] The test-retest reliability was high, reflecting a significant correlation between the test and the retest (ICCs = 0.95-0.97). A significant negative correlation was found between the amplitude of the PTR test and the four variables measured in the pendulum test (r = -0.77- -0.85). [Conclusion] The pendulum test using a NK table is an objective measure of spasticity and can be used in the clinical setting in place of more expensive and complicated equipment. Further studies are needed to investigate the therapeutic effect of this method on spasticity.

Foucault pendulum with eddy-current damping of the elliptical motion

NASA Astrophysics Data System (ADS)

Mastner, G.; Vokurka, V.; Maschek, M.; Vogt, E.; Kaufmann, H. P.

1984-10-01

A newly designed Foucault pendulum is described in which the mechanical Charron ring, used throughout in previous designs for damping of the elliptical motion of the pendulum, is replaced by an electromagnetic eddy-current brake, consisting of a permanent magnet attached to the bottom of the bob and a metallic ring. This damping device is very efficient, as it is self-aligning, symmetrical in the damping effect, and never wears out. The permanent magnet is also used, together with a coil assembly and an electronic circuitry, for the dipole-torque drive of the pendulum as well as for accurate stabilization of the amplitude of the swing. A latched time display, controlled by Hall probes activated by the magnet, is used to visualize the Foucault rotation. The pendulum system and its associated electronic circuitry are described in detail. The optimizing of the drive mode is discussed. Measurements of deviations from theoretical value of the Foucault rotation velocity made automatically in a continuous run show a reproducible accuracy of ±1% or better in individual 360° rotations during the summer months. The quality factor of the pendulum as mechanical resonator was measured as a function of the amplitude in the presence of the eddy-current damping ring.

Large-Signal Lyapunov-Based Stability Analysis of DC/AC Inverters and Inverter-Based Microgrids

NASA Astrophysics Data System (ADS)

Kabalan, Mahmoud

Microgrid stability studies have been largely based on small-signal linearization techniques. However, the validity and magnitude of the linearization domain is limited to small perturbations. Thus, there is a need to examine microgrids with large-signal nonlinear techniques to fully understand and examine their stability. Large-signal stability analysis can be accomplished by Lyapunov-based mathematical methods. These Lyapunov methods estimate the domain of asymptotic stability of the studied system. A survey of Lyapunov-based large-signal stability studies showed that few large-signal studies have been completed on either individual systems (dc/ac inverters, dc/dc rectifiers, etc.) or microgrids. The research presented in this thesis addresses the large-signal stability of droop-controlled dc/ac inverters and inverter-based microgrids. Dc/ac power electronic inverters allow microgrids to be technically feasible. Thus, as a prelude to examining the stability of microgrids, the research presented in Chapter 3 analyzes the stability of inverters. First, the 13 th order large-signal nonlinear model of a droop-controlled dc/ac inverter connected to an infinite bus is presented. The singular perturbation method is used to decompose the nonlinear model into 11th, 9th, 7th, 5th, 3rd and 1st order models. Each model ignores certain control or structural components of the full order model. The aim of the study is to understand the accuracy and validity of the reduced order models in replicating the performance of the full order nonlinear model. The performance of each model is studied in three different areas: time domain simulations, Lyapunov's indirect method and domain of attraction estimation. The work aims to present the best model to use in each of the three domains of study. Results show that certain reduced order models are capable of accurately reproducing the performance of the full order model while others can be used to gain insights into those three areas of study. This will enable future studies to save computational effort and produce the most accurate results according to the needs of the study being performed. Moreover, the effect of grid (line) impedance on the accuracy of droop control is explored using the 5th order model. Simulation results show that traditional droop control is valid up to R/X line impedance value of 2. Furthermore, the 3rd order nonlinear model improves the currently available inverter-infinite bus models by accounting for grid impedance, active power-frequency droop and reactive power-voltage droop. Results show the 3rd order model's ability to account for voltage and reactive power changes during a transient event. Finally, the large-signal Lyapunov-based stability analysis is completed for a 3 bus microgrid system (made up of 2 inverters and 1 linear load). The thesis provides a systematic state space large-signal nonlinear mathematical modeling method of inverter-based microgrids. The inverters include the dc-side dynamics associated with dc sources. The mathematical model is then used to estimate the domain of asymptotic stability of the 3 bus microgrid. The three bus microgrid system was used as a case study to highlight the design and optimization capability of a large-signal-based approach. The study explores the effect of system component sizing, load transient and generation variations on the asymptotic stability of the microgrid. Essentially, this advancement gives microgrid designers and engineers the ability to manipulate the domain of asymptotic stability depending on performance requirements. Especially important, this research was able to couple the domain of asymptotic stability of the ac microgrid with that of the dc side voltage source. Time domain simulations were used to demonstrate the mathematical nonlinear analysis results.

University of Florida Torsion Pendulum for Testing Key LISA Technology

NASA Astrophysics Data System (ADS)

Apple, Stephen; Chilton, Andrew; Olatunde, Taiwo Janet; Hillsberry, Daniel; Parry, Samantha; Ciani, Giacomo; Wass, Peter; Mueller, Guido; Conklin, John

2018-01-01

This presentation will describe the design and performance of a new torsion pendulum at the University of Florida used for testing inertial sensors and associated technologies for use in space – based gravitational wave observatories and geodesy missions. In particular this new torsion pendulum facility is testing inertial sensors and associated technology for the upcoming LISA (laser interferometer space antenna) space-based gravitational wave observatory mission. The torsion pendulum apparatus is comprised of a suspended cross bar assembly that has LISA test mass mockups at each of its ends. Two of the test mass mockups are enclosed by capacitive sensors which provide actuation and position sensing. The entire assembly is housed in a vacuum chamber. The pendulum cross-bar converts rotational motion of the test masses about the suspension fiber axis into translational motion. The 22 cm cross bar arm length along with the extremely small torsional spring constant of the suspension fiber results in a near free fall condition in the translational degree-of-freedom orthogonal to both the member and the suspension fiber. The test masses are electrically isolated from the pendulum assembly and their charge is controlled via photoemission using fiber coupled UV LEDS. Position of the test masses is measured using both capacitive and interferometric readout. The broadband sensitivity of the capacitive readout and laser interferometer readout is 30 nm/√Hz and 0.5 nm/√Hz respectively. The performance of the pendulum measured in equivalent acceleration noise acting on a LISA test mass is approximately 3 × 10-13 ms-2/√Hz at 2 mHz. This presentation will also discuss the design and fabrication of a flight-like gravitational reference sensor that will soon be integrated into the torsion pendulum facility. This flight-like GRS will allow for noise performance measurements in a more LISA-like configuration.

Evaluation of dynamic electromagnetic tracking deviation

NASA Astrophysics Data System (ADS)

Hummel, Johann; Figl, Michael; Bax, Michael; Shahidi, Ramin; Bergmann, Helmar; Birkfellner, Wolfgang

2009-02-01

Electromagnetic tracking systems (EMTS's) are widely used in clinical applications. Many reports have evaluated their static behavior and errors caused by metallic objects were examined. Although there exist some publications concerning the dynamic behavior of EMTS's the measurement protocols are either difficult to reproduce with respect of the movement path or only accomplished at high technical effort. Because dynamic behavior is of major interest with respect to clinical applications we established a simple but effective modal measurement easy to repeat at other laboratories. We built a simple pendulum where the sensor of our EMTS (Aurora, NDI, CA) could be mounted. The pendulum was mounted on a special bearing to guarantee that the pendulum path is planar. This assumption was tested before starting the measurements. All relevant parameters defining the pendulum motion such as rotation center and length are determined by static measurement at satisfactory accuracy. Then position and orientation data were gathered over a time period of 8 seconds and timestamps were recorded. Data analysis provided a positioning error and an overall error combining both position and orientation. All errors were calculated by means of the well know equations concerning pendulum movement. Additionally, latency - the elapsed time from input motion until the immediate consequences of that input are available - was calculated using well-known equations for mechanical pendulums for different velocities. We repeated the measurements with different metal objects (rods made of stainless steel type 303 and 416) between field generator and pendulum. We found a root mean square error (eRMS) of 1.02mm with respect to the distance of the sensor position to the fit plane (maximum error emax = 2.31mm, minimum error emin = -2.36mm). The eRMS for positional error amounted to 1.32mm while the overall error was 3.24 mm. The latency at a pendulum angle of 0° (vertical) was 7.8ms.

Integrated Data Collection and Analysis Project: Friction Correlation Study

DTIC Science & Technology

2015-08-01

methods authorized in AOP-7 include Pendulum Friction, Rotary Friction, Sliding Friction (ABL), BAM Friction and Steel/Fiber Shoe Methods. The...sensitivity can be obtained by Pendulum Friction, Rotary Friction, Sliding Friction (such as the ABL), BAM Friction and Steel/Fiber Shoe Methods.3, 4 Within...Figure 4.16 A variable compressive force is applied downward through the wheel hydraulically (50-1995 psi). The 5 kg pendulum impacts (8 ft/sec is the

Quantum Simulation and Quantum Sensing with Ultracold Strontium

DTIC Science & Technology

2015-09-18

quantum Kapitza pendulum , a novel Floquet system which we are investigating using modulated optical lattices. We have proposed and are developing...another goal of our AFOSR YIP project. To this end, we have developed the first theoretical treatment of a lattice-based quantum Kapitza pendulum . We have...classical single-particle analogue of this phase occurs in a rigid pendulum with an oscillating support (known as a Kapitza pendu- lum [9]). To prepare for

Two-Pendulum Model of Propellant Slosh in Europa Clipper PMD Tank

NASA Technical Reports Server (NTRS)

Ng, Wanyi; Benson, David

2017-01-01

Model propellant slosh for Europa Clipper using two pendulums such that controls engineers can predict slosh behavior during the mission. Importance of predicting propellant slosh; (1) Sloshing changes CM (center of mass) of spacecraft and exerts forces and torques on spacecraft. (2) Avoid natural frequencies of structures. (3) Size ACS (Attitude Control Systems) thrusters to counteract forces and torques. Can model sloshing fluid as two pendulums with specific parameters (mass, length, damping),

An Empirical Model for Mine-Blast Loading

DTIC Science & Technology

2014-10-17

fledged experimental program. The numerical approach however suffers from several drawbacks in the mine blast simulations. First, it is a very...Suffield consisted in a pendulum type device to measure global impulse of buried mine [15]. One of the main purposes of the ONAGER pendulum was to study...TP-1 Terminal effects, KTA 1-34 report, 2004. [15] Bues, R., Hlady, S.L. and Bergeron, D.M., Pendulum Measurement of Land Mine Blast Output, Volume

Simple pendulum for blind students

NASA Astrophysics Data System (ADS)

Goncalves, A. M. B.; Cena, C. R.; Alves, D. C. B.; Errobidart, N. C. G.; Jardim, M. I. A.; Queiros, W. P.

2017-09-01

Faced with the need to teach physics to the visually impaired, in this paper we propose a way to demonstrate the dependence of distance and time in a pendulum experiment to blind students. The periodic oscillation of the pendulum is translated, by an Arduino and an ultrasonic sensor, in a periodic variation of frequency in a speaker. The main advantage of this proposal is the possibility that a blind student understands the movement without necessity of touching it.

Precision Measurement of Distribution of Film Thickness on Pendulum for Experiment of G

NASA Astrophysics Data System (ADS)

Liu, Lin-Xia; Guan, Sheng-Guo; Liu, Qi; Zhang, Ya-Ting; Shao, Cheng-Gang; Luo, Jun

2009-09-01

Distribution of film thickness coated on the pendulum of measuring the Newton gravitational constant G is determined with a weighing method by means of a precision mass comparator. The experimental result shows that the gold film on the pendulum will contribute a correction of -24.3 ppm to our G measurement with an uncertainty of 4.3 ppm, which is significant for improving the G value with high precision.

Electronic system for the complex measurement of a Wilberforce pendulum

NASA Astrophysics Data System (ADS)

Kos, B.; Grodzicki, M.; Wasielewski, R.

2018-05-01

The authors present a novel application of a micro-electro-mechanical measurement system to the description of basic physical phenomena in a model Wilberforce pendulum. The composition of the kit includes a tripod with a mounted spring with freely hanging bob, a module GY-521 on the MPU 6050 coupled with an Arduino Uno, which in conjunction with a PC acts as measuring set. The system allows one to observe the swing of the pendulum in real time. Obtained data stays in good agreement with both theoretical predictions and previous works. The aim of this article is to introduce the study of a Wilberforce pendulum to the canon of physical laboratory exercises due to its interesting properties and multifaceted method of measurement.

Do Stress Trajectories Predict Mortality in Older Men? Longitudinal Findings from the VA Normative Aging Study

PubMed Central

Aldwin, Carolyn M.; Molitor, Nuoo-Ting; Avron, Spiro; Levenson, Michael R.; Molitor, John; Igarashi, Heidi

2011-01-01

We examined long-term patterns of stressful life events (SLE) and their impact on mortality contrasting two theoretical models: allostatic load (linear relationship) and hormesis (inverted U relationship) in 1443 NAS men (aged 41–87 in 1985; M = 60.30, SD = 7.3) with at least two reports of SLEs over 18 years (total observations = 7,634). Using a zero-inflated Poisson growth mixture model, we identified four patterns of SLE trajectories, three showing linear decreases over time with low, medium, and high intercepts, respectively, and one an inverted U, peaking at age 70. Repeating the analysis omitting two health-related SLEs yielded only the first three linear patterns. Compared to the low-stress group, both the moderate and the high-stress groups showed excess mortality, controlling for demographics and health behavior habits, HRs = 1.42 and 1.37, ps <.01 and <.05. The relationship between stress trajectories and mortality was complex and not easily explained by either theoretical model. PMID:21961066

An extended basis inexact shift-invert Lanczos for the efficient solution of large-scale generalized eigenproblems

NASA Astrophysics Data System (ADS)

Rewieński, M.; Lamecki, A.; Mrozowski, M.

2013-09-01

This paper proposes a technique, based on the Inexact Shift-Invert Lanczos (ISIL) method with Inexact Jacobi Orthogonal Component Correction (IJOCC) refinement, and a preconditioned conjugate-gradient (PCG) linear solver with multilevel preconditioner, for finding several eigenvalues for generalized symmetric eigenproblems. Several eigenvalues are found by constructing (with the ISIL process) an extended projection basis. Presented results of numerical experiments confirm the technique can be effectively applied to challenging, large-scale problems characterized by very dense spectra, such as resonant cavities with spatial dimensions which are large with respect to wavelengths of the resonating electromagnetic fields. It is also shown that the proposed scheme based on inexact linear solves delivers superior performance, as compared to methods which rely on exact linear solves, indicating tremendous potential of the 'inexact solve' concept. Finally, the scheme which generates an extended projection basis is found to provide a cost-efficient alternative to classical deflation schemes when several eigenvalues are computed.

Linear and nonlinear analysis of fluid slosh dampers

NASA Astrophysics Data System (ADS)

Sayar, B. A.; Baumgarten, J. R.

1982-11-01

A vibrating structure and a container partially filled with fluid are considered coupled in a free vibration mode. To simplify the mathematical analysis, a pendulum model to duplicate the fluid motion and a mass-spring dashpot representing the vibrating structure are used. The equations of motion are derived by Lagrange's energy approach and expressed in parametric form. For a wide range of parametric values the logarithmic decrements of the main system are calculated from theoretical and experimental response curves in the linear analysis. However, for the nonlinear analysis the theoretical and experimental response curves of the main system are compared. Theoretical predictions are justified by experimental observations with excellent agreement. It is concluded finally that for a proper selection of design parameters, containers partially filled with viscous fluids serve as good vibration dampers.

Use of Linear and Circular Polarization: The Secret LCD Screen and 3D Cinema

ERIC Educational Resources Information Center

Richtberg, Stefan; Girwidz, Raimund

2017-01-01

References to everyday life are important for teaching physics. Discussing polarization phenomena, liquid crystal displays (LCDs) and 3D cinemas provide such references. In this paper we describe experiments to support students' understanding of linearly polarized light as well as the phenomenon of inverted colors using a secret LCD screen.…

Bi-directional vibration control of offshore wind turbines using a 3D pendulum tuned mass damper

NASA Astrophysics Data System (ADS)

Sun, C.; Jahangiri, V.

2018-05-01

Offshore wind turbines suffer from excessive bi-directional vibrations due to wind-wave misalignment and vortex induced vibrations. However, most of existing research focus on unidirectional vibration attenuation which is inadequate for real applications. The present paper proposes a three dimensional pendulum tuned mass damper (3d-PTMD) to mitigate the tower and nacelle dynamic response in the fore-aft and side-side directions. An analytical model of the wind turbine coupled with the 3d-PTMD is established wherein the interaction between the blades, the tower and the 3d-PTMD is modeled. Aerodynamic loading is computed using the Blade Element Momentum method where the Prandtls tip loss factor and the Glauert correction are considered. JONSWAP spectrum is adopted to generate wave data. Wave loading is computed using Morisons equation in collaboration with the strip theory. Via a numerical search approach, the design formula of the 3d-PTMD is obtained and examined on a National Renewable Energy Lab (NREL) monopile 5 MW baseline wind turbine model under misaligned wind, wave and seismic loading. Dual linear tuned mass dampers (TMDs) deployed in the fore-aft and side-side directions are utilized for comparison. It is found that the 3d-PTMD with a mass ratio of 2 % can improve the mitigation of the root mean square and peak response by around 10 % when compared with the dual linear TMDs in controlling the bi-directional vibration of the offshore wind turbines under misaligned wind, wave and seismic loading.

Stability analysis via the concept of Lyapunov exponents: a case study in optimal controlled biped standing

NASA Astrophysics Data System (ADS)

Sun, Yuming; Wu, Christine Qiong

2012-12-01

Balancing control is important for biped standing. In spite of large efforts, it is very difficult to design balancing control strategies satisfying three requirements simultaneously: maintaining postural stability, improving energy efficiency and satisfying the constraints between the biped feet and the ground. In this article, a proportional-derivative (PD) controller is proposed for a standing biped, which is simplified as a two-link inverted pendulum with one additional rigid foot-link. The genetic algorithm (GA) is used to search for the control gain meeting all three requirements. The stability analysis of such a deterministic biped control system is carried out using the concept of Lyapunov exponents (LEs), based on which, the system stability, where the disturbance comes from the initial states, and the structural stability, where the disturbance comes from the PD gains, are examined quantitively in terms of stability region. This article contributes to the biped balancing control, more significantly, the method shown in the studied case of biped provides a general framework of systematic stability analysis for certain deterministic nonlinear dynamical systems.

Unstable footwear as a speed-dependent noise-based training gear to exercise inverted pendulum motion during walking.

PubMed

Dierick, Frédéric; Bouché, Anne-France; Scohier, Mikaël; Guille, Clément; Buisseret, Fabien

2018-05-15

Previous research on unstable footwear has suggested that it may induce mechanical noise during walking. The purpose of this study was to explore whether unstable footwear could be considered as a noise-based training gear to exercise body center of mass (CoM) motion during walking. Ground reaction forces were collected among 24 healthy young women walking at speeds between 3 and 6 km h -1 with control running shoes and unstable rocker-bottom shoes. The external mechanical work, the recovery of mechanical energy of the CoM during and within the step cycles, and the phase shift between potential and kinetic energy curves of the CoM were computed. Our findings support the idea that unstable rocker-bottom footwear could serve as a speed-dependent noise-based training gear to exercise CoM motion during walking. At slow speed, it acts as a stochastic resonance or facilitator that reduces external mechanical work; whereas at brisk speed it acts as a constraint that increases external mechanical work and could mimic a downhill slope.