motion simulation system: Topics by Science.gov

Sample records for motion simulation system

Simulation of a synergistic six-post motion system on the flight simulator for advanced aircraft at NASA-Ames

NASA Technical Reports Server (NTRS)

Bose, S. C.; Parris, B. L.

1977-01-01

Motion system drive philosophy and corresponding real-time software have been developed for the purpose of simulating the characteristics of a typical synergistic Six-Post Motion System (SPMS) on the Flight Simulator for Advanced Aircraft (FSAA) at NASA-Ames which is a non-synergistic motion system. This paper gives a brief description of these two types of motion systems and the general methods of producing motion cues of the FSAA. An actuator extension transformation which allows the simulation of a typical SPMS by appropriate drive washout and variable position limiting is described.
Vestibular models for design and evaluation of flight simulator motion

NASA Technical Reports Server (NTRS)

Bussolari, S. R.; Sullivan, R. B.; Young, L. R.

1986-01-01

The use of spatial orientation models in the design and evaluation of control systems for motion-base flight simulators is investigated experimentally. The development of a high-fidelity motion drive controller using an optimal control approach based on human vestibular models is described. The formulation and implementation of the optimal washout system are discussed. The effectiveness of the motion washout system was evaluated by studying the response of six motion washout systems to the NASA/AMES Vertical Motion Simulator for a single dash-quick-stop maneuver. The effects of the motion washout system on pilot performance and simulator acceptability are examined. The data reveal that human spatial orientation models are useful for the design and evaluation of flight simulator motion fidelity.
Concept verification of three dimensional free motion simulator for space robot

NASA Technical Reports Server (NTRS)

Okamoto, Osamu; Nakaya, Teruomi; Pokines, Brett

1994-01-01

In the development of automatic assembling technologies for space structures, it is an indispensable matter to investigate and simulate the movements of robot satellites concerned with mission operation. The movement investigation and simulation on the ground will be effectively realized by a free motion simulator. Various types of ground systems for simulating free motion have been proposed and utilized. Some of these methods are a neutral buoyancy system, an air or magnetic suspension system, a passive suspension balance system, and a free flying aircraft or drop tower system. In addition, systems can be simulated by computers using an analytical model. Each free motion simulation method has limitations and well known problems, specifically, disturbance by water viscosity, limited number of degrees-of-freedom, complex dynamics induced by the attachment of the simulation system, short experiment time, and the lack of high speed super-computer simulation systems, respectively. The basic idea presented here is to realize 3-dimensional free motion. This is achieved by combining a spherical air bearing, a cylindrical air bearing, and a flat air bearing. A conventional air bearing system has difficulty realizing free vertical motion suspension. The idea of free vertical suspension is that a cylindrical air bearing and counter balance weight realize vertical free motion. This paper presents a design concept, configuration, and basic performance characteristics of an innovative free motion simulator. A prototype simulator verifies the feasibility of 3-dimensional free motion simulation.
Simulation System Fidelity Assessment at the Vertical Motion Simulator

NASA Technical Reports Server (NTRS)

Beard, Steven D.; Reardon, Scott E.; Tobias, Eric L.; Aponso, Bimal L.

2013-01-01

Fidelity is a word that is often used but rarely understood when talking about groundbased simulation. Assessing the cueing fidelity of a ground based flight simulator requires a comparison to actual flight data either directly or indirectly. Two experiments were conducted at the Vertical Motion Simulator using the GenHel UH-60A Black Hawk helicopter math model that was directly compared to flight data. Prior to the experiment the simulator s motion and visual system frequency responses were measured, the aircraft math model was adjusted to account for the simulator motion system delays, and the motion system gains and washouts were tuned for the individual tasks. The tuned motion system fidelity was then assessed against the modified Sinacori criteria. The first experiments showed similar handling qualities ratings (HQRs) to actual flight for a bob-up and sidestep maneuvers. The second experiment showed equivalent HQRs between flight and simulation for the ADS33 slalom maneuver for the two pilot participants. The ADS33 vertical maneuver HQRs were mixed with one pilot rating the flight and simulation the same while the second pilot rated the simulation worse. In addition to recording HQRs on the second experiment, an experimental Simulation Fidelity Rating (SFR) scale developed by the University of Liverpool was tested for applicability to engineering simulators. A discussion of the SFR scale for use on the Vertical Motion Simulator is included in this paper.
Algorithm for Simulating Atmospheric Turbulence and Aeroelastic Effects on Simulator Motion Systems

NASA Technical Reports Server (NTRS)

Ercole, Anthony V.; Cardullo, Frank M.; Kelly, Lon C.; Houck, Jacob A.

2012-01-01

Atmospheric turbulence produces high frequency accelerations in aircraft, typically greater than the response to pilot input. Motion system equipped flight simulators must present cues representative of the aircraft response to turbulence in order to maintain the integrity of the simulation. Currently, turbulence motion cueing produced by flight simulator motion systems has been less than satisfactory because the turbulence profiles have been attenuated by the motion cueing algorithms. This report presents a new turbulence motion cueing algorithm, referred to as the augmented turbulence channel. Like the previous turbulence algorithms, the output of the channel only augments the vertical degree of freedom of motion. This algorithm employs a parallel aircraft model and an optional high bandwidth cueing filter. Simulation of aeroelastic effects is also an area where frequency content must be preserved by the cueing algorithm. The current aeroelastic implementation uses a similar secondary channel that supplements the primary motion cue. Two studies were conducted using the NASA Langley Visual Motion Simulator and Cockpit Motion Facility to evaluate the effect of the turbulence channel and aeroelastic model on pilot control input. Results indicate that the pilot is better correlated with the aircraft response, when the augmented channel is in place.
The Shuttle Mission Simulator computer generated imagery

NASA Technical Reports Server (NTRS)

Henderson, T. H.

1984-01-01

Equipment available in the primary training facility for the Space Transportation System (STS) flight crews includes the Fixed Base Simulator, the Motion Base Simulator, the Spacelab Simulator, and the Guidance and Navigation Simulator. The Shuttle Mission Simulator (SMS) consists of the Fixed Base Simulator and the Motion Base Simulator. The SMS utilizes four visual Computer Generated Image (CGI) systems. The Motion Base Simulator has a forward crew station with six-degrees of freedom motion simulation. Operation of the Spacelab Simulator is planned for the spring of 1983. The Guidance and Navigation Simulator went into operation in 1982. Aspects of orbital visual simulation are discussed, taking into account the earth scene, payload simulation, the generation and display of 1079 stars, the simulation of sun glare, and Reaction Control System jet firing plumes. Attention is also given to landing site visual simulation, and night launch and landing simulation.
High performance MRI simulations of motion on multi-GPU systems.

PubMed

Xanthis, Christos G; Venetis, Ioannis E; Aletras, Anthony H

2014-07-04

MRI physics simulators have been developed in the past for optimizing imaging protocols and for training purposes. However, these simulators have only addressed motion within a limited scope. The purpose of this study was the incorporation of realistic motion, such as cardiac motion, respiratory motion and flow, within MRI simulations in a high performance multi-GPU environment. Three different motion models were introduced in the Magnetic Resonance Imaging SIMULator (MRISIMUL) of this study: cardiac motion, respiratory motion and flow. Simulation of a simple Gradient Echo pulse sequence and a CINE pulse sequence on the corresponding anatomical model was performed. Myocardial tagging was also investigated. In pulse sequence design, software crushers were introduced to accommodate the long execution times in order to avoid spurious echoes formation. The displacement of the anatomical model isochromats was calculated within the Graphics Processing Unit (GPU) kernel for every timestep of the pulse sequence. Experiments that would allow simulation of custom anatomical and motion models were also performed. Last, simulations of motion with MRISIMUL on single-node and multi-node multi-GPU systems were examined. Gradient Echo and CINE images of the three motion models were produced and motion-related artifacts were demonstrated. The temporal evolution of the contractility of the heart was presented through the application of myocardial tagging. Better simulation performance and image quality were presented through the introduction of software crushers without the need to further increase the computational load and GPU resources. Last, MRISIMUL demonstrated an almost linear scalable performance with the increasing number of available GPU cards, in both single-node and multi-node multi-GPU computer systems. MRISIMUL is the first MR physics simulator to have implemented motion with a 3D large computational load on a single computer multi-GPU configuration. The incorporation of realistic motion models, such as cardiac motion, respiratory motion and flow may benefit the design and optimization of existing or new MR pulse sequences, protocols and algorithms, which examine motion related MR applications.
The Personal Motion Platform

NASA Technical Reports Server (NTRS)

Park, Brian Vandellyn

1993-01-01

The Neutral Body Posture experienced in microgravity creates a biomechanical equilibrium by enabling the internal forces within the body to find their own balance. A patented reclining chair based on this posture provides a minimal stress environment for interfacing with computer systems for extended periods. When the chair is mounted on a 3 or 6 axis motion platform, a generic motion simulator for simulated digital environments is created. The Personal Motion Platform provides motional feedback to the occupant in synchronization with their movements inside the digital world which enhances the simulation experience. Existing HMD based simulation systems can be integrated to the turnkey system. Future developments are discussed.
Strain System for the Motion Base Shuttle Mission Simulator

NASA Technical Reports Server (NTRS)

Huber, David C.; Van Vossen, Karl G.; Kunkel, Glenn W.; Wells, Larry W.

2010-01-01

The Motion Base Shuttle Mission Simulator (MBSMS) Strain System is an innovative engineering tool used to monitor the stresses applied to the MBSMS motion platform tilt pivot frames during motion simulations in real time. The Strain System comprises hardware and software produced by several different companies. The system utilizes a series of strain gages, accelerometers, orientation sensor, rotational meter, scanners, computer, and software packages working in unison. By monitoring and recording the inputs applied to the simulator, data can be analyzed if weld cracks or other problems are found during routine simulator inspections. This will help engineers diagnose problems as well as aid in repair solutions for both current as well as potential problems.
Developments in Human Centered Cueing Algorithms for Control of Flight Simulator Motion Systems

NASA Technical Reports Server (NTRS)

Houck, Jacob A.; Telban, Robert J.; Cardullo, Frank M.

1997-01-01

The authors conducted further research with cueing algorithms for control of flight simulator motion systems. A variation of the so-called optimal algorithm was formulated using simulated aircraft angular velocity input as a basis. Models of the human vestibular sensation system, i.e. the semicircular canals and otoliths, are incorporated within the algorithm. Comparisons of angular velocity cueing responses showed a significant improvement over a formulation using angular acceleration input. Results also compared favorably with the coordinated adaptive washout algorithm, yielding similar results for angular velocity cues while eliminating false cues and reducing the tilt rate for longitudinal cues. These results were confirmed in piloted tests on the current motion system at NASA-Langley, the Visual Motion Simulator (VMS). Proposed future developments by the authors in cueing algorithms are revealed. The new motion system, the Cockpit Motion Facility (CMF), where the final evaluation of the cueing algorithms will be conducted, is also described.
A review of flight simulation techniques

NASA Astrophysics Data System (ADS)

Baarspul, Max

After a brief historical review of the evolution of flight simulation techniques, this paper first deals with the main areas of flight simulator applications. Next, it describes the main components of a piloted flight simulator. Because of the presence of the pilot-in-the-loop, the digital computer driving the simulator must solve the aircraft equations of motion in ‘real-time’. Solutions to meet the high required computer power of todays modern flight simulator are elaborated. The physical similarity between aircraft and simulator in cockpit layout, flight instruments, flying controls etc., is discussed, based on the equipment and environmental cue fidelity required for training and research simulators. Visual systems play an increasingly important role in piloted flight simulation. The visual systems now available and most widely used are described, where image generators and display devices will be distinguished. The characteristics of out-of-the-window visual simulation systems pertaining to the perceptual capabilities of human vision are discussed. Faithful reproduction of aircraft motion requires large travel, velocity and acceleration capabilities of the motion system. Different types and applications of motion systems in e.g. airline training and research are described. The principles of motion cue generation, based on the characteristics of the non-visual human motion sensors, are described. The complete motion system, consisting of the hardware and the motion drive software, is discussed. The principles of mathematical modelling of the aerodynamic, flight control, propulsion, landing gear and environmental characteristics of the aircraft are reviewed. An example of the identification of an aircraft mathematical model, based on flight and taxi tests, is presented. Finally, the paper deals with the hardware and software integration of the flight simulator components and the testing and acceptance of the complete flight simulator. Examples of the so-called ‘Computer Generated Checkout’ and ‘Proof of Match’ are presented. The concluding remarks briefly summarize the status of flight simulator technology and consider possibilities for future research.
The use of vestibular models for design and evaluation of flight simulator motion

NASA Technical Reports Server (NTRS)

Bussolari, Steven R.; Young, Laurence R.; Lee, Alfred T.

1989-01-01

Quantitative models for the dynamics of the human vestibular system are applied to the design and evaluation of flight simulator platform motion. An optimal simulator motion control algorithm is generated to minimize the vector difference between perceived spatial orientation estimated in flight and in simulation. The motion controller has been implemented on the Vertical Motion Simulator at NASA Ames Research Center and evaluated experimentally through measurement of pilot performance and subjective rating during VTOL aircraft simulation. In general, pilot performance in a longitudinal tracking task (formation flight) did not appear to be sensitive to variations in platform motion condition as long as motion was present. However, pilot assessment of motion fidelity by means of a rating scale designed for this purpose, were sensitive to motion controller design. Platform motion generated with the optimal motion controller was found to be generally equivalent to that generated by conventional linear crossfeed washout. The vestibular models are used to evaluate the motion fidelity of transport category aircraft (Boeing 727) simulation in a pilot performance and simulator acceptability study at the Man-Vehicle Systems Research Facility at NASA Ames Research Center. Eighteen airline pilots, currently flying B-727, were given a series of flight scenarios in the simulator under various conditions of simulator motion. The scenarios were chosen to reflect the flight maneuvers that these pilots might expect to be given during a routine pilot proficiency check. Pilot performance and subjective rating of simulator fidelity was relatively insensitive to the motion condition, despite large differences in the amplitude of motion provided. This lack of sensitivity may be explained by means of the vestibular models, which predict little difference in the modeled motion sensations of the pilots when different motion conditions are imposed.
Model Predictive Control Based Motion Drive Algorithm for a Driving Simulator

NASA Astrophysics Data System (ADS)

Rehmatullah, Faizan

In this research, we develop a model predictive control based motion drive algorithm for the driving simulator at Toronto Rehabilitation Institute. Motion drive algorithms exploit the limitations of the human vestibular system to formulate a perception of motion within the constrained workspace of a simulator. In the absence of visual cues, the human perception system is unable to distinguish between acceleration and the force of gravity. The motion drive algorithm determines control inputs to displace the simulator platform, and by using the resulting inertial forces and angular rates, creates the perception of motion. By using model predictive control, we can optimize the use of simulator workspace for every maneuver while simulating the vehicle perception. With the ability to handle nonlinear constraints, the model predictive control allows us to incorporate workspace limitations.
Effects of visual and motion simulation cueing systems on pilot performance during takeoffs with engine failures

NASA Technical Reports Server (NTRS)

Parris, B. L.; Cook, A. M.

1978-01-01

Data are presented that show the effects of visual and motion during cueing on pilot performance during takeoffs with engine failures. Four groups of USAF pilots flew a simulated KC-135 using four different cueing systems. The most basic of these systems was of the instrument-only type. Visual scene simulation and/or motion simulation was added to produce the other systems. Learning curves, mean performance, and subjective data are examined. The results show that the addition of visual cueing results in significant improvement in pilot performance, but the combined use of visual and motion cueing results in far better performance.
Computer simulation of aircraft motions and propulsion system dynamics for the YF-12 aircraft at supersonic cruise conditions

NASA Technical Reports Server (NTRS)

Brown, S. C.

1973-01-01

A computer simulation of the YF-12 aircraft motions and propulsion system dynamics is presented. The propulsion system was represented in sufficient detail so that interactions between aircraft motions and the propulsion system dynamics could be investigated. Six degree-of-freedom aircraft motions together with the three-axis stability augmentation system were represented. The mixed compression inlets and their controls were represented in the started mode for a range of flow conditions up to the inlet unstart boundary. Effects of inlet moving geometry on aircraft forces and movements as well as effects of aircraft motions on the inlet behavior were simulated. The engines, which are straight subjects, were represented in the afterburning mode, with effects of changes in aircraft flight conditions included. The simulation was capable of operating in real time.
High performance MRI simulations of motion on multi-GPU systems

PubMed Central

2014-01-01

Background MRI physics simulators have been developed in the past for optimizing imaging protocols and for training purposes. However, these simulators have only addressed motion within a limited scope. The purpose of this study was the incorporation of realistic motion, such as cardiac motion, respiratory motion and flow, within MRI simulations in a high performance multi-GPU environment. Methods Three different motion models were introduced in the Magnetic Resonance Imaging SIMULator (MRISIMUL) of this study: cardiac motion, respiratory motion and flow. Simulation of a simple Gradient Echo pulse sequence and a CINE pulse sequence on the corresponding anatomical model was performed. Myocardial tagging was also investigated. In pulse sequence design, software crushers were introduced to accommodate the long execution times in order to avoid spurious echoes formation. The displacement of the anatomical model isochromats was calculated within the Graphics Processing Unit (GPU) kernel for every timestep of the pulse sequence. Experiments that would allow simulation of custom anatomical and motion models were also performed. Last, simulations of motion with MRISIMUL on single-node and multi-node multi-GPU systems were examined. Results Gradient Echo and CINE images of the three motion models were produced and motion-related artifacts were demonstrated. The temporal evolution of the contractility of the heart was presented through the application of myocardial tagging. Better simulation performance and image quality were presented through the introduction of software crushers without the need to further increase the computational load and GPU resources. Last, MRISIMUL demonstrated an almost linear scalable performance with the increasing number of available GPU cards, in both single-node and multi-node multi-GPU computer systems. Conclusions MRISIMUL is the first MR physics simulator to have implemented motion with a 3D large computational load on a single computer multi-GPU configuration. The incorporation of realistic motion models, such as cardiac motion, respiratory motion and flow may benefit the design and optimization of existing or new MR pulse sequences, protocols and algorithms, which examine motion related MR applications. PMID:24996972
Flight simulator requirements for airline transport pilot training - An evaluation of motion system design alternatives

NASA Technical Reports Server (NTRS)

Lee, A. T.; Bussolari, S. R.

1986-01-01

The effect of motion platform systems on pilot behavior is considered with emphasis placed on civil aviation applications. A dynamic model for human spatial orientation based on the physiological structure and function of the human vestibular system is presented. Motion platform alternatives were evaluated on the basis of the following motion platform conditions: motion with six degrees-of-freedom required for Phase II simulators and two limited motion conditions. Consideration was given to engine flameout, airwork, and approach and landing scenarios.
Motion Systems Role in Flight Simulators for Flying Training. Final Report for Period June 1977-June 1978.

ERIC Educational Resources Information Center

Cyrus, Michael L.

This report reviews the literature as it relates to the use of platform motion systems in flight simulators for flying training. Motion is discussed in terms of its effect on compensatory, pursuit, and precognitive tasks, within both the simulator and transfer contexts. Although both skilled and unskilled behaviors are addressed, the former are…
Vertical motion simulator familiarization guide

NASA Technical Reports Server (NTRS)

Danek, George L.

1993-01-01

The Vertical Motion Simulator Familiarization Guide provides a synoptic description of the Vertical Motion Simulator (VMS) and descriptions of the various simulation components and systems. The intended audience is the community of scientists and engineers who employ the VMS for research and development. The concept of a research simulator system is introduced and the building block nature of the VMS is emphasized. Individual sections describe all the hardware elements in terms of general properties and capabilities. Also included are an example of a typical VMS simulation which graphically illustrates the composition of the system and shows the signal flow among the elements and a glossary of specialized terms, abbreviations, and acronyms.
Control of joint motion simulators for biomechanical research

NASA Technical Reports Server (NTRS)

Colbaugh, R.; Glass, K.

1992-01-01

The authors present a hierarchical adaptive algorithm for controlling upper extremity human joint motion simulators. A joint motion simulator is a computer-controlled, electromechanical system which permits the application of forces to the tendons of a human cadaver specimen in such a way that the cadaver joint under study achieves a desired motion in a physiologic manner. The proposed control scheme does not require knowledge of the cadaver specimen dynamic model, and solves on-line the indeterminate problem which arises because human joints typically possess more actuators than degrees of freedom. Computer simulation results are given for an elbow/forearm system and wrist/hand system under hierarchical control. The results demonstrate that any desired normal joint motion can be accurately tracked with the proposed algorithm. These simulation results indicate that the controller resolved the indeterminate problem redundancy in a physiologic manner, and show that the control scheme was robust to parameter uncertainty and to sensor noise.

Helicopter flight simulation motion platform requirements

NASA Astrophysics Data System (ADS)

Schroeder, Jeffery Allyn

Flight simulators attempt to reproduce in-flight pilot-vehicle behavior on the ground. This reproduction is challenging for helicopter simulators, as the pilot is often inextricably dependent on external cues for pilot-vehicle stabilization. One important simulator cue is platform motion; however, its required fidelity is unknown. To determine the required motion fidelity, several unique experiments were performed. A large displacement motion platform was used that allowed pilots to fly tasks with matched motion and visual cues. Then, the platform motion was modified to give cues varying from full motion to no motion. Several key results were found. First, lateral and vertical translational platform cues had significant effects on fidelity. Their presence improved performance and reduced pilot workload. Second, yaw and roll rotational platform cues were not as important as the translational platform cues. In particular, the yaw rotational motion platform cue did not appear at all useful in improving performance or reducing workload. Third, when the lateral translational platform cue was combined with visual yaw rotational cues, pilots believed the platform was rotating when it was not. Thus, simulator systems can be made more efficient by proper combination of platform and visual cues. Fourth, motion fidelity specifications were revised that now provide simulator users with a better prediction of motion fidelity based upon the frequency responses of their motion control laws. Fifth, vertical platform motion affected pilot estimates of steady-state altitude during altitude repositionings. This refutes the view that pilots estimate altitude and altitude rate in simulation solely from visual cues. Finally, the combined results led to a general method for configuring helicopter motion systems and for developing simulator tasks that more likely represent actual flight. The overall results can serve as a guide to future simulator designers and to today's operators.
A Simulation Study of a Radiofrequency Localization System for Tracking Patient Motion in Radiotherapy.

PubMed

Ostyn, Mark; Kim, Siyong; Yeo, Woon-Hong

2016-04-13

One of the most widely used tools in cancer treatment is external beam radiotherapy. However, the major risk involved in radiotherapy is excess radiation dose to healthy tissue, exacerbated by patient motion. Here, we present a simulation study of a potential radiofrequency (RF) localization system designed to track intrafraction motion (target motion during the radiation treatment). This system includes skin-wearable RF beacons and an external tracking system. We develop an analytical model for direction of arrival measurement with radio frequencies (GHz range) for use in a localization estimate. We use a Monte Carlo simulation to investigate the relationship between a localization estimate and angular resolution of sensors (signal receivers) in a simulated room. The results indicate that the external sensor needs an angular resolution of about 0.03 degrees to achieve millimeter-level localization accuracy in a treatment room. This fundamental study of a novel RF localization system offers the groundwork to design a radiotherapy-compatible patient positioning system for active motion compensation.
Visually guided control of movement in the context of multimodal stimulation

NASA Technical Reports Server (NTRS)

Riccio, Gary E.

1991-01-01

Flight simulation has been almost exclusively concerned with simulating the motions of the aircraft. Physically distinct subsystems are often combined to simulate the varieties of aircraft motion. Visual display systems simulate the motion of the aircraft relative to remote objects and surfaces (e.g., other aircraft and the terrain). 'Motion platform' simulators recreate aircraft motion relative to the gravitoinertial vector (i.e., correlated rotation and tilt as opposed to the 'coordinated turn' in flight). 'Control loaders' attempt to simulate the resistance of the aerodynamic medium to aircraft motion. However, there are few operational systems that attempt to simulate the motion of the pilot relative to the aircraft and the gravitoinertial vector. The design and use of all simulators is limited by poor understanding of postural control in the aircraft and its effect on the perception and control of flight. Analysis of the perception and control of flight (real or simulated) must consider that: (1) the pilot is not rigidly attached to the aircraft; and (2) the pilot actively monitors and adjusts body orientation and configuration in the aircraft. It is argued that this more complete approach to flight simulation requires that multimodal perception be considered as the rule rather than the exception. Moreover, the necessity of multimodal perception is revealed by emphasizing the complementarity rather than the redundancy among perceptual systems. Finally, an outline is presented for an experiment to be conducted at NASA ARC. The experiment explicitly considers possible consequences of coordination between postural and vehicular control.
Description and performance of the Langley differential maneuvering simulator

NASA Technical Reports Server (NTRS)

Ashworth, B. R.; Kahlbaum, W. M., Jr.

1973-01-01

The differential maneuvering simulator for simulating two aircraft or spacecraft operating in a differential mode is described. Tests made to verify that the system could provide the required simulated aircraft motions are given. The mathematical model which converts computed aircraft motions into the required motions of the various projector gimbals is described.
Future directions in flight simulation: A user perspective

NASA Technical Reports Server (NTRS)

Jackson, Bruce

1993-01-01

Langley Research Center was an early leader in simulation technology, including a special emphasis in space vehicle simulations such as the rendezvous and docking simulator for the Gemini program and the lunar landing simulator used before Apollo. In more recent times, Langley operated the first synergistic six degree of freedom motion platform (the Visual Motion Simulator, or VMS) and developed the first dual-dome air combat simulator, the Differential Maneuvering Simulator (DMS). Each Langley simulator was developed more or less independently from one another with different programming support. At present time, the various simulation cockpits, while supported by the same host computer system, run dissimilar software. The majority of recent investments in Langley's simulation facilities have been hardware procurements: host processors, visual systems, and most recently, an improved motion system. Investments in software improvements, however, have not been of the same order.
Simulator certification methods and the vertical motion simulator

NASA Technical Reports Server (NTRS)

Showalter, T. W.

1981-01-01

The vertical motion simulator (VMS) is designed to simulate a variety of experimental helicopter and STOL/VTOL aircraft as well as other kinds of aircraft with special pitch and Z axis characteristics. The VMS includes a large motion base with extensive vertical and lateral travel capabilities, a computer generated image visual system, and a high speed CDC 7600 computer system, which performs aero model calculations. Guidelines on how to measure and evaluate VMS performance were developed. A survey of simulation users was conducted to ascertain they evaluated and certified simulators for use. The results are presented.
Simulating the dynamic interaction of a robotic arm and the Space Shuttle remote manipulator system. M.S. Thesis - George Washington Univ., Dec. 1994

NASA Technical Reports Server (NTRS)

Garrahan, Steven L.; Tolson, Robert H.; Williams, Robert L., II

1995-01-01

Industrial robots are usually attached to a rigid base. Placing the robot on a compliant base introduces dynamic coupling between the two systems. The Vehicle Emulation System (VES) is a six DOF platform that is capable of modeling this interaction. The VES employs a force-torque sensor as the interface between robot and base. A computer simulation of the VES is presented. Each of the hardware and software components is described and Simulink is used as the programming environment. The simulation performance is compared with experimental results to validate accuracy. A second simulation which models the dynamic interaction of a robot and a flexible base acts as a comparison to the simulated motion of the VES. Results are presented that compare the simulated VES motion with the motion of the VES hardware using the same admittance model. The two computer simulations are compared to determine how well the VES is expected to emulate the desired motion. Simulation results are given for robots mounted to the end effector of the Space Shuttle Remote Manipulator System (SRMS). It is shown that for fast motions of the two robots studied, the SRMS experiences disturbances on the order of centimeters. Larger disturbances are possible if different manipulators are used.
Conceptual design study of a visual system for a rotorcraft simulator and some advances in platform motion utilization

NASA Technical Reports Server (NTRS)

Sinacori, J. B.

1980-01-01

A conceptual design of a visual system for a rotorcraft flight simulator is presented. Also, drive logic elements for a coupled motion base for such a simulator are given. The design is the result of an assessment of many potential arrangements of electro-optical elements and is a concept considered feasible for the application. The motion drive elements represent an example logic for a coupled motion base and is essentially an appeal to the designers of such logic to combine their washout and braking functions.
Helicopter Flight Simulation Motion Platform Requirements

NASA Technical Reports Server (NTRS)

Schroeder, Jeffery Allyn

1999-01-01

To determine motion fidelity requirements, a series of piloted simulations was performed. Several key results were found. First, lateral and vertical translational platform cues had significant effects on fidelity. Their presence improved performance and reduced pilot workload. Second, yaw and roll rotational platform cues were not as important as the translational platform cues. In particular, the yaw rotational motion platform cue did not appear at all useful in improving performance or reducing workload. Third, when the lateral translational platform cue was combined with visual yaw rotational cues, pilots believed the platform was rotating when it was not. Thus, simulator systems can be made more efficient by proper combination of platform and visual cues. Fourth, motion fidelity specifications were revised that now provide simulator users with a better prediction of motion fidelity based upon the frequency responses of their motion control laws. Fifth, vertical platform motion affected pilot estimates of steady-state altitude during altitude repositioning. Finally, the combined results led to a general method for configuring helicopter motion systems and for developing simulator tasks that more likely represent actual flight. The overall results can serve as a guide to future simulator designers and to today's operators.
Three axis electronic flight motion simulator real time control system design and implementation

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

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

2014-12-15

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

PubMed

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

2014-12-01

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

NASA Astrophysics Data System (ADS)

Guo, Xiao-xiao; Dong, Deng-feng; Zhou, Wei-hu

2017-10-01

Based on Programmable Multi-axes Controller (PMAC), a design of a multi axis motion control system for the simulator of spatial targets' dynamic optical properties is proposed. According to analysis the properties of spatial targets' simulator motion control system, using IPC as the main control layer, TurboPMAC2 as the control layer to meet coordinated motion control, data acquisition and analog output. A simulator using 5 servomotors which is connected with speed reducers to drive the output axis was implemented to simulate the motion of both the sun and the space target. Based on PMAC using PID and a notch filter algorithm, negative feedback, the speed and acceleration feed forward algorithm to satisfy the axis' requirements of the good stability and high precision at low speeds. In the actual system, it shows that the velocity precision is higher than 0.04 s ° and the precision of repetitive positioning is better than 0.006° when each axis is at a low-speed. Besides, the system achieves the control function of multi axis coordinated motion. The design provides an important technical support for detecting spatial targets, also promoting the theoretical research.
The SCEC Broadband Platform: Open-Source Software for Strong Ground Motion Simulation and Validation

NASA Astrophysics Data System (ADS)

Silva, F.; Goulet, C. A.; Maechling, P. J.; Callaghan, S.; Jordan, T. H.

2016-12-01

The Southern California Earthquake Center (SCEC) Broadband Platform (BBP) is a carefully integrated collection of open-source scientific software programs that can simulate broadband (0-100 Hz) ground motions for earthquakes at regional scales. The BBP can run earthquake rupture and wave propagation modeling software to simulate ground motions for well-observed historical earthquakes and to quantify how well the simulated broadband seismograms match the observed seismograms. The BBP can also run simulations for hypothetical earthquakes. In this case, users input an earthquake location and magnitude description, a list of station locations, and a 1D velocity model for the region of interest, and the BBP software then calculates ground motions for the specified stations. The BBP scientific software modules implement kinematic rupture generation, low- and high-frequency seismogram synthesis using wave propagation through 1D layered velocity structures, several ground motion intensity measure calculations, and various ground motion goodness-of-fit tools. These modules are integrated into a software system that provides user-defined, repeatable, calculation of ground-motion seismograms, using multiple alternative ground motion simulation methods, and software utilities to generate tables, plots, and maps. The BBP has been developed over the last five years in a collaborative project involving geoscientists, earthquake engineers, graduate students, and SCEC scientific software developers. The SCEC BBP software released in 2016 can be compiled and run on recent Linux and Mac OS X systems with GNU compilers. It includes five simulation methods, seven simulation regions covering California, Japan, and Eastern North America, and the ability to compare simulation results against empirical ground motion models (aka GMPEs). The latest version includes updated ground motion simulation methods, a suite of new validation metrics and a simplified command line user interface.
The motions of hinged-barge systems in regular seas

NASA Astrophysics Data System (ADS)

Kraemer, David Robert Burke

Harnessing the oceans' vast, clean, and renewable energy to do useful work is a tempting prospect. For over a century, wave-energy conversion devices have been proposed, but none has emerged as a clearly practical and economical solution. One promising system is the McCabe Wave Pump (MWP), an articulated-barge system consisting of three barges hinged together with a large horizontal plate attached below the central barge. Water pumps are driven by the relative pitching motions of the barges excited by ocean waves. This high-pressure water can be used to produce potable water or electricity. A simulation of the motions of a generic hinged-barge system is developed. The equations of motion are developed so that the nonlinear interactions between the barges are included. The simulation is general so that it can be used to study other hinged-barge systems, such as causeway ferry systems or floating airports. The simulation is used to predict the motions of a scale model that was studied in wave-tank experiments. In the experimental study, it was observed that the plate attached to the central barge acted as a pendulum. It was also observed that the phases of the pitching motions of the barges was such that the motions were enhanced by the pendulum effect at all of the wave periods studied. Hence, the increased angular displacements produced greater relative pitching motions which would lead to higher volume rates of pumped water in the operational system. The numerical simulations are found to predict the pendulum effect. In addition, the theory predicted that the after barge motions were significantly less than those of the forward barge, as was observed in the experimental study. The good agreement between the two data sets gives confidence in the ability of the theory to predict the performance of the MWP prototype. The motions of the MWP prototype in regular ocean waves are predicted by the simulation, and its performance is calculated. By modifying the length of the system to be compatible with the wavelength for maximum pitching excitation, the power output of the system is shown to increase by more than 150%.
Feasibility and concept study to convert the NASA/AMES vertical motion simulator to a helicopter simulator

NASA Technical Reports Server (NTRS)

Belsterling, C. A.; Chou, R. C.; Davies, E. G.; Tsui, K. C.

1978-01-01

The conceptual design for converting the vertical motion simulator (VMS) to a multi-purpose aircraft and helicopter simulator is presented. A unique, high performance four degrees of freedom (DOF) motion system was developed to permanently replace the present six DOF synergistic system. The new four DOF system has the following outstanding features: (1) will integrate with the two large VMS translational modes and their associated subsystems; (2) can be converted from helicopter to fixed-wing aircraft simulation through software changes only; (3) interfaces with an advanced cab/visual display system of large dimensions; (4) makes maximum use of proven techniques, convenient materials and off-the-shelf components; (5) will operate within the existing building envelope without modifications; (6) can be built within the specified weight limit and avoid compromising VMS performance; (7) provides maximum performance with a minimum of power consumption; (8) simple design minimizes coupling between motions and maximizes reliability; and (9) can be built within existing budgetary figures.
The effects of motion and g-seat cues on pilot simulator performance of three piloting tasks

NASA Technical Reports Server (NTRS)

Showalter, T. W.; Parris, B. L.

1980-01-01

Data are presented that show the effects of motion system cues, g-seat cues, and pilot experience on pilot performance during takeoffs with engine failures, during in-flight precision turns, and during landings with wind shear. Eight groups of USAF pilots flew a simulated KC-135 using four different cueing systems. The basic cueing system was a fixed-base type (no-motion cueing) with visual cueing. The other three systems were produced by the presence of either a motion system or a g-seat, or both. Extensive statistical analysis of the data was performed and representative performance means were examined. These data show that the addition of motion system cueing results in significant improvement in pilot performance for all three tasks; however, the use of g-seat cueing, either alone or in conjunction with the motion system, provides little if any performance improvement for these tasks and for this aircraft type.
Application of nonlinear adaptive motion washout to transport ground-handling simulation

NASA Technical Reports Server (NTRS)

Parrish, R. V.; Martin, D. J., Jr.

1983-01-01

The application of a nonlinear coordinated adaptive motion washout to the transport ground-handling environment is documented. Additions to both the aircraft math model and the motion washout system are discussed. The additions to the simulated-aircraft math model provided improved modeling fidelity for braking and reverse-thrust application, and the additions to the motion-base washout system allowed transition from the desired flight parameters to the less restrictive ground parameters of the washout.
The Influence of Motion Cues on Driver-Vehicle Performance in a Simulator

NASA Technical Reports Server (NTRS)

Repa, B. S.; Leucht, P. M.; Wierwille, W. W.

1981-01-01

Four different motion base configurations were studied on driving simulator. Differently responding vehicles were simulated on each motion configurations and the effects of the vehicle characteristics on driver vehicle system performance, driver control activity, and driver opinion ratings of vehicle performance during driving are compared for different motion configurations. Data show that: (1)) the effects of changes in vehicle characteristics on the different objective and subjective measures of driver vehicle performance are not disguised by the lack of physical motion; (2) fixed base simulator can be used to draw inferences despite the lack of motion; (3) the presence of motion tends to reduce path keeping errors and driver control activity; (4) roll and yaw motions are recommended because of their marked influence on driver vehicle performance (5) the importance of motion increases as the driving maneuvers become more extreme.
Assessing the Benefits and Costs of Motion for C-17 Flight Simulators: Technical Appendixes.

DTIC Science & Technology

1986-06-01

Conference, NAECON, 1983. 4’ U-. - 182 - Instructional System Development, AF Manual 50-2, USAF, May 25, 1979. Irish , P.A., and G.H. Buckland, "Effects of...control augmentation system ; (4) the fidelity of different siirulator motion cueing alternatives; (5) a suggested methodology for assessinq the...evaluating the benefits and costs of incorporating motion systems in C-17 transport aircraft flight simulators and in developing a general framework
The 3-axis Dynamic Motion Simulator (DMS) system

NASA Technical Reports Server (NTRS)

1975-01-01

A three-axis dynamic motion simulator (DMS) consisting of a test table with three degrees of freedom and an electronics control system was designed, constructed, delivered, and tested. Documentation, as required in the Data Requirements List (DRL), was also provided.

Simulation validation of the XV-15 tilt-rotor research aircraft

NASA Technical Reports Server (NTRS)

Ferguson, S. W.; Hanson, G. D.; Churchill, G. B.

1984-01-01

The results of a simulation validation program of the XV-15 tilt-rotor research aircraft are detailed, covering such simulation aspects as the mathematical model, visual system, motion system, cab aural system, cab control loader system, pilot perceptual fidelity, and generic tilt rotor applications. Simulation validation was performed for the hover, low-speed, and sideward flight modes, with consideration of the in-ground rotor effect. Several deficiencies of the mathematical model and the simulation systems were identified in the course of the simulation validation project, and some were corrected. It is noted that NASA's Vertical Motion Simulator used in the program is an excellent tool for tilt-rotor and rotorcraft design, development, and pilot training.
Rotorcraft Research at the NASA Vertical Motion Simulator

NASA Technical Reports Server (NTRS)

Aponso, Bimal Lalith; Tran, Duc T.; Schroeder, Jeffrey A.

2009-01-01

In the 1970 s the role of the military helicopter evolved to encompass more demanding missions including low-level nap-of-the-earth flight and operation in severely degraded visual environments. The Vertical Motion Simulator (VMS) at the NASA Ames Research Center was built to provide a high-fidelity simulation capability to research new rotorcraft concepts and technologies that could satisfy these mission requirements. The VMS combines a high-fidelity large amplitude motion system with an adaptable simulation environment including interchangeable and configurable cockpits. In almost 30 years of operation, rotorcraft research on the VMS has contributed significantly to the knowledge-base on rotorcraft performance, handling qualities, flight control, and guidance and displays. These contributions have directly benefited current rotorcraft programs and flight safety. The high fidelity motion system in the VMS was also used to research simulation fidelity. This research provided a fundamental understanding of pilot cueing modalities and their effect on simulation fidelity.
Monitoring internal organ motion with continuous wave radar in CT.

PubMed

Pfanner, Florian; Maier, Joscha; Allmendinger, Thomas; Flohr, Thomas; Kachelrieß, Marc

2013-09-01

To avoid motion artifacts in medical imaging or to minimize the exposure of healthy tissues in radiation therapy, medical devices are often synchronized with the patient's respiratory motion. Today's respiratory motion monitors require additional effort to prepare the patients, e.g., mounting a motion belt or placing an optical reflector on the patient's breast. Furthermore, they are not able to measure internal organ motion without implanting markers. An interesting alternative to assess the patient's organ motion is continuous wave radar. The aim of this work is to design, implement, and evaluate such a radar system focusing on application in CT. The authors designed a radar system operating in the 860 MHz band to monitor the patient motion. In the intended application of the radar system, the antennas are located close to the patient's body inside the table of a CT system. One receive and four transmitting antennas are used to avoid the requirement of exact patient positioning. The radar waves propagate into the patient's body and are reflected at tissue boundaries, for example at the borderline between muscle and adipose tissue, or at the boundaries of organs. At present, the authors focus on the detection of respiratory motion. The radar system consists of the hardware mentioned above as well as of dedicated signal processing software to extract the desired information from the radar signal. The system was evaluated using simulations and measurements. To simulate the radar system, a simulation model based on radar and wave field equations was designed and 4D respiratory-gated CT data sets were used as input. The simulated radar signals and the measured data were processed in the same way. The radar system hardware and the signal processing algorithms were tested with data from ten volunteers. As a reference, the respiratory motion signal was recorded using a breast belt simultaneously with the radar measurements. Concerning the measurements of the test persons, there is a very good correlation (ρ = 0.917) between the respiratory motion phases received by the radar system and the external motion monitor. Our concept of using an array of transmitting antennas turned out to be widely insensitive to the positioning of the test persons. A time shift between the respiratory motion curves recorded with the radar system and the motion curves from the external respiratory monitor was observed which indicates a slight difference between internal organ motion and motion detected by the external respiratory monitor. The simulations were in good accordance with the measurements. A continuous wave radar operating in the near field of the antennas can be used to determine the respiratory motion of humans accurately. In contrast to trigger systems used today, the radar system is able to measure motion inside the body. If such a monitor was routinely available in clinical CT, it would be possible optimizing the scan start with respect to the respiratory state of the patient. Breathing commands would potentially widely be avoided, and as far as uncooperative patients or children are concerned, less sedation might be necessary. Further applications of the radar system could be in radiation therapy or interventional imaging for instance.
Training value of a fixed-based flight simulator with a dynamic seat

DOT National Transportation Integrated Search

2007-08-20

In this paper, we first explain that pilots experience airplane motion via multiple perceptual systems, which makes motion a candidate for simulation via stimulation of only a subset of these systems. Next, we discuss the relative merit of vestibular...
Astronomy Simulation with Computer Graphics.

ERIC Educational Resources Information Center

Thomas, William E.

1982-01-01

"Planetary Motion Simulations" is a system of programs designed for students to observe motions of a superior planet (one whose orbit lies outside the orbit of the earth). Programs run on the Apple II microcomputer and employ high-resolution graphics to present the motions of Saturn. (Author/JN)
The SCEC Broadband Platform: Open-Source Software for Strong Ground Motion Simulation and Validation

NASA Astrophysics Data System (ADS)

Goulet, C.; Silva, F.; Maechling, P. J.; Callaghan, S.; Jordan, T. H.

2015-12-01

The Southern California Earthquake Center (SCEC) Broadband Platform (BBP) is a carefully integrated collection of open-source scientific software programs that can simulate broadband (0-100Hz) ground motions for earthquakes at regional scales. The BBP scientific software modules implement kinematic rupture generation, low and high-frequency seismogram synthesis using wave propagation through 1D layered velocity structures, seismogram ground motion amplitude calculations, and goodness of fit measurements. These modules are integrated into a software system that provides user-defined, repeatable, calculation of ground motion seismograms, using multiple alternative ground motion simulation methods, and software utilities that can generate plots, charts, and maps. The BBP has been developed over the last five years in a collaborative scientific, engineering, and software development project involving geoscientists, earthquake engineers, graduate students, and SCEC scientific software developers. The BBP can run earthquake rupture and wave propagation modeling software to simulate ground motions for well-observed historical earthquakes and to quantify how well the simulated broadband seismograms match the observed seismograms. The BBP can also run simulations for hypothetical earthquakes. In this case, users input an earthquake location and magnitude description, a list of station locations, and a 1D velocity model for the region of interest, and the BBP software then calculates ground motions for the specified stations. The SCEC BBP software released in 2015 can be compiled and run on recent Linux systems with GNU compilers. It includes 5 simulation methods, 7 simulation regions covering California, Japan, and Eastern North America, the ability to compare simulation results against GMPEs, updated ground motion simulation methods, and a simplified command line user interface.
Method and System for Physiologically Modulating Videogames and Simulations which Use Gesture and Body Image Sensing Control Input Devices

NASA Technical Reports Server (NTRS)

Pope, Alan T. (Inventor); Stephens, Chad L. (Inventor); Habowski, Tyler (Inventor)

2017-01-01

Method for physiologically modulating videogames and simulations includes utilizing input from a motion-sensing video game system and input from a physiological signal acquisition device. The inputs from the physiological signal sensors are utilized to change the response of a user's avatar to inputs from the motion-sensing sensors. The motion-sensing system comprises a 3D sensor system having full-body 3D motion capture of a user's body. This arrangement encourages health-enhancing physiological self-regulation skills or therapeutic amplification of healthful physiological characteristics. The system provides increased motivation for users to utilize biofeedback as may be desired for treatment of various conditions.
Zero-gravity movement studies

NASA Technical Reports Server (NTRS)

Badler, N. I.; Fishwick, P.; Taft, N.; Agrawala, M.

1985-01-01

The use of computer graphics to simulate the movement of articulated animals and mechanisms has a number of uses ranging over many fields. Human motion simulation systems can be useful in education, medicine, anatomy, physiology, and dance. In biomechanics, computer displays help to understand and analyze performance. Simulations can be used to help understand the effect of external or internal forces. Similarly, zero-gravity simulation systems should provide a means of designing and exploring the capabilities of hypothetical zero-gravity situations before actually carrying out such actions. The advantage of using a simulation of the motion is that one can experiment with variations of a maneuver before attempting to teach it to an individual. The zero-gravity motion simulation problem can be divided into two broad areas: human movement and behavior in zero-gravity, and simulation of articulated mechanisms.
Video-Based Method of Quantifying Performance and Instrument Motion During Simulated Phonosurgery

PubMed Central

Conroy, Ellen; Surender, Ketan; Geng, Zhixian; Chen, Ting; Dailey, Seth; Jiang, Jack

2015-01-01

Objectives/Hypothesis To investigate the use of the Video-Based Phonomicrosurgery Instrument Tracking System to collect instrument position data during simulated phonomicrosurgery and calculate motion metrics using these data. We used this system to determine if novice subject motion metrics improved over 1 week of training. Study Design Prospective cohort study. Methods Ten subjects performed simulated surgical tasks once per day for 5 days. Instrument position data were collected and used to compute motion metrics (path length, depth perception, and motion smoothness). Data were analyzed to determine if motion metrics improved with practice time. Task outcome was also determined each day, and relationships between task outcome and motion metrics were used to evaluate the validity of motion metrics as indicators of surgical performance. Results Significant decreases over time were observed for path length (P <.001), depth perception (P <.001), and task outcome (P <.001). No significant change was observed for motion smoothness. Significant relationships were observed between task outcome and path length (P <.001), depth perception (P <.001), and motion smoothness (P <.001). Conclusions Our system can estimate instrument trajectory and provide quantitative descriptions of surgical performance. It may be useful for evaluating phonomicrosurgery performance. Path length and depth perception may be particularly useful indicators. PMID:24737286
Effects of Spatio-Temporal Aliasing on Out-the-Window Visual Systems

NASA Technical Reports Server (NTRS)

Sweet, Barbara T.; Stone, Leland S.; Liston, Dorion B.; Hebert, Tim M.

2014-01-01

Designers of out-the-window visual systems face a challenge when attempting to simulate the outside world as viewed from a cockpit. Many methodologies have been developed and adopted to aid in the depiction of particular scene features, or levels of static image detail. However, because aircraft move, it is necessary to also consider the quality of the motion in the simulated visual scene. When motion is introduced in the simulated visual scene, perceptual artifacts can become apparent. A particular artifact related to image motion, spatiotemporal aliasing, will be addressed. The causes of spatio-temporal aliasing will be discussed, and current knowledge regarding the impact of these artifacts on both motion perception and simulator task performance will be reviewed. Methods of reducing the impact of this artifact are also addressed
Monitoring internal organ motion with continuous wave radar in CT

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

Pfanner, Florian; Maier, Joscha; Allmendinger, Thomas

Purpose: To avoid motion artifacts in medical imaging or to minimize the exposure of healthy tissues in radiation therapy, medical devices are often synchronized with the patient's respiratory motion. Today's respiratory motion monitors require additional effort to prepare the patients, e.g., mounting a motion belt or placing an optical reflector on the patient's breast. Furthermore, they are not able to measure internal organ motion without implanting markers. An interesting alternative to assess the patient's organ motion is continuous wave radar. The aim of this work is to design, implement, and evaluate such a radar system focusing on application in CT.Methods:more » The authors designed a radar system operating in the 860 MHz band to monitor the patient motion. In the intended application of the radar system, the antennas are located close to the patient's body inside the table of a CT system. One receive and four transmitting antennas are used to avoid the requirement of exact patient positioning. The radar waves propagate into the patient's body and are reflected at tissue boundaries, for example at the borderline between muscle and adipose tissue, or at the boundaries of organs. At present, the authors focus on the detection of respiratory motion. The radar system consists of the hardware mentioned above as well as of dedicated signal processing software to extract the desired information from the radar signal. The system was evaluated using simulations and measurements. To simulate the radar system, a simulation model based on radar and wave field equations was designed and 4D respiratory-gated CT data sets were used as input. The simulated radar signals and the measured data were processed in the same way. The radar system hardware and the signal processing algorithms were tested with data from ten volunteers. As a reference, the respiratory motion signal was recorded using a breast belt simultaneously with the radar measurements.Results: Concerning the measurements of the test persons, there is a very good correlation (ρ= 0.917) between the respiratory motion phases received by the radar system and the external motion monitor. Our concept of using an array of transmitting antennas turned out to be widely insensitive to the positioning of the test persons. A time shift between the respiratory motion curves recorded with the radar system and the motion curves from the external respiratory monitor was observed which indicates a slight difference between internal organ motion and motion detected by the external respiratory monitor. The simulations were in good accordance with the measurements.Conclusions: A continuous wave radar operating in the near field of the antennas can be used to determine the respiratory motion of humans accurately. In contrast to trigger systems used today, the radar system is able to measure motion inside the body. If such a monitor was routinely available in clinical CT, it would be possible optimizing the scan start with respect to the respiratory state of the patient. Breathing commands would potentially widely be avoided, and as far as uncooperative patients or children are concerned, less sedation might be necessary. Further applications of the radar system could be in radiation therapy or interventional imaging for instance.« less
Modelling of the Human Knee Joint Supported by Active Orthosis

NASA Astrophysics Data System (ADS)

Musalimov, V.; Monahov, Y.; Tamre, M.; Rõbak, D.; Sivitski, A.; Aryassov, G.; Penkov, I.

2018-02-01

The article discusses motion of a healthy knee joint in the sagittal plane and motion of an injured knee joint supported by an active orthosis. A kinematic scheme of a mechanism for the simulation of a knee joint motion is developed and motion of healthy and injured knee joints are modelled in Matlab. Angles between links, which simulate the femur and tibia are controlled by Simulink block of Model predictive control (MPC). The results of simulation have been compared with several samples of real motion of the human knee joint obtained from motion capture systems. On the basis of these analyses and also of the analysis of the forces in human lower limbs created at motion, an active smart orthosis is developed. The orthosis design was optimized to achieve an energy saving system with sufficient anatomy, necessary reliability, easy exploitation and low cost. With the orthosis it is possible to unload the knee joint, and also partially or fully compensate muscle forces required for the bending of the lower limb.
Analytical evaluation of two motion washout techniques

NASA Technical Reports Server (NTRS)

Young, L. R.

1977-01-01

Practical tools were developed which extend the state of the art of moving base flight simulation for research and training purposes. The use of visual and vestibular cues to minimize the actual motion of the simulator itself was a primary consideration. The investigation consisted of optimum programming of motion cues based on a physiological model of the vestibular system to yield 'ideal washout logic' for any given simulator constraints.
Research on modeling and motion simulation of a spherical space robot with telescopic manipulator based on virtual prototype technology

NASA Astrophysics Data System (ADS)

Shi, Chengkun; Sun, Hanxu; Jia, Qingxuan; Zhao, Kailiang

2009-05-01

For realizing omni-directional movement and operating task of spherical space robot system, this paper describes an innovated prototype and analyzes dynamic characteristics of a spherical rolling robot with telescopic manipulator. Based on the Newton-Euler equations, the kinematics and dynamic equations of the spherical robot's motion are instructed detailedly. Then the motion simulations of the robot in different environments are developed with ADAMS. The simulation results validate the mathematics model of the system. And the dynamic model establishes theoretical basis for the latter job.
3-d brownian motion simulator for high-sensitivity nanobiotechnological applications.

PubMed

Toth, Arpád; Banky, Dániel; Grolmusz, Vince

2011-12-01

A wide variety of nanobiotechnologic applications are being developed for nanoparticle based in vitro diagnostic and imaging systems. Some of these systems make possible highly sensitive detection of molecular biomarkers. Frequently, the very low concentration of the biomarkers makes impossible the classical, partial differential equation-based mathematical simulation of the motion of the nanoparticles involved. We present a three-dimensional Brownian motion simulation tool for the prediction of the movement of nanoparticles in various thermal, viscosity, and geometric settings in a rectangular cuvette. For nonprofit users the server is freely available at the site http://brownian.pitgroup.org.
Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation

NASA Technical Reports Server (NTRS)

Haley, D. C.; Almand, B. J.; Thomas, M. M.; Krauze, L. D.; Gremban, K. D.; Sanborn, J. C.; Kelly, J. H.; Depkovich, T. M.

1984-01-01

A generic computer simulation for manipulator systems (ROBSIM) was implemented and the specific technologies necessary to increase the role of automation in various missions were developed. The specific items developed are: (1) capability for definition of a manipulator system consisting of multiple arms, load objects, and an environment; (2) capability for kinematic analysis, requirements analysis, and response simulation of manipulator motion; (3) postprocessing options such as graphic replay of simulated motion and manipulator parameter plotting; (4) investigation and simulation of various control methods including manual force/torque and active compliances control; (5) evaluation and implementation of three obstacle avoidance methods; (6) video simulation and edge detection; and (7) software simulation validation.
Traffic and Driving Simulator Based on Architecture of Interactive Motion.

PubMed

Paz, Alexander; Veeramisti, Naveen; Khaddar, Romesh; de la Fuente-Mella, Hanns; Modorcea, Luiza

2015-01-01

This study proposes an architecture for an interactive motion-based traffic simulation environment. In order to enhance modeling realism involving actual human beings, the proposed architecture integrates multiple types of simulation, including: (i) motion-based driving simulation, (ii) pedestrian simulation, (iii) motorcycling and bicycling simulation, and (iv) traffic flow simulation. The architecture has been designed to enable the simulation of the entire network; as a result, the actual driver, pedestrian, and bike rider can navigate anywhere in the system. In addition, the background traffic interacts with the actual human beings. This is accomplished by using a hybrid mesomicroscopic traffic flow simulation modeling approach. The mesoscopic traffic flow simulation model loads the results of a user equilibrium traffic assignment solution and propagates the corresponding traffic through the entire system. The microscopic traffic flow simulation model provides background traffic around the vicinities where actual human beings are navigating the system. The two traffic flow simulation models interact continuously to update system conditions based on the interactions between actual humans and the fully simulated entities. Implementation efforts are currently in progress and some preliminary tests of individual components have been conducted. The implementation of the proposed architecture faces significant challenges ranging from multiplatform and multilanguage integration to multievent communication and coordination.
Traffic and Driving Simulator Based on Architecture of Interactive Motion

PubMed Central

Paz, Alexander; Veeramisti, Naveen; Khaddar, Romesh; de la Fuente-Mella, Hanns; Modorcea, Luiza

2015-01-01

This study proposes an architecture for an interactive motion-based traffic simulation environment. In order to enhance modeling realism involving actual human beings, the proposed architecture integrates multiple types of simulation, including: (i) motion-based driving simulation, (ii) pedestrian simulation, (iii) motorcycling and bicycling simulation, and (iv) traffic flow simulation. The architecture has been designed to enable the simulation of the entire network; as a result, the actual driver, pedestrian, and bike rider can navigate anywhere in the system. In addition, the background traffic interacts with the actual human beings. This is accomplished by using a hybrid mesomicroscopic traffic flow simulation modeling approach. The mesoscopic traffic flow simulation model loads the results of a user equilibrium traffic assignment solution and propagates the corresponding traffic through the entire system. The microscopic traffic flow simulation model provides background traffic around the vicinities where actual human beings are navigating the system. The two traffic flow simulation models interact continuously to update system conditions based on the interactions between actual humans and the fully simulated entities. Implementation efforts are currently in progress and some preliminary tests of individual components have been conducted. The implementation of the proposed architecture faces significant challenges ranging from multiplatform and multilanguage integration to multievent communication and coordination. PMID:26491711
Optical and Acoustic Sensor-Based 3D Ball Motion Estimation for Ball Sport Simulators †.

PubMed

Seo, Sang-Woo; Kim, Myunggyu; Kim, Yejin

2018-04-25

Estimation of the motion of ball-shaped objects is essential for the operation of ball sport simulators. In this paper, we propose an estimation system for 3D ball motion, including speed and angle of projection, by using acoustic vector and infrared (IR) scanning sensors. Our system is comprised of three steps to estimate a ball motion: sound-based ball firing detection, sound source localization, and IR scanning for motion analysis. First, an impulsive sound classification based on the mel-frequency cepstrum and feed-forward neural network is introduced to detect the ball launch sound. An impulsive sound source localization using a 2D microelectromechanical system (MEMS) microphones and delay-and-sum beamforming is presented to estimate the firing position. The time and position of a ball in 3D space is determined from a high-speed infrared scanning method. Our experimental results demonstrate that the estimation of ball motion based on sound allows a wider activity area than similar camera-based methods. Thus, it can be practically applied to various simulations in sports such as soccer and baseball.
Simulation of Molecular Transport in Systems Containing Mobile Obstacles.

PubMed

Polanowski, Piotr; Sikorski, Andrzej

2016-08-04

In this paper, we investigate the movement of molecules in crowded environments with obstacles undergoing Brownian motion by means of extensive Monte Carlo simulations. Our investigations were performed using the dynamic lattice liquid model, which was based on the cooperative movement concept and allowed to mimic systems at high densities where the motion of all elements (obstacles as well as moving particles) were highly correlated. The crowded environments are modeled on a two-dimensional triangular lattice containing obstacles (particles whose mobility was significantly reduced) moving by a Brownian motion. The subdiffusive motion of both elements in the system was analyzed. It was shown that the percolation transition does not exist in such systems in spite of the cooperative character of the particles' motion. The reduction of the obstacle mobility leads to the longer caging of liquid particles by mobile obstacles.

Development and operation of a real-time simulation at the NASA Ames Vertical Motion Simulator

NASA Technical Reports Server (NTRS)

Sweeney, Christopher; Sheppard, Shirin; Chetelat, Monique

1993-01-01

The Vertical Motion Simulator (VMS) facility at the NASA Ames Research Center combines the largest vertical motion capability in the world with a flexible real-time operating system allowing research to be conducted quickly and effectively. Due to the diverse nature of the aircraft simulated and the large number of simulations conducted annually, the challenge for the simulation engineer is to develop an accurate real-time simulation in a timely, efficient manner. The SimLab facility and the software tools necessary for an operating simulation will be discussed. Subsequent sections will describe the development process through operation of the simulation; this includes acceptance of the model, validation, integration and production phases.
Effects of motion base and g-seat cueing of simulator pilot performance

NASA Technical Reports Server (NTRS)

Ashworth, B. R.; Mckissick, B. T.; Parrish, R. V.

1984-01-01

In order to measure and analyze the effects of a motion plus g-seat cueing system, a manned-flight-simulation experiment was conducted utilizing a pursuit tracking task and an F-16 simulation model in the NASA Langley visual/motion simulator. This experiment provided the information necessary to determine whether motion and g-seat cues have an additive effect on the performance of this task. With respect to the lateral tracking error and roll-control stick force, the answer is affirmative. It is shown that presenting the two cues simultaneously caused significant reductions in lateral tracking error and that using the g-seat and motion base separately provided essentially equal reductions in the pilot's lateral tracking error.
Online compensation for target motion with scanned particle beams: simulation environment.

PubMed

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

2004-07-21

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

DTIC Science & Technology

1977-04-01

System by System Variable Interactions Across All Maneuvers ... .......... 23 11 Field of View by Motion Interaction Cell Means for Takeoff...23 12 Motion by Field :f View Interaction Cell Means for GCA ..... ................. 24 13 Motion by FOV Interaction Mc--n Ratings for the...GCA and Takeoff Maneuvers ... ....... 24 14 Motion by G.Seat Interaction Cell Means for Takeoff ...... ................... 25 15 Motion by G.Seat
CFD simulation of a 2 bladed multi megawatt wind turbine with flexible rotor connection

NASA Astrophysics Data System (ADS)

Klein, L.; Luhmann, B.; Rösch, K.-N.; Lutz, T.; Cheng, P.-W.; Krämer, E.

2016-09-01

An innovative passive load reduction concept for a two bladed 3.4 MW wind turbine is investigated by a conjoint CFD and MBS - BEM methodology. The concept consists of a flexible hub mount which allows a tumbling motion of the rotor. First, the system is simulated with a MBS tool coupled to a BEM code. Then, the resulting motion of the rotor is extracted from the simulation and applied on the CFD simulation as prescribed motion. The aerodynamic results show a significant load reduction on the support structure. Hub pitching and yawing moment amplitudes are reduced by more than 50% in a vertically sheared inflow. Furthermore, the suitability of the MBS - BEM approach for the simulation of the load reduction system is shown.
Objective Motion Cueing Criteria Investigation Based on Three Flight Tasks

NASA Technical Reports Server (NTRS)

Zaal, Petrus M. T.; Schroeder, Jeffery A.; Chung, William W.

2015-01-01

This paper intends to help establish fidelity criteria to accompany the simulator motion system diagnostic test specified by the International Civil Aviation Organization. Twelve air- line transport pilots flew three tasks in the NASA Vertical Motion Simulator under four different motion conditions. The experiment used three different hexapod motion configurations, each with a different tradeoff between motion filter gain and break frequency, and one large motion configuration that utilized as much of the simulator's motion space as possible. The motion condition significantly affected: 1) pilot motion fidelity ratings, and sink rate and lateral deviation at touchdown for the approach and landing task, 2) pilot motion fidelity ratings, roll deviations, maximum pitch rate, and number of stick shaker activations in the stall task, and 3) heading deviation after an engine failure in the takeoff task. Significant differences in pilot-vehicle performance were used to define initial objective motion cueing criteria boundaries. These initial fidelity boundaries show promise but need refinement.
Sensory perception. [role of human vestibular system in dynamic space perception and manual vehicle control

NASA Technical Reports Server (NTRS)

1974-01-01

The effect of motion on the ability of men to perform a variety of control actions was investigated. Special attention was given to experimental and analytical studies of the dynamic characteristics of the otoliths and semicircular canals using a two axis angular motion simulator and a one axis linear motion simulator.
Generalized math model for simulation of high-altitude balloon systems

NASA Technical Reports Server (NTRS)

Nigro, N. J.; Elkouh, A. F.; Hinton, D. E.; Yang, J. K.

1985-01-01

Balloon systems have proved to be a cost-effective means for conducting research experiments (e.g., infrared astronomy) in the earth's atmosphere. The purpose of this paper is to present a generalized mathematical model that can be used to simulate the motion of these systems once they have attained float altitude. The resulting form of the model is such that the pendulation and spin motions of the system are uncoupled and can be analyzed independently. The model is evaluated by comparing the simulation results with data obtained from an actual balloon system flown by NASA.
Man-systems evaluation of moving base vehicle simulation motion cues. [human acceleration perception involving visual feedback

NASA Technical Reports Server (NTRS)

Kirkpatrick, M.; Brye, R. G.

1974-01-01

A motion cue investigation program is reported that deals with human factor aspects of high fidelity vehicle simulation. General data on non-visual motion thresholds and specific threshold values are established for use as washout parameters in vehicle simulation. A general purpose similator is used to test the contradictory cue hypothesis that acceleration sensitivity is reduced during a vehicle control task involving visual feedback. The simulator provides varying acceleration levels. The method of forced choice is based on the theory of signal detect ability.
Motion-base simulator results of advanced supersonic transport handling qualities with active controls

NASA Technical Reports Server (NTRS)

Feather, J. B.; Joshi, D. S.

1981-01-01

Handling qualities of the unaugmented advanced supersonic transport (AST) are deficient in the low-speed, landing approach regime. Consequently, improvement in handling with active control augmentation systems has been achieved using implicit model-following techniques. Extensive fixed-based simulator evaluations were used to validate these systems prior to tests with full motion and visual capabilities on a six-axis motion-base simulator (MBS). These tests compared the handling qualities of the unaugmented AST with several augmented configurations to ascertain the effectiveness of these systems. Cooper-Harper ratings, tracking errors, and control activity data from the MBS tests have been analyzed statistically. The results show the fully augmented AST handling qualities have been improved to an acceptable level.
Mechanical design of NASA Ames Research Center vertical motion simulator

NASA Technical Reports Server (NTRS)

Engelbert, D. F.; Bakke, A. P.; Chargin, M. K.; Vallotton, W. C.

1976-01-01

NASA has designed and is constructing a new flight simulator with large vertical travel. Several aspects of the mechanical design of this Vertical Motion Simulator (VMS) are discussed, including the multiple rack and pinion vertical drive, a pneumatic equilibration system, and the friction-damped rigid link catenaries used as cable supports.
Application of modified profile analysis to function testing of the motion/no-motion issue in an aircraft ground-handling simulation. [statistical analysis procedure for man machine systems flight simulation

NASA Technical Reports Server (NTRS)

Parrish, R. V.; Mckissick, B. T.; Steinmetz, G. G.

1979-01-01

A recent modification of the methodology of profile analysis, which allows the testing for differences between two functions as a whole with a single test, rather than point by point with multiple tests is discussed. The modification is applied to the examination of the issue of motion/no motion conditions as shown by the lateral deviation curve as a function of engine cut speed of a piloted 737-100 simulator. The results of this application are presented along with those of more conventional statistical test procedures on the same simulator data.
Engineering uses of physics-based ground motion simulations

USGS Publications Warehouse

Baker, Jack W.; Luco, Nicolas; Abrahamson, Norman A.; Graves, Robert W.; Maechling, Phillip J.; Olsen, Kim B.

2014-01-01

This paper summarizes validation methodologies focused on enabling ground motion simulations to be used with confidence in engineering applications such as seismic hazard analysis and dynmaic analysis of structural and geotechnical systems. Numberical simullation of ground motion from large erthquakes, utilizing physics-based models of earthquake rupture and wave propagation, is an area of active research in the earth science community. Refinement and validatoin of these models require collaboration between earthquake scientists and engineering users, and testing/rating methodolgies for simulated ground motions to be used with confidence in engineering applications. This paper provides an introduction to this field and an overview of current research activities being coordinated by the Souther California Earthquake Center (SCEC). These activities are related both to advancing the science and computational infrastructure needed to produce ground motion simulations, as well as to engineering validation procedures. Current research areas and anticipated future achievements are also discussed.
Mathematical model for the simulation of Dynamic Docking Test System (DDST) active table motion

NASA Technical Reports Server (NTRS)

Gates, R. M.; Graves, D. L.

1974-01-01

The mathematical model developed to describe the three-dimensional motion of the dynamic docking test system active table is described. The active table is modeled as a rigid body supported by six flexible hydraulic actuators which produce the commanded table motions.
Software Tools for Developing and Simulating the NASA LaRC CMF Motion Base

NASA Technical Reports Server (NTRS)

Bryant, Richard B., Jr.; Carrelli, David J.

2006-01-01

The NASA Langley Research Center (LaRC) Cockpit Motion Facility (CMF) motion base has provided many design and analysis challenges. In the process of addressing these challenges, a comprehensive suite of software tools was developed. The software tools development began with a detailed MATLAB/Simulink model of the motion base which was used primarily for safety loads prediction, design of the closed loop compensator and development of the motion base safety systems1. A Simulink model of the digital control law, from which a portion of the embedded code is directly generated, was later added to this model to form a closed loop system model. Concurrently, software that runs on a PC was created to display and record motion base parameters. It includes a user interface for controlling time history displays, strip chart displays, data storage, and initializing of function generators used during motion base testing. Finally, a software tool was developed for kinematic analysis and prediction of mechanical clearances for the motion system. These tools work together in an integrated package to support normal operations of the motion base, simulate the end to end operation of the motion base system providing facilities for software-in-the-loop testing, mechanical geometry and sensor data visualizations, and function generator setup and evaluation.
Integration of time as a factor in ergonomic simulation.

PubMed

Walther, Mario; Muñoz, Begoña Toledo

2012-01-01

The paper describes the application of a simulation based ergonomic evaluation. Within a pilot project, the algorithms of the screening method of the European Assembly Worksheet were transferred into an existing digital human model. Movement data was recorded with an especially developed hybrid Motion Capturing system. A prototype of the system was built and is currently being tested at the Volkswagen Group. First results showed the feasibility of the simulation based ergonomic evaluation with Motion Capturing.
Comparing the Ability of Enhanced Sampling Molecular Dynamics Methods To Reproduce the Behavior of Fluorescent Labels on Proteins.

PubMed

Walczewska-Szewc, Katarzyna; Deplazes, Evelyne; Corry, Ben

2015-07-14

Adequately sampling the large number of conformations accessible to proteins and other macromolecules is one of the central challenges in molecular dynamics (MD) simulations; this activity can be difficult, even for relatively simple systems. An example where this problem arises is in the simulation of dye-labeled proteins, which are now being widely used in the design and interpretation of Förster resonance energy transfer (FRET) experiments. In this study, MD simulations are used to characterize the motion of two commonly used FRET dyes attached to an immobilized chain of polyproline. Even in this simple system, the dyes exhibit complex behavior that is a mixture of fast and slow motions. Consequently, very long MD simulations are required to sufficiently sample the entire range of dye motion. Here, we compare the ability of enhanced sampling methods to reproduce the behavior of fluorescent labels on proteins. In particular, we compared Accelerated Molecular Dynamics (AMD), metadynamics, Replica Exchange Molecular Dynamics (REMD), and High Temperature Molecular Dynamics (HTMD) to equilibrium MD simulations. We find that, in our system, all of these methods improve the sampling of the dye motion, but the most significant improvement is achieved using REMD.
Using SW4 for 3D Simulations of Earthquake Strong Ground Motions: Application to Near-Field Strong Motion, Building Response, Basin Edge Generated Waves and Earthquakes in the San Francisco Bay Are

NASA Astrophysics Data System (ADS)

Rodgers, A. J.; Pitarka, A.; Petersson, N. A.; Sjogreen, B.; McCallen, D.; Miah, M.

2016-12-01

Simulation of earthquake ground motions is becoming more widely used due to improvements of numerical methods, development of ever more efficient computer programs (codes), and growth in and access to High-Performance Computing (HPC). We report on how SW4 can be used for accurate and efficient simulations of earthquake strong motions. SW4 is an anelastic finite difference code based on a fourth order summation-by-parts displacement formulation. It is parallelized and can run on one or many processors. SW4 has many desirable features for seismic strong motion simulation: incorporation of surface topography; automatic mesh generation; mesh refinement; attenuation and supergrid boundary conditions. It also has several ways to introduce 3D models and sources (including Standard Rupture Format for extended sources). We are using SW4 to simulate strong ground motions for several applications. We are performing parametric studies of near-fault motions from moderate earthquakes to investigate basin edge generated waves and large earthquakes to provide motions to engineers study building response. We show that 3D propagation near basin edges can generate significant amplifications relative to 1D analysis. SW4 is also being used to model earthquakes in the San Francisco Bay Area. This includes modeling moderate (M3.5-5) events to evaluate the United States Geologic Survey's 3D model of regional structure as well as strong motions from the 2014 South Napa earthquake and possible large scenario events. Recently SW4 was built on a Commodity Technology Systems-1 (CTS-1) at LLNL, new systems for capacity computing at the DOE National Labs. We find SW4 scales well and runs faster on these systems compared to the previous generation of LINUX clusters.
Digital compensation techniques for the effects of time lag in closed-loop simulation using the 6 DOF motion system

NASA Technical Reports Server (NTRS)

Brown, R.

1982-01-01

Efforts are continued to develop digital filter compensation schemes for the correction of momentum gains observed in the closed loop simulation of the docking of two satellites using the 6 DOF motion system. Several filters that work well for small delays ( .100ms) and a non-preloaded probe are discussed.
Integration of visual and motion cues for flight simulator requirements and ride quality investigation

NASA Technical Reports Server (NTRS)

Young, L. R.

1976-01-01

Investigations for the improvement of flight simulators are reported. Topics include: visual cues in landing, comparison of linear and nonlinear washout filters using a model of the vestibular system, and visual vestibular interactions (yaw axis). An abstract is given for a thesis on the applications of human dynamic orientation models to motion simulation.

Visual and motion cueing in helicopter simulation

NASA Technical Reports Server (NTRS)

Bray, R. S.

1985-01-01

Early experience in fixed-cockpit simulators, with limited field of view, demonstrated the basic difficulties of simulating helicopter flight at the level of subjective fidelity required for confident evaluation of vehicle characteristics. More recent programs, utilizing large-amplitude cockpit motion and a multiwindow visual-simulation system have received a much higher degree of pilot acceptance. However, none of these simulations has presented critical visual-flight tasks that have been accepted by the pilots as the full equivalent of flight. In this paper, the visual cues presented in the simulator are compared with those of flight in an attempt to identify deficiencies that contribute significantly to these assessments. For the low-amplitude maneuvering tasks normally associated with the hover mode, the unique motion capabilities of the Vertical Motion Simulator (VMS) at Ames Research Center permit nearly a full representation of vehicle motion. Especially appreciated in these tasks are the vertical-acceleration responses to collective control. For larger-amplitude maneuvering, motion fidelity must suffer diminution through direct attenuation through high-pass filtering washout of the computer cockpit accelerations or both. Experiments were conducted in an attempt to determine the effects of these distortions on pilot performance of height-control tasks.
Relative-Motion Sensors and Actuators for Two Optical Tables

NASA Technical Reports Server (NTRS)

Gursel, Yekta; McKenney, Elizabeth

2004-01-01

Optoelectronic sensors and magnetic actuators have been developed as parts of a system for controlling the relative position and attitude of two massive optical tables that float on separate standard air suspensions that attenuate ground vibrations. In the specific application for which these sensors and actuators were developed, one of the optical tables holds an optical system that mimics distant stars, while the other optical table holds a test article that simulates a spaceborne stellar interferometer that would be used to observe the stars. The control system is designed to suppress relative motion of the tables or, on demand, to impose controlled relative motion between the tables. The control system includes a sensor system that detects relative motion of the tables in six independent degrees of freedom and a drive system that can apply force to the star-simulator table in the six degrees of freedom. The sensor system includes (1) a set of laser heterodyne gauges and (2) a set of four diode lasers on the star-simulator table, each aimed at one of four quadrant photodiodes at nominal corresponding positions on the test-article table. The heterodyne gauges are used to measure relative displacements along the x axis.
Design Definition Study Report. Full Crew Interaction Simulator-Laboratory Model (FCIS-LM) (Device X17B7). Volume II. Requirements.

DTIC Science & Technology

1978-06-01

stimulate at-least three levels of crew function. At the most complex level, visual cues are used to discriminate the presence or activities of...limited to motion on- set cues washed out at subliminal levels.. Because of the cues they provide the driver, gunner, and commander, and the dis...motion, i.e.,which physiological receptors are affected, how they function,and how they may be stimulated by a simulator motion system. I Motion is
The role of the research simulator in the systems development of rotorcraft

NASA Technical Reports Server (NTRS)

Statler, I. C.; Deel, A.

1981-01-01

The potential application of the research simulator to future rotorcraft systems design, development, product improvement evaluations, and safety analysis is examined. Current simulation capabilities for fixed-wing aircraft are reviewed and the requirements of a rotorcraft simulator are defined. The visual system components, vertical motion simulator, cab, and computation system for a research simulator under development are described.
Motion and dynamic responses of a semisubmersible in freak waves

NASA Astrophysics Data System (ADS)

Li, Xin; Deng, Yan-fei; Li, Lei; Tian, Xin-liang; Li, Jun

2017-12-01

The present research aims at clarifying the effects of freak wave on the motion and dynamic responses of a semisubmersible. To reveal the effects of mooring stiffness, two mooring systems were employed in the model tests and time-domain simulations. The 6-DOF motion responses and mooring tensions have been measured and the 3-DOF motions of fairleads were calculated as well. From the time series, trajectories and statistics information, the interactions between the freak wave and the semisubmersible have been demonstrated and the effects of mooring stiffness have been identified. The shortage of numerical simulations based on 3D potential flow theory is presented. Results show that the freak wave is likely to cause large horizontal motions for soft mooring system and to result in extremely large mooring tensions for tight mooring system. Therefore, the freak wave is a real threat for the marine structure, which needs to be carefully considered at design stage.
Correction for human head motion in helical x-ray CT

NASA Astrophysics Data System (ADS)

Kim, J.-H.; Sun, T.; Alcheikh, A. R.; Kuncic, Z.; Nuyts, J.; Fulton, R.

2016-02-01

Correction for rigid object motion in helical CT can be achieved by reconstructing from a modified source-detector orbit, determined by the object motion during the scan. This ensures that all projections are consistent, but it does not guarantee that the projections are complete in the sense of being sufficient for exact reconstruction. We have previously shown with phantom measurements that motion-corrected helical CT scans can suffer from data-insufficiency, in particular for severe motions and at high pitch. To study whether such data-insufficiency artefacts could also affect the motion-corrected CT images of patients undergoing head CT scans, we used an optical motion tracking system to record the head movements of 10 healthy volunteers while they executed each of the 4 different types of motion (‘no’, slight, moderate and severe) for 60 s. From these data we simulated 354 motion-affected CT scans of a voxelized human head phantom and reconstructed them with and without motion correction. For each simulation, motion-corrected (MC) images were compared with the motion-free reference, by visual inspection and with quantitative similarity metrics. Motion correction improved similarity metrics in all simulations. Of the 270 simulations performed with moderate or less motion, only 2 resulted in visible residual artefacts in the MC images. The maximum range of motion in these simulations would encompass that encountered in the vast majority of clinical scans. With severe motion, residual artefacts were observed in about 60% of the simulations. We also evaluated a new method of mapping local data sufficiency based on the degree to which Tuy’s condition is locally satisfied, and observed that areas with high Tuy values corresponded to the locations of residual artefacts in the MC images. We conclude that our method can provide accurate and artefact-free MC images with most types of head motion likely to be encountered in CT imaging, provided that the motion can be accurately determined.
Analysis of ground-motion simulation big data

NASA Astrophysics Data System (ADS)

Maeda, T.; Fujiwara, H.

2016-12-01

We developed a parallel distributed processing system which applies a big data analysis to the large-scale ground motion simulation data. The system uses ground-motion index values and earthquake scenario parameters as input. We used peak ground velocity value and velocity response spectra as the ground-motion index. The ground-motion index values are calculated from our simulation data. We used simulated long-period ground motion waveforms at about 80,000 meshes calculated by a three dimensional finite difference method based on 369 earthquake scenarios of a great earthquake in the Nankai Trough. These scenarios were constructed by considering the uncertainty of source model parameters such as source area, rupture starting point, asperity location, rupture velocity, fmax and slip function. We used these parameters as the earthquake scenario parameter. The system firstly carries out the clustering of the earthquake scenario in each mesh by the k-means method. The number of clusters is determined in advance using a hierarchical clustering by the Ward's method. The scenario clustering results are converted to the 1-D feature vector. The dimension of the feature vector is the number of scenario combination. If two scenarios belong to the same cluster the component of the feature vector is 1, and otherwise the component is 0. The feature vector shows a `response' of mesh to the assumed earthquake scenario group. Next, the system performs the clustering of the mesh by k-means method using the feature vector of each mesh previously obtained. Here the number of clusters is arbitrarily given. The clustering of scenarios and meshes are performed by parallel distributed processing with Hadoop and Spark, respectively. In this study, we divided the meshes into 20 clusters. The meshes in each cluster are geometrically concentrated. Thus this system can extract regions, in which the meshes have similar `response', as clusters. For each cluster, it is possible to determine particular scenario parameters which characterize the cluster. In other word, by utilizing this system, we can obtain critical scenario parameters of the ground-motion simulation for each evaluation point objectively. This research was supported by CREST, JST.
The Vestibular System and Human Dynamic Space Orientation

NASA Technical Reports Server (NTRS)

Meiry, J. L.

1966-01-01

The motion sensors of the vestibular system are studied to determine their role in human dynamic space orientation and manual vehicle control. The investigation yielded control models for the sensors, descriptions of the subsystems for eye stabilization, and demonstrations of the effects of motion cues on closed loop manual control. Experiments on the abilities of subjects to perceive a variety of linear motions provided data on the dynamic characteristics of the otoliths, the linear motion sensors. Angular acceleration threshold measurements supplemented knowledge of the semicircular canals, the angular motion sensors. Mathematical models are presented to describe the known control characteristics of the vestibular sensors, relating subjective perception of motion to objective motion of a vehicle. The vestibular system, the neck rotation proprioceptors and the visual system form part of the control system which maintains the eye stationary relative to a target or a reference. The contribution of each of these systems was identified through experiments involving head and body rotations about a vertical axis. Compensatory eye movements in response to neck rotation were demonstrated and their dynamic characteristics described by a lag-lead model. The eye motions attributable to neck rotations and vestibular stimulation obey superposition when both systems are active. Human operator compensatory tracking is investigated in simple vehicle orientation control system with stable and unstable controlled elements. Control of vehicle orientation to a reference is simulated in three modes: visual, motion and combined. Motion cues sensed by the vestibular system through tactile sensation enable the operator to generate more lead compensation than in fixed base simulation with only visual input. The tracking performance of the human in an unstable control system near the limits of controllability is shown to depend heavily upon the rate information provided by the vestibular sensors.
A large motion zero-gravity suspension system for experimental simulation of orbital construction and deployment. M.S. Thesis

NASA Technical Reports Server (NTRS)

Straube, Timothy Milton

1993-01-01

The design and implementation of a vertical degree of freedom suspension system is described which provides a constant force off-load condition to counter gravity over large displacements. By accommodating motions up to one meter for structures weighing up to 100 pounds, the system is useful for experiments which simulate orbital construction events such as docking, multiple component assembly, or structural deployment. A unique aspect of this device is the combination of a large stroke passive off-load device augmented by electromotive torque actuated force feedback. The active force feedback has the effect of reducing break-away friction by a factor of twenty over the passive system alone. The thesis describes the development of the suspension hardware and the control algorithm. Experiments were performed to verify the suspensions system's effectiveness in providing a gravity off-load and simulating the motion of a structure in orbit. Additionally, a three dimensional system concept is presented as an extension of the one dimensional suspension system which was implemented.
Biomechanical Evaluation of an Electric Power-Assisted Bicycle by a Musculoskeletal Model

NASA Astrophysics Data System (ADS)

Takehara, Shoichiro; Murakami, Musashi; Hase, Kazunori

In this study, we construct an evaluation system for the muscular activity of the lower limbs when a human pedals an electric power-assisted bicycle. The evaluation system is composed of an electric power-assisted bicycle, a numerical simulator and a motion capture system. The electric power-assisted bicycle in this study has a pedal with an attached force sensor. The numerical simulator for pedaling motion is a musculoskeletal model of a human. The motion capture system measures the joint angles of the lower limb. We examine the influence of the electric power-assisted force on each muscle of the human trunk and legs. First, an experiment of pedaling motion is performed. Then, the musculoskeletal model is calculated by using the experimental data. We discuss the influence on each muscle by electric power-assist. It is found that the muscular activity is decreased by the electric power-assist bicycle, and the reduction of the muscular force required for pedaling motion was quantitatively shown for every muscle.
A reduced basis method for molecular dynamics simulation

NASA Astrophysics Data System (ADS)

Vincent-Finley, Rachel Elisabeth

In this dissertation, we develop a method for molecular simulation based on principal component analysis (PCA) of a molecular dynamics trajectory and least squares approximation of a potential energy function. Molecular dynamics (MD) simulation is a computational tool used to study molecular systems as they evolve through time. With respect to protein dynamics, local motions, such as bond stretching, occur within femtoseconds, while rigid body and large-scale motions, occur within a range of nanoseconds to seconds. To capture motion at all levels, time steps on the order of a femtosecond are employed when solving the equations of motion and simulations must continue long enough to capture the desired large-scale motion. To date, simulations of solvated proteins on the order of nanoseconds have been reported. It is typically the case that simulations of a few nanoseconds do not provide adequate information for the study of large-scale motions. Thus, the development of techniques that allow longer simulation times can advance the study of protein function and dynamics. In this dissertation we use principal component analysis (PCA) to identify the dominant characteristics of an MD trajectory and to represent the coordinates with respect to these characteristics. We augment PCA with an updating scheme based on a reduced representation of a molecule and consider equations of motion with respect to the reduced representation. We apply our method to butane and BPTI and compare the results to standard MD simulations of these molecules. Our results indicate that the molecular activity with respect to our simulation method is analogous to that observed in the standard MD simulation with simulations on the order of picoseconds.
G-DYN Multibody Dynamics Engine

NASA Technical Reports Server (NTRS)

Acikmese, Behcet; Blackmore, James C.; Broderick, Daniel

2011-01-01

G-DYN is a multi-body dynamic simulation software engine that automatically assembles and integrates equations of motion for arbitrarily connected multibody dynamic systems. The algorithm behind G-DYN is based on a primal-dual formulation of the dynamics that captures the position and velocity vectors (primal variables) of each body and the interaction forces (dual variables) between bodies, which are particularly useful for control and estimation analysis and synthesis. It also takes full advantage of the spare matrix structure resulting from the system dynamics to numerically integrate the equations of motion efficiently. Furthermore, the dynamic model for each body can easily be replaced without re-deriving the overall equations of motion, and the assembly of the equations of motion is done automatically. G-DYN proved an essential software tool in the simulation of spacecraft systems used for small celestial body surface sampling, specifically in simulating touch-and-go (TAG) maneuvers of a robotic sampling system from a comet and asteroid. It is used extensively in validating mission concepts for small body sample return, such as Comet Odyssey and Galahad New Frontiers proposals.
A focused ultrasound treatment system for moving targets (part I): generic system design and in-silico first-stage evaluation.

PubMed

Schwenke, Michael; Strehlow, Jan; Demedts, Daniel; Haase, Sabrina; Barrios Romero, Diego; Rothlübbers, Sven; von Dresky, Caroline; Zidowitz, Stephan; Georgii, Joachim; Mihcin, Senay; Bezzi, Mario; Tanner, Christine; Sat, Giora; Levy, Yoav; Jenne, Jürgen; Günther, Matthias; Melzer, Andreas; Preusser, Tobias

2017-01-01

Focused ultrasound (FUS) is entering clinical routine as a treatment option. Currently, no clinically available FUS treatment system features automated respiratory motion compensation. The required quality standards make developing such a system challenging. A novel FUS treatment system with motion compensation is described, developed with the goal of clinical use. The system comprises a clinically available MR device and FUS transducer system. The controller is very generic and could use any suitable MR or FUS device. MR image sequences (echo planar imaging) are acquired for both motion observation and thermometry. Based on anatomical feature tracking, motion predictions are estimated to compensate for processing delays. FUS control parameters are computed repeatedly and sent to the hardware to steer the focus to the (estimated) target position. All involved calculations produce individually known errors, yet their impact on therapy outcome is unclear. This is solved by defining an intuitive quality measure that compares the achieved temperature to the static scenario, resulting in an overall efficiency with respect to temperature rise. To allow for extensive testing of the system over wide ranges of parameters and algorithmic choices, we replace the actual MR and FUS devices by a virtual system. It emulates the hardware and, using numerical simulations of FUS during motion, predicts the local temperature rise in the tissue resulting from the controls it receives. With a clinically available monitoring image rate of 6.67 Hz and 20 FUS control updates per second, normal respiratory motion is estimated to be compensable with an estimated efficiency of 80%. This reduces to about 70% for motion scaled by 1.5. Extensive testing (6347 simulated sonications) over wide ranges of parameters shows that the main source of error is the temporal motion prediction. A history-based motion prediction method performs better than a simple linear extrapolator. The estimated efficiency of the new treatment system is already suited for clinical applications. The simulation-based in-silico testing as a first-stage validation reduces the efforts of real-world testing. Due to the extensible modular design, the described approach might lead to faster translations from research to clinical practice.
Simulation of the Beating Heart Based on Physically Modeling aDeformable Balloon

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

Rohmer, Damien; Sitek, Arkadiusz; Gullberg, Grant T.

2006-07-18

The motion of the beating heart is complex and createsartifacts in SPECT and x-ray CT images. Phantoms such as the JaszczakDynamic Cardiac Phantom are used to simulate cardiac motion forevaluationof acquisition and data processing protocols used for cardiacimaging. Two concentric elastic membranes filled with water are connectedto tubing and pump apparatus for creating fluid flow in and out of theinner volume to simulate motion of the heart. In the present report, themovement of two concentric balloons is solved numerically in order tocreate a computer simulation of the motion of the moving membranes in theJaszczak Dynamic Cardiac Phantom. A system ofmore » differential equations,based on the physical properties, determine the motion. Two methods aretested for solving the system of differential equations. The results ofboth methods are similar providing a final shape that does not convergeto a trivial circular profile. Finally,a tomographic imaging simulationis performed by acquiring static projections of the moving shape andreconstructing the result to observe motion artifacts. Two cases aretaken into account: in one case each projection angle is sampled for ashort time interval and the other case is sampled for a longer timeinterval. The longer sampling acquisition shows a clear improvement indecreasing the tomographic streaking artifacts.« less
Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation, appendix A

NASA Technical Reports Server (NTRS)

Haley, D. C.; Almand, B. J.; Thomas, M. M.; Krauze, L. D.; Gremban, K. D.; Sanborn, J. C.; Kelly, J. H.; Depkovich, T. M.

1984-01-01

A generic computer simulation for manipulator systems (ROBSIM) was implemented and the specific technologies necessary to increase the role of automation in various missions were developed. The specific items developed were: (1) Capability for definition of a manipulator system consisting of multiple arms, load objects, and an environment; (2) Capability for kinematic analysis, requirements analysis, and response simulation of manipulator motion; (3) Postprocessing options such as graphic replay of simulated motion and manipulator parameter plotting; (4) Investigation and simulation of various control methods including manual force/torque and active compliance control; (5) Evaluation and implementation of three obstacle avoidance methods; (6) Video simulation and edge detection; and (7) Software simulation validation. This appendix is the user's guide and includes examples of program runs and outputs as well as instructions for program use.
Contact dynamics math model

NASA Technical Reports Server (NTRS)

Glaese, John R.; Tobbe, Patrick A.

1986-01-01

The Space Station Mechanism Test Bed consists of a hydraulically driven, computer controlled six degree of freedom (DOF) motion system with which docking, berthing, and other mechanisms can be evaluated. Measured contact forces and moments are provided to the simulation host computer to enable representation of orbital contact dynamics. This report describes the development of a generalized math model which represents the relative motion between two rigid orbiting vehicles. The model allows motion in six DOF for each body, with no vehicle size limitation. The rotational and translational equations of motion are derived. The method used to transform the forces and moments from the sensor location to the vehicles' centers of mass is also explained. Two math models of docking mechanisms, a simple translational spring and the Remote Manipulator System end effector, are presented along with simulation results. The translational spring model is used in an attempt to verify the simulation with compensated hardware in the loop results.
Virtual Petaflop Simulation: Parallel Potential Solvers and New Integrators for Gravitational Systems

NASA Technical Reports Server (NTRS)

Lake, George; Quinn, Thomas; Richardson, Derek C.; Stadel, Joachim

1999-01-01

"The orbit of any one planet depends on the combined motion of all the planets, not to mention the actions of all these on each other. To consider simultaneously all these causes of motion and to define these motions by exact laws allowing of convenient calculation exceeds, unless I am mistaken, the forces of the entire human intellect" -Isaac Newton 1687. Epochal surveys are throwing down the gauntlet for cosmological simulation. We describe three keys to meeting the challenge of N-body simulation: adaptive potential solvers, adaptive integrators and volume renormalization. With these techniques and a dedicated Teraflop facility, simulation can stay even with observation of the Universe. We also describe some problems in the formation and stability of planetary systems. Here, the challenge is to perform accurate integrations that retain Hamiltonian properties for 10(exp 13) timesteps.
Effect of motion cues during complex curved approach and landing tasks: A piloted simulation study

NASA Technical Reports Server (NTRS)

Scanlon, Charles H.

1987-01-01

A piloted simulation study was conducted to examine the effect of motion cues using a high fidelity simulation of commercial aircraft during the performance of complex approach and landing tasks in the Microwave Landing System (MLS) signal environment. The data from these tests indicate that in a high complexity MLS approach task with moderate turbulence and wind, the pilot uses motion cues to improve path tracking performance. No significant differences in tracking accuracy were noted for the low and medium complexity tasks, regardless of the presence of motion cues. Higher control input rates were measured for all tasks when motion was used. Pilot eye scan, as measured by instrument dwell time, was faster when motion cues were used regardless of the complexity of the approach tasks. Pilot comments indicated a preference for motion. With motion cues, pilots appeared to work harder in all levels of task complexity and to improve tracking performance in the most complex approach task.
Numerical simulation of fluid flow through simplified blade cascade with prescribed harmonic motion using discontinuous Galerkin method

NASA Astrophysics Data System (ADS)

Vimmr, Jan; Bublík, Ondřej; Prausová, Helena; Hála, Jindřich; Pešek, Luděk

2018-06-01

This paper deals with a numerical simulation of compressible viscous fluid flow around three flat plates with prescribed harmonic motion. This arrangement presents a simplified blade cascade with forward wave motion. The aim of this simulation is to determine the aerodynamic forces acting on the flat plates. The mathematical model describing this problem is formed by Favre-averaged system of Navier-Stokes equations in arbitrary Lagrangian-Eulerian (ALE) formulation completed by one-equation Spalart-Allmaras turbulence model. The simulation was performed using the developed in-house CFD software based on discontinuous Galerkin method, which offers high order of accuracy.
Development of real-time motion verification system using in-room optical images for respiratory-gated radiotherapy.

PubMed

Park, Yang-Kyun; Son, Tae-geun; Kim, Hwiyoung; Lee, Jaegi; Sung, Wonmo; Kim, Il Han; Lee, Kunwoo; Bang, Young-bong; Ye, Sung-Joon

2013-09-06

Phase-based respiratory-gated radiotherapy relies on the reproducibility of patient breathing during the treatment. To monitor the positional reproducibility of patient breathing against a 4D CT simulation, we developed a real-time motion verification system (RMVS) using an optical tracking technology. The system in the treatment room was integrated with a real-time position management system. To test the system, an anthropomorphic phantom that was mounted on a motion platform moved on a programmed breathing pattern and then underwent a 4D CT simulation with RPM. The phase-resolved anterior surface lines were extracted from the 4D CT data to constitute 4D reference lines. In the treatment room, three infrared reflective markers were attached on the superior, middle, and inferior parts of the phantom along with the body midline and then RMVS could track those markers using an optical camera system. The real-time phase information extracted from RPM was delivered to RMVS via in-house network software. Thus, the real-time anterior-posterior positions of the markers were simultaneously compared with the 4D reference lines. The technical feasibility of RMVS was evaluated by repeating the above procedure under several scenarios such as ideal case (with identical motion parameters between simulation and treatment), cycle change, baseline shift, displacement change, and breathing type changes (abdominal or chest breathing). The system capability for operating under irregular breathing was also investigated using real patient data. The evaluation results showed that RMVS has a competence to detect phase-matching errors between patient's motion during the treatment and 4D CT simulation. Thus, we concluded that RMVS could be used as an online quality assurance tool for phase-based gating treatments.

Dynamic analysis of astronaut motions in microgravity: Applications for Extravehicular Activity (EVA)

NASA Technical Reports Server (NTRS)

Newman, Dava J.

1995-01-01

Simulations of astronaut motions during extravehicular activity (EVA) tasks were performed using computational multibody dynamics methods. The application of computational dynamic simulation to EVA was prompted by the realization that physical microgravity simulators have inherent limitations: viscosity in neutral buoyancy tanks; friction in air bearing floors; short duration for parabolic aircraft; and inertia and friction in suspension mechanisms. These limitations can mask critical dynamic effects that later cause problems during actual EVA's performed in space. Methods of formulating dynamic equations of motion for multibody systems are discussed with emphasis on Kane's method, which forms the basis of the simulations presented herein. Formulation of the equations of motion for a two degree of freedom arm is presented as an explicit example. The four basic steps in creating the computational simulations were: system description, in which the geometry, mass properties, and interconnection of system bodies are input to the computer; equation formulation based on the system description; inverse kinematics, in which the angles, velocities, and accelerations of joints are calculated for prescribed motion of the endpoint (hand) of the arm; and inverse dynamics, in which joint torques are calculated for a prescribed motion. A graphical animation and data plotting program, EVADS (EVA Dynamics Simulation), was developed and used to analyze the results of the simulations that were performed on a Silicon Graphics Indigo2 computer. EVA tasks involving manipulation of the Spartan 204 free flying astronomy payload, as performed during Space Shuttle mission STS-63 (February 1995), served as the subject for two dynamic simulations. An EVA crewmember was modeled as a seven segment system with an eighth segment representing the massive payload attached to the hand. For both simulations, the initial configuration of the lower body (trunk, upper leg, and lower leg) was a neutral microgravity posture. In the first simulation, the payload was manipulated around a circular trajectory of 0.15 m radius in 10 seconds. It was found that the wrist joint theoretically exceeded its ulnal deviation limit by as much as 49. 8 deg and was required to exert torques as high as 26 N-m to accomplish the task, well in excess of the wrist physiological limit of 12 N-m. The largest torque in the first simulation, 52 N-m, occurred in the ankle joint. To avoid these problems, the second simulation placed the arm in a more comfortable initial position and the radius and speed of the circular trajectory were reduced by half. As a result, the joint angles and torques were reduced to values well within their physiological limits. In particular, the maximum wrist torque for the second simulation was only 3 N-m and the maximum ankle torque was only 6 N-m.
Orion Crew Module / Service Module Structural Weight and Center of Gravity Simulator and Vehicle Motion Simulator Hoist Structure for Orion Service Module Umbilical Testing

NASA Technical Reports Server (NTRS)

Ascoli, Peter A.; Haddock, Michael H.

2014-01-01

An Orion Crew Module Service Module Structural Weight and Center of Gravity Simulator and a Vehicle Motion Simulator Hoist Structure for Orion Service Module Umbilical Testing were designed during a summer 2014 internship in Kennedy Space Centers Structures and Mechanisms Design Branch. The simulator is a structure that supports ballast, which will be integrated into an existing Orion mock-up to simulate the mass properties of the Exploration Mission-1 flight vehicle in both fueled and unfueled states. The simulator mimics these configurations through the use of approximately 40,000 lbf of steel and water ballast, and a steel support structure. Draining four water tanks, which house the water ballast, transitions the simulator from the fueled to unfueled mass properties. The Ground Systems Development and Operations organization will utilize the simulator to verify and validate equipment used to maneuver and transport the Orion spacecraft in its fueled and unfueled configurations. The second design comprises a cantilevered tripod hoist structure that provides the capability to position a large Orion Service Module Umbilical in proximity to the Vehicle Motion Simulator. The Ground Systems Development and Operations organization will utilize the Vehicle Motion Simulator, with the hoist structure attached, to test the Orion Service Module Umbilical for proper operation prior to installation on the Mobile Launcher. Overall, these two designs provide NASA engineers viable concepts worthy of fabricating and placing into service to prepare for the launch of Orion in 2017.
A Motion Tracking and Sensor Fusion Module for Medical Simulation.

PubMed

Shen, Yunhe; Wu, Fan; Tseng, Kuo-Shih; Ye, Ding; Raymond, John; Konety, Badrinath; Sweet, Robert

2016-01-01

Here we introduce a motion tracking or navigation module for medical simulation systems. Our main contribution is a sensor fusion method for proximity or distance sensors integrated with inertial measurement unit (IMU). Since IMU rotation tracking has been widely studied, we focus on the position or trajectory tracking of the instrument moving freely within a given boundary. In our experiments, we have found that this module reliably tracks instrument motion.
Ultra-low frequency vibration data acquisition concerns in operating flight simulators. [Motion sickness inducing vibrations in flight simulators

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

Van Hoy, B.W.

1988-01-01

The measurement of ultra-low frequency vibration (.01 to 1.0 Hz) in motion based flight simulators was undertaken to quantify the energy and frequencies of motion present during operation. Methods of measurement, the selection of transducers, recorders, and analyzers and the development of a test plan, as well as types of analysis are discussed. Analysis of the data using a high-speed minicomputer and a comparison of the computer analysis with standard FFT analysis are also discussed. Measurement of simulator motion with the pilot included as part of the control dynamics had not been done up to this time. The data aremore » being used to evaluate the effect of low frequency energy on the vestibular system of the air crew, and the incidence of simulator induced sickness. 11 figs.« less
Computational Control Workstation: Users' perspectives

NASA Technical Reports Server (NTRS)

Roithmayr, Carlos M.; Straube, Timothy M.; Tave, Jeffrey S.

1993-01-01

A Workstation has been designed and constructed for rapidly simulating motions of rigid and elastic multibody systems. We examine the Workstation from the point of view of analysts who use the machine in an industrial setting. Two aspects of the device distinguish it from other simulation programs. First, one uses a series of windows and menus on a computer terminal, together with a keyboard and mouse, to provide a mathematical and geometrical description of the system under consideration. The second hallmark is a facility for animating simulation results. An assessment of the amount of effort required to numerically describe a system to the Workstation is made by comparing the process to that used with other multibody software. The apparatus for displaying results as a motion picture is critiqued as well. In an effort to establish confidence in the algorithms that derive, encode, and solve equations of motion, simulation results from the Workstation are compared to answers obtained with other multibody programs. Our study includes measurements of computational speed.
Motion Simulator

NASA Technical Reports Server (NTRS)

1993-01-01

MOOG, Inc. supplies hydraulic actuators for the Space Shuttle. When MOOG learned NASA was interested in electric actuators for possible future use, the company designed them with assistance from Marshall Space Flight Center. They also decided to pursue the system's commercial potential. This led to partnership with InterActive Simulation, Inc. for production of cabin flight simulators for museums, expositions, etc. The resulting products, the Magic Motion Simulator 30 Series, are the first electric powered simulators. Movements are computer-guided, including free fall to heighten the sense of moving through space. A projection system provides visual effects, and the 11 speakers of a digital laser based sound system add to the realism. The electric actuators are easier to install, have lower operating costs, noise, heat and staff requirements. The U.S. Space & Rocket Center and several other organizations have purchased the simulators.
New human-centered linear and nonlinear motion cueing algorithms for control of simulator motion systems

NASA Astrophysics Data System (ADS)

Telban, Robert J.

While the performance of flight simulator motion system hardware has advanced substantially, the development of the motion cueing algorithm, the software that transforms simulated aircraft dynamics into realizable motion commands, has not kept pace. To address this, new human-centered motion cueing algorithms were developed. A revised "optimal algorithm" uses time-invariant filters developed by optimal control, incorporating human vestibular system models. The "nonlinear algorithm" is a novel approach that is also formulated by optimal control, but can also be updated in real time. It incorporates a new integrated visual-vestibular perception model that includes both visual and vestibular sensation and the interaction between the stimuli. A time-varying control law requires the matrix Riccati equation to be solved in real time by a neurocomputing approach. Preliminary pilot testing resulted in the optimal algorithm incorporating a new otolith model, producing improved motion cues. The nonlinear algorithm vertical mode produced a motion cue with a time-varying washout, sustaining small cues for longer durations and washing out large cues more quickly compared to the optimal algorithm. The inclusion of the integrated perception model improved the responses to longitudinal and lateral cues. False cues observed with the NASA adaptive algorithm were absent. As a result of unsatisfactory sensation, an augmented turbulence cue was added to the vertical mode for both the optimal and nonlinear algorithms. The relative effectiveness of the algorithms, in simulating aircraft maneuvers, was assessed with an eleven-subject piloted performance test conducted on the NASA Langley Visual Motion Simulator (VMS). Two methods, the quasi-objective NASA Task Load Index (TLX), and power spectral density analysis of pilot control, were used to assess pilot workload. TLX analysis reveals, in most cases, less workload and variation among pilots with the nonlinear algorithm. Control input analysis shows pilot-induced oscillations on a straight-in approach are less prevalent compared to the optimal algorithm. The augmented turbulence cues increased workload on an offset approach that the pilots deemed more realistic compared to the NASA adaptive algorithm. The takeoff with engine failure showed the least roll activity for the nonlinear algorithm, with the least rudder pedal activity for the optimal algorithm.
Deblurring for spatial and temporal varying motion with optical computing

NASA Astrophysics Data System (ADS)

Xiao, Xiao; Xue, Dongfeng; Hui, Zhao

2016-05-01

A way to estimate and remove spatially and temporally varying motion blur is proposed, which is based on an optical computing system. The translation and rotation motion can be independently estimated from the joint transform correlator (JTC) system without iterative optimization. The inspiration comes from the fact that the JTC system is immune to rotation motion in a Cartesian coordinate system. The work scheme of the JTC system is designed to keep switching between the Cartesian coordinate system and polar coordinate system in different time intervals with the ping-pang handover. In the ping interval, the JTC system works in the Cartesian coordinate system to obtain a translation motion vector with optical computing speed. In the pang interval, the JTC system works in the polar coordinate system. The rotation motion is transformed to the translation motion through coordinate transformation. Then the rotation motion vector can also be obtained from JTC instantaneously. To deal with continuous spatially variant motion blur, submotion vectors based on the projective motion path blur model are proposed. The submotion vectors model is more effective and accurate at modeling spatially variant motion blur than conventional methods. The simulation and real experiment results demonstrate its overall effectiveness.
Modeling human pilot cue utilization with applications to simulator fidelity assessment.

PubMed

Zeyada, Y; Hess, R A

2000-01-01

An analytical investigation to model the manner in which pilots perceive and utilize visual, proprioceptive, and vestibular cues in a ground-based flight simulator was undertaken. Data from a NASA Ames Research Center vertical motion simulator study of a simple, single-degree-of-freedom rotorcraft bob-up/down maneuver were employed in the investigation. The study was part of a larger research effort that has the creation of a methodology for determining flight simulator fidelity requirements as its ultimate goal. The study utilized a closed-loop feedback structure of the pilot/simulator system that included the pilot, the cockpit inceptor, the dynamics of the simulated vehicle, and the motion system. With the exception of time delays that accrued in visual scene production in the simulator, visual scene effects were not included in this study. Pilot/vehicle analysis and fuzzy-inference identification were employed to study the changes in fidelity that occurred as the characteristics of the motion system were varied over five configurations. The data from three of the five pilots who participated in the experimental study were analyzed in the fuzzy-inference identification. Results indicate that both the analytical pilot/vehicle analysis and the fuzzy-inference identification can be used to identify changes in simulator fidelity for the task examined.
A Methodology for Evaluating the Fidelity of Ground-Based Flight Simulators

NASA Technical Reports Server (NTRS)

Zeyada, Y.; Hess, R. A.

1999-01-01

An analytical and experimental investigation was undertaken to model the manner in which pilots perceive and utilize visual, proprioceptive, and vestibular cues in a ground-based flight simulator. The study was part of a larger research effort which has the creation of a methodology for determining flight simulator fidelity requirements as its ultimate goal. The study utilized a closed-loop feedback structure of the pilot/simulator system which included the pilot, the cockpit inceptor, the dynamics of the simulated vehicle and the motion system. With the exception of time delays which accrued in visual scene production in the simulator, visual scene effects were not included in this study. The NASA Ames Vertical Motion Simulator was used in a simple, single-degree of freedom rotorcraft bob-up/down maneuver. Pilot/vehicle analysis and fuzzy-inference identification were employed to study the changes in fidelity which occurred as the characteristics of the motion system were varied over five configurations i The data from three of the five pilots that participated in the experimental study were analyzed in the fuzzy inference identification. Results indicate that both the analytical pilot/vehicle analysis and the fuzzyinference identification can be used to reflect changes in simulator fidelity for the task examined.
A Methodology for Evaluating the Fidelity of Ground-Based Flight Simulators

NASA Technical Reports Server (NTRS)

Zeyada, Y.; Hess, R. A.

1999-01-01

An analytical and experimental investigation was undertaken to model the manner in which pilots perceive and utilize visual, proprioceptive, and vestibular cues in a ground-based flight simulator. The study was part of a larger research effort which has the creation of a methodology for determining flight simulator fidelity requirements as its ultimate goal. The study utilized a closed-loop feedback structure of the pilot/simulator system which included the pilot, the cockpit inceptor, the dynamics of the simulated vehicle and the motion system. With the exception of time delays which accrued in visual scene production in the simulator, visual scene effects were not included in this study. The NASA Ames Vertical Motion Simulator was used in a simple, single-degree of freedom rotorcraft bob-up/down maneuver. Pilot/vehicle analysis and fuzzy-inference identification were employed to study the changes in fidelity which occurred as the characteristics of the motion system were varied over five configurations. The data from three of the five pilots that participated in the experimental study were analyzed in the fuzzy-inference identification. Results indicate that both the analytical pilot/vehicle analysis and the fuzzy-inference identification can be used to reflect changes in simulator fidelity for the task examined.
A telemedicine instrument for Internet-based home monitoring of thoracoabdominal motion in patients with respiratory diseases

NASA Astrophysics Data System (ADS)

da Silva Junior, Evert Pereira; Esteves, Guilherme Pompeu; Dames, Karla Kristine; Melo, Pedro Lopes de

2011-01-01

Changes in thoracoabdominal motion are highly prevalent in patients with chronic respiratory diseases. Home care services that use telemedicine techniques and Internet-based monitoring have the potential to improve the management of these patients. However, there is no detailed description in the literature of a system for Internet-based monitoring of patients with disturbed thoracoabdominal motion. The purpose of this work was to describe the development of a new telemedicine instrument for Internet-based home monitoring of thoracoabdominal movement. The instrument directly measures changes in the thorax and abdomen circumferences and transfers data through a transmission control protocol/Internet protocol connection. After the design details are described, the accuracy of the electronic and software processing units of the instrument is evaluated by using electronic signals simulating normal subjects and individuals with thoracoabdominal motion disorders. The results obtained during in vivo studies on normal subjects simulating thoracoabdominal motion disorders showed that this new system is able to detect a reduction in abdominal movement that is associated with abnormal thoracic breathing (p < 0.0001) and the reduction in thoracic movement during abnormal abdominal breathing (p < 0.005). Simulated asynchrony in thoracoabdominal motion was also adequately detected by the system (p < 0.0001). The experimental results obtained for patients with respiratory diseases were in close agreement with the expected values, providing evidence that this instrument can be a useful tool for the evaluation of thoracoabdominal motion. The Internet transmission tests showed that the acquisition and analysis of the thoracoabdominal motion signals can be performed remotely. The user can also receive medical recommendations. The proposed system can be used in a spectrum of telemedicine scenarios, which can reduce the costs of assistance offered to patients with respiratory diseases.
Projectile general motion in a vacuum and a spreadsheet simulation

NASA Astrophysics Data System (ADS)

Benacka, Jan

2015-01-01

This paper gives the solution and analysis of projectile motion in a vacuum if the launch and impact heights are not equal. Formulas for the maximum horizontal range and the corresponding angle are derived. An Excel application that simulates the motion is also presented, and the result of an experiment in which 38 secondary school students developed the application and investigated the system is given. A questionnaire survey was carried out to find out whether the students found the lessons interesting, learned new skills and wanted to model projectile motion in the air as an example of more realistic motion. The results are discussed.
ANOPP/VMS HSCT ground contour system

NASA Technical Reports Server (NTRS)

Rawls, John, Jr.; Glaab, Lou

1992-01-01

This viewgraph shows the integration of the Visual Motion Simulator with ANOPP. ANOPP is an acronym for the Aircraft NOise Prediction Program. It is a computer code consisting of dedicated noise prediction modules for jet, propeller, and rotor powered aircraft along with flight support and noise propagation modules, all executed under the control of an executive system. The Visual Motion Simulator (VMS) is a ground based motion simulator with six degrees of freedom. The transport-type cockpit is equipped with conventional flight and engine-thrust controls and with flight instrument displays. Control forces on the wheel, column, and rudder pedals are provided by a hydraulic system coupled with an analog computer. The simulator provides variable-feel characteristics of stiffness, damping, coulomb friction, breakout forces, and inertia. The VMS provides a wide range of realistic flight trajectories necessary for computing accurate ground contours. The NASA VMS will be discussed in detail later in this presentation. An equally important part of the system for both ANOPP and VMS is the engine performance. This will also be discussed in the presentation.
SRS Computer Animation and Drive Train System

NASA Technical Reports Server (NTRS)

Arthun, Daniel; Schachner, Christian

2001-01-01

The spinning rocket simulator (SRS) is an ongoing project at Oral Roberts University. The goal of the SRS is to gather crucial data concerning a spinning rocket under thrust for the purpose of analysis and correction of the coning motion experienced by this type of spacecraft maneuver. The computer animation simulates a virtual, scale model of the component of the SRS that represents the spacecraft itself. This component is known as the (VSM), or virtual spacecraft model. During actual physical simulation, this component of the SRS will experience a coning. The goal of the animation is to cone the VSM within that range to accurately represent the motion of the actual simulator. The drive system of the SRS is the apparatus that turns the actual simulator. It consists of a drive motor, motor mount and chain to power the simulator into motion. The motor mount is adjustable and rigid for high torque application. A digital stepper motor controller actuates the main drive motor for linear acceleration. The chain transfers power from the motor to the simulator via sprockets on both ends.
Instrument Motion Metrics for Laparoscopic Skills Assessment in Virtual Reality and Augmented Reality.

PubMed

Fransson, Boel A; Chen, Chi-Ya; Noyes, Julie A; Ragle, Claude A

2016-11-01

To determine the construct and concurrent validity of instrument motion metrics for laparoscopic skills assessment in virtual reality and augmented reality simulators. Evaluation study. Veterinarian students (novice, n = 14) and veterinarians (experienced, n = 11) with no or variable laparoscopic experience. Participants' minimally invasive surgery (MIS) experience was determined by hospital records of MIS procedures performed in the Teaching Hospital. Basic laparoscopic skills were assessed by 5 tasks using a physical box trainer. Each participant completed 2 tasks for assessments in each type of simulator (virtual reality: bowel handling and cutting; augmented reality: object positioning and a pericardial window model). Motion metrics such as instrument path length, angle or drift, and economy of motion of each simulator were recorded. None of the motion metrics in a virtual reality simulator showed correlation with experience, or to the basic laparoscopic skills score. All metrics in augmented reality were significantly correlated with experience (time, instrument path, and economy of movement), except for the hand dominance metric. The basic laparoscopic skills score was correlated to all performance metrics in augmented reality. The augmented reality motion metrics differed between American College of Veterinary Surgeons diplomates and residents, whereas basic laparoscopic skills score and virtual reality metrics did not. Our results provide construct validity and concurrent validity for motion analysis metrics for an augmented reality system, whereas a virtual reality system was validated only for the time score. © Copyright 2016 by The American College of Veterinary Surgeons.
Hybrid Co-Evolutionary Motion Planning via Visibility-Based Repair

NASA Technical Reports Server (NTRS)

Dozier, Gerry; McCullough, Shaun; Brown, Edward, Jr.; Homaifar, Abdollah; Bikdash, Mar-wan

1997-01-01

This paper introduces a hybrid co-evolutionary system for global motion planning within unstructured environments. This system combines the concept of co-evolutionary search along with a concept that we refer to as the visibility-based repair to form a hybrid which quickly transforms infeasible motions into feasible ones. Also, this system makes use of a novel representation scheme for the obstacles within an environment. Our hybrid evolutionary system differs from other evolutionary motion planners in that (1) more emphasis is placed on repairing infeasible motions to develop feasible motions rather than using simulated evolution exclusively as a means of discovering feasible motions, (2) a continuous map of the environment is used rather than a discretized map, and (3) it develops global motion plans for multiple mobile destinations by co-evolving populations of sub-global motion plans. In this paper, we demonstrate the effectiveness of this system by using it to solve two challenging motion planning problems where multiple targets try to move away from a point robot.
Moving base simulation of an integrated flight and propulsion control system for an ejector-augmentor STOVL aircraft in hover

NASA Technical Reports Server (NTRS)

Mcneill, Walter, E.; Chung, William W.; Stortz, Michael W.

1995-01-01

A piloted motion simulator evaluation, using the NASA Ames Vertical Motion Simulator, was conducted in support of a NASA Lewis Contractual study of the integration of flight and propulsion systems of a STOVL aircraft. Objectives of the study were to validate the Design Methods for Integrated Control Systems (DMICS) concept, to evaluate the handling qualities, and to assess control power usage. The E-7D ejector-augmentor STOVL fighter design served as the basis for the simulation. Handling-qualities ratings were obtained during precision hover and shipboard landing tasks. Handling-qualities ratings for these tasks ranged from satisfactory to adequate. Further improvement of the design process to fully validate the DMICS concept appears to be warranted.
Simulation study of the ROMPS robot control system

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Liu, HUI-I.

1994-01-01

This is a report presenting the progress of a research grant funded by NASA for work performed from June 1, 1993 to August 1, 1993. The report deals with the Robot Operated Material Processing System (ROMPS). It presents results of a computer simulation study conducted to investigate the performance of the control systems controlling the azimuth, elevation, and radial axes of the ROMPS and its gripper. Four study cases are conducted. The first case investigates the control of free motion of the three areas. In the second case, the compliant motion in the elevation axis with the wrist compliant device is studied in terms of position accuracy and impact forces. The third case focuses on the behavior of the control system in controlling the robot motion along the radial axis when pulling the pallet out of the rack. In the fourth case, the compliant motion of the gripper grasping a solid object under the effect of the gripper passive compliance is studied in terms of position accuracy and contact forces. For each of the above cases, a set of PIR gains will be selected to optimize the controller performance and computer simulation results will be presented and discussed.
Evaluating the Performance of the NASA LaRC CMF Motion Base Safety Devices

NASA Technical Reports Server (NTRS)

Gupton, Lawrence E.; Bryant, Richard B., Jr.; Carrelli, David J.

2006-01-01

This paper describes the initial measured performance results of the previously documented NASA Langley Research Center (LaRC) Cockpit Motion Facility (CMF) motion base hardware safety devices. These safety systems are required to prevent excessive accelerations that could injure personnel and damage simulator cockpits or the motion base structure. Excessive accelerations may be caused by erroneous commands or hardware failures driving an actuator to the end of its travel at high velocity, stepping a servo valve, or instantly reversing servo direction. Such commands may result from single order failures of electrical or hydraulic components within the control system itself, or from aggressive or improper cueing commands from the host simulation computer. The safety systems must mitigate these high acceleration events while minimizing the negative performance impacts. The system accomplishes this by controlling the rate of change of valve signals to limit excessive commanded accelerations. It also aids hydraulic cushion performance by limiting valve command authority as the actuator approaches its end of travel. The design takes advantage of inherent motion base hydraulic characteristics to implement all safety features using hardware only solutions.

Robust spectral-domain optical coherence tomography speckle model and its cross-correlation coefficient analysis

PubMed Central

Liu, Xuan; Ramella-Roman, Jessica C.; Huang, Yong; Guo, Yuan; Kang, Jin U.

2013-01-01

In this study, we proposed a generic speckle simulation for optical coherence tomography (OCT) signal, by convolving the point spread function (PSF) of the OCT system with the numerically synthesized random sample field. We validated our model and used the simulation method to study the statistical properties of cross-correlation coefficients (XCC) between Ascans which have been recently applied in transverse motion analysis by our group. The results of simulation show that over sampling is essential for accurate motion tracking; exponential decay of OCT signal leads to an under estimate of motion which can be corrected; lateral heterogeneity of sample leads to an over estimate of motion for a few pixels corresponding to the structural boundary. PMID:23456001
Boundary Avoidance Tracking for Instigating Pilot Induced Oscillations

NASA Technical Reports Server (NTRS)

Craun, Robert W.; Acosta, Diana M.; Beard, Steven D.; Hardy, Gordon H.; Leonard, Michael W.; Weinstein, Michael

2013-01-01

In order to advance research in the area of pilot induced oscillations, a reliable method to create PIOs in a simulated environment is necessary. Using a boundary avoidance tracking task, researchers performing an evaluation of control systems were able to create PIO events in 42% of cases using a nominal aircraft, and 91% of cases using an aircraft with reduced actuator rate limits. The simulator evaluation took place in the NASA Ames Vertical Motion Simulator, a high-fidelity motion-based simulation facility.
A new algorithm for modeling friction in dynamic mechanical systems

NASA Technical Reports Server (NTRS)

Hill, R. E.

1988-01-01

A method of modeling friction forces that impede the motion of parts of dynamic mechanical systems is described. Conventional methods in which the friction effect is assumed a constant force, or torque, in a direction opposite to the relative motion, are applicable only to those cases where applied forces are large in comparison to the friction, and where there is little interest in system behavior close to the times of transitions through zero velocity. An algorithm is described that provides accurate determination of friction forces over a wide range of applied force and velocity conditions. The method avoids the simulation errors resulting from a finite integration interval used in connection with a conventional friction model, as is the case in many digital computer-based simulations. The algorithm incorporates a predictive calculation based on initial conditions of motion, externally applied forces, inertia, and integration step size. The predictive calculation in connection with an external integration process provides an accurate determination of both static and Coulomb friction forces and resulting motions in dynamic simulations. Accuracy of the results is improved over that obtained with conventional methods and a relatively large integration step size is permitted. A function block for incorporation in a specific simulation program is described. The general form of the algorithm facilitates implementation with various programming languages such as FORTRAN or C, as well as with other simulation programs.
Using Wavelet Analysis To Assist in Identification of Significant Events in Molecular Dynamics Simulations.

PubMed

Heidari, Zahra; Roe, Daniel R; Galindo-Murillo, Rodrigo; Ghasemi, Jahan B; Cheatham, Thomas E

2016-07-25

Long time scale molecular dynamics (MD) simulations of biological systems are becoming increasingly commonplace due to the availability of both large-scale computational resources and significant advances in the underlying simulation methodologies. Therefore, it is useful to investigate and develop data mining and analysis techniques to quickly and efficiently extract the biologically relevant information from the incredible amount of generated data. Wavelet analysis (WA) is a technique that can quickly reveal significant motions during an MD simulation. Here, the application of WA on well-converged long time scale (tens of μs) simulations of a DNA helix is described. We show how WA combined with a simple clustering method can be used to identify both the physical and temporal locations of events with significant motion in MD trajectories. We also show that WA can not only distinguish and quantify the locations and time scales of significant motions, but by changing the maximum time scale of WA a more complete characterization of these motions can be obtained. This allows motions of different time scales to be identified or ignored as desired.
Validation of simulated earthquake ground motions based on evolution of intensity and frequency content

USGS Publications Warehouse

Rezaeian, Sanaz; Zhong, Peng; Hartzell, Stephen; Zareian, Farzin

2015-01-01

Simulated earthquake ground motions can be used in many recent engineering applications that require time series as input excitations. However, applicability and validation of simulations are subjects of debate in the seismological and engineering communities. We propose a validation methodology at the waveform level and directly based on characteristics that are expected to influence most structural and geotechnical response parameters. In particular, three time-dependent validation metrics are used to evaluate the evolving intensity, frequency, and bandwidth of a waveform. These validation metrics capture nonstationarities in intensity and frequency content of waveforms, making them ideal to address nonlinear response of structural systems. A two-component error vector is proposed to quantify the average and shape differences between these validation metrics for a simulated and recorded ground-motion pair. Because these metrics are directly related to the waveform characteristics, they provide easily interpretable feedback to seismologists for modifying their ground-motion simulation models. To further simplify the use and interpretation of these metrics for engineers, it is shown how six scalar key parameters, including duration, intensity, and predominant frequency, can be extracted from the validation metrics. The proposed validation methodology is a step forward in paving the road for utilization of simulated ground motions in engineering practice and is demonstrated using examples of recorded and simulated ground motions from the 1994 Northridge, California, earthquake.
The circumstellar disk response to the motion of the host star

NASA Astrophysics Data System (ADS)

Regály, Zs.; Vorobyov, E.

2017-05-01

Context. Grid-based hydrodynamics simulations of circumstellar disks are often performed in the curvilinear coordinate system, in which the center of the computational domain coincides with the motionless star. However, the center of mass may be shifted from the star due to the presence of any non-axisymmetric mass distribution. As a result, the system exerts a non-zero gravity force on the star, causing the star to move in response, which can in turn affect the evolution of the circumstellar disk. Aims: We aim at studying the effects of stellar motion on the evolution of protostellar and protoplanetary disks. In protostellar disks, a non-axisymmetric distribution of matter in the form of spiral arms and/or massive clumps can form due to gravitational instability. Protoplanetary disks can also feature non-axisymmetric structures caused by an embedded high-mass planet or a large-scale vortex formed at viscosity transitions. Methods: We use 2D grid-based numerical hydrodynamic simulations to explore the effect of stellar motion. We adopt a non-inertial polar coordinate system centered on the star, in which the stellar motion is taken into account by calculating the indirect potential caused by the non-axisymmetric disk, a high-mass planet, or a large-scale vortex. We compare the results of numerical simulations with and without stellar motion. Results: We found that the stellar motion has a moderate effect on the evolution history and the mass accretion rate in protostellar disks, reducing somewhat the disk size and mass, while having a profound effect on the collapsing envelope, changing its inner shape from an initially axisymmetric to a non-axisymmetric configuration. Protoplanetary disk simulations show that the stellar motion slightly reduces the width of the gap opened by a high-mass planet, decreases the planet migration rate, and strengthens the large-scale vortices formed at the viscosity transition. Conclusions: We conclude that the inclusion of the indirect potential is recommended in grid-based hydrodynamics simulations of circumstellar disks which use the curvilinear coordinate system.
Molecular dynamics simulation of square graphene-nanoflake oscillator on graphene nanoribbon.

PubMed

Kang, Jeong Won; Lee, Kang Whan

2014-12-01

Graphene nanoflakes (GNFs) have been of interest for a building block in order to develop electromechanical devices on a nanometer scale. Here, we present the oscillation motions of a square GNF oscillator on graphene nanoribbon (GNR) in the retracting-motions by performing classical molecular dynamics simulations. The simulation results showed that the GNF oscillators can be considered as a building block for nanoelectromechanical systems such as carbon-nanotube (CNT) oscillators. The oscillation dynamics of the GNF oscillator were similar to those of the CNT oscillators. When the square GNF had an initial velocity as impulse dynamics, its oscillation motions on the GNR were achieved from its self-retracting van der Waals force. For low initial velocity, its translational motions were dominant in its motions rather than its rotational motions. The kinetic energy damping ratio rapidly decreased as initial velocity increased and the kinetic energy for the translational motion of the GNF oscillator rapidly transferred into that for its rotational motion. The oscillation frequency of the GNF oscillator was dependent on its initial velocity.
A 3D Human-Machine Integrated Design and Analysis Framework for Squat Exercises with a Smith Machine.

PubMed

Lee, Haerin; Jung, Moonki; Lee, Ki-Kwang; Lee, Sang Hun

2017-02-06

In this paper, we propose a three-dimensional design and evaluation framework and process based on a probabilistic-based motion synthesis algorithm and biomechanical analysis system for the design of the Smith machine and squat training programs. Moreover, we implemented a prototype system to validate the proposed framework. The framework consists of an integrated human-machine-environment model as well as a squat motion synthesis system and biomechanical analysis system. In the design and evaluation process, we created an integrated model in which interactions between a human body and machine or the ground are modeled as joints with constraints at contact points. Next, we generated Smith squat motion using the motion synthesis program based on a Gaussian process regression algorithm with a set of given values for independent variables. Then, using the biomechanical analysis system, we simulated joint moments and muscle activities from the input of the integrated model and squat motion. We validated the model and algorithm through physical experiments measuring the electromyography (EMG) signals, ground forces, and squat motions as well as through a biomechanical simulation of muscle forces. The proposed approach enables the incorporation of biomechanics in the design process and reduces the need for physical experiments and prototypes in the development of training programs and new Smith machines.
A 3D Human-Machine Integrated Design and Analysis Framework for Squat Exercises with a Smith Machine

PubMed Central

Lee, Haerin; Jung, Moonki; Lee, Ki-Kwang; Lee, Sang Hun

2017-01-01

In this paper, we propose a three-dimensional design and evaluation framework and process based on a probabilistic-based motion synthesis algorithm and biomechanical analysis system for the design of the Smith machine and squat training programs. Moreover, we implemented a prototype system to validate the proposed framework. The framework consists of an integrated human–machine–environment model as well as a squat motion synthesis system and biomechanical analysis system. In the design and evaluation process, we created an integrated model in which interactions between a human body and machine or the ground are modeled as joints with constraints at contact points. Next, we generated Smith squat motion using the motion synthesis program based on a Gaussian process regression algorithm with a set of given values for independent variables. Then, using the biomechanical analysis system, we simulated joint moments and muscle activities from the input of the integrated model and squat motion. We validated the model and algorithm through physical experiments measuring the electromyography (EMG) signals, ground forces, and squat motions as well as through a biomechanical simulation of muscle forces. The proposed approach enables the incorporation of biomechanics in the design process and reduces the need for physical experiments and prototypes in the development of training programs and new Smith machines. PMID:28178184
Evaluation of simulation motion fidelity criteria in the vertical and directional axes

NASA Technical Reports Server (NTRS)

Schroeder, Jeffery A.

1993-01-01

An evaluation of existing motion fidelity criteria was conducted on the NASA Ames Vertical Motion Simulator. Experienced test pilots flew single-axis repositioning tasks in both the vertical and the directional axes. Using a first-order approximation of a hovering helicopter, tasks were flown with variations only in the filters that attenuate the commands to the simulator motion system. These filters had second-order high-pass characteristics, and the variations were made in the filter gain and natural frequency. The variations spanned motion response characteristics from nearly full math-model motion to fixed-base. Between configurations, pilots recalibrated their motion response perception by flying the task with full motion. Pilots subjectively rated the motion fidelity of subsequent configurations relative to this full motion case, which was considered the standard for comparison. The results suggested that the existing vertical-axis criterion was accurate for combinations of gain and natural frequency changes. However, if only the gain or the natural frequency was changed, the rated motion fidelity was better than the criterion predicted. In the vertical axis, the objective and subjective results indicated that a larger gain reduction was tolerated than the existing criterion allowed. The limited data collected in the yaw axis revealed that pilots had difficulty in distinguishing among the variations in the pure yaw motion cues.
Models for the Effects of G-seat Cuing on Roll-axis Tracking Performance

NASA Technical Reports Server (NTRS)

Levison, W. H.; Mcmillan, G. R.; Martin, E. A.

1984-01-01

Including whole-body motion in a flight simulator improves performance for a variety of tasks requiring a pilot to compensate for the effects of unexpected disturbances. A possible mechanism for this improvement is that whole-body motion provides high derivative vehicle state information whic allows the pilot to generate more lead in responding to the external disturbances. During development of motion simulating algorithms for an advanced g-cuing system it was discovered that an algorithm based on aircraft roll acceleration producted little or no performance improvement. On the other hand, algorithms based on roll position or roll velocity produced performance equivalent to whole-body motion. The analysis and modeling conducted at both the sensory system and manual control performance levels to explain the above results are described.
Anthropomorphic thorax phantom for cardio-respiratory motion simulation in tomographic imaging

NASA Astrophysics Data System (ADS)

Bolwin, Konstantin; Czekalla, Björn; Frohwein, Lynn J.; Büther, Florian; Schäfers, Klaus P.

2018-02-01

Patient motion during medical imaging using techniques such as computed tomography (CT), magnetic resonance imaging (MRI), positron emission tomography (PET), or single emission computed tomography (SPECT) is well known to degrade images, leading to blurring effects or severe artifacts. Motion correction methods try to overcome these degrading effects. However, they need to be validated under realistic conditions. In this work, a sophisticated anthropomorphic thorax phantom is presented that combines several aspects of a simulator for cardio-respiratory motion. The phantom allows us to simulate various types of cardio-respiratory motions inside a human-like thorax, including features such as inflatable lungs, beating left ventricular myocardium, respiration-induced motion of the left ventricle, moving lung lesions, and moving coronary artery plaques. The phantom is constructed to be MR-compatible. This means that we can not only perform studies in PET, SPECT and CT, but also inside an MRI system. The technical features of the anthropomorphic thorax phantom Wilhelm are presented with regard to simulating motion effects in hybrid emission tomography and radiotherapy. This is supplemented by a study on the detectability of small coronary plaque lesions in PET/CT under the influence of cardio-respiratory motion, and a study on the accuracy of left ventricular blood volumes.
Computer simulations of ions in radio-frequency traps

NASA Technical Reports Server (NTRS)

Williams, A.; Prestage, J. D.; Maleki, L.; Djomehri, J.; Harabetian, E.

1990-01-01

The motion of ions in a trapped-ion frequency standard affects the stability of the standard. In order to study the motion and structures of large ion clouds in a radio-frequency (RF) trap, a computer simulation of the system that incorporates the effect of thermal excitation of the ions was developed. Results are presented from the simulation for cloud sizes up to 512 ions, emphasizing cloud structures in the low-temperature regime.
Design and testing of a magnetic suspension and damping system for a space telescope

NASA Technical Reports Server (NTRS)

Ockman, N. J.

1972-01-01

The basic equations of motion are derived for a two dimensional, three degree of freedom simulation of a space telescope coupled to a spacecraft by means of a magnetic suspension and isolation system. The system consists of paramagnetic or ferromagnetic discs confined to the magnetic field between two Helmholtz coils. Damping is introduced by varying the magnetic field in proportion to a velocity signal derived from the telescope. The equations of motion are nonlinear, similar in behavior to the one-dimensional Van der Pol equation. The computer simulation was verified by testing a 264-kilogram air bearing platform which simulates the telescope in a frictionless environment. The simulation demonstrated effective isolation capabilities for disturbance frequencies above resonance. Damping in the system improved the response near resonance and prevented the build-up of large oscillatory amplitudes.
High-resolution simulations of unstable cylindrical gravity currents undergoing wandering and splitting motions in a rotating system

NASA Astrophysics Data System (ADS)

Dai, Albert; Wu, Ching-Sen

2018-02-01

High-resolution simulations of unstable cylindrical gravity currents when wandering and splitting motions occur in a rotating system are reported. In this study, our attention is focused on the situation of unstable rotating cylindrical gravity currents when the ratio of Coriolis to inertia forces is larger, namely, 0.5 ≤ C ≤ 2.0, in comparison to the stable ones when C ≤ 0.3 as investigated previously by the authors. The simulations reproduce the major features of the unstable rotating cylindrical gravity currents observed in the laboratory, i.e., vortex-wandering or vortex-splitting following the contraction-relaxation motion, and good agreement is found when compared with the experimental results on the outrush radius of the advancing front and on the number of bulges. Furthermore, the simulations provide energy budget information which could not be attained in the laboratory. After the heavy fluid is released, the heavy fluid collapses and a contraction-relaxation motion is at work for approximately 2-3 revolutions of the system. During the contraction-relaxation motion of the heavy fluid, the unstable rotating cylindrical gravity currents behave similar to the stable ones. Towards the end of the contraction-relaxation motion, the dissipation rate in the system reaches a local minimum and a quasi-geostrophic equilibrium state is reached. After the quasi-geostrophic equilibrium state, vortex-wandering or vortex-splitting may occur depending on the ratio of Coriolis to inertia forces. The vortex-splitting process begins with non-axisymmetric bulges and, as the bulges grow, the kinetic energy increases at the expense of decreasing potential energy in the system. The completion of vortex-splitting is accompanied by a local maximum of dissipation rate and a local maximum of kinetic energy in the system. A striking feature of the unstable rotating cylindrical gravity currents is the persistent upwelling and downwelling motions, which are observed for both the vortex-wandering and vortex-splitting motions and were not previously documented for such flows. Depending on the Reynolds number, the bulges around the circumference of the unstable rotating cylindrical gravity currents may or may not develop into cutoff distinct circulations. The number of bulges is seen to be dependent on the ratio of Coriolis to inertia forces but independent of the Reynolds number for the range of Reynolds number considered in this study.
Multiscale Reactive Molecular Dynamics

DTIC Science & Technology

2012-08-15

biology cannot be described without considering electronic and nuclear-level dynamics and their coupling to slower, cooperative motions of the system ...coupling to slower, cooperative motions of the system . These inherently multiscale problems require computationally efficient and accurate methods to...condensed phase systems with computational efficiency orders of magnitudes greater than currently possible with ab initio simulation methods, thus
Motion behavior of water droplets driven by triboelectric nanogenerator

NASA Astrophysics Data System (ADS)

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

2018-04-01

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

PubMed Central

Moritsugu, Kei; Koike, Ryotaro; Yamada, Kouki; Kato, Hiroaki; Kidera, Akinori

2015-01-01

Molecular dynamics (MD) simulations of proteins provide important information to understand their functional mechanisms, which are, however, likely to be hidden behind their complicated motions with a wide range of spatial and temporal scales. A straightforward and intuitive analysis of protein dynamics observed in MD simulation trajectories is therefore of growing significance with the large increase in both the simulation time and system size. In this study, we propose a novel description of protein motions based on the hierarchical clustering of fluctuations in the inter-atomic distances calculated from an MD trajectory, which constructs a single tree diagram, named a “Motion Tree”, to determine a set of rigid-domain pairs hierarchically along with associated inter-domain fluctuations. The method was first applied to the MD trajectory of substrate-free adenylate kinase to clarify the usefulness of the Motion Tree, which illustrated a clear-cut dynamics picture of the inter-domain motions involving the ATP/AMP lid and the core domain together with the associated amplitudes and correlations. The comparison of two Motion Trees calculated from MD simulations of ligand-free and -bound glutamine binding proteins clarified changes in inherent dynamics upon ligand binding appeared in both large domains and a small loop that stabilized ligand molecule. Another application to a huge protein, a multidrug ATP binding cassette (ABC) transporter, captured significant increases of fluctuations upon binding a drug molecule observed in both large scale inter-subunit motions and a motion localized at a transmembrane helix, which may be a trigger to the subsequent structural change from inward-open to outward-open states to transport the drug molecule. These applications demonstrated the capabilities of Motion Trees to provide an at-a-glance view of various sizes of functional motions inherent in the complicated MD trajectory. PMID:26148295
Neuroticism modulates brain visuo-vestibular and anxiety systems during a virtual rollercoaster task.

PubMed

Riccelli, Roberta; Indovina, Iole; Staab, Jeffrey P; Nigro, Salvatore; Augimeri, Antonio; Lacquaniti, Francesco; Passamonti, Luca

2017-02-01

Different lines of research suggest that anxiety-related personality traits may influence the visual and vestibular control of balance, although the brain mechanisms underlying this effect remain unclear. To our knowledge, this is the first functional magnetic resonance imaging (fMRI) study that investigates how individual differences in neuroticism and introversion, two key personality traits linked to anxiety, modulate brain regional responses and functional connectivity patterns during a fMRI task simulating self-motion. Twenty-four healthy individuals with variable levels of neuroticism and introversion underwent fMRI while performing a virtual reality rollercoaster task that included two main types of trials: (1) trials simulating downward or upward self-motion (vertical motion), and (2) trials simulating self-motion in horizontal planes (horizontal motion). Regional brain activity and functional connectivity patterns when comparing vertical versus horizontal motion trials were correlated with personality traits of the Five Factor Model (i.e., neuroticism, extraversion-introversion, openness, agreeableness, and conscientiousness). When comparing vertical to horizontal motion trials, we found a positive correlation between neuroticism scores and regional activity in the left parieto-insular vestibular cortex (PIVC). For the same contrast, increased functional connectivity between the left PIVC and right amygdala was also detected as a function of higher neuroticism scores. Together, these findings provide new evidence that individual differences in personality traits linked to anxiety are significantly associated with changes in the activity and functional connectivity patterns within visuo-vestibular and anxiety-related systems during simulated vertical self-motion. Hum Brain Mapp 38:715-726, 2017. © 2016 The Authors Human Brain Mapping Published by Wiley Periodicals, Inc. © 2016 The Authors Human Brain Mapping Published by Wiley Periodicals, Inc.
Analysis, simulation and visualization of 1D tapping via reduced dynamical models

NASA Astrophysics Data System (ADS)

Blackmore, Denis; Rosato, Anthony; Tricoche, Xavier; Urban, Kevin; Zou, Luo

2014-04-01

A low-dimensional center-of-mass dynamical model is devised as a simplified means of approximately predicting some important aspects of the motion of a vertical column comprised of a large number of particles subjected to gravity and periodic vertical tapping. This model is investigated first as a continuous dynamical system using analytical, simulation and visualization techniques. Then, by employing an approach analogous to that used to approximate the dynamics of a bouncing ball on an oscillating flat plate, it is modeled as a discrete dynamical system and analyzed to determine bifurcations and transitions to chaotic motion along with other properties. The predictions of the analysis are then compared-primarily qualitatively-with visualization and simulation results of the reduced continuous model, and ultimately with simulations of the complete system dynamics.

Ground Simulation of an Autonomous Satellite Rendezvous and Tracking System Using Dual Robotic Systems

NASA Technical Reports Server (NTRS)

Trube, Matthew J.; Hyslop, Andrew M.; Carignan, Craig R.; Easley, Joseph W.

2012-01-01

A hardware-in-the-loop ground system was developed for simulating a robotic servicer spacecraft tracking a target satellite at short range. A relative navigation sensor package "Argon" is mounted on the end-effector of a Fanuc 430 manipulator, which functions as the base platform of the robotic spacecraft servicer. Machine vision algorithms estimate the pose of the target spacecraft, mounted on a Rotopod R-2000 platform, relay the solution to a simulation of the servicer spacecraft running in "Freespace", which performs guidance, navigation and control functions, integrates dynamics, and issues motion commands to a Fanuc platform controller so that it tracks the simulated servicer spacecraft. Results will be reviewed for several satellite motion scenarios at different ranges. Key words: robotics, satellite, servicing, guidance, navigation, tracking, control, docking.
Refinement of Objective Motion Cueing Criteria Investigation Based on Three Flight Tasks

NASA Technical Reports Server (NTRS)

Zaal, Petrus M. T.; Schroeder, Jeffery A.; Chung, William W.

2017-01-01

The objective of this paper is to refine objective motion cueing criteria for commercial transport simulators based on pilots' performance in three flying tasks. Actuator hardware and software algorithms determine motion cues. Today, during a simulator qualification, engineers objectively evaluate only the hardware. Pilot inspectors subjectively assess the overall motion cueing system (i.e., hardware plus software); however, it is acknowledged that pinpointing any deficiencies that might arise to either hardware or software is challenging. ICAO 9625 has an Objective Motion Cueing Test (OMCT), which is now a required test in the FAA's part 60 regulations for new devices, evaluating the software and hardware together; however, it lacks accompanying fidelity criteria. Hosman has documented OMCT results for a statistical sample of eight simulators which is useful, but having validated criteria would be an improvement. In a previous experiment, we developed initial objective motion cueing criteria that this paper is trying to refine. Sinacori suggested simple criteria which are in reasonable agreement with much of the literature. These criteria often necessitate motion displacements greater than most training simulators can provide. While some of the previous work has used transport aircraft in their studies, the majority used fighter aircraft or helicopters. Those that used transport aircraft considered degraded flight characteristics. As a result, earlier criteria lean more towards being sufficient, rather than necessary, criteria for typical transport aircraft training applications. Considering the prevalence of 60-inch, six-legged hexapod training simulators, a relevant question is "what are the necessary criteria that can be used with the ICAO 9625 diagnostic?" This study adds to the literature as follows. First, it examines well-behaved transport aircraft characteristics, but in three challenging tasks. The tasks are equivalent to the ones used in our previous experiment, allowing us to directly compare the results and add to the previous data. Second, it uses the Vertical Motion Simulator (VMS), the world's largest vertical displacement simulator. This allows inclusion of relatively large motion conditions, much larger than a typical training simulator can provide. Six new motion configurations were used that explore the motion responses between the initial objective motion cueing boundaries found in a previous experiment and what current hexapod simulators typically provide. Finally, a sufficiently large pilot pool added statistical reliability to the results.
A model for the pilot's use of motion cues in roll-axis tracking tasks

NASA Technical Reports Server (NTRS)

Levison, W. H.; Junker, A. M.

1977-01-01

Simulated target-following and disturbance-regulation tasks were explored with subjects using visual-only and combined visual and motion cues. The effects of motion cues on task performance and pilot response behavior were appreciably different for the two task configurations and were consistent with data reported in earlier studies for similar task configurations. The optimal-control model for pilot/vehicle systems provided a task-independent framework for accounting for the pilot's use of motion cues. Specifically, the availability of motion cues was modeled by augmenting the set of perceptual variables to include position, rate, acceleration, and accleration-rate of the motion simulator, and results were consistent with the hypothesis of attention-sharing between visual and motion variables. This straightforward informational model allowed accurate model predictions of the effects of motion cues on a variety of response measures for both the target-following and disturbance-regulation tasks.
Improved single- and multi-contact life-time testing of dental restorative materials using key characteristics of the human masticatory system and a force/position-controlled robotic dental wear simulator.

PubMed

Raabe, D; Harrison, A; Ireland, A; Alemzadeh, K; Sandy, J; Dogramadzi, S; Melhuish, C; Burgess, S

2012-03-01

This paper presents a new in vitro wear simulator based on spatial parallel kinematics and a biologically inspired implicit force/position hybrid controller to replicate chewing movements and dental wear formations on dental components, such as crowns, bridges or a full set of teeth. The human mandible, guided by passive structures such as posterior teeth and the two temporomandibular joints, moves with up to 6 degrees of freedom (DOF) in Cartesian space. The currently available wear simulators lack the ability to perform these chewing movements. In many cases, their lack of sufficient DOF enables them only to replicate the sliding motion of a single occlusal contact point by neglecting rotational movements and the motion along one Cartesian axis. The motion and forces of more than one occlusal contact points cannot accurately be replicated by these instruments. Furthermore, the majority of wear simulators are unable to control simultaneously the main wear-affecting parameters, considering abrasive mechanical wear, which are the occlusal sliding motion and bite forces in the constraint contact phase of the human chewing cycle. It has been shown that such discrepancies between the true in vivo and the simulated in vitro condition influence the outcome and the quality of wear studies. This can be improved by implementing biological features of the human masticatory system such as tooth compliance realized through the passive action of the periodontal ligament and active bite force control realized though the central nervous system using feedback from periodontal preceptors. The simulator described in this paper can be used for single- and multi-occlusal contact testing due to its kinematics and ability to exactly replicate human translational and rotational mandibular movements with up to 6 DOF without neglecting movements along or around the three Cartesian axes. Recorded human mandibular motion and occlusal force data are the reference inputs of the simulator. Experimental studies of wear using this simulator demonstrate that integrating the biological feature of combined force/position hybrid control in dental material testing improves the linearity and reduces the variability of results. In addition, it has been shown that present biaxially operated dental wear simulators are likely to provide misleading results in comparative in vitro/in vivo one-contact studies due to neglecting the occlusal sliding motion in one plane which could introduce an error of up to 49% since occlusal sliding motion D and volumetric wear loss V(loss) are proportional.
A dynamic motion simulator for future European docking systems

NASA Technical Reports Server (NTRS)

Brondino, G.; Marchal, PH.; Grimbert, D.; Noirault, P.

1990-01-01

Europe's first confrontation with docking in space will require extensive testing to verify design and performance and to qualify hardware. For this purpose, a Docking Dynamics Test Facility (DDTF) was developed. It allows reproduction on the ground of the same impact loads and relative motion dynamics which would occur in space during docking. It uses a 9 degree of freedom, servo-motion system, controlled by a real time computer, which simulates the docking spacecraft in a zero-g environment. The test technique involves and active loop based on six axis force and torque detection, a mathematical simulation of individual spacecraft dynamics, and a 9 degree of freedom servomotion of which 3 DOFs allow extension of the kinematic range to 5 m. The configuration was checked out by closed loop tests involving spacecraft control models and real sensor hardware. The test facility at present has an extensive configuration that allows evaluation of both proximity control and docking systems. It provides a versatile tool to verify system design, hardware items and performance capabilities in the ongoing HERMES and COLUMBUS programs. The test system is described and its capabilities are summarized.
Verification and compensation of respiratory motion using an ultrasound imaging system.

PubMed

Chuang, Ho-Chiao; Hsu, Hsiao-Yu; Chiu, Wei-Hung; Tien, Der-Chi; Wu, Ren-Hong; Hsu, Chung-Hsien

2015-03-01

The purpose of this study was to determine if it is feasible to use ultrasound imaging as an aid for moving the treatment couch during diagnosis and treatment procedures associated with radiation therapy, in order to offset organ displacement caused by respiratory motion. A noninvasive ultrasound system was used to replace the C-arm device during diagnosis and treatment with the aims of reducing the x-ray radiation dose on the human body while simultaneously being able to monitor organ displacements. This study used a proposed respiratory compensating system combined with an ultrasound imaging system to monitor the compensation effect of respiratory motion. The accuracy of the compensation effect was verified by fluoroscopy, which means that fluoroscopy could be replaced so as to reduce unnecessary radiation dose on patients. A respiratory simulation system was used to simulate the respiratory motion of the human abdomen and a strain gauge (respiratory signal acquisition device) was used to capture the simulated respiratory signals. The target displacements could be detected by an ultrasound probe and used as a reference for adjusting the gain value of the respiratory signal used by the respiratory compensating system. This ensured that the amplitude of the respiratory compensation signal was a faithful representation of the target displacement. The results show that performing respiratory compensation with the assistance of the ultrasound images reduced the compensation error of the respiratory compensating system to 0.81-2.92 mm, both for sine-wave input signals with amplitudes of 5, 10, and 15 mm, and human respiratory signals; this represented compensation of the respiratory motion by up to 92.48%. In addition, the respiratory signals of 10 patients were captured in clinical trials, while their diaphragm displacements were observed simultaneously using ultrasound. Using the respiratory compensating system to offset, the diaphragm displacement resulted in compensation rates of 60%-84.4%. This study has shown that a respiratory compensating system combined with noninvasive ultrasound can provide real-time compensation of the respiratory motion of patients.
Interactive Physical Simulation of Catheter Motion within Mayor Vessel Structures and Cavities for ASD/VSD Treatment

NASA Astrophysics Data System (ADS)

Becherer, Nico; Hesser, Jürgen; Kornmesser, Ulrike; Schranz, Dietmar; Männer, Reinhard

2007-03-01

Simulation systems are becoming increasingly essential in medical education. Hereby, capturing the physical behaviour of the real world requires a sophisticated modelling of instruments within the virtual environment. Most models currently used are not capable of user interactive simulations due to the computation of the complex underlying analytical equations. Alternatives are often based on simplifying mass-spring systems, being able to deliver high update rates that come at the cost of less realistic motion. In addition, most techniques are limited to narrow and tubular vessel structures or restrict shape alterations to two degrees of freedom, not allowing instrument deformations like torsion. In contrast, our approach combines high update rates with highly realistic motion and can in addition be used with respect to arbitrary structures like vessels or cavities (e.g. atrium, ventricle) without limiting the degrees of freedom. Based on energy minimization, bending energies and vessel structures are considered as linear elastic elements; energies are evaluated at regularly spaced points on the instrument, while the distance of the points is fixed, i.e. we simulate an articulated structure of joints with fixed connections between them. Arbitrary tissue structures are modeled through adaptive distance fields and are connected by nodes via an undirected graph system. The instrument points are linked to nodes by a system of rules. Energy minimization uses a Quasi Newton method without preconditioning and, hereby, gradients are estimated using a combination of analytical and numerical terms. Results show a high quality in motion simulation when compared to a phantom model. The approach is also robust and fast. Simulating an instrument with 100 joints runs at 100 Hz on a 3 GHz PC.
The system integration and verification testing of an orbital maneuvering vehicle for an air bearing floor

NASA Technical Reports Server (NTRS)

Shields, N. L., Jr.; Martin, M. F.; Paulukaitis, K. R.; Haslam, J. W., Jr.; Henderson, D. E.

1986-01-01

The teleoperator and Robotics Evaluation Facility (TOREF) is composed of a 4,000 square foot precision air bearing floor, the Teleoperator Motion Base, the Target Motion and Support Simulator, the mock-ups of the Hubble Space Telescope, Multi-mission Modular Spacecraft, and the Orbital Maneuvering Vehicle (OMV). The TOREF and its general capabilities to support the OMV and other remote system simulations; the facility operating procedures and requirements; and the results of generic OMV investigations are summarized.
Complex double-mass dynamic model of rotor on thrust foil gas dynamic bearings

NASA Astrophysics Data System (ADS)

Sytin, A.; Babin, A.; Vasin, S.

2017-08-01

The present paper considers simulation of a rotor’s dynamics behaviour on thrust foil gas dynamic bearings based on simultaneous solution of gas dynamics differential equations, equations of theory of elasticity, motion equations and some additional equations. A double-mass dynamic system was considered during the rotor’s motion simulation which allows not only evaluation of rotor’s dynamic behaviour, but also to evaluate the influence of operational and load parameters on the dynamics of the rotor-bearing system.
Optimal Configuration of Human Motion Tracking Systems: A Systems Engineering Approach

NASA Technical Reports Server (NTRS)

Henderson, Steve

2005-01-01

Human motion tracking systems represent a crucial technology in the area of modeling and simulation. These systems, which allow engineers to capture human motion for study or replication in virtual environments, have broad applications in several research disciplines including human engineering, robotics, and psychology. These systems are based on several sensing paradigms, including electro-magnetic, infrared, and visual recognition. Each of these paradigms requires specialized environments and hardware configurations to optimize performance of the human motion tracking system. Ideally, these systems are used in a laboratory or other facility that was designed to accommodate the particular sensing technology. For example, electromagnetic systems are highly vulnerable to interference from metallic objects, and should be used in a specialized lab free of metal components.
Experimental and numerical investigation of the roll motion behavior of a floating liquefied natural gas system

NASA Astrophysics Data System (ADS)

Zhao, WenHua; Yang, JianMin; Hu, ZhiQiang; Xiao, LongFei; Peng, Tao

2013-03-01

The present paper does an experimental and numerical investigation of the hydrodynamic interaction and the response of a single point turret-moored Floating Liquefied Natural Gas (FLNG) system, which is a new type of floating LNG (Liquid Natural Gas) platform that consists of a ship-type FPSO hull equipped with LNG storage tanks and liquefaction plants. In particular, this study focuses on the investigation of the roll response of FLNG hull in free-decay motions, white noise waves and also in irregular waves. Model tests of the FLNG system in 60%H filling condition excited by both white noise waves and irregular waves combined with steady wind and current have been carried out. Response Amplitude Operators (RAOs) and time histories of the responses are obtained for sway, roll and yaw motions. Obvious Low Frequency (LF) components of the roll motions are observed, which may be out of expectation. To facilitate the physical understanding of this phenomenon, we filter the roll motions at the period of 30 s into two parts: the Wave Frequency (WF) motions and the Low Frequency (LF) motions respectively. The results indicate that the LF motions are closely related to the sway and yaw motions. Possible reasons for the presence of the LF motions of roll have been discussed in detail, through the comparison with the sway and yaw motions. As for the numerical part, the simulation of the modeled case is conducted with the help of the software SESAM®. A good agreement between experiments and calculations is reported within the scope of trends. However, the numerical simulations should be further improved for the prediction of the FLNG system in the heading sea.
Generating a Reduced Gravity Environment on Earth

NASA Technical Reports Server (NTRS)

Dungan, L. K.; Valle, P.; Shy, C.

2015-01-01

The Active Response Gravity Offload System (ARGOS) is designed to simulate reduced gravity environments, such as Lunar, Martian, or microgravity using a vertical lifting hoist and horizontal motion system. Three directions of motion are provided over a 41 ft x 24 ft x 25 ft tall area. ARGOS supplies a continuous offload of a portion of a person's weight during dynamic motions such as walking, running, and jumping. The ARGOS system tracks the person's motion in the horizontal directions to maintain a vertical offload force directly above the person or payload by measuring the deflection of the cable and adjusting accordingly.
Swarms with canonical active Brownian motion.

PubMed

Glück, Alexander; Hüffel, Helmuth; Ilijić, Saša

2011-05-01

We present a swarm model of Brownian particles with harmonic interactions, where the individuals undergo canonical active Brownian motion, i.e., each Brownian particle can convert internal energy to mechanical energy of motion. We assume the existence of a single global internal energy of the system. Numerical simulations show amorphous swarming behavior as well as static configurations. Analytic understanding of the system is provided by studying stability properties of equilibria.
Space motion sickness preflight adaptation training: preliminary studies with prototype trainers

NASA Technical Reports Server (NTRS)

Parker, D. E.; Rock, J. C.; von Gierke, H. E.; Ouyang, L.; Reschke, M. F.; Arrott, A. P.

1987-01-01

Preflight training frequently has been proposed as a potential solution to the problem of space motion sickness. The paper considers successively the otolith reinterpretation, the concept for a preflight adaptation trainer and the research with the Miami University Seesaw, the Wright Patterson Air-Force Base Dynamic Environment Simulator and the Visually Coupled Airborne Systems Simulator prototype adaptation trainers.
Technical skills measurement based on a cyber-physical system for endovascular surgery simulation.

PubMed

Tercero, Carlos; Kodama, Hirokatsu; Shi, Chaoyang; Ooe, Katsutoshi; Ikeda, Seiichi; Fukuda, Toshio; Arai, Fumihito; Negoro, Makoto; Kwon, Guiryong; Najdovski, Zoran

2013-09-01

Quantification of medical skills is a challenge, particularly simulator-based training. In the case of endovascular intervention, it is desirable that a simulator accurately recreates the morphology and mechanical characteristics of the vasculature while enabling scoring. For this purpose, we propose a cyber-physical system composed of optical sensors for a catheter's body motion encoding, a magnetic tracker for motion capture of an operator's hands, and opto-mechatronic sensors for measuring the interaction of the catheter tip with the vasculature model wall. Two pilot studies were conducted for measuring technical skills, one for distinguishing novices from experts and the other for measuring unnecessary motion. The proficiency levels were measurable between expert and novice and also between individual novice users. The results enabled scoring of the user's proficiency level, using sensitivity, reaction time, time to complete a task and respect for tissue integrity as evaluation criteria. Additionally, unnecessary motion was also measurable. The development of cyber-physical simulators for other domains of medicine depend on the study of photoelastic materials for human tissue modelling, and enables quantitative evaluation of skills using surgical instruments and a realistic representation of human tissue. Copyright © 2012 John Wiley & Sons, Ltd.
Metadynamics in the conformational space nonlinearly dimensionally reduced by Isomap

NASA Astrophysics Data System (ADS)

Spiwok, Vojtěch; Králová, Blanka

2011-12-01

Atomic motions in molecules are not linear. This infers that nonlinear dimensionality reduction methods can outperform linear ones in analysis of collective atomic motions. In addition, nonlinear collective motions can be used as potentially efficient guides for biased simulation techniques. Here we present a simulation with a bias potential acting in the directions of collective motions determined by a nonlinear dimensionality reduction method. Ad hoc generated conformations of trans,trans-1,2,4-trifluorocyclooctane were analyzed by Isomap method to map these 72-dimensional coordinates to three dimensions, as described by Brown and co-workers [J. Chem. Phys. 129, 064118 (2008)]. Metadynamics employing the three-dimensional embeddings as collective variables was applied to explore all relevant conformations of the studied system and to calculate its conformational free energy surface. The method sampled all relevant conformations (boat, boat-chair, and crown) and corresponding transition structures inaccessible by an unbiased simulation. This scheme allows to use essentially any parameter of the system as a collective variable in biased simulations. Moreover, the scheme we used for mapping out-of-sample conformations from the 72D to 3D space can be used as a general purpose mapping for dimensionality reduction, beyond the context of molecular modeling.
Prediction of EPR Spectra of Lyotropic Liquid Crystals using a Combination of Molecular Dynamics Simulations and the Model-Free Approach.

PubMed

Prior, Christopher; Oganesyan, Vasily S

2017-09-21

We report the first application of fully atomistic molecular dynamics (MD) simulations to the prediction of the motional electron paramagnetic resonance (EPR) spectra of lyotropic liquid crystals in different aggregation states doped with a paramagnetic spin probe. The purpose of this study is twofold. First, given that EPR spectra are highly sensitive to the motions and order of the spin probes doped within lyotropic aggregates, simulation of EPR line shapes from the results of MD modelling provides an ultimate test bed for the force fields currently employed to model such systems. Second, the EPR line shapes are simulated using the motional parameters extracted from MD trajectories using the Model-Free (MF) approach. Thus a combined MD-EPR methodology allowed us to test directly the validity of the application of the MF approach to systems with multi-component molecular motions. All-atom MD simulations using the General AMBER Force Field (GAFF) have been performed on sodium dodecyl sulfate (SDS) and dodecyltrimethylammonium chloride (DTAC) liquid crystals. The resulting MD trajectories were used to predict and interpret the EPR spectra of pre-micellar, micellar, rod and lamellar aggregates. The predicted EPR spectra demonstrate good agreement with most of experimental line shapes thus confirming the validity of both the force fields employed and the MF approach for the studied systems. At the same time simulation results confirm that GAFF tends to overestimate the packing and the order of the carbonyl chains of the surfactant molecules. © 2017 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim.
Global behavior of a vibro-impact system with asymmetric clearances

NASA Astrophysics Data System (ADS)

Li, Guofang; Ding, Wangcai

2018-06-01

A simple dynamic model of a vibro-impact system subjected to harmonic excitation with two asymmetric clearances is considered. The Semi-Analytical Method for getting periodic solutions of the vibro-impact system is proposed. Diversity and evolution of the fundamental periodic impact motions are analyzed. The formation mechanism of the complete chatting-impact periodic motion with sticking motion by the influence of gazing bifurcation is analyzed. The transitional law of periodic motions in the periodical inclusions area is presented. The coexistence of periodic motions and the extreme sensitivity of the initial value within the high frequency region are studied. The global distribution of the periodic and chaos motions of the system is obtained by the state-parameter space co-simulation method which very few have considered before. The distribution of the attractor and the corresponding attracting domain corresponding to different periodic motions are also studied.
Computational Fluid Dynamics Demonstration of Rigid Bodies in Motion

NASA Technical Reports Server (NTRS)

Camarena, Ernesto; Vu, Bruce T.

2011-01-01

The Design Analysis Branch (NE-Ml) at the Kennedy Space Center has not had the ability to accurately couple Rigid Body Dynamics (RBD) and Computational Fluid Dynamics (CFD). OVERFLOW-D is a flow solver that has been developed by NASA to have the capability to analyze and simulate dynamic motions with up to six Degrees of Freedom (6-DOF). Two simulations were prepared over the course of the internship to demonstrate 6DOF motion of rigid bodies under aerodynamic loading. The geometries in the simulations were based on a conceptual Space Launch System (SLS). The first simulation that was prepared and computed was the motion of a Solid Rocket Booster (SRB) as it separates from its core stage. To reduce computational time during the development of the simulation, only half of the physical domain with respect to the symmetry plane was simulated. Then a full solution was prepared and computed. The second simulation was a model of the SLS as it departs from a launch pad under a 20 knot crosswind. This simulation was reduced to Two Dimensions (2D) to reduce both preparation and computation time. By allowing 2-DOF for translations and 1-DOF for rotation, the simulation predicted unrealistic rotation. The simulation was then constrained to only allow translations.
METHOD AND APPARATUS FOR DETERMINING CHARGED PARTICLE MOTION

DOEpatents

Kerns, Q.A.

1959-08-01

An analog system for determining the motion of charged particles in three dimensional electrical fields is described. A model electrode structure is formed and potentials are applied to the electrodes to provide an analog of the field which is to be studied. To simulate charged particles within the model, conducting spheres are placed at points from which particle motion is to be traced. To free the spheres from gravitational attraction in order that they will be electrostatically accelerated through the model, the apparatus is suspended and dropped. During the pericd that the model is dropping the spheres move through the electrcde structure with a motion corresponding to that of particles in the real system. The model is photographed in the course of falling so that the instantaneous position of the spheres within the simulated field at selected times may be observed and measured. The device thus gives data of particles in the real system. The model is photographed in the course of falling so that the instantaneous position of the spheres within the simulated field at selected times may be observed and measured. The device thus gives data which frequently can otherwise be obtained only with a digital computer.

Conceptual design study for an advanced cab and visual system, volume 2

NASA Technical Reports Server (NTRS)

Rue, R. J.; Cyrus, M. L.; Garnett, T. A.; Nachbor, J. W.; Seery, J. A.; Starr, R. L.

1980-01-01

The performance, design, construction and testing requirements are defined for developing an advanced cab and visual system. The rotorcraft system integration simulator is composed of the advanced cab and visual system and the rotorcraft system motion generator, and is part of an existing simulation facility. User's applications for the simulator include rotorcraft design development, product improvement, threat assessment, and accident investigation.
Direct Numerical Simulation of Wetting and Spreading Behavior on Heterogeneous and Roughened Substrates

NASA Technical Reports Server (NTRS)

Schwartz, Leonard W.

1999-01-01

A method of calculation is presented that allows the simulation of the time-dependent three-dimensional motion of thin liquid layers on solid substrates for systems with finite equilibrium contact angles. The contact angle is a prescribed function of position on the substrate. Similar mathematical models are constructed for substrates with a pattern of roughness. Evolution equations are given, using the lubrication approximation, that include viscous, capillary and disjoining forces. Motion to and from dry substrate regions is made possible by use of a thin energetically-stable wetting layer. We simulate motion on heterogeneous substrates with periodic arrays of high contact-angle patches. Two different problems are treated for heterogenous substrates. The first is spontaneous motion driven only by wetting forces. If the contact-angle difference is sufficiently high, the droplet can find several different stable positions, depending on the previous history of the motion. A second simulation treats a forced cyclical motion. Energy dissipation per cycle for a heterogeneous substrate is found to be larger than for a uniform substrate with the same total energy. The Landau-Levich solution for plate removal from a liquid bath is extended to account for a pattern of roughness on the plate.
Simulation of cooperating robot manipulators on a mobile platform

NASA Technical Reports Server (NTRS)

Murphy, Steve H.; Wen, John T.; Saridis, George N.

1990-01-01

The dynamic equations of motion for two manipulators holding a common object on a freely moving mobile platform are developed. The full dynamic interactions from arms to platform and arm-tip to arm-tip are included in the formulation. The development of the closed chain dynamics allows for the use of any solution for the open topological tree of base and manipulator links. In particular, because the system has 18 degrees of freedom, recursive solutions for the dynamic simulation become more promising for efficient calculations of the motion. Simulation of the system is accomplished through a MATLAB program, and the response is visualized graphically using the SILMA Cimstation.
Simulation of the elementary evolution operator with the motional states of an ion in an anharmonic trap

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

Santos, Ludovic; Vaeck, Nathalie; Justum, Yves

2015-04-07

Following a recent proposal of L. Wang and D. Babikov [J. Chem. Phys. 137, 064301 (2012)], we theoretically illustrate the possibility of using the motional states of a Cd{sup +} ion trapped in a slightly anharmonic potential to simulate the single-particle time-dependent Schrödinger equation. The simulated wave packet is discretized on a spatial grid and the grid points are mapped on the ion motional states which define the qubit network. The localization probability at each grid point is obtained from the population in the corresponding motional state. The quantum gate is the elementary evolution operator corresponding to the time-dependent Schrödingermore » equation of the simulated system. The corresponding matrix can be estimated by any numerical algorithm. The radio-frequency field which is able to drive this unitary transformation among the qubit states of the ion is obtained by multi-target optimal control theory. The ion is assumed to be cooled in the ground motional state, and the preliminary step consists in initializing the qubits with the amplitudes of the initial simulated wave packet. The time evolution of the localization probability at the grids points is then obtained by successive applications of the gate and reading out the motional state population. The gate field is always identical for a given simulated potential, only the field preparing the initial wave packet has to be optimized for different simulations. We check the stability of the simulation against decoherence due to fluctuating electric fields in the trap electrodes by applying dissipative Lindblad dynamics.« less
Analyzing Robotic Kinematics Via Computed Simulations

NASA Technical Reports Server (NTRS)

Carnahan, Timothy M.

1992-01-01

Computing system assists in evaluation of kinematics of conceptual robot. Displays positions and motions of robotic manipulator within work cell. Also displays interactions between robotic manipulator and other objects. Results of simulation displayed on graphical computer workstation. System includes both off-the-shelf software originally developed for automotive industry and specially developed software. Simulation system also used to design human-equivalent hand, to model optical train in infrared system, and to develop graphical interface for teleoperator simulation system.
Equations of motion of slung load systems with results for dual lift

NASA Technical Reports Server (NTRS)

Cicolani, Luigi S.; Kanning, Gerd

1990-01-01

General simulation equations are derived for the rigid body motion of slung load systems. These systems are viewed as consisting of several rigid bodies connected by straight-line cables or links. The suspension can be assumed to be elastic or inelastic, both cases being of interest in simulation and control studies. Equations for the general system are obtained via D'Alembert's principle and the introduction of generalized velocity coordinates. Three forms are obtained. Two of these generalize previous case-specific results for single helicopter systems with elastic or inelastic suspensions. The third is a new formulation for inelastic suspensions. It is derived from the elastic suspension equations by choosing the generalized coordinates so as to separate motion due to cable stretching from motion with invariant cable lengths. The result is computationally more efficient than the conventional formulation, and is readily integrated with the elastic suspension formulation and readily applied to the complex dual lift and multilift systems. Equations are derived for dual lift systems. Three proposed suspension arrangements can be integrated in a single equation set. The equations are given in terms of the natural vectors and matrices of three-dimensional rigid body mechanics and are tractable for both analysis and programming.
Evaluation of a linear washout for simulator motion cue presentation during landing approach

NASA Technical Reports Server (NTRS)

Parrish, R. V.; Martin, D. J., Jr.

1975-01-01

The comparison of a fixed-base versus a five-degree-of-freedom motion base simulation of a 737 conventional take-off and landing (CTOL) aircraft performing instrument landing system (ILS) landing approaches was used to evaluate a linear motion washout technique. The fact that the pilots felt that the addition of motion increased the pilot workload and this increase was not reflected in the objective data results, indicates that motion cues, as presented, are not a contributing factor to root-mean-square (rms) performance during the landing approach task. Subjective results from standard maneuvering about straight-and-level flight for specific motion cue evaluation revealed that the longitudinal channels (pitch and surge) possibly the yaw channel produce acceptable motions. The roll cue representation, involving both roll and sway channels, was found to be inadequate for large roll inputs, as used for example, in turn entries.
Blade Displacement Predictions for the Full-Scale UH-60A Airloads Rotor

NASA Technical Reports Server (NTRS)

Bledron, Robert T.; Lee-Rausch, Elizabeth M.

2014-01-01

An unsteady Reynolds-Averaged Navier-Stokes solver for unstructured grids is loosely coupled to a rotorcraft comprehensive code and used to simulate two different test conditions from a wind-tunnel test of a full-scale UH-60A rotor. Performance data and sectional airloads from the simulation are compared with corresponding tunnel data to assess the level of fidelity of the aerodynamic aspects of the simulation. The focus then turns to a comparison of the blade displacements, both rigid (blade root) and elastic. Comparisons of computed root motions are made with data from three independent measurement systems. Finally, comparisons are made between computed elastic bending and elastic twist, and the corresponding measurements obtained from a photogrammetry system. Overall the correlation between computed and measured displacements was good, especially for the root pitch and lag motions and the elastic bending deformation. The correlation of root lead-lag motion and elastic twist deformation was less favorable.
Visualization in mechanics: the dynamics of an unbalanced roller

NASA Astrophysics Data System (ADS)

Cumber, Peter S.

2017-04-01

It is well known that mechanical engineering students often find mechanics a difficult area to grasp. This article describes a system of equations describing the motion of a balanced and an unbalanced roller constrained by a pivot arm. A wide range of dynamics can be simulated with the model. The equations of motion are embedded in a graphical user interface for its numerical solution in MATLAB. This allows a student's focus to be on the influence of different parameters on the system dynamics. The simulation tool can be used as a dynamics demonstrator in a lecture or as an educational tool driven by the imagination of the student. By way of demonstration the simulation tool has been applied to a range of roller-pivot arm configurations. In addition, approximations to the equations of motion are explored and a second-order model is shown to be accurate for a limited range of parameters.
Scenario Development Process at the Vertical Motion Simulator

NASA Technical Reports Server (NTRS)

Reardon, Scott E.; Beard, Steven D.; Lewis, Emily

2017-01-01

There has been a significant effort within the simulation community to standardize many aspects of flight simulation. More recently, an effort has begun to develop a formal scenario definition language for aviation. A working group within the AIAA Modeling and Simulation Technical Committee has been created to develop a standard aviation scenario definition language, though much of the initial effort has been tailored to training simulators. Research and development (R&D) simulators, like the Vertical Motion Simulator (VMS), and training simulators have different missions and thus have different scenario requirements. The purpose of this paper is to highlight some of the unique tasks and scenario elements used at the VMS so they may be captured by scenario standardization efforts. The VMS most often performs handling qualities studies and transfer of training studies. Three representative handling qualities simulation studies and two transfer of training simulation studies are described in this paper. Unique scenario elements discussed in this paper included special out-the-window (OTW) targets and environmental conditions, motion system parameters, active inceptor parameters, and configurable vehicle math model parameters.
Particle sedimentation in curved tubes: A 3D simulation and optimization for treatment of vestibular vertigo

NASA Astrophysics Data System (ADS)

White, Brian; Squires, Todd M.; Hain, Timothy C.; Stone, Howard A.

2003-11-01

Benign paroxysmal positional vertigo (BPPV) is a mechanical disorder of the vestibular system where micron-size crystals abnormally drift into the semicircular canals of the inner ear that sense angular motion of the head. Sedimentation of these crystals causes sensation of motion after true head motion has stopped: vertigo results. The usual clinical treatment is through a series of head maneuvers designed to move the particles into a less sensitive region of the canal system. We present a three-dimensional model to simulate treatment of BPPV by determining the complete hydrodynamic motion of the particles through the course of a therapeutic maneuver while using a realistic representation of the actual geometry. Analyses of clinical maneuvers show the parameter range for which they are effective, and indicate inefficiencies in current practice. In addition, an optimization process determines the most effective head maneuver, which significantly differs from those currently in practice.
Modeling of the motion of automobile elastic wheel in real-time for creation of wheeled vehicles motion control electronic systems

NASA Astrophysics Data System (ADS)

Balakina, E. V.; Zotov, N. M.; Fedin, A. P.

2018-02-01

Modeling of the motion of the elastic wheel of the vehicle in real-time is used in the tasks of constructing different models in the creation of wheeled vehicles motion control electronic systems, in the creation of automobile stand-simulators etc. The accuracy and the reliability of simulation of the parameters of the wheel motion in real-time when rolling with a slip within the given road conditions are determined not only by the choice of the model, but also by the inaccuracy and instability of the numerical calculation. It is established that the inaccuracy and instability of the calculation depend on the size of the step of integration and the numerical method being used. The analysis of these inaccuracy and instability when wheel rolling with a slip was made and recommendations for reducing them were developed. It is established that the total allowable range of steps of integration is 0.001.0.005 s; the strongest instability is manifested in the calculation of the angular and linear accelerations of the wheel; the weakest instability is manifested in the calculation of the translational velocity of the wheel and moving of the center of the wheel; the instability is less at large values of slip angle and on more slippery surfaces. A new method of the average acceleration is suggested, which allows to significantly reduce (up to 100%) the manifesting of instability of the solution in the calculation of all parameters of motion of the elastic wheel for different braking conditions and for the entire range of steps of integration. The results of research can be applied to the selection of control algorithms in vehicles motion control electronic systems and in the testing stand-simulators
Simulation of a flexible spinning vehicle

NASA Technical Reports Server (NTRS)

Baudry, W. A.

1972-01-01

Results are presented of experimental investigation of the controlled and uncontrolled dynamical behavior of a rotating or artificial gravity space station including flexible body effects. A dynamically scaled model was supported by a spherical air bearing which provided a nearly moment free environment. Reaction jet system were provided for spin-up and spin-down and for damping of wobble motion. Two single-gimbal gyros were arranged as a control moment gyro wobble damping system. Remotely controllable movable masses were provided to simulate mass shift disturbances such as arise from crew motions. An active mass balance wobble damping system which acted to minimize the wobble motions induced by crew motions was also installed. Flexible body effects were provided by a pair of inertia augmentation booms. Inertia augmentation booms are contemplated for use on rotating space stations to cause the spin axis moment of inertia to be the largest of the three moments of inertia as is necessary to assure gyroscopic stability. Test runs were made with each of the control systems with the booms locked (rigid body) and unlocked (flexible body).
Adaptive vehicle motion estimation and prediction

NASA Astrophysics Data System (ADS)

Zhao, Liang; Thorpe, Chuck E.

1999-01-01

Accurate motion estimation and reliable maneuver prediction enable an automated car to react quickly and correctly to the rapid maneuvers of the other vehicles, and so allow safe and efficient navigation. In this paper, we present a car tracking system which provides motion estimation, maneuver prediction and detection of the tracked car. The three strategies employed - adaptive motion modeling, adaptive data sampling, and adaptive model switching probabilities - result in an adaptive interacting multiple model algorithm (AIMM). The experimental results on simulated and real data demonstrate that our tracking system is reliable, flexible, and robust. The adaptive tracking makes the system intelligent and useful in various autonomous driving tasks.
Finite element methods in a simulation code for offshore wind turbines

NASA Astrophysics Data System (ADS)

Kurz, Wolfgang

1994-06-01

Offshore installation of wind turbines will become important for electricity supply in future. Wind conditions above sea are more favorable than on land and appropriate locations on land are limited and restricted. The dynamic behavior of advanced wind turbines is investigated with digital simulations to reduce time and cost in development and design phase. A wind turbine can be described and simulated as a multi-body system containing rigid and flexible bodies. Simulation of the non-linear motion of such a mechanical system using a multi-body system code is much faster than using a finite element code. However, a modal representation of the deformation field has to be incorporated in the multi-body system approach. The equations of motion of flexible bodies due to deformation are generated by finite element calculations. At Delft University of Technology the simulation code DUWECS has been developed which simulates the non-linear behavior of wind turbines in time domain. The wind turbine is divided in subcomponents which are represented by modules (e.g. rotor, tower etc.).
Global motions exhibited by proteins in micro- to milliseconds simulations concur with anisotropic network model predictions

NASA Astrophysics Data System (ADS)

Gur, M.; Zomot, E.; Bahar, I.

2013-09-01

The Anton supercomputing technology recently developed for efficient molecular dynamics simulations permits us to examine micro- to milli-second events at full atomic resolution for proteins in explicit water and lipid bilayer. It also permits us to investigate to what extent the collective motions predicted by network models (that have found broad use in molecular biophysics) agree with those exhibited by full-atomic long simulations. The present study focuses on Anton trajectories generated for two systems: the bovine pancreatic trypsin inhibitor, and an archaeal aspartate transporter, GltPh. The former, a thoroughly studied system, helps benchmark the method of comparative analysis, and the latter provides new insights into the mechanism of function of glutamate transporters. The principal modes of motion derived from both simulations closely overlap with those predicted for each system by the anisotropic network model (ANM). Notably, the ANM modes define the collective mechanisms, or the pathways on conformational energy landscape, that underlie the passage between the crystal structure and substates visited in simulations. In particular, the lowest frequency ANM modes facilitate the conversion between the most probable substates, lending support to the view that easy access to functional substates is a robust determinant of evolutionarily selected native contact topology.
Establishment of quality assurance for respiratory-gated radiotherapy using a respiration-simulating phantom and gamma index: Evaluation of accuracy taking into account tumor motion and respiratory cycle

NASA Astrophysics Data System (ADS)

Lee, Jae-Seung; Im, In-Chul; Kang, Su-Man; Goo, Eun-Hoe; Baek, Seong-Min

2013-11-01

The purpose of this study is to present a new method of quality assurance (QA) in order to ensure effective evaluation of the accuracy of respiratory-gated radiotherapy (RGR). This would help in quantitatively analyzing the patient's respiratory cycle and respiration-induced tumor motion and in performing a subsequent comparative analysis of dose distributions, using the gamma-index method, as reproduced in our in-house developed respiration-simulating phantom. Therefore, we designed a respiration-simulating phantom capable of reproducing the patient's respiratory cycle and respiration-induced tumor motion and evaluated the accuracy of RGR by estimating its pass rates. We applied the gamma index passing criteria of accepted error ranges of 3% and 3 mm for the dose distribution calculated by using the treatment planning system (TPS) and the actual dose distribution of RGR. The pass rate clearly increased inversely to the gating width chosen. When respiration-induced tumor motion was 12 mm or less, pass rates of 85% and above were achieved for the 30-70% respiratory phase, and pass rates of 90% and above were achieved for the 40-60% respiratory phase. However, a respiratory cycle with a very small fluctuation range of pass rates failed to prove reliable in evaluating the accuracy of RGR. Therefore, accurate and reliable outcomes of radiotherapy will be obtainable only by establishing a novel QA system using the respiration-simulating phantom, the gamma-index analysis, and a quantitative analysis of diaphragmatic motion, enabling an indirect measurement of tumor motion.
Dynamic Mesh CFD Simulations of Orion Parachute Pendulum Motion During Atmospheric Entry

NASA Technical Reports Server (NTRS)

Halstrom, Logan D.; Schwing, Alan M.; Robinson, Stephen K.

2016-01-01

This paper demonstrates the usage of computational fluid dynamics to study the effects of pendulum motion dynamics of the NASAs Orion Multi-Purpose Crew Vehicle parachute system on the stability of the vehicles atmospheric entry and decent. Significant computational fluid dynamics testing has already been performed at NASAs Johnson Space Center, but this study sought to investigate the effect of bulk motion of the parachute, such as pitching, on the induced aerodynamic forces. Simulations were performed with a moving grid geometry oscillating according to the parameters observed in flight tests. As with the previous simulations, OVERFLOW computational fluid dynamics tool is used with the assumption of rigid, non-permeable geometry. Comparison to parachute wind tunnel tests is included for a preliminary validation of the dynamic mesh model. Results show qualitative differences in the flow fields of the static and dynamic simulations and quantitative differences in the induced aerodynamic forces, suggesting that dynamic mesh modeling of the parachute pendulum motion may uncover additional dynamic effects.
Dynamic imperfections and optimized feedback design in the Compact Linear Collider main linac

NASA Astrophysics Data System (ADS)

Eliasson, Peder

2008-05-01

The Compact Linear Collider (CLIC) main linac is sensitive to dynamic imperfections such as element jitter, injected beam jitter, and ground motion. These effects cause emittance growth that, in case of ground motion, has to be counteracted by a trajectory feedback system. The feedback system itself will, due to jitter effects and imperfect beam position monitors (BPMs), indirectly cause emittance growth. Fast and accurate simulations of both the direct and indirect effects are desirable, but due to the many elements of the CLIC main linac, simulations may become very time consuming. In this paper, an efficient way of simulating linear (or nearly linear) dynamic effects is described. The method is also shown to facilitate the analytic determination of emittance growth caused by the different dynamic imperfections while using a trajectory feedback system. Emittance growth expressions are derived for quadrupole, accelerating structure, and beam jitter, for ground motion, and for noise in the feedback BPMs. Finally, it is shown how the method can be used to design a feedback system that is optimized for the optics of the machine and the ground motion spectrum of the particular site. This feedback system gives an emittance growth rate that is approximately 10 times lower than that of traditional trajectory feedbacks. The robustness of the optimized feedback system is studied for a number of additional imperfections, e.g., dipole corrector imperfections and faulty knowledge about the machine optics, with promising results.
Comparisons of Kinematics and Dynamics Simulation Software Tools

NASA Technical Reports Server (NTRS)

Shiue, Yeu-Sheng Paul

2002-01-01

Kinematic and dynamic analyses for moving bodies are essential to system engineers and designers in the process of design and validations. 3D visualization and motion simulation plus finite element analysis (FEA) give engineers a better way to present ideas and results. Marshall Space Flight Center (MSFC) system engineering researchers are currently using IGRIP from DELMIA Inc. as a kinematic simulation tool for discrete bodies motion simulations. Although IGRIP is an excellent tool for kinematic simulation with some dynamic analysis capabilities in robotic control, explorations of other alternatives with more powerful dynamic analysis and FEA capabilities are necessary. Kinematics analysis will only examine the displacement, velocity, and acceleration of the mechanism without considering effects from masses of components. With dynamic analysis and FEA, effects such as the forces or torques at the joint due to mass and inertia of components can be identified. With keen market competition, ALGOR Mechanical Event Simulation (MES), MSC visualNastran 4D, Unigraphics Motion+, and Pro/MECHANICA were chosen for explorations. In this study, comparisons between software tools were presented in terms of following categories: graphical user interface (GUI), import capability, tutorial availability, ease of use, kinematic simulation capability, dynamic simulation capability, FEA capability, graphical output, technical support, and cost. Propulsion Test Article (PTA) with Fastrac engine model exported from IGRIP and an office chair mechanism were used as examples for simulations.

Can walking motions improve visually induced rotational self-motion illusions in virtual reality?

PubMed

Riecke, Bernhard E; Freiberg, Jacob B; Grechkin, Timofey Y

2015-02-04

Illusions of self-motion (vection) can provide compelling sensations of moving through virtual environments without the need for complex motion simulators or large tracked physical walking spaces. Here we explore the interaction between biomechanical cues (stepping along a rotating circular treadmill) and visual cues (viewing simulated self-rotation) for providing stationary users a compelling sensation of rotational self-motion (circular vection). When tested individually, biomechanical and visual cues were similarly effective in eliciting self-motion illusions. However, in combination they yielded significantly more intense self-motion illusions. These findings provide the first compelling evidence that walking motions can be used to significantly enhance visually induced rotational self-motion perception in virtual environments (and vice versa) without having to provide for physical self-motion or motion platforms. This is noteworthy, as linear treadmills have been found to actually impair visually induced translational self-motion perception (Ash, Palmisano, Apthorp, & Allison, 2013). Given the predominant focus on linear walking interfaces for virtual-reality locomotion, our findings suggest that investigating circular and curvilinear walking interfaces offers a promising direction for future research and development and can help to enhance self-motion illusions, presence and immersion in virtual-reality systems. © 2015 ARVO.
TH-CD-207B-03: How to Quantify Temporal Resolution in X-Ray MDCT Imaging?

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

Budde, A; GE Healthcare Technologies, Madison, WI; Li, Y

Purpose: In modern CT scanners, a quantitative metric to assess temporal response, namely, to quantify the temporal resolution (TR), remains elusive. Rough surrogate metrics, such as half of the gantry rotation time for single source CT, a quarter of the gantry rotation time for dual source CT, or measurements of motion artifact’s size, shape, or intensity have previously been used. In this work, a rigorous framework which quantifies TR and a practical measurement method are developed. Methods: A motion phantom was simulated which consisted of a single rod that is in motion except during a static period at the temporalmore » center of the scan, termed the TR window. If the image of the motion scan has negligible motion artifacts compared to an image from a totally static scan, then the system has a TR no worse than the TR window used. By repeating this comparison with varying TR windows, the TR of the system can be accurately determined. Motion artifacts were also visually assessed and the TR was measured across varying rod motion speeds, directions, and locations. Noiseless fan beam acquisitions were simulated and images were reconstructed with a short-scan image reconstruction algorithm. Results: The size, shape, and intensity of motion artifacts varied when the rod speed, direction, or location changed. TR measured using the proposed method, however, was consistent across rod speeds, directions, and locations. Conclusion: Since motion artifacts vary depending upon the motion speed, direction, and location, they are not suitable for measuring TR. In this work, a CT system with a specified TR is defined as having the ability to produce a static image with negligible motion artifacts, no matter what motion occurs outside of a static window of width TR. This framework allows for practical measurement of temporal resolution in clinical CT imaging systems. Funding support: GE Healthcare; Conflict of Interest: Employee, GE Healthcare.« less
Surgeon Training in Telerobotic Surgery via a Hardware-in-the-Loop Simulator

PubMed Central

Alemzadeh, Homa; Chen, Daniel; Kalbarczyk, Zbigniew; Iyer, Ravishankar K.; Kesavadas, Thenkurussi

2017-01-01

This work presents a software and hardware framework for a telerobotic surgery safety and motor skill training simulator. The aims are at providing trainees a comprehensive simulator for acquiring essential skills to perform telerobotic surgery. Existing commercial robotic surgery simulators lack features for safety training and optimal motion planning, which are critical factors in ensuring patient safety and efficiency in operation. In this work, we propose a hardware-in-the-loop simulator directly introducing these two features. The proposed simulator is built upon the Raven-II™ open source surgical robot, integrated with a physics engine and a safety hazard injection engine. Also, a Fast Marching Tree-based motion planning algorithm is used to help trainee learn the optimal instrument motion patterns. The main contributions of this work are (1) reproducing safety hazards events, related to da Vinci™ system, reported to the FDA MAUDE database, with a novel haptic feedback strategy to provide feedback to the operator when the underlying dynamics differ from the real robot's states so that the operator will be aware and can mitigate the negative impact of the safety-critical events, and (2) using motion planner to generate semioptimal path in an interactive robotic surgery training environment. PMID:29065635
Motion-mode energy method for vehicle dynamics analysis and control

NASA Astrophysics Data System (ADS)

Zhang, Nong; Wang, Lifu; Du, Haiping

2014-01-01

Vehicle motion and vibration control is a fundamental motivation for the development of advanced vehicle suspension systems. In a vehicle-fixed coordinate system, the relative motions of the vehicle between body and wheel can be classified into several dynamic stages based on energy intensity, and can be decomposed into sets of uncoupled motion-modes according to modal parameters. Vehicle motions are coupled, but motion-modes are orthogonal. By detecting and controlling the predominating vehicle motion-mode, the system cost and energy consumption of active suspensions could be reduced. A motion-mode energy method (MEM) is presented in this paper to quantify the energy contribution of each motion-mode to vehicle dynamics in real time. The control of motion-modes is prioritised according to the level of motion-mode energy. Simulation results on a 10 degree-of-freedom nonlinear full-car model with the magic-formula tyre model illustrate the effectiveness of the proposed MEM. The contribution of each motion-mode to the vehicle's dynamic behaviour is analysed under different excitation inputs from road irregularities, directional manoeuvres and braking. With the identified dominant motion-mode, novel cost-effective suspension systems, such as active reconfigurable hydraulically interconnected suspension, can possibly be used to control full-car motions with reduced energy consumption. Finally, discussion, conclusions and suggestions for future work are provided.
Metadynamics in the conformational space nonlinearly dimensionally reduced by Isomap.

PubMed

Spiwok, Vojtěch; Králová, Blanka

2011-12-14

Atomic motions in molecules are not linear. This infers that nonlinear dimensionality reduction methods can outperform linear ones in analysis of collective atomic motions. In addition, nonlinear collective motions can be used as potentially efficient guides for biased simulation techniques. Here we present a simulation with a bias potential acting in the directions of collective motions determined by a nonlinear dimensionality reduction method. Ad hoc generated conformations of trans,trans-1,2,4-trifluorocyclooctane were analyzed by Isomap method to map these 72-dimensional coordinates to three dimensions, as described by Brown and co-workers [J. Chem. Phys. 129, 064118 (2008)]. Metadynamics employing the three-dimensional embeddings as collective variables was applied to explore all relevant conformations of the studied system and to calculate its conformational free energy surface. The method sampled all relevant conformations (boat, boat-chair, and crown) and corresponding transition structures inaccessible by an unbiased simulation. This scheme allows to use essentially any parameter of the system as a collective variable in biased simulations. Moreover, the scheme we used for mapping out-of-sample conformations from the 72D to 3D space can be used as a general purpose mapping for dimensionality reduction, beyond the context of molecular modeling. © 2011 American Institute of Physics
Deployable wing model considering structural flexibility and aerodynamic unsteadiness for deployment system design

NASA Astrophysics Data System (ADS)

Otsuka, Keisuke; Wang, Yinan; Makihara, Kanjuro

2017-11-01

In future, wings will be deployed in the span direction during flight. The deployment system improves flight ability and saves storage space in the airplane. For the safe design of the wing, the deployment motion needs to be simulated. In the simulation, the structural flexibility and aerodynamic unsteadiness should be considered because they may lead to undesirable phenomena such as a residual vibration after the deployment or a flutter during the deployment. In this study, the deployment motion is simulated in the time domain by using a nonlinear folding wing model based on multibody dynamics, absolute nodal coordinate formulation, and two-dimensional aerodynamics with strip theory. We investigate the effect of the structural flexibility and aerodynamic unsteadiness on the time-domain deployment simulation.
A motion-constraint logic for moving-base simulators based on variable filter parameters

NASA Technical Reports Server (NTRS)

Miller, G. K., Jr.

1974-01-01

A motion-constraint logic for moving-base simulators has been developed that is a modification to the linear second-order filters generally employed in conventional constraints. In the modified constraint logic, the filter parameters are not constant but vary with the instantaneous motion-base position to increase the constraint as the system approaches the positional limits. With the modified constraint logic, accelerations larger than originally expected are limited while conventional linear filters would result in automatic shutdown of the motion base. In addition, the modified washout logic has frequency-response characteristics that are an improvement over conventional linear filters with braking for low-frequency pilot inputs. During simulated landing approaches of an externally blown flap short take-off and landing (STOL) transport using decoupled longitudinal controls, the pilots were unable to detect much difference between the modified constraint logic and the logic based on linear filters with braking.
A GPU-based framework for modeling real-time 3D lung tumor conformal dosimetry with subject-specific lung tumor motion.

PubMed

Min, Yugang; Santhanam, Anand; Neelakkantan, Harini; Ruddy, Bari H; Meeks, Sanford L; Kupelian, Patrick A

2010-09-07

In this paper, we present a graphics processing unit (GPU)-based simulation framework to calculate the delivered dose to a 3D moving lung tumor and its surrounding normal tissues, which are undergoing subject-specific lung deformations. The GPU-based simulation framework models the motion of the 3D volumetric lung tumor and its surrounding tissues, simulates the dose delivery using the dose extracted from a treatment plan using Pinnacle Treatment Planning System, Phillips, for one of the 3DCTs of the 4DCT and predicts the amount and location of radiation doses deposited inside the lung. The 4DCT lung datasets were registered with each other using a modified optical flow algorithm. The motion of the tumor and the motion of the surrounding tissues were simulated by measuring the changes in lung volume during the radiotherapy treatment using spirometry. The real-time dose delivered to the tumor for each beam is generated by summing the dose delivered to the target volume at each increase in lung volume during the beam delivery time period. The simulation results showed the real-time capability of the framework at 20 discrete tumor motion steps per breath, which is higher than the number of 4DCT steps (approximately 12) reconstructed during multiple breathing cycles.
Verification and compensation of respiratory motion using an ultrasound imaging system

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

Chuang, Ho-Chiao, E-mail: hchuang@mail.ntut.edu.tw; Hsu, Hsiao-Yu; Chiu, Wei-Hung

Purpose: The purpose of this study was to determine if it is feasible to use ultrasound imaging as an aid for moving the treatment couch during diagnosis and treatment procedures associated with radiation therapy, in order to offset organ displacement caused by respiratory motion. A noninvasive ultrasound system was used to replace the C-arm device during diagnosis and treatment with the aims of reducing the x-ray radiation dose on the human body while simultaneously being able to monitor organ displacements. Methods: This study used a proposed respiratory compensating system combined with an ultrasound imaging system to monitor the compensation effectmore » of respiratory motion. The accuracy of the compensation effect was verified by fluoroscopy, which means that fluoroscopy could be replaced so as to reduce unnecessary radiation dose on patients. A respiratory simulation system was used to simulate the respiratory motion of the human abdomen and a strain gauge (respiratory signal acquisition device) was used to capture the simulated respiratory signals. The target displacements could be detected by an ultrasound probe and used as a reference for adjusting the gain value of the respiratory signal used by the respiratory compensating system. This ensured that the amplitude of the respiratory compensation signal was a faithful representation of the target displacement. Results: The results show that performing respiratory compensation with the assistance of the ultrasound images reduced the compensation error of the respiratory compensating system to 0.81–2.92 mm, both for sine-wave input signals with amplitudes of 5, 10, and 15 mm, and human respiratory signals; this represented compensation of the respiratory motion by up to 92.48%. In addition, the respiratory signals of 10 patients were captured in clinical trials, while their diaphragm displacements were observed simultaneously using ultrasound. Using the respiratory compensating system to offset, the diaphragm displacement resulted in compensation rates of 60%–84.4%. Conclusions: This study has shown that a respiratory compensating system combined with noninvasive ultrasound can provide real-time compensation of the respiratory motion of patients.« less
A comparative study of ground motion hybrid simulations and the modified NGA ground motion predictive equations for directivity and its application to the the Marmara Sea region (Turkey)

NASA Astrophysics Data System (ADS)

Pischiutta, M.; Akinci, A.; Spagnuolo, E.; Taroni, M.; Herrero, A.; Aochi, H.

2016-12-01

We have simulated strong ground motions for two Mw>7.0 rupture scenarios on the North Anatolian Fault, in the Marmara Sea within 10-20 km from Istanbul. This city is characterized by one of the highest levels of seismic risk in Europe and the Mediterranean region. The increased risk in Istanbul is due to eight destructive earthquakes that ruptured the fault system and left a seismic gap at the western portion of the 1000km-long North Anatolian Fault Zone. To estimate the ground motion characteristics and its variability in the region we have simulated physics-based rupture scenarios, producing hybrid broadband time histories. We have merged two simulation techniques: a full 3D wave propagation method to generate low-frequency seismograms (Aochi and Ulrich, 2015) and the stochastic finite-fault model approach based on a dynamic corner frequency (Motazedian and Atkinson, 2005) to simulate high-frequency seismograms (Akinci et al., 2016, submitted to BSSA, 2016). They are merged to compute realistic broadband hybrid time histories. The comparison of ground motion intensity measures (PGA, PGV, SA) resulting from our simulations with those predicted by the recent Ground Motion Prediction Equations (GMPEs) in the region (Boore & Atkinson, 2008; Chiou & Young, 2008; Akkar & Bommer, 2010; Akkar & Cagnan, 2010) seems to indicate that rupture directivity and super-shear rupture effects affect the ground motion in the Marmara Sea region. In order to account for the rupture directivity we improve the comparison using the directivity predictor proposed by Spudich & Chiu (2008). This study highlights the importance of the rupture directivity for the hazard estimation in the Marmara Sea region, especially for the city of Istanbul.
Decentralized real-time simulation of forest machines

NASA Astrophysics Data System (ADS)

Freund, Eckhard; Adam, Frank; Hoffmann, Katharina; Rossmann, Juergen; Kraemer, Michael; Schluse, Michael

2000-10-01

To develop realistic forest machine simulators is a demanding task. A useful simulator has to provide a close- to-reality simulation of the forest environment as well as the simulation of the physics of the vehicle. Customers demand a highly realistic three dimensional forestry landscape and the realistic simulation of the complex motion of the vehicle even in rough terrain in order to be able to use the simulator for operator training under close-to- reality conditions. The realistic simulation of the vehicle, especially with the driver's seat mounted on a motion platform, greatly improves the effect of immersion into the virtual reality of a simulated forest and the achievable level of education of the driver. Thus, the connection of the real control devices of forest machines to the simulation system has to be supported, i.e. the real control devices like the joysticks or the board computer system to control the crane, the aggregate etc. Beyond, the fusion of the board computer system and the simulation system is realized by means of sensors, i.e. digital and analog signals. The decentralized system structure allows several virtual reality systems to evaluate and visualize the information of the control devices and the sensors. So, while the driver is practicing, the instructor can immerse into the same virtual forest to monitor the session from his own viewpoint. In this paper, we are describing the realized structure as well as the necessary software and hardware components and application experiences.
Usability of a Battle Management System Under Simulated Vehicular Motion

DTIC Science & Technology

2012-10-01

Figure 2, which is a commercial product designed to replicate racing car motions while playing computer games was used. The D-BOX is capable of three...7 3.2 Design ...standard usability issues such as interface design by using static BMS systems outside of vehicles (i.e. Command HQs or in the laboratory) (for example
Periodic motion planning and control for underactuated mechanical systems

NASA Astrophysics Data System (ADS)

Wang, Zeguo; Freidovich, Leonid B.; Zhang, Honghua

2018-06-01

We consider the problem of periodic motion planning and of designing stabilising feedback control laws for such motions in underactuated mechanical systems. A novel periodic motion planning method is proposed. Each state is parametrised by a truncated Fourier series. Then we use numerical optimisation to search for the parameters of the trigonometric polynomial exploiting the measure of discrepancy in satisfying the passive dynamics equations as a performance index. Thus an almost feasible periodic motion is found. Then a linear controller is designed and stability analysis is given to verify that solutions of the closed-loop system stay inside a tube around the planned approximately feasible periodic trajectory. Experimental results for a double rotary pendulum are shown, while numerical simulations are given for models of a spacecraft with liquid sloshing and of a chain of mass spring system.
Mars Tumbleweed Simulation Using Singular Perturbation Theory

NASA Technical Reports Server (NTRS)

Raiszadeh, Behzad; Calhoun, Phillip

2005-01-01

The Mars Tumbleweed is a new surface rover concept that utilizes Martian winds as the primary source of mobility. Several designs have been proposed for the Mars Tumbleweed, all using aerodynamic drag to generate force for traveling about the surface. The Mars Tumbleweed, in its deployed configuration, must be large and lightweight to provide the ratio of drag force to rolling resistance necessary to initiate motion from the Martian surface. This paper discusses the dynamic simulation details of a candidate Tumbleweed design. The dynamic simulation model must properly evaluate and characterize the motion of the tumbleweed rover to support proper selection of system design parameters. Several factors, such as model flexibility, simulation run times, and model accuracy needed to be considered in modeling assumptions. The simulation was required to address the flexibility of the rover and its interaction with the ground, and properly evaluate its mobility. Proper assumptions needed to be made such that the simulated dynamic motion is accurate and realistic while not overly burdened by long simulation run times. This paper also shows results that provided reasonable correlation between the simulation and a drop/roll test of a tumbleweed prototype.
Development of a real-time internal and external marker tracking system for particle therapy: a phantom study using patient tumor trajectory data.

PubMed

Cho, Junsang; Cheon, Wonjoong; Ahn, Sanghee; Jung, Hyunuk; Sheen, Heesoon; Park, Hee Chul; Han, Youngyih

2017-09-01

Target motion-induced uncertainty in particle therapy is more complicated than that in X-ray therapy, requiring more accurate motion management. Therefore, a hybrid motion-tracking system that can track internal tumor motion and as well as an external surrogate of tumor motion was developed. Recently, many correlation tests between internal and external markers in X-ray therapy have been developed; however, the accuracy of such internal/external marker tracking systems, especially in particle therapy, has not yet been sufficiently tested. In this article, the process of installing an in-house hybrid internal/external motion-tracking system is described and the accuracy level of tracking system was acquired. Our results demonstrated that the developed in-house external/internal combined tracking system has submillimeter accuracy, and can be clinically used as a particle therapy system as well as a simulation system for moving tumor treatment. © The Author 2017. Published by Oxford University Press on behalf of The Japan Radiation Research Society and Japanese Society for Radiation Oncology.
Simulation and evaluation of the Sh-2F helicopter in a shipboard environment using the interchangeable cab system

NASA Technical Reports Server (NTRS)

Paulk, C. H., Jr.; Astill, D. L.; Donley, S. T.

1983-01-01

The operation of the SH-2F helicopter from the decks of small ships in adverse weather was simulated using a large amplitude vertical motion simulator, a wide angle computer generated imagery visual system, and an interchangeable cab (ICAB). The simulation facility, the mathematical programs, and the validation method used to ensure simulation fidelity are described. The results show the simulator to be a useful tool in simulating the ship-landing problem. Characteristics of the ICAB system and ways in which the simulation can be improved are presented.
Oculometric indices of simulator and aircraft motion

NASA Technical Reports Server (NTRS)

Comstock, J. R.

1984-01-01

The effects on eye scan behavior of both simulator and aircraft motion and sensitivity of an oculometric measure to motion effects was demonstrated. It was found that fixation time is sensitive to motion effects. Differences between simulator motion and no motion conditions during a series of simulated ILS approaches were studied. The mean fixation time for the no motion condition was found to be significantly longer than for the motion conditions. Eye scan parameters based on data collected in flight, and in fixed base simulation were investigated. Motion effects were evident when the subject was viewing a display supplying attitude and flight path information. The nature of the information provided by motion was examined. The mean fixation times for the no motion condition were significantly longer than for either motion condition, while the two motion conditions did not differ. It is shown that motion serves an alerting function, providing a cue or clue to the pilot that something happened. It is suggested that simulation without motion cues may represent an understatement of the true capacity of the pilot.
Development of a real-time internal and external marker tracking system for particle therapy: a phantom study using patient tumor trajectory data

PubMed Central

Cho, Junsang; Cheon, Wonjoong; Ahn, Sanghee; Jung, Hyunuk; Sheen, Heesoon; Park, Hee Chul

2017-01-01

Abstract Target motion–induced uncertainty in particle therapy is more complicated than that in X-ray therapy, requiring more accurate motion management. Therefore, a hybrid motion-tracking system that can track internal tumor motion and as well as an external surrogate of tumor motion was developed. Recently, many correlation tests between internal and external markers in X-ray therapy have been developed; however, the accuracy of such internal/external marker tracking systems, especially in particle therapy, has not yet been sufficiently tested. In this article, the process of installing an in-house hybrid internal/external motion-tracking system is described and the accuracy level of tracking system was acquired. Our results demonstrated that the developed in-house external/internal combined tracking system has submillimeter accuracy, and can be clinically used as a particle therapy system as well as a simulation system for moving tumor treatment. PMID:28201522
Multimodal Pilot Behavior in Multi-Axis Tracking Tasks with Time-Varying Motion Cueing Gains

NASA Technical Reports Server (NTRS)

Zaal, P. M. T; Pool, D. M.

2014-01-01

In a large number of motion-base simulators, adaptive motion filters are utilized to maximize the use of the available motion envelope of the motion system. However, not much is known about how the time-varying characteristics of such adaptive filters affect pilots when performing manual aircraft control. This paper presents the results of a study investigating the effects of time-varying motion filter gains on pilot control behavior and performance. An experiment was performed in a motion-base simulator where participants performed a simultaneous roll and pitch tracking task, while the roll and/or pitch motion filter gains changed over time. Results indicate that performance increases over time with increasing motion gains. This increase is a result of a time-varying adaptation of pilots' equalization dynamics, characterized by increased visual and motion response gains and decreased visual lead time constants. Opposite trends are found for decreasing motion filter gains. Even though the trends in both controlled axes are found to be largely the same, effects are less significant in roll. In addition, results indicate minor cross-coupling effects between pitch and roll, where a cueing variation in one axis affects the behavior adopted in the other axis.
Dynamics analysis of microsphere in a dual-beam fiber-optic trap with transverse offset.

PubMed

Chen, Xinlin; Xiao, Guangzong; Luo, Hui; Xiong, Wei; Yang, Kaiyong

2016-04-04

A comprehensive dynamics analysis of microsphere has been presented in a dual-beam fiber-optic trap with transverse offset. As the offset distance between two counterpropagating beams increases, the motion type of the microsphere starts with capture, then spiral motion, then orbital rotation, and ends with escape. We analyze the transformation process and mechanism of the four motion types based on ray optics approximation. Dynamic simulations show that the existence of critical offset distances at which different motion types transform. The result is an important step toward explaining physical phenomena in a dual-beam fiber-optic trap with transverse offset, and is generally applicable to achieving controllable motions of microspheres in integrated systems, such as microfluidic systems and lab-on-a-chip systems.

Determination of the implementation of the 3-axis attitude motion simulator digital position controller

NASA Technical Reports Server (NTRS)

Magana, Mario E.

1989-01-01

The digital position controller implemented in the control computer of the 3-axis attitude motion simulator is mathematically reconstructed and documented, since the information supplied with the executable code of this controller was insufficient to make substantial modifications to it. Also developed were methodologies to introduce changes in the controller which do not require rewriting the software. Finally, recommendations are made on possible improvement to the control system performance.
Status of NASA/Army rotorcraft research and development piloted flight simulation

NASA Technical Reports Server (NTRS)

Condon, Gregory W.; Gossett, Terrence D.

1988-01-01

The status of the major NASA/Army capabilities in piloted rotorcraft flight simulation is reviewed. The requirements for research and development piloted simulation are addressed as well as the capabilities and technologies that are currently available or are being developed by NASA and the Army at Ames. The application of revolutionary advances (in visual scene, electronic cockpits, motion, and modelling of interactive mission environments and/or vehicle systems) to the NASA/Army facilities are also addressed. Particular attention is devoted to the major advances made in integrating these individual capabilities into fully integrated simulation environment that were or are being applied to new rotorcraft mission requirements. The specific simulators discussed are the Vertical Motion Simulator and the Crew Station Research and Development Facility.
Large-eddy simulation of human-induced contaminant transport in room compartments.

PubMed

Choi, J-I; Edwards, J R

2012-02-01

A large-eddy simulation is used to investigate contaminant transport owing to complex human and door motions and vent-system activity in room compartments where a contaminated and clean room are connected by a vestibule. Human and door motions are simulated with an immersed boundary procedure. We demonstrate the details of contaminant transport owing to human- and door-motion-induced wake development during a short-duration event involving the movement of a person (or persons) from a contaminated room, through a vestibule, into a clean room. Parametric studies that capture the effects of human walking pattern, door operation, over-pressure level, and vestibule size are systematically conducted. A faster walking speed results in less mass transport from the contaminated room into the clean room. The net effect of increasing the volume of the vestibule is to reduce the contaminant transport. The results show that swinging-door motion is the dominant transport mechanism and that human-induced wake motion enhances compartment-to-compartment transport. The effect of human activity on contaminant transport may be important in design and operation of clean or isolation rooms in chemical or pharmaceutical industries and intensive care units for airborne infectious disease control in a hospital. The present simulations demonstrate details of contaminant transport in such indoor environments during human motion events and show that simulation-based sensitivity analysis can be utilized for the diagnosis of contaminant infiltration and for better environmental protection. © 2011 John Wiley & Sons A/S.
Manipulator interactive design with interconnected flexible elements

NASA Technical Reports Server (NTRS)

Singh, R. P.; Likins, P. W.

1983-01-01

This paper describes the development of an analysis tool for the interactive design of control systems for manipulators and similar electro-mechanical systems amenable to representation as structures in a topological chain. The chain consists of a series of elastic bodies subject to small deformations and arbitrary displacements. The bodies are connected by hinges which permit kinematic constraints, control, or relative motion with six degrees of freedom. The equations of motion for the chain configuration are derived via Kane's method, extended for application to interconnected flexible bodies with time-varying boundary conditions. A corresponding set of modal coordinates has been selected. The motion equations are imbedded within a simulation that transforms the vector-dyadic equations into scalar form for numerical integration. The simulation also includes a linear, time-invariant controler specified in transfer function format and a set of sensors and actuators that interface between the structure and controller. The simulation is driven by an interactive set-up program resulting in an easy-to-use analysis tool.
Steering Law Design for Redundant Single Gimbal Control Moment Gyro Systems. M.S. Thesis - Massachusetts Inst. of Technology.

NASA Technical Reports Server (NTRS)

Bedrossian, Nazareth Sarkis

1987-01-01

The correspondence between robotic manipulators and single gimbal Control Moment Gyro (CMG) systems was exploited to aid in the understanding and design of single gimbal CMG Steering laws. A test for null motion near a singular CMG configuration was derived which is able to distinguish between escapable and unescapable singular states. Detailed analysis of the Jacobian matrix null-space was performed and results were used to develop and test a variety of single gimbal CMG steering laws. Computer simulations showed that all existing singularity avoidance methods are unable to avoid Elliptic internal singularities. A new null motion algorithm using the Moore-Penrose pseudoinverse, however, was shown by simulation to avoid Elliptic type singularities under certain conditions. The SR-inverse, with appropriate null motion was proposed as a general approach to singularity avoidance, because of its ability to avoid singularities through limited introduction of torque error. Simulation results confirmed the superior performance of this method compared to the other available and proposed pseudoinverse-based Steering laws.
Validation of ground-motion simulations for historical events using SDoF systems

USGS Publications Warehouse

Galasso, C.; Zareian, F.; Iervolino, I.; Graves, R.W.

2012-01-01

The study presented in this paper is among the first in a series of studies toward the engineering validation of the hybrid broadband ground‐motion simulation methodology by Graves and Pitarka (2010). This paper provides a statistical comparison between seismic demands of single degree of freedom (SDoF) systems subjected to past events using simulations and actual recordings. A number of SDoF systems are selected considering the following: (1) 16 oscillation periods between 0.1 and 6 s; (2) elastic case and four nonlinearity levels, from mildly inelastic to severely inelastic systems; and (3) two hysteretic behaviors, in particular, nondegrading–nonevolutionary and degrading–evolutionary. Demand spectra are derived in terms of peak and cyclic response, as well as their statistics for four historical earthquakes: 1979 Mw 6.5 Imperial Valley, 1989 Mw 6.8 Loma Prieta, 1992 Mw 7.2 Landers, and 1994 Mw 6.7 Northridge.
MetaTracker: integration and abstraction of 3D motion tracking data from multiple hardware systems

NASA Astrophysics Data System (ADS)

Kopecky, Ken; Winer, Eliot

2014-06-01

Motion tracking has long been one of the primary challenges in mixed reality (MR), augmented reality (AR), and virtual reality (VR). Military and defense training can provide particularly difficult challenges for motion tracking, such as in the case of Military Operations in Urban Terrain (MOUT) and other dismounted, close quarters simulations. These simulations can take place across multiple rooms, with many fast-moving objects that need to be tracked with a high degree of accuracy and low latency. Many tracking technologies exist, such as optical, inertial, ultrasonic, and magnetic. Some tracking systems even combine these technologies to complement each other. However, there are no systems that provide a high-resolution, flexible, wide-area solution that is resistant to occlusion. While frameworks exist that simplify the use of tracking systems and other input devices, none allow data from multiple tracking systems to be combined, as if from a single system. In this paper, we introduce a method for compensating for the weaknesses of individual tracking systems by combining data from multiple sources and presenting it as a single tracking system. Individual tracked objects are identified by name, and their data is provided to simulation applications through a server program. This allows tracked objects to transition seamlessly from the area of one tracking system to another. Furthermore, it abstracts away the individual drivers, APIs, and data formats for each system, providing a simplified API that can be used to receive data from any of the available tracking systems. Finally, when single-piece tracking systems are used, those systems can themselves be tracked, allowing for real-time adjustment of the trackable area. This allows simulation operators to leverage limited resources in more effective ways, improving the quality of training.
Myoelectric stimulation on peroneal muscles resists simulated ankle sprain motion.

PubMed

Fong, Daniel Tik-Pui; Chu, Vikki Wing-Shan; Chan, Kai-Ming

2012-07-26

The inadequate reaction time of the peroneal muscles in response to an incorrect foot contact event has been proposed as one of the etiological factors contributing to ankle joint inversion injury. Thus, the current study aimed to investigate the efficacy of a myoelectric stimulation applied to the peroneal muscles in the prevention of a simulated ankle inversion trauma. Ten healthy male subjects performed simulated inversion and supination tests on a pair of mechanical sprain simulators. An electrical signal was delivered to the peroneal muscles of the subjects through a pair of electrode pads. The start of the stimulus was synchronized with the drop of the sprain simulator's platform. In order to determine the maximum delay time which the stimulus could still resist the simulated ankle sprain motion, different delay time were test (0, 5, 10, and 15ms). Together with the control trial (no stimulus), there were 5 testing conditions for both simulated inversion and supination test. The effect was quantified by the drop in maximum ankle tilting angle and angular velocity, as determined by a motion analysis system with a standard laboratory procedure. Results showed that the myoelectric stimulation was effective in all conditions except the one with myoelectric stimulus delayed for 15ms in simulated supination test. It is concluded that myoelectric stimulation on peroneal muscles could resist an ankle spraining motion. Copyright © 2012 Elsevier Ltd. All rights reserved.
Compound Velocity Synchronizing Control Strategy for Electro-Hydraulic Load Simulator and Its Engineering Application.

PubMed

Han, Songshan; Jiao, Zongxia; Yao, Jianyong; Shang, Yaoxing

2014-09-01

An electro-hydraulic load simulator (EHLS) is a typical case of torque systems with strong external disturbances from hydraulic motion systems. A new velocity synchronizing compensation strategy is proposed in this paper to eliminate motion disturbances, based on theoretical and experimental analysis of a structure invariance method and traditional velocity synchronizing compensation controller (TVSM). This strategy only uses the servo-valve's control signal of motion system and torque feedback of torque system, which could avoid the requirement on the velocity and acceleration signal in the structure invariance method, and effectively achieve a more accurate velocity synchronizing compensation in large loading conditions than a TVSM. In order to facilitate the implementation of this strategy in engineering cases, the selection rules for compensation parameters are proposed. It does not rely on any accurate information of structure parameters. This paper presents the comparison data of an EHLS with various typical operating conditions using three controllers, i.e., closed loop proportional integral derivative (PID) controller, TVSM, and the proposed improved velocity synchronizing controller. Experiments are conducted to confirm that the new strategy performs well against motion disturbances. It is more effective to improve the tracking accuracy and is a more appropriate choice for engineering applications.
Attitude dynamics and control of a spacecraft like a robotic manipulator when implementing on-orbit servicing

NASA Astrophysics Data System (ADS)

Da Fonseca, Ijar M.; Goes, Luiz C. S.; Seito, Narumi; da Silva Duarte, Mayara K.; de Oliveira, Élcio Jeronimo

2017-08-01

In space the manipulators working space is characterized by the microgravity environment. In this environment the spacecraft floats and its rotational/translational motion may be excited by any internal and external disturbances. The complete system, i.e., the spacecraft and the associated robotic manipulator, floats and is sensitive to any reaction force and torque related to the manipulator's operation. In this sense the effort done by the robot may result in torque about the system center of mass and also in forces changing its translational motion. This paper analyzes the impact of the robot manipulator dynamics on the attitude motion and the associated control effort to keep the attitude stable during the manipulator's operation. The dynamics analysis is performed in the close proximity phase of rendezvous docking/berthing operation. In such scenario the linear system equations for the translation and attitude relative motions are appropriate. The computer simulations are implemented for the relative translational and rotational motion. The equations of motion have been simulated through computer by using the MatLab software. The LQR and the PID control laws are used for linear and nonlinear control, respectively, aiming to keep the attitude stable while the robot is in and out of service. The gravity-gradient and the residual magnetic torque are considered as external disturbances. The control efforts are analyzed for the manipulator in and out of service. The control laws allow the system stabilization and good performance when the manipulator is in service.
Image-derived input function in PET brain studies: blood-based methods are resistant to motion artifacts.

PubMed

Zanotti-Fregonara, Paolo; Liow, Jeih-San; Comtat, Claude; Zoghbi, Sami S; Zhang, Yi; Pike, Victor W; Fujita, Masahiro; Innis, Robert B

2012-09-01

Image-derived input function (IDIF) from carotid arteries is an elegant alternative to full arterial blood sampling for brain PET studies. However, a recent study using blood-free IDIFs found that this method is particularly vulnerable to patient motion. The present study used both simulated and clinical [11C](R)-rolipram data to assess the robustness of a blood-based IDIF method (a method that is ultimately normalized with blood samples) with regard to motion artifacts. The impact of motion on the accuracy of IDIF was first assessed with an analytical simulation of a high-resolution research tomograph using a numerical phantom of the human brain, equipped with internal carotids. Different degrees of translational (from 1 to 20 mm) and rotational (from 1 to 15°) motions were tested. The impact of motion was then tested on the high-resolution research tomograph dynamic scans of three healthy volunteers, reconstructed with and without an online motion correction system. IDIFs and Logan-distribution volume (VT) values derived from simulated and clinical scans with motion were compared with those obtained from the scans with motion correction. In the phantom scans, the difference in the area under the curve (AUC) for the carotid time-activity curves was up to 19% for rotations and up to 66% for translations compared with the motionless simulation. However, for the final IDIFs, which were fitted to blood samples, the AUC difference was 11% for rotations and 8% for translations. Logan-VT errors were always less than 10%, except for the maximum translation of 20 mm, in which the error was 18%. Errors in the clinical scans without motion correction appeared to be minor, with differences in AUC and Logan-VT always less than 10% compared with scans with motion correction. When a blood-based IDIF method is used for neurological PET studies, the motion of the patient affects IDIF estimation and kinetic modeling only minimally.
Equations of motion of slung-load systems, including multilift systems

NASA Technical Reports Server (NTRS)

Cicolani, Luigi S.; Kanning, Gerd

1992-01-01

General simulation equations are derived for the rigid body motion of slung-load systems. This work is motivated by an interest in trajectory control for slung loads carried by two or more helicopters. An approximation of these systems consists of several rigid bodies connected by straight-line cables or links. The suspension can be assumed elastic or inelastic. Equations for the general system are obtained from the Newton-Euler rigid-body equations with the introduction of generalized velocity coordinates. Three forms are obtained: two generalize previous case-specific results for single-helicopter systems with elastic and inelastic suspensions, respectively; and the third is a new formulation for inelastic suspensions. The latter is derived from the elastic suspension equations by choosing the generalized coordinates so that motion induced by cable stretching is separated from motion with invariant cable lengths, and by then nulling the stretching coordinates to get a relation for the suspension forces. The result is computationally more efficient than the conventional formulation, is readily integrated with the elastic suspension formulation, and is easily applied to the complex dual-lift and multilift systems. Results are given for two-helicopter systems; three configurations are included and these can be integrated in a single simulation. Equations are also given for some single-helicopter systems, for comparison with the previous literature, and for a multilift system. Equations for degenerate-body approximations (point masses, rigid rods) are also formulated and results are given for dual-lift and multilift systems. Finally, linearlized equations of motion are given for general slung-load systems are presented along with results for the two-helicopter system with a spreader bar.
Toward Exascale Earthquake Ground Motion Simulations for Near-Fault Engineering Analysis

DOE PAGES

Johansen, Hans; Rodgers, Arthur; Petersson, N. Anders; ...

2017-09-01

Modernizing SW4 for massively parallel time-domain simulations of earthquake ground motions in 3D earth models increases resolution and provides ground motion estimates for critical infrastructure risk evaluations. Simulations of ground motions from large (M ≥ 7.0) earthquakes require domains on the order of 100 to500 km and spatial granularity on the order of 1 to5 m resulting in hundreds of billions of grid points. Surface-focused structured mesh refinement (SMR) allows for more constant grid point per wavelength scaling in typical Earth models, where wavespeeds increase with depth. In fact, MR allows for simulations to double the frequency content relative tomore » a fixed grid calculation on a given resource. The authors report improvements to the SW4 algorithm developed while porting the code to the Cori Phase 2 (Intel Xeon Phi) systems at the National Energy Research Scientific Computing Center (NERSC) at Lawrence Berkeley National Laboratory. As a result, investigations of the performance of the innermost loop of the calculations found that reorganizing the order of operations can improve performance for massive problems.« less
Toward Exascale Earthquake Ground Motion Simulations for Near-Fault Engineering Analysis

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

Johansen, Hans; Rodgers, Arthur; Petersson, N. Anders

Modernizing SW4 for massively parallel time-domain simulations of earthquake ground motions in 3D earth models increases resolution and provides ground motion estimates for critical infrastructure risk evaluations. Simulations of ground motions from large (M ≥ 7.0) earthquakes require domains on the order of 100 to500 km and spatial granularity on the order of 1 to5 m resulting in hundreds of billions of grid points. Surface-focused structured mesh refinement (SMR) allows for more constant grid point per wavelength scaling in typical Earth models, where wavespeeds increase with depth. In fact, MR allows for simulations to double the frequency content relative tomore » a fixed grid calculation on a given resource. The authors report improvements to the SW4 algorithm developed while porting the code to the Cori Phase 2 (Intel Xeon Phi) systems at the National Energy Research Scientific Computing Center (NERSC) at Lawrence Berkeley National Laboratory. As a result, investigations of the performance of the innermost loop of the calculations found that reorganizing the order of operations can improve performance for massive problems.« less
Commercial Motion Sensor Based Low-Cost and Convenient Interactive Treadmill.

PubMed

Kim, Jonghyun; Gravunder, Andrew; Park, Hyung-Soon

2015-09-17

Interactive treadmills were developed to improve the simulation of overground walking when compared to conventional treadmills. However, currently available interactive treadmills are expensive and inconvenient, which limits their use. We propose a low-cost and convenient version of the interactive treadmill that does not require expensive equipment and a complicated setup. As a substitute for high-cost sensors, such as motion capture systems, a low-cost motion sensor was used to recognize the subject's intention for speed changing. Moreover, the sensor enables the subject to make a convenient and safe stop using gesture recognition. For further cost reduction, the novel interactive treadmill was based on an inexpensive treadmill platform and a novel high-level speed control scheme was applied to maximize performance for simulating overground walking. Pilot tests with ten healthy subjects were conducted and results demonstrated that the proposed treadmill achieves similar performance to a typical, costly, interactive treadmill that contains a motion capture system and an instrumented treadmill, while providing a convenient and safe method for stopping.
Experiments in sensing transient rotational acceleration cues on a flight simulator

NASA Technical Reports Server (NTRS)

Parrish, R. V.

1979-01-01

Results are presented for two transient motion sensing experiments which were motivated by the identification of an anomalous roll cue (a 'jerk' attributed to an acceleration spike) in a prior investigation of realistic fighter motion simulation. The experimental results suggest the consideration of several issues for motion washout and challenge current sensory system modeling efforts. Although no sensory modeling effort is made it is argued that such models must incorporate the ability to handle transient inputs of short duration (some of which are less than the accepted latency times for sensing), and must represent separate channels for rotational acceleration and velocity sensing.
Vestibular-visual interactions in flight simulators

NASA Technical Reports Server (NTRS)

Clark, B.

1977-01-01

The following research work is reported: (1) vestibular-visual interactions; (2) flight management and crew system interactions; (3) peripheral cue utilization in simulation technology; (4) control of signs and symptoms of motion sickness; (5) auditory cue utilization in flight simulators, and (6) vestibular function: Animal experiments.
The full two-body-problem: Simulation, analysis, and application to the dynamics, characteristics, and evolution of binary asteroid systems

NASA Astrophysics Data System (ADS)

Fahnestock, Eugene Gregory

The Full Two-Body-Problem (F2BP) describes the dynamics of two unconstrained rigid bodies in close proximity, having arbitrary spatial distribution of mass, charge, or similar field quantity, and interacting through a mutual potential dependent on that distribution. While the F2BP has applications in areas as wide ranging as molecular dynamics to satellite formation flying, this dissertation focuses on its application to natural bodies in space with nontrivial mass distribution interacting through mutual gravitational potential, i.e. binary asteroids. This dissertation first describes further development and implementation of methods for accurate and efficient F2BP propagation based upon a flexible method for computing the mutual potential between bodies modeled as homogenous polyhedra. Next application of these numerical tools to the study of binary asteroid (66391) 1999 KW4 is summarized. This system typifies the largest class of NEO binaries, which includes nearly half of them, characterized by a roughly oblate spheroid primary rotating rapidly and roughly triaxial ellipsoid secondary in on-average synchronous rotation. Thus KW4's dynamics generalize to any member of that class. Analytical formulae are developed which separately describe the effects of primary oblateness and secondary triaxial ellipsoid shape on frequencies of system motions revealed through the F2BP simulation. These formulae are useful for estimating inertia elements and highest-level internal mass distributions of bodies in any similar system, simply from standoff observation of these motion frequencies. Finally precise dynamical simulation and analysis of the motion of test particles within the time-varying gravity field of the F2BP system is detailed. This Restricted Full-detail Three-Body-Problem encompasses exploration of three types of particle motion within a binary asteroid: (1) Orbital motion such as that for a spacecraft flying within the system about the primary, secondary, or system barycenter at large distance; (2) Motion of ejecta particles originating from the body surfaces with substantial initial surface-relative velocity; (3) Motion of particles originating from the primary surface near the equator, with no initial surface-relative velocity, but when primary spin rate is raised past the "disruption spin rate" for which material on the surface will be spun off.
Simulation of intrafraction motion and overall geometric accuracy of a frameless intracranial radiosurgery process

PubMed Central

Walker, Luke; Chinnaiyan, Prakash; Forster, Kenneth

2008-01-01

We conducted a comprehensive evaluation of the clinical accuracy of an image‐guided frameless intracranial radiosurgery system. All links in the process chain were tested. Using healthy volunteers, we evaluated a novel method to prospectively quantify the range of target motion for optimal determination of the planning target volume (PTV) margin. The overall system isocentric accuracy was tested using a rigid anthropomorphic phantom containing a hidden target. Intrafraction motion was simulated in 5 healthy volunteers. Reinforced head‐and‐shoulders thermoplastic masks were used for immobilization. The subjects were placed in a treatment position for 15 minutes (the maximum expected time between repeated isocenter localizations) and the six‐degrees‐of‐freedom target displacements were recorded with high frequency by tracking infrared markers. The markers were placed on a customized piece of thermoplastic secured to the head independently of the immobilization mask. Additional data were collected with the subjects holding their breath, talking, and deliberately moving. As compared with fiducial matching, the automatic registration algorithm did not introduce clinically significant errors (<0.3 mm difference). The hidden target test confirmed overall system isocentric accuracy of ≤1 mm (total three‐dimensional displacement). The subjects exhibited various patterns and ranges of head motion during the mock treatment. The total displacement vector encompassing 95% of the positional points varied from 0.4 mm to 2.9 mm. Pre‐planning motion simulation with optical tracking was tested on volunteers and appears promising for determination of patient‐specific PTV margins. Further patient study is necessary and is planned. In the meantime, system accuracy is sufficient for confident clinical use with 3 mm PTV margins. PACS number: 87.53.Ly
Development of a liver respiratory motion simulator to investigate magnetic tracking for abdominal interventions

NASA Astrophysics Data System (ADS)

Cleary, Kevin R.; Banovac, Filip; Levy, Elliot; Tanaka, Daigo

2002-05-01

We have designed and constructed a liver respiratory motion simulator as a first step in demonstrating the feasibility of using a new magnetic tracking system to follow the movement of internal organs. The simulator consists of a dummy torso, a synthetic liver, a linear motion platform, a graphical user interface for image overlay, and a magnetic tracking system along with magnetically tracked instruments. While optical tracking systems are commonly used in commercial image-guided surgery systems for the brain and spine, they are limited to procedures in which a line of sight can be maintained between the tracking system and the instruments which are being tracked. Magnetic tracking systems have been proposed for image-guided surgery applications, but most currently available magnetically tracked sensors are too small to be embedded in the body. The magnetic tracking system employed here, the AURORA from Northern Digital, can use sensors as small as 0.9 mm in diameter by 8 mm in length. This makes it possible to embed these sensors in catheters and thin needles. The catheters can then be wedged in a vein in an internal organ of interest so that tracking the position of the catheter gives a good estimate of the position of the internal organ. Alternatively, a needle with an embedded sensor could be placed near the area of interest.

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

Myronakis, M; Cai, W; Dhou, S

Purpose: To determine if 4DCT-based motion modeling and external surrogate motion measured during treatment simulation can enhance prediction of residual tumor motion and duty cycle during treatment delivery. Methods: This experiment was conducted using simultaneously recorded tumor and external surrogate motion acquired over multiple fractions of lung cancer radiotherapy. These breathing traces were combined with the XCAT phantom to simulate CT images. Data from the first day was used to estimate the residual tumor motion and duty cycle both directly from the 4DCT (the current clinical standard), and from external-surrogate based motion modeling. The accuracy of these estimated residual tumormore » motions and duty cycles are evaluated by comparing to the measured internal/external motions from other treatment days. Results: All calculations were done for 25% and 50% duty cycles. The results indicated that duty cycle derived from 4DCT information alone is not enough to accurately predict duty cycles during treatment. Residual tumor motion was determined from the recorded data and compared with the estimated residual tumor motion from 4DCT. Relative differences in residual tumor motion varied from −30% to 55%, suggesting that more information is required to properly predict residual tumor motion. Compared to estimations made from 4DCT, in three out of four patients examined, the 30 seconds of motion modeling data was able to predict the duty cycle with better accuracy than 4DCT. No improvement was observed in prediction of residual tumor motion for this dataset. Conclusion: Motion modeling during simulation has the potential to enhance 4DCT and provide more information about target motion, duty cycles, and delivered dose. Based on these four patients, 30 seconds of motion modeling data produced improve duty cycle estimations but showed no measurable improvement in residual tumor motion prediction. More patient data is needed to verify this Result. I would like to acknowledge funding from MRA, VARIAN Medical Systems, Inc.« less
Numerical integration and optimization of motions for multibody dynamic systems

NASA Astrophysics Data System (ADS)

Aguilar Mayans, Joan

This thesis considers the optimization and simulation of motions involving rigid body systems. It does so in three distinct parts, with the following topics: optimization and analysis of human high-diving motions, efficient numerical integration of rigid body dynamics with contacts, and motion optimization of a two-link robot arm using Finite-Time Lyapunov Analysis. The first part introduces the concept of eigenpostures, which we use to simulate and analyze human high-diving motions. Eigenpostures are used in two different ways: first, to reduce the complexity of the optimal control problem that we solve to obtain such motions, and second, to generate an eigenposture space to which we map existing real world motions to better analyze them. The benefits of using eigenpostures are showcased through different examples. The second part reviews an extensive list of integration algorithms used for the integration of rigid body dynamics. We analyze the accuracy and stability of the different integrators in the three-dimensional space and the rotation space SO(3). Integrators with an accuracy higher than first order perform more efficiently than integrators with first order accuracy, even in the presence of contacts. The third part uses Finite-time Lyapunov Analysis to optimize motions for a two-link robot arm. Finite-Time Lyapunov Analysis diagnoses the presence of time-scale separation in the dynamics of the optimized motion and provides the information and methodology for obtaining an accurate approximation to the optimal solution, avoiding the complications that timescale separation causes for alternative solution methods.
Stationary swarming motion of active Brownian particles in parabolic external potential

NASA Astrophysics Data System (ADS)

Zhu, Wei Qiu; Deng, Mao Lin

2005-08-01

We investigate the stationary swarming motion of active Brownian particles in parabolic external potential and coupled to its mass center. Using Monte Carlo simulation we first show that the mass center approaches to rest after a sufficient long period of time. Thus, all the particles of a swarm have identical stationary motion relative to the mass center. Then the stationary probability density obtained by using the stochastic averaging method for quasi integrable Hamiltonian systems in our previous paper for the motion in 4-dimensional phase space of single active Brownian particle with Rayleigh friction model in parabolic potential is used to describe the relative stationary motion of each particle of the swarm and to obtain more probability densities including that for the total energy of the swarm. The analytical results are confirmed by comparing with those from simulation and also shown to be consistent with the existing deterministic exact steady-state solution.
Using Dynamic Interface Modeling and Simulation to Develop a Launch and Recovery Flight Simulation for a UH-60A Blackhawk

NASA Technical Reports Server (NTRS)

Sweeney, Christopher; Bunnell, John; Chung, William; Giovannetti, Dean; Mikula, Julie; Nicholson, Bob; Roscoe, Mike

2001-01-01

Joint Shipboard Helicopter Integration Process (JSHIP) is a Joint Test and Evaluation (JT&E) program sponsored by the Office of the Secretary of Defense (OSD). Under the JSHDP program is a simulation effort referred to as the Dynamic Interface Modeling and Simulation System (DIMSS). The purpose of DIMSS is to develop and test the processes and mechanisms that facilitate ship-helicopter interface testing via man-in-the-loop ground-based flight simulators. Specifically, the DIMSS charter is to develop an accredited process for using a flight simulator to determine the wind-over-the-deck (WOD) launch and recovery flight envelope for the UH-60A ship/helicopter combination. DIMSS is a collaborative effort between the NASA Ames Research Center and OSD. OSD determines the T&E and warfighter training requirements, provides the programmatics and dynamic interface T&E experience, and conducts ship/aircraft interface tests for validating the simulation. NASA provides the research and development element, simulation facility, and simulation technical experience. This paper will highlight the benefits of the NASA/JSHIP collaboration and detail achievements of the project in terms of modeling and simulation. The Vertical Motion Simulator (VMS) at NASA Ames Research Center offers the capability to simulate a wide range of simulation cueing configurations, which include visual, aural, and body-force cueing devices. The system flexibility enables switching configurations io allow back-to-back evaluation and comparison of different levels of cueing fidelity in determining minimum training requirements. The investigation required development and integration of several major simulation system at the VMS. A new UH-60A BlackHawk interchangeable cab that provides an out-the-window (OTW) field-of-view (FOV) of 220 degrees in azimuth and 70 degrees in elevation was built. Modeling efforts involved integrating Computational Fluid Dynamics (CFD) generated data of an LHA ship airwake and integrating a real-time ship motion model developed based on a batch model from Naval Surface Warfare Center. Engineering development and integration of a three degrees-of-freedom (DOF) dynamic seat to simulate high frequency rotor-dynamics dependent motion cues for use in conjunction with the large motion system was accomplished. The development of an LHA visual model in several different levels of resolution and an aural cueing system in which three separate fidelity levels could be selected were developed. VMS also integrated a PC-based E&S simFUSION system to investigate cost effective IG alternatives. The DIMSS project consists of three phases that follow an approved Validation, Verification and accreditation (VV&A) process. The first phase will support the accreditation of the individual subsystems and models. The second will follow the verification and validation of the integrated subsystems and models, and will address fidelity requirements of the integrated models and subsystems. The third and final phase will allow the verification and validation of the full system integration. This VV&A process will address the utility of the simulated WOD launch and recovery envelope. Simulations supporting the first two stages have been completed and the data is currently being reviewed and analyzed.
Dynamics and control of tethered antennas/reflectors in orbit

NASA Astrophysics Data System (ADS)

Liu, Liangdong; Bainum, Peter M.

The system linear equations for the motion of a tethered shallow spherical shell in orbit with its symmetry axis nominally following the local vertical are developed. The shell roll, yaw, tether out-of-plane swing motion and elastic vibrations are decoupled from the shell and tether in-plane pitch motions and elastic vibrations. The neutral gravity stability conditions for the special case of a constant length rigid tether are given for in-plane motion and out-of-plant motion. It is proved that the in-plane motion of the system could be asymptotically stable based on Rupp's tension control law, for a variable length tether. However, the system simulation results indicate that the transient responses can be improved significantly, especially for the damping of the tether and shell pitch motion, by an optimal feedback control law for the rigid variable length tether model. It is also seen that the system could be unstable when the effect of tether flexibility is included if the control gains are not chosen carefully. The transient responses for three different tension control laws are compared during typical station keeping operations.
Mitigating Motion Base Safety Issues: The NASA LaRC CMF Implementation

NASA Technical Reports Server (NTRS)

Bryant, Richard B., Jr.; Grupton, Lawrence E.; Martinez, Debbie; Carrelli, David J.

2005-01-01

The NASA Langley Research Center (LaRC), Cockpit Motion Facility (CMF) motion base design has taken advantage of inherent hydraulic characteristics to implement safety features using hardware solutions only. Motion system safety has always been a concern and its implementation is addressed differently by each organization. Some approaches rely heavily on software safety features. Software which performs safety functions is subject to more scrutiny making its approval, modification, and development time consuming and expensive. The NASA LaRC's CMF motion system is used for research and, as such, requires that the software be updated or modified frequently. The CMF's customers need the ability to update the simulation software frequently without the associated cost incurred with safety critical software. This paper describes the CMF engineering team's approach to achieving motion base safety by designing and implementing all safety features in hardware, resulting in applications software (including motion cueing and actuator dynamic control) being completely independent of the safety devices. This allows the CMF safety systems to remain intact and unaffected by frequent research system modifications.
Analytical determination of space station response to crew motion and design of suspension system for microgravity experiments

NASA Technical Reports Server (NTRS)

Liu, F. C.

1986-01-01

The objective of this investigation is to make analytical determination of the acceleration produced by crew motion in an orbiting space station and define design parameters for the suspension system of microgravity experiments. A simple structural model for simulation of the IOC space station is proposed. Mathematical formulation of this model provides the engineers a simple and direct tool for designing an effective suspension system.
Motion induced interplay effects for VMAT radiotherapy.

PubMed

Edvardsson, Anneli; Nordström, Fredrik; Ceberg, Crister; Ceberg, Sofie

2018-04-19

The purpose of this study was to develop a method to simulate breathing motion induced interplay effects for volumetric modulated arc therapy (VMAT), to verify the proposed method with measurements, and to use the method to investigate how interplay effects vary with different patient- and machine specific parameters. VMAT treatment plans were created on a virtual phantom in a treatment planning system (TPS). Interplay effects were simulated by dividing each plan into smaller sub-arcs using an in-house developed software and shifting the isocenter for each sub-arc to simulate a sin 6 breathing motion in the superior-inferior direction. The simulations were performed for both flattening-filter (FF) and flattening-filter free (FFF) plans and for different breathing amplitudes, period times, initial breathing phases, dose levels, plan complexities, CTV sizes, and collimator angles. The resulting sub-arcs were calculated in the TPS, generating a dose distribution including the effects of motion. The interplay effects were separated from dose blurring and the relative dose differences to 2% and 98% of the CTV volume (ΔD 98% and ΔD 2% ) were calculated. To verify the simulation method, measurements were carried out, both static and during motion, using a quasi-3D phantom and a motion platform. The results of the verification measurements during motion were comparable to the results of the static measurements. Considerable interplay effects were observed for individual fractions, with the minimum ΔD 98% and maximum ΔD 2% being -16.7% and 16.2%, respectively. The extent of interplay effects was larger for FFF compared to FF and generally increased for higher breathing amplitudes, larger period times, lower dose levels, and more complex treatment plans. Also, the interplay effects varied considerably with the initial breathing phase, and larger variations were observed for smaller CTV sizes. In conclusion, a method to simulate motion induced interplay effects was developed and verified with measurements, which allowed for a large number of treatment scenarios to be investigated. The simulations showed large interplay effects for individual fractions and that the extent of interplay effects varied with the breathing pattern, FFF/FF, dose level, CTV size, collimator angle, and the complexity of the treatment plan.
Motion induced interplay effects for VMAT radiotherapy

NASA Astrophysics Data System (ADS)

Edvardsson, Anneli; Nordström, Fredrik; Ceberg, Crister; Ceberg, Sofie

2018-04-01

The purpose of this study was to develop a method to simulate breathing motion induced interplay effects for volumetric modulated arc therapy (VMAT), to verify the proposed method with measurements, and to use the method to investigate how interplay effects vary with different patient- and machine specific parameters. VMAT treatment plans were created on a virtual phantom in a treatment planning system (TPS). Interplay effects were simulated by dividing each plan into smaller sub-arcs using an in-house developed software and shifting the isocenter for each sub-arc to simulate a sin6 breathing motion in the superior–inferior direction. The simulations were performed for both flattening-filter (FF) and flattening-filter free (FFF) plans and for different breathing amplitudes, period times, initial breathing phases, dose levels, plan complexities, CTV sizes, and collimator angles. The resulting sub-arcs were calculated in the TPS, generating a dose distribution including the effects of motion. The interplay effects were separated from dose blurring and the relative dose differences to 2% and 98% of the CTV volume (ΔD98% and ΔD2%) were calculated. To verify the simulation method, measurements were carried out, both static and during motion, using a quasi-3D phantom and a motion platform. The results of the verification measurements during motion were comparable to the results of the static measurements. Considerable interplay effects were observed for individual fractions, with the minimum ΔD98% and maximum ΔD2% being ‑16.7% and 16.2%, respectively. The extent of interplay effects was larger for FFF compared to FF and generally increased for higher breathing amplitudes, larger period times, lower dose levels, and more complex treatment plans. Also, the interplay effects varied considerably with the initial breathing phase, and larger variations were observed for smaller CTV sizes. In conclusion, a method to simulate motion induced interplay effects was developed and verified with measurements, which allowed for a large number of treatment scenarios to be investigated. The simulations showed large interplay effects for individual fractions and that the extent of interplay effects varied with the breathing pattern, FFF/FF, dose level, CTV size, collimator angle, and the complexity of the treatment plan.
Experimental and analytical investigation of inertial propulsion mechanisms and motion simulation of rigid multi-body mechanical systems

NASA Astrophysics Data System (ADS)

Almesallmy, Mohammed

Methodologies are developed for dynamic analysis of mechanical systems with emphasis on inertial propulsion systems. This work adopted the Lagrangian methodology. Lagrangian methodology is the most efficient classical computational technique, which we call Equations of Motion Code (EOMC). The EOMC is applied to several simple dynamic mechanical systems for easier understanding of the method and to aid other investigators in developing equations of motion of any dynamic system. In addition, it is applied to a rigid multibody system, such as Thomson IPS [Thomson 1986]. Furthermore, a simple symbolic algorithm is developed using Maple software, which can be used to convert any nonlinear n-order ordinary differential equation (ODE) systems into 1st-order ODE system in ready format to be used in Matlab software. A side issue, but equally important, we have started corresponding with the U.S. Patent office to persuade them that patent applications, claiming gross linear motion based on inertial propulsion systems should be automatically rejected. The precedent is rejection of patent applications involving perpetual motion machines.
Virtual reality-based assessment of basic laparoscopic skills using the Leap Motion controller.

PubMed

Lahanas, Vasileios; Loukas, Constantinos; Georgiou, Konstantinos; Lababidi, Hani; Al-Jaroudi, Dania

2017-12-01

The majority of the current surgical simulators employ specialized sensory equipment for instrument tracking. The Leap Motion controller is a new device able to track linear objects with sub-millimeter accuracy. The aim of this study was to investigate the potential of a virtual reality (VR) simulator for assessment of basic laparoscopic skills, based on the low-cost Leap Motion controller. A simple interface was constructed to simulate the insertion point of the instruments into the abdominal cavity. The controller provided information about the position and orientation of the instruments. Custom tools were constructed to simulate the laparoscopic setup. Three basic VR tasks were developed: camera navigation (CN), instrument navigation (IN), and bimanual operation (BO). The experiments were carried out in two simulation centers: MPLSC (Athens, Greece) and CRESENT (Riyadh, Kingdom of Saudi Arabia). Two groups of surgeons (28 experts and 21 novices) participated in the study by performing the VR tasks. Skills assessment metrics included time, pathlength, and two task-specific errors. The face validity of the training scenarios was also investigated via a questionnaire completed by the participants. Expert surgeons significantly outperformed novices in all assessment metrics for IN and BO (p < 0.05). For CN, a significant difference was found in one error metric (p < 0.05). The greatest difference between the performances of the two groups occurred for BO. Qualitative analysis of the instrument trajectory revealed that experts performed more delicate movements compared to novices. Subjects' ratings on the feedback questionnaire highlighted the training value of the system. This study provides evidence regarding the potential use of the Leap Motion controller for assessment of basic laparoscopic skills. The proposed system allowed the evaluation of dexterity of the hand movements. Future work will involve comparison studies with validated simulators and development of advanced training scenarios on current Leap Motion controller.
A rigid motion correction method for helical computed tomography (CT)

NASA Astrophysics Data System (ADS)

Kim, J.-H.; Nuyts, J.; Kyme, A.; Kuncic, Z.; Fulton, R.

2015-03-01

We propose a method to compensate for six degree-of-freedom rigid motion in helical CT of the head. The method is demonstrated in simulations and in helical scans performed on a 16-slice CT scanner. Scans of a Hoffman brain phantom were acquired while an optical motion tracking system recorded the motion of the bed and the phantom. Motion correction was performed by restoring projection consistency using data from the motion tracking system, and reconstructing with an iterative fully 3D algorithm. Motion correction accuracy was evaluated by comparing reconstructed images with a stationary reference scan. We also investigated the effects on accuracy of tracker sampling rate, measurement jitter, interpolation of tracker measurements, and the synchronization of motion data and CT projections. After optimization of these aspects, motion corrected images corresponded remarkably closely to images of the stationary phantom with correlation and similarity coefficients both above 0.9. We performed a simulation study using volunteer head motion and found similarly that our method is capable of compensating effectively for realistic human head movements. To the best of our knowledge, this is the first practical demonstration of generalized rigid motion correction in helical CT. Its clinical value, which we have yet to explore, may be significant. For example it could reduce the necessity for repeat scans and resource-intensive anesthetic and sedation procedures in patient groups prone to motion, such as young children. It is not only applicable to dedicated CT imaging, but also to hybrid PET/CT and SPECT/CT, where it could also ensure an accurate CT image for lesion localization and attenuation correction of the functional image data.
Message in the "Body": Effects of Simulation in Sentence Production

ERIC Educational Resources Information Center

Sato, Manami

2010-01-01

This study investigates the role of mental simulation in message formulation and grammatical encoding in two typologically distinct languages, English and Japanese. It examines relationships among physical motion, mental simulation, and sentence production, following the claims of Perceptual Symbol Systems (Barsalou, 1999) that people understand…
Nonlinear modes of snap-through motions of a shallow arch

NASA Astrophysics Data System (ADS)

Breslavsky, I.; Avramov, K. V.; Mikhlin, Yu.; Kochurov, R.

2008-03-01

Nonlinear modes of snap-through motions of a shallow arch are analyzed. Dynamics of shallow arch is modeled by a two-degree-of-freedom system. Two nonlinear modes of this discrete system are treated. The methods of Ince algebraization and Hill determinants are used to study stability of nonlinear modes. The analytical results are compared with the data of the numerical simulations.
A demonstration of motion base design alternatives for the National Advanced Driving Simulator

NASA Technical Reports Server (NTRS)

Mccauley, Michael E.; Sharkey, Thomas J.; Sinacori, John B.; Laforce, Soren; Miller, James C.; Cook, Anthony

1992-01-01

A demonstration of the capability of NASA's Vertical Motion Simulator to simulate two alternative motion base designs for the National Advanced Driving simulator (NADS) is reported. The VMS is located at ARC. The motion base conditions used in this demonstration were as follows: (1) a large translational motion base; and (2) a motion base design with limited translational capability. The latter had translational capability representative of a typical synergistic motion platform. These alternatives were selected to test the prediction that large amplitude translational motion would result in a lower incidence or severity of simulator induced sickness (SIS) than would a limited translational motion base. A total of 10 drivers performed two tasks, slaloms and quick-stops, using each of the motion bases. Physiological, objective, and subjective measures were collected. No reliable differences in SIS between the motion base conditions was found in this demonstration. However, in light of the cost considerations and engineering challenges associated with implementing a large translation motion base, performance of a formal study is recommended.
Modeling Local Interactions during the Motion of Cyanobacteria

PubMed Central

Galante, Amanda; Wisen, Susanne; Bhaya, Devaki; Levy, Doron

2012-01-01

Synechocystis sp., a common unicellular freshwater cyanobacterium, has been used as a model organism to study phototaxis, an ability to move in the direction of a light source. This microorganism displays a number of additional characteristics such as delayed motion, surface dependence, and a quasi-random motion, where cells move in a seemingly disordered fashion instead of in the direction of the light source, a global force on the system. These unexplained motions are thought to be modulated by local interactions between cells such as intercellular communication. In this paper, we consider only local interactions of these phototactic cells in order to mathematically model this quasi-random motion. We analyze an experimental data set to illustrate the presence of quasi-random motion and then derive a stochastic dynamic particle system modeling interacting phototactic cells. The simulations of our model are consistent with experimentally observed phototactic motion. PMID:22713858
Attitude dynamics simulation subroutines for systems of hinge-connected rigid bodies

NASA Technical Reports Server (NTRS)

Fleischer, G. E.; Likins, P. W.

1974-01-01

Several computer subroutines are designed to provide the solution to minimum-dimension sets of discrete-coordinate equations of motion for systems consisting of an arbitrary number of hinge-connected rigid bodies assembled in a tree topology. In particular, these routines may be applied to: (1) the case of completely unrestricted hinge rotations, (2) the totally linearized case (all system rotations are small), and (3) the mixed, or partially linearized, case. The use of the programs in each case is demonstrated using a five-body spacecraft and attitude control system configuration. The ability of the subroutines to accommodate prescribed motions of system bodies is also demonstrated. Complete listings and user instructions are included for these routines (written in FORTRAN V) which are intended as multi- and general-purpose tools in the simulation of spacecraft and other complex electromechanical systems.
Motion Factors in Flight Simulation. Final Report.

ERIC Educational Resources Information Center

Klier, Sol; Gage, Howard

The effect of different simulator motion conditions on pilot performance was investigated, and the cuing function of simulator motion was explored. Subjects were required to perform a simulated air-to-air gunnery task under four conditions of motion. While treatment effects did not meet the predetermined level of statistical significance,…
Numerical Simulation of Tethered Underwater Kites for Power Generation

NASA Astrophysics Data System (ADS)

Ghasemi, Amirmahdi; Olinger, David; Tryggvason, Gretar

2015-11-01

An emerging renewable energy technology, tethered undersea kites (TUSK), which is used to extract hydrokinetic energy from ocean and tidal currents, is studied. TUSK systems consist of a rigid-winged ``kite,'' or glider, moving in an ocean current which is connected by tethers to a floating buoy on the ocean surface. The TUSK kite is a current speed enhancement device since the kite can move in high-speed, cross-current motion at 4-6 times the current velocity, thus producing more power than conventional marine turbines. A computational simulation is developed to simulate the dynamic motion of an underwater kite and extendable tether. A two-step projection method within a finite volume formulation, along with an Open MP acceleration method, is employed to solve the Navier-Stokes equations. An immersed boundary method is incorporated to model the fluid-structure interaction of the rigid kite (with NACA 0012 airfoil shape in 2D and NACA 0021 airfoil shape in 3D simulations) and the fluid flow. PID control methods are used to adjust the kite angle of attack during power (tether reel-out) and retraction (reel-in) phases. Two baseline simulations (for kite motions in two and three dimensions) are studied, and system power output, flow field vorticity, tether tension, and hydrodynamic coefficients (lift and drag) for the kite are determined. The simulated power output shows good agreement with established theoretical results for a kite moving in two-dimensions.
Toward canonical ensemble distribution from self-guided Langevin dynamics simulation

NASA Astrophysics Data System (ADS)

Wu, Xiongwu; Brooks, Bernard R.

2011-04-01

This work derives a quantitative description of the conformational distribution in self-guided Langevin dynamics (SGLD) simulations. SGLD simulations employ guiding forces calculated from local average momentums to enhance low-frequency motion. This enhancement in low-frequency motion dramatically accelerates conformational search efficiency, but also induces certain perturbations in conformational distribution. Through the local averaging, we separate properties of molecular systems into low-frequency and high-frequency portions. The guiding force effect on the conformational distribution is quantitatively described using these low-frequency and high-frequency properties. This quantitative relation provides a way to convert between a canonical ensemble and a self-guided ensemble. Using example systems, we demonstrated how to utilize the relation to obtain canonical ensemble properties and conformational distributions from SGLD simulations. This development makes SGLD not only an efficient approach for conformational searching, but also an accurate means for conformational sampling.

Atomistic Simulations of Grain Boundary Pinning in CuFe Alloys

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

Zepeda-Ruiz, L A; Gilmer, G H; Sadigh, B

2005-05-22

The authors apply a hybrid Monte Carlo-molecular dynamics code to the study of grain boundary motion upon annealing of pure Cu and Cu with low concentrations of Fe. The hybrid simulations account for segregation and precipitation of the low solubility Fe, together with curvature driven grain boundary motion. Grain boundaries in two different systems, a {Sigma}7+U-shaped half-loop grain and a nanocrystalline sample, were found to be pinned in the presence of Fe concentrations exceeding 3%.
System Hazard Analysis of TACOM’s Crew Station/Turret Motion Base Simulator

DTIC Science & Technology

1992-01-01

Safety devices have been located on the equipment where necessary and are described in the Contraves USA Manual No. IM-27751, "INSTRUCTION MANUAL FOR...OF TACOM’s CREW STATION/TURRET MOTION BASE SIMULATOR" and Contraves USA Manual No. IM-27751, "INSTRUCTION MANUAL FOR TACOM" in an attempt to satisfy... Contraves USA and assembled jointly by Contraves USA and TACOM. All control compensation was performed by TACOM. The CS/TMBS is expected to open doors
Vertical Motion Simulator Experiment on Stall Recovery Guidance

NASA Technical Reports Server (NTRS)

Schuet, Stefan; Lombaerts, Thomas; Stepanyan, Vahram; Kaneshige, John; Shish, Kimberlee; Robinson, Peter; Hardy, Gordon H.

2017-01-01

A stall recovery guidance system was designed to help pilots improve their stall recovery performance when the current aircraft state may be unrecognized under various complicating operational factors. Candidate guidance algorithms were connected to the split-cue pitch and roll flight directors that are standard on large transport commercial aircraft. A new thrust guidance algorithm and cue was also developed to help pilots prevent the combination of excessive thrust and nose-up stabilizer trim. The overall system was designed to reinforce the current FAA recommended stall recovery procedure. A general transport aircraft model, similar to a Boeing 757, with an extended aerodynamic database for improved stall dynamics simulation fidelity was integrated into the Vertical Motion Simulator at NASA Ames Research Center. A detailed study of the guidance system was then conducted across four stall scenarios with 30 commercial and 10 research test pilots, and the results are reported.
Running SW4 On New Commodity Technology Systems (CTS-1) Platform

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

Rodgers, Arthur J.; Petersson, N. Anders; Pitarka, Arben

We have recently been running earthquake ground motion simulations with SW4 on the new capacity computing systems, called the Commodity Technology Systems - 1 (CTS-1) at Lawrence Livermore National Laboratory (LLNL). SW4 is a fourth order time domain finite difference code developed by LLNL and distributed by the Computational Infrastructure for Geodynamics (CIG). SW4 simulates seismic wave propagation in complex three-dimensional Earth models including anelasticity and surface topography. We are modeling near-fault earthquake strong ground motions for the purposes of evaluating the response of engineered structures, such as nuclear power plants and other critical infrastructure. Engineering analysis of structures requiresmore » the inclusion of high frequencies which can cause damage, but are often difficult to include in simulations because of the need for large memory to model fine grid spacing on large domains.« less
Simulation Research on Vehicle Active Suspension Controller Based on G1 Method

NASA Astrophysics Data System (ADS)

Li, Gen; Li, Hang; Zhang, Shuaiyang; Luo, Qiuhui

2017-09-01

Based on the order relation analysis method (G1 method), the optimal linear controller of vehicle active suspension is designed. The system of the main and passive suspension of the single wheel vehicle is modeled and the system input signal model is determined. Secondly, the system motion state space equation is established by the kinetic knowledge and the optimal linear controller design is completed with the optimal control theory. The weighting coefficient of the performance index coefficients of the main passive suspension is determined by the relational analysis method. Finally, the model is simulated in Simulink. The simulation results show that: the optimal weight value is determined by using the sequence relation analysis method under the condition of given road conditions, and the vehicle acceleration, suspension stroke and tire motion displacement are optimized to improve the comprehensive performance of the vehicle, and the active control is controlled within the requirements.
Arrays of individually controlled ions suitable for two-dimensional quantum simulations

PubMed Central

Mielenz, Manuel; Kalis, Henning; Wittemer, Matthias; Hakelberg, Frederick; Warring, Ulrich; Schmied, Roman; Blain, Matthew; Maunz, Peter; Moehring, David L.; Leibfried, Dietrich; Schaetz, Tobias

2016-01-01

A precisely controlled quantum system may reveal a fundamental understanding of another, less accessible system of interest. A universal quantum computer is currently out of reach, but an analogue quantum simulator that makes relevant observables, interactions and states of a quantum model accessible could permit insight into complex dynamics. Several platforms have been suggested and proof-of-principle experiments have been conducted. Here, we operate two-dimensional arrays of three trapped ions in individually controlled harmonic wells forming equilateral triangles with side lengths 40 and 80 μm. In our approach, which is scalable to arbitrary two-dimensional lattices, we demonstrate individual control of the electronic and motional degrees of freedom, preparation of a fiducial initial state with ion motion close to the ground state, as well as a tuning of couplings between ions within experimental sequences. Our work paves the way towards a quantum simulator of two-dimensional systems designed at will. PMID:27291425
Calculation for simulation of archery goal value using a web camera and ultrasonic sensor

NASA Astrophysics Data System (ADS)

Rusjdi, Darma; Abdurrasyid, Wulandari, Dewi Arianti

2017-08-01

Development of the device simulator digital indoor archery-based embedded systems as a solution to the limitations of the field or open space is adequate, especially in big cities. Development of the device requires simulations to calculate the value of achieving the target based on the approach defined by the parabolic motion variable initial velocity and direction of motion of the arrow reaches the target. The simulator device should be complemented with an initial velocity measuring device using ultrasonic sensors and measuring direction of the target using a digital camera. The methodology uses research and development of application software from modeling and simulation approach. The research objective to create simulation applications calculating the value of the achievement of the target arrows. Benefits as a preliminary stage for the development of the simulator device of archery. Implementation of calculating the value of the target arrows into the application program generates a simulation game of archery that can be used as a reference development of the digital archery simulator in a room with embedded systems using ultrasonic sensors and web cameras. Applications developed with the simulation calculation comparing the outer radius of the circle produced a camera from a distance of three meters.
Performance Evaluation of the Honeywell GG1308 Miniature Ring Laser Gyroscope

DTIC Science & Technology

1993-01-01

information. The final display line provides the current DSB configuration status. An external strobe was established between the Contraves motion...components and systems. The core of the facility is a Contraves -Goerz Model 57CD 2-axis motion simulator capable of highly precise position, rate and
Long-period building response to earthquakes in the San Francisco Bay Area

USGS Publications Warehouse

Olsen, A.H.; Aagaard, Brad T.; Heaton, T.H.

2008-01-01

This article reports a study of modeled, long-period building responses to ground-motion simulations of earthquakes in the San Francisco Bay Area. The earthquakes include the 1989 magnitude 6.9 Loma Prieta earthquake, a magnitude 7.8 simulation of the 1906 San Francisco earthquake, and two hypothetical magnitude 7.8 northern San Andreas fault earthquakes with hypocenters north and south of San Francisco. We use the simulated ground motions to excite nonlinear models of 20-story, steel, welded moment-resisting frame (MRF) buildings. We consider MRF buildings designed with two different strengths and modeled with either ductile or brittle welds. Using peak interstory drift ratio (IDR) as a performance measure, the stiffer, higher strength building models outperform the equivalent more flexible, lower strength designs. The hypothetical magnitude 7.8 earthquake with hypocenter north of San Francisco produces the most severe ground motions. In this simulation, the responses of the more flexible, lower strength building model with brittle welds exceed an IDR of 2.5% (that is, threaten life safety) on 54% of the urban area, compared to 4.6% of the urban area for the stiffer, higher strength building with ductile welds. We also use the simulated ground motions to predict the maximum isolator displacement of base-isolated buildings with linear, single-degree-of-freedom (SDOF) models. For two existing 3-sec isolator systems near San Francisco, the design maximum displacement is 0.5 m, and our simulations predict isolator displacements for this type of system in excess of 0.5 m in many urban areas. This article demonstrates that a large, 1906-like earthquake could cause significant damage to long-period buildings in the San Francisco Bay Area.
Typical motions in multiple systems

NASA Technical Reports Server (NTRS)

Anosova, Joanna P.

1990-01-01

In very old times, people counted - one, two, many. The author wants to show that they were right. Consider the motions of isolated bodies: (1) N = 1 - simple motion; (2) N = 2 - Keplerian orbits; and (3) N = 3 - this is the difficult problem. In general, this problem can be studied only by computer simulations. The author studied this problem over many years (see, e.g., Agekian and Anosova, 1967; Anosova, 1986, 1989 a,b). The principal result is that two basic types of dynamics take place in triple systems. The first special type is the stable hierarchical systems with two almost Keplerian orbits. The second general type is the unstable triple systems with complicated motions of the bodies. By random choice of the initial conditions, by the Monte-Carlo method, the stable systems comprised about approx. 10% of the examined cases; the unstable systems comprised the other approx. 90% of cases under consideration. In N greater than 3, the studies of dynamics of such systems by computer simulations show that we have in general also the motions roughly as at the cases 1 - 3 with the relative negative or positive energies of the bodies. In the author's picture, the typical trajectories of the bodies in unstable triple systems of the general type of dynamics are seen. Such systems are disrupted always after close triple approaches of the bodies. These approaches play a role like the gravitational slingshot. Often, the velocities of escapers are very large. On the other hand, the movie also shows the dynamical processes of a formation, dynamical evolution and disruption of the temporary wide binaries in triples and a formation of final hard massive binaries in the final evolution of triples.
A novel approach to simulate chest wall micro-motion for bio-radar life detection purpose

NASA Astrophysics Data System (ADS)

An, Qiang; Li, Zhao; Liang, Fulai; Chen, Fuming; Wang, Jianqi

2016-10-01

Volunteers are often recruited to serve as the detection targets during the research process of bio-radar life detection technology, in which the experiment results are highly susceptible to the physical status of different individuals (shape, posture, etc.). In order to objectively evaluate the radar system performance and life detection algorithms, a standard detection target is urgently needed. The paper first proposed a parameter quantitatively controllable system to simulate the chest wall micro-motion caused mainly by breathing and heart beating. Then, the paper continued to analyze the material and size selection of the scattering body mounted on the simulation system from the perspective of back scattering energy. The computational electromagnetic method was employed to determine the exact scattering body. Finally, on-site experiments were carried out to verify the reliability of the simulation platform utilizing an IR UWB bioradar. Experimental result shows that the proposed system can simulate a real human target from three aspects: respiration frequency, amplitude and body surface scattering energy. Thus, it can be utilized as a substitute for a human target in radar based non-contact life detection research in various scenarios.
Regional-specific Stochastic Simulation of Spatially-distributed Ground-motion Time Histories using Wavelet Packet Analysis

NASA Astrophysics Data System (ADS)

Huang, D.; Wang, G.

2014-12-01

Stochastic simulation of spatially distributed ground-motion time histories is important for performance-based earthquake design of geographically distributed systems. In this study, we develop a novel technique to stochastically simulate regionalized ground-motion time histories using wavelet packet analysis. First, a transient acceleration time history is characterized by wavelet-packet parameters proposed by Yamamoto and Baker (2013). The wavelet-packet parameters fully characterize ground-motion time histories in terms of energy content, time- frequency-domain characteristics and time-frequency nonstationarity. This study further investigates the spatial cross-correlations of wavelet-packet parameters based on geostatistical analysis of 1500 regionalized ground motion data from eight well-recorded earthquakes in California, Mexico, Japan and Taiwan. The linear model of coregionalization (LMC) is used to develop a permissible spatial cross-correlation model for each parameter group. The geostatistical analysis of ground-motion data from different regions reveals significant dependence of the LMC structure on regional site conditions, which can be characterized by the correlation range of Vs30 in each region. In general, the spatial correlation and cross-correlation of wavelet-packet parameters are stronger if the site condition is more homogeneous. Using the regional-specific spatial cross-correlation model and cokriging technique, wavelet packet parameters at unmeasured locations can be best estimated, and regionalized ground-motion time histories can be synthesized. Case studies and blind tests demonstrated that the simulated ground motions generally agree well with the actual recorded data, if the influence of regional-site conditions is considered. The developed method has great potential to be used in computational-based seismic analysis and loss estimation in a regional scale.
A simulation trainer for complex articular fracture surgery.

PubMed

Yehyawi, Tameem M; Thomas, Thaddeus P; Ohrt, Gary T; Marsh, J Lawrence; Karam, Matthew D; Brown, Thomas D; Anderson, Donald D

2013-07-03

The purposes of this study were (1) to develop a physical model to improve articular fracture reduction skills, (2) to develop objective assessment methods to evaluate these skills, and (3) to assess the construct validity of the simulation. A surgical simulation was staged utilizing surrogate tibial plafond fractures. Multiple three-segment radio-opacified polyurethane foam fracture models were produced from the same mold, ensuring uniform surgical complexity between trials. Using fluoroscopic guidance, five senior and seven junior orthopaedic residents reduced the fracture through a limited anterior window. The residents were assessed on the basis of time to completion, hand movements (tracked with use of a motion capture system), and quality of the obtained reduction. All but three of the residents successfully reduced and fixed the fracture fragments (one senior resident and two junior residents completed the reduction but were unsuccessful in fixating all fragments). Senior residents had an average time to completion of 13.43 minutes, an average gross articular step-off of 3.00 mm, discrete hand motions of 540 actions, and a cumulative hand motion distance of 79 m. Junior residents had an average time to completion of 14.75 minutes, an average gross articular step-off of 3.09 mm, discrete hand motions of 511 actions, and a cumulative hand motion distance of 390 m. The large difference in cumulative hand motion distance, despite comparable numbers of discrete hand motion events, indicates that senior residents were more precise in their hand motions. The present experiment establishes the basic construct validity of the simulation trainer. Further studies are required to demonstrate that this laboratory-based model for articular fracture reduction training, along with an objective assessment of performance, can be used to improve resident surgical skills.
Stochastic ground motion simulation

USGS Publications Warehouse

Rezaeian, Sanaz; Xiaodan, Sun; Beer, Michael; Kougioumtzoglou, Ioannis A.; Patelli, Edoardo; Siu-Kui Au, Ivan

2014-01-01

Strong earthquake ground motion records are fundamental in engineering applications. Ground motion time series are used in response-history dynamic analysis of structural or geotechnical systems. In such analysis, the validity of predicted responses depends on the validity of the input excitations. Ground motion records are also used to develop ground motion prediction equations(GMPEs) for intensity measures such as spectral accelerations that are used in response-spectrum dynamic analysis. Despite the thousands of available strong ground motion records, there remains a shortage of records for large-magnitude earthquakes at short distances or in specific regions, as well as records that sample specific combinations of source, path, and site characteristics.
An optimal control strategy for two-dimensional motion camouflage with non-holonimic constraints.

PubMed

Rañó, Iñaki

2012-07-01

Motion camouflage is a stealth behaviour observed both in hover-flies and in dragonflies. Existing controllers for mimicking motion camouflage generate this behaviour on an empirical basis or without considering the kinematic motion restrictions present in animal trajectories. This study summarises our formal contributions to solve the generation of motion camouflage as a non-linear optimal control problem. The dynamics of the system capture the kinematic restrictions to motion of the agents, while the performance index ensures camouflage trajectories. An extensive set of simulations support the technique, and a novel analysis of the obtained trajectories contributes to our understanding of possible mechanisms to obtain sensor based motion camouflage, for instance, in mobile robots.
Nonlinear dynamic modeling of a simple flexible rotor system subjected to time-variable base motions

NASA Astrophysics Data System (ADS)

Chen, Liqiang; Wang, Jianjun; Han, Qinkai; Chu, Fulei

2017-09-01

Rotor systems carried in transportation system or under seismic excitations are considered to have a moving base. To study the dynamic behavior of flexible rotor systems subjected to time-variable base motions, a general model is developed based on finite element method and Lagrange's equation. Two groups of Euler angles are defined to describe the rotation of the rotor with respect to the base and that of the base with respect to the ground. It is found that the base rotations would cause nonlinearities in the model. To verify the proposed model, a novel test rig which could simulate the base angular-movement is designed. Dynamic experiments on a flexible rotor-bearing system with base angular motions are carried out. Based upon these, numerical simulations are conducted to further study the dynamic response of the flexible rotor under harmonic angular base motions. The effects of base angular amplitude, rotating speed and base frequency on response behaviors are discussed by means of FFT, waterfall, frequency response curve and orbits of the rotor. The FFT and waterfall plots of the disk horizontal and vertical vibrations are marked with multiplications of the base frequency and sum and difference tones of the rotating frequency and the base frequency. Their amplitudes will increase remarkably when they meet the whirling frequencies of the rotor system.
Evaluation of tracking accuracy of the CyberKnife system using a webcam and printed calibrated grid.

PubMed

Sumida, Iori; Shiomi, Hiroya; Higashinaka, Naokazu; Murashima, Yoshikazu; Miyamoto, Youichi; Yamazaki, Hideya; Mabuchi, Nobuhisa; Tsuda, Eimei; Ogawa, Kazuhiko

2016-03-08

Tracking accuracy for the CyberKnife's Synchrony system is commonly evaluated using a film-based verification method. We have evaluated a verification system that uses a webcam and a printed calibrated grid to verify tracking accuracy over three different motion patterns. A box with an attached printed calibrated grid and four fiducial markers was attached to the motion phantom. A target marker was positioned at the grid's center. The box was set up using the other three markers. Target tracking accuracy was evaluated under three conditions: 1) stationary; 2) sinusoidal motion with different amplitudes of 5, 10, 15, and 20 mm for the same cycle of 4 s and different cycles of 2, 4, 6, and 8 s with the same amplitude of 15 mm; and 3) irregular breathing patterns in six human volunteers breathing normally. Infrared markers were placed on the volunteers' abdomens, and their trajectories were used to simulate the target motion. All tests were performed with one-dimensional motion in craniocaudal direction. The webcam captured the grid's motion and a laser beam was used to simulate the CyberKnife's beam. Tracking error was defined as the difference between the grid's center and the laser beam. With a stationary target, mean tracking error was measured at 0.4 mm. For sinusoidal motion, tracking error was less than 2 mm for any amplitude and breathing cycle. For the volunteers' breathing patterns, the mean tracking error range was 0.78-1.67 mm. Therefore, accurate lesion targeting requires individual quality assurance for each patient.
ShakeMapple : tapping laptop motion sensors to map the felt extents of an earthquake

NASA Astrophysics Data System (ADS)

Bossu, Remy; McGilvary, Gary; Kamb, Linus

2010-05-01

There is a significant pool of untapped sensor resources available in portable computer embedded motion sensors. Included primarily to detect sudden strong motion in order to park the disk heads to prevent damage to the disks in the event of a fall or other severe motion, these sensors may also be tapped for other uses as well. We have developed a system that takes advantage of the Apple Macintosh laptops' embedded Sudden Motion Sensors to record earthquake strong motion data to rapidly build maps of where and to what extent an earthquake has been felt. After an earthquake, it is vital to understand the damage caused especially in urban environments as this is often the scene for large amounts of damage caused by earthquakes. Gathering as much information from these impacts to determine where the areas that are likely to be most effected, can aid in distributing emergency services effectively. The ShakeMapple system operates in the background, continuously saving the most recent data from the motion sensors. After an earthquake has occurred, the ShakeMapple system calculates the peak acceleration within a time window around the expected arrival and sends that to servers at the EMSC. A map plotting the felt responses is then generated and presented on the web. Because large-scale testing of such an application is inherently difficult, we propose to organize a broadly distributed "simulated event" test. The software will be available for download in April, after which we plan to organize a large-scale test by the summer. At a specified time, participating testers will be asked to create their own strong motion to be registered and submitted by the ShakeMapple client. From these responses, a felt map will be produced representing the broadly-felt effects of the simulated event.
The Effectiveness of Simulator Motion in the Transfer of Performance on a Tracking Task Is Influenced by Vision and Motion Disturbance Cues.

PubMed

Grundy, John G; Nazar, Stefan; O'Malley, Shannon; Mohrenshildt, Martin V; Shedden, Judith M

2016-06-01

To examine the importance of platform motion to the transfer of performance in motion simulators. The importance of platform motion in simulators for pilot training is strongly debated. We hypothesized that the type of motion (e.g., disturbance) contributes significantly to performance differences. Participants used a joystick to perform a target tracking task in a pod on top of a MOOG Stewart motion platform. Five conditions compared training without motion, with correlated motion, with disturbance motion, with disturbance motion isolated to the visual display, and with both correlated and disturbance motion. The test condition involved the full motion model with both correlated and disturbance motion. We analyzed speed and accuracy across training and test as well as strategic differences in joystick control. Training with disturbance cues produced critical behavioral differences compared to training without disturbance; motion itself was less important. Incorporation of disturbance cues is a potentially important source of variance between studies that do or do not show a benefit of motion platforms in the transfer of performance in simulators. Potential applications of this research include the assessment of the importance of motion platforms in flight simulators, with a focus on the efficacy of incorporating disturbance cues during training. © 2016, Human Factors and Ergonomics Society.
Dissipative dynamics at conical intersections: simulations with the hierarchy equations of motion method.

PubMed

Chen, Lipeng; Gelin, Maxim F; Chernyak, Vladimir Y; Domcke, Wolfgang; Zhao, Yang

2016-12-16

The effect of a dissipative environment on the ultrafast nonadiabatic dynamics at conical intersections is analyzed for a two-state two-mode model chosen to represent the S 2 (ππ*)-S 1 (nπ*) conical intersection in pyrazine (the system) which is bilinearly coupled to infinitely many harmonic oscillators in thermal equilibrium (the bath). The system-bath coupling is modeled by the Drude spectral function. The equation of motion for the reduced density matrix of the system is solved numerically exactly with the hierarchy equation of motion method using graphics-processor-unit (GPU) technology. The simulations are valid for arbitrary strength of the system-bath coupling and arbitrary bath memory relaxation time. The present computational studies overcome the limitations of weak system-bath coupling and short memory relaxation time inherent in previous simulations based on multi-level Redfield theory [A. Kühl and W. Domcke, J. Chem. Phys. 2002, 116, 263]. Time evolutions of electronic state populations and time-dependent reduced probability densities of the coupling and tuning modes of the conical intersection have been obtained. It is found that even weak coupling to the bath effectively suppresses the irregular fluctuations of the electronic populations of the isolated two-mode conical intersection. While the population of the upper adiabatic electronic state (S 2 ) is very efficiently quenched by the system-bath coupling, the population of the diabatic ππ* electronic state exhibits long-lived oscillations driven by coherent motion of the tuning mode. Counterintuitively, the coupling to the bath can lead to an enhanced lifetime of the coherence of the tuning mode as a result of effective damping of the highly excited coupling mode, which reduces the strong mode-mode coupling inherent to the conical intersection. The present results extend previous studies of the dissipative dynamics at conical intersections to the nonperturbative regime of system-bath coupling. They pave the way for future first-principles simulations of femtosecond time-resolved four-wave-mixing spectra of chromophores in condensed phases which are nonperturbative in the system dynamics, the system-bath coupling as well as the field-matter coupling.

Mechanism test bed. Flexible body model report

NASA Technical Reports Server (NTRS)

Compton, Jimmy

1991-01-01

The Space Station Mechanism Test Bed is a six degree-of-freedom motion simulation facility used to evaluate docking and berthing hardware mechanisms. A generalized rigid body math model was developed which allowed the computation of vehicle relative motion in six DOF due to forces and moments from mechanism contact, attitude control systems, and gravity. No vehicle size limitations were imposed in the model. The equations of motion were based on Hill's equations for translational motion with respect to a nominal circular earth orbit and Newton-Euler equations for rotational motion. This rigid body model and supporting software were being refined.
Microphysics of liquid complex plasmas in equilibrium and non-equilibrium systems

NASA Astrophysics Data System (ADS)

Piel, Alexander; Block, Dietmar; Melzer, André; Mulsow, Matthias; Schablinski, Jan; Schella, André; Wieben, Frank; Wilms, Jochen

2018-05-01

The dynamic evolution of the microscopic structure of solid and liquid phases of complex plasmas is studied experimentally and by means of molecular dynamics (MD) simulations. In small finite systems, the cooperative motion can be described in terms of discrete modes. These modes are studied with different experimental approaches. Using diffuse scattered laser light, applying laser tweezer forces to individual particles, and periodic laser pulses, the excitation of modes is investigated. The instantaneous normal mode analysis of experimental data from two-dimensional liquid clusters gives access to the local dynamics of the liquid phase. Our investigations shed light on the role of compressional and shear modes as well as the determination of diffusion constants and melting temperatures in finite systems. Special attention is paid to hydrodynamic situations with a stationary inhomogeneous dust flow. MD simulations allow to study the collective motion in the shell of nearest neighbors, which can be linked to smooth and sudden changes of the macroscopic flow. Finally, the observed micro-motion in all situations above allows to shed light on the preference of shear-like over compressional motion in terms of a minimized potential energy and a dynamic incompressibility.
The use of computer graphic simulation in the development of on-orbit tele-robotic systems

NASA Technical Reports Server (NTRS)

Fernandez, Ken; Hinman, Elaine

1987-01-01

This paper describes the use of computer graphic simulation techniques to resolve critical design and operational issues for robotic systems used for on-orbit operations. These issues are robot motion control, robot path-planning/verification, and robot dynamics. The major design issues in developing effective telerobotic systems are discussed, and the use of ROBOSIM, a NASA-developed computer graphic simulation tool, to address these issues is presented. Simulation plans for the Space Station and the Orbital Maneuvering Vehicle are presented and discussed.
System Simulation by Recursive Feedback: Coupling A Set of Stand-Alone Subsystem Simulations

NASA Technical Reports Server (NTRS)

Nixon, Douglas D.; Hanson, John M. (Technical Monitor)

2002-01-01

Recursive feedback is defined and discussed as a framework for development of specific algorithms and procedures that propagate the time-domain solution for a dynamical system simulation consisting of multiple numerically coupled self-contained stand-alone subsystem simulations. A satellite motion example containing three subsystems (other dynamics, attitude dynamics, and aerodynamics) has been defined and constructed using this approach. Conventional solution methods are used in the subsystem simulations. Centralized and distributed versions of coupling structure have been addressed. Numerical results are evaluated by direct comparison with a standard total-system simultaneous-solution approach.
Active Control of Solar Array Dynamics During Spacecraft Maneuvers

NASA Technical Reports Server (NTRS)

Ross, Brant A.; Woo, Nelson; Kraft, Thomas G.; Blandino, Joseph R.

2016-01-01

Recent NASA mission plans require spacecraft to undergo potentially significant maneuvers (or dynamic loading events) with large solar arrays deployed. Therefore there is an increased need to understand and possibly control the nonlinear dynamics in the spacecraft system during such maneuvers. The development of a nonlinear controller is described. The utility of using a nonlinear controller to reduce forces and motion in a solar array wing during a loading event is demonstrated. The result is dramatic reductions in system forces and motion during a 10 second loading event. A motion curve derived from the simulation with the closed loop controller is used to obtain similar benefits with a simpler motion control approach.
Artificial Intelligence (Al) Center of Excellence at the University of Pennsylvania

DTIC Science & Technology

1995-07-01

Approach and repel behaviors were implemented in order to study higher level behavioral simulation . Parallel algorithms for motion planning (as a...of decision-making accuracy can be specified for this graph-reduction process. We have also developed a mixed qualitative/quantitative simulation ...system, called QobiSIM. QobiSIM has been used to develop a cardiovascular simulation to be incorporated into the TraumAID system. This cardiovascular
Assessment of Simulated Ground Motions in Earthquake Engineering Practice: A Case Study for Duzce (Turkey)

NASA Astrophysics Data System (ADS)

Karimzadeh, Shaghayegh; Askan, Aysegul; Yakut, Ahmet

2017-09-01

Simulated ground motions can be used in structural and earthquake engineering practice as an alternative to or to augment the real ground motion data sets. Common engineering applications of simulated motions are linear and nonlinear time history analyses of building structures, where full acceleration records are necessary. Before using simulated ground motions in such applications, it is important to assess those in terms of their frequency and amplitude content as well as their match with the corresponding real records. In this study, a framework is outlined for assessment of simulated ground motions in terms of their use in structural engineering. Misfit criteria are determined for both ground motion parameters and structural response by comparing the simulated values against the corresponding real values. For this purpose, as a case study, the 12 November 1999 Duzce earthquake is simulated using stochastic finite-fault methodology. Simulated records are employed for time history analyses of frame models of typical residential buildings. Next, the relationships between ground motion misfits and structural response misfits are studied. Results show that the seismological misfits around the fundamental period of selected buildings determine the accuracy of the simulated responses in terms of their agreement with the observed responses.
Incremental inverse kinematics based vision servo for autonomous robotic capture of non-cooperative space debris

NASA Astrophysics Data System (ADS)

Dong, Gangqi; Zhu, Z. H.

2016-04-01

This paper proposed a new incremental inverse kinematics based vision servo approach for robotic manipulators to capture a non-cooperative target autonomously. The target's pose and motion are estimated by a vision system using integrated photogrammetry and EKF algorithm. Based on the estimated pose and motion of the target, the instantaneous desired position of the end-effector is predicted by inverse kinematics and the robotic manipulator is moved incrementally from its current configuration subject to the joint speed limits. This approach effectively eliminates the multiple solutions in the inverse kinematics and increases the robustness of the control algorithm. The proposed approach is validated by a hardware-in-the-loop simulation, where the pose and motion of the non-cooperative target is estimated by a real vision system. The simulation results demonstrate the effectiveness and robustness of the proposed estimation approach for the target and the incremental control strategy for the robotic manipulator.
A simulation of the instrument pointing system for the Astro-1 mission

NASA Technical Reports Server (NTRS)

Whorton, M.; West, M.; Rakoczy, J.

1991-01-01

NASA has recently completed a shuttle-borne stellar ultraviolet astronomy mission known as Astro-1. A three axis instrument pointing system (IPS) was employed to accurately point the science instruments. In order to analyze the pointing control system and verify pointing performance, a simulation of the IPS was developed using the multibody dynamics software TREETOPS. The TREETOPS IPS simulation is capable of accurately modeling the multibody IPS system undergoing large angle, nonlinear motion. The simulation is documented and example cases are presented demonstrating disturbance rejection, fine pointing operations, and multiple target pointing and slewing of the IPS.
The integrated motion measurement simulation for SOFIA

NASA Astrophysics Data System (ADS)

Kaswekar, Prashant; Greiner, Benjamin; Wagner, Jörg

2014-07-01

The Stratospheric Observatory for Infrared Astronomy SOFIA consists of a B747-SP aircraft, which carries aloft a 2.7-meter reflecting telescope. The image stability goal for SOFIA is 0:2 arc-seconds rms. The performance of the telescope structure is affected by elastic vibrations induced by aeroacoustic and suspension disturbances. Active compensation of such disturbances requires a fast way of estimating the structural motion. Integrated navigation systems are examples of such estimation systems. However they employ a rigid body assumption. A possible extension of these systems to an elastic structure is shown by different authors for one dimensional beam structures taking into account the eigenmodes of the structural system. The rigid body motion as well as the flexible modes of the telescope assembly, however, are coupled among the three axes. Extending a special mathematical approach to three dimensional structures, the aspect of a modal observer based on integrated motion measurement is simulated for SOFIA. It is in general a fusion of different measurement methods by using their benefits and blinding out their disadvantages. There are no mass and stillness properties needed directly in this approach. However, the knowledge of modal properties of the structure is necessary for the implementation of this method. A finite-element model is chosen as a basis to extract the modal properties of the structure.
Swimming droplets driven by a surface wave

PubMed Central

Ebata, Hiroyuki; Sano, Masaki

2015-01-01

Self-propelling motion is ubiquitous for soft active objects such as crawling cells, active filaments, and liquid droplets moving on surfaces. Deformation and energy dissipation are required for self-propulsion of both living and non-living matter. From the perspective of physics, searching for universal laws of self-propelled motions in a dissipative environment is worthwhile, regardless of the objects' details. In this article, we propose a simple experimental system that demonstrates spontaneous migration of a droplet under uniform mechanical agitation. As we vary control parameters, spontaneous symmetry breaking occurs sequentially, and cascades of bifurcations of the motion arise. Equations describing deformable particles and hydrodynamic simulations successfully describe all of the observed motions. This system should enable us to improve our understanding of spontaneous motions of self-propelled objects. PMID:25708871
Swimming droplets driven by a surface wave

NASA Astrophysics Data System (ADS)

Ebata, Hiroyuki; Sano, Masaki

2015-02-01

Self-propelling motion is ubiquitous for soft active objects such as crawling cells, active filaments, and liquid droplets moving on surfaces. Deformation and energy dissipation are required for self-propulsion of both living and non-living matter. From the perspective of physics, searching for universal laws of self-propelled motions in a dissipative environment is worthwhile, regardless of the objects' details. In this article, we propose a simple experimental system that demonstrates spontaneous migration of a droplet under uniform mechanical agitation. As we vary control parameters, spontaneous symmetry breaking occurs sequentially, and cascades of bifurcations of the motion arise. Equations describing deformable particles and hydrodynamic simulations successfully describe all of the observed motions. This system should enable us to improve our understanding of spontaneous motions of self-propelled objects.
Efficiently explore the energy landscape of proteins in molecular dynamics simulations by amplifying collective motions

NASA Astrophysics Data System (ADS)

He, Jianbin; Zhang, Zhiyong; Shi, Yunyu; Liu, Haiyan

2003-08-01

We describe a method for efficient sampling of the energy landscape of a protein in atomic molecular dynamics simulations. A simulation is divided into alternatively occurring relaxation phases and excitation phases. In the relaxation phase (conventional simulation), we use a frequently updated reference structure and deviations from this reference structure to mark whether the system has been trapped in a local minimum. In that case, the simulation enters the excitation phase, during which a few slow collective modes of the system are coupled to a higher temperature bath. After the system has escaped from the minimum (also judged by deviations from the reference structure) the simulation reenters the relaxation phase. The collective modes are obtained from a coarse-grained Gaussian elastic network model. The scheme, which we call ACM-AME (amplified collective motion-assisted minimum escaping), is compared with conventional simulations as well as an alternative scheme that elevates the temperature of all degrees of freedom during the excitation phase (amplified overall motion-assisted minimum escaping, or AOM-AME). Comparison is made using simulations on four peptides starting from non-native extended or all helical structures. In terms of sampling low energy conformations and continuously sampling new conformations throughout a simulation, the ACM-AME scheme demonstrates very good performance while the AOM-AME scheme shows little improvement upon conventional simulations. Limited success is achieved in producing structures close to the native structures of the peptides: for an S-peptide analog, the ACM-AME approach is able to reproduce its native helical structure, and starting from an all-helical structure of the villin headpiece subdomain (HP-36) in implicit solvent, two out of three 150 ns ACM-AME runs are able to sample structures with 3-4 Å backbone root-mean-square deviations from the nuclear magnetic resonance structure of the protein.
An actuator extension transformation for a motion simulator and an inverse transformation applying Newton-Raphson's method

NASA Technical Reports Server (NTRS)

Dieudonne, J. E.

1972-01-01

A set of equations which transform position and angular orientation of the centroid of the payload platform of a six-degree-of-freedom motion simulator into extensions of the simulator's actuators has been derived and is based on a geometrical representation of the system. An iterative scheme, Newton-Raphson's method, has been successfully used in a real time environment in the calculation of the position and angular orientation of the centroid of the payload platform when the magnitude of the actuator extensions is known. Sufficient accuracy is obtained by using only one Newton-Raphson iteration per integration step of the real time environment.
Lumbar joint torque estimation based on simplified motion measurement using multiple inertial sensors.

PubMed

Miyajima, Saori; Tanaka, Takayuki; Imamura, Yumeko; Kusaka, Takashi

2015-01-01

We estimate lumbar torque based on motion measurement using only three inertial sensors. First, human motion is measured by a 6-axis motion tracking device that combines a 3-axis accelerometer and a 3-axis gyroscope placed on the shank, thigh, and back. Next, the lumbar joint torque during the motion is estimated by kinematic musculoskeletal simulation. The conventional method for estimating joint torque uses full body motion data measured by an optical motion capture system. However, in this research, joint torque is estimated by using only three link angles of the body, thigh, and shank. The utility of our method was verified by experiments. We measured motion of bendung knee and waist simultaneously. As the result, we were able to estimate the lumbar joint torque from measured motion.
Numerical simulation of rotating body movement in medium with various densities

NASA Astrophysics Data System (ADS)

Tenenev, Valentin A.; Korolev, Stanislav A.; Rusyak, Ivan G.

2016-10-01

The paper proposes an approach to calculate the motion of rotating bodies in resisting medium by solving the Kirchhoff equations of motion in a coordinate system moving with the body and in determination of aerodynamic characteristics of the body with a given geometry by solving the Navier-Stokes equations. We present the phase trajectories of the perturbed motion of a rotating projectile in media with different densities: gas and liquid.
Knowledge-Based Motion Control of AN Intelligent Mobile Autonomous System

NASA Astrophysics Data System (ADS)

Isik, Can

An Intelligent Mobile Autonomous System (IMAS), which is equipped with vision and low level sensors to cope with unknown obstacles, is modeled as a hierarchy of path planning and motion control. This dissertation concentrates on the lower level of this hierarchy (Pilot) with a knowledge-based controller. The basis of a theory of knowledge-based controllers is established, using the example of the Pilot level motion control of IMAS. In this context, the knowledge-based controller with a linguistic world concept is shown to be adequate for the minimum time control of an autonomous mobile robot motion. The Pilot level motion control of IMAS is approached in the framework of production systems. The three major components of the knowledge-based control that are included here are the hierarchies of the database, the rule base and the rule evaluator. The database, which is the representation of the state of the world, is organized as a semantic network, using a concept of minimal admissible vocabulary. The hierarchy of rule base is derived from the analytical formulation of minimum-time control of IMAS motion. The procedure introduced for rule derivation, which is called analytical model verbalization, utilizes the concept of causalities to describe the system behavior. A realistic analytical system model is developed and the minimum-time motion control in an obstacle strewn environment is decomposed to a hierarchy of motion planning and control. The conditions for the validity of the hierarchical problem decomposition are established, and the consistency of operation is maintained by detecting the long term conflicting decisions of the levels of the hierarchy. The imprecision in the world description is modeled using the theory of fuzzy sets. The method developed for the choice of the rule that prescribes the minimum-time motion control among the redundant set of applicable rules is explained and the usage of fuzzy set operators is justified. Also included in the dissertation are the description of the computer simulation of Pilot within the hierarchy of IMAS control and the simulated experiments that demonstrate the theoretical work.
CT fluoroscopy-guided robotically-assisted lung biopsy

NASA Astrophysics Data System (ADS)

Xu, Sheng; Fichtinger, Gabor; Taylor, Russell H.; Banovac, Filip; Cleary, Kevin

2006-03-01

Lung biopsy is a common interventional radiology procedure. One of the difficulties in performing the lung biopsy is that lesions move with respiration. This paper presents a new robotically assisted lung biopsy system for CT fluoroscopy that can automatically compensate for the respiratory motion during the intervention. The system consists of a needle placement robot to hold the needle on the CT scan plane, a radiolucent Z-frame for registration of the CT and robot coordinate systems, and a frame grabber to obtain the CT fluoroscopy image in real-time. The CT fluoroscopy images are used to noninvasively track the motion of a pulmonary lesion in real-time. The position of the lesion in the images is automatically determined by the image processing software and the motion of the robot is controlled to compensate for the lesion motion. The system was validated under CT fluoroscopy using a respiratory motion simulator. A swine study was also done to show the feasibility of the technique in a respiring animal.
A flight simulator control system using electric torque motors

NASA Technical Reports Server (NTRS)

Musick, R. O.; Wagner, C. A.

1975-01-01

Control systems are required in flight simulators to provide representative stick and rudder pedal characteristics. A system has been developed that uses electric dc torque motors instead of the more common hydraulic actuators. The torque motor system overcomes certain disadvantages of hydraulic systems, such as high cost, high power consumption, noise, oil leaks, and safety problems. A description of the torque motor system is presented, including both electrical and mechanical design as well as performance characteristics. The system develops forces sufficiently high for most simulations, and is physically small and light enough to be used in most motion-base cockpits.
The architecture of Newton, a general-purpose dynamics simulator

NASA Technical Reports Server (NTRS)

Cremer, James F.; Stewart, A. James

1989-01-01

The architecture for Newton, a general-purpose system for simulating the dynamics of complex physical objects, is described. The system automatically formulates and analyzes equations of motion, and performs automatic modification of this system equations when necessitated by changes in kinematic relationships between objects. Impact and temporary contact are handled, although only using simple models. User-directed influence of simulations is achieved using Newton's module, which can be used to experiment with the control of many-degree-of-freedom articulated objects.

Symplectic molecular dynamics simulations on specially designed parallel computers.

PubMed

Borstnik, Urban; Janezic, Dusanka

2005-01-01

We have developed a computer program for molecular dynamics (MD) simulation that implements the Split Integration Symplectic Method (SISM) and is designed to run on specialized parallel computers. The MD integration is performed by the SISM, which analytically treats high-frequency vibrational motion and thus enables the use of longer simulation time steps. The low-frequency motion is treated numerically on specially designed parallel computers, which decreases the computational time of each simulation time step. The combination of these approaches means that less time is required and fewer steps are needed and so enables fast MD simulations. We study the computational performance of MD simulation of molecular systems on specialized computers and provide a comparison to standard personal computers. The combination of the SISM with two specialized parallel computers is an effective way to increase the speed of MD simulations up to 16-fold over a single PC processor.
Motion compensation for MRI-compatible patient-mounted needle guide device: estimation of targeting accuracy in MRI-guided kidney cryoablations

NASA Astrophysics Data System (ADS)

Tokuda, Junichi; Chauvin, Laurent; Ninni, Brian; Kato, Takahisa; King, Franklin; Tuncali, Kemal; Hata, Nobuhiko

2018-04-01

Patient-mounted needle guide devices for percutaneous ablation are vulnerable to patient motion. The objective of this study is to develop and evaluate a software system for an MRI-compatible patient-mounted needle guide device that can adaptively compensate for displacement of the device due to patient motion using a novel image-based automatic device-to-image registration technique. We have developed a software system for an MRI-compatible patient-mounted needle guide device for percutaneous ablation. It features fully-automated image-based device-to-image registration to track the device position, and a device controller to adjust the needle trajectory to compensate for the displacement of the device. We performed: (a) a phantom study using a clinical MR scanner to evaluate registration performance; (b) simulations using intraoperative time-series MR data acquired in 20 clinical cases of MRI-guided renal cryoablations to assess its impact on motion compensation; and (c) a pilot clinical study in three patients to test its feasibility during the clinical procedure. FRE, TRE, and success rate of device-to-image registration were mm, mm, and 98.3% for the phantom images. The simulation study showed that the motion compensation reduced the targeting error for needle placement from 8.2 mm to 5.4 mm (p < 0.0005) in patients under general anesthesia (GA), and from 14.4 mm to 10.0 mm () in patients under monitored anesthesia care (MAC). The pilot study showed that the software registered the device successfully in a clinical setting. Our simulation study demonstrated that the software system could significantly improve targeting accuracy in patients treated under both MAC and GA. Intraprocedural image-based device-to-image registration was feasible.
Discrimination of Human Forearm Motions on the Basis of Myoelectric Signals by Using Adaptive Fuzzy Inference System

NASA Astrophysics Data System (ADS)

Kiso, Atsushi; Seki, Hirokazu

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

NASA Technical Reports Server (NTRS)

Erzberger, Heinz; Tobias, Leonard

1988-01-01

Conceptual system controls aircraft with old and new guidance equipment. Report begins with overview of concept, then reviews controller-interactive simulations. Describes fuel-conservative-trajectory algorithm, based on equations of motion for controlling landing time. Finally, presents results of piloted simulations.
A Large Motion Suspension System for Simulation of Orbital Deployment

NASA Technical Reports Server (NTRS)

Straube, T. M.; Peterson, L. D.

1994-01-01

This paper describes the design and implementation of a vertical degree of freedom suspension system which provides a constant force off-load condition to counter gravity over large displacements. By accommodating motions up to one meter for structures weighing up to 100 pounds, the system is useful for experiments which simulate the on-orbit deployment of spacecraft components. A unique aspect of this system is the combination of a large stroke passive off-load device augmented by electromotive torque actuated force feedback. The active force feedback has the effect of reducing breakaway friction by an order of magnitude over the passive system alone. The paper describes the development of the suspension hardware and the feedback control algorithm. Experiments were performed to verify the suspensions system's ability to provide a gravity off-load as well as its effect on the modal characteristics of a test article.
Attitude guidance and simulation with animation of a land-survey satellite motion

NASA Astrophysics Data System (ADS)

Somova, Tatyana

2017-01-01

We consider problems of synthesis of the vector spline attitude guidance laws for a land-survey satellite and an in-flight support of the satellite attitude control system with the use of computer animation of its motion. We have presented the results on the efficiency of the developed algorithms.
49 CFR 552.14 - Content of petition.

Code of Federal Regulations, 2011 CFR

2011-10-01

... of the DASS by moving a test device toward the driver air bag in a manner that simulates the motion... motion of an unbelted occupant during pre-crash braking or other pre-crash maneuver. The petitioner shall... logic, the system reaction time, the time duration used to evaluate whether the air bag should be...
49 CFR 552.14 - Content of petition.

Code of Federal Regulations, 2010 CFR

2010-10-01

... of the DASS by moving a test device toward the driver air bag in a manner that simulates the motion... motion of an unbelted occupant during pre-crash braking or other pre-crash maneuver. The petitioner shall... logic, the system reaction time, the time duration used to evaluate whether the air bag should be...
A Course in Simulation and Demonstration of Humanoid Robot Motion

ERIC Educational Resources Information Center

Liu, Hsin-Yu; Wang, Wen-June; Wang, Rong-Jyue

2011-01-01

An introductory course for humanoid robot motion realization for undergraduate and graduate students is presented in this study. The basic operations of AX-12 motors and the mechanics combination of a 16 degrees-of-freedom (DOF) humanoid robot are presented first. The main concepts of multilink systems, zero moment point (ZMP), and feedback…
4D dose simulation in volumetric arc therapy: Accuracy and affecting parameters

PubMed Central

Werner, René

2017-01-01

Radiotherapy of lung and liver lesions has changed from normofractioned 3D-CRT to stereotactic treatment in a single or few fractions, often employing volumetric arc therapy (VMAT)-based techniques. Potential unintended interference of respiratory target motion and dynamically changing beam parameters during VMAT dose delivery motivates establishing 4D quality assurance (4D QA) procedures to assess appropriateness of generated VMAT treatment plans when taking into account patient-specific motion characteristics. Current approaches are motion phantom-based 4D QA and image-based 4D VMAT dose simulation. Whereas phantom-based 4D QA is usually restricted to a small number of measurements, the computational approaches allow simulating many motion scenarios. However, 4D VMAT dose simulation depends on various input parameters, influencing estimated doses along with mitigating simulation reliability. Thus, aiming at routine use of simulation-based 4D VMAT QA, the impact of such parameters as well as the overall accuracy of the 4D VMAT dose simulation has to be studied in detail–which is the topic of the present work. In detail, we introduce the principles of 4D VMAT dose simulation, identify influencing parameters and assess their impact on 4D dose simulation accuracy by comparison of simulated motion-affected dose distributions to corresponding dosimetric motion phantom measurements. Exploiting an ITV-based treatment planning approach, VMAT treatment plans were generated for a motion phantom and different motion scenarios (sinusoidal motion of different period/direction; regular/irregular motion). 4D VMAT dose simulation results and dose measurements were compared by local 3% / 3 mm γ-evaluation, with the measured dose distributions serving as ground truth. Overall γ-passing rates of simulations and dynamic measurements ranged from 97% to 100% (mean across all motion scenarios: 98% ± 1%); corresponding values for comparison of different day repeat measurements were between 98% and 100%. Parameters of major influence on 4D VMAT dose simulation accuracy were the degree of temporal discretization of the dose delivery process (the higher, the better) and correct alignment of the assumed breathing phases at the beginning of the dose measurements and simulations. Given the high γ-passing rates between simulated motion-affected doses and dynamic measurements, we consider the simulations to provide a reliable basis for assessment of VMAT motion effects that–in the sense of 4D QA of VMAT treatment plans–allows to verify target coverage in hypofractioned VMAT-based radiotherapy of moving targets. Remaining differences between measurements and simulations motivate, however, further detailed studies. PMID:28231337
4D dose simulation in volumetric arc therapy: Accuracy and affecting parameters.

PubMed

Sothmann, Thilo; Gauer, Tobias; Werner, René

2017-01-01

Radiotherapy of lung and liver lesions has changed from normofractioned 3D-CRT to stereotactic treatment in a single or few fractions, often employing volumetric arc therapy (VMAT)-based techniques. Potential unintended interference of respiratory target motion and dynamically changing beam parameters during VMAT dose delivery motivates establishing 4D quality assurance (4D QA) procedures to assess appropriateness of generated VMAT treatment plans when taking into account patient-specific motion characteristics. Current approaches are motion phantom-based 4D QA and image-based 4D VMAT dose simulation. Whereas phantom-based 4D QA is usually restricted to a small number of measurements, the computational approaches allow simulating many motion scenarios. However, 4D VMAT dose simulation depends on various input parameters, influencing estimated doses along with mitigating simulation reliability. Thus, aiming at routine use of simulation-based 4D VMAT QA, the impact of such parameters as well as the overall accuracy of the 4D VMAT dose simulation has to be studied in detail-which is the topic of the present work. In detail, we introduce the principles of 4D VMAT dose simulation, identify influencing parameters and assess their impact on 4D dose simulation accuracy by comparison of simulated motion-affected dose distributions to corresponding dosimetric motion phantom measurements. Exploiting an ITV-based treatment planning approach, VMAT treatment plans were generated for a motion phantom and different motion scenarios (sinusoidal motion of different period/direction; regular/irregular motion). 4D VMAT dose simulation results and dose measurements were compared by local 3% / 3 mm γ-evaluation, with the measured dose distributions serving as ground truth. Overall γ-passing rates of simulations and dynamic measurements ranged from 97% to 100% (mean across all motion scenarios: 98% ± 1%); corresponding values for comparison of different day repeat measurements were between 98% and 100%. Parameters of major influence on 4D VMAT dose simulation accuracy were the degree of temporal discretization of the dose delivery process (the higher, the better) and correct alignment of the assumed breathing phases at the beginning of the dose measurements and simulations. Given the high γ-passing rates between simulated motion-affected doses and dynamic measurements, we consider the simulations to provide a reliable basis for assessment of VMAT motion effects that-in the sense of 4D QA of VMAT treatment plans-allows to verify target coverage in hypofractioned VMAT-based radiotherapy of moving targets. Remaining differences between measurements and simulations motivate, however, further detailed studies.
A novel role for visual perspective cues in the neural computation of depth.

PubMed

Kim, HyungGoo R; Angelaki, Dora E; DeAngelis, Gregory C

2015-01-01

As we explore a scene, our eye movements add global patterns of motion to the retinal image, complicating visual motion produced by self-motion or moving objects. Conventionally, it has been assumed that extraretinal signals, such as efference copy of smooth pursuit commands, are required to compensate for the visual consequences of eye rotations. We consider an alternative possibility: namely, that the visual system can infer eye rotations from global patterns of image motion. We visually simulated combinations of eye translation and rotation, including perspective distortions that change dynamically over time. We found that incorporating these 'dynamic perspective' cues allowed the visual system to generate selectivity for depth sign from motion parallax in macaque cortical area MT, a computation that was previously thought to require extraretinal signals regarding eye velocity. Our findings suggest neural mechanisms that analyze global patterns of visual motion to perform computations that require knowledge of eye rotations.
Dynamics of biopolymers on nanomaterials studied by quasielastic neutron scattering and MD simulations

NASA Astrophysics Data System (ADS)

Dhindsa, Gurpreet K.

Neutron scattering has been proved to be a powerful tool to study the dynamics of biological systems under various conditions. This thesis intends to utilize neutron scattering techniques, combining with MD simulations, to develop fundamental understanding of several biologically interesting systems. Our systems include a drug delivery system containing Nanodiamonds with nucleic acid (RNA), and two specific model proteins, beta-Casein and Inorganic Pyrophosphatase (IPPase). RNA and nanodiamond (ND) both are suitable for drug-delivery applications in nano-biotechnology. The architecturally flexible RNA with catalytic functionality forms nanocomposites that can treat life-threatening diseases. The non-toxic ND has excellent mechanical and optical properties and functionalizable high surface area, and thus actively considered for biomedical applications. In this thesis, we utilized two tools, quasielastic neutron scattering (QENS) and Molecular Dynamics Simulations to probe the effect of ND on RNA dynamics. Our work provides fundamental understanding of how hydrated RNA motions are affected in the RNA-ND nanocomposites. From the experimental and Molecular Dynamics Simulation (MD), we found that hydrated RNA motion is faster on ND surface than a freestanding one. MD Simulation results showed that the failure of Stokes Einstein relation results the presence of dynamic heterogeneities in the biomacromolecules. Radial pair distribution function from MD Simulation confirmed that the hydrophilic nature of ND attracts more water than RNA results the de-confinement of RNA on ND. Therefore, RNA exhibits faster motion in the presence of ND than freestanding RNA. In the second project, we studied the dynamics of a natively disordered protein beta-Casein which lacks secondary structures. In this study, the temperature and hydration effects on the dynamics of beta-Casein are explored by Quasielastic Neutron Scattering (QENS). We investigated the mean square displacement (MSD) of hydrated and dry beta-Casein as a function of temperature, to study the effect of hydration on their flexibility. The Elastic Incoherent Structure Factor (EISF) in the energy domain reveals the fraction of hydrogen atoms participating in motion in a sphere of diffusion. In the time domain analysis, a logarithmic-like decay is observed in the range of picosecond to nanosecond (beta-relaxation time) in the dynamics of hydrated beta-Casein. Our temperature dependent QENS experiments provide evidence that lack of secondary structure in beta-Casein results in higher flexibility in its dynamics and easier reversible thermal unfolding compared to other rigid biomolecules. Lastly, we studied the domain motion of IPPase protein by Neutron Spin Echo Spectroscopy (NSE). We found that decrease in diffusion coefficient belongs to domain motion of IPPase. Moreover, Rg is varied by temperature and concentration.
Detection of abnormal living patterns for elderly living alone using support vector data description.

PubMed

Shin, Jae Hyuk; Lee, Boreom; Park, Kwang Suk

2011-05-01

In this study, we developed an automated behavior analysis system using infrared (IR) motion sensors to assist the independent living of the elderly who live alone and to improve the efficiency of their healthcare. An IR motion-sensor-based activity-monitoring system was installed in the houses of the elderly subjects to collect motion signals and three different feature values, activity level, mobility level, and nonresponse interval (NRI). These factors were calculated from the measured motion signals. The support vector data description (SVDD) method was used to classify normal behavior patterns and to detect abnormal behavioral patterns based on the aforementioned three feature values. The simulation data and real data were used to verify the proposed method in the individual analysis. A robust scheme is presented in this paper for optimally selecting the values of different parameters especially that of the scale parameter of the Gaussian kernel function involving in the training of the SVDD window length, T of the circadian rhythmic approach with the aim of applying the SVDD to the daily behavior patterns calculated over 24 h. Accuracies by positive predictive value (PPV) were 95.8% and 90.5% for the simulation and real data, respectively. The results suggest that the monitoring system utilizing the IR motion sensors and abnormal-behavior-pattern detection with SVDD are effective methods for home healthcare of elderly people living alone.
A dynamic model of the human postural control system

NASA Technical Reports Server (NTRS)

Hill, J. C.

1972-01-01

A digital simulation of the pitch axis dynamics of a stick man of figures is described. Difficulties encountered in linearizing the equations of motion are discussed; the conclusion reached is that a completely linear simulation is of such restricted validity that only a nonlinear simulation is of any practical use. Typical simulation results obtained from the full nonlinear model are presented.
A dynamic model of the human postural control system.

NASA Technical Reports Server (NTRS)

Hill, J. C.

1971-01-01

Description of a digital simulation of the pitch axis dynamics of a stick man. The difficulties encountered in linearizing the equations of motion are discussed; the conclusion reached is that a completely linear simulation is of such restricted validity that only a nonlinear simulation is of any practical use. Typical simulation results obtained from the full nonlinear model are illustrated.
Design and implementation of self-balancing coaxial two wheel robot based on HSIC

NASA Astrophysics Data System (ADS)

Hu, Tianlian; Zhang, Hua; Dai, Xin; Xia, Xianfeng; Liu, Ran; Qiu, Bo

2007-12-01

This thesis has studied the control problem concerning position and orientation control of self-balancing coaxial two wheel robot based on the human simulated intelligent control (HSIC) theory. Adopting Lagrange equation, the dynamic model of self-balancing coaxial two-wheel Robot is built up, and the Sensory-motor Intelligent Schemas (SMIS) of HSIC controller for the robot is designed by analyzing its movement and simulating the human controller. In robot's motion process, by perceiving position and orientation of the robot and using multi-mode control strategy based on characteristic identification, the HSIC controller enables the robot to control posture. Utilizing Matlab/Simulink, a simulation platform is established and a motion controller is designed and realized based on RT-Linux real-time operating system, employing high speed ARM9 processor S3C2440 as kernel of the motion controller. The effectiveness of the new design is testified by the experiment.
Multiple-basin energy landscapes for large-amplitude conformational motions of proteins: Structure-based molecular dynamics simulations

PubMed Central

Okazaki, Kei-ichi; Koga, Nobuyasu; Takada, Shoji; Onuchic, Jose N.; Wolynes, Peter G.

2006-01-01

Biomolecules often undergo large-amplitude motions when they bind or release other molecules. Unlike macroscopic machines, these biomolecular machines can partially disassemble (unfold) and then reassemble (fold) during such transitions. Here we put forward a minimal structure-based model, the “multiple-basin model,” that can directly be used for molecular dynamics simulation of even very large biomolecular systems so long as the endpoints of the conformational change are known. We investigate the model by simulating large-scale motions of four proteins: glutamine-binding protein, S100A6, dihydrofolate reductase, and HIV-1 protease. The mechanisms of conformational transition depend on the protein basin topologies and change with temperature near the folding transition. The conformational transition rate varies linearly with driving force over a fairly large range. This linearity appears to be a consequence of partial unfolding during the conformational transition. PMID:16877541
Hydrodynamical simulations of Pinwheel nebula WR 104

NASA Astrophysics Data System (ADS)

Lamberts, A.; Fromang, S.; Dubus, G.

2010-12-01

The interaction of stellar winds from two companion stars leads to the formation of a shocked structure. Several analytic solutions have been developped to model this phenomenon. We compare our 2D and 3D hydrodynamical simulations to these results and highlight their shortcomings. Analytic solutions do not take orbital motion into account although this drastically changes the structure at large distances, turning it into a spiral. This is observed in Pinwheel Nebulae, binaries composed of a Wolf-Rayet star and an early-type star. Their infrared emission is due to dust whose origin is stil poorly constrained. We perform large scale 2D simulations of one particular system, WR 104. Including the orbital motion, we follow the flow up to a few steps of the spiral. This is made possible using adaptive mesh refinement. We determine the properties of the gas in the winds and confirm the flow in the spiral has a ballistic motion.
Modeling human behaviors and reactions under dangerous environment.

PubMed

Kang, J; Wright, D K; Qin, S F; Zhao, Y

2005-01-01

This paper describes the framework of a real-time simulation system to model human behavior and reactions in dangerous environments. The system utilizes the latest 3D computer animation techniques, combined with artificial intelligence, robotics and psychology, to model human behavior, reactions and decision making under expected/unexpected dangers in real-time in virtual environments. The development of the system includes: classification on the conscious/subconscious behaviors and reactions of different people; capturing different motion postures by the Eagle Digital System; establishing 3D character animation models; establishing 3D models for the scene; planning the scenario and the contents; and programming within Virtools Dev. Programming within Virtools Dev is subdivided into modeling dangerous events, modeling character's perceptions, modeling character's decision making, modeling character's movements, modeling character's interaction with environment and setting up the virtual cameras. The real-time simulation of human reactions in hazardous environments is invaluable in military defense, fire escape, rescue operation planning, traffic safety studies, and safety planning in chemical factories, the design of buildings, airplanes, ships and trains. Currently, human motion modeling can be realized through established technology, whereas to integrate perception and intelligence into virtual human's motion is still a huge undertaking. The challenges here are the synchronization of motion and intelligence, the accurate modeling of human's vision, smell, touch and hearing, the diversity and effects of emotion and personality in decision making. There are three types of software platforms which could be employed to realize the motion and intelligence within one system, and their advantages and disadvantages are discussed.

Dynamics of flexible bodies in tree topology - A computer oriented approach

NASA Technical Reports Server (NTRS)

Singh, R. P.; Vandervoort, R. J.; Likins, P. W.

1984-01-01

An approach suited for automatic generation of the equations of motion for large mechanical systems (i.e., large space structures, mechanisms, robots, etc.) is presented. The system topology is restricted to a tree configuration. The tree is defined as an arbitrary set of rigid and flexible bodies connected by hinges characterizing relative translations and rotations of two adjoining bodies. The equations of motion are derived via Kane's method. The resulting equation set is of minimum dimension. Dynamical equations are imbedded in a computer program called TREETOPS. Extensive control simulation capability is built in the TREETOPS program. The simulation is driven by an interactive set-up program resulting in an easy to use analysis tool.
An Analytical Comparison of the Fidelity of "Large Motion" Versus "Small Motion" Flight Simulators in a Rotorcraft Side-Step Task

NASA Technical Reports Server (NTRS)

Hess, Ronald A.

1999-01-01

This paper presents an analytical and experimental methodology for studying flight simulator fidelity. The task was a rotorcraft bob-up/down maneuver in which vertical acceleration constituted the motion cue. The task considered here is aside-step maneuver that differs from the bob-up one important way: both roll and lateral acceleration cues are available to the pilot. It has been communicated to the author that in some Verticle Motion Simulator (VMS) studies, the lateral acceleration cue has been found to be the most important. It is of some interest to hypothesize how this motion cue associated with "outer-loop" lateral translation fits into the modeling procedure where only "inner-loop " motion cues were considered. This Note is an attempt at formulating such an hypothesis and analytically comparing a large-motion simulator, e.g., the VMS, with a small-motion simulator, e.g., a hexapod.
Parametric control of maneuver of a space tether system

NASA Astrophysics Data System (ADS)

Bezglasnyi, S. P.; Piyakina, E. E.

2015-07-01

Planar motion of a space tether system (STS) simulated by a massless rod with two masses fixed on its edges and a third mass moving along the rod is considered. An equation of the pendulum-controlled motion of the system in an elliptical orbit is obtained. Problems of parametric control that takes the STS from one stable radial equilibrium state to another and stabilizes it with respect to planar excitations of two diametrically opposite positions of the relative equilibrium of the STS in a circular orbit are investigated. The control is a continuous law of motion for a moving mass along the tether on the swing principle. The solution is obtained in a closed form based on the second method of the classical stability theory by the construction of the corresponding Lyapunov functions. Asymptotic convergence of solutions is confirmed by the results of numerical modeling of the system motion.
A fast recursive algorithm for molecular dynamics simulation

NASA Technical Reports Server (NTRS)

Jain, A.; Vaidehi, N.; Rodriguez, G.

1993-01-01

The present recursive algorithm for solving molecular systems' dynamical equations of motion employs internal variable models that reduce such simulations' computation time by an order of magnitude, relative to Cartesian models. Extensive use is made of spatial operator methods recently developed for analysis and simulation of the dynamics of multibody systems. A factor-of-450 speedup over the conventional O(N-cubed) algorithm is demonstrated for the case of a polypeptide molecule with 400 residues.
Validation of the Passenger Ride Quality Apparatus (PRQA) for simulation of aircraft motions for ride-quality research

NASA Technical Reports Server (NTRS)

Bigler, W. B., II

1977-01-01

The NASA passenger ride quality apparatus (PRQA), a ground based motion simulator, was compared to the total in flight simulator (TIFS). Tests were made on PRQA with varying stimuli: motions only; motions and noise; motions, noise, and visual; and motions and visual. Regression equations for the tests were obtained and subsequent t-testing of the slopes indicated that ground based simulator tests produced comfort change rates similar to actual flight data. It was recommended that PRQA be used in the ride quality program for aircraft and that it be validated for other transportation modes.
Three-dimensional dynamics of scientific balloon systems in response to sudden gust loadings. [including a computer program user manual

NASA Technical Reports Server (NTRS)

Dorsey, D. R., Jr.

1975-01-01

A mathematical model was developed of the three-dimensional dynamics of a high-altitude scientific research balloon system perturbed from its equilibrium configuration by an arbitrary gust loading. The platform is modelled as a system of four coupled pendula, and the equations of motion were developed in the Lagrangian formalism assuming a small-angle approximation. Three-dimensional pendulation, torsion, and precessional motion due to Coriolis forces are considered. Aerodynamic and viscous damping effects on the pendulatory and torsional motions are included. A general model of the gust field incident upon the balloon system was developed. The digital computer simulation program is described, and a guide to its use is given.
Effect of motion inputs on the wear prediction of artificial hip joints

PubMed Central

Liu, Feng; Fisher, John; Jin, Zhongmin

2013-01-01

Hip joint simulators have been largely used to assess the wear performance of joint implants. Due to the complexity of joint movement, the motion mechanism adopted in simulators varies. The motion condition is particularly important for ultra-high molecular weight polyethylene (UHMWPE) since polyethylene wear can be substantially increased by the bearing cross-shear motion. Computational wear modelling has been improved recently for the conventional UHMWPE used in total hip joint replacements. A new polyethylene wear law is an explicit function of the contact area of the bearing and the sliding distance, and the effect of multidirectional motion on wear has been quantified by a factor, cross-shear ratio. In this study, the full simulated walking cycle condition based on a walking measurement and two simplified motions, including the ISO standard motion and a simplified ProSim hip simulator motion, were considered as the inputs for wear modelling based on the improved wear model. Both the full simulation and simplified motions generated the comparable multidirectional motion required to reproduce the physiological wear of the bearing in vivo. The predicted volumetric wear of the ProSim simulator motion and the ISO motion conditions for the walking cycle were 13% and 4% lower, respectively, than that of the measured walking condition. The maximum linear wear depths were almost the same, and the areas of the wear depth distribution were 13% and 7% lower for the ProSim simulator and the ISO condition, respectively, compared with that of the measured walking cycle motion condition. PMID:25540472
Neural dynamics of motion processing and speed discrimination.

PubMed

Chey, J; Grossberg, S; Mingolla, E

1998-09-01

A neural network model of visual motion perception and speed discrimination is presented. The model shows how a distributed population code of speed tuning, that realizes a size-speed correlation, can be derived from the simplest mechanisms whereby activations of multiple spatially short-range filters of different size are transformed into speed-turned cell responses. These mechanisms use transient cell responses to moving stimuli, output thresholds that covary with filter size, and competition. These mechanisms are proposed to occur in the V1-->MT cortical processing stream. The model reproduces empirically derived speed discrimination curves and simulates data showing how visual speed perception and discrimination can be affected by stimulus contrast, duration, dot density and spatial frequency. Model motion mechanisms are analogous to mechanisms that have been used to model 3-D form and figure-ground perception. The model forms the front end of a larger motion processing system that has been used to simulate how global motion capture occurs, and how spatial attention is drawn to moving forms. It provides a computational foundation for an emerging neural theory of 3-D form and motion perception.
Toward broadband vibration energy harvesting via mechanical motion-rectification induced inertia nonlinearity

NASA Astrophysics Data System (ADS)

Liu, Mingyi; Tai, Wei-Che; Zuo, Lei

2018-07-01

Broad frequency bandwidth is a desired feature for most energy harvesting systems. Rotational electromagnetic generators are widely used in energy harvesting systems and the generator rotor is considered as an inerter. While a lot of research striving for increasing frequency bandwidth, we found out that the inerter makes the bandwidth narrow. To solve this problem, this paper proposes using inertia nonlinearity which is realized by mechanical motion rectification (MMR). The influence of the MMR on energy harvesting performance in inerter-based systems was numerically and experimentally investigated with harmonic excitations of constant displacement amplitude. Simulation is done by transforming the mechanical system to an analogous electrical system. The simulation results show that the bandwidth of the MMR based system is broader than that of the counterpart without MMR. System parameter was identified by parameter fitting and experiment was conducted to verify the numerical simulation. Moreover, in the MMR based system, the force transmitted from the harvester to the base was decreased compared to the counterpart without MMR. For excitations with constant force amplitude, MMR based energy harvesting systems also have much broader frequency bandwidth compared to the counterpart without MMR.
Numerical and laboratory simulation of fault motion and earthquake occurrence

NASA Technical Reports Server (NTRS)

Cohen, S. C.

1978-01-01

Simple linear rheologies were used with elastic forces driving the main events and viscoelastic forces being important for aftershock and creep occurrence. Friction and its dependence on velocity, stress, and displacement also plays a key role in determining how, when, and where fault motion occurs. The discussion of the qualitative behavior of the simulators focuses on the manner in which energy was stored in the system and released by the unstable and stable sliding processes. The numerical results emphasize the statistics of earthquake occurrence and the correlations among source parameters.
Mathematical model for self-propelled droplets driven by interfacial tension

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

Nagai, Ken H.; Tachibana, Kunihito; Tobe, Yuta

2016-03-21

We propose a model for the spontaneous motion of a droplet induced by inhomogeneity in interfacial tension. The model is derived from a variation of the Lagrangian of the system and we use a time-discretized Morse flow scheme to perform its numerical simulations. Our model can naturally simulate the dynamics of a single droplet, as well as that of multiple droplets, where the volume of each droplet is conserved. We reproduced the ballistic motion and fission of a droplet, and the collision of two droplets was also examined numerically.
Research on integration of visual and motion cues for flight simulation and ride quality investigation

NASA Technical Reports Server (NTRS)

Young, L. R.; Oman, C. M.; Curry, R. E.

1977-01-01

Vestibular perception and integration of several sensory inputs in simulation were studied. The relationship between tilt sensation induced by moving fields and those produced by actual body tilt is discussed. Linearvection studies were included and the application of the vestibular model for perception of orientation based on motion cues is presented. Other areas of examination includes visual cues in approach to landing, and a comparison of linear and nonlinear wash out filters using a model of the human vestibular system is given.
String-like cooperative motion in homogeneous melting

PubMed Central

Zhang, Hao; Khalkhali, Mohammad; Liu, Qingxia; Douglas, Jack F.

2013-01-01

Despite the fundamental nature and practical importance of melting, there is still no generally accepted theory of this ubiquitous phenomenon. Even the earliest simulations of melting of hard discs by Alder and Wainwright indicated the active role of collective atomic motion in melting and here we utilize molecular dynamics simulation to determine whether these correlated motions are similar to those found in recent studies of glass-forming (GF) liquids and other condensed, strongly interacting, particle systems. We indeed find string-like collective atomic motion in our simulations of “superheated” Ni crystals, but other observations indicate significant differences from GF liquids. For example, we observe neither stretched exponential structural relaxation, nor any decoupling phenomenon, while we do find a boson peak, findings that have strong implications for understanding the physical origin of these universal properties of GF liquids. Our simulations also provide a novel view of “homogeneous” melting in which a small concentration of interstitial defects exerts a powerful effect on the crystal stability through their initiation and propagation of collective atomic motion. These relatively rare point defects are found to propagate down the strings like solitons, driving the collective motion. Crystal integrity remains preserved when the permutational atomic motions take the form of ring-like atomic exchanges, but a topological transition occurs at higher temperatures where the rings open to form linear chains similar in geometrical form and length distribution to the strings of GF liquids. The local symmetry breaking effect of the open strings apparently destabilizes the local lattice structure and precipitates crystal melting. The crystal defects are thus not static entities under dynamic conditions, such as elevated temperatures or material loading, but rather are active agents exhibiting a rich nonlinear dynamics that is not addressed in conventional “static” defect melting models. PMID:23556789
String-like cooperative motion in homogeneous melting.

PubMed

Zhang, Hao; Khalkhali, Mohammad; Liu, Qingxia; Douglas, Jack F

2013-03-28

Despite the fundamental nature and practical importance of melting, there is still no generally accepted theory of this ubiquitous phenomenon. Even the earliest simulations of melting of hard discs by Alder and Wainwright indicated the active role of collective atomic motion in melting and here we utilize molecular dynamics simulation to determine whether these correlated motions are similar to those found in recent studies of glass-forming (GF) liquids and other condensed, strongly interacting, particle systems. We indeed find string-like collective atomic motion in our simulations of "superheated" Ni crystals, but other observations indicate significant differences from GF liquids. For example, we observe neither stretched exponential structural relaxation, nor any decoupling phenomenon, while we do find a boson peak, findings that have strong implications for understanding the physical origin of these universal properties of GF liquids. Our simulations also provide a novel view of "homogeneous" melting in which a small concentration of interstitial defects exerts a powerful effect on the crystal stability through their initiation and propagation of collective atomic motion. These relatively rare point defects are found to propagate down the strings like solitons, driving the collective motion. Crystal integrity remains preserved when the permutational atomic motions take the form of ring-like atomic exchanges, but a topological transition occurs at higher temperatures where the rings open to form linear chains similar in geometrical form and length distribution to the strings of GF liquids. The local symmetry breaking effect of the open strings apparently destabilizes the local lattice structure and precipitates crystal melting. The crystal defects are thus not static entities under dynamic conditions, such as elevated temperatures or material loading, but rather are active agents exhibiting a rich nonlinear dynamics that is not addressed in conventional "static" defect melting models.
Hazard assessment of long-period ground motions for the Nankai Trough earthquakes

NASA Astrophysics Data System (ADS)

Maeda, T.; Morikawa, N.; Aoi, S.; Fujiwara, H.

2013-12-01

We evaluate a seismic hazard for long-period ground motions associated with the Nankai Trough earthquakes (M8~9) in southwest Japan. Large interplate earthquakes occurring around the Nankai Trough have caused serious damages due to strong ground motions and tsunami; most recent events were in 1944 and 1946. Such large interplate earthquake potentially causes damages to high-rise and large-scale structures due to long-period ground motions (e.g., 1985 Michoacan earthquake in Mexico, 2003 Tokachi-oki earthquake in Japan). The long-period ground motions are amplified particularly on basins. Because major cities along the Nankai Trough have developed on alluvial plains, it is therefore important to evaluate long-period ground motions as well as strong motions and tsunami for the anticipated Nankai Trough earthquakes. The long-period ground motions are evaluated by the finite difference method (FDM) using 'characterized source models' and the 3-D underground structure model. The 'characterized source model' refers to a source model including the source parameters necessary for reproducing the strong ground motions. The parameters are determined based on a 'recipe' for predicting strong ground motion (Earthquake Research Committee (ERC), 2009). We construct various source models (~100 scenarios) giving the various case of source parameters such as source region, asperity configuration, and hypocenter location. Each source region is determined by 'the long-term evaluation of earthquakes in the Nankai Trough' published by ERC. The asperity configuration and hypocenter location control the rupture directivity effects. These parameters are important because our preliminary simulations are strongly affected by the rupture directivity. We apply the system called GMS (Ground Motion Simulator) for simulating the seismic wave propagation based on 3-D FDM scheme using discontinuous grids (Aoi and Fujiwara, 1999) to our study. The grid spacing for the shallow region is 200 m and 100 m in horizontal and vertical, respectively. The grid spacing for the deep region is three times coarser. The total number of grid points is about three billion. The 3-D underground structure model used in the FD simulation is the Japan integrated velocity structure model (ERC, 2012). Our simulation is valid for period more than two seconds due to the lowest S-wave velocity and grid spacing. However, because the characterized source model may not sufficiently support short period components, we should be interpreted the reliable period of this simulation with caution. Therefore, we consider the period more than five seconds instead of two seconds for further analysis. We evaluate the long-period ground motions using the velocity response spectra for the period range between five and 20 second. The preliminary simulation shows a large variation of response spectra at a site. This large variation implies that the ground motion is very sensitive to different scenarios. And it requires studying the large variation to understand the seismic hazard. Our further study will obtain the hazard curves for the Nankai Trough earthquake (M 8~9) by applying the probabilistic seismic hazard analysis to the simulation results.
IGRT/ART phantom with programmable independent rib cage and tumor motion

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

Haas, Olivier C. L., E-mail: o.haas@coventry.ac.uk; Mills, John A.; Land, Imke

2014-02-15

Purpose: This paper describes the design and experimental evaluation of the Methods and Advanced Equipment for Simulation and Treatment in Radiation Oncology (MAESTRO) thorax phantom, a new anthropomorphic moving ribcage combined with a 3D tumor positioning system to move target inserts within static lungs. Methods: The new rib cage design is described and its motion is evaluated using Vicon Nexus, a commercial 3D motion tracking system. CT studies at inhale and exhale position are used to study the effect of rib motion and tissue equivalence. Results: The 3D target positioning system and the rib cage have millimetre accuracy. Each axismore » of motion can reproduce given trajectories from files or individually programmed sinusoidal motion in terms of amplitude, period, and phase shift. The maximum rib motion ranges from 7 to 20 mm SI and from 0.3 to 3.7 mm AP with LR motion less than 1 mm. The repeatability between cycles is within 0.16 mm root mean square error. The agreement between CT electron and mass density for skin, ribcage, spine hard and inner bone as well as cartilage is within 3%. Conclusions: The MAESTRO phantom is a useful research tool that produces programmable 3D rib motions which can be synchronized with 3D internal target motion. The easily accessible static lungs enable the use of a wide range of inserts or can be filled with lung tissue equivalent and deformed using the target motion system.« less
DOE Office of Scientific and Technical Information (OSTI.GOV)

Rodgers, A. J.

This is the final report for United States Geological Survey (USGS) National Earthquake Hazard Reduction Program (NEHRP) Project 08HQGR0022, entitled “Quantifying Uncertainties in Ground Motion Simulations for Scenario Earthquakes on the HaywardRodgers Creek Fault System Using the USGS 3D Seismic Velocity Model and Realistic Pseudodynamics Ruptures”. Work for this project involved three-dimensional (3D) simulations of ground motions for Hayward Fault (HF) earthquakes. We modeled moderate events on the HF and used them to evaluate the USGS 3D model of the San Francisco Bay Area. We also contributed to ground motions modeling effort for a large suite of scenario earthquakes onmore » the HF. Results were presented at conferences (see appendix) and in one peer-reviewed publication (Aagaard et al., 2010).« less
Semi-automatic motion compensation of contrast-enhanced ultrasound images from abdominal organs for perfusion analysis.

PubMed

Schäfer, Sebastian; Nylund, Kim; Sævik, Fredrik; Engjom, Trond; Mézl, Martin; Jiřík, Radovan; Dimcevski, Georg; Gilja, Odd Helge; Tönnies, Klaus

2015-08-01

This paper presents a system for correcting motion influences in time-dependent 2D contrast-enhanced ultrasound (CEUS) images to assess tissue perfusion characteristics. The system consists of a semi-automatic frame selection method to find images with out-of-plane motion as well as a method for automatic motion compensation. Translational and non-rigid motion compensation is applied by introducing a temporal continuity assumption. A study consisting of 40 clinical datasets was conducted to compare the perfusion with simulated perfusion using pharmacokinetic modeling. Overall, the proposed approach decreased the mean average difference between the measured perfusion and the pharmacokinetic model estimation. It was non-inferior for three out of four patient cohorts to a manual approach and reduced the analysis time by 41% compared to manual processing. Copyright © 2014 Elsevier Ltd. All rights reserved.
Visual Target Tracking in the Presence of Unknown Observer Motion

NASA Technical Reports Server (NTRS)

Williams, Stephen; Lu, Thomas

2009-01-01

Much attention has been given to the visual tracking problem due to its obvious uses in military surveillance. However, visual tracking is complicated by the presence of motion of the observer in addition to the target motion, especially when the image changes caused by the observer motion are large compared to those caused by the target motion. Techniques for estimating the motion of the observer based on image registration techniques and Kalman filtering are presented and simulated. With the effects of the observer motion removed, an additional phase is implemented to track individual targets. This tracking method is demonstrated on an image stream from a buoy-mounted or periscope-mounted camera, where large inter-frame displacements are present due to the wave action on the camera. This system has been shown to be effective at tracking and predicting the global position of a planar vehicle (boat) being observed from a single, out-of-plane camera. Finally, the tracking system has been extended to a multi-target scenario.
Evaluation of tracking accuracy of the CyberKnife system using a webcam and printed calibrated grid

PubMed Central

Shiomi, Hiroya; Higashinaka, Naokazu; Murashima, Yoshikazu; Miyamoto, Youichi; Yamazaki, Hideya; Mabuchi, Nobuhisa; Tsuda, Eimei; Ogawa, Kazuhiko

2016-01-01

Tracking accuracy for the CyberKnife's Synchrony system is commonly evaluated using a film‐based verification method. We have evaluated a verification system that uses a webcam and a printed calibrated grid to verify tracking accuracy over three different motion patterns. A box with an attached printed calibrated grid and four fiducial markers was attached to the motion phantom. A target marker was positioned at the grid's center. The box was set up using the other three markers. Target tracking accuracy was evaluated under three conditions: 1) stationary; 2) sinusoidal motion with different amplitudes of 5, 10, 15, and 20 mm for the same cycle of 4 s and different cycles of 2, 4, 6, and 8 s with the same amplitude of 15 mm; and 3) irregular breathing patterns in six human volunteers breathing normally. Infrared markers were placed on the volunteers’ abdomens, and their trajectories were used to simulate the target motion. All tests were performed with one‐dimensional motion in craniocaudal direction. The webcam captured the grid's motion and a laser beam was used to simulate the CyberKnife's beam. Tracking error was defined as the difference between the grid's center and the laser beam. With a stationary target, mean tracking error was measured at 0.4 mm. For sinusoidal motion, tracking error was less than 2 mm for any amplitude and breathing cycle. For the volunteers’ breathing patterns, the mean tracking error range was 0.78‐1.67 mm. Therefore, accurate lesion targeting requires individual quality assurance for each patient. PACS number(s): 87.55.D‐, 87.55.km, 87.55.Qr, 87.56.Fc PMID:27074474

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

PubMed

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

2005-01-01

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

NASA Astrophysics Data System (ADS)

Sakaguchi, Hidetsugu; Ishibashi, Kazuya

2018-06-01

We study self-propelled particles by direct numerical simulation of the nonlinear Kramers equation for self-propelled particles. In our previous paper, we studied self-propelled particles with velocity variables in one dimension. In this paper, we consider another model in which each particle exhibits directional motion. The movement direction is expressed with a variable ϕ. We show that one-dimensional solitary wave states appear in direct numerical simulations of the nonlinear Kramers equation in one- and two-dimensional systems, which is a generalization of our previous result. Furthermore, we find two-dimensionally localized states in the case that each self-propelled particle exhibits rotational motion. The center of mass of the two-dimensionally localized state exhibits circular motion, which implies collective rotating motion. Finally, we consider a simple one-dimensional model equation to qualitatively understand the formation of the solitary wave state.
A Self-Alignment Algorithm for SINS Based on Gravitational Apparent Motion and Sensor Data Denoising

PubMed Central

Liu, Yiting; Xu, Xiaosu; Liu, Xixiang; Yao, Yiqing; Wu, Liang; Sun, Jin

2015-01-01

Initial alignment is always a key topic and difficult to achieve in an inertial navigation system (INS). In this paper a novel self-initial alignment algorithm is proposed using gravitational apparent motion vectors at three different moments and vector-operation. Simulation and analysis showed that this method easily suffers from the random noise contained in accelerometer measurements which are used to construct apparent motion directly. Aiming to resolve this problem, an online sensor data denoising method based on a Kalman filter is proposed and a novel reconstruction method for apparent motion is designed to avoid the collinearity among vectors participating in the alignment solution. Simulation, turntable tests and vehicle tests indicate that the proposed alignment algorithm can fulfill initial alignment of strapdown INS (SINS) under both static and swinging conditions. The accuracy can either reach or approach the theoretical values determined by sensor precision under static or swinging conditions. PMID:25923932
Evaluating Effectiveness of Modeling Motion System Feedback in the Enhanced Hess Structural Model of the Human Operator

NASA Technical Reports Server (NTRS)

Zaychik, Kirill; Cardullo, Frank; George, Gary; Kelly, Lon C.

2009-01-01

In order to use the Hess Structural Model to predict the need for certain cueing systems, George and Cardullo significantly expanded it by adding motion feedback to the model and incorporating models of the motion system dynamics, motion cueing algorithm and a vestibular system. This paper proposes a methodology to evaluate effectiveness of these innovations by performing a comparison analysis of the model performance with and without the expanded motion feedback. The proposed methodology is composed of two stages. The first stage involves fine-tuning parameters of the original Hess structural model in order to match the actual control behavior recorded during the experiments at NASA Visual Motion Simulator (VMS) facility. The parameter tuning procedure utilizes a new automated parameter identification technique, which was developed at the Man-Machine Systems Lab at SUNY Binghamton. In the second stage of the proposed methodology, an expanded motion feedback is added to the structural model. The resulting performance of the model is then compared to that of the original one. As proposed by Hess, metrics to evaluate the performance of the models include comparison against the crossover models standards imposed on the crossover frequency and phase margin of the overall man-machine system. Preliminary results indicate the advantage of having the model of the motion system and motion cueing incorporated into the model of the human operator. It is also demonstrated that the crossover frequency and the phase margin of the expanded model are well within the limits imposed by the crossover model.
Mechanisms test bed math model modification and simulation support

NASA Technical Reports Server (NTRS)

Gilchrist, Andrea C.; Tobbe, Patrick A.

1995-01-01

This report summarizes the work performed under contract NAS8-38771 in support of the Marshall Space Flight Center Six Degree of Freedom Motion Facility and Flight Robotics Laboratory. The contract activities included the development of the two flexible body and Remote Manipulator System simulations, Dynamic Overhead Target Simulator control system and operating software, Global Positioning System simulation, and Manipulator Coupled Spacecraft Controls Testbed. Technical support was also provided for the Lightning Imaging Sensor and Solar X-Ray Imaging programs. The cover sheets and introductory sections for the documentation written under this contract are provided as an appendix.
Hydrodynamic Simulations of Kepler's Supernova Remnant

NASA Astrophysics Data System (ADS)

Sullivan, Jessica; Blondin, John; Borkowski, Kazik; Reynolds, Stephen

2018-01-01

Kepler’s supernova remnant contains unusual features that strongly suggest an origin in a single-degenerate Type Ia explosion, including anisotropic circumstellar medium (CSM), a strong brightness gradient, and spatially varying expansion proper motions. We present 3Dhydrodynamic simulations to test a picture in which Kepler's progenitor binary emitted a strong asymmetric wind, densest in the orbital plane, while the system moved at high velocity through the ISM. We simulate the creation of the presupernova environment as well as the supernova blast wave, using the VH-1 grid-based hydrodynamics code. We first modeled an anisotropic wind to create an asymmetric bowshock around the progenitor, then the blast wave from thesupernova. The final simulation places both previous model pieces onto a single grid and allows the blast wave to expand into the bowshock. Models were completed on a Yin-Yang grids with matching angular resolutions. By manipulating parameters that control the asymmetry of the system, we attempted to find conditions that recreated the current state of Kepler. We analyzed these models by comparing images of Kepler from the Chandra X-ray Observatory to line-of-sight projections from the model results. We also present comparisons of simulated expansion velocities with recent observations of X-ray proper motions from Chandra images. We were able to produce models that contained similar features to those seen in Kepler. We find the greatest resemblance to Kepler images with a presupernova wind with an equator-to-pole density contrast of 3 and a moderately disk-like CSM at a 5° angle between equatorial plane and system motion.
Study on Vortex-Induced Motions of A New Type of Deep Draft Multi-Columns FDPSO

NASA Astrophysics Data System (ADS)

Gu, Jia-yang; Xie, Yu-lin; Zhao, Yuan; Li, Wen-juan; Tao, Yan-wu; Huang, Xiang-hong

2018-03-01

A numerical simulation and an experimental study on vortex-induced motion (VIM) of a new type of deep draft multi-columns floating drilling production, storage and offloading (FDPSO) are presented in this paper. The main dimension, the special variable cross-section column and the cabin arrangement of the octagonal pontoon are introduced based on the result. The numerical simulation is adapted to study the effects of current incidence angles and reduced velocities on this platform's sway motion response. The 300 m water depth equivalent truncated mooring system is adopted for the model tests. The model tests are carried out to check the reliability of numerical simulation. The results consist of surge, sway and yaw motions, as well as motion trajectories. The maximum sway amplitudes for different types of offshore platform is also studied. The main results show that the peak frequencies of sway motion under different current incidence angles and reduced velocities vary around the natural frequency. The analysis result of flow field indicates that the change of distribution of vortex in vertical presents significant influences on the VIM of platform. The trend of sway amplitude ratio curve of this new type FDPSO differs from the other types of platform. Under 45° current incidence angle, the sway amplitude of this new type of FDPSO is much smaller than those of other types of offshore platform at 4.4 ≤ V r ≤ 8.9. The typical `8' shape trajectory does not appear in the platform's motion trajectories.
Cybersickness and Anxiety During Simulated Motion: Implications for VRET.

PubMed

Bruck, Susan; Watters, Paul

2009-01-01

Some clinicians have suggested using virtual reality environments to deliver psychological interventions to treat anxiety disorders. However, given a significant body of work on cybersickness symptoms which may arise in virtual environments - especially those involving simulated motion - we tested (a) whether being exposed to a virtual reality environment alone causes anxiety to increase, and (b) whether exposure to simulated motion in a virtual reality environment increases anxiety. Using a repeated measures design, we used Kim's Anxiety Scale questionnaire to compare baseline anxiety, anxiety after virtual environment exposure, and anxiety after simulated motion. While there was no significant effect on anxiety for being in a virtual environment with no simulated motion, the introduction of simulated motion caused anxiety to significantly increase, but not to a severe or extreme level. The implications of this work for virtual reality exposure therapy (VRET) are discussed.
Structure and Function in Homodimeric Enzymes: Simulations of Cooperative and Independent Functional Motions.

PubMed

Wells, Stephen A; van der Kamp, Marc W; McGeagh, John D; Mulholland, Adrian J

2015-01-01

Large-scale conformational change is a common feature in the catalytic cycles of enzymes. Many enzymes function as homodimers with active sites that contain elements from both chains. Symmetric and anti-symmetric cooperative motions in homodimers can potentially lead to correlated active site opening and/or closure, likely to be important for ligand binding and release. Here, we examine such motions in two different domain-swapped homodimeric enzymes: the DcpS scavenger decapping enzyme and citrate synthase. We use and compare two types of all-atom simulations: conventional molecular dynamics simulations to identify physically meaningful conformational ensembles, and rapid geometric simulations of flexible motion, biased along normal mode directions, to identify relevant motions encoded in the protein structure. The results indicate that the opening/closure motions are intrinsic features of both unliganded enzymes. In DcpS, conformational change is dominated by an anti-symmetric cooperative motion, causing one active site to close as the other opens; however a symmetric motion is also significant. In CS, we identify that both symmetric (suggested by crystallography) and asymmetric motions are features of the protein structure, and as a result the behaviour in solution is largely non-cooperative. The agreement between two modelling approaches using very different levels of theory indicates that the behaviours are indeed intrinsic to the protein structures. Geometric simulations correctly identify and explore large amplitudes of motion, while molecular dynamics simulations indicate the ranges of motion that are energetically feasible. Together, the simulation approaches are able to reveal unexpected functionally relevant motions, and highlight differences between enzymes.
Structure and Function in Homodimeric Enzymes: Simulations of Cooperative and Independent Functional Motions

PubMed Central

McGeagh, John D.; Mulholland, Adrian J.

2015-01-01

Large-scale conformational change is a common feature in the catalytic cycles of enzymes. Many enzymes function as homodimers with active sites that contain elements from both chains. Symmetric and anti-symmetric cooperative motions in homodimers can potentially lead to correlated active site opening and/or closure, likely to be important for ligand binding and release. Here, we examine such motions in two different domain-swapped homodimeric enzymes: the DcpS scavenger decapping enzyme and citrate synthase. We use and compare two types of all-atom simulations: conventional molecular dynamics simulations to identify physically meaningful conformational ensembles, and rapid geometric simulations of flexible motion, biased along normal mode directions, to identify relevant motions encoded in the protein structure. The results indicate that the opening/closure motions are intrinsic features of both unliganded enzymes. In DcpS, conformational change is dominated by an anti-symmetric cooperative motion, causing one active site to close as the other opens; however a symmetric motion is also significant. In CS, we identify that both symmetric (suggested by crystallography) and asymmetric motions are features of the protein structure, and as a result the behaviour in solution is largely non-cooperative. The agreement between two modelling approaches using very different levels of theory indicates that the behaviours are indeed intrinsic to the protein structures. Geometric simulations correctly identify and explore large amplitudes of motion, while molecular dynamics simulations indicate the ranges of motion that are energetically feasible. Together, the simulation approaches are able to reveal unexpected functionally relevant motions, and highlight differences between enzymes. PMID:26241964
PDSS/IMC CIS user's guide

NASA Technical Reports Server (NTRS)

1984-01-01

The Spacelab Payload Development Support System PDSS Image Motion Compensator (IMC) computer interface simulation (CIS) user's manual is given. The software provides a real time interface simulation for the following IMC subsystems: the Dry Rotor Reference Unit, the Advanced Star/Target Reference Optical sensor, the Ultra Violet imaging telescope, the Wisconson Ultraviolet Photopolarimetry Experiment, the Cruciform Power distributor, and the Spacelab Experiment Computer Operating System.
Calculating Dynamics Of Helicopters And Slung Loads

NASA Technical Reports Server (NTRS)

Cicolani, Luigi; Kanning, Gerd

1991-01-01

General equations derived for numerical simulations of motions of multiple-lift, slung-load systems consisting of two or more lifting helicopters and loads slung from them by various combinations of spreader bars, cables, nets, and attaching hardware. Equations readily programmable for efficient computation of motions and lend themselves well to analysis and design of control strategies for stabilization and coordination.
Visualization in Mechanics: The Dynamics of an Unbalanced Roller

ERIC Educational Resources Information Center

Cumber, Peter S.

2017-01-01

It is well known that mechanical engineering students often find mechanics a difficult area to grasp. This article describes a system of equations describing the motion of a balanced and an unbalanced roller constrained by a pivot arm. A wide range of dynamics can be simulated with the model. The equations of motion are embedded in a graphical…
A Visual Tool for Computer Supported Learning: The Robot Motion Planning Example

ERIC Educational Resources Information Center

Elnagar, Ashraf; Lulu, Leena

2007-01-01

We introduce an effective computer aided learning visual tool (CALVT) to teach graph-based applications. We present the robot motion planning problem as an example of such applications. The proposed tool can be used to simulate and/or further to implement practical systems in different areas of computer science such as graphics, computational…
Multi-modal intelligent seizure acquisition (MISA) system--a new approach towards seizure detection based on full body motion measures.

PubMed

Conradsen, Isa; Beniczky, Sandor; Wolf, Peter; Terney, Daniella; Sams, Thomas; Sorensen, Helge B D

2009-01-01

Many epilepsy patients cannot call for help during a seizure, because they are unconscious or because of the affection of their motor system or speech function. This can lead to injuries, medical complications and at worst death. An alarm system setting off at seizure onset could help to avoid hazards. Today no reliable alarm systems are available. A Multi-modal Intelligent Seizure Acquisition (MISA) system based on full body motion data seems as a good approach towards detection of epileptic seizures. The system is the first to provide a full body description for epilepsy applications. Three test subjects were used for this pilot project. Each subject simulated 15 seizures and in addition performed some predefined normal activities, during a 4-hour monitoring with electromyography (EMG), accelerometer, magnetometer and gyroscope (AMG), electrocardiography (ECG), electroencephalography (EEG) and audio and video recording. The results showed that a non-subject specific MISA system developed on data from the modalities: accelerometer (ACM), gyroscope and EMG is able to detect 98% of the simulated seizures and at the same time mistakes only 4 of the normal movements for seizures. If the system is individualized (subject specific) it is able to detect all simulated seizures with a maximum of 1 false positive. Based on the results from the simulated seizures and normal movements the MISA system seems to be a promising approach to seizure detection.
Simulation of Power Collection Dynamics for Simply Supported Power Rail

DOT National Transportation Integrated Search

1972-11-01

The mathematical model of a sprung mass moving along a simply supported beam is used to analyze the dynamics of a power-collection system. A computer simulation of one-dimensional motion is used to demonstrate the phenomenon of collector-power rail i...
Motion-Based Piloted Simulation Evaluation of a Control Allocation Technique to Recover from Pilot Induced Oscillations

NASA Technical Reports Server (NTRS)

Craun, Robert W.; Acosta, Diana M.; Beard, Steven D.; Leonard, Michael W.; Hardy, Gordon H.; Weinstein, Michael; Yildiz, Yildiray

2013-01-01

This paper describes the maturation of a control allocation technique designed to assist pilots in the recovery from pilot induced oscillations (PIOs). The Control Allocation technique to recover from Pilot Induced Oscillations (CAPIO) is designed to enable next generation high efficiency aircraft designs. Energy efficient next generation aircraft require feedback control strategies that will enable lowering the actuator rate limit requirements for optimal airframe design. One of the common issues flying with actuator rate limits is PIOs caused by the phase lag between the pilot inputs and control surface response. CAPIO utilizes real-time optimization for control allocation to eliminate phase lag in the system caused by control surface rate limiting. System impacts of the control allocator were assessed through a piloted simulation evaluation of a non-linear aircraft simulation in the NASA Ames Vertical Motion Simulator. Results indicate that CAPIO helps reduce oscillatory behavior, including the severity and duration of PIOs, introduced by control surface rate limiting.
Data-Driven Based Asynchronous Motor Control for Printing Servo Systems

NASA Astrophysics Data System (ADS)

Bian, Min; Guo, Qingyun

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

DOE PAGES

Mielenz, Manuel; Kalis, Henning; Wittemer, Matthias; ...

2016-06-13

A precisely controlled quantum system may reveal a fundamental understanding of another, less accessible system of interest. A universal quantum computer is currently out of reach, but an analogue quantum simulator that makes relevant observables, interactions and states of a quantum model accessible could permit insight into complex dynamics. Several platforms have been suggested and proof-of-principle experiments have been conducted. Here, we operate two-dimensional arrays of three trapped ions in individually controlled harmonic wells forming equilateral triangles with side lengths 40 and 80 μm. In our approach, which is scalable to arbitrary two-dimensional lattices, we demonstrate individual control of themore » electronic and motional degrees of freedom, preparation of a fiducial initial state with ion motion close to the ground state, as well as a tuning of couplings between ions within experimental sequences. Lastly, our work paves the way towards a quantum simulator of two-dimensional systems designed at will.« less
Observation and imitation of actions performed by humans, androids, and robots: an EMG study

PubMed Central

Hofree, Galit; Urgen, Burcu A.; Winkielman, Piotr; Saygin, Ayse P.

2015-01-01

Understanding others’ actions is essential for functioning in the physical and social world. In the past two decades research has shown that action perception involves the motor system, supporting theories that we understand others’ behavior via embodied motor simulation. Recently, empirical approach to action perception has been facilitated by using well-controlled artificial stimuli, such as robots. One broad question this approach can address is what aspects of similarity between the observer and the observed agent facilitate motor simulation. Since humans have evolved among other humans and animals, using artificial stimuli such as robots allows us to probe whether our social perceptual systems are specifically tuned to process other biological entities. In this study, we used humanoid robots with different degrees of human-likeness in appearance and motion along with electromyography (EMG) to measure muscle activity in participants’ arms while they either observed or imitated videos of three agents produce actions with their right arm. The agents were a Human (biological appearance and motion), a Robot (mechanical appearance and motion), and an Android (biological appearance and mechanical motion). Right arm muscle activity increased when participants imitated all agents. Increased muscle activation was found also in the stationary arm both during imitation and observation. Furthermore, muscle activity was sensitive to motion dynamics: activity was significantly stronger for imitation of the human than both mechanical agents. There was also a relationship between the dynamics of the muscle activity and motion dynamics in stimuli. Overall our data indicate that motor simulation is not limited to observation and imitation of agents with a biological appearance, but is also found for robots. However we also found sensitivity to human motion in the EMG responses. Combining data from multiple methods allows us to obtain a more complete picture of action understanding and the underlying neural computations. PMID:26150782

SDRE controller for motion design of cable-suspended robot with uncertainties and moving obstacles

NASA Astrophysics Data System (ADS)

Behboodi, Ahad; Salehi, Seyedmohammad

2017-10-01

In this paper an optimal control approach for nonlinear dynamical systems was proposed based on State Dependent Riccati Equation (SDRE) and its robustness against uncertainties is shown by simulation results. The proposed method was applied on a spatial six-cable suspended robot, which was designed to carry loads or perform different tasks in huge workspaces. Motion planning for cable-suspended robots in such a big workspace is subjected to uncertainties and obstacles. First, we emphasized the ability of SDRE to construct a systematic basis and efficient design of controller for wide variety of nonlinear dynamical systems. Then we showed how this systematic design improved the robustness of the system and facilitated the integration of motion planning techniques with the controller. In particular, obstacle avoidance technique based on artificial potential field (APF) can be easily combined with SDRE controller with efficient performance. Due to difficulties of exact solution for SDRE, an approximation method was used based on power series expansion. The efficiency and robustness of the SDRE controller was illustrated on a six-cable suspended robot with proper simulations.
Maneuver simulations of flexible spacecraft by solving TPBVP

NASA Technical Reports Server (NTRS)

Bainum, Peter M.; Li, Feiyue

1991-01-01

The optimal control of large angle rapid maneuvers and vibrations of a Shuttle mast reflector system is considered. The nonlinear equations of motion are formulated by using Lagrange's formula, with the mast modeled as a continuous beam. The nonlinear terms in the equations come from the coupling between the angular velocities, the modal coordinates, and the modal rates. Pontryagin's Maximum Principle is applied to the slewing problem, to derive the necessary conditions for the optimal controls, which are bounded by given saturation levels. The resulting two point boundary value problem (TPBVP) is then solved by using the quasilinearization algorithm and the method of particular solutions. In the numerical simulations, the structural parameters and the control limits from the Spacecraft Control Lab Experiment (SCOLE) are used. In the 2-D case, only the motion in the plane of an Earth orbit or the single axis slewing motion is discussed. In the 3-D slewing, the mast is modeled as a continuous beam subjected to 3-D deformations. The numerical results for both the linearized system and the nonlinear system are presented to compare the differences in their time response.
Computer simulation of on-orbit manned maneuvering unit operations

NASA Technical Reports Server (NTRS)

Stuart, G. M.; Garcia, K. D.

1986-01-01

Simulation of spacecraft on-orbit operations is discussed in reference to Martin Marietta's Space Operations Simulation laboratory's use of computer software models to drive a six-degree-of-freedom moving base carriage and two target gimbal systems. In particular, key simulation issues and related computer software models associated with providing real-time, man-in-the-loop simulations of the Manned Maneuvering Unit (MMU) are addressed with special attention given to how effectively these models and motion systems simulate the MMU's actual on-orbit operations. The weightless effects of the space environment require the development of entirely new devices for locomotion. Since the access to space is very limited, it is necessary to design, build, and test these new devices within the physical constraints of earth using simulators. The simulation method that is discussed here is the technique of using computer software models to drive a Moving Base Carriage (MBC) that is capable of providing simultaneous six-degree-of-freedom motions. This method, utilized at Martin Marietta's Space Operations Simulation (SOS) laboratory, provides the ability to simulate the operation of manned spacecraft, provides the pilot with proper three-dimensional visual cues, and allows training of on-orbit operations. The purpose here is to discuss significant MMU simulation issues, the related models that were developed in response to these issues and how effectively these models simulate the MMU's actual on-orbiter operations.
SU-D-17A-07: Development and Evaluation of a Prototype Ultrasonography Respiratory Monitoring System for 4DCT Reconstruction

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

Yan, P; Cheng, S; Chao, C

Purpose: Respiratory motion artifacts are commonly seen in the abdominal and thoracic CT images. A Real-time Position Management (RPM) system is integrated with CT simulator using abdominal surface as a surrogate for tracking the patient respiratory motion. The respiratory-correlated four-dimensional computed tomography (4DCT) is then reconstructed by GE advantage software. However, there are still artifacts due to inaccurate respiratory motion detecting and sorting methods. We developed an Ultrasonography Respiration Monitoring (URM) system which can directly monitor diaphragm motion to detect respiratory cycles. We also developed a new 4DCT sorting and motion estimation method to reduce the respiratory motion artifacts. Themore » new 4DCT system was compared with RPM and the GE 4DCT system. Methods: Imaging from a GE CT scanner was simultaneously correlated with both the RPM and URM to detect respiratory motion. A radiation detector, Blackcat GM-10, recorded the X-ray on/off and synchronized with URM. The diaphragm images were acquired with Ultrasonix RP system. The respiratory wave was derived from diaphragm images and synchronized with CT scanner. A more precise peaks and valleys detection tool was developed and compared with RPM. The motion is estimated for the slices which are not in the predefined respiratory phases by using block matching and optical flow method. The CT slices were then sorted into different phases and reconstructed, compared with the images reconstructed from GE Advantage software using respiratory wave produced from RPM system. Results: The 4DCT images were reconstructed for eight patients. The discontinuity at the diaphragm level due to an inaccurate identification of phases by the RPM was significantly improved by URM system. Conclusion: Our URM 4DCT system was evaluated and compared with RPM and GE 4DCT system. The new system is user friendly and able to reduce motion artifacts. It also has the potential to monitor organ motion during therapy.« less
SMSIM--Fortran programs for simulating ground motions from earthquakes: Version 2.0.--a revision of OFR 96-80-A

USGS Publications Warehouse

Boore, David M.

2000-01-01

A simple and powerful method for simulating ground motions is based on the assumption that the amplitude of ground motion at a site can be specified in a deterministic way, with a random phase spectrum modified such that the motion is distributed over a duration related to the earthquake magnitude and to distance from the source. This method of simulating ground motions often goes by the name "the stochastic method." It is particularly useful for simulating the higher-frequency ground motions of most interest to engineers, and it is widely used to predict ground motions for regions of the world in which recordings of motion from damaging earthquakes are not available. This simple method has been successful in matching a variety of ground-motion measures for earthquakes with seismic moments spanning more than 12 orders of magnitude. One of the essential characteristics of the method is that it distills what is known about the various factors affecting ground motions (source, path, and site) into simple functional forms that can be used to predict ground motions. SMSIM is a set of programs for simulating ground motions based on the stochastic method. This Open-File Report is a revision of an earlier report (Boore, 1996) describing a set of programs for simulating ground motions from earthquakes. The programs are based on modifications I have made to the stochastic method first introduced by Hanks and McGuire (1981). The report contains source codes, written in Fortran, and executables that can be used on a PC. Programs are included both for time-domain and for random vibration simulations. In addition, programs are included to produce Fourier amplitude spectra for the models used in the simulations and to convert shear velocity vs. depth into frequency-dependent amplification. The revision to the previous report is needed because the input and output files have changed significantly, and a number of new programs have been included in the set.
Interaction of non-radially symmetric camphor particles

NASA Astrophysics Data System (ADS)

Ei, Shin-Ichiro; Kitahata, Hiroyuki; Koyano, Yuki; Nagayama, Masaharu

2018-03-01

In this study, the interaction between two non-radially symmetric camphor particles is theoretically investigated and the equation describing the motion is derived as an ordinary differential system for the locations and the rotations. In particular, slightly modified non-radially symmetric cases from radial symmetry are extensively investigated and explicit motions are obtained. For example, it is theoretically shown that elliptically deformed camphor particles interact so as to be parallel with major axes. Such predicted motions are also checked by real experiments and numerical simulations.
The instantaneous linear motion information measurement method based on inertial sensors for ships

NASA Astrophysics Data System (ADS)

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

2018-05-01

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

NASA Astrophysics Data System (ADS)

D'Souza, Warren D.; Naqvi, Shahid A.; Yu, Cedric X.

2005-09-01

Significant differences between planned and delivered treatments may occur due to respiration-induced tumour motion, leading to underdosing of parts of the tumour and overdosing of parts of the surrounding critical structures. Existing methods proposed to counter tumour motion include breath-holds, gating and MLC-based tracking. Breath-holds and gating techniques increase treatment time considerably, whereas MLC-based tracking is limited to two dimensions. We present an alternative solution in which a robotic couch moves in real time in response to organ motion. To demonstrate proof-of-principle, we constructed a miniature adaptive couch model consisting of two movable platforms that simulate tumour motion and couch motion, respectively. These platforms were connected via an electronic feedback loop so that the bottom platform responded to the motion of the top platform. We tested our model with a seven-field step-and-shoot delivery case in which we performed three film-based experiments: (1) static geometry, (2) phantom-only motion and (3) phantom motion with simulated couch motion. Our measurements demonstrate that the miniature couch was able to compensate for phantom motion to the extent that the dose distributions were practically indistinguishable from those in static geometry. Motivated by this initial success, we investigated a real-time couch compensation system consisting of a stereoscopic infra-red camera system interfaced to a robotic couch known as the Hexapod™, which responds in real time to any change in position detected by the cameras. Optical reflectors placed on a solid water phantom were used as surrogates for motion. We tested the effectiveness of couch-based motion compensation for fixed fields and a dynamic arc delivery cases. Due to hardware limitations, we performed film-based experiments (1), (2) and (3), with the robotic couch at a phantom motion period and dose rate of 16 s and 100 MU min-1, respectively. Analysis of film measurements showed near-equivalent dose distributions (<=2 mm agreement of corresponding isodose lines) for static geometry and motion-synchronized real-time robotic couch tracking-based radiation delivery.
Pilot-Induced Oscillation Prediction With Three Levels of Simulation Motion Displacement

NASA Technical Reports Server (NTRS)

Schroeder, Jeffery A.; Chung, William W. Y.; Tran, Duc T.; Laforce, Soren; Bengford, Norman J.

2001-01-01

Simulator motion platform characteristics were examined to determine if the amount of motion affects pilot-induced oscillation (PIO) prediction. Five test pilots evaluated how susceptible 18 different sets of pitch dynamics were to PIOs with three different levels of simulation motion platform displacement: large, small, and none. The pitch dynamics were those of a previous in-flight experiment, some of which elicited PIOs These in-flight results served as truth data for the simulation. As such, the in-flight experiment was replicated as much as possible. Objective and subjective data were collected and analyzed With large motion, PIO and handling qualities ratings matched the flight data more closely than did small motion or no motion. Also, regardless of the aircraft dynamics, large motion increased pilot confidence in assigning handling qualifies ratings, reduced safety pilot trips, and lowered touchdown velocities. While both large and small motion provided a pitch rate cue of high fidelity, only large motion presented the pilot with a high fidelity vertical acceleration cue.
Nonlinear vs. linear biasing in Trp-cage folding simulations

NASA Astrophysics Data System (ADS)

Spiwok, Vojtěch; Oborský, Pavel; Pazúriková, Jana; Křenek, Aleš; Králová, Blanka

2015-03-01

Biased simulations have great potential for the study of slow processes, including protein folding. Atomic motions in molecules are nonlinear, which suggests that simulations with enhanced sampling of collective motions traced by nonlinear dimensionality reduction methods may perform better than linear ones. In this study, we compare an unbiased folding simulation of the Trp-cage miniprotein with metadynamics simulations using both linear (principle component analysis) and nonlinear (Isomap) low dimensional embeddings as collective variables. Folding of the mini-protein was successfully simulated in 200 ns simulation with linear biasing and non-linear motion biasing. The folded state was correctly predicted as the free energy minimum in both simulations. We found that the advantage of linear motion biasing is that it can sample a larger conformational space, whereas the advantage of nonlinear motion biasing lies in slightly better resolution of the resulting free energy surface. In terms of sampling efficiency, both methods are comparable.
Nonlinear vs. linear biasing in Trp-cage folding simulations.

PubMed

Spiwok, Vojtěch; Oborský, Pavel; Pazúriková, Jana; Křenek, Aleš; Králová, Blanka

2015-03-21

Biased simulations have great potential for the study of slow processes, including protein folding. Atomic motions in molecules are nonlinear, which suggests that simulations with enhanced sampling of collective motions traced by nonlinear dimensionality reduction methods may perform better than linear ones. In this study, we compare an unbiased folding simulation of the Trp-cage miniprotein with metadynamics simulations using both linear (principle component analysis) and nonlinear (Isomap) low dimensional embeddings as collective variables. Folding of the mini-protein was successfully simulated in 200 ns simulation with linear biasing and non-linear motion biasing. The folded state was correctly predicted as the free energy minimum in both simulations. We found that the advantage of linear motion biasing is that it can sample a larger conformational space, whereas the advantage of nonlinear motion biasing lies in slightly better resolution of the resulting free energy surface. In terms of sampling efficiency, both methods are comparable.
Initial investigation into lower-cost CT for resource limited regions of the world

NASA Astrophysics Data System (ADS)

Dobbins, James T., III; Wells, Jered R.; Segars, W. Paul; Li, Christina M.; Kigongo, Christopher J. N.

2010-04-01

This paper describes an initial investigation into means for producing lower-cost CT scanners for resource limited regions of the world. In regions such as sub-Saharan Africa, intermediate level medical facilities serving millions have no CT machines, and lack the imaging resources necessary to determine whether certain patients would benefit from being transferred to a hospital in a larger city for further diagnostic workup or treatment. Low-cost CT scanners would potentially be of immense help to the healthcare system in such regions. Such scanners would not produce state-of-theart image quality, but rather would be intended primarily for triaging purposes to determine the patients who would benefit from transfer to larger hospitals. The lower-cost scanner investigated here consists of a fixed digital radiography system and a rotating patient stage. This paper describes initial experiments to determine if such a configuration is feasible. Experiments were conducted using (1) x-ray image acquisition, a physical anthropomorphic chest phantom, and a flat-panel detector system, and (2) a computer-simulated XCAT chest phantom. Both the physical phantom and simulated phantom produced excellent image quality reconstructions when the phantom was perfectly aligned during acquisition, but artifacts were noted when the phantom was displaced to simulate patient motion. An algorithm was developed to correct for motion of the phantom and demonstrated success in correcting for 5-mm motion during 360-degree acquisition of images. These experiments demonstrated feasibility for this approach, but additional work is required to determine the exact limitations produced by patient motion.
Scaled Jump in Gravity-Reduced Virtual Environments.

PubMed

Kim, MyoungGon; Cho, Sunglk; Tran, Tanh Quang; Kim, Seong-Pil; Kwon, Ohung; Han, JungHyun

2017-04-01

The reduced gravity experienced in lunar or Martian surfaces can be simulated on the earth using a cable-driven system, where the cable lifts a person to reduce his or her weight. This paper presents a novel cable-driven system designed for the purpose. It is integrated with a head-mounted display and a motion capture system. Focusing on jump motion within the system, this paper proposes to scale the jump and reports the experiments made for quantifying the extent to which a jump can be scaled without the discrepancy between physical and virtual jumps being noticed by the user. With the tolerable range of scaling computed from these experiments, an application named retargeted jump is developed, where a user can jump up onto virtual objects while physically jumping in the real-world flat floor. The core techniques presented in this paper can be extended to develop extreme-sport simulators such as parasailing and skydiving.
Bandwidth management for mobile mode of mobile monitoring system for Indonesian Volcano

NASA Astrophysics Data System (ADS)

Evita, Maria; Djamal, Mitra; Zimanowski, Bernd; Schilling, Klaus

2017-01-01

Volcano monitoring requires the system which has high-fidelity operation and real-time acquisition. MONICA (Mobile Monitoring System for Indonesian Volcano), a system based on Wireless Sensor Network, mobile robot and satellite technology has been proposed to fulfill this requirement for volcano monitoring system in Indonesia. This system consists of fixed-mode for normal condition and mobile mode for emergency situation. The first and second modes have been simulated in slow motion earthquake cases of Merapi Volcano, Indonesia. In this research, we have investigated the application of our bandwidth management for high-fidelity operation and real time acquisition in mobile mode of a strong motion earthquake from this volcano. The simulation result showed that our system still could manage the bandwidth even when there were 2 died fixed node after had stroked by the lightning. This result (64% to 83% throughput in average) was still better than the bandwidth utilized by the existing equipment (0% throughput because of the broken seismometer).
Bifurcations, chaos and adaptive backstepping sliding mode control of a power system with excitation limitation

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

Min, Fuhong, E-mail: minfuhong@njnu.edu.cn; Wang, Yaoda; Peng, Guangya

2016-08-15

The bifurcation and Lyapunov exponent for a single-machine-infinite bus system with excitation model are carried out by varying the mechanical power, generator damping factor and the exciter gain, from which periodic motions, chaos and the divergence of system are observed respectively. From given parameters and different initial conditions, the coexisting motions are developed in power system. The dynamic behaviors in power system may switch freely between the coexisting motions, which will bring huge security menace to protection operation. Especially, the angle divergences due to the break of stable chaotic oscillation are found which causes the instability of power system. Finally,more » a new adaptive backstepping sliding mode controller is designed which aims to eliminate the angle divergences and make the power system run in stable orbits. Numerical simulations are illustrated to verify the effectivity of the proposed method.« less
A preliminary study of MR sickness evaluation using visual motion aftereffect for advanced driver assistance systems.

PubMed

Nakajima, Sawako; Ino, Shuichi; Ifukube, Tohru

2007-01-01

Mixed Reality (MR) technologies have recently been explored in many areas of Human-Machine Interface (HMI) such as medicine, manufacturing, entertainment and education. However MR sickness, a kind of motion sickness is caused by sensory conflicts between the real world and virtual world. The purpose of this paper is to find out a new evaluation method of motion and MR sickness. This paper investigates a relationship between the whole-body vibration related to MR technologies and the motion aftereffect (MAE) phenomenon in the human visual system. This MR environment is modeled after advanced driver assistance systems in near-future vehicles. The seated subjects in the MR simulator were shaken in the pitch direction ranging from 0.1 to 2.0 Hz. Results show that MAE is useful for evaluation of MR sickness incidence. In addition, a method to reduce the MR sickness by auditory stimulation is proposed.
Investigation and Development of Control Laws for the NASA Langley Research Center Cockpit Motion Facility

NASA Technical Reports Server (NTRS)

Coon, Craig R.; Cardullo, Frank M.; Zaychik, Kirill B.

2014-01-01

The ability to develop highly advanced simulators is a critical need that has the ability to significantly impact the aerospace industry. The aerospace industry is advancing at an ever increasing pace and flight simulators must match this development with ever increasing urgency. In order to address both current problems and potential advancements with flight simulator techniques, several aspects of current control law technology of the National Aeronautics and Space Administration (NASA) Langley Research Center's Cockpit Motion Facility (CMF) motion base simulator were examined. Preliminary investigation of linear models based upon hardware data were examined to ensure that the most accurate models are used. This research identified both system improvements in the bandwidth and more reliable linear models. Advancements in the compensator design were developed and verified through multiple techniques. The position error rate feedback, the acceleration feedback and the force feedback were all analyzed in the heave direction using the nonlinear model of the hardware. Improvements were made using the position error rate feedback technique. The acceleration feedback compensator also provided noteworthy improvement, while attempts at implementing a force feedback compensator proved unsuccessful.
Brief, Why the Launch Equipment Test Facility Needs a Laser Tracker

NASA Technical Reports Server (NTRS)

Yue, Shiu H.

2011-01-01

The NASA Kennedy Space Center Launch Equipment Test Facility (LETF) supports a wide spectrum of testing and development activities. This capability was originally established in the 1970's to allow full-scale qualification of Space Shuttle umbilicals and T-O release mechanisms. The LETF has leveraged these unique test capabilities to evolve into a versatile test and development area that supports the entire spectrum of operational programs at KSC. These capabilities are historically Aerospace related, but can certainly can be adapted for other industries. One of the more unique test fixtures is the Vehicle Motion Simulator or the VMS. The VMS simulates all of the motions that a launch vehicle will experience from the time of its roll-out to the launch pad, through roughly the first X second of launch. The VMS enables the development and qualification testing of umbilical systems in both pre-launch and launch environments. The VMS can be used to verify operations procedures, clearances, disconnect systems performance &margins, and vehicle loads through processing flow motion excursions.
Motion cue effects on human pilot dynamics in manual control

NASA Technical Reports Server (NTRS)

Washizu, K.; Tanaka, K.; Endo, S.; Itoko, T.

1977-01-01

Two experiments were conducted to study the motion cue effects on human pilots during tracking tasks. The moving-base simulator of National Aerospace Laboratory was employed as the motion cue device, and the attitude director indicator or the projected visual field was employed as the visual cue device. The chosen controlled elements were second-order unstable systems. It was confirmed that with the aid of motion cues the pilot workload was lessened and consequently the human controllability limits were enlarged. In order to clarify the mechanism of these effects, the describing functions of the human pilots were identified by making use of the spectral and the time domain analyses. The results of these analyses suggest that the sensory system of the motion cues can yield the differential informations of the signal effectively, which coincides with the existing knowledges in the physiological area.
Dynamics of a Tapped Granular Column

NASA Astrophysics Data System (ADS)

Rosato, Anthony; Blackmore, Denis; Zuo, Luo; Hao, Wu; Horntrop, David

2015-11-01

We consider the behavior of a column of spheres subjected to a time-dependent vertical taps. Of interest are various dynamical properties, such as the motion of its mass center, its response to taps of different intensities and forms, and the effect of system size and material properties. The interplay between diverse time and length scales are the key contributors to the column's evolving dynamics. Soft sphere discrete element simulations were conducted over a very wide parameter space to obtain a portrait of column behavior as embodied by the collective dynamics of the mass center motion. Results compared favorably with a derived reduced-order paradigm of the mass center motion (surprisingly analogous to that for a single bouncing ball on an oscillating plate) with respect to dynamical regimes and their transitions. A continuum model obtained from a system of Newtonian equations, as a locally averaged limit in the transport mode along trajectories is described, and a numerical solution protocol for a one-dimensional system is outlined. Typical trajectories and density evolution profiles are shown. We conclude with a discussion of our investigations to relate predictions of the continuum and reduced dynamical systems models with discrete simulations.

Suppression of extraneous thermal noise in cavity optomechanics.

PubMed

Zhao, Yi; Wilson, Dalziel J; Ni, K-K; Kimble, H J

2012-02-13

Extraneous thermal motion can limit displacement sensitivity and radiation pressure effects, such as optical cooling, in a cavity-optomechanical system. Here we present an active noise suppression scheme and its experimental implementation. The main challenge is to selectively sense and suppress extraneous thermal noise without affecting motion of the oscillator. Our solution is to monitor two modes of the optical cavity, each with different sensitivity to the oscillator's motion but similar sensitivity to the extraneous thermal motion. This information is used to imprint "anti-noise" onto the frequency of the incident laser field. In our system, based on a nano-mechanical membrane coupled to a Fabry-Pérot cavity, simulation and experiment demonstrate that extraneous thermal noise can be selectively suppressed and that the associated limit on optical cooling can be reduced.
VTI Driving Simulator: Mathematical Model of a Four-wheeled Vehicle for Simulation in Real Time. VTI Rapport 267A.

ERIC Educational Resources Information Center

Nordmark, Staffan

1984-01-01

This report contains a theoretical model for describing the motion of a passenger car. The simulation program based on this model is used in conjunction with an advanced driving simulator and run in real time. The mathematical model is complete in the sense that the dynamics of the engine, transmission and steering system is described in some…
Simulating intrafraction prostate motion with a random walk model.

PubMed

Pommer, Tobias; Oh, Jung Hun; Munck Af Rosenschöld, Per; Deasy, Joseph O

2017-01-01

Prostate motion during radiation therapy (ie, intrafraction motion) can cause unwanted loss of radiation dose to the prostate and increased dose to the surrounding organs at risk. A compact but general statistical description of this motion could be useful for simulation of radiation therapy delivery or margin calculations. We investigated whether prostate motion could be modeled with a random walk model. Prostate motion recorded during 548 radiation therapy fractions in 17 patients was analyzed and used for input in a random walk prostate motion model. The recorded motion was categorized on the basis of whether any transient excursions (ie, rapid prostate motion in the anterior and superior direction followed by a return) occurred in the trace and transient motion. This was separately modeled as a large step in the anterior/superior direction followed by a returning large step. Random walk simulations were conducted with and without added artificial transient motion using either motion data from all observed traces or only traces without transient excursions as model input, respectively. A general estimate of motion was derived with reasonable agreement between simulated and observed traces, especially during the first 5 minutes of the excursion-free simulations. Simulated and observed diffusion coefficients agreed within 0.03, 0.2 and 0.3 mm 2 /min in the left/right, superior/inferior, and anterior/posterior directions, respectively. A rapid increase in variance at the start of observed traces was difficult to reproduce and seemed to represent the patient's need to adjust before treatment. This could be estimated somewhat using artificial transient motion. Random walk modeling is feasible and recreated the characteristics of the observed prostate motion. Introducing artificial transient motion did not improve the overall agreement, although the first 30 seconds of the traces were better reproduced. The model provides a simple estimate of prostate motion during delivery of radiation therapy.
Virtual- and real-world operation of mobile robotic manipulators: integrated simulation, visualization, and control environment

NASA Astrophysics Data System (ADS)

Chen, ChuXin; Trivedi, Mohan M.

1992-03-01

This research is focused on enhancing the overall productivity of an integrated human-robot system. A simulation, animation, visualization, and interactive control (SAVIC) environment has been developed for the design and operation of an integrated robotic manipulator system. This unique system possesses the abilities for multisensor simulation, kinematics and locomotion animation, dynamic motion and manipulation animation, transformation between real and virtual modes within the same graphics system, ease in exchanging software modules and hardware devices between real and virtual world operations, and interfacing with a real robotic system. This paper describes a working system and illustrates the concepts by presenting the simulation, animation, and control methodologies for a unique mobile robot with articulated tracks, a manipulator, and sensory modules.
Real-Time Demonstration of the Main Characteristics of Chaos in the Motion of a Real Double Pendulum

ERIC Educational Resources Information Center

Vadai, Gergely; Gingl, Zoltan; Mellar, Janos

2012-01-01

Several studies came to the conclusion that chaotic phenomena are worth including in high school and undergraduate education. The double pendulum is one of the simplest systems that is chaotic; therefore, numerical simulations and theoretical studies of it have been given large publicity, and thanks to its spectacular motion, it has become one of…
Virgil Gus Grissom's Visit to LaRC

NASA Image and Video Library

1963-02-22

Astronaut Virgil "Gus" Grissom at the controls of the Visual Docking Simulator. From A.W. Vogeley, "Piloted Space-Flight Simulation at Langley Research Center," Paper presented at the American Society of Mechanical Engineers 1966 Winter Meeting, New York, NY, November 27-December 1, 1966. "This facility was [later known as the Visual-Optical Simulator.] It presents to the pilot an out-the-window view of his target in correct 6 degrees of freedom motion. The scene is obtained by a television camera pick-up viewing a small-scale gimbaled model of the target." "For docking studies, the docking target picture was projected onto the surface of a 20-foot-diameter sphere and the pilot could, effectively, maneuver into contract. this facility was used in a comparison study with the Rendezvous Docking Simulator - one of the few comparison experiments in which conditions were carefully controlled and a reasonable sample of pilots used. All pilots preferred the more realistic RDS visual scene. The pilots generally liked the RDS angular motion cues although some objected to the false gravity cues that these motions introduced. Training time was shorter on the RDS, but final performance on both simulators was essentially equal. " "For station-keeping studies, since close approach is not required, the target was presented to the pilot through a virtual-image system which projects his view to infinity, providing a more realistic effect. In addition to the target, the system also projects a star and horizon background. "
Flectofold—a biomimetic compliant shading device for complex free form facades

NASA Astrophysics Data System (ADS)

Körner, A.; Born, L.; Mader, A.; Sachse, R.; Saffarian, S.; Westermeier, A. S.; Poppinga, S.; Bischoff, M.; Gresser, G. T.; Milwich, M.; Speck, T.; Knippers, J.

2018-01-01

Smart and adaptive outer façade shading systems are of high interest in modern architecture. For long lasting and reliable systems, the abandonment of hinges which often fail due to mechanical wear during repetitive use is of particular importance. Drawing inspiration from the hinge-less motion of the underwater snap-trap of the carnivorous waterwheel plant (Aldrovanda vesiculosa), the compliant façade shading device Flectofold was developed. Based on computational simulations of the biological role-model’s elastic and reversible motion, the actuation principle of the plant can be identified. The enclosed geometric motion principle is abstracted into a simplified curved-line folding geometry with distinct flexible hinge-zones. The kinematic behaviour is translated into a quantitative kinetic model, using finite element simulation which allows the detailed analyses of the influence of geometric parameters such as curved-fold line radius and various pneumatically driven actuation principles on the motion behaviour, stress concentrations within the hinge-zones, and actuation forces. The information regarding geometric relations and material gradients gained from those computational models are then used to develop novel material combinations for glass fibre reinforced plastics which enabled the fabrication of physical prototypes of the compliant façade shading device Flectofold.
Compensation based on linearized analysis for a six degree of freedom motion simulator

NASA Technical Reports Server (NTRS)

Parrish, R. V.; Dieudonne, J. E.; Martin, D. J., Jr.; Copeland, J. L.

1973-01-01

The inertial response characteristics of a synergistic, six-degree-of-freedom motion base are presented in terms of amplitude ratio and phase lag as functions of frequency data for the frequency range of interest (0 to 2 Hz) in real time, digital, flight simulators. The notch filters which smooth the digital-drive signals to continuous drive signals are presented, and appropriate compensation, based on the inertial response data, is suggested. The existence of an inverse transformation that converts actuator extensions into inertial positions makes it possible to gather the response data in the inertial axis system.
Robust sensorimotor representation to physical interaction changes in humanoid motion learning.

PubMed

Shimizu, Toshihiko; Saegusa, Ryo; Ikemoto, Shuhei; Ishiguro, Hiroshi; Metta, Giorgio

2015-05-01

This paper proposes a learning from demonstration system based on a motion feature, called phase transfer sequence. The system aims to synthesize the knowledge on humanoid whole body motions learned during teacher-supported interactions, and apply this knowledge during different physical interactions between a robot and its surroundings. The phase transfer sequence represents the temporal order of the changing points in multiple time sequences. It encodes the dynamical aspects of the sequences so as to absorb the gaps in timing and amplitude derived from interaction changes. The phase transfer sequence was evaluated in reinforcement learning of sitting-up and walking motions conducted by a real humanoid robot and compatible simulator. In both tasks, the robotic motions were less dependent on physical interactions when learned by the proposed feature than by conventional similarity measurements. Phase transfer sequence also enhanced the convergence speed of motion learning. Our proposed feature is original primarily because it absorbs the gaps caused by changes of the originally acquired physical interactions, thereby enhancing the learning speed in subsequent interactions.
A novel role for visual perspective cues in the neural computation of depth

PubMed Central

Kim, HyungGoo R.; Angelaki, Dora E.; DeAngelis, Gregory C.

2014-01-01

As we explore a scene, our eye movements add global patterns of motion to the retinal image, complicating visual motion produced by self-motion or moving objects. Conventionally, it has been assumed that extra-retinal signals, such as efference copy of smooth pursuit commands, are required to compensate for the visual consequences of eye rotations. We consider an alternative possibility: namely, that the visual system can infer eye rotations from global patterns of image motion. We visually simulated combinations of eye translation and rotation, including perspective distortions that change dynamically over time. We demonstrate that incorporating these “dynamic perspective” cues allows the visual system to generate selectivity for depth sign from motion parallax in macaque area MT, a computation that was previously thought to require extra-retinal signals regarding eye velocity. Our findings suggest novel neural mechanisms that analyze global patterns of visual motion to perform computations that require knowledge of eye rotations. PMID:25436667
A vision-based system for measuring the displacements of large structures: Simultaneous adaptive calibration and full motion estimation

NASA Astrophysics Data System (ADS)

Santos, C. Almeida; Costa, C. Oliveira; Batista, J.

2016-05-01

The paper describes a kinematic model-based solution to estimate simultaneously the calibration parameters of the vision system and the full-motion (6-DOF) of large civil engineering structures, namely of long deck suspension bridges, from a sequence of stereo images captured by digital cameras. Using an arbitrary number of images and assuming a smooth structure motion, an Iterated Extended Kalman Filter is used to recursively estimate the projection matrices of the cameras and the structure full-motion (displacement and rotation) over time, helping to meet the structure health monitoring fulfilment. Results related to the performance evaluation, obtained by numerical simulation and with real experiments, are reported. The real experiments were carried out in indoor and outdoor environment using a reduced structure model to impose controlled motions. In both cases, the results obtained with a minimum setup comprising only two cameras and four non-coplanar tracking points, showed a high accuracy results for on-line camera calibration and structure full motion estimation.
Dynamic analysis of a system of hinge-connected rigid bodies with nonrigid appendages. [equations of motion

NASA Technical Reports Server (NTRS)

Likins, P. W.

1974-01-01

Equations of motion are derived for use in simulating a spacecraft or other complex electromechanical system amenable to idealization as a set of hinge-connected rigid bodies of tree topology, with rigid axisymmetric rotors and nonrigid appendages attached to each rigid body in the set. In conjunction with a previously published report on finite-element appendage vibration equations, this report provides a complete minimum-dimension formulation suitable for generic programming for digital computer numerical integration.
Stellar motion induced by gravitational instabilities in protoplanetary discs

NASA Astrophysics Data System (ADS)

Michael, Scott; Durisen, R. H.

2010-07-01

We test the effect of assumptions about stellar motion on the behaviour of gravitational instabilities (GIs) in protoplanetary discs around solar-type stars by performing two simulations that are identical in all respects except the treatment of the star. In one simulation, the star is assumed to remain fixed at the centre of the inertial reference frame. In the other, stellar motion is handled properly by including an indirect potential in the hydrodynamic equations to model the star's reference frame as one which is accelerated by star/disc interactions. The discs in both simulations orbit a solar mass star, initially extend from 2.3 to 40 au with a ϖ-1/2 surface density profile, and have a total mass of 0.14 Msolar. The γ = 5/3 ideal gas is assumed to cool everywhere with a constant cooling time of two outer rotation periods. The overall behaviour of the disc evolution is similar, except for weakening in various measures of GI activity by about at most tens of per cent for the indirect potential case. Overall conclusions about disc evolution in earlier papers by our group, where the star was always assumed to be fixed in an inertial frame, remain valid. There is no evidence for independent one-armed instabilities, like the Stimulation by the Long-range Interaction of Newtonian Gravity (SLING), in either simulation. On the other hand, the stellar motion about the system centre of mass (COM) in the simulation with the indirect potential is substantial, up to 0.25 au during the burst phase, as GIs initiate, and averaging about 0.9 au during the asymptotic phase, when the GIs reach an overall balance of heating and cooling. These motions appear to be a stellar response to non-linear interactions between discrete global spiral modes in both the burst and asymptotic phases of the evolution, and the star's orbital motion about the COM reflects the orbit periods of disc material near the corotation radii of the dominant spiral waves. This motion is, in principle, large enough to be observable and could be confused with stellar wobble due to the presence of one or more super-Jupiter mass protoplanets orbiting at 10's au. We discuss why the excursions in our simulation are so much larger than those seen in simulations by Rice et al.
Ride Motion Simulator Safety Assessment Report

DTIC Science & Technology

2013-07-01

it does with an ESTOP shutdown. 5.4.3.1.3.1 SeTAC ISO-2631 Monitoring Device The Sequoia Tri-axial Accelerometer Computer (SeTAC) ISO-2631...independent systems which continuously supervise accelerations of the platform when the simulator is in the human-rated mode. Figure 5- 6 Sequoia Tri
Computer Simulations for Lab Experiences in Secondary Physics

ERIC Educational Resources Information Center

Murphy, David Shannon

2012-01-01

Physical science instruction often involves modeling natural systems, such as electricity that possess particles which are invisible to the unaided eye. The effect of these particles' motion is observable, but the particles are not directly observable to humans. Simulations have been developed in physics, chemistry and biology that, under certain…
Attitude determination of a high altitude balloon system. Part 2: Development of the parameter determination process

NASA Technical Reports Server (NTRS)

Nigro, N. J.; Elkouh, A. F.

1975-01-01

The attitude of the balloon system is determined as a function of time if: (a) a method for simulating the motion of the system is available, and (b) the initial state is known. The initial state is obtained by fitting the system motion (as measured by sensors) to the corresponding output predicted by the mathematical model. In the case of the LACATE experiment the sensors consisted of three orthogonally oriented rate gyros and a magnetometer all mounted on the research platform. The initial state was obtained by fitting the angular velocity components measured with the gyros to the corresponding values obtained from the solution of the math model. A block diagram illustrating the attitude determination process employed for the LACATE experiment is shown. The process consists of three essential parts; a process for simulating the balloon system, an instrumentation system for measuring the output, and a parameter estimation process for systematically and efficiently solving the initial state. Results are presented and discussed.
Nonlinear motion of cantilevered SWNT and Its Meaning to Phonon Dynamics

NASA Astrophysics Data System (ADS)

Koh, Heeyuen; Cannon, James; Chiashi, Shohei; Shiomi, Junichiro; Maruyama, Shigeo

2013-03-01

Based on the finding that the lowest frequency mode of cantilevered SWNT is described by the continuum beam theory in frequency domain, we considered its effect of the symmetric structure for the coupling of orthogonal transverse modes to explain the nonlinear motion of free thermal vibration. This nonlinear motion calculated by our molecular dynamics simulation, once regarded as noise, is observed to have the periodic order with duffing and beating, which is dependent on aspect ratio and temperature. It could be dictated by the governing equation from the Green Lagrangian strain tensor. The nonlinear beam equation from strain tensor described the motion well for various models which has different aspect ratio in molecular dynamics simulation. Since this motion is nothing but the interaction between 2nd mode of radial, tangential mode and 1st longitudinal mode, it was found that Green Lagrangian strain tensor is capable to deal such coupling. The free thermal motion of suspended SWNT is also considered without temperature gradient. The Q factor measured by this theoretical analysis will be discussed. Part of this work was financially supported by Grant-in-Aid for Scientific Research (19054003 and 22226006), and Global COE Program 'Global Center for Excellence for Mechanical Systems Innovation'
Ising model for collective decision making during group motion

NASA Astrophysics Data System (ADS)

Pinkoviezky, Itai; Gov, Nir; Couzin, Iain

Collective decision making is a key feature during natural motion of animal groups and is also crucial for human groups. This phenomenon can be exemplified by the scenario of two subgroups that hold conflicting preferred directions of motion. The constraint of group cohesion drives the motion either towards a compromise or towards one of the preferred targets. The transition between compromise and decision has been found in simulations of flock models, but the nature of this transition is not well understood. We present a minimal spin model for this system where we interpret the spin-spin interaction as a social force. This model exhibits both first and second order transitions. The group motion changes from size-dependent diffusion at high temperatures to run-and-tumble motion below the critical temperature. In the presence of minority and majority subgroups, we find that there is a trade-off between the speed of reaching a target and the accuracy. We then compare the results of the spin model to detailed simulations of a flock model, and find overall very similar dynamics, with the role of the temperature taken by the inverse of the number of uninformed individuals.
Research study on neck injury lessening with active head restraint using human body FE model.

PubMed

Kitagawa, Yuichi; Yasuki, Tsuyoshi; Hasegawa, Junji

2008-12-01

The objective of this study is to examine the effectiveness of the active head restraint system in reducing neck injury risk of car occupants in low-speed rear impacts. A human body FE model "THUMS" was used to simulate head and neck kinematics of the occupant and to evaluate loading to the neck. Joint capsule strain was calculated to predict neck injury risk as well as NIC. The validity of the model was confirmed comparing its mechanical responses to those in human subjects in the literatures. Seat FE models were also prepared representing one with a fixed head restraint and the other one with an active head restraint system. The active head restraint system was designed to move the head restraint forward and upward when the lower unit was lower unit was loaded by the pelvis. Rear impact simulations were performed assuming a triangular acceleration pulse at a delta-V of 25 km/h. The model reproduced similar head and neck motions to those measured in the human volunteer test, except for active muscular responses. The calculated joint capsule strain also showed a good match with those of PMHS tests in the literature. A rear-impact simulation was conducted using the model with the fixed head restraint. The result revealed that NIC was strongly correlated with the relative acceleration between the head and the torso and that its maximum peak appeared when the head contacted the head restraint. It was also found that joint capsule strain grew in later timing synchronizing with the relative displacement. Another simulation with the active head restraint system showed that both NIC and joint capsule strain were lowered owing to the forward and upward motion of the head restraint. A close investigation of the vertebral motion indicated that the active head restraint reduced the magnitude of shear deformation in the facet joint, which contributed to the strain growth in the fixed head restraint case. Rear-impact simulations were conducted using a human body FE model, THUMS, representing an average-size male occupant. The cervical system including the facet joint capsules was incorporated to the model. The validity of the model was examined comparing its mechanical responses to those in the literature such as the whole body motion of the volunteer subject and the vertebral motion in the PMHS tests. Rear-impact simulations were conducted using the validated THUMS model and two prototype seat models; one had a fixed head restraint and the other one was equipped with an active head restraint system. The active head restraint system works moving the head restraint forward and upward when the lower unit is loaded by the pelvis. The head and neck kinematics and responses were analyzed from the simulation results. The force and acceleration rose at the pelvis first, followed by T1 and the head. The early timing of force rise and its magnitude indicated that the pelvis force was a good trigger for the active head restraint system. The results showed that the head was supported earlier in a case with the active head restraint system, and both NIC and joint capsule strain were lowered. The study also analyzed the mechanism of strain growth in the joint capsules. Relatively greater strain was observed in the direction of the facet joint surface, which was around 45 degrees inclined to the spinal column. The forward and upward motion of the active head restraint were aligned with the direction of the joint deformation and contributed to lower strain in the joint capsules. The results indicated that the active head restraint could help reduce the neck injury risk not only by supporting the head at an early timing but also through its trajectory stopping the joint deformation.
Sensory conflict in motion sickness: An observer theory approach

NASA Technical Reports Server (NTRS)

Oman, Charles M.

1989-01-01

Motion sickness is the general term describing a group of common nausea syndromes originally attributed to motion-induced cerebral ischemia, stimulation of abdominal organ afferent, or overstimulation of the vestibular organs of the inner ear. Sea-, car-, and airsicknesses are the most commonly experienced examples. However, the discovery of other variants such as Cinerama-, flight simulator-, spectacle-, and space sickness in which the physical motion of the head and body is normal or absent has led to a succession of sensory conflict theories which offer a more comprehensive etiologic perspective. Implicit in the conflict theory is the hypothesis that neutral and/or humoral signals originate in regions of the brain subversing spatial orientation, and that these signals somehow traverse to other centers mediating sickness symptoms. Unfortunately, the present understanding of the neurophysiological basis of motion sickness is far from complete. No sensory conflict neuron or process has yet been physiologically identified. To what extent can the existing theory be reconciled with current knowledge of the physiology and pharmacology of nausea and vomiting. The stimuli which causes sickness, synthesizes a contemporary Observer Theory view of the Sensory Conflict hypothesis are reviewed, and a revised model for the dynamic coupling between the putative conflict signals and nausea magnitude estimates is presented. The use of quantitative models for sensory conflict offers a possible new approach to improving the design of visual and motion systems for flight simulators and other virtual environment display systems.

Ground-Motion Variability for a Strike-Slip Earthquake from Broadband Ground-Motion Simulations

NASA Astrophysics Data System (ADS)

Iwaki, A.; Maeda, T.; Morikawa, N.; Fujiwara, H.

2016-12-01

One of the important issues in seismic hazard analysis is the evaluation of ground-motion variability due to the epistemic and aleatory uncertainties in various aspects of ground-motion simulations. This study investigates the within-event ground-motion variability in broadband ground-motion simulations for strike-slip events. We conduct ground-motion simulations for a past event (2000 MW6.6 Tottori earthquake) using a set of characterized source models (e.g. Irikura and Miyake, 2011) considering aleatory variability. Broadband ground motion is computed by a hybrid approach that combines a 3D finite-difference method (> 1 s) and the stochastic Green's function method (< 1 s), using the 3D velocity model J-SHIS v2. We consider various locations of the asperities, which are defined as the regions with large slip and stress drop within the fault, and the rupture nucleation point (hypocenter). Ground motion records at 29 K-NET and KiK-net stations are used to validate our simulations. By comparing the simulated and observed ground motion, we found that the performance of the simulations is acceptable under the condition that the source parameters are poorly constrained. In addition to the observation stations, we set 318 virtual receivers with the spatial intervals of 10 km for statistical analysis of the simulated ground motion. The maximum fault-distance is 160 km. Standard deviation (SD) of the simulated acceleration response spectra (Sa, 5% damped) of RotD50 component (Boore, 2010) is investigated at each receiver. SD from 50 different patterns of asperity locations is generally smaller than 0.15 in terms of log10 (0.34 in natural log). It shows dependence on distance at periods shorter than 1 s; SD increases as the distance decreases. On the other hand, SD from 39 different hypocenter locations is again smaller than 0.15 in log10, and showed azimuthal dependence at long periods; it increases as the rupture directivity parameter Xcosθ(Somerville et al. 1997) increases at periods longer than 1 s. The characteristics of ground-motion variability inferred from simulations can provide information on variability in simulation-based seismic hazard assessment for future earthquakes. We will further investigate the variability in other source parameters; rupture velocity and short-period level.
The motion and control of a complex three-body space tethered system

NASA Astrophysics Data System (ADS)

Shi, Gefei; Zhu, Zhanxia; Chen, Shiyu; Yuan, Jianping; Tang, Biwei

2017-11-01

This paper is mainly devoted to investigating the dynamics and stability control of a three body-tethered satellite system which contains a main satellite and two subsatellites connected by two straight, massless and inextensible tethers. Firstly, a detailed mathematical model is established in the central gravitational field. Then, the dynamic characteristics of the established system are investigated and analyzed. Based on the dynamic analysis, a novel sliding mode prediction model (SMPM) control strategy is proposed to suppress the motion of the built tethered system. The numerical results show that the proposed underactuated control law is highly effective in suppressing the attitude/libration motion of the underactuated three-body tethered system. Furthermore, cases of different target angles are also examined and analyzed. The simulation results reveal that even if the final equilibrium states differ from different selections of the target angles, the whole system can still be maintained in acceptable areas.
System Simulation by Recursive Feedback: Coupling a Set of Stand-Alone Subsystem Simulations

NASA Technical Reports Server (NTRS)

Nixon, D. D.

2001-01-01

Conventional construction of digital dynamic system simulations often involves collecting differential equations that model each subsystem, arran g them to a standard form, and obtaining their numerical gin solution as a single coupled, total-system simultaneous set. Simulation by numerical coupling of independent stand-alone subsimulations is a fundamentally different approach that is attractive because, among other things, the architecture naturally facilitates high fidelity, broad scope, and discipline independence. Recursive feedback is defined and discussed as a candidate approach to multidiscipline dynamic system simulation by numerical coupling of self-contained, single-discipline subsystem simulations. A satellite motion example containing three subsystems (orbit dynamics, attitude dynamics, and aerodynamics) has been defined and constructed using this approach. Conventional solution methods are used in the subsystem simulations. Distributed and centralized implementations of coupling have been considered. Numerical results are evaluated by direct comparison with a standard total-system, simultaneous-solution approach.
Psycho-Motor and Error Enabled Simulations: Modeling Vulnerable Skills in the Pre-Mastery Phase Medical Practice Initiative Procedural Skill Decay and Maintenance (MPI-PSD)

DTIC Science & Technology

2014-04-01

laparoscopic ventral hernia repair. Additional simulation stations were added to the standards and purchases (including a motion tracking system) were...framework for laparoscopic ventral hernia; Incorporation of error-based simulators into an exit assessment of chief surgical residents; Development of...simulating a laparoscopic ventral hernia (LVH) repair. Based on collected data, the lab worked to finalize the incorporation of error-based simulators
Dynamic rupture scenarios from Sumatra to Iceland - High-resolution earthquake source physics on natural fault systems

NASA Astrophysics Data System (ADS)

Gabriel, A. A.; Madden, E. H.; Ulrich, T.; Wollherr, S.

2016-12-01

Capturing the observed complexity of earthquake sources in dynamic rupture simulations may require: non-linear fault friction, thermal and fluid effects, heterogeneous fault stress and strength initial conditions, fault curvature and roughness, on- and off-fault non-elastic failure. All of these factors have been independently shown to alter dynamic rupture behavior and thus possibly influence the degree of realism attainable via simulated ground motions. In this presentation we will show examples of high-resolution earthquake scenarios, e.g. based on the 2004 Sumatra-Andaman Earthquake and a potential rupture of the Husavik-Flatey fault system in Northern Iceland. The simulations combine a multitude of representations of source complexity at the necessary spatio-temporal resolution enabled by excellent scalability on modern HPC systems. Such simulations allow an analysis of the dominant factors impacting earthquake source physics and ground motions given distinct tectonic settings or distinct focuses of seismic hazard assessment. Across all simulations, we find that fault geometry concurrently with the regional background stress state provide a first order influence on source dynamics and the emanated seismic wave field. The dynamic rupture models are performed with SeisSol, a software package based on an ADER-Discontinuous Galerkin scheme for solving the spontaneous dynamic earthquake rupture problem with high-order accuracy in space and time. Use of unstructured tetrahedral meshes allows for a realistic representation of the non-planar fault geometry, subsurface structure and bathymetry. The results presented highlight the fact that modern numerical methods are essential to further our understanding of earthquake source physics and complement both physic-based ground motion research and empirical approaches in seismic hazard analysis.
Dynamic rupture scenarios from Sumatra to Iceland - High-resolution earthquake source physics on natural fault systems

NASA Astrophysics Data System (ADS)

Gabriel, Alice-Agnes; Madden, Elizabeth H.; Ulrich, Thomas; Wollherr, Stephanie

2017-04-01

Capturing the observed complexity of earthquake sources in dynamic rupture simulations may require: non-linear fault friction, thermal and fluid effects, heterogeneous fault stress and fault strength initial conditions, fault curvature and roughness, on- and off-fault non-elastic failure. All of these factors have been independently shown to alter dynamic rupture behavior and thus possibly influence the degree of realism attainable via simulated ground motions. In this presentation we will show examples of high-resolution earthquake scenarios, e.g. based on the 2004 Sumatra-Andaman Earthquake, the 1994 Northridge earthquake and a potential rupture of the Husavik-Flatey fault system in Northern Iceland. The simulations combine a multitude of representations of source complexity at the necessary spatio-temporal resolution enabled by excellent scalability on modern HPC systems. Such simulations allow an analysis of the dominant factors impacting earthquake source physics and ground motions given distinct tectonic settings or distinct focuses of seismic hazard assessment. Across all simulations, we find that fault geometry concurrently with the regional background stress state provide a first order influence on source dynamics and the emanated seismic wave field. The dynamic rupture models are performed with SeisSol, a software package based on an ADER-Discontinuous Galerkin scheme for solving the spontaneous dynamic earthquake rupture problem with high-order accuracy in space and time. Use of unstructured tetrahedral meshes allows for a realistic representation of the non-planar fault geometry, subsurface structure and bathymetry. The results presented highlight the fact that modern numerical methods are essential to further our understanding of earthquake source physics and complement both physic-based ground motion research and empirical approaches in seismic hazard analysis.
Patterns, transitions and the role of leaders in the collective dynamics of a simple robotic flock

NASA Astrophysics Data System (ADS)

Tarcai, Norbert; Virágh, Csaba; Ábel, Dániel; Nagy, Máté; Várkonyi, Péter L.; Vásárhelyi, Gábor; Vicsek, Tamás

2011-04-01

We have developed an experimental setup of very simple self-propelled robots to observe collective motion emerging as a result of inelastic collisions only. A circular pool and commercial RC boats were the basis of our first setup, where we demonstrated that jamming, clustering, disordered and ordered motion are all present in such a simple experiment and showed that the noise level has a fundamental role in the generation of collective dynamics. Critical noise ranges and the transition characteristics between the different collective patterns were also examined. In our second experiment we used a real-time tracking system and a few steerable model boats to introduce intelligent leaders into the flock. We demonstrated that even a very small portion of guiding members can determine group direction and enhance ordering through inelastic collisions. We also showed that noise can facilitate and speed up ordering with leaders. Our work was extended with an agent-based simulation model, too, and close similarity between real and simulation results was observed. The simulation results show clear statistical evidence of three states and negative correlation between density and ordered motion due to the onset of jamming. Our experiments confirm the different theoretical studies and simulation results in the literature on the subject of collision-based, noise-dependent and leader-driven self-propelled particle systems.
CFD simulation of flow through heart: a perspective review.

PubMed

Khalafvand, S S; Ng, E Y K; Zhong, L

2011-01-01

The heart is an organ which pumps blood around the body by contraction of muscular wall. There is a coupled system in the heart containing the motion of wall and the motion of blood fluid; both motions must be computed simultaneously, which make biological computational fluid dynamics (CFD) difficult. The wall of the heart is not rigid and hence proper boundary conditions are essential for CFD modelling. Fluid-wall interaction is very important for real CFD modelling. There are many assumptions for CFD simulation of the heart that make it far from a real model. A realistic fluid-structure interaction modelling the structure by the finite element method and the fluid flow by CFD use more realistic coupling algorithms. This type of method is very powerful to solve the complex properties of the cardiac structure and the sensitive interaction of fluid and structure. The final goal of heart modelling is to simulate the total heart function by integrating cardiac anatomy, electrical activation, mechanics, metabolism and fluid mechanics together, as in the computational framework.
Design and Simulation of an Electrothermal Actuator Based Rotational Drive

NASA Astrophysics Data System (ADS)

Beeson, Sterling; Dallas, Tim

2008-10-01

As a participant in the Micro and Nano Device Engineering (MANDE) Research Experience for Undergraduates program at Texas Tech University, I learned how MEMS devices operate and the limits of their operation. Using specialized AutoCAD-based design software and the ANSYS simulation program, I learned the MEMS fabrication process used at Sandia National Labs, the design limitations of this process, the abilities and drawbacks of micro devices, and finally, I redesigned a MEMS device called the Chevron Torsional Ratcheting Actuator (CTRA). Motion is achieved through electrothermal actuation. The chevron (bent-beam) actuators cause a ratcheting motion on top of a hub-less gear so that as voltage is applied the CTRA spins. The voltage applied needs to be pulsed and the frequency of the pulses determine the angular frequency of the device. The main objective was to design electromechanical structures capable of transforming the electrical signals into mechanical motion without overheating. The design was optimized using finite element analysis in ANSYS allowing multi-physics simulations of our model system.
Effects of motion speed in action representations

PubMed Central

van Dam, Wessel O.; Speed, Laura J.; Lai, Vicky T.; Vigliocco, Gabriella; Desai, Rutvik H.

2017-01-01

Grounded cognition accounts of semantic representation posit that brain regions traditionally linked to perception and action play a role in grounding the semantic content of words and sentences. Sensory-motor systems are thought to support partially abstract simulations through which conceptual content is grounded. However, which details of sensory-motor experience are included in, or excluded from these simulations, is not well understood. We investigated whether sensory-motor brain regions are differentially involved depending on the speed of actions described in a sentence. We addressed this issue by examining the neural signature of relatively fast (The old lady scurried across the road) and slow (The old lady strolled across the road) action sentences. The results showed that sentences that implied fast motion modulated activity within the right posterior superior temporal sulcus and the angular and middle occipital gyri, areas associated with biological motion and action perception. Sentences that implied slow motion resulted in greater signal within the right primary motor cortex and anterior inferior parietal lobule, areas associated with action execution and planning. These results suggest that the speed of described motion influences representational content and modulates the nature of conceptual grounding. Fast motion events are represented more visually whereas motor regions play a greater role in representing conceptual content associated with slow motion. PMID:28160739
In silico reconstitution of Listeria propulsion exhibits nano-saltation.

PubMed

Alberts, Jonathan B; Odell, Garrett M

2004-12-01

To understand how the actin-polymerization-mediated movements in cells emerge from myriad individual protein-protein interactions, we developed a computational model of Listeria monocytogenes propulsion that explicitly simulates a large number of monomer-scale biochemical and mechanical interactions. The literature on actin networks and L. monocytogenes motility provides the foundation for a realistic mathematical/computer simulation, because most of the key rate constants governing actin network dynamics have been measured. We use a cluster of 80 Linux processors and our own suite of simulation and analysis software to characterize salient features of bacterial motion. Our "in silico reconstitution" produces qualitatively realistic bacterial motion with regard to speed and persistence of motion and actin tail morphology. The model also produces smaller scale emergent behavior; we demonstrate how the observed nano-saltatory motion of L. monocytogenes,in which runs punctuate pauses, can emerge from a cooperative binding and breaking of attachments between actin filaments and the bacterium. We describe our modeling methodology in detail, as it is likely to be useful for understanding any subcellular system in which the dynamics of many simple interactions lead to complex emergent behavior, e.g., lamellipodia and filopodia extension, cellular organization, and cytokinesis.
Motion Simulator

NASA Technical Reports Server (NTRS)

2000-01-01

Visitors to StenniSphere can feel the motion of a ride to Mars with a ride on StenniSphere's full motion simulator. The simulator is the only attraction at StenniSphere for which there is a charge. Adult rides are $4 and children ride for $3. Group discounts are also available.
Identification of pre-impact conditions of a cyclist involved in a vehicle-bicycle accident using an optimized MADYMO reconstruction combined with motion capture.

PubMed

Sun, Jie; Li, Zhengdong; Pan, Shaoyou; Feng, Hao; Shao, Yu; Liu, Ningguo; Huang, Ping; Zou, Donghua; Chen, Yijiu

2018-05-01

The aim of the present study was to develop an improved method, using MADYMO multi-body simulation software combined with an optimization method and three-dimensional (3D) motion capture, for identifying the pre-impact conditions of a cyclist (walking or cycling) involved in a vehicle-bicycle accident. First, a 3D motion capture system was used to analyze coupled motions of a volunteer while walking and cycling. The motion capture results were used to define the posture of the human model during walking and cycling simulations. Then, cyclist, bicycle and vehicle models were developed. Pre-impact parameters of the models were treated as unknown design variables. Finally, a multi-objective genetic algorithm, the nondominated sorting genetic algorithm II, was used to find optimal solutions. The objective functions of the walk parameter were significantly lower than cycle parameter; thus, the cyclist was more likely to have been walking with the bicycle than riding the bicycle. In the most closely matched result found, all observed contact points matched and the injury parameters correlated well with the real injuries sustained by the cyclist. Based on the real accident reconstruction, the present study indicates that MADYMO multi-body simulation software, combined with an optimization method and 3D motion capture, can be used to identify the pre-impact conditions of a cyclist involved in a vehicle-bicycle accident. Copyright © 2018. Published by Elsevier Ltd.
Verifying a computational method for predicting extreme ground motion

USGS Publications Warehouse

Harris, R.A.; Barall, M.; Andrews, D.J.; Duan, B.; Ma, S.; Dunham, E.M.; Gabriel, A.-A.; Kaneko, Y.; Kase, Y.; Aagaard, Brad T.; Oglesby, D.D.; Ampuero, J.-P.; Hanks, T.C.; Abrahamson, N.

2011-01-01

In situations where seismological data is rare or nonexistent, computer simulations may be used to predict ground motions caused by future earthquakes. This is particularly practical in the case of extreme ground motions, where engineers of special buildings may need to design for an event that has not been historically observed but which may occur in the far-distant future. Once the simulations have been performed, however, they still need to be tested. The SCEC-USGS dynamic rupture code verification exercise provides a testing mechanism for simulations that involve spontaneous earthquake rupture. We have performed this examination for the specific computer code that was used to predict maximum possible ground motion near Yucca Mountain. Our SCEC-USGS group exercises have demonstrated that the specific computer code that was used for the Yucca Mountain simulations produces similar results to those produced by other computer codes when tackling the same science problem. We also found that the 3D ground motion simulations produced smaller ground motions than the 2D simulations.
Point-source stochastic-method simulations of ground motions for the PEER NGA-East Project

USGS Publications Warehouse

Boore, David

2015-01-01

Ground-motions for the PEER NGA-East project were simulated using a point-source stochastic method. The simulated motions are provided for distances between of 0 and 1200 km, M from 4 to 8, and 25 ground-motion intensity measures: peak ground velocity (PGV), peak ground acceleration (PGA), and 5%-damped pseudoabsolute response spectral acceleration (PSA) for 23 periods ranging from 0.01 s to 10.0 s. Tables of motions are provided for each of six attenuation models. The attenuation-model-dependent stress parameters used in the stochastic-method simulations were derived from inversion of PSA data from eight earthquakes in eastern North America.
A cardioid oscillator with asymmetric time ratio for establishing CPG models.

PubMed

Fu, Q; Wang, D H; Xu, L; Yuan, G

2018-01-13

Nonlinear oscillators are usually utilized by bionic scientists for establishing central pattern generator models for imitating rhythmic motions by bionic scientists. In the natural word, many rhythmic motions possess asymmetric time ratios, which means that the forward and the backward motions of an oscillating process sustain different times within one period. In order to model rhythmic motions with asymmetric time ratios, nonlinear oscillators with asymmetric forward and backward trajectories within one period should be studied. In this paper, based on the property of the invariant set, a method to design the closed curve in the phase plane of a dynamic system as its limit cycle is proposed. Utilizing the proposed method and considering that a cardioid curve is a kind of asymmetrical closed curves, a cardioid oscillator with asymmetric time ratios is proposed and realized. Through making the derivation of the closed curve in the phase plane of a dynamic system equal to zero, the closed curve is designed as its limit cycle. Utilizing the proposed limit cycle design method and according to the global invariant set theory, a cardioid oscillator applying a cardioid curve as its limit cycle is achieved. On these bases, the numerical simulations are conducted for analyzing the behaviors of the cardioid oscillator. The example utilizing the established cardioid oscillator to simulate rhythmic motions of the hip joint of a human body in the sagittal plane is presented. The results of the numerical simulations indicate that, whatever the initial condition is and without any outside input, the proposed cardioid oscillator possesses the following properties: (1) The proposed cardioid oscillator is able to generate a series of periodic and anti-interference self-exciting trajectories, (2) the generated trajectories possess an asymmetric time ratio, and (3) the time ratio can be regulated by adjusting the oscillator's parameters. Furthermore, the comparison between the simulated trajectories by the established cardioid oscillator and the measured angle trajectories of the hip angle of a human body show that the proposed cardioid oscillator is fit for imitating the rhythmic motions of the hip of a human body with asymmetric time ratios.
The Development and Comparison of Molecular Dynamics Simulation and Monte Carlo Simulation

NASA Astrophysics Data System (ADS)

Chen, Jundong

2018-03-01

Molecular dynamics is an integrated technology that combines physics, mathematics and chemistry. Molecular dynamics method is a computer simulation experimental method, which is a powerful tool for studying condensed matter system. This technique not only can get the trajectory of the atom, but can also observe the microscopic details of the atomic motion. By studying the numerical integration algorithm in molecular dynamics simulation, we can not only analyze the microstructure, the motion of particles and the image of macroscopic relationship between them and the material, but can also study the relationship between the interaction and the macroscopic properties more conveniently. The Monte Carlo Simulation, similar to the molecular dynamics, is a tool for studying the micro-molecular and particle nature. In this paper, the theoretical background of computer numerical simulation is introduced, and the specific methods of numerical integration are summarized, including Verlet method, Leap-frog method and Velocity Verlet method. At the same time, the method and principle of Monte Carlo Simulation are introduced. Finally, similarities and differences of Monte Carlo Simulation and the molecular dynamics simulation are discussed.
An inventory of aeronautical ground research facilities. Volume 4: Engineering flight simulation facilities

NASA Technical Reports Server (NTRS)

Pirrello, C. J.; Hardin, R. D.; Capelluro, L. P.; Harrison, W. D.

1971-01-01

The general purpose capabilities of government and industry in the area of real time engineering flight simulation are discussed. The information covers computer equipment, visual systems, crew stations, and motion systems, along with brief statements of facility capabilities. Facility construction and typical operational costs are included where available. The facilities provide for economical and safe solutions to vehicle design, performance, control, and flying qualities problems of manned and unmanned flight systems.
The flight robotics laboratory

NASA Technical Reports Server (NTRS)

Tobbe, Patrick A.; Williamson, Marlin J.; Glaese, John R.

1988-01-01

The Flight Robotics Laboratory of the Marshall Space Flight Center is described in detail. This facility, containing an eight degree of freedom manipulator, precision air bearing floor, teleoperated motion base, reconfigurable operator's console, and VAX 11/750 computer system, provides simulation capability to study human/system interactions of remote systems. The facility hardware, software and subsequent integration of these components into a real time man-in-the-loop simulation for the evaluation of spacecraft contact proximity and dynamics are described.
Fast Numerical Simulation of Focused Ultrasound Treatments During Respiratory Motion With Discontinuous Motion Boundaries.

PubMed

Schwenke, Michael; Georgii, Joachim; Preusser, Tobias

2017-07-01

Focused ultrasound (FUS) is rapidly gaining clinical acceptance for several target tissues in the human body. Yet, treating liver targets is not clinically applied due to a high complexity of the procedure (noninvasiveness, target motion, complex anatomy, blood cooling effects, shielding by ribs, and limited image-based monitoring). To reduce the complexity, numerical FUS simulations can be utilized for both treatment planning and execution. These use-cases demand highly accurate and computationally efficient simulations. We propose a numerical method for the simulation of abdominal FUS treatments during respiratory motion of the organs and target. Especially, a novel approach is proposed to simulate the heating during motion by solving Pennes' bioheat equation in a computational reference space, i.e., the equation is mathematically transformed to the reference. The approach allows for motion discontinuities, e.g., the sliding of the liver along the abdominal wall. Implementing the solver completely on the graphics processing unit and combining it with an atlas-based ultrasound simulation approach yields a simulation performance faster than real time (less than 50-s computing time for 100 s of treatment time) on a modern off-the-shelf laptop. The simulation method is incorporated into a treatment planning demonstration application that allows to simulate real patient cases including respiratory motion. The high performance of the presented simulation method opens the door to clinical applications. The methods bear the potential to enable the application of FUS for moving organs.

Molecular simulation investigation of the nanorheology of an entangled polymer melt

NASA Astrophysics Data System (ADS)

Karim, Mir; Khare, Rajesh; Indei, Tsutomu; Schieber, Jay

2014-03-01

Knowledge of the ``local rheology'' is important for viscoelastic systems that contain significant structural and dynamic heterogeneities, such as cellular and extra-cellular crowded environments. For homogeneous viscoelastic media, a study of probe particle motion provides information on the microstructural evolution of the medium in response to the probe particle motion. Over the last two decades, probe particle rheology has emerged as a leading experimental technique for capturing local rheology of complex fluids. In recent work [M. Karim, S. C. Kohale, T. Indei, J. D. Schieber, and R. Khare, Phys. Rev. E86, 051501 (2012)], we showed that this approach can be used in molecular dynamics (MD) simulations to study the nanoscale viscoelastic properties of an unentangled polymer melt; an important conclusion of that work was that medium and particle inertia play a crucial role in analysis of the particle rheology simulation data. MD simulations have a natural advantage that they enable study of deformation and dynamics over a small length scale around the moving probe particle. In this work, the approach is extended to compare the motion of a nanoscale probe in melts of entangled and unentangled chains. The simulations will be used to elucidate the differences between the local responses of these media to the probe particle motion. In particular, results will be presented for the differences in the resultant velocity and stress fields as well as any possible structural asymmetry developed around the moving probe particle in the entangled and unentangled cases.
Can We Study Autonomous Driving Comfort in Moving-Base Driving Simulators? A Validation Study.

PubMed

Bellem, Hanna; Klüver, Malte; Schrauf, Michael; Schöner, Hans-Peter; Hecht, Heiko; Krems, Josef F

2017-05-01

To lay the basis of studying autonomous driving comfort using driving simulators, we assessed the behavioral validity of two moving-base simulator configurations by contrasting them with a test-track setting. With increasing level of automation, driving comfort becomes increasingly important. Simulators provide a safe environment to study perceived comfort in autonomous driving. To date, however, no studies were conducted in relation to comfort in autonomous driving to determine the extent to which results from simulator studies can be transferred to on-road driving conditions. Participants ( N = 72) experienced six differently parameterized lane-change and deceleration maneuvers and subsequently rated the comfort of each scenario. One group of participants experienced the maneuvers on a test-track setting, whereas two other groups experienced them in one of two moving-base simulator configurations. We could demonstrate relative and absolute validity for one of the two simulator configurations. Subsequent analyses revealed that the validity of the simulator highly depends on the parameterization of the motion system. Moving-base simulation can be a useful research tool to study driving comfort in autonomous vehicles. However, our results point at a preference for subunity scaling factors for both lateral and longitudinal motion cues, which might be explained by an underestimation of speed in virtual environments. In line with previous studies, we recommend lateral- and longitudinal-motion scaling factors of approximately 50% to 60% in order to obtain valid results for both active and passive driving tasks.
TH-EF-BRB-08: Robotic Motion Compensation for Radiation Therapy: A 6DOF Phantom Study

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

Belcher, AH; Liu, X; Wiersma, R

Purpose: The high accuracy of frame-based stereotactic radiosurgery (SRS), which uses a rigid frame fixed to the patient’s skull, is offset by potential drawbacks of poor patient compliance and clinical workflow restrictions. Recent research into frameless SRS has so far resulted in reduced accuracy. In this study, we investigate the use of a novel 6 degree-of-freedom (6DOF) robotic head motion cancellation system that continuously detects and compensates for patient head motions during a SRS delivery. This approach has the potential to reduce invasiveness while still achieving accuracies better or equal to traditional frame-based SRS. Methods: A 6DOF parallel kinematics roboticsmore » stage was constructed, and controlled using an inverse kinematics-based motion compensation algorithm. A 6DOF stereoscopic infrared (IR) marker tracking system was used to monitor real-time motions at sub-millimeter and sub-degree levels. A novel 6DOF calibration technique was first applied to properly orient the camera coordinate frame to match that of the LINAC and robotic control frames. Simulated head motions were measured by the system, and the robotic stage responded to these 6DOF motions automatically, returning the reflective marker coordinate frame to its original position. Results: After the motions were introduced to the system in the phantom-based study, the robotic stage automatically and rapidly returned the phantom to LINAC isocenter. When errors exceeded the compensation lower threshold of 0.25 mm or 0.25 degrees, the system registered the 6DOF error and generated a cancellation trajectory. The system responded in less than 0.5 seconds and returned all axes to less than 0.1 mm and 0.1 degree after the 6DOF compensation was performed. Conclusion: The 6DOF real-time motion cancellation system was found to be effective at compensating for translational and rotational motions to current SRS requirements. This system can improve frameless SRS by automatically returning patients to isocenter with high 6DOF accuracy.« less
Nonlinear vs. linear biasing in Trp-cage folding simulations

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

Spiwok, Vojtěch, E-mail: spiwokv@vscht.cz; Oborský, Pavel; Králová, Blanka

2015-03-21

Biased simulations have great potential for the study of slow processes, including protein folding. Atomic motions in molecules are nonlinear, which suggests that simulations with enhanced sampling of collective motions traced by nonlinear dimensionality reduction methods may perform better than linear ones. In this study, we compare an unbiased folding simulation of the Trp-cage miniprotein with metadynamics simulations using both linear (principle component analysis) and nonlinear (Isomap) low dimensional embeddings as collective variables. Folding of the mini-protein was successfully simulated in 200 ns simulation with linear biasing and non-linear motion biasing. The folded state was correctly predicted as the free energymore » minimum in both simulations. We found that the advantage of linear motion biasing is that it can sample a larger conformational space, whereas the advantage of nonlinear motion biasing lies in slightly better resolution of the resulting free energy surface. In terms of sampling efficiency, both methods are comparable.« less
Does ℏ play a role in multidimensional spectroscopy? Reduced hierarchy equations of motion approach to molecular vibrations.

PubMed

Sakurai, Atsunori; Tanimura, Yoshitaka

2011-04-28

To investigate the role of quantum effects in vibrational spectroscopies, we have carried out numerically exact calculations of linear and nonlinear response functions for an anharmonic potential system nonlinearly coupled to a harmonic oscillator bath. Although one cannot carry out the quantum calculations of the response functions with full molecular dynamics (MD) simulations for a realistic system which consists of many molecules, it is possible to grasp the essence of the quantum effects on the vibrational spectra by employing a model Hamiltonian that describes an intra- or intermolecular vibrational motion in a condensed phase. The present model fully includes vibrational relaxation, while the stochastic model often used to simulate infrared spectra does not. We have employed the reduced quantum hierarchy equations of motion approach in the Wigner space representation to deal with nonperturbative, non-Markovian, and nonsecular system-bath interactions. Taking the classical limit of the hierarchy equations of motion, we have obtained the classical equations of motion that describe the classical dynamics under the same physical conditions as in the quantum case. By comparing the classical and quantum mechanically calculated linear and multidimensional spectra, we found that the profiles of spectra for a fast modulation case were similar, but different for a slow modulation case. In both the classical and quantum cases, we identified the resonant oscillation peak in the spectra, but the quantum peak shifted to the red compared with the classical one if the potential is anharmonic. The prominent quantum effect is the 1-2 transition peak, which appears only in the quantum mechanically calculated spectra as a result of anharmonicity in the potential or nonlinearity of the system-bath coupling. While the contribution of the 1-2 transition is negligible in the fast modulation case, it becomes important in the slow modulation case as long as the amplitude of the frequency fluctuation is small. Thus, we observed a distinct difference between the classical and quantum mechanically calculated multidimensional spectra in the slow modulation case where spectral diffusion plays a role. This fact indicates that one may not reproduce the experimentally obtained multidimensional spectrum for high-frequency vibrational modes based on classical molecular dynamics simulations if the modulation that arises from surrounding molecules is weak and slow. A practical way to overcome the difference between the classical and quantum simulations was discussed.
Dust motions in quasi-statically charged binary asteroid systems

NASA Astrophysics Data System (ADS)

Maruskin, Jared M.; Bellerose, Julie; Wong, Macken; Mitchell, Lara; Richardson, David; Mathews, Douglas; Nguyen, Tri; Ganeshalingam, Usha; Ma, Gina

2013-03-01

In this paper, we discuss dust motion and investigate possible mass transfer of charged particles in a binary asteroid system, in which the asteroids are electrically charged due to solar radiation. The surface potential of the asteroids is assumed to be a piecewise function, with positive potential on the sunlit half and negative potential on the shadow half. We derive the nonautonomous equations of motion for charged particles and an analytic representation for their lofting conditions. Particle trajectories and temporary relative equilibria are examined in relation to their moving forbidden regions, a concept we define and discuss. Finally, we use a Monte Carlo simulation for a case study on mass transfer and loss rates between the asteroids.
Motion Cueing Algorithm Development: Human-Centered Linear and Nonlinear Approaches

NASA Technical Reports Server (NTRS)

Houck, Jacob A. (Technical Monitor); Telban, Robert J.; Cardullo, Frank M.

2005-01-01

While the performance of flight simulator motion system hardware has advanced substantially, the development of the motion cueing algorithm, the software that transforms simulated aircraft dynamics into realizable motion commands, has not kept pace. Prior research identified viable features from two algorithms: the nonlinear "adaptive algorithm", and the "optimal algorithm" that incorporates human vestibular models. A novel approach to motion cueing, the "nonlinear algorithm" is introduced that combines features from both approaches. This algorithm is formulated by optimal control, and incorporates a new integrated perception model that includes both visual and vestibular sensation and the interaction between the stimuli. Using a time-varying control law, the matrix Riccati equation is updated in real time by a neurocomputing approach. Preliminary pilot testing resulted in the optimal algorithm incorporating a new otolith model, producing improved motion cues. The nonlinear algorithm vertical mode produced a motion cue with a time-varying washout, sustaining small cues for longer durations and washing out large cues more quickly compared to the optimal algorithm. The inclusion of the integrated perception model improved the responses to longitudinal and lateral cues. False cues observed with the NASA adaptive algorithm were absent. The neurocomputing approach was crucial in that the number of presentations of an input vector could be reduced to meet the real time requirement without degrading the quality of the motion cues.
A simple model for studying rotation errors of gimbal mount axes in laser tracking system based on spherical mirror as a reflection unit

NASA Astrophysics Data System (ADS)

Song, Huixu; Shi, Zhaoyao; Chen, Hongfang; Sun, Yanqiang

2018-01-01

This paper presents a novel experimental approach and a simple model for verifying that spherical mirror of laser tracking system could lessen the effect of rotation errors of gimbal mount axes based on relative motion thinking. Enough material and evidence are provided to support that this simple model could replace complex optical system in laser tracking system. This experimental approach and model interchange the kinematic relationship between spherical mirror and gimbal mount axes in laser tracking system. Being fixed stably, gimbal mount axes' rotation error motions are replaced by spatial micro-displacements of spherical mirror. These motions are simulated by driving spherical mirror along the optical axis and vertical direction with the use of precision positioning platform. The effect on the laser ranging measurement accuracy of displacement caused by the rotation errors of gimbal mount axes could be recorded according to the outcome of laser interferometer. The experimental results show that laser ranging measurement error caused by the rotation errors is less than 0.1 μm if radial error motion and axial error motion are under 10 μm. The method based on relative motion thinking not only simplifies the experimental procedure but also achieves that spherical mirror owns the ability to reduce the effect of rotation errors of gimbal mount axes in laser tracking system.
Towards fast online intrafraction replanning for free-breathing stereotactic body radiation therapy with the MR-linac.

PubMed

Kontaxis, C; Bol, G H; Stemkens, B; Glitzner, M; Prins, F M; Kerkmeijer, L G W; Lagendijk, J J W; Raaymakers, B W

2017-08-21

The hybrid MRI-radiotherapy machines, like the MR-linac (Elekta AB, Stockholm, Sweden) installed at the UMC Utrecht (Utrecht, The Netherlands), will be able to provide real-time patient imaging during treatment. In order to take advantage of the system's capabilities and enable online adaptive treatments, a new generation of software should be developed, ranging from motion estimation to treatment plan adaptation. In this work we present a proof of principle adaptive pipeline designed for high precision stereotactic body radiation therapy (SBRT) suitable for sites affected by respiratory motion, like renal cell carcinoma (RCC). We utilized our research MRL treatment planning system (MRLTP) to simulate a single fraction 25 Gy free-breathing SBRT treatment for RCC by performing inter-beam replanning for two patients and one volunteer. The simulated pipeline included a combination of (pre-beam) 4D-MRI and (online) 2D cine-MR acquisitions. The 4DMRI was used to generate the mid-position reference volume, while the cine-MRI, via an in-house motion model, provided three-dimensional (3D) deformable vector fields (DVFs) describing the anatomical changes during treatment. During the treatment fraction, at an inter-beam interval, the mid-position volume of the patient was updated and the delivered dose was accurately reconstructed on the underlying motion calculated by the model. Fast online replanning, targeting the latest anatomy and incorporating the previously delivered dose was then simulated with MRLTP. The adaptive treatment was compared to a conventional mid-position SBRT plan with a 3 mm planning target volume margin reconstructed on the same motion trace. We demonstrate that our system produced tighter dose distributions and thus spared the healthy tissue, while delivering more dose to the target. The pipeline was able to account for baseline variations/drifts that occurred during treatment ensuring target coverage at the end of the treatment fraction.
Poster — Thur Eve — 29: Characterization of Patient Immobilization for Head and Neck Cancer Treatment

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

Courneyea, L; Mullins, J; Howard, M

2014-08-15

Purpose: Evaluate an immobilization system to determine its adequacy for the reduced margins required for proton therapy. Methods: Twelve head-and-neck cancer patients were immobilized for conventional photon radiotherapy and imaged with pre- and post-treatment cone beam CTs (CBCTs) for each treatment fraction. To quantify the patient positioning reproducibility, each CBCT was registered to the simulation CT offline. Registrations were performed using auto-match tools and a matching volume-of-interest (VOI) consisting of a 5mm expansion around the mandible, occipital bone, C1/C2 and C7/T1. For each registration, the bony anatomy in the VOI was evaluated for agreement with the simulation position using 3more » and 5mm margins. Registrations were initially restricted to translational corrections. If the bony anatomy did not agree with the simulation position to within 3mm or 5mm, the auto-match was repeated with 3 additional rotational corrections. Intrafraction motion was calculated as the difference between the pre- and post-treatment CBCT matches. Results: Pre-treatment patient positioning agreed with the simulation CT to within 3mm/5mm for 62%/86% of fractions using translational matching and 84%/100% of fractions when rotations were included. Intrafraction motion averaged 1.1±0.8mm, with 12% of fractions having >2mm intrafraction motion. Post-treatment positioning accuracy was 57%/84% and 80%/100% for registrations without/with rotations. For the mandible, positioning accuracy dropped from 93% pre-treatment to 82% post-treatment. Conclusion: If rotational corrections are available, the immobilization system studied created reproducible patient positioning to within 3mm for 84% of fractions. However, intrafraction motion caused additional anatomy to fall outside the 3mm margin by the end of treatment.« less
Dynamic analysis of flexible mechanical systems using LATDYN

NASA Technical Reports Server (NTRS)

Wu, Shih-Chin; Chang, Che-Wei; Housner, Jerrold M.

1989-01-01

A 3-D, finite element based simulation tool for flexible multibody systems is presented. Hinge degrees-of-freedom is built into equations of motion to reduce geometric constraints. The approach avoids the difficulty in selecting deformation modes for flexible components by using assumed mode method. The tool is applied to simulate a practical space structure deployment problem. Results of examples demonstrate the capability of the code and approach.
Simulation of ground motion using the stochastic method

USGS Publications Warehouse

Boore, D.M.

2003-01-01

A simple and powerful method for simulating ground motions is to combine parametric or functional descriptions of the ground motion's amplitude spectrum with a random phase spectrum modified such that the motion is distributed over a duration related to the earthquake magnitude and to the distance from the source. This method of simulating ground motions often goes by the name "the stochastic method." It is particularly useful for simulating the higher-frequency ground motions of most interest to engineers (generally, f>0.1 Hz), and it is widely used to predict ground motions for regions of the world in which recordings of motion from potentially damaging earthquakes are not available. This simple method has been successful in matching a variety of ground-motion measures for earthquakes with seismic moments spanning more than 12 orders of magnitude and in diverse tectonic environments. One of the essential characteristics of the method is that it distills what is known about the various factors affecting ground motions (source, path, and site) into simple functional forms. This provides a means by which the results of the rigorous studies reported in other papers in this volume can be incorporated into practical predictions of ground motion.
Check-Cases for Verification of 6-Degree-of-Freedom Flight Vehicle Simulations

NASA Technical Reports Server (NTRS)

Murri, Daniel G.; Jackson, E. Bruce; Shelton, Robert O.

2015-01-01

The rise of innovative unmanned aeronautical systems and the emergence of commercial space activities have resulted in a number of relatively new aerospace organizations that are designing innovative systems and solutions. These organizations use a variety of commercial off-the-shelf and in-house-developed simulation and analysis tools including 6-degree-of-freedom (6-DOF) flight simulation tools. The increased affordability of computing capability has made highfidelity flight simulation practical for all participants. Verification of the tools' equations-of-motion and environment models (e.g., atmosphere, gravitation, and geodesy) is desirable to assure accuracy of results. However, aside from simple textbook examples, minimal verification data exists in open literature for 6-DOF flight simulation problems. This assessment compared multiple solution trajectories to a set of verification check-cases that covered atmospheric and exo-atmospheric (i.e., orbital) flight. Each scenario consisted of predefined flight vehicles, initial conditions, and maneuvers. These scenarios were implemented and executed in a variety of analytical and real-time simulation tools. This tool-set included simulation tools in a variety of programming languages based on modified flat-Earth, round- Earth, and rotating oblate spheroidal Earth geodesy and gravitation models, and independently derived equations-of-motion and propagation techniques. The resulting simulated parameter trajectories were compared by over-plotting and difference-plotting to yield a family of solutions. In total, seven simulation tools were exercised.
Dynamic modeling and motion simulation for a winged hybrid-driven underwater glider

NASA Astrophysics Data System (ADS)

Wang, Shu-Xin; Sun, Xiu-Jun; Wang, Yan-Hui; Wu, Jian-Guo; Wang, Xiao-Ming

2011-03-01

PETREL, a winged hybrid-driven underwater glider is a novel and practical marine survey platform which combines the features of legacy underwater glider and conventional AUV (autonomous underwater vehicle). It can be treated as a multi-rigid-body system with a floating base and a particular hydrodynamic profile. In this paper, theorems on linear and angular momentum are used to establish the dynamic equations of motion of each rigid body and the effect of translational and rotational motion of internal masses on the attitude control are taken into consideration. In addition, due to the unique external shape with fixed wings and deflectable rudders and the dual-drive operation in thrust and glide modes, the approaches of building dynamic model of conventional AUV and hydrodynamic model of submarine are introduced, and the tailored dynamic equations of the hybrid glider are formulated. Moreover, the behaviors of motion in glide and thrust operation are analyzed based on the simulation and the feasibility of the dynamic model is validated by data from lake field trials.
An investigation of motion base cueing and G-seat cueing on pilot performance in a simulator

NASA Technical Reports Server (NTRS)

Mckissick, B. T.; Ashworth, B. R.; Parrish, R. V.

1983-01-01

The effect of G-seat cueing (GSC) and motion-base cueing (MBC) on performance of a pursuit-tracking task is studied using the visual motion simulator (VMS) at Langley Research Center. The G-seat, the six-degree-of-freedom synergistic platform motion system, the visual display, the cockpit hardware, and the F-16 aircraft mathematical model are characterized. Each of 8 active F-15 pilots performed the 2-min-43-sec task 10 times for each experimental mode: no cue, GSC, MBC, and GSC + MBC; the results were analyzed statistically in terms of the RMS values of vertical and lateral tracking error. It is shown that lateral error is significantly reduced by either GSC or MBC, and that the combination of cues produces a further, significant decrease. Vertical error is significantly decreased by GSC with or without MBC, whereas MBC effects vary for different pilots. The pattern of these findings is roughly duplicated in measurements of stick force applied for roll and pitch correction.
The Experience of Force: The Role of Haptic Experience of Forces in Visual Perception of Object Motion and Interactions, Mental Simulation, and Motion-Related Judgments

ERIC Educational Resources Information Center

White, Peter A.

2012-01-01

Forces are experienced in actions on objects. The mechanoreceptor system is stimulated by proximal forces in interactions with objects, and experiences of force occur in a context of information yielded by other sensory modalities, principally vision. These experiences are registered and stored as episodic traces in the brain. These stored…
Biomechanics Analysis of Combat Sport (Silat) By Using Motion Capture System

NASA Astrophysics Data System (ADS)

Zulhilmi Kaharuddin, Muhammad; Badriah Khairu Razak, Siti; Ikram Kushairi, Muhammad; Syawal Abd. Rahman, Mohamed; An, Wee Chang; Ngali, Z.; Siswanto, W. A.; Salleh, S. M.; Yusup, E. M.

2017-01-01

‘Silat’ is a Malay traditional martial art that is practiced in both amateur and in professional levels. The intensity of the motion spurs the scientific research in biomechanics. The main purpose of this abstract is to present the biomechanics method used in the study of ‘silat’. By using the 3D Depth Camera motion capture system, two subjects are to perform ‘Jurus Satu’ in three repetitions each. One subject is set as the benchmark for the research. The videos are captured and its data is processed using the 3D Depth Camera server system in the form of 16 3D body joint coordinates which then will be transformed into displacement, velocity and acceleration components by using Microsoft excel for data calculation and Matlab software for simulation of the body. The translated data obtained serves as an input to differentiate both subjects’ execution of the ‘Jurus Satu’. Nine primary movements with the addition of five secondary movements are observed visually frame by frame from the simulation obtained to get the exact frame that the movement takes place. Further analysis involves the differentiation of both subjects’ execution by referring to the average mean and standard deviation of joints for each parameter stated. The findings provide useful data for joints kinematic parameters as well as to improve the execution of ‘Jurus Satu’ and to exhibit the process of learning a movement that is relatively unknown by the use of a motion capture system.
An experimental study of the effect of mooring systems on the dynamics of a SPAR buoy-type floating offshore wind turbine

NASA Astrophysics Data System (ADS)

Hong, Sinpyo; Lee, Inwon; Park, Seong Hyeon; Lee, Cheolmin; Chun, Ho-Hwan; Lim, Hee Chang

2015-09-01

An experimental study of the effect of mooring systems on the dynamics of a SPAR buoy-type floating offshore wind turbine is presented. The effects of the Center of Gravity (COG), mooring line spring constant, and fair-lead location on the turbine's motion in response to regular waves are investigated. Experimental results show that for a typical mooring system of a SPAR buoy-type Floating Offshore Wind Turbine (FOWT), the effect of mooring systems on the dynamics of the turbine can be considered negligible. However, the pitch decreases notably as the COG increases. The COG and spring constant of the mooring line have a negligible effect on the fairlead displacement. Numerical simulation and sensitivity analysis show that the wind turbine motion and its sensitivity to changes in the mooring system and COG are very large near resonant frequencies. The test results can be used to validate numerical simulation tools for FOWTs.
The Total In-Flight Simulator (TIFS) aerodynamics and systems: Description and analysis. [maneuver control and gust alleviators

NASA Technical Reports Server (NTRS)

Andrisani, D., II; Daughaday, H.; Dittenhauser, J.; Rynaski, E.

1978-01-01

The aerodynamics, control system, instrumentation complement and recording system of the USAF Total In/Flight Simulator (TIFS) airplane are described. A control system that would allow the ailerons to be operated collectively, as well as, differentially to entrance the ability of the vehicle to perform the dual function of maneuver load control and gust alleviation is emphasized. Mathematical prediction of the rigid body and the flexible equations of longitudinal motion using the level 2.01 FLEXSTAB program are included along with a definition of the vehicle geometry, the mass and stiffness distribution, the calculated mode frequencies and mode shapes, and the resulting aerodynamic equations of motion of the flexible vehicle. A complete description of the control and instrumentation system of the aircraft is presented, including analysis, ground test and flight data comparisons of the performance and bandwidth of the aerodynamic surface servos. Proposed modification for improved performance of the servos are also presented.
A general-purpose framework to simulate musculoskeletal system of human body: using a motion tracking approach.

PubMed

Ehsani, Hossein; Rostami, Mostafa; Gudarzi, Mohammad

2016-02-01

Computation of muscle force patterns that produce specified movements of muscle-actuated dynamic models is an important and challenging problem. This problem is an undetermined one, and then a proper optimization is required to calculate muscle forces. The purpose of this paper is to develop a general model for calculating all muscle activation and force patterns in an arbitrary human body movement. For this aim, the equations of a multibody system forward dynamics, which is considered for skeletal system of the human body model, is derived using Lagrange-Euler formulation. Next, muscle contraction dynamics is added to this model and forward dynamics of an arbitrary musculoskeletal system is obtained. For optimization purpose, the obtained model is used in computed muscle control algorithm, and a closed-loop system for tracking desired motions is derived. Finally, a popular sport exercise, biceps curl, is simulated by using this algorithm and the validity of the obtained results is evaluated via EMG signals.

Variational mixed quantum/semiclassical simulation of dihalogen guest and rare-gas solid host dynamics

NASA Astrophysics Data System (ADS)

Cheng, Xiaolu; Cina, Jeffrey A.

2014-07-01

A variational mixed quantum-semiclassical theory for the internal nuclear dynamics of a small molecule and the induced small-amplitude coherent motion of a low-temperature host medium is developed, tested, and used to simulate the temporal evolution of nonstationary states of the internal molecular and surrounding medium degrees of freedom. In this theory, termed the Fixed Vibrational Basis/Gaussian Bath (FVB/GB) method, the system is treated fully quantum mechanically while Gaussian wave packets are used for the bath degrees of freedom. An approximate time-dependent wave function of the entire model is obtained instead of just a reduced system density matrix, so the theory enables the analysis of the entangled system and bath dynamics that ensues following initial displacement of the internal-molecular (system) coordinate from its equilibrium position. The norm- and energy-conserving properties of the propagation of our trial wave function are natural consequences of the Dirac-Frenkel-McLachlan variational principle. The variational approach also stabilizes the time evolution in comparison to the same ansatz propagated under a previously employed locally quadratic approximation to the bath potential and system-bath interaction terms in the bath-parameter equations of motion. Dynamics calculations are carried out for molecular iodine in a 2D krypton lattice that reveal both the time-course of vibrational decoherence and the details of host-atom motion accompanying energy dissipation and dephasing. This work sets the stage for the comprehensive simulation of ultrafast time-resolved optical experiments on small molecules in low-temperature solids.
Use of a Computer Simulation To Develop Mental Simulations for Understanding Relative Motion Concepts.

ERIC Educational Resources Information Center

Monaghan, James M.; Clement, John

1999-01-01

Presents evidence for students' qualitative and quantitative difficulties with apparently simple one-dimensional relative-motion problems, students' spontaneous visualization of relative-motion problems, the visualizations facilitating solution of these problems, and students' memories of the online computer simulation used as a framework for…
A study of the comparative effects of various means of motion cueing during a simulated compensatory tracking task

NASA Technical Reports Server (NTRS)

Mckissick, B. T.; Ashworth, B. R.; Parrish, R. V.; Martin, D. J., Jr.

1980-01-01

NASA's Langley Research Center conducted a simulation experiment to ascertain the comparative effects of motion cues (combinations of platform motion and g-seat normal acceleration cues) on compensatory tracking performance. In the experiment, a full six-degree-of-freedom YF-16 model was used as the simulated pursuit aircraft. The Langley Visual Motion Simulator (with in-house developed wash-out), and a Langley developed g-seat were principal components of the simulation. The results of the experiment were examined utilizing univariate and multivariate techniques. The statistical analyses demonstrate that the platform motion and g-seat cues provide additional information to the pilot that allows substantial reduction of lateral tracking error. Also, the analyses show that the g-seat cue helps reduce vertical error.
Profile analysis of after-effects experienced during exposure to several virtual reality environments

NASA Technical Reports Server (NTRS)

Kennedy, Robert S.; Jones, Marshall B.; Lilienthal, Michael G.; Harm, Deborah L.

1994-01-01

Motion sickness symptoms are an unwanted by-product of exposure to virtual environments. This problem is not new and was reported in the early flight simulators and experiments on ego motions and vection. The cardinal symptom of motion sickness is, of course, vomiting, but this symptom is ordinarily preceded by a variety of other symptoms. In his classic studies of motion sickness conducted before and during World War II, G. R. Wendt introduced a three point scale to score motion sickness beyond a vomit/no vomit dichotomy. Later, Navy scientists developed a Motion Sickness Questionnaire (MSQ), originally for use in a slowly rotating room. In the last 20 years the MSQ has been used in a series of studies of air, sea, and space sickness. Only recently, however, has it been appreciated that symptom patterns in the MSQ are not uniform but vary with the way sickness is induced. In seasickness, for example, nausea is the most prominent symptom. In Navy simulators, however, the most common symptom is eye strain, especially when cathode ray tubes are employed in the simulation. The latter result was obtained in a survey of over 1,500 pilot exposures. Using this database, Essex scientists conducted a factor analysis of the MSQ. We found that signs and symptoms of motion sickness fell mainly into three clusters: 1) oculomotor disturbance, 2) nausea and related neurovegetative problems, and 3) disorientation, ataxia, and vertigo. We have since rescored the MSQ results obtained in Navy simulators in terms of these three components. We have also compared these and other profiles obtained from three different vitual reality systems to profiles obtained in sea sickness, space sickness, and alcohol intoxication. We will show examples of these various profiles and point out simularities and differences among them which indicate aspects of what might be called 'virtual-reality sickness'.
Wind energy system time-domain (WEST) analyzers

NASA Technical Reports Server (NTRS)

Dreier, M. E.; Hoffman, J. A.

1981-01-01

A portable analyzer which simulates in real time the complex nonlinear dynamics of horizontal axis wind energy systems was constructed. Math models for an aeroelastic rotor featuring nonlinear aerodynamic and inertial terms were implemented with high speed digital controllers and analog calculation. This model was combined with other math models of elastic supports, control systems, a power train and gimballed rotor kinematics. A stroboscopic display system graphically depicting distributed blade loads, motion, and other aerodynamic functions on a cathode ray tube is included. Limited correlation efforts showed good comparison between the results of this analyzer and other sophisticated digital simulations. The digital simulation results were successfully correlated with test data.
Thermally induced vibrations of smart solar panel in a low-orbit satellite

NASA Astrophysics Data System (ADS)

Azadi, E.; Fazelzadeh, S. Ahmad; Azadi, M.

2017-03-01

In this paper, a smart flexible satellite moving in a circular orbit with two flexible panels are studied. The panels have been modeled as clamped-free-free-free rectangular plates with attached piezoelectric actuators. It is assumed that the satellite has a pitch angle rotation maneuver. Rapid temperature changes at day-night transitions in orbit generate time dependent bending moments. Satellite maneuver and temperature varying induce vibrations in the appendages. So, to simulate the system, heat radiation effects on the appendages have been considered. The nonlinear equations of motion and the heat transfer equations are coupled and solved simultaneously. So, the governing equations of motion are nonlinear and very complicated ones. Finally, the whole system is simulated and the effects of the heat radiation, radius of the orbit, piezoelectric voltages, and piezoelectric locations on the response of the system are studied.
VTOL shipboard letdown guidance system analysis

NASA Technical Reports Server (NTRS)

Phatak, A. V.; Karmali, M. S.

1983-01-01

Alternative letdown guidance strategies are examined for landing of a VTOL aircraft onboard a small aviation ship under adverse environmental conditions. Off line computer simulation of shipboard landing task is utilized for assessing the relative merits of the proposed guidance schemes. The touchdown performance of a nominal constant rate of descent (CROD) letdown strategy serves as a benchmark for ranking the performance of the alternative letdown schemes. Analysis of ship motion time histories indicates the existence of an alternating sequence of quiescent and rough motions called lulls and swells. A real time algorithms lull/swell classification based upon ship motion pattern features is developed. The classification algorithm is used to command a go/no go signal to indicate the initiation and termination of an acceptable landing window. Simulation results show that such a go/no go pattern based letdown guidance strategy improves touchdown performance.
Dynamics of knotted flexible loops settling under a constant force in a viscous fluid

NASA Astrophysics Data System (ADS)

Gruziel, Magdalena; Thyagarajan, Krishnan; Dietler, Giovanni; Szymczak, Piotr; Ekiel-Jezewska, Maria

2017-11-01

Sedimenting chains of metal beads knotted to a topology of a torus knot tend to stabilize in the form of extended, flat, tightly interwound loops. In this configuration they perform an oscillatory motion of the loops swirling periodically around each other. Stokesian dynamics simulations of elastic fibers confirm the long-lasting character of the traveling wave-like swirling motion and show also the accompanying rotation of the system. Moreover, the periodic motion shows striking resemblance to the stable solutions for the evolution of vortices of torus knot topology. Using the results of the simulations we study the dependence of the frequencies and sedimentation velocities on the length of the fiber. We also notice the dependence of the knot dynamics on the bending stiffness of the fiber and the knot rank. NCN-2015/19/D/ST8/03199.
Comparison of different models of motion in a crowded environment: a Monte Carlo study.

PubMed

Polanowski, P; Sikorski, A

2017-02-22

In this paper we investigate the motion of molecules in crowded environments for two dramatically different types of molecular transport. The first type is realized by the dynamic lattice liquid model, which is based on a cooperative movement concept and thus, the motion of molecules is highly correlated. The second one corresponds to a so-called motion of a single agent where the motion of molecules is considered as a random walk without any correlation with other moving elements. The crowded environments are modeled as a two-dimensional triangular lattice with fixed impenetrable obstacles. Our simulation results indicate that the type of transport has an impact on the dynamics of the system, the percolation threshold, critical exponents, and on molecules' trajectories.
Efficient physics-based tracking of heart surface motion for beating heart surgery robotic systems.

PubMed

Bogatyrenko, Evgeniya; Pompey, Pascal; Hanebeck, Uwe D

2011-05-01

Tracking of beating heart motion in a robotic surgery system is required for complex cardiovascular interventions. A heart surface motion tracking method is developed, including a stochastic physics-based heart surface model and an efficient reconstruction algorithm. The algorithm uses the constraints provided by the model that exploits the physical characteristics of the heart. The main advantage of the model is that it is more realistic than most standard heart models. Additionally, no explicit matching between the measurements and the model is required. The application of meshless methods significantly reduces the complexity of physics-based tracking. Based on the stochastic physical model of the heart surface, this approach considers the motion of the intervention area and is robust to occlusions and reflections. The tracking algorithm is evaluated in simulations and experiments on an artificial heart. Providing higher accuracy than the standard model-based methods, it successfully copes with occlusions and provides high performance even when all measurements are not available. Combining the physical and stochastic description of the heart surface motion ensures physically correct and accurate prediction. Automatic initialization of the physics-based cardiac motion tracking enables system evaluation in a clinical environment.
The use of the articulated total body model as a robot dynamics simulation tool

NASA Technical Reports Server (NTRS)

Obergfell, Louise A.; Avula, Xavier J. R.; Kalegs, Ints

1988-01-01

The Articulated Total Body (ATB) model is a computer sumulation program which was originally developed for the study of aircrew member dynamics during ejection from high-speed aircraft. This model is totally three-dimensional and is based on the rigid body dynamics of coupled systems which use Euler's equations of motion with constraint relations of the type employed in the Lagrange method. In this paper the use of the ATB model as a robot dynamics simulation tool is discussed and various simulations are demonstrated. For this purpose the ATB model has been modified to allow for the application of torques at the joints as functions of state variables of the system. Specifically, the motion of a robotic arm with six revolute articulations with joint torques prescribed as functions of angular displacement and angular velocity are demonstrated. The simulation procedures developed in this work may serve as valuable tools for analyzing robotic mechanisms, dynamic effects, joint load transmissions, feed-back control algorithms employed in the actuator control and end-effector trajectories.
Offline motion planning and simulation of two-robot welding coordination

NASA Astrophysics Data System (ADS)

Zhang, Tie; Ouyang, Fan

2012-03-01

This paper focuses on the two-robot welding coordination of complex curve seam which means one robot grasp the workpiece, the other hold the torch, the two robots work on the same workpiece simultaneously. This paper builds the dual-robot coordinate system at the beginning, and three point calibration method of two robots' relative base coordinate system is presented. After that, the non master/slave scheme is chosen for the motion planning, the non master/slave scheme sets the poses versus time function of the point u on the workpiece, and calculates the two robot end effecter trajectories through the constrained relationship matrix automatically. Moreover, downhand welding is employed which can guarantee the torch and the seam keep in good contact condition all the time during the welding. Finally, a Solidworks-Sim Mechanics simulation platform is established, and a simulation of curved steel pipe welding is conducted. The results of the simulation illustrate the welding process can meet the requirements of downhand welding, the joint displacement curves are smooth and continuous and no joint velocities are out of working scope.
Toward real-time regional earthquake simulation of Taiwan earthquakes

NASA Astrophysics Data System (ADS)

Lee, S.; Liu, Q.; Tromp, J.; Komatitsch, D.; Liang, W.; Huang, B.

2013-12-01

We developed a Real-time Online earthquake Simulation system (ROS) to simulate regional earthquakes in Taiwan. The ROS uses a centroid moment tensor solution of seismic events from a Real-time Moment Tensor monitoring system (RMT), which provides all the point source parameters including the event origin time, hypocentral location, moment magnitude and focal mechanism within 2 minutes after the occurrence of an earthquake. Then, all of the source parameters are automatically forwarded to the ROS to perform an earthquake simulation, which is based on a spectral-element method (SEM). We have improved SEM mesh quality by introducing a thin high-resolution mesh layer near the surface to accommodate steep and rapidly varying topography. The mesh for the shallow sedimentary basin is adjusted to reflect its complex geometry and sharp lateral velocity contrasts. The grid resolution at the surface is about 545 m, which is sufficient to resolve topography and tomography data for simulations accurate up to 1.0 Hz. The ROS is also an infrastructural service, making online earthquake simulation feasible. Users can conduct their own earthquake simulation by providing a set of source parameters through the ROS webpage. For visualization, a ShakeMovie and ShakeMap are produced during the simulation. The time needed for one event is roughly 3 minutes for a 70 sec ground motion simulation. The ROS is operated online at the Institute of Earth Sciences, Academia Sinica (http://ros.earth.sinica.edu.tw/). Our long-term goal for the ROS system is to contribute to public earth science outreach and to realize seismic ground motion prediction in real-time.
A Null Space Control of Two Wheels Driven Mobile Manipulator Using Passivity Theory

NASA Astrophysics Data System (ADS)

Shibata, Tsuyoshi; Murakami, Toshiyuki

This paper describes a control strategy of null space motion of a two wheels driven mobile manipulator. Recently, robot is utilized in various industrial fields and it is preferable for the robot manipulator to have multiple degrees of freedom motion. Several studies of kinematics for null space motion have been proposed. However stability analysis of null space motion is not enough. Furthermore, these approaches apply to stable systems, but they do not apply unstable systems. Then, in this research, base of manipulator equips with two wheels driven mobile robot. This robot is called two wheels driven mobile manipulator, which becomes unstable system. In the proposed approach, a control design of null space uses passivity based stabilizing. A proposed controller is decided so that closed-loop system of robot dynamics satisfies passivity. This is passivity based control. Then, control strategy is that stabilizing of the robot system applies to work space observer based approach and null space control while keeping end-effector position. The validity of the proposed approach is verified by simulations and experiments of two wheels driven mobile manipulator.
Gyroscope-reduced inertial navigation system for flight vehicle motion estimation

NASA Astrophysics Data System (ADS)

Wang, Xin; Xiao, Lu

2017-01-01

In this paper, a novel configuration of strategically distributed accelerometer sensors with the aid of one gyro to infer a flight vehicle's angular motion is presented. The MEMS accelerometer and gyro sensors are integrated to form a gyroscope-reduced inertial measurement unit (GR-IMU). The motivation for gyro aided accelerometers array is to have direct measurements of angular rates, which is an improvement to the traditional gyroscope-free inertial system that employs only direct measurements of specific force. Some technical issues regarding error calibration in accelerometers and gyro in GR-IMU are put forward. The GR-IMU based inertial navigation system can be used to find a complete attitude solution for flight vehicle motion estimation. Results of numerical simulation are given to illustrate the effectiveness of the proposed configuration. The gyroscope-reduced inertial navigation system based on distributed accelerometer sensors can be developed into a cost effective solution for a fast reaction, MEMS based motion capture system. Future work will include the aid from external navigation references (e.g. GPS) to improve long time mission performance.
NBOD2- PROGRAM TO DERIVE AND SOLVE EQUATIONS OF MOTION FOR COUPLED N-BODY SYSTEMS

NASA Technical Reports Server (NTRS)

Frisch, H. P.

1994-01-01

The analysis of the dynamic characteristics of a complex system, such as a spacecraft or a robot, is usually best accomplished through the study of a simulation model. The simulation model must have the same dynamic characteristics as the complex system, while lending itself to mathematical quantification. The NBOD2 computer program was developed to aid in the analysis of spacecraft attitude dynamics. NBOD2 is a very general program that may be applied to a large class of problems involving coupled N-body systems. NBOD2 provides the dynamics analyst with the capability to automatically derive and numerically solve the equations of motion for any system that can be modeled as a topological tree of coupled rigid bodies, flexible bodies, point masses, and symmetrical momentum wheels. NBOD2 uses a topological tree model of the dynamic system to derive the vector-dyadic equations of motion for the system. The user builds this topological tree model by using rigid and flexible bodies, point masses, and symmetrical momentum wheels with appropriate connections. To insure that the relative motion between contiguous bodies is kinematically constrained, NBOD2 assumes that contiguous rigid and flexible bodies are connected by physically reliable 0, 1, 2, and 3-degrees-of-freedom gimbals. These gimbals prohibit relative translational motion, while permitting up to 3 degrees of relative rotational freedom at hinge points. Point masses may have 0, 1, 2, or 3-degrees of relative translational freedom, and symmetric momentum wheels may have a single degree of rotational freedom relative to the body in which they are imbedded. Flexible bodies may possess several degrees of vibrational freedom in addition to the degrees of freedom associated with the connection gimbals. Data concerning the natural modes and vibrations of the flexible bodies must be supplied by the user. NBOD2 combines the best features of the discrete-body approach and the nested body approach to reduce the topological tree to a complete set of nonlinear equations of motion in vector-dyadic form for the system being analyzed. NBOD2 can then numerically solve the equations of motion. Input to NBOD2 consists of a user-supplied description of the system to be modeled. The NBOD2 system includes an interactive, tutorial, input support program to aid the NBOD2 user in preparing input data. Output from NBOD2 consists of a listing of the complete set of nonlinear equations of motion in vector-dyadic form and any userspecified set of system state variables. The NBOD2 program is written in FORTRAN 77 for batch execution and has been implemented on a DEC VAX-11/780 computer. The NBOD2 program was developed in 1978 and last updated in 1982.
Engineering applications of strong ground motion simulation

NASA Astrophysics Data System (ADS)

Somerville, Paul

1993-02-01

The formulation, validation and application of a procedure for simulating strong ground motions for use in engineering practice are described. The procedure uses empirical source functions (derived from near-source strong motion recordings of small earthquakes) to provide a realistic representation of effects such as source radiation that are difficult to model at high frequencies due to their partly stochastic behavior. Wave propagation effects are modeled using simplified Green's functions that are designed to transfer empirical source functions from their recording sites to those required for use in simulations at a specific site. The procedure has been validated against strong motion recordings of both crustal and subduction earthquakes. For the validation process we choose earthquakes whose source models (including a spatially heterogeneous distribution of the slip of the fault) are independently known and which have abundant strong motion recordings. A quantitative measurement of the fit between the simulated and recorded motion in this validation process is used to estimate the modeling and random uncertainty associated with the simulation procedure. This modeling and random uncertainty is one part of the overall uncertainty in estimates of ground motions of future earthquakes at a specific site derived using the simulation procedure. The other contribution to uncertainty is that due to uncertainty in the source parameters of future earthquakes that affect the site, which is estimated from a suite of simulations generated by varying the source parameters over their ranges of uncertainty. In this paper, we describe the validation of the simulation procedure for crustal earthquakes against strong motion recordings of the 1989 Loma Prieta, California, earthquake, and for subduction earthquakes against the 1985 Michoacán, Mexico, and Valparaiso, Chile, earthquakes. We then show examples of the application of the simulation procedure to the estimatation of the design response spectra for crustal earthquakes at a power plant site in California and for subduction earthquakes in the Seattle-Portland region. We also demonstrate the use of simulation methods for modeling the attenuation of strong ground motion, and show evidence of the effect of critical reflections from the lower crust in causing the observed flattening of the attenuation of strong ground motion from the 1988 Saguenay, Quebec, and 1989 Loma Prieta earthquakes.
SU-E-J-45: Design and Study of An In-House Respiratory Gating Phantom Platform for Gated Radiotherapy

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

Senthilkumar, S

2014-06-01

Purpose: The main purpose of this work was to develop an in-house low cost respiratory motion phantom platform for testing the accuracy of the gated radiotherapy system and analyze the dosimetric difference during gated radiotherapy. Methods: An in-house respiratory motion platform(RMP) was designed and constructed for testing the targeting accuracy of respiratory tracking system. The RMP consist of acrylic Chest Wall Platform, 2 DC motors, 4 IR sensors, speed controller circuit, 2 LED and 2 moving rods inside the RMP. The velocity of the movement can be varied from 0 to 30 cycles per minute. The platform mounted to amore » base using precision linear bearings. The base and platform are made of clear, 15mm thick polycarbonate plastic and the linear ball bearings are oriented to restrict the platform to a movement of approximately 50mm up and down with very little friction. Results: The targeting accuracy of the respiratory tracking system was evaluated using phantom with and without respiratory movement with varied amplitude. We have found the 5% dose difference to the PTV during the movement in comparison with stable PTV. The RMP can perform sinusoidal motion in 1D with fixed peak to peak motion of 5 to 50mm and cycle interval from 2 to 6 seconds. The RMP was designed to be able to simulate the gross anatomical anterior posterior motion attributable to respiration-induced motion of the thoracic region. Conclusion: The unique RMP simulates breathing providing the means to create a comprehensive program for commissioning, training, quality assurance and dose verification of gated radiotherapy treatments. Create the anterior/posterior movement of a target over a 5 to 50 mm distance to replicate tumor movement. The targeting error of the respiratory tracking system is less than 1.0 mm which shows suitable for clinical treatment with highly performance.« less
Auto-tracking system for human lumbar motion analysis.

PubMed

Sui, Fuge; Zhang, Da; Lam, Shing Chun Benny; Zhao, Lifeng; Wang, Dongjun; Bi, Zhenggang; Hu, Yong

2011-01-01

Previous lumbar motion analyses suggest the usefulness of quantitatively characterizing spine motion. However, the application of such measurements is still limited by the lack of user-friendly automatic spine motion analysis systems. This paper describes an automatic analysis system to measure lumbar spine disorders that consists of a spine motion guidance device, an X-ray imaging modality to acquire digitized video fluoroscopy (DVF) sequences and an automated tracking module with a graphical user interface (GUI). DVF sequences of the lumbar spine are recorded during flexion-extension under a guidance device. The automatic tracking software utilizing a particle filter locates the vertebra-of-interest in every frame of the sequence, and the tracking result is displayed on the GUI. Kinematic parameters are also extracted from the tracking results for motion analysis. We observed that, in a bone model test, the maximum fiducial error was 3.7%, and the maximum repeatability error in translation and rotation was 1.2% and 2.6%, respectively. In our simulated DVF sequence study, the automatic tracking was not successful when the noise intensity was greater than 0.50. In a noisy situation, the maximal difference was 1.3 mm in translation and 1° in the rotation angle. The errors were calculated in translation (fiducial error: 2.4%, repeatability error: 0.5%) and in the rotation angle (fiducial error: 1.0%, repeatability error: 0.7%). However, the automatic tracking software could successfully track simulated sequences contaminated by noise at a density ≤ 0.5 with very high accuracy, providing good reliability and robustness. A clinical trial with 10 healthy subjects and 2 lumbar spondylolisthesis patients were enrolled in this study. The measurement with auto-tacking of DVF provided some information not seen in the conventional X-ray. The results proposed the potential use of the proposed system for clinical applications.
Friction measurement in a hip wear simulator.

PubMed

Saikko, Vesa

2016-05-01

A torque measurement system was added to a widely used hip wear simulator, the biaxial rocking motion device. With the rotary transducer, the frictional torque about the drive axis of the biaxial rocking motion mechanism was measured. The principle of measuring the torque about the vertical axis above the prosthetic joint, used earlier in commercial biaxial rocking motion simulators, was shown to sense only a minor part of the total frictional torque. With the present method, the total frictional torque of the prosthetic hip was measured. This was shown to consist of the torques about the vertical axis above the joint and about the leaning axis. Femoral heads made from different materials were run against conventional and crosslinked polyethylene acetabular cups in serum lubrication. Regarding the femoral head material and the type of polyethylene, there were no categorical differences in frictional torque with the exception of zirconia heads, with which the lowest values were obtained. Diamond-like carbon coating of the CoCr femoral head did not reduce friction. The friction factor was found to always decrease with increasing load. High wear could increase the frictional torque by 75%. With the present system, friction can be continuously recorded during long wear tests, so the effect of wear on friction with different prosthetic hips can be evaluated. © IMechE 2016.

Integration of the virtual model of a Stewart platform with the avatar of a vehicle in a virtual reality

NASA Astrophysics Data System (ADS)

Herbuś, K.; Ociepka, P.

2016-08-01

The development of methods of computer aided design and engineering allows conducting virtual tests, among others concerning motion simulation of technical means. The paper presents a method of integrating an object in the form of a virtual model of a Stewart platform with an avatar of a vehicle moving in a virtual environment. The area of the problem includes issues related to the problem of fidelity of mapping the work of the analyzed technical mean. The main object of investigations is a 3D model of a Stewart platform, which is a subsystem of the simulator designated for driving learning for disabled persons. The analyzed model of the platform, prepared for motion simulation, was created in the “Motion Simulation” module of a CAD/CAE class system Siemens PLM NX. Whereas the virtual environment, in which the moves the avatar of the passenger car, was elaborated in a VR class system EON Studio. The element integrating both of the mentioned software environments is a developed application that reads information from the virtual reality (VR) concerning the current position of the car avatar. Then, basing on the accepted algorithm, it sends control signals to respective joints of the model of the Stewart platform (CAD).
Impact analysis of air gap motion with respect to parameters of mooring system for floating platform

NASA Astrophysics Data System (ADS)

Shen, Zhong-xiang; Huo, Fa-li; Nie, Yan; Liu, Yin-dong

2017-04-01

In this paper, the impact analysis of air gap concerning the parameters of mooring system for the semi-submersible platform is conducted. It is challenging to simulate the wave, current and wind loads of a platform based on a model test simultaneously. Furthermore, the dynamic equivalence between the truncated and full-depth mooring system is still a tuff work. However, the wind and current loads can be tested accurately in wind tunnel model. Furthermore, the wave can be simulated accurately in wave tank test. The full-scale mooring system and the all environment loads can be simulated accurately by using the numerical model based on the model tests simultaneously. In this paper, the air gap response of a floating platform is calculated based on the results of tunnel test and wave tank. Meanwhile, full-scale mooring system, the wind, wave and current load can be considered simultaneously. In addition, a numerical model of the platform is tuned and validated by ANSYS AQWA according to the model test results. With the support of the tuned numerical model, seventeen simulation cases about the presented platform are considered to study the wave, wind, and current loads simultaneously. Then, the impact analysis studies of air gap motion regarding the length, elasticity, and type of the mooring line are performed in the time domain under the beam wave, head wave, and oblique wave conditions.
Moving base simulation evaluation of translational rate command systems for STOVL aircraft in hover

NASA Technical Reports Server (NTRS)

Franklin, James A.; Stortz, Michael W.

1996-01-01

Using a generalized simulation model, a moving-base simulation of a lift-fan short takeoff/vertical landing fighter aircraft has been conducted on the Vertical Motion Simulator at Ames Research Center. Objectives of the experiment were to determine the influence of system bandwidth and phase delay on flying qualities for translational rate command and vertical velocity command systems. Assessments were made for precision hover control and for landings aboard an LPH type amphibious assault ship in the presence of winds and rough seas. Results obtained define the boundaries between satisfactory and adequate flying qualities for these design features for longitudinal and lateral translational rate command and for vertical velocity command.
Classical Coset Hamiltonian for the Electronic Motion and its Application to Anderson Localization and Hammett Equation

NASA Astrophysics Data System (ADS)

Xing, Guan; Wu, Guo-Zhen

2001-02-01

A classical coset Hamiltonian is introduced for the system of one electron in multi-sites. By this Hamiltonian, the dynamical behaviour of the electronic motion can be readily simulated. The simulation reproduces the retardation of the electron density decay in a lattice with site energies randomly distributed - an analogy with Anderson localization. This algorithm is also applied to reproduce the Hammett equation which relates the reaction rate with the property of the substitutions in the organic chemical reactions. The advantages and shortcomings of this algorithm, as contrasted with traditional quantum methods such as the molecular orbital theory, are also discussed.
Motion Imagery and Robotics Application (MIRA): Standards-Based Robotics

NASA Technical Reports Server (NTRS)

Martinez, Lindolfo; Rich, Thomas; Lucord, Steven; Diegelman, Thomas; Mireles, James; Gonzalez, Pete

2012-01-01

This technology development originated from the need to assess the debris threat resulting from soil material erosion induced by landing spacecraft rocket plume impingement on extraterrestrial planetary surfaces. The impact of soil debris was observed to be highly detrimental during NASA s Apollo lunar missions and will pose a threat for any future landings on the Moon, Mars, and other exploration targets. The innovation developed under this program provides a simulation tool that combines modeling of the diverse disciplines of rocket plume impingement gas dynamics, granular soil material liberation, and soil debris particle kinetics into one unified simulation system. The Unified Flow Solver (UFS) developed by CFDRC enabled the efficient, seamless simulation of mixed continuum and rarefied rocket plume flow utilizing a novel direct numerical simulation technique of the Boltzmann gas dynamics equation. The characteristics of the soil granular material response and modeling of the erosion and liberation processes were enabled through novel first principle-based granular mechanics models developed by the University of Florida specifically for the highly irregularly shaped and cohesive lunar regolith material. These tools were integrated into a unique simulation system that accounts for all relevant physics aspects: (1) Modeling of spacecraft rocket plume impingement flow under lunar vacuum environment resulting in a mixed continuum and rarefied flow; (2) Modeling of lunar soil characteristics to capture soil-specific effects of particle size and shape composition, soil layer cohesion and granular flow physics; and (3) Accurate tracking of soil-borne debris particles beginning with aerodynamically driven motion inside the plume to purely ballistic motion in lunar far field conditions.
SimGen: A General Simulation Method for Large Systems.

PubMed

Taylor, William R

2017-02-03

SimGen is a stand-alone computer program that reads a script of commands to represent complex macromolecules, including proteins and nucleic acids, in a structural hierarchy that can then be viewed using an integral graphical viewer or animated through a high-level application programming interface in C++. Structural levels in the hierarchy range from α-carbon or phosphate backbones through secondary structure to domains, molecules, and multimers with each level represented in an identical data structure that can be manipulated using the application programming interface. Unlike most coarse-grained simulation approaches, the higher-level objects represented in SimGen can be soft, allowing the lower-level objects that they contain to interact directly. The default motion simulated by SimGen is a Brownian-like diffusion that can be set to occur across all levels of representation in the hierarchy. Links can also be defined between objects, which, when combined with large high-level random movements, result in an effective search strategy for constraint satisfaction, including structure prediction from predicted pairwise distances. The implementation of SimGen makes use of the hierarchic data structure to avoid unnecessary calculation, especially for collision detection, allowing it to be simultaneously run and viewed on a laptop computer while simulating large systems of over 20,000 objects. It has been used previously to model complex molecular interactions including the motion of a myosin-V dimer "walking" on an actin fibre, RNA stem-loop packing, and the simulation of cell motion and aggregation. Several extensions to this original functionality are described. Copyright © 2016 The Francis Crick Institute. Published by Elsevier Ltd.. All rights reserved.
Use of the flight simulator in the design of a STOL research aircraft.

NASA Technical Reports Server (NTRS)

Spitzer, R. E.; Rumsey, P. C.; Quigley, H. C.

1972-01-01

Piloted simulator tests on the NASA-Ames Flight Simulator for Advanced Aircraft motion base played a major role in guiding the design of the Modified C-8A 'Buffalo' augmentor wing jet flap STOL research airplane. Design results are presented for the flight control systems, lateral-directional SAS, hydraulic systems, and engine and thrust vector controls. Emphasis is given to lateral control characteristics on STOL landing approach, engine-out control and recovery techniques in the powered-lift regime, and operational flight procedures which affected airplane design.
Example-based human motion denoising.

PubMed

Lou, Hui; Chai, Jinxiang

2010-01-01

With the proliferation of motion capture data, interest in removing noise and outliers from motion capture data has increased. In this paper, we introduce an efficient human motion denoising technique for the simultaneous removal of noise and outliers from input human motion data. The key idea of our approach is to learn a series of filter bases from precaptured motion data and use them along with robust statistics techniques to filter noisy motion data. Mathematically, we formulate the motion denoising process in a nonlinear optimization framework. The objective function measures the distance between the noisy input and the filtered motion in addition to how well the filtered motion preserves spatial-temporal patterns embedded in captured human motion data. Optimizing the objective function produces an optimal filtered motion that keeps spatial-temporal patterns in captured motion data. We also extend the algorithm to fill in the missing values in input motion data. We demonstrate the effectiveness of our system by experimenting with both real and simulated motion data. We also show the superior performance of our algorithm by comparing it with three baseline algorithms and to those in state-of-art motion capture data processing software such as Vicon Blade.
Coupled protein-ligand dynamics in truncated hemoglobin N from atomistic simulations and transition networks.

PubMed

Cazade, Pierre-André; Berezovska, Ganna; Meuwly, Markus

2015-05-01

The nature of ligand motion in proteins is difficult to characterize directly using experiment. Specifically, it is unclear to what degree these motions are coupled. All-atom simulations are used to sample ligand motion in truncated Hemoglobin N. A transition network analysis including ligand- and protein-degrees of freedom is used to analyze the microscopic dynamics. Clustering of two different subsets of MD trajectories highlights the importance of a diverse and exhaustive description to define the macrostates for a ligand-migration network. Monte Carlo simulations on the transition matrices from one particular clustering are able to faithfully capture the atomistic simulations. Contrary to clustering by ligand positions only, including a protein degree of freedom yields considerably improved coarse grained dynamics. Analysis with and without imposing detailed balance agree closely which suggests that the underlying atomistic simulations are converged with respect to sampling transitions between neighboring sites. Protein and ligand dynamics are not independent from each other and ligand migration through globular proteins is not passive diffusion. Transition network analysis is a powerful tool to analyze and characterize the microscopic dynamics in complex systems. This article is part of a Special Issue entitled Recent developments of molecular dynamics. Copyright © 2014 Elsevier B.V. All rights reserved.
Global Langevin model of multidimensional biomolecular dynamics.

PubMed

Schaudinnus, Norbert; Lickert, Benjamin; Biswas, Mithun; Stock, Gerhard

2016-11-14

Molecular dynamics simulations of biomolecular processes are often discussed in terms of diffusive motion on a low-dimensional free energy landscape F(). To provide a theoretical basis for this interpretation, one may invoke the system-bath ansatz á la Zwanzig. That is, by assuming a time scale separation between the slow motion along the system coordinate x and the fast fluctuations of the bath, a memory-free Langevin equation can be derived that describes the system's motion on the free energy landscape F(), which is damped by a friction field and driven by a stochastic force that is related to the friction via the fluctuation-dissipation theorem. While the theoretical formulation of Zwanzig typically assumes a highly idealized form of the bath Hamiltonian and the system-bath coupling, one would like to extend the approach to realistic data-based biomolecular systems. Here a practical method is proposed to construct an analytically defined global model of structural dynamics. Given a molecular dynamics simulation and adequate collective coordinates, the approach employs an "empirical valence bond"-type model which is suitable to represent multidimensional free energy landscapes as well as an approximate description of the friction field. Adopting alanine dipeptide and a three-dimensional model of heptaalanine as simple examples, the resulting Langevin model is shown to reproduce the results of the underlying all-atom simulations. Because the Langevin equation can also be shown to satisfy the underlying assumptions of the theory (such as a delta-correlated Gaussian-distributed noise), the global model provides a correct, albeit empirical, realization of Zwanzig's formulation. As an application, the model can be used to investigate the dependence of the system on parameter changes and to predict the effect of site-selective mutations on the dynamics.
Global Langevin model of multidimensional biomolecular dynamics

NASA Astrophysics Data System (ADS)

Schaudinnus, Norbert; Lickert, Benjamin; Biswas, Mithun; Stock, Gerhard

2016-11-01

Molecular dynamics simulations of biomolecular processes are often discussed in terms of diffusive motion on a low-dimensional free energy landscape F ( 𝒙 ) . To provide a theoretical basis for this interpretation, one may invoke the system-bath ansatz á la Zwanzig. That is, by assuming a time scale separation between the slow motion along the system coordinate x and the fast fluctuations of the bath, a memory-free Langevin equation can be derived that describes the system's motion on the free energy landscape F ( 𝒙 ) , which is damped by a friction field and driven by a stochastic force that is related to the friction via the fluctuation-dissipation theorem. While the theoretical formulation of Zwanzig typically assumes a highly idealized form of the bath Hamiltonian and the system-bath coupling, one would like to extend the approach to realistic data-based biomolecular systems. Here a practical method is proposed to construct an analytically defined global model of structural dynamics. Given a molecular dynamics simulation and adequate collective coordinates, the approach employs an "empirical valence bond"-type model which is suitable to represent multidimensional free energy landscapes as well as an approximate description of the friction field. Adopting alanine dipeptide and a three-dimensional model of heptaalanine as simple examples, the resulting Langevin model is shown to reproduce the results of the underlying all-atom simulations. Because the Langevin equation can also be shown to satisfy the underlying assumptions of the theory (such as a delta-correlated Gaussian-distributed noise), the global model provides a correct, albeit empirical, realization of Zwanzig's formulation. As an application, the model can be used to investigate the dependence of the system on parameter changes and to predict the effect of site-selective mutations on the dynamics.
Novel graphical environment for virtual and real-world operations of tracked mobile manipulators

NASA Astrophysics Data System (ADS)

Chen, ChuXin; Trivedi, Mohan M.; Azam, Mir; Lassiter, Nils T.

1993-08-01

A simulation, animation, visualization and interactive control (SAVIC) environment has been developed for the design and operation of an integrated mobile manipulator system. This unique system possesses the abilities for (1) multi-sensor simulation, (2) kinematics and locomotion animation, (3) dynamic motion and manipulation animation, (4) transformation between real and virtual modes within the same graphics system, (5) ease in exchanging software modules and hardware devices between real and virtual world operations, and (6) interfacing with a real robotic system. This paper describes a working system and illustrates the concepts by presenting the simulation, animation and control methodologies for a unique mobile robot with articulated tracks, a manipulator, and sensory modules.
Technical aspects of real time positron emission tracking for gated radiotherapy

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

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

2016-02-15

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

PubMed Central

Gabba, Matteo; Poblete, Simón; Rosenkranz, Tobias; Katranidis, Alexandros; Kempe, Daryan; Züchner, Tina; Winkler, Roland G.; Gompper, Gerhard; Fitter, Jörg

2014-01-01

Over the last few decades, a view has emerged showing that multidomain enzymes are biological machines evolved to harness stochastic kicks of solvent particles into highly directional functional motions. These intrinsic motions are structurally encoded, and Nature makes use of them to catalyze chemical reactions by means of ligand-induced conformational changes and states redistribution. Such mechanisms align reactive groups for efficient chemistry and stabilize conformers most proficient for catalysis. By combining single-molecule Förster resonance energy transfer measurements with normal mode analysis and coarse-grained mesoscopic simulations, we obtained results for a hinge-bending enzyme, namely phosphoglycerate kinase (PGK), which support and extend these ideas. From single-molecule Förster resonance energy transfer, we obtained insight into the distribution of conformational states and the dynamical properties of the domains. The simulations allowed for the characterization of interdomain motions of a compact state of PGK. The data show that PGK is intrinsically a highly dynamic system sampling a wealth of conformations on timescales ranging from nanoseconds to milliseconds and above. Functional motions encoded in the fold are performed by the PGK domains already in its ligand-free form, and substrate binding is not required to enable them. Compared to other multidomain proteins, these motions are rather fast and presumably not rate-limiting in the enzymatic reaction. Ligand binding slightly readjusts the orientation of the domains and feasibly locks the protein motions along a preferential direction. In addition, the functionally relevant compact state is stabilized by the substrates, and acts as a prestate to reach active conformations by means of Brownian motions. PMID:25418172
WHIPS seat and occupant motions during simulated rear crashes.

PubMed

Xiao, Ming; Ivancic, Paul C

2010-10-01

Objectives of this study were to investigate the motions of Volvo's Whiplash Protection System (WHIPS) seat and occupant during simulated rear crashes of a human model of the neck (HUMON). HUMON consisted of a human neck specimen (n = 6) mounted to the torso of BioRID II and carrying an anthropometric head stabilized with muscle force replication. HUMON was seated and secured in a 2005 Volvo XC90 minivan seat that included WHIPS and a fixed head restraint. Rear crashes of 9.9 g (ΔV 9.2 kph), 12.0 g (ΔV 11.4 kph), and 13.3 g (ΔV 13.4 kph) were simulated and WHIPS and occupant motions were monitored. Linear regression analyses (P < .05) were used to determine relationships between WHIPS and occupant motion peaks using data from all crashes combined. WHIPS motions consisted of simultaneous rearward and downward translations and extension of the seatback and plastic deformation of the bilateral WHIPS energy-absorbing components. Peak WHIPS motions were linearly correlated only with peak rearward occupant translations. Less rearward pelvis translation was required to cause WHIPS activation as compared to T1 translation. WHIPS reduced peak T1 horizontal acceleration by 39 percent compared to sled acceleration. This was within the range previously reported for WHIPS, between 30 and 60 percent, but higher than the 16 percent reduction previously reported due to active head restraint. Absorption of crash energy occurred during the initial 75 ms and the onset of head support occurred at 114 ms. Differential head-torso motions occurred prior to and during head support, indicating the potential for neck injury even with WHIPS.
Intrinsic frame transport for a model of nematic liquid crystal

NASA Astrophysics Data System (ADS)

Cozzini, S.; Rull, L. F.; Ciccotti, G.; Paolini, G. V.

1997-02-01

We present a computer simulation study of the dynamical properties of a nematic liquid crystal model. The diffusional motion of the nematic director is taken into account in our calculations in order to give a proper estimate of the transport coefficients. Differently from other groups we do not attempt to stabilize the director through rigid constraints or applied external fields. We instead define an intrinsic frame which moves along with the director at each step of the simulation. The transport coefficients computed in the intrinsic frame are then compared against the ones calculated in the fixed laboratory frame, to show the inadequacy of the latter for systems with less than 500 molecules. Using this general scheme on the Gay-Berne liquid crystal model, we evidence the natural motion of the director and attempt to quantify its intrinsic time scale and size dependence. Through extended simulations of systems of different size we calculate the diffusion and viscosity coefficients of this model and compare our results with values previously obtained with fixed director.
Modeling of Driver Steering Operations in Lateral Wind Disturbances toward Driver Assistance System

NASA Astrophysics Data System (ADS)

Kurata, Yoshinori; Wada, Takahiro; Kamiji, Norimasa; Doi, Shun'ichi

Disturbances decrease vehicle stability and increase driver's mental and physical workload. Especially unexpected disturbances such as lateral winds have severe effect on vehicle stability and driver's workload. This study aims at building a driver model of steering operations in lateral wind toward developing effective driver assistance system. First, the relationship between the driver's lateral motion and its reactive quick steering behavior is investigated using driving simulator with lateral 1dof motion. In the experiments, four different wind patterns are displayed by the simulator. As the results, strong correlation was found between the driver's head lateral jerk by the lateral disturbance and the angular acceleration of the steering wheel. Then, we build a mathematical model of driver's steering model from lateral disturbance input to steering torque of the reactive quick feed-forward steering based on the experimental results. Finally, validity of the proposed model is shown by comparing the steering torque of experimental results and that of simulation results.
Sliding Mode Control of Real-Time PNU Vehicle Driving Simulator and Its Performance Evaluation

NASA Astrophysics Data System (ADS)

Lee, Min Cheol; Park, Min Kyu; Yoo, Wan Suk; Son, Kwon; Han, Myung Chul

This paper introduces an economical and effective full-scale driving simulator for study of human sensibility and development of new vehicle parts and its control. Real-time robust control to accurately reappear a various vehicle motion may be a difficult task because the motion platform is the nonlinear complex system. This study proposes the sliding mode controller with a perturbation compensator using observer-based fuzzy adaptive network (FAN). This control algorithm is designed to solve the chattering problem of a sliding mode control and to select the adequate fuzzy parameters of the perturbation compensator. For evaluating the trajectory control performance of the proposed approach, a tracking control of the developed simulator named PNUVDS is experimentally carried out. And then, the driving performance of the simulator is evaluated by using human perception and sensibility of some drivers in various driving conditions.
Microcomputer based software for biodynamic simulation

NASA Technical Reports Server (NTRS)

Rangarajan, N.; Shams, T.

1993-01-01

This paper presents a description of a microcomputer based software package, called DYNAMAN, which has been developed to allow an analyst to simulate the dynamics of a system consisting of a number of mass segments linked by joints. One primary application is in predicting the motion of a human occupant in a vehicle under the influence of a variety of external forces, specially those generated during a crash event. Extensive use of a graphical user interface has been made to aid the user in setting up the input data for the simulation and in viewing the results from the simulation. Among its many applications, it has been successfully used in the prototype design of a moving seat that aids in occupant protection during a crash, by aircraft designers in evaluating occupant injury in airplane crashes, and by users in accident reconstruction for reconstructing the motion of the occupant and correlating the impacts with observed injuries.
Flight management research utilizing an oculometer. [pilot scanning behavior during simulated approach and landing

NASA Technical Reports Server (NTRS)

Spady, A. A., Jr.; Kurbjun, M. C.

1978-01-01

This paper presents an overview of the flight management work being conducted using NASA Langley's oculometer system. Tests have been conducted in a Boeing 737 simulator to investigate pilot scan behavior during approach and landing for simulated IFR, VFR, motion versus no motion, standard versus advanced displays, and as a function of various runway patterns and symbology. Results of each of these studies are discussed. For example, results indicate that for the IFR approaches a difference in pilot scan strategy was noted for the manual versus coupled (autopilot) conditions. Also, during the final part of the approach when the pilot looks out-of-the-window he fixates on his aim or impact point on the runway and holds this point until flare initiation.

Neural network identification of aircraft nonlinear aerodynamic characteristics

NASA Astrophysics Data System (ADS)

Egorchev, M. V.; Tiumentsev, Yu V.

2018-02-01

The simulation problem for the controlled aircraft motion is considered in the case of imperfect knowledge of the modeling object and its operating conditions. The work aims to develop a class of modular semi-empirical dynamic models that combine the capabilities of theoretical and neural network modeling. We consider the use of semi-empirical neural network models for solving the problem of identifying aerodynamic characteristics of an aircraft. We also discuss the formation problem for a representative set of data characterizing the behavior of a simulated dynamic system, which is one of the critical tasks in the synthesis of ANN-models. The effectiveness of the proposed approach is demonstrated using a simulation example of the aircraft angular motion and identifying the corresponding coefficients of aerodynamic forces and moments.
Notes on implementation of Coulomb friction in coupled dynamical simulations

NASA Technical Reports Server (NTRS)

Vandervoort, R. J.; Singh, R. P.

1987-01-01

A coupled dynamical system is defined as an assembly of rigid/flexible bodies that may be coupled by kinematic connections. The interfaces between bodies are modeled using hinges having 0 to 6 degrees of freedom. The equations of motion are presented for a mechanical system of n flexible bodies in a topological tree configuration. The Lagrange form of the D'Alembert principle was employed to derive the equations. The equations of motion are augmented by the kinematic constraint equations. This augmentation is accomplished via the method of singular value decomposition.
Modeling Fault Diagnosis Performance on a Marine Powerplant Simulator.

DTIC Science & Technology

1985-08-01

two definitions are very similar. They emphasize that fidelity is a two dimensional -:oncept. They also pointed out the measurement prob- lems. Tasks...simulator duplicares cne enscr-: ztimulation, 4. . rnamic motion cues , visual :ues, ec. ?svcno ogicai fidelity is simply the degree to which the trainee...functions is only acceptable if the performance is paced by tne system, i.e., cues from the system serve to initiate elementary, skilled sub-routines
LabVIEW application for motion tracking using USB camera

NASA Astrophysics Data System (ADS)

Rob, R.; Tirian, G. O.; Panoiu, M.

2017-05-01

The technical state of the contact line and also the additional equipment in electric rail transport is very important for realizing the repairing and maintenance of the contact line. During its functioning, the pantograph motion must stay in standard limits. Present paper proposes a LabVIEW application which is able to track in real time the motion of a laboratory pantograph and also to acquire the tracking images. An USB webcam connected to a computer acquires the desired images. The laboratory pantograph contains an automatic system which simulates the real motion. The tracking parameters are the horizontally motion (zigzag) and the vertically motion which can be studied in separate diagrams. The LabVIEW application requires appropriate tool-kits for vision development. Therefore the paper describes the subroutines that are especially programmed for real-time image acquisition and also for data processing.
Development of a Mandibular Motion Simulator for Total Joint Replacement

PubMed Central

Celebi, Nukhet; Rohner, E. Carlos; Gateno, Jaime; Noble, Philip C.; Ismaily, Sabir K.; Teichgraeber, John F.; Xia, James J.

2015-01-01

Purpose The purpose of this study was to develop a motion simulator capable of recreating and recording the full range of mandibular motions in a cadaveric preparation for an intact temporomandibular joint (TMJ) and after total joint replacement. Material and Methods A human cadaver head was used. Two sets of tracking balls were attached to the forehead and mandible, respectively. Computed tomographic (CT) scan was performed and 3-dimensional CT models of the skull were generated. The cadaver head was then dissected to attach the muscle activation cables and mounted onto the TMJ simulator. Realistic jaw motions were generated through the application of the following muscle forces: lateral pterygoid muscle, suprahyoid depressors (geniohyoid, mylohyoid, and digastric muscles), and elevator muscles. To simulate muscle contraction, cables were inserted into the mandible at the center area of each muscle's attachment. To provide a minimum mouth closing force at the initial position, the elevator muscles were combined at the anterior mandible. During mandibular movement, each motion was recorded using a high-resolution laser scanner. The right TMJ of the same head was reconstructed with a total TMJ prosthesis. The same forces were applied and the jaw motions were recorded again. CT scan was performed and 3-dimensional CT models of the skull with TMJ prosthesis were generated. Results Mandibular motions, before and after TMJ replacement, with and without lateral pterygoid muscle reattachment, were re-created in a cadaveric preparation. The laser-scanned data during the mandibular motion were used to drive 3-dimensional CT models. A movie for each mandibular motion was subsequently created for motion path analysis. Compared with mandibular motion before TMJ replacement, mandibular lateral and protrusive motions after TMJ replacement, with and without lateral pterygoid muscle reattachment, were greatly limited. The jaw motion recorded before total joint replacement was applied to the mandibular and prostheses models after total TMJ replacement. The condylar component was observed sinking into the fossa during jaw motion. Conclusion A motion simulator capable of re-creating and recording full range of mandibular motions in a cadaveric preparation has been developed. It can be used to simulate mandibular motions for the intact TMJ and total joint prosthesis, and to re-create and record their full range of mandibular motions. In addition, the full range of the recorded motion can be re-created as motion images in a computer. These images can be used for motion path analysis and to study the causation of limited range of motion after total joint replacement and strategies for improvement. PMID:21050636
Principal component analysis of molecular dynamics: On the use of Cartesian vs. internal coordinates

NASA Astrophysics Data System (ADS)

Sittel, Florian; Jain, Abhinav; Stock, Gerhard

2014-07-01

Principal component analysis of molecular dynamics simulations is a popular method to account for the essential dynamics of the system on a low-dimensional free energy landscape. Using Cartesian coordinates, first the translation and overall rotation need to be removed from the trajectory. Since the rotation depends via the moment of inertia on the molecule's structure, this separation is only straightforward for relatively rigid systems. Adopting millisecond molecular dynamics simulations of the folding of villin headpiece and the functional dynamics of BPTI provided by D. E. Shaw Research, it is demonstrated via a comparison of local and global rotational fitting that the structural dynamics of flexible molecules necessarily results in a mixing of overall and internal motion. Even for the small-amplitude functional motion of BPTI, the conformational distribution obtained from a Cartesian principal component analysis therefore reflects to some extend the dominant overall motion rather than the much smaller internal motion of the protein. Internal coordinates such as backbone dihedral angles, on the other hand, are found to yield correct and well-resolved energy landscapes for both examples. The virtues and shortcomings of the choice of various fitting schemes and coordinate sets as well as the generality of these results are discussed in some detail.
Principal component analysis of molecular dynamics: on the use of Cartesian vs. internal coordinates.

PubMed

Sittel, Florian; Jain, Abhinav; Stock, Gerhard

2014-07-07

Principal component analysis of molecular dynamics simulations is a popular method to account for the essential dynamics of the system on a low-dimensional free energy landscape. Using Cartesian coordinates, first the translation and overall rotation need to be removed from the trajectory. Since the rotation depends via the moment of inertia on the molecule's structure, this separation is only straightforward for relatively rigid systems. Adopting millisecond molecular dynamics simulations of the folding of villin headpiece and the functional dynamics of BPTI provided by D. E. Shaw Research, it is demonstrated via a comparison of local and global rotational fitting that the structural dynamics of flexible molecules necessarily results in a mixing of overall and internal motion. Even for the small-amplitude functional motion of BPTI, the conformational distribution obtained from a Cartesian principal component analysis therefore reflects to some extend the dominant overall motion rather than the much smaller internal motion of the protein. Internal coordinates such as backbone dihedral angles, on the other hand, are found to yield correct and well-resolved energy landscapes for both examples. The virtues and shortcomings of the choice of various fitting schemes and coordinate sets as well as the generality of these results are discussed in some detail.
An analysis of the precision and reliability of the leap motion sensor and its suitability for static and dynamic tracking.

PubMed

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

2014-02-21

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

PubMed Central

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

2014-01-01

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

NASA Technical Reports Server (NTRS)

Mueller, I. I.; Vangelder, B. H. W.; Kumar, M.

1975-01-01

The close grid geodynamic measurement system experiment which envisages an active ranging satellite and a grid of retro-reflectors or transponders in the San Andreas fault area is a detailed simulated study for recovering the relative positions in the grid. The close grid geodynamic measurement system for determining the relative motion of two plates in the California region (if feasible) could be used in other areas of the world to delineate and complete the picture of crustal motions over the entire globe and serve as a geodetic survey system. In addition, with less stringent accuracy standards, the system would also find usage in allied geological and marine geodesy fields.
Impact of inlet coherent motions on compressor performance

NASA Astrophysics Data System (ADS)

Forlese, Jacopo; Spoleti, Giovanni

2017-08-01

Automotive engine induction systems may be characterized by significant flow angularity and total pressure distortion at the compressor inlet. The impact of the swirl on compressor performance should be quantified to guide the design of the induction systems. In diesel engines, the presence of a valve for flow reduction and control of low pressure EGR recirculation could generate coherent motion and influence the performance of the compressor. Starting from experimental map, the compressor speed-lines have been simulated using a 3D CFD commercial code imposing different concept motion at the inlet. The swirl intensity, the direction and the number of vortices have been imposed in order to taking into account some combinations. Finally, a merit function has been defined to evaluate the performance of the compressor with the defined swirl concepts. The aim of the current work is to obtain an indication on the effect of a swirling motion at the compressor inlet on the engine performance and provide a guideline to the induction system design.
Biomechanical analysis of the circular friction hand massage.

PubMed

Ryu, Jeseong; Son, Jongsang; Ahn, Soonjae; Shin, Isu; Kim, Youngho

2015-01-01

A massage can be beneficial to relieve muscle tension on the neck and shoulder area. Various massage systems have been developed, but their motions are not uniform throughout different body parts nor specifically targeted to the neck and shoulder areas. Pressure pattern and finger movement trajectories of the circular friction hand massage on trapezius, levator scapulae, and deltoid muscles were determined to develop a massage system that can mimic the motion and the pressure of the circular friction massage. During the massage, finger movement trajectories were measured using a 3D motion capture system, and finger pressures were simultaneously obtained using a grip pressure sensor. Results showed that each muscle had different finger movement trajectory and pressure pattern. The trapezius muscle experienced a higher pressure, longer massage time (duration of pressurization), and larger pressure-time integral than the other muscles. These results could be useful to design a better massage system simulating human finger movements.
Flight Simulator Platform Motion and Air Transport Pilot Training

NASA Technical Reports Server (NTRS)

Lee, Alfred T.; Bussolari, Steven R.

1989-01-01

The influence of flight simulator platform motion on pilot training and performance was examined In two studies utilizing a B-727-200 aircraft simulator. The simulator, located at Ames Research Center, Is certified by the FAA for upgrade and transition training in air carrier operations. Subjective ratings and objective performance of experienced B-727 pilots did not reveal any reliable effects of wide variations In platform motion de- sign. Motion platform variations did, however, affect the acquisition of control skill by pilots with no prior heavy aircraft flying experience. The effect was limited to pitch attitude control inputs during the early phase of landing training. Implications for the definition of platform motion requirements in air transport pilot training are discussed.
Experimental measurements of motion cue effects on STOL approach tasks

NASA Technical Reports Server (NTRS)

Ringland, R. F.; Stapleford, R. L.

1972-01-01

An experimental program to investigate the effects of motion cues on STOL approach is presented. The simulator used was the Six-Degrees-of-Freedom Motion Simulator (S.01) at Ames Research Center of NASA which has ?2.7 m travel longitudinally and laterally and ?2.5 m travel vertically. Three major experiments, characterized as tracking tasks, were conducted under fixed and moving base conditions: (1) A simulated IFR approach of the Augmentor Wing Jet STOL Research Aircraft (AWJSRA), (2) a simulated VFR task with the same aircraft, and (3) a single-axis task having only linear acceleration as the motion cue. Tracking performance was measured in terms of the variances of several motion variables, pilot vehicle describing functions, and pilot commentary.
Linear Extended State Observer-Based Motion Synchronization Control for Hybrid Actuation System of More Electric Aircraft.

PubMed

Wang, Xingjian; Liao, Rui; Shi, Cun; Wang, Shaoping

2017-10-25

Moving towards the more electric aircraft (MEA), a hybrid actuator configuration provides an opportunity to introduce electromechanical actuator (EMA) into primary flight control. In the hybrid actuation system (HAS), an electro-hydraulic servo actuator (EHSA) and an EMA operate on the same control surface. In order to solve force fighting problem in HAS, this paper proposes a novel linear extended state observer (LESO)-based motion synchronization control method. To cope with the problem of unavailability of the state signals required by the motion synchronization controller, LESO is designed for EHSA and EMA to observe the state variables. Based on the observed states of LESO, motion synchronization controllers could enable EHSA and EMA to simultaneously track the desired motion trajectories. Additionally, nonlinearities, uncertainties and unknown disturbances as well as the coupling term between EHSA and EMA can be estimated and compensated by using the extended state of the proposed LESO. Finally, comparative simulation results indicate that the proposed LESO-based motion synchronization controller could reduce significant force fighting between EHSA and EMA.
Linear Extended State Observer-Based Motion Synchronization Control for Hybrid Actuation System of More Electric Aircraft

PubMed Central

Liao, Rui; Shi, Cun; Wang, Shaoping

2017-01-01

Moving towards the more electric aircraft (MEA), a hybrid actuator configuration provides an opportunity to introduce electromechanical actuator (EMA) into primary flight control. In the hybrid actuation system (HAS), an electro-hydraulic servo actuator (EHSA) and an EMA operate on the same control surface. In order to solve force fighting problem in HAS, this paper proposes a novel linear extended state observer (LESO)-based motion synchronization control method. To cope with the problem of unavailability of the state signals required by the motion synchronization controller, LESO is designed for EHSA and EMA to observe the state variables. Based on the observed states of LESO, motion synchronization controllers could enable EHSA and EMA to simultaneously track the desired motion trajectories. Additionally, nonlinearities, uncertainties and unknown disturbances as well as the coupling term between EHSA and EMA can be estimated and compensated by using the extended state of the proposed LESO. Finally, comparative simulation results indicate that the proposed LESO-based motion synchronization controller could reduce significant force fighting between EHSA and EMA. PMID:29068392
Analysis procedures and subjective flight results of a simulator validation and cue fidelity experiment

NASA Technical Reports Server (NTRS)

Carr, Peter C.; Mckissick, Burnell T.

1988-01-01

A joint experiment to investigate simulator validation and cue fidelity was conducted by the Dryden Flight Research Facility of NASA Ames Research Center (Ames-Dryden) and NASA Langley Research Center. The primary objective was to validate the use of a closed-loop pilot-vehicle mathematical model as an analytical tool for optimizing the tradeoff between simulator fidelity requirements and simulator cost. The validation process includes comparing model predictions with simulation and flight test results to evaluate various hypotheses for differences in motion and visual cues and information transfer. A group of five pilots flew air-to-air tracking maneuvers in the Langley differential maneuvering simulator and visual motion simulator and in an F-14 aircraft at Ames-Dryden. The simulators used motion and visual cueing devices including a g-seat, a helmet loader, wide field-of-view horizon, and a motion base platform.
Effects of Motion on Skill Acquisition in Future Simulators

DTIC Science & Technology

2006-05-01

performed by Jacobs (1976) concentrated on transfer of training under different motion conditions. Researchers used participants with no prior flying... Autogenic feedback training exercise is superior to promethazine for the treatment of motion sickness. Journal of Clinical Pharmacology, 40, 1154 -1165...motion in simulation was examined. A particular focus was paid to research on the effects of motion cueing on transfer of training from both ground
Tsunami simulation using submarine displacement calculated from simulation of ground motion due to seismic source model

NASA Astrophysics Data System (ADS)

Akiyama, S.; Kawaji, K.; Fujihara, S.

2013-12-01

Since fault fracturing due to an earthquake can simultaneously cause ground motion and tsunami, it is appropriate to evaluate the ground motion and the tsunami by single fault model. However, several source models are used independently in the ground motion simulation or the tsunami simulation, because of difficulty in evaluating both phenomena simultaneously. Many source models for the 2011 off the Pacific coast of Tohoku Earthquake are proposed from the inversion analyses of seismic observations or from those of tsunami observations. Most of these models show the similar features, which large amount of slip is located at the shallower part of fault area near the Japan Trench. This indicates that the ground motion and the tsunami can be evaluated by the single source model. Therefore, we examine the possibility of the tsunami prediction, using the fault model estimated from seismic observation records. In this study, we try to carry out the tsunami simulation using the displacement field of oceanic crustal movements, which is calculated from the ground motion simulation of the 2011 off the Pacific coast of Tohoku Earthquake. We use two fault models by Yoshida et al. (2011), which are based on both the teleseismic body wave and on the strong ground motion records. Although there is the common feature in those fault models, the amount of slip near the Japan trench is lager in the fault model from the strong ground motion records than in that from the teleseismic body wave. First, the large-scale ground motion simulations applying those fault models used by the voxel type finite element method are performed for the whole eastern Japan. The synthetic waveforms computed from the simulations are generally consistent with the observation records of K-NET (Kinoshita (1998)) and KiK-net stations (Aoi et al. (2000)), deployed by the National Research Institute for Earth Science and Disaster Prevention (NIED). Next, the tsunami simulations are performed by the finite difference calculation based on the shallow water theory. The initial wave height for tsunami generation is estimated from the vertical displacement of ocean bottom due to the crustal movements, which is obtained from the ground motion simulation mentioned above. The results of tsunami simulations are compared with the observations of the GPS wave gauges to evaluate the validity for the tsunami prediction using the fault model based on the seismic observation records.
A Five-Dimensional Mathematical Model for Regional and Global Changes in Cardiac Uptake and Motion

NASA Astrophysics Data System (ADS)

Pretorius, P. H.; King, M. A.; Gifford, H. C.

2004-10-01

The objective of this work was to simultaneously introduce known regional changes in contraction pattern and perfusion to the existing gated Mathematical Cardiac Torso (MCAT) phantom heart model. We derived a simple integral to calculate the fraction of the ellipsoidal volume that makes up the left ventricle (LV), taking into account the stationary apex and the moving base. After calculating the LV myocardium volume of the existing beating heart model, we employed the property of conservation of mass to manipulate the LV ejection fraction to values ranging between 13.5% and 68.9%. Multiple dynamic heart models that differ in degree of LV wall thickening, base-to-apex motion, and ejection fraction, are thus available for use with the existing MCAT methodology. To introduce more complex regional LV contraction and perfusion patterns, we used composites of dynamic heart models to create a central region with little or no motion or perfusion, surrounded by a region in which the motion and perfusion gradually reverts to normal. To illustrate this methodology, the following gated cardiac acquisitions for different clinical situations were simulated analytically: 1) reduced regional motion and perfusion; 2) same perfusion as in (1) without motion intervention; and 3) washout from the normal and diseased myocardial regions. Both motion and perfusion can change dynamically during a single rotation or multiple rotations of a simulated single-photon emission computed tomography acquisition system.

Calculation of NMR chemical shifts in organic solids: accounting for motional effects.

PubMed

Dumez, Jean-Nicolas; Pickard, Chris J

2009-03-14

NMR chemical shifts were calculated from first principles for well defined crystalline organic solids. These density functional theory calculations were carried out within the plane-wave pseudopotential framework, in which truly extended systems are implicitly considered. The influence of motional effects was assessed by averaging over vibrational modes or over snapshots taken from ab initio molecular dynamics simulations. It is observed that the zero-point correction to chemical shifts can be significant, and that thermal effects are particularly noticeable for shielding anisotropies and for a temperature-dependent chemical shift. This study provides insight into the development of highly accurate first principles calculations of chemical shifts in solids, highlighting the role of motional effects on well defined systems.
Toward real-time regional earthquake simulation II: Real-time Online earthquake Simulation (ROS) of Taiwan earthquakes

NASA Astrophysics Data System (ADS)

Lee, Shiann-Jong; Liu, Qinya; Tromp, Jeroen; Komatitsch, Dimitri; Liang, Wen-Tzong; Huang, Bor-Shouh

2014-06-01

We developed a Real-time Online earthquake Simulation system (ROS) to simulate regional earthquakes in Taiwan. The ROS uses a centroid moment tensor solution of seismic events from a Real-time Moment Tensor monitoring system (RMT), which provides all the point source parameters including the event origin time, hypocentral location, moment magnitude and focal mechanism within 2 min after the occurrence of an earthquake. Then, all of the source parameters are automatically forwarded to the ROS to perform an earthquake simulation, which is based on a spectral-element method (SEM). A new island-wide, high resolution SEM mesh model is developed for the whole Taiwan in this study. We have improved SEM mesh quality by introducing a thin high-resolution mesh layer near the surface to accommodate steep and rapidly varying topography. The mesh for the shallow sedimentary basin is adjusted to reflect its complex geometry and sharp lateral velocity contrasts. The grid resolution at the surface is about 545 m, which is sufficient to resolve topography and tomography data for simulations accurate up to 1.0 Hz. The ROS is also an infrastructural service, making online earthquake simulation feasible. Users can conduct their own earthquake simulation by providing a set of source parameters through the ROS webpage. For visualization, a ShakeMovie and ShakeMap are produced during the simulation. The time needed for one event is roughly 3 min for a 70 s ground motion simulation. The ROS is operated online at the Institute of Earth Sciences, Academia Sinica (http://ros.earth.sinica.edu.tw/). Our long-term goal for the ROS system is to contribute to public earth science outreach and to realize seismic ground motion prediction in real-time.
A theoretical study for mechanical contact between carbon nanotubes

NASA Astrophysics Data System (ADS)

Takagi, Yoshiteru; Uda, Tsuyoshi; Ohno, Takahisa

2005-03-01

We have theoretically investigated motions of single-walled carbon nanotubes (SWNTs) which are mounted on a flat substrate layer of SWNTs by tight-binding molecular dynamics simulations. One of the most interesting motions is the conversion of force and torque, where the force and torque acting initially on the mounted tube finally results in the lateral motion and rolling of the supporting tubes in the substrate. This motion is well understood in terms of the total energy surface of the SWNT/SWNT system. It is suggested that an undulation of the total energy surface plays a role as an atomic-scale gear tooth in the field of nanomechanics, in spite of the atomically smooth surface of SWNT.
Temperature, ordering, and equilibrium with time-dependent confining forces

PubMed Central

Schiffer, J. P.; Drewsen, M.; Hangst, J. S.; Hornekær, L.

2000-01-01

The concepts of temperature and equilibrium are not well defined in systems of particles with time-varying external forces. An example is a radio frequency ion trap, with the ions laser cooled into an ordered solid, characteristic of sub-mK temperatures, whereas the kinetic energies associated with the fast coherent motion in the trap are up to 7 orders of magnitude higher. Simulations with 1,000 ions reach equilibrium between the degrees of freedom when only aperiodic displacements (secular motion) are considered. The coupling of the periodic driven motion associated with the confinement to the nonperiodic random motion of the ions is very small at low temperatures and increases quadratically with temperature. PMID:10995471
Integration of visual and motion cues for simulator requirements and ride quality investigation

NASA Technical Reports Server (NTRS)

Young, L. R.

1976-01-01

Practical tools which can extend the state of the art of moving base flight simulation for research and training are developed. Main approaches to this research effort include: (1) application of the vestibular model for perception of orientation based on motion cues: optimum simulator motion controls; and (2) visual cues in landing.
The Reactivation of Motion influences Size Categorization in a Visuo-Haptic Illusion.

PubMed

Rey, Amandine E; Dabic, Stephanie; Versace, Remy; Navarro, Jordan

2016-09-01

People simulate themselves moving when they view a picture, read a sentence, or simulate a situation that involves motion. The simulation of motion has often been studied in conceptual tasks such as language comprehension. However, most of these studies investigated the direct influence of motion simulation on tasks inducing motion. This article investigates whether a mo- tion induced by the reactivation of a dynamic picture can influence a task that did not require motion processing. In a first phase, a dynamic picture and a static picture were systematically presented with a vibrotactile stimulus (high or low frequency). The second phase of the experiment used a priming paradigm in which a vibrotactile stimulus was presented alone and followed by pictures of objects. Participants had to categorize objects as large or small relative to their typical size (simulated size). Results showed that when the target object was preceded by the vibrotactile stimulus previously associated with the dynamic picture, participants perceived all the objects as larger and categorized them more quickly when the objects were typically "large" and more slowly when the objects were typically "small." In light of embodied cognition theories, this bias in participants' perception is assumed to be caused by an induced forward motion. generated by the reactivated dynamic picture, which affects simulation of the size of the objects.
Motion Cueing Algorithm Development: Initial Investigation and Redesign of the Algorithms

NASA Technical Reports Server (NTRS)

Telban, Robert J.; Wu, Weimin; Cardullo, Frank M.; Houck, Jacob A. (Technical Monitor)

2000-01-01

In this project four motion cueing algorithms were initially investigated. The classical algorithm generated results with large distortion and delay and low magnitude. The NASA adaptive algorithm proved to be well tuned with satisfactory performance, while the UTIAS adaptive algorithm produced less desirable results. Modifications were made to the adaptive algorithms to reduce the magnitude of undesirable spikes. The optimal algorithm was found to have the potential for improved performance with further redesign. The center of simulator rotation was redefined. More terms were added to the cost function to enable more tuning flexibility. A new design approach using a Fortran/Matlab/Simulink setup was employed. A new semicircular canals model was incorporated in the algorithm. With these changes results show the optimal algorithm has some advantages over the NASA adaptive algorithm. Two general problems observed in the initial investigation required solutions. A nonlinear gain algorithm was developed that scales the aircraft inputs by a third-order polynomial, maximizing the motion cues while remaining within the operational limits of the motion system. A braking algorithm was developed to bring the simulator to a full stop at its motion limit and later release the brake to follow the cueing algorithm output.
Global dynamic modeling of a transmission system

NASA Technical Reports Server (NTRS)

Choy, F. K.; Qian, W.

1993-01-01

The work performed on global dynamic simulation and noise correlation of gear transmission systems at the University of Akron is outlined. The objective is to develop a comprehensive procedure to simulate the dynamics of the gear transmission system coupled with the effects of gear box vibrations. The developed numerical model is benchmarked with results from experimental tests at NASA Lewis Research Center. The modal synthesis approach is used to develop the global transient vibration analysis procedure used in the model. Modal dynamic characteristics of the rotor-gear-bearing system are calculated by the matrix transfer method while those of the gear box are evaluated by the finite element method (NASTRAN). A three-dimensional, axial-lateral coupled bearing model is used to couple the rotor vibrations with the gear box motion. The vibrations between the individual rotor systems are coupled through the nonlinear gear mesh interactions. The global equations of motion are solved in modal coordinates and the transient vibration of the system is evaluated by a variable time-stepping integration scheme. The relationship between housing vibration and resulting noise of the gear transmission system is generated by linear transfer functions using experimental data. A nonlinear relationship of the noise components to the fundamental mesh frequency is developed using the hypercoherence function. The numerically simulated vibrations and predicted noise of the gear transmission system are compared with the experimental results from the gear noise test rig at NASA Lewis Research Center. Results of the comparison indicate that the global dynamic model developed can accurately simulate the dynamics of a gear transmission system.
Improvements in flight table dynamic transparency for hardware-in-the-loop facilities

NASA Astrophysics Data System (ADS)

DeMore, Louis A.; Mackin, Rob; Swamp, Michael; Rusterholtz, Roger

2000-07-01

Flight tables are a 'necessary evil' in the Hardware-In-The- Loop (HWIL) simulation. Adding the actual or prototypic flight hardware to the loop, in order to increase the realism of the simulation, forces us to add motion simulation to the process. Flight table motion bases bring unwanted dynamics, non- linearities, transport delays, etc to an already difficult problem sometimes requiring the simulation engineer to compromise the results. We desire that the flight tables be 'dynamically transparent' to the simulation scenario. This paper presents a State Variable Feedback (SVF) control system architecture with feed-forward techniques that improves the flight table's dynamic transparency by significantly reducing the table's low frequency phase lag. We offer some actual results with existing flight tables that demonstrate the improved transparency. These results come from a demonstration conducted on a flight table in the KHILS laboratory at Eglin AFB and during a refurbishment of a flight table for the Boeing Company of St. Charles, Missouri.
Simulator Sickness During Emergency Procedures Training in a Helicopter Simulator: Age, Flight Experience, and Amount Learned

DTIC Science & Technology

2007-09-01

Aircrew Training Research Division, Human Resources Directorate. Smart, L. J ., Stoffregen, T. A ., & Bardy , B. G. (2002). Visually induced motion sickness...Aviation, Space, and Environmental Medicine, 60, 1043-1048. Benson, A . J . (1978). Motion sickness. In G. Dhenin & J . Ernsting (Eds.), Aviation Medicine...pp. 468-493). London: Tri-Med Books. Benson, A . J . (1988). Aetiological factors in simulator sickness. In AGARD, Motion cues in flight simulation and
Centralized Networks to Generate Human Body Motions

PubMed Central

Vakulenko, Sergei; Radulescu, Ovidiu; Morozov, Ivan

2017-01-01

We consider continuous-time recurrent neural networks as dynamical models for the simulation of human body motions. These networks consist of a few centers and many satellites connected to them. The centers evolve in time as periodical oscillators with different frequencies. The center states define the satellite neurons’ states by a radial basis function (RBF) network. To simulate different motions, we adjust the parameters of the RBF networks. Our network includes a switching module that allows for turning from one motion to another. Simulations show that this model allows us to simulate complicated motions consisting of many different dynamical primitives. We also use the model for learning human body motion from markers’ trajectories. We find that center frequencies can be learned from a small number of markers and can be transferred to other markers, such that our technique seems to be capable of correcting for missing information resulting from sparse control marker settings. PMID:29240694
Centralized Networks to Generate Human Body Motions.

PubMed

Vakulenko, Sergei; Radulescu, Ovidiu; Morozov, Ivan; Weber, Andres

2017-12-14

We consider continuous-time recurrent neural networks as dynamical models for the simulation of human body motions. These networks consist of a few centers and many satellites connected to them. The centers evolve in time as periodical oscillators with different frequencies. The center states define the satellite neurons' states by a radial basis function (RBF) network. To simulate different motions, we adjust the parameters of the RBF networks. Our network includes a switching module that allows for turning from one motion to another. Simulations show that this model allows us to simulate complicated motions consisting of many different dynamical primitives. We also use the model for learning human body motion from markers' trajectories. We find that center frequencies can be learned from a small number of markers and can be transferred to other markers, such that our technique seems to be capable of correcting for missing information resulting from sparse control marker settings.
A theoretical study of the application of jet flap circulation control for reduction of rotor vibratory forces

NASA Technical Reports Server (NTRS)

Piziali, R. A.; Trenka, A. R.

1974-01-01

The results of a study to investigate the theoretical potential of a jet-flap control system for reducing the vertical and horizontal non-cancelling helicopter rotor blade root shears are presented. A computer simulation describing the jet-flap control rotor system was developed to examine the reduction of each harmonic of the transmitted shears as a function of various rotor and jet parameters, rotor operating conditions and rotor configurations. The computer simulation of the air-loads included the influences of nonuniform inflow and blade elastic motions. (no hub motions were allowed.) The rotor trim and total rotor power (including jet compressor power) were also determined. It was found that all harmonics of the transmitted horizontal and vertical shears could be suppressed simultaneously using a single jet control.
Feasibility study of a procedure to detect and warn of low level wind shear

NASA Technical Reports Server (NTRS)

Turkel, B. S.; Kessel, P. A.; Frost, W.

1981-01-01

A Doppler radar system which provides an aircraft with advanced warning of longitudinal wind shear is described. This system uses a Doppler radar beamed along the glide slope linked with an on line microprocessor containing a two dimensional, three degree of freedom model of the motion of an aircraft including pilot/autopilot control. The Doppler measured longitudinal glide slope winds are entered into the aircraft motion model, and a simulated controlled aircraft trajectory is calculated. Several flight path deterioration parameters are calculated from the computed aircraft trajectory information. The aircraft trajectory program, pilot control models, and the flight path deterioration parameters are discussed. The performance of the computer model and a test pilot in a flight simulator through longitudinal and vertical wind fields characteristic of a thunderstorm wind field are compared.
Simulation of cooperating robot manipulators on a mobile platform

NASA Technical Reports Server (NTRS)

Murphy, Stephen H.; Wen, John Ting-Yung; Saridis, George N.

1991-01-01

The dynamic equations of motion are presented for two or more cooperating manipulators on a freely moving mobile platform. The system of cooperating robot manipulators forms a closed kinematic chain where the force of interaction must be included in the formulation of robot and platform dynamics. The formulation includes the full dynamic interactions from arms to platform and arm tip to arm tip, and the possible translation and rotation of the platform. The equations of motion are shown to be identical in structure to the fixed-platform cooperative manipulator dynamics. The number of DOFs of the system is sufficiently large to make recursive dynamic calculation methods potentially more efficient than closed-form solutions. A complete simulation with two 6-DOF manipulators of a free-floating platform is presented along a with a multiple-arm controller to position the common load.
Modeling human tracking error in several different anti-tank systems

NASA Technical Reports Server (NTRS)

Kleinman, D. L.

1981-01-01

An optimal control model for generating time histories of human tracking errors in antitank systems is outlined. Monte Carlo simulations of human operator responses for three Army antitank systems are compared. System/manipulator dependent data comparisons reflecting human operator limitations in perceiving displayed quantities and executing intended control motions are presented. Motor noise parameters are also discussed.
Simulation studies using multibody dynamics code DART

NASA Technical Reports Server (NTRS)

Keat, James E.

1989-01-01

DART is a multibody dynamics code developed by Photon Research Associates for the Air Force Astronautics Laboratory (AFAL). The code is intended primarily to simulate the dynamics of large space structures, particularly during the deployment phase of their missions. DART integrates nonlinear equations of motion numerically. The number of bodies in the system being simulated is arbitrary. The bodies' interconnection joints can have an arbitrary number of degrees of freedom between 0 and 6. Motions across the joints can be large. Provision for simulating on-board control systems is provided. Conservation of energy and momentum, when applicable, are used to evaluate DART's performance. After a brief description of DART, studies made to test the program prior to its delivery to AFAL are described. The first is a large angle reorientating of a flexible spacecraft consisting of a rigid central hub and four flexible booms. Reorientation was accomplished by a single-cycle sine wave shape torque input. In the second study, an appendage, mounted on a spacecraft, was slewed through a large angle. Four closed-loop control systems provided control of this appendage and of the spacecraft's attitude. The third study simulated the deployment of the rim of a bicycle wheel configuration large space structure. This system contained 18 bodies. An interesting and unexpected feature of the dynamics was a pulsing phenomena experienced by the stays whole playout was used to control the deployment. A short description of the current status of DART is given.
Use of a compact range approach to evaluate rf and dual-mode missiles

NASA Astrophysics Data System (ADS)

Willis, Kenneth E.; Weiss, Yosef

2000-07-01

This paper describes a hardware-in-the-loop (HWIL) system developed for testing Radio Frequency (RF), Infra-Red (IR), and Dual-Mode missile seekers. The system consists of a unique hydraulic five-axis (three seeker axes plus two target axes) Flight Motion Table (FMT), an off-axis parabolic reflector, and electronics required to generate the signals to the RF feeds. RF energy that simulates the target is fed into the reflector from three orthogonal feeds mounted on the inner target axis, at the focal point area of the parabolic reflector. The parabolic reflector, together with the three RF feeds (the Compact Range), effectively produces a far-field image of the target. Both FMT target axis motion and electronic control of the RF beams (deflection) modify the simulated line-of-sight target angles. Multiple targets, glint, multi-path, ECM, and clutter can be introduced electronically. To evaluate dual-mode seekers, the center section of the parabolic reflector is replaced with an IR- transparent, but RF-reflective section. An IR scene projector mounts to the FMT target axes, with its image focused on the intersection of the FMT seeker axes. The system eliminates the need for a large anechoic chamber and 'Target Wall' or target motion system used with conventional HWIL systems. This reduces acquisition and operating costs of the facility.
Human motion planning based on recursive dynamics and optimal control techniques

NASA Technical Reports Server (NTRS)

Lo, Janzen; Huang, Gang; Metaxas, Dimitris

2002-01-01

This paper presents an efficient optimal control and recursive dynamics-based computer animation system for simulating and controlling the motion of articulated figures. A quasi-Newton nonlinear programming technique (super-linear convergence) is implemented to solve minimum torque-based human motion-planning problems. The explicit analytical gradients needed in the dynamics are derived using a matrix exponential formulation and Lie algebra. Cubic spline functions are used to make the search space for an optimal solution finite. Based on our formulations, our method is well conditioned and robust, in addition to being computationally efficient. To better illustrate the efficiency of our method, we present results of natural looking and physically correct human motions for a variety of human motion tasks involving open and closed loop kinematic chains.
Stokes versus Basset: comparison of forces governing motion of small bodies with high acceleration

NASA Astrophysics Data System (ADS)

Krafcik, A.; Babinec, P.; Frollo, I.

2018-05-01

In this paper, the importance of the forces governing the motion of a millimetre-sized sphere in a viscous fluid has been examined. As has been shown previously, for spheres moving with a high initial acceleration, the Basset history force should be used, as well as the commonly used Stokes force. This paper introduces the concept of history forces, which are almost unknown to students despite their interesting mathematical structure and physical meaning, and shows the implementation of simple and efficient numerical methods as a MATLAB code to simulate the motion of a falling sphere. An important application of this code could be, for example, the simulation of microfluidic systems, where the external forces are very large and the relevant timescale is in the order of milliseconds to seconds, and therefore the Basset history force cannot be neglected.

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