Simultaneous and coordinated rotational switching of all molecular rotors in a network

DOE PAGES

Zhang, Y.; Kersell, H.; Stefak, R.; ...

2016-05-09

A range of artificial molecular systems have been created that can exhibit controlled linear and rotational motion. In the development of such systems, a key step is the addition of communication between molecules in a network. Here, we show that a two-dimensional array of dipolar molecular rotors can undergo simultaneous rotational switching by applying an electric field from the tip of a scanning tunnelling microscope. Several hundred rotors made from porphyrin-based double-decker complexes can be simultaneously rotated when in a hexagonal rotor network on a Cu(111) surface by applying biases above ±1 V at 80 K. The phenomenon is observedmore » only in a hexagonal rotor network due to the degeneracy of the ground state dipole rotational energy barrier of the system. Defects are essential to increase electric torque on the rotor network and to stabilize the switched rotor domains. At low biases and low initial rotator angles, slight reorientations of individual rotors can occur resulting in the rotator arms pointing in different directions. In conclusion, analysis reveals that the rotator arm directions here are not random, but are coordinated to minimize energy via cross talk among the rotors through dipolar interactions.« less

Rigorous accuracy assessment for 3D reconstruction using time-series Dual Fluoroscopy (DF) image pairs

NASA Astrophysics Data System (ADS)

Al-Durgham, Kaleel; Lichti, Derek D.; Kuntze, Gregor; Ronsky, Janet

2017-06-01

High-speed biplanar videoradiography, or clinically referred to as dual fluoroscopy (DF), imaging systems are being used increasingly for skeletal kinematics analysis. Typically, a DF system comprises two X-ray sources, two image intensifiers and two high-speed video cameras. The combination of these elements provides time-series image pairs of articulating bones of a joint, which permits the measurement of bony rotation and translation in 3D at high temporal resolution (e.g., 120-250 Hz). Assessment of the accuracy of 3D measurements derived from DF imaging has been the subject of recent research efforts by several groups, however with methodological limitations. This paper presents a novel and simple accuracy assessment procedure based on using precise photogrammetric tools. We address the fundamental photogrammetry principles for the accuracy evaluation of an imaging system. Bundle adjustment with selfcalibration is used for the estimation of the system parameters. The bundle adjustment calibration uses an appropriate sensor model and applies free-network constraints and relative orientation stability constraints for a precise estimation of the system parameters. A photogrammetric intersection of time-series image pairs is used for the 3D reconstruction of a rotating planar object. A point-based registration method is used to combine the 3D coordinates from the intersection and independently surveyed coordinates. The final DF accuracy measure is reported as the distance between 3D coordinates from image intersection and the independently surveyed coordinates. The accuracy assessment procedure is designed to evaluate the accuracy over the full DF image format and a wide range of object rotation. Experiment of reconstruction of a rotating planar object reported an average positional error of 0.44 +/- 0.2 mm in the derived 3D coordinates (minimum 0.05 and maximum 1.2 mm).

Rotating full- and reduced-dimensional quantum chemical models of molecules

NASA Astrophysics Data System (ADS)

Fábri, Csaba; Mátyus, Edit; Császár, Attila G.

2011-02-01

A flexible protocol, applicable to semirigid as well as floppy polyatomic systems, is developed for the variational solution of the rotational-vibrational Schrödinger equation. The kinetic energy operator is expressed in terms of curvilinear coordinates, describing the internal motion, and rotational coordinates, characterizing the orientation of the frame fixed to the nonrigid body. Although the analytic form of the kinetic energy operator might be very complex, it does not need to be known a priori within this scheme as it is constructed automatically and numerically whenever needed. The internal coordinates can be chosen to best represent the system of interest and the body-fixed frame is not restricted to an embedding defined with respect to a single reference geometry. The features of the technique mentioned make it especially well suited to treat large-amplitude nuclear motions. Reduced-dimensional rovibrational models can be defined straightforwardly by introducing constraints on the generalized coordinates. In order to demonstrate the flexibility of the protocol and the associated computer code, the inversion-tunneling of the ammonia (14NH3) molecule is studied using one, two, three, four, and six active vibrational degrees of freedom, within both vibrational and rovibrational variational computations. For example, the one-dimensional inversion-tunneling model of ammonia is considered also for nonzero rotational angular momenta. It turns out to be difficult to significantly improve upon this simple model. Rotational-vibrational energy levels are presented for rotational angular momentum quantum numbers J = 0, 1, 2, 3, and 4.

The Sensorimotor System Can Sculpt Behaviorally Relevant Representations for Motor Learning

PubMed Central

2016-01-01

Abstract The coordinate system in which humans learn novel motor skills is controversial. The representation of sensorimotor skills has been extensively studied by examining generalization after learning perturbations specifically designed to be ambiguous as to their coordinate system. Recent studies have found that learning is not represented in any simple coordinate system and can potentially be accounted for by a mixed representation. Here, instead of probing generalization, which has led to conflicting results, we examine whether novel dynamics can be learned when explicitly and unambiguously presented in particular coordinate systems. Subjects performed center–out reaches to targets in the presence of a force field, while varying the orientation of their hand (i.e., the wrist angle) across trials. Different groups of subjects experienced force fields that were explicitly presented either in Cartesian coordinates (field independent of hand orientation), in object coordinates (field rotated with hand orientation), or in anti-object coordinates (field rotated counter to hand orientation). Subjects learned to represent the dynamics when presented in either Cartesian or object coordinates, learning these as well as an ambiguous force field. However, learning was slower for the object-based dynamics and substantially impaired for the anti-object presentation. Our results show that the motor system is able to tune its representation to at least two natural coordinate systems but is impaired when the representation of the task does not correspond to a behaviorally relevant coordinate system. Our results show that the motor system can sculpt its representation through experience to match those of natural tasks. PMID:27588304

A new method to acquire 3-D images of a dental cast

NASA Astrophysics Data System (ADS)

Li, Zhongke; Yi, Yaxing; Zhu, Zhen; Li, Hua; Qin, Yongyuan

2006-01-01

This paper introduced our newly developed method to acquire three-dimensional images of a dental cast. A rotatable table, a laser-knife, a mirror, a CCD camera and a personal computer made up of a three-dimensional data acquiring system. A dental cast is placed on the table; the mirror is installed beside the table; a linear laser is projected to the dental cast; the CCD camera is put up above the dental cast, it can take picture of the dental cast and the shadow in the mirror; while the table rotating, the camera records the shape of the laser streak projected on the dental cast, and transmit the data to the computer. After the table rotated one circuit, the computer processes the data, calculates the three-dimensional coordinates of the dental cast's surface. In data processing procedure, artificial neural networks are enrolled to calibrate the lens distortion, map coordinates form screen coordinate system to world coordinate system. According to the three-dimensional coordinates, the computer reconstructs the stereo image of the dental cast. It is essential for computer-aided diagnosis and treatment planning in orthodontics. In comparison with other systems in service, for example, laser beam three-dimensional scanning system, the characteristic of this three-dimensional data acquiring system: a. celerity, it casts only 1 minute to scan a dental cast; b. compact, the machinery is simple and compact; c. no blind zone, a mirror is introduced ably to reduce blind zone.

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

Schiefer, H., E-mail: johann.schiefer@kssg.ch; Peters, S.; Plasswilm, L.

Purpose: For stereotactic radiosurgery, the AAPM Report No. 54 [AAPM Task Group 42 (AAPM, 1995)] requires the overall stability of the isocenter (couch, gantry, and collimator) to be within a 1 mm radius. In reality, a rotating system has no rigid axis and thus no isocenter point which is fixed in space. As a consequence, the isocenter concept is reviewed here. It is the aim to develop a measurement method following the revised definitions. Methods: The mechanical isocenter is defined here by the point which rotates on the shortest path in the room coordinate system. The path is labeled asmore » “isocenter path.” Its center of gravity is assumed to be the mechanical isocenter. Following this definition, an image-based and radiation-free measurement method was developed. Multiple marker pairs in a plane perpendicular to the assumed gantry rotation axis of a linear accelerator are imaged with a smartphone application from several rotation angles. Each marker pair represents an independent measuring system. The room coordinates of the isocenter path and the mechanical isocenter are calculated based on the marker coordinates. The presented measurement method is by this means strictly focused on the mechanical isocenter. Results: The measurement result is available virtually immediately following completion of measurement. When 12 independent measurement systems are evaluated, the standard deviations of the isocenter path points and mechanical isocenter coordinates are 0.02 and 0.002 mm, respectively. Conclusions: The measurement is highly accurate, time efficient, and simple to adapt. It is therefore suitable for regular checks of the mechanical isocenter characteristics of the gantry and collimator rotation axis. When the isocenter path is reproducible and its extent is in the range of the needed geometrical accuracy, it should be taken into account in the planning process. This is especially true for stereotactic treatments and radiosurgery.« less

Modification of LAMPF's magnet-mapping code for offsets of center coordinates

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

Hurd, J.W.; Gomulka, S.; Merrill, F.

1991-01-01

One of the magnet measurements performed at LAMPF is the determination of the cylindrical harmonics of a quadrupole magnet using a rotating coil. The data are analyzed with the code HARMAL to derive the amplitudes of the harmonics. Initially, the origin of the polar coordinate system is the axis of the rotating coil. A new coordinate system is found by a simple translation of the old system such that the dipole moment in the new system is zero. The origin of this translated system is referred to as the magnetic center. Given this translation, the code calculates the coefficients ofmore » the cylindrical harmonics in the new system. The code has been modified to use an analytical calculation to determine these new coefficients. The method of calculation is described and some implications of this formulation are presented. 8 refs., 2 figs.« less

A Direct Method for Mapping the Center of Pressure Measured by an Insole Pressure Sensor System to the Shoe's Local Coordinate System.

PubMed

Weaver, Brian T; Braman, Jerrod E; Haut, Roger C

2016-06-01

A direct method to express the center of pressure (CoP) measured by an insole pressure sensor system (IPSS) into a known coordinate system measured by motion tracking equipment is presented. A custom probe was constructed with reflective markers to allow its tip to be precisely tracked with motion tracking equipment. This probe was utilized to activate individual sensors on an IPSS that was placed in a shoe fitted with reflective markers used to establish a local shoe coordinate system. When pressed onto the IPSS the location of the probe's tip was coincident with the CoP measured by the IPSS (IPSS-CoP). Two separate pushes (i.e., data points) were used to develop vectors in each respective coordinate system. Simple vector mathematics determined the rotational and translational components of the transformation matrix needed to express the IPSS-CoP into the local shoe coordinate system. Validation was performed by comparing IPSS-CoP with an embedded force plate measured CoP (FP-CoP) from data gathered during kinematic trials. Six male subjects stood on an embedded FP and performed anterior/posterior (AP) sway, internal rotation, and external rotation of the body relative to a firmly planted foot. The IPSS-CoP was highly correlated with the FP-CoP for all motions, root mean square errors (RMSRRs) were comparable to other research, and there were no statistical differences between the displacement of the IPSS-CoP and FP-CoP for both the AP and medial/lateral (ML) axes, respectively. The results demonstrated that this methodology could be utilized to determine the transformation variables need to express IPSS-CoP into a known coordinate system measured by motion tracking equipment and that these variables can be determined outside the laboratory anywhere motion tracking equipment is available.

Global Coordinates and Exact Aberration Calculations Applied to Physical Optics Modeling of Complex Optical Systems

NASA Astrophysics Data System (ADS)

Lawrence, G.; Barnard, C.; Viswanathan, V.

1986-11-01

Historically, wave optics computer codes have been paraxial in nature. Folded systems could be modeled by "unfolding" the optical system. Calculation of optical aberrations is, in general, left for the analyst to do with off-line codes. While such paraxial codes were adequate for the simpler systems being studied 10 years ago, current problems such as phased arrays, ring resonators, coupled resonators, and grazing incidence optics require a major advance in analytical capability. This paper describes extension of the physical optics codes GLAD and GLAD V to include a global coordinate system and exact ray aberration calculations. The global coordinate system allows components to be positioned and rotated arbitrarily. Exact aberrations are calculated for components in aligned or misaligned configurations by using ray tracing to compute optical path differences and diffraction propagation. Optical path lengths between components and beam rotations in complex mirror systems are calculated accurately so that coherent interactions in phased arrays and coupled devices may be treated correctly.

Optimal Finite-Thrust Trans-earth Injection (TEI) Maneuvers for a Low Lunar Orbit (LLO) Earth Return Mission

DTIC Science & Technology

2010-12-01

1997) A commonly used coordinate system in astrodynamics is called the Geocentric Equatorial Coordinate System (IJK) which is a non-rotating system...final TEI burn had a spacing range of approximately 0.4 to 0.8 minutes between them. The approach therefore was to examine the singular arc by

Analytical Solution for Low-Thrust Minimum Time Control of a Satellite Formation

DTIC Science & Technology

2004-09-01

The Classical Clohessy - Wiltshire Equations . . . . . . . . . A-1 A.1 Hill’s Rotating Coordinate Frame . . . . . . . . . . . . . . . A-1 A.2 Kinematics...9 A.1. The Clohessy and Wiltshire coordinate frame with x in the radial direction and y in the velocity direction. . . . . . . . . . . . . . . . A-1 B...coordinate system and approx- imations made by Clohessy and Wiltshire , combined with body-fixed thruster control, result in a linearized dynamic system. The

Outcomes of a Rotational Dissection System in Gross Anatomy

ERIC Educational Resources Information Center

Marshak, David W.; Oakes, Joanne; Hsieh, Pei-Hsuan; Chuang, Alice Z.; Cleary, Leonard J.

2015-01-01

At the University of Texas Houston Medical School, a rotational dissection system was introduced to improve coordination between the Gross Anatomy and the Introduction to Clinical Medicine (ICM) courses. Six students were assigned to each cadaver and divided into two teams. For each laboratory, one team was assigned to dissect and the other to…

Coolant side heat transfer with rotation: User manual for 3D-TEACH with rotation

NASA Technical Reports Server (NTRS)

Syed, S. A.; James, R. H.

1989-01-01

This program solves the governing transport equations in Reynolds average form for the flow of a 3-D, steady state, viscous, heat conducting, multiple species, single phase, Newtonian fluid with combustion. The governing partial differential equations are solved in physical variables in either a Cartesian or cylindrical coordinate system. The effects of rotation on the momentum and enthalpy calculations modeled in Cartesian coordinates are examined. The flow of the fluid should be confined and subsonic with a maximum Mach number no larger than 0.5. This manual describes the operating procedures and input details for executing a 3D-TEACH computation.

Real-Time Adaptive Control of Mixing in a Plane Shear Layer

DTIC Science & Technology

1994-02-02

l’icoulement d’un fuide visqueux incompressible autour d’un cylinder fixe ou en rotation. Effet Magnus . J. Mdc. 14, 109-134. TANEDA, S. 1977 Visual study...Mokhtarian & Yokomizo 1990), and in lift enhancement schemes employing the Magnus effect (Swanson 1961). Rotation of all or part of a body may also have...coordinate system. In this work, the body-fitted grid is simply one of cylindrical polar coordinates and is time-independent, except for a = 3.25 where

Analysis on influence of installation error of off-axis three-mirror optical system on imaging line-of-sight

NASA Astrophysics Data System (ADS)

Gao, Lingyu; Li, Xinghua; Guo, Qianrui; Quan, Jing; Hu, Zhengyue; Su, Zhikun; Zhang, Dong; Liu, Peilu; Li, Haopeng

2018-01-01

The internal structure of off-axis three-mirror system is commonly complex. The mirror installation error in assembly always affects the imaging line-of-sight and further degrades the image quality. Due to the complexity of the optical path in off-axis three-mirror optical system, the straightforward theoretical analysis on the variations of imaging line-of-sight is extremely difficult. In order to simplify the theoretical analysis, an equivalent single-mirror system is proposed and presented in this paper. In addition, the mathematical model of single-mirror system is established and the accurate expressions of imaging coordinate are derived. Utilizing the simulation software ZEMAX, off-axis three-mirror model and single-mirror model are both established. By adjusting the position of mirror and simulating the line-of-sight rotation of optical system, the variations of imaging coordinates are clearly observed. The final simulation results include: in off-axis three-mirror system, the varying sensitivity of the imaging coordinate to the rotation of line-of-sight is approximately 30 um/″; in single-mirror system, the varying sensitivity of the imaging coordinate to the rotation of line-of-sight is 31.5 um/″. Compared to the simulation results of the off-axis three-mirror model, the 5% relative error of single-mirror model analysis highly satisfies the requirement of equivalent analysis and also verifies its validity. This paper presents a new method to analyze the installation error of the mirror in the off-axis three-mirror system influencing on the imaging line-of-sight. Moreover, the off-axis three-mirror model is totally equivalent to the single-mirror model in theoretical analysis.

Implementation and validation of an implant-based coordinate system for RSA migration calculation.

PubMed

Laende, Elise K; Deluzio, Kevin J; Hennigar, Allan W; Dunbar, Michael J

2009-10-16

An in vitro radiostereometric analysis (RSA) phantom study of a total knee replacement was carried out to evaluate the effect of implementing two new modifications to the conventional RSA procedure: (i) adding a landmark of the tibial component as an implant marker and (ii) defining an implant-based coordinate system constructed from implant landmarks for the calculation of migration results. The motivation for these two modifications were (i) to improve the representation of the implant by the markers by including the stem tip marker which increases the marker distribution (ii) to recover clinical RSA study cases with insufficient numbers of markers visible in the implant polyethylene and (iii) to eliminate errors in migration calculations due to misalignment of the anatomical axes with the RSA global coordinate system. The translational and rotational phantom studies showed no loss of accuracy with the two new measurement methods. The RSA system employing these methods has a precision of better than 0.05 mm for translations and 0.03 degrees for rotations, and an accuracy of 0.05 mm for translations and 0.15 degrees for rotations. These results indicate that the new methods to improve the interpretability, relevance, and standardization of the results do not compromise precision and accuracy, and are suitable for application to clinical data.

Multi-axis planar slide system

DOEpatents

Bieg, Lothar F.

2002-01-01

An apparatus for positioning an item that provides two-dimensional, independent orthogonal motion of a platform in a X-Y plane. A pair of master and slave disks engages opposite sides of the platform. Rotational drivers are connected to master disks so the disks rotate eccentrically about axes of rotation. Opposing slave disks are connected to master disks on opposite sides of the platform by a timing belt, or are electronically synchronized together using stepper motors, to effect coordinated motion. The coordinated eccentric motion of the pairs of master/slave disks compels smooth linear motion of the platform in the X-Y plane without backlash. The apparatus can be a planar mechanism implemented in a MEMS device.

New vibration-rotation code for tetraatomic molecules exhibiting wide-amplitude motion: WAVR4

NASA Astrophysics Data System (ADS)

Kozin, Igor N.; Law, Mark M.; Tennyson, Jonathan; Hutson, Jeremy M.

2004-11-01

A general computational method for the accurate calculation of rotationally and vibrationally excited states of tetraatomic molecules is developed. The resulting program is particularly appropriate for molecules executing wide-amplitude motions and isomerizations. The program offers a choice of coordinate systems based on Radau, Jacobi, diatom-diatom and orthogonal satellite vectors. The method includes all six vibrational dimensions plus three rotational dimensions. Vibration-rotation calculations with reduced dimensionality in the radial degrees of freedom are easily tackled via constraints imposed on the radial coordinates via the input file. Program summaryTitle of program: WAVR4 Catalogue number: ADUN Program summary URL:http://cpc.cs.qub.ac.uk/summaries/ADUN Program obtainable from: CPC Program Library, Queen's University of Belfast, N. Ireland Licensing provisions: Persons requesting the program must sign the standard CPC nonprofit use license Computer: Developed under Tru64 UNIX, ported to Microsoft Windows and Sun Unix Operating systems under which the program has been tested: Tru64 Unix, Microsoft Windows, Sun Unix Programming language used: Fortran 90 Memory required to execute with typical data: case dependent No. of lines in distributed program, including test data, etc.: 11 937 No. of bytes in distributed program, including test data, etc.: 84 770 Distribution format: tar.gz Nature of physical problem: WAVR4 calculates the bound ro-vibrational levels and wavefunctions of a tetraatomic system using body-fixed coordinates based on generalised orthogonal vectors. Method of solution: The angular coordinates are treated using a finite basis representation (FBR) based on products of spherical harmonics. A discrete variable representation (DVR) [1] based on either Morse-oscillator-like or spherical-oscillator functions [2] is used for the radial coordinates. Matrix elements are computed using an efficient Gaussian quadrature in the angular coordinates and the DVR approximation in the radial coordinates. The solution of the secular problem is carried through a series of intermediate diagonalisations and truncations. Restrictions on the complexity of the problem: (1) The size of the final Hamiltonian matrix that can be practically diagonalised; (2) The DVR approximation for a radial coordinate fails for values of the coordinate near zero—this is remedied only for one radial coordinate by using analytical integration. Typical running time: problem-dependent Unusual features of the program: A user-supplied subroutine to evaluate the potential energy is a program requirement. External routines: BLAS and LAPACK are required. References: [1] J.C. Light, I.P. Hamilton, J.V. Lill, J. Chem. Phys. 92 (1985) 1400. [2] J.R. Henderson, C.R. Le Sueur, J. Tennyson, Comp. Phys. Comm. 75 (1993) 379.

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.

On differential transformations between Cartesian and curvilinear (geodetic) coordinates

NASA Technical Reports Server (NTRS)

Soler, T.

1976-01-01

Differential transformations are developed between Cartesian and curvilinear orthogonal coordinates. Only matrix algebra is used for the presentation of the basic concepts. After defining the reference systems used the rotation (R), metric (H), and Jacobian (J) matrices of the transformations between cartesian and curvilinear coordinate systems are introduced. A value of R as a function of H and J is presented. Likewise an analytical expression for J(-1) as a function of H(-2) and R is obtained. Emphasis is placed on showing that differential equations are equivalent to conventional similarity transformations. Scaling methods are discussed along with ellipsoidal coordinates. Differential transformations between elipsoidal and geodetic coordinates are established.

[Method for evaluating the positional accuracy of a six-degrees-of-freedom radiotherapy couch using high definition digital cameras].

PubMed

Takemura, Akihiro; Ueda, Shinichi; Noto, Kimiya; Kurata, Yuichi; Shoji, Saori

2011-01-01

In this study, we proposed and evaluated a positional accuracy assessment method with two high-resolution digital cameras for add-on six-degrees-of-freedom radiotherapy (6D) couches. Two high resolution digital cameras (D5000, Nikon Co.) were used in this accuracy assessment method. These cameras were placed on two orthogonal axes of a linear accelerator (LINAC) coordinate system and focused on the isocenter of the LINAC. Pictures of a needle that was fixed on the 6D couch were taken by the cameras during couch motions of translation and rotation of each axis. The coordinates of the needle in the pictures were obtained using manual measurement, and the coordinate error of the needle was calculated. The accuracy of a HexaPOD evo (Elekta AB, Sweden) was evaluated using this method. All of the mean values of the X, Y, and Z coordinate errors in the translation tests were within ±0.1 mm. However, the standard deviation of the Z coordinate errors in the Z translation test was 0.24 mm, which is higher than the others. In the X rotation test, we found that the X coordinate of the rotational origin of the 6D couch was shifted. We proposed an accuracy assessment method for a 6D couch. The method was able to evaluate the accuracy of the motion of only the 6D couch and revealed the deviation of the origin of the couch rotation. This accuracy assessment method is effective for evaluating add-on 6D couch positioning.

An exact variational method to calculate rovibrational spectra of polyatomic molecules with large amplitude motion

NASA Astrophysics Data System (ADS)

Yu, Hua-Gen

2016-08-01

We report a new full-dimensional variational algorithm to calculate rovibrational spectra of polyatomic molecules using an exact quantum mechanical Hamiltonian. The rovibrational Hamiltonian of system is derived in a set of orthogonal polyspherical coordinates in the body-fixed frame. It is expressed in an explicitly Hermitian form. The Hamiltonian has a universal formulation regardless of the choice of orthogonal polyspherical coordinates and the number of atoms in molecule, which is suitable for developing a general program to study the spectra of many polyatomic systems. An efficient coupled-state approach is also proposed to solve the eigenvalue problem of the Hamiltonian using a multi-layer Lanczos iterative diagonalization approach via a set of direct product basis set in three coordinate groups: radial coordinates, angular variables, and overall rotational angles. A simple set of symmetric top rotational functions is used for the overall rotation whereas a potential-optimized discrete variable representation method is employed in radial coordinates. A set of contracted vibrationally diabatic basis functions is adopted in internal angular variables. Those diabatic functions are first computed using a neural network iterative diagonalization method based on a reduced-dimension Hamiltonian but only once. The final rovibrational energies are computed using a modified Lanczos method for a given total angular momentum J, which is usually fast. Two numerical applications to CH4 and H2CO are given, together with a comparison with previous results.

An exact variational method to calculate rovibrational spectra of polyatomic molecules with large amplitude motion

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

Yu, Hua-Gen, E-mail: hgy@bnl.gov

We report a new full-dimensional variational algorithm to calculate rovibrational spectra of polyatomic molecules using an exact quantum mechanical Hamiltonian. The rovibrational Hamiltonian of system is derived in a set of orthogonal polyspherical coordinates in the body-fixed frame. It is expressed in an explicitly Hermitian form. The Hamiltonian has a universal formulation regardless of the choice of orthogonal polyspherical coordinates and the number of atoms in molecule, which is suitable for developing a general program to study the spectra of many polyatomic systems. An efficient coupled-state approach is also proposed to solve the eigenvalue problem of the Hamiltonian using amore » multi-layer Lanczos iterative diagonalization approach via a set of direct product basis set in three coordinate groups: radial coordinates, angular variables, and overall rotational angles. A simple set of symmetric top rotational functions is used for the overall rotation whereas a potential-optimized discrete variable representation method is employed in radial coordinates. A set of contracted vibrationally diabatic basis functions is adopted in internal angular variables. Those diabatic functions are first computed using a neural network iterative diagonalization method based on a reduced-dimension Hamiltonian but only once. The final rovibrational energies are computed using a modified Lanczos method for a given total angular momentum J, which is usually fast. Two numerical applications to CH{sub 4} and H{sub 2}CO are given, together with a comparison with previous results.« less

Interactive display of molecular models using a microcomputer system

NASA Technical Reports Server (NTRS)

Egan, J. T.; Macelroy, R. D.

1980-01-01

A simple, microcomputer-based, interactive graphics display system has been developed for the presentation of perspective views of wire frame molecular models. The display system is based on a TERAK 8510a graphics computer system with a display unit consisting of microprocessor, television display and keyboard subsystems. The operating system includes a screen editor, file manager, PASCAL and BASIC compilers and command options for linking and executing programs. The graphics program, written in USCD PASCAL, involves the centering of the coordinate system, the transformation of centered model coordinates into homogeneous coordinates, the construction of a viewing transformation matrix to operate on the coordinates, clipping invisible points, perspective transformation and scaling to screen coordinates; commands available include ZOOM, ROTATE, RESET, and CHANGEVIEW. Data file structure was chosen to minimize the amount of disk storage space. Despite the inherent slowness of the system, its low cost and flexibility suggests general applicability.

Spherical Coordinate Systems for Streamlining Suited Mobility Analysis

NASA Technical Reports Server (NTRS)

Benson, Elizabeth; Cowley, Matthew; Harvill, Lauren; Rajulu. Sudhakar

2015-01-01

Introduction: When describing human motion, biomechanists generally report joint angles in terms of Euler angle rotation sequences. However, there are known limitations in using this method to describe complex motions such as the shoulder joint during a baseball pitch. Euler angle notation uses a series of three rotations about an axis where each rotation is dependent upon the preceding rotation. As such, the Euler angles need to be regarded as a set to get accurate angle information. Unfortunately, it is often difficult to visualize and understand these complex motion representations. It has been shown that using a spherical coordinate system allows Anthropometry and Biomechanics Facility (ABF) personnel to increase their ability to transmit important human mobility data to engineers, in a format that is readily understandable and directly translatable to their design efforts. Objectives: The goal of this project was to use innovative analysis and visualization techniques to aid in the examination and comprehension of complex motions. Methods: This project consisted of a series of small sub-projects, meant to validate and verify a new method before it was implemented in the ABF's data analysis practices. A mechanical test rig was built and tracked in 3D using an optical motion capture system. Its position and orientation were reported in both Euler and spherical reference systems. In the second phase of the project, the ABF estimated the error inherent in a spherical coordinate system, and evaluated how this error would vary within the reference frame. This stage also involved expanding a kinematic model of the shoulder to include the rest of the joints of the body. The third stage of the project involved creating visualization methods to assist in interpreting motion in a spherical frame. These visualization methods will be incorporated in a tool to evaluate a database of suited mobility data, which is currently in development. Results: Initial results demonstrated that a spherical coordinate system is helpful in describing and visualizing the motion of a space suit. The system is particularly useful in describing the motion of the shoulder, where multiple degrees of freedom can lead to very complex motion paths.

Research on the electro-optical assistant landing system based on the dual camera photogrammetry algorithm

NASA Astrophysics Data System (ADS)

Mi, Yuhe; Huang, Yifan; Li, Lin

2015-08-01

Based on the location technique of beacon photogrammetry, Dual Camera Photogrammetry (DCP) algorithm was used to assist helicopters landing on the ship. In this paper, ZEMAX was used to simulate the two Charge Coupled Device (CCD) cameras imaging four beacons on both sides of the helicopter and output the image to MATLAB. Target coordinate systems, image pixel coordinate systems, world coordinate systems and camera coordinate systems were established respectively. According to the ideal pin-hole imaging model, the rotation matrix and translation vector of the target coordinate systems and the camera coordinate systems could be obtained by using MATLAB to process the image information and calculate the linear equations. On the basis mentioned above, ambient temperature and the positions of the beacons and cameras were changed in ZEMAX to test the accuracy of the DCP algorithm in complex sea status. The numerical simulation shows that in complex sea status, the position measurement accuracy can meet the requirements of the project.

Analysis of an ultrasonically rotating droplet by moving particle semi-implicit and distributed point source method in a rotational coordinate

NASA Astrophysics Data System (ADS)

Wada, Yuji; Yuge, Kohei; Tanaka, Hiroki; Nakamura, Kentaro

2017-07-01

Numerical analysis on the rotation of an ultrasonically levitated droplet in centrifugal coordinate is discussed. A droplet levitated in an acoustic chamber is simulated using the distributed point source method and the moving particle semi-implicit method. Centrifugal coordinate is adopted to avoid the Laplacian differential error, which causes numerical divergence or inaccuracy in the global coordinate calculation. Consequently, the duration of calculation stability has increased 30 times longer than that in a the previous paper. Moreover, the droplet radius versus rotational acceleration characteristics show a similar trend to the theoretical and experimental values in the literature.

Rotary fast tool servo system and methods

DOEpatents

Montesanti, Richard C.; Trumper, David L.

2007-10-02

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

Rotary fast tool servo system and methods

DOEpatents

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

2009-08-18

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

Use of global positioning system measurements to determine geocentric coordinates and variations in Earth orientation

NASA Technical Reports Server (NTRS)

Malla, R. P.; Wu, S.-C.; Lichten, S. M.

1993-01-01

Geocentric tracking station coordinates and short-period Earth-orientation variations can be measured with Global Positioning System (GPS) measurements. Unless calibrated, geocentric coordinate errors and changes in Earth orientation can lead to significant deep-space tracking errors. Ground-based GPS estimates of daily and subdaily changes in Earth orientation presently show centimeter-level precision. Comparison between GPS-estimated Earth-rotation variations, which are the differences between Universal Time 1 and Universal Coordinated Time (UT1-UTC), and those calculated from ocean tide models suggests that observed subdaily variations in Earth rotation are dominated by oceanic tidal effects. Preliminary GPS estimates for the geocenter location (from a 3-week experiment) agree with independent satellite laser-ranging estimates to better than 10 cm. Covariance analysis predicts that temporal resolution of GPS estimates for Earth orientation and geocenter improves significantly when data collected from low Earth-orbiting satellites as well as from ground sites are combined. The low Earth GPS tracking data enhance the accuracy and resolution for measuring high-frequency global geodynamical signals over time scales of less than 1 day.

AF-Geospace User’s Manual Version 2.5.1 and Version 2.51P

DTIC Science & Technology

2012-08-01

system of the grid. The choices are: GEOC: Geocentric coordinate system: The Z axis is aligned with the north rotational pole, the X axis pierces...the Greenwich Meridian on the equator (0 o Long, 0 o Lat), and the Y axis is minus the cross-product of X and Z. GSM: Geocentric solar magnetospheric...handed system and is positive towards dusk. GEI: Geocentric equatorial inertial coordinate system: The Z axis is the same as for the geocentric

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.

Coordinate Axes and Mental Rotation Tasks: A Solomon Four Group Design.

ERIC Educational Resources Information Center

Branoff, Theodore J.

1999-01-01

Studies the effectiveness of adding coordinate axes to mental rotations tasks. Assesses the effect of the coordinate axes, the effect of pretest sensitization, and interaction between the pretest and posttest conditions. (Author/CCM)

Poster - Thur Eve - 77: Coordinate transformation from DICOM to DOSXYZnrc.

PubMed

Zhan, L; Jiang, R; Osei, E K

2012-07-01

DICOM format is the de facto standard for communications between therapeutic and diagnostic modalities. A plan generated by a treatment planning system (TPS) is often exported to DICOM format. BEAMnrc/DOSXYZnrc is a widely used Monte Carlo (MC) package for beam and dose simulations in radiotherapy. It has its own definition for beam orientation, which is not in compliance with the one defined in DICOM standard. Dose simulations using TPS generated plans require transformation of beam orientations to DOSXYZnrc coordinate system (c.s.) after extracting the necessary parameters from DICOM RP files. The transformation is nontrivial. There have been two studies for the coordinate transformations. The transformation equation sets derived have been helpful to BEAMnrc/DOSXYZnrc users. However, both the transformation equation sets are complex mathematically and not easy to program. In this study, we derive a new set of transformation equations, which are more compact, better understandable, and easier for computational implementation. The derivation of polar angle θ and azimuthal angle φ is similar to the existing studies by applying a series of rotations to a vector in DICOM patient c.s. The derivation of beam rotation Φ col for DOSXYZnrc, however, is different. It is obtained by a direct combination of the actual collimator rotation with the projection of the couch rotation to the collimator rotating plane. Verification of the transformation has been performed using clinical plans created with Eclipse. The comparison between Eclipse and MC results show exact geometrical agreement for field placements, together with good agreement in dose distributions. © 2012 American Association of Physicists in Medicine.

Beam coordinate transformations from DICOM to DOSXYZnrc

NASA Astrophysics Data System (ADS)

Zhan, Lixin; Jiang, Runqing; Osei, Ernest K.

2012-12-01

Digital imaging and communications in medicine (DICOM) format is the de facto standard for communications between therapeutic and diagnostic modalities. A plan generated by a treatment planning system (TPS) is often exported in DICOM format. BEAMnrc/DOSXYZnrc is a widely used Monte Carlo (MC) package for modelling the Linac head and simulating dose delivery in radiotherapy. It has its own definition of beam orientation, which is not in compliance with the one defined in the DICOM standard. MC dose calculations using information from TPS generated plans require transformation of beam orientations to the DOSXYZnrc coordinate system (c.s.) and the transformation is non-trivial. There have been two studies on the coordinate transformations. The transformation equation sets derived have been helpful to BEAMnrc/DOSXYZnrc users. However, the transformation equation sets are complex mathematically and not easy to program. In this study, we derive a new set of transformation equations, which are more compact, easily understandable, and easier for computational implementation. The derivation of the polar angle θ and the azimuthal angle φ used by DOSXYZnrc is similar to the existing studies by applying a series of rotations to a vector in DICOM patient c.s. The derivation of the beam rotation ϕcol for DOSXYZnrc, however, is different. It is obtained by a direct combination of the actual collimator rotation with the projection of the couch rotation to the collimator rotating plane. Verification of the transformation has been performed using clinical plans. The comparisons between TPS and MC results show very good geometrical agreement for field placements, together with good agreement in dose distributions.

Finite-element analysis and modal testing of a rotating wind turbine

NASA Astrophysics Data System (ADS)

Carne, T. G.; Lobitz, D. W.; Nord, A. R.; Watson, R. A.

1982-10-01

A finite element procedure, which includes geometric stiffening, and centrifugal and Coriolis terms resulting from the use of a rotating coordinate system, was developed to compute the mode shapes and frequencies of rotating structures. Special applications of this capability was made to Darrieus, vertical axis wind turbines. In a parallel development effort, a technique for the modal testing of a rotating vertical axis wind turbine is established to measure modal parameters directly. Results from the predictive and experimental techniques for the modal frequencies and mode shapes are compared over a wide range of rotational speeds.

Finite element analysis and modal testing of a rotating wind turbine

NASA Astrophysics Data System (ADS)

Carne, T. G.; Lobitz, D. W.; Nord, A. R.; Watson, R. A.

A finite element procedure, which includes geometric stiffening, and centrifugal and Coriolis terms resulting from the use of a rotating coordinate system, has been developed to compute the mode shapes and frequencies of rotating structures. Special application of this capability has been made to Darrieus, vertical axis wind turbines. In a parallel development effort, a technique for the modal testing of a rotating vertical axis wind turbine has been established to measure modal parameters directly. Results from the predictive and experimental techniques for the modal frequencies and mode shapes are compared over a wide range of rotational speeds.

Non-contact measurement of rotation angle with solo camera

NASA Astrophysics Data System (ADS)

Gan, Xiaochuan; Sun, Anbin; Ye, Xin; Ma, Liqun

2015-02-01

For the purpose to measure a rotation angle around the axis of an object, a non-contact rotation angle measurement method based on solo camera was promoted. The intrinsic parameters of camera were calibrated using chessboard on principle of plane calibration theory. The translation matrix and rotation matrix between the object coordinate and the camera coordinate were calculated according to the relationship between the corners' position on object and their coordinates on image. Then the rotation angle between the measured object and the camera could be resolved from the rotation matrix. A precise angle dividing table (PADT) was chosen as the reference to verify the angle measurement error of this method. Test results indicated that the rotation angle measurement error of this method did not exceed +/- 0.01 degree.

Considering Time-Scale Requirements for the Future

DTIC Science & Technology

2013-05-01

geocentric reference frame with the SI second realized on the rotating geoid as the scale unit. It is a continuous atomic time scale that was...the B8lycentric and Geocentric Celestial Reference Systems, two time scales, Barycentric Coor- dinate Time (TCB) and Geocentric Coordinate Time (TCG...defined in 2006 as a linear scaling of TCB having the approximate rate of TT. TCG is the time coordinate for the four dimensional geocentric coordinate

FIDDLE: A Computer Code for Finite Difference Development of Linear Elasticity in Generalized Curvilinear Coordinates

NASA Technical Reports Server (NTRS)

Kaul, Upender K.

2005-01-01

A three-dimensional numerical solver based on finite-difference solution of three-dimensional elastodynamic equations in generalized curvilinear coordinates has been developed and used to generate data such as radial and tangential stresses over various gear component geometries under rotation. The geometries considered are an annulus, a thin annular disk, and a thin solid disk. The solution is based on first principles and does not involve lumped parameter or distributed parameter systems approach. The elastodynamic equations in the velocity-stress formulation that are considered here have been used in the solution of problems of geophysics where non-rotating Cartesian grids are considered. For arbitrary geometries, these equations along with the appropriate boundary conditions have been cast in generalized curvilinear coordinates in the present study.

Electromagnetic variable degrees of freedom actuator systems and methods

DOEpatents

Montesanti, Richard C [Pleasanton, CA; Trumper, David L [Plaistow, NH; Kirtley, Jr., James L.

2009-02-17

The present invention provides a variable reluctance actuator system and method that can be adapted for simultaneous rotation and translation of a moving element by applying a normal-direction magnetic flux on the moving element. In a beneficial example arrangement, the moving element includes a swing arm that carries a cutting tool at a set radius from an axis of rotation so as to produce a rotary fast tool servo that provides a tool motion in a direction substantially parallel to the surface-normal of a workpiece at the point of contact between the cutting tool and workpiece. An actuator rotates a swing arm such that a cutting tool moves toward and away from a mounted rotating workpiece in a controlled manner in order to machine the workpiece. Position sensors provide rotation and displacement information for a swing arm to a control system. A control system commands and coordinates motion of the fast tool servo with the motion of a spindle, rotating table, cross-feed slide, and in feed slide of a precision lathe.

Determination of near and far field acoustics for advanced propeller configurations

NASA Technical Reports Server (NTRS)

Korkan, K. D.; Jaeger, S. M.; Kim, J. H.

1989-01-01

A method has been studied for predicting the acoustic field of the SR-3 transonic propfan using flow data generated by two versions of the NASPROP-E computer code. Since the flow fields calculated by the solvers include the shock-wave system of the propeller, the nonlinear quadrupole noise source term is included along with the monopole and dipole noise sources in the calculation of the acoustic near field. Acoustic time histories in the near field are determined by transforming the azimuthal coordinate in the rotating, blade-fixed coordinate system to the time coordinate in a nonrotating coordinate system. Fourier analysis of the pressure time histories is used to obtain the frequency spectra of the near-field noise.

Calibration of a dual-PTZ camera system for stereo vision

NASA Astrophysics Data System (ADS)

Chang, Yau-Zen; Hou, Jung-Fu; Tsao, Yi Hsiang; Lee, Shih-Tseng

2010-08-01

In this paper, we propose a calibration process for the intrinsic and extrinsic parameters of dual-PTZ camera systems. The calibration is based on a complete definition of six coordinate systems fixed at the image planes, and the pan and tilt rotation axes of the cameras. Misalignments between estimated and ideal coordinates of image corners are formed into cost values to be solved by the Nelder-Mead simplex optimization method. Experimental results show that the system is able to obtain 3D coordinates of objects with a consistent accuracy of 1 mm when the distance between the dual-PTZ camera set and the objects are from 0.9 to 1.1 meters.

Minerva: Cylindrical coordinate extension for Athena

NASA Astrophysics Data System (ADS)

Skinner, M. Aaron; Ostriker, Eve C.

2013-02-01

Minerva is a cylindrical coordinate extension of the Athena astrophysical MHD code of Stone, Gardiner, Teuben, and Hawley. The extension follows the approach of Athena's original developers and has been designed to alter the existing Cartesian-coordinates code as minimally and transparently as possible. The numerical equations in cylindrical coordinates are formulated to maintain consistency with constrained transport (CT), a central feature of the Athena algorithm, while making use of previously implemented code modules such as the Riemann solvers. Angular momentum transport, which is critical in astrophysical disk systems dominated by rotation, is treated carefully.

Some fundamentals regarding kinematics and generalized forces for multibody dynamics

NASA Technical Reports Server (NTRS)

Hodges, Dewey H.

1990-01-01

In order to illustrate the various forms in which generalized forces can arise from diverse subsystem analyses in multibody dynamics, intrinsic dynamical equations for the rotational dynamics of a rigid body are derived from Hamilton's principle. Two types of generalized forces are derived: (1) those associated with the virtual rotation vector in some orthogonal basis, and (2) those associated with varying generalized coordinates. As one physical or kinematical result (such as a frequency or a specific direction cosine) cannot rely on this selection, a 'blind' coupling of two models in which generalized forces are calculated in different ways would be wrong. Both types should use the same rotational coordinates and should denote the virtual rotation on a similar basis according to method 1, or in terms of common rotational coordinates and their diversifications as in method 2. Alternatively, the generalized forces and coordinates of one model may be transformed to those of the other.

Grid systems for Earth radiation budget experiment applications

NASA Technical Reports Server (NTRS)

Brooks, D. R.

1981-01-01

Spatial coordinate transformations are developed for several global grid systems of interest to the Earth Radiation Budget Experiment. The grid boxes are defined in terms of a regional identifier and longitude-latitude indexes. The transformations associate longitude with a particular grid box. The reverse transformations identify the center location of a given grid box. Transformations are given to relate the rotating (Earth-based) grid systems to solar position expressed in an inertial (nonrotating) coordinate system. The FORTRAN implementations of the transformations are given, along with sample input and output.

Design of experimental studies of human performance under influences of simulated artificial gravity. [effects of rotation on psychomotor tasks

NASA Technical Reports Server (NTRS)

Piland, W. M.; Hausch, H. G.; Maraman, G. V.; Green, J. A.

1973-01-01

A ground based research program is now being undertaken to provide data concerning the effects of a rotating environment on man's ability to adequately perform gross and fine psychomotor tasks. Emphasis is being placed on establishing the levels of artificial gravity and rates and radii of rotation required in future space systems for preservation of crew performance and comfort. An experimental study utilizing a rotational facility to investigate crew mobility, cargo transfer and handling, and fine motor coordination at radii up to 24 meters and at rotational rates up to 5 rpm is reported.

Positioning sensor by combining optical projection and photogrammetry

NASA Astrophysics Data System (ADS)

Zheng, Benrui

Six spatial parameters, (x, y, z) for translation, and pitch, roll, and yaw for rotation, are used to describe the 3-dimensional position and orientation of a rigid body---the 6 degrees of freedom (DOF). The ability to measure these parameters is required in a diverse range of applications including machine tool metrology, robot calibration, motion control, motion analysis, and reconstructive surgery. However, there are limitations associated with the currently available measurement systems. Shortcomings include some of the following: short dynamic range, limited accuracy, line of sight restrictions, and capital cost. The objective of this dissertation was to develop a new metrology system that overcomes line of sight restrictions, reduces system costs, allows large dynamic range and has the potential to provide high measurement accuracy. The new metrology system proposed in this dissertation is based on a combination of photogrammetry and optical pattern projection. This system has the potential to enable real-time measurement of a small lightweight module's location. The module generates an optical pattern that is observable on the surrounding walls, and photogrammetry is used to measure the absolute coordinates of features in the projected optical pattern with respect to a defined global coordinate system. By combining these absolute coordinates with the known angular information of the optical projection beams, a minimization algorithm can be used to extract the absolute coordinates and angular orientation of the module itself. The feasibility of the proposed metrology system was first proved through preliminary experimental tests. By using a module with a 7x7 dot matrix pattern, experimental agreement of 1 to 5 parts in 103 was obtained by translating the module over 0.9 m and by rotating it through 60°. The proposed metrology system was modeled through numerical simulations and factors affecting the uncertainty of the measurement were investigated. The simulation results demonstrate that optimum design of the projected pattern gives a lower associated measurement uncertainty than is possible by direct photogrammetric measurement with traditional tie points alone. Based on the simulation results, a few improvements have been made to the proposed metrology systems. These improvements include using a module with larger full view angle and larger number of dots, performing angle calibration for the module, using a virtual camera approach to determine the module location and employing multiple coordinates system for large range rotation measurement. With the new proposed virtual camera approach, experimental agreement at the level of 3 parts in 104 was observed for the one dimension translation test. The virtual camera approach is faster than the algorithm and an additional minimization analysis is no longer needed. In addition, the virtual camera approach offers an additional benefit that it is no longer necessary to identify all dots in the pattern and so is more amenable to use in realistic and usually complicated environments. A preliminary rotation test over 120° was conducted by tying three coordinate systems together. It was observed that the absolute values of the angle differences between the measured angle and the encoder reading are smaller than 0.23° for all measurements. It is found that this proposed metrology system has the ability to measure larger angle range (up to 360°) by using multiple coordinate systems. The uncertainty analysis of the proposed system was performed through Monte Carlo simulation and it was demonstrated that the experimental results are consistent with the analysis.

Electrical wave propagation in an anisotropic model of the left ventricle based on analytical description of cardiac architecture.

PubMed

Pravdin, Sergey F; Dierckx, Hans; Katsnelson, Leonid B; Solovyova, Olga; Markhasin, Vladimir S; Panfilov, Alexander V

2014-01-01

We develop a numerical approach based on our recent analytical model of fiber structure in the left ventricle of the human heart. A special curvilinear coordinate system is proposed to analytically include realistic ventricular shape and myofiber directions. With this anatomical model, electrophysiological simulations can be performed on a rectangular coordinate grid. We apply our method to study the effect of fiber rotation and electrical anisotropy of cardiac tissue (i.e., the ratio of the conductivity coefficients along and across the myocardial fibers) on wave propagation using the ten Tusscher-Panfilov (2006) ionic model for human ventricular cells. We show that fiber rotation increases the speed of cardiac activation and attenuates the effects of anisotropy. Our results show that the fiber rotation in the heart is an important factor underlying cardiac excitation. We also study scroll wave dynamics in our model and show the drift of a scroll wave filament whose velocity depends non-monotonically on the fiber rotation angle; the period of scroll wave rotation decreases with an increase of the fiber rotation angle; an increase in anisotropy may cause the breakup of a scroll wave, similar to the mother rotor mechanism of ventricular fibrillation.

Development of the Wake Behind a Circular Cylinder Impulsively Started into Rotatory and Rectilinear Motion: Intermediate Rotation Rates

DTIC Science & Technology

1991-01-01

cylindre fixe ou en rotation. Effet Magnus . J. Mec. 14, 109-134. Taneda, S. 1977 Visual study of unsteady separated flows around bodies. Prog. Aero...enhancement schemes employing the Magnus effect (Swanson 1961). Rotating all or part of a body may also have applications in active or feedback control of...and yt into the governing equations in the generalized coordinate system. In this study, the body-fitted grid is simply one of cylindrical polar

Eye-Hand Coordination during Visuomotor Adaptation with Different Rotation Angles: Effects of Terminal Visual Feedback

PubMed Central

Rand, Miya K.; Rentsch, Sebastian

2016-01-01

This study examined adaptive changes of eye-hand coordination during a visuomotor rotation task under the use of terminal visual feedback. Young adults made reaching movements to targets on a digitizer while looking at targets on a monitor where the rotated feedback (a cursor) of hand movements appeared after each movement. Three rotation angles (30°, 75° and 150°) were examined in three groups in order to vary the task difficulty. The results showed that the 30° group gradually reduced direction errors of reaching with practice and adapted well to the visuomotor rotation. The 75° group made large direction errors of reaching, and the 150° group applied a 180° reversal shift from early practice. The 75°and 150° groups, however, overcompensated the respective rotations at the end of practice. Despite these group differences in adaptive changes of reaching, all groups gradually adapted gaze directions prior to reaching from the target area to the areas related to the final positions of reaching during the course of practice. The adaptive changes of both hand and eye movements in all groups mainly reflected adjustments of movement directions based on explicit knowledge of the applied rotation acquired through practice. Only the 30° group showed small implicit adaptation in both effectors. The results suggest that by adapting gaze directions from the target to the final position of reaching based on explicit knowledge of the visuomotor rotation, the oculomotor system supports the limb-motor system to make precise preplanned adjustments of reaching directions during learning of visuomotor rotation under terminal visual feedback. PMID:27812093

Optical rotation compensation for a holographic 3D display with a 360 degree horizontal viewing zone.

PubMed

Sando, Yusuke; Barada, Daisuke; Yatagai, Toyohiko

2016-10-20

A method for a continuous optical rotation compensation in a time-division-based holographic three-dimensional (3D) display with a rotating mirror is presented. Since the coordinate system of wavefronts after the mirror reflection rotates about the optical axis along with the rotation angle, compensation or cancellation is absolutely necessary to fix the reconstructed 3D object. In this study, we address this problem by introducing an optical image rotator based on a right-angle prism that rotates synchronously with the rotating mirror. The optical and continuous compensation reduces the occurrence of duplicate images, which leads to the improvement of the quality of reconstructed images. The effect of the optical rotation compensation is experimentally verified and a demonstration of holographic 3D display with the optical rotation compensation is presented.

A CAD/CAE analysis of photographic and engineering data

NASA Technical Reports Server (NTRS)

Goza, S. Michael; Peterson, Wayne L.

1987-01-01

In the investigation of the STS 51L accident, NASA engineers were given the task of visual analysis of photographic data extracted from the tracking cameras located at the launch pad. An analysis of the rotations associated with the right Solid Rocket Booster (SRB) was also performed. The visual analysis involved pinpointing coordinates of specific areas on the photographs. The objective of the analysis on the right SRB was to duplicate the rotations provided by the SRB rate gyros and to determine the effects of the rotations on the launch configuration. To accomplish the objectives, computer aided design and engineering was employed. The solid modeler, GEOMOD, inside the Structural Dynamics Research Corp. I-DEAS package, proved invaluable. The problem areas that were encountered and the corresponding solutions that were obtained are discussed. A brief description detailing the construction of the computer generated solid model of the STS launch configuration is given. A discussion of the coordinate systems used in the analysis is provided for the purpose of positioning the model in coordinate space. The techniques and theory used in the model analysis are described.

Computing UV/vis spectra from the adiabatic and vertical Franck-Condon schemes with the use of Cartesian and internal coordinates

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

Götze, Jan P.; Karasulu, Bora; Thiel, Walter

We address the effects of using Cartesian or internal coordinates in the adiabatic Franck-Condon (AFC) and vertical Franck-Condon (VFC) approaches to electronic spectra. The adopted VFC approach is a simplified variant of the original approach [A. Hazra, H. H. Chang, and M. Nooijen, J. Chem. Phys. 151, 2125 (2004)], as we omit any contribution from normal modes with imaginary frequency. For our test molecules ranging from ethylene to flavin compounds, VFC offers several advantages over AFC, especially by preserving the properties of the FC region and by avoiding complications arising from the crossing of excited-state potential surfaces or from themore » failure of the harmonic approximation. The spectral quality for our target molecules is insensitive to the chosen approach. We also explore the effects of Duschinsky rotation and relate the need for internal coordinates to the absence of symmetry elements. When using Duschinsky rotation and treating larger systems without planar symmetry, internal coordinates are found to outperform Cartesian coordinates in the AFC spectral calculations.« less

Computing UV/vis spectra from the adiabatic and vertical Franck-Condon schemes with the use of Cartesian and internal coordinates.

PubMed

Götze, Jan P; Karasulu, Bora; Thiel, Walter

2013-12-21

We address the effects of using Cartesian or internal coordinates in the adiabatic Franck-Condon (AFC) and vertical Franck-Condon (VFC) approaches to electronic spectra. The adopted VFC approach is a simplified variant of the original approach [A. Hazra, H. H. Chang, and M. Nooijen, J. Chem. Phys. 151, 2125 (2004)], as we omit any contribution from normal modes with imaginary frequency. For our test molecules ranging from ethylene to flavin compounds, VFC offers several advantages over AFC, especially by preserving the properties of the FC region and by avoiding complications arising from the crossing of excited-state potential surfaces or from the failure of the harmonic approximation. The spectral quality for our target molecules is insensitive to the chosen approach. We also explore the effects of Duschinsky rotation and relate the need for internal coordinates to the absence of symmetry elements. When using Duschinsky rotation and treating larger systems without planar symmetry, internal coordinates are found to outperform Cartesian coordinates in the AFC spectral calculations.

Destruction of Invariant Surfaces and Magnetic Coordinates for Perturbed Magnetic Fields

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

S.R. Hudson

2003-11-20

Straight-field-line coordinates are constructed for nearly integrable magnetic fields. The coordinates are based on the robust, noble-irrational rotational-transform surfaces, whose existence is determined by an application of Greene's residue criterion. A simple method to locate these surfaces is described. Sequences of surfaces with rotational-transform converging to low order rationals maximize the region of straight-field-line coordinates.

Spinning BTZ black hole versus Kerr black hole: A closer look

NASA Astrophysics Data System (ADS)

Kim, Hongsu

1999-03-01

By applying Newman's algorithm, the AdS3 rotating black hole solution is ``derived'' from the nonrotating black hole solution of Bañados, Teitelboim, and Zanelli (BTZ). The rotating BTZ solution derived in this fashion is given in ``Boyer-Lindquist-type'' coordinates whereas the form of the solution originally given by BTZ is given in kind of ``unfamiliar'' coordinates which are related to each other by a transformation of time coordinate alone. The relative physical meaning between these two time coordinates is carefully studied. Since the Kerr-type and Boyer-Lindquist-type coordinates for rotating BTZ solution are newly found via Newman's algorithm, the transformation to Kerr-Schild-type coordinates is looked for. Indeed, such a transformation is found to exist. In these Kerr-Schild-type coordinates, a truly maximal extension of its global structure by analytically continuing to an ``antigravity universe'' region is carried out.

Large-deformation modal coordinates for nonrigid vehicle dynamics

NASA Technical Reports Server (NTRS)

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

1972-01-01

The derivation of minimum-dimension sets of discrete-coordinate and hybrid-coordinate equations of motion of a system consisting of an arbitrary number of hinge-connected rigid bodies assembled in tree topology is presented. These equations are useful for the simulation of dynamical systems that can be idealized as tree-like arrangements of substructures, with each substructure consisting of either a rigid body or a collection of elastically interconnected rigid bodies restricted to small relative rotations at each connection. Thus, some of the substructures represent elastic bodies subjected to small strains or local deformations, but possibly large gross deformations, in the hybrid formulation, distributed coordinates referred to herein as large-deformation modal coordinates, are used for the deformations of these substructures. The equations are in a form suitable for incorporation into one or more computer programs to be used as multipurpose tools in the simulation of spacecraft and other complex electromechanical systems.

Modal testing of a rotating wind turbine

NASA Astrophysics Data System (ADS)

Carne, T. G.; Nord, A. R.

1982-11-01

A testing technique was developed to measure the modes of vibration of a rotating vertical-axis wind turbine. This technique was applied to the Sandia Two-Meter Turbine, where the changes in individual modal frequencies as a function of the rotational speed were tracked from 0 rpm (parked) to 600 rpm. During rotational testing, the structural response was measured using a combination of strain gages and accelerometers, passing the signals through slip rings. Excitation of the turbine structure was provided by a scheme which suddenly released a pretensioned cable, thus plucking the turbine as it was rotating at a set speed. In addition to calculating the real modes of the parked turbine, the modes of the rotating turbine were also determined at several rotational speeds. The modes of the rotating system proved to be complex due to centrifugal and Coriolis effects. The modal data for the parked turbine were used to update a finite-element model. Also, the measured modal parameters for the rotating turbine were compared to the analytical results, thus verifying the analytical procedures used to incorporate the effects of the rotating coordinate system.

Distributed Digital Subarray Antennas

DTIC Science & Technology

2013-12-01

subarrays in space).  Linear, planar, volumetric.  Periodic, aperiodic or random.  Rotation and tilt relative to a global reference. Based on the...sm N , and ( ), ( ), ( )s s sx m y m z m  coordinates of subarray m in the global system. The subarrays can be rotated and tilted with respect...to the global origin. In the global system ( , )  the direction cosines are sin cos sin sin cos . u v w         (1) The scan

Attitude dynamics simulation subroutines for systems of hinge-connected rigid bodies with nonrigid appendages

NASA Technical Reports Server (NTRS)

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

1975-01-01

Three computer subroutines designed to solve the vector-dyadic differential equations of rotational motion for systems that may be idealized as a collection of hinge-connected rigid bodies assembled in a tree topology, with an optional flexible appendage attached to each body are reported. Deformations of the appendages are mathematically represented by modal coordinates and are assumed small. Within these constraints, the subroutines provide equation solutions for (1) the most general case of unrestricted hinge rotations, with appendage base bodies nominally rotating at a constant speed, (2) the case of unrestricted hinge rotations between rigid bodies, with the restriction that those rigid bodies carrying appendages are nominally nonspinning, and (3) the case of small hinge rotations and nominally nonrotating appendages. Sample problems and their solutions are presented to illustrate the utility of the computer programs.

Movement coordination patterns between the foot joints during walking.

PubMed

Arnold, John B; Caravaggi, Paolo; Fraysse, François; Thewlis, Dominic; Leardini, Alberto

2017-01-01

In 3D gait analysis, kinematics of the foot joints are usually reported via isolated time histories of joint rotations and no information is provided on the relationship between rotations at different joints. The aim of this study was to identify movement coordination patterns in the foot during walking by expanding an existing vector coding technique according to an established multi-segment foot and ankle model. A graphical representation is also described to summarise the coordination patterns of joint rotations across multiple patients. Three-dimensional multi-segment foot kinematics were recorded in 13 adults during walking. A modified vector coding technique was used to identify coordination patterns between foot joints involving calcaneus, midfoot, metatarsus and hallux segments. According to the type and direction of joints rotations, these were classified as in-phase (same direction), anti-phase (opposite directions), proximal or distal joint dominant. In early stance, 51 to 75% of walking trials showed proximal-phase coordination between foot joints comprising the calcaneus, midfoot and metatarsus. In-phase coordination was more prominent in late stance, reflecting synergy in the simultaneous inversion occurring at multiple foot joints. Conversely, a distal-phase coordination pattern was identified for sagittal plane motion of the ankle relative to the midtarsal joint, highlighting the critical role of arch shortening to locomotor function in push-off. This study has identified coordination patterns between movement of the calcaneus, midfoot, metatarsus and hallux by expanding an existing vector cording technique for assessing and classifying coordination patterns of foot joints rotations during walking. This approach provides a different perspective in the analysis of multi-segment foot kinematics, and may be used for the objective quantification of the alterations in foot joint coordination patterns due to lower limb pathologies or following injuries.

A line-source method for aligning on-board and other pinhole SPECT systems.

PubMed

Yan, Susu; Bowsher, James; Yin, Fang-Fang

2013-12-01

In order to achieve functional and molecular imaging as patients are in position for radiation therapy, a robotic multipinhole SPECT system is being developed. Alignment of the SPECT system-to the linear accelerator (LINAC) coordinate frame and to the coordinate frames of other on-board imaging systems such as cone-beam CT (CBCT)-is essential for target localization and image reconstruction. An alignment method that utilizes line sources and one pinhole projection is proposed and investigated to achieve this goal. Potentially, this method could also be applied to the calibration of the other pinhole SPECT systems. An alignment model consisting of multiple alignment parameters was developed which maps line sources in three-dimensional (3D) space to their two-dimensional (2D) projections on the SPECT detector. In a computer-simulation study, 3D coordinates of line-sources were defined in a reference room coordinate frame, such as the LINAC coordinate frame. Corresponding 2D line-source projections were generated by computer simulation that included SPECT blurring and noise effects. The Radon transform was utilized to detect angles (α) and offsets (ρ) of the line-source projections. Alignment parameters were then estimated by a nonlinear least squares method, based on the α and ρ values and the alignment model. Alignment performance was evaluated as a function of number of line sources, Radon transform accuracy, finite line-source width, intrinsic camera resolution, Poisson noise, and acquisition geometry. Experimental evaluations were performed using a physical line-source phantom and a pinhole-collimated gamma camera attached to a robot. In computer-simulation studies, when there was no error in determining angles (α) and offsets (ρ) of the measured projections, six alignment parameters (three translational and three rotational) were estimated perfectly using three line sources. When angles (α) and offsets (ρ) were provided by the Radon transform, estimation accuracy was reduced. The estimation error was associated with rounding errors of Radon transform, finite line-source width, Poisson noise, number of line sources, intrinsic camera resolution, and detector acquisition geometry. Statistically, the estimation accuracy was significantly improved by using four line sources rather than three and by thinner line-source projections (obtained by better intrinsic detector resolution). With five line sources, median errors were 0.2 mm for the detector translations, 0.7 mm for the detector radius of rotation, and less than 0.5° for detector rotation, tilt, and twist. In experimental evaluations, average errors relative to a different, independent registration technique were about 1.8 mm for detector translations, 1.1 mm for the detector radius of rotation (ROR), 0.5° and 0.4° for detector rotation and tilt, respectively, and 1.2° for detector twist. Alignment parameters can be estimated using one pinhole projection of line sources. Alignment errors are largely associated with limited accuracy of the Radon transform in determining angles (α) and offsets (ρ) of the line-source projections. This alignment method may be important for multipinhole SPECT, where relative pinhole alignment may vary during rotation. For pinhole and multipinhole SPECT imaging on-board radiation therapy machines, the method could provide alignment of SPECT coordinates with those of CBCT and the LINAC.

Painleve-gullstrand-type Coordinates for the Five-dimensional Myers-Perry Black Hole

NASA Technical Reports Server (NTRS)

Finch, Tehani Kahi

2013-01-01

The Painleve-Gullstrand coordinates provide a convenient framework for presenting the Schwarzschild geometry because of their flat constant-time hypersurfaces, and the fact that they are free of coordinate singularities outside r=0. Generalizations of Painlev´e-Gullstrand coordinates suitable for the Kerr geometry have been presented by Doran and Nat´ario. These coordinate systems feature a time coordinate identical to the proper time of zero-angular-momentum observers that are dropped from infinity. Here, the methods of Doran and Nat´ario are extended to the five-dimensional rotating black hole found by Myers and Perry. The result is a new formulation of the Myers-Perry metric. The properties and physical significance of these new coordinates are discussed.

Cognitive Motor Coordination Training Improves Mental Rotation Performance in Primary School-Aged Children

ERIC Educational Resources Information Center

Pietsch, Stefanie; Böttcher, Caroline; Jansen, Petra

2017-01-01

The long-term physical activity in specific sport activities can change the quality of mental rotation performance. This study investigates the influence of "Life Kinetik"--a motion program with tasks of cognition and motor coordination--on mental rotation performance of 44 primary school-aged children. While the experimental group…

Spherical Coordinate Systems for Streamlining Suited Mobility Analysis

NASA Technical Reports Server (NTRS)

Benson, Elizabeth; Cowley, Matthew S.; Harvill. Lauren; Rajulu, Sudhakar

2014-01-01

When describing human motion, biomechanists generally report joint angles in terms of Euler angle rotation sequences. However, there are known limitations in using this method to describe complex motions such as the shoulder joint during a baseball pitch. Euler angle notation uses a series of three rotations about an axis where each rotation is dependent upon the preceding rotation. As such, the Euler angles need to be regarded as a set to get accurate angle information. Unfortunately, it is often difficult to visualize and understand these complex motion representations. One of our key functions is to help design engineers understand how a human will perform with new designs and all too often traditional use of Euler rotations becomes as much of a hindrance as a help. It is believed that using a spherical coordinate system will allow ABF personnel to more quickly and easily transmit important mobility data to engineers, in a format that is readily understandable and directly translatable to their design efforts. Objectives: The goal of this project is to establish new analysis and visualization techniques to aid in the examination and comprehension of complex motions. Methods: This project consisted of a series of small sub-projects, meant to validate and verify the method before it was implemented in the ABF's data analysis practices. The first stage was a proof of concept, where a mechanical test rig was built and instrumented with an inclinometer, so that its angle from horizontal was known. The test rig was tracked in 3D using an optical motion capture system, and its position and orientation were reported in both Euler and spherical reference systems. The rig was meant to simulate flexion/extension, transverse rotation and abduction/adduction of the human shoulder, but without the variability inherent in human motion. In the second phase of the project, the ABF estimated the error inherent in a spherical coordinate system, and evaluated how this error would vary within the reference frame. This stage also involved expanding a kinematic model of the shoulder, to include the torso, knees, ankle, elbows, wrists and neck. Part of this update included adding a representation of 'roll' about an axis, for upper arm and lower leg rotations. The third stage of the project involved creating visualization methods to assist in interpreting motion in a spherical frame. This visualization method will be incorporated in a tool to evaluate a database of suited mobility data, which is currently in development.

An isocenter estimation tool for proton gantry alignment

NASA Astrophysics Data System (ADS)

Hansen, Peter; Hu, Dongming

2017-12-01

A novel tool has been developed to automate the process of locating the isocenter, center of rotation, and sphere of confusion of a proton therapy gantry. The tool uses a Radian laser tracker to estimate how the coordinate frame of the front-end beam-line components changes as the gantry rotates. The coordinate frames serve as an empirical model of gantry flexing. Using this model, the alignment of the front and back-end beam-line components can be chosen to minimize the sphere of confusion, improving the overall beam positioning accuracy of the gantry. This alignment can be performed without the beam active, improving the efficiency of installing new systems at customer sites.

Constant covariance in local vertical coordinates for near-circular orbits

NASA Technical Reports Server (NTRS)

Shepperd, Stanley W.

1991-01-01

A method is presented for devising a covariance matrix that either remains constant or grows in keeping with the presence of a period error in a rotating local-vertical coordinate system. The solution presented may prove useful in the initialization of simulation covariance matrices for near-circular-orbit problems. Use is made of the Clohessy-Wiltshire equations and the travelling-ellipse formulation.

Improved spatial calibration for the CXRS system on EAST

NASA Astrophysics Data System (ADS)

Yin, X. H.; Li, Y. Y.; Fu, J.; Jiang, D.; Feng, S. Y.; Gu, Y. Q.; Cheng, Y.; Lyu, B.; Shi, Y. J.; Ye, M. Y.; Wan, B. N.

2016-11-01

A Charge eXchange Recombination Spectroscopy (CXRS) diagnostic system has been developed to measure profiles of ion temperature and rotation since 2014 on EAST. Several techniques have been developed to improve the spatial calibration of the CXRS diagnostic. The sightline location was obtained by measuring the coordinates of three points on each sightline using an articulated flexible coordinate measuring arm when the vessel was accessible. After vacuum pumping, the effect of pressure change in the vacuum vessel was evaluated by observing the movement of the light spot from back-illuminated sightlines on the first wall using the newly developed articulated inspection arm. In addition, the rotation of the periscope after vacuum pumping was derived by using the Doppler shift of neutral beam emission spectra without magnetic field. Combining these techniques, improved spatial calibration was implemented to provide a complete and accurate description of the EAST CXRS system. Due to the effects of the change of air pressure, a ˜0.4° periscope rotation, yielding a ˜20 mm movement of the major radius of observation positions to the lower field side, was derived. Results of Zeeman splitting of neutral beam emission spectra with magnetic field also showed good agreement with the calibration results.

It All Depends on Your Attitude.

ERIC Educational Resources Information Center

Kastner, Bernice

1992-01-01

Presents six learning exercises that introduce students to the mathematics used to control and track spacecraft attitude. Describes the geocentric system used for Earthbound location and navigation, the celestial sphere, the spacecraft-based celestial system, time-dependent angles, observer-fixed coordinate axes, and spacecraft rotational axes.…

The rotational elements of Mars and its satellites

NASA Astrophysics Data System (ADS)

Jacobson, R. A.; Konopliv, A. S.; Park, R. S.; Folkner, W. M.

2018-03-01

The International Astronomical Union (IAU) defines planet and satellite coordinate systems relative to their axis of rotation and the angle about that axis. The rotational elements of the bodies are the right ascension and declination of the rotation axis in the International Celestial Reference Frame and the rotation angle, W, measured easterly along the body's equator. The IAU specifies the location of the body's prime meridian by providing a value for W at epoch J2000. We provide new trigonometric series representations of the rotational elements of Mars and its satellites, Phobos and Deimos. The series for Mars are from a least squares fit to the rotation model used to orient the Martian gravity field. The series for the satellites are from a least squares fit to rotation models developed in accordance with IAU conventions from recent ephemerides.

Electrical Wave Propagation in an Anisotropic Model of the Left Ventricle Based on Analytical Description of Cardiac Architecture

PubMed Central

Pravdin, Sergey F.; Dierckx, Hans; Katsnelson, Leonid B.; Solovyova, Olga; Markhasin, Vladimir S.; Panfilov, Alexander V.

2014-01-01

We develop a numerical approach based on our recent analytical model of fiber structure in the left ventricle of the human heart. A special curvilinear coordinate system is proposed to analytically include realistic ventricular shape and myofiber directions. With this anatomical model, electrophysiological simulations can be performed on a rectangular coordinate grid. We apply our method to study the effect of fiber rotation and electrical anisotropy of cardiac tissue (i.e., the ratio of the conductivity coefficients along and across the myocardial fibers) on wave propagation using the ten Tusscher–Panfilov (2006) ionic model for human ventricular cells. We show that fiber rotation increases the speed of cardiac activation and attenuates the effects of anisotropy. Our results show that the fiber rotation in the heart is an important factor underlying cardiac excitation. We also study scroll wave dynamics in our model and show the drift of a scroll wave filament whose velocity depends non-monotonically on the fiber rotation angle; the period of scroll wave rotation decreases with an increase of the fiber rotation angle; an increase in anisotropy may cause the breakup of a scroll wave, similar to the mother rotor mechanism of ventricular fibrillation. PMID:24817308

Method of the Determination of Exterior Orientation of Sensors in Hilbert Type Space.

PubMed

Stępień, Grzegorz

2018-03-17

The following article presents a new isometric transformation algorithm based on the transformation in the newly normed Hilbert type space. The presented method is based on so-called virtual translations, already known in advance, of two relative oblique orthogonal coordinate systems-interior and exterior orientation of sensors-to a common, known in both systems, point. Each of the systems is translated along its axis (the systems have common origins) and at the same time the angular relative orientation of both coordinate systems is constant. The translation of both coordinate systems is defined by the spatial norm determining the length of vectors in the new Hilbert type space. As such, the displacement of two relative oblique orthogonal systems is reduced to zero. This makes it possible to directly calculate the rotation matrix of the sensor. The next and final step is the return translation of the system along an already known track. The method can be used for big rotation angles. The method was verified in laboratory conditions for the test data set and measurement data (field data). The accuracy of the results in the laboratory test is on the level of 10 -6 of the input data. This confirmed the correctness of the assumed calculation method. The method is a further development of the author's 2017 Total Free Station (TFS) transformation to several centroids in Hilbert type space. This is the reason why the method is called Multi-Centroid Isometric Transformation-MCIT. MCIT is very fast and enables, by reducing to zero the translation of two relative oblique orthogonal coordinate systems, direct calculation of the exterior orientation of the sensors.

Unsteady Force Calculations in Turbomachinery

DTIC Science & Technology

1991-07-01

Engineering for Gas Turbines and Power, Vol. 107, pp. 945-952, October 1985. Lefcort, M. P., "An Investigation into Unsteady Blade Forces in...generated unsteady flow around a rotating turbine blade row .. ..... 43 7 The rotating coordinate system with skew, 0, and rake, zr, defined at midchord...while Kerrebrock and Mikolajczak [19701 5 proved it experimentally. For a turbine blade passage, the wake fluid moves from the pressure 3 surface to the

A line-source method for aligning on-board and other pinhole SPECT systems

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

Yan, Susu; Bowsher, James; Yin, Fang-Fang

2013-12-15

Purpose: In order to achieve functional and molecular imaging as patients are in position for radiation therapy, a robotic multipinhole SPECT system is being developed. Alignment of the SPECT system—to the linear accelerator (LINAC) coordinate frame and to the coordinate frames of other on-board imaging systems such as cone-beam CT (CBCT)—is essential for target localization and image reconstruction. An alignment method that utilizes line sources and one pinhole projection is proposed and investigated to achieve this goal. Potentially, this method could also be applied to the calibration of the other pinhole SPECT systems.Methods: An alignment model consisting of multiple alignmentmore » parameters was developed which maps line sources in three-dimensional (3D) space to their two-dimensional (2D) projections on the SPECT detector. In a computer-simulation study, 3D coordinates of line-sources were defined in a reference room coordinate frame, such as the LINAC coordinate frame. Corresponding 2D line-source projections were generated by computer simulation that included SPECT blurring and noise effects. The Radon transform was utilized to detect angles (α) and offsets (ρ) of the line-source projections. Alignment parameters were then estimated by a nonlinear least squares method, based on the α and ρ values and the alignment model. Alignment performance was evaluated as a function of number of line sources, Radon transform accuracy, finite line-source width, intrinsic camera resolution, Poisson noise, and acquisition geometry. Experimental evaluations were performed using a physical line-source phantom and a pinhole-collimated gamma camera attached to a robot.Results: In computer-simulation studies, when there was no error in determining angles (α) and offsets (ρ) of the measured projections, six alignment parameters (three translational and three rotational) were estimated perfectly using three line sources. When angles (α) and offsets (ρ) were provided by the Radon transform, estimation accuracy was reduced. The estimation error was associated with rounding errors of Radon transform, finite line-source width, Poisson noise, number of line sources, intrinsic camera resolution, and detector acquisition geometry. Statistically, the estimation accuracy was significantly improved by using four line sources rather than three and by thinner line-source projections (obtained by better intrinsic detector resolution). With five line sources, median errors were 0.2 mm for the detector translations, 0.7 mm for the detector radius of rotation, and less than 0.5° for detector rotation, tilt, and twist. In experimental evaluations, average errors relative to a different, independent registration technique were about 1.8 mm for detector translations, 1.1 mm for the detector radius of rotation (ROR), 0.5° and 0.4° for detector rotation and tilt, respectively, and 1.2° for detector twist.Conclusions: Alignment parameters can be estimated using one pinhole projection of line sources. Alignment errors are largely associated with limited accuracy of the Radon transform in determining angles (α) and offsets (ρ) of the line-source projections. This alignment method may be important for multipinhole SPECT, where relative pinhole alignment may vary during rotation. For pinhole and multipinhole SPECT imaging on-board radiation therapy machines, the method could provide alignment of SPECT coordinates with those of CBCT and the LINAC.« less

A line-source method for aligning on-board and other pinhole SPECT systems

PubMed Central

Yan, Susu; Bowsher, James; Yin, Fang-Fang

2013-01-01

Purpose: In order to achieve functional and molecular imaging as patients are in position for radiation therapy, a robotic multipinhole SPECT system is being developed. Alignment of the SPECT system—to the linear accelerator (LINAC) coordinate frame and to the coordinate frames of other on-board imaging systems such as cone-beam CT (CBCT)—is essential for target localization and image reconstruction. An alignment method that utilizes line sources and one pinhole projection is proposed and investigated to achieve this goal. Potentially, this method could also be applied to the calibration of the other pinhole SPECT systems. Methods: An alignment model consisting of multiple alignment parameters was developed which maps line sources in three-dimensional (3D) space to their two-dimensional (2D) projections on the SPECT detector. In a computer-simulation study, 3D coordinates of line-sources were defined in a reference room coordinate frame, such as the LINAC coordinate frame. Corresponding 2D line-source projections were generated by computer simulation that included SPECT blurring and noise effects. The Radon transform was utilized to detect angles (α) and offsets (ρ) of the line-source projections. Alignment parameters were then estimated by a nonlinear least squares method, based on the α and ρ values and the alignment model. Alignment performance was evaluated as a function of number of line sources, Radon transform accuracy, finite line-source width, intrinsic camera resolution, Poisson noise, and acquisition geometry. Experimental evaluations were performed using a physical line-source phantom and a pinhole-collimated gamma camera attached to a robot. Results: In computer-simulation studies, when there was no error in determining angles (α) and offsets (ρ) of the measured projections, six alignment parameters (three translational and three rotational) were estimated perfectly using three line sources. When angles (α) and offsets (ρ) were provided by the Radon transform, estimation accuracy was reduced. The estimation error was associated with rounding errors of Radon transform, finite line-source width, Poisson noise, number of line sources, intrinsic camera resolution, and detector acquisition geometry. Statistically, the estimation accuracy was significantly improved by using four line sources rather than three and by thinner line-source projections (obtained by better intrinsic detector resolution). With five line sources, median errors were 0.2 mm for the detector translations, 0.7 mm for the detector radius of rotation, and less than 0.5° for detector rotation, tilt, and twist. In experimental evaluations, average errors relative to a different, independent registration technique were about 1.8 mm for detector translations, 1.1 mm for the detector radius of rotation (ROR), 0.5° and 0.4° for detector rotation and tilt, respectively, and 1.2° for detector twist. Conclusions: Alignment parameters can be estimated using one pinhole projection of line sources. Alignment errors are largely associated with limited accuracy of the Radon transform in determining angles (α) and offsets (ρ) of the line-source projections. This alignment method may be important for multipinhole SPECT, where relative pinhole alignment may vary during rotation. For pinhole and multipinhole SPECT imaging on-board radiation therapy machines, the method could provide alignment of SPECT coordinates with those of CBCT and the LINAC. PMID:24320537

Deformation analysis of the unified lunar control networks

NASA Astrophysics Data System (ADS)

Iz, H. Bâki; Chen, Yong Qi; King, Bruce Anthony; Ding, Xiaoli; Wu, Chen

2009-12-01

This study compares the latest Unified Lunar Control Network, ULCN 2005, solution with the earlier ULCN 1994 solution at global and local scales. At the global scale, the relative rotation, translation, and deformation (normal strains and shears) parameters between the two networks are estimated as a whole using their colocated station Cartesian coordinate differences. At the local scale, the network station coordinate differences are examined in local topocentric coordinate systems whose origins are located at the geometric center of quadrangles and tetrahedrons. This study identified that the omission of the topography in the old ULCN solutions shifted the geometric center of the lunar figure up to 5 km in the lunar equatorial plane and induced a few hundred-meter level global rotations of the ULCN 1994 reference frame with respect to ULCN 2005. The displacements between the old and new control networks are less than ± 2 km on the average at the local scale, which behave like translations, caused by the omission of lunar topography in the earlier solution. The contribution of local rigid body rotations and dilatational and compressional components to the local displacements are approximately ± 100 m for a quadrangle/tetrahedron of an average side length of 10 km.

On a class of unsteady three-dimensional Navier Stokes solutions relevant to rotating disc flows: Threshold amplitudes and finite time singularities

NASA Technical Reports Server (NTRS)

Hall, Philip; Balakumar, P.

1990-01-01

A class of exact steady and unsteady solutions of the Navier Stokes equations in cylindrical polar coordinates is given. The flows correspond to the motion induced by an infinite disc rotating with constant angular velocity about the z-axis in a fluid occupying a semi-infinite region which, at large distances from the disc, has velocity field proportional to (x,-y,O) with respect to a Cartesian coordinate system. It is shown that when the rate of rotation is large, Karman's exact solution for a disc rotating in an otherwise motionless fluid is recovered. In the limit of zero rotation rate a particular form of Howarth's exact solution for three-dimensional stagnation point flow is obtained. The unsteady form of the partial differential system describing this class of flow may be generalized to time-periodic equilibrium flows. In addition the unsteady equations are shown to describe a strongly nonlinear instability of Karman's rotating disc flow. It is shown that sufficiently large perturbations lead to a finite time breakdown of that flow whilst smaller disturbances decay to zero. If the stagnation point flow at infinity is sufficiently strong, the steady basic states become linearly unstable. In fact there is then a continuous spectrum of unstable eigenvalues of the stability equations but, if the initial value problem is considered, it is found that, at large values of time, the continuous spectrum leads to a velocity field growing exponentially in time with an amplitude decaying algebraically in time.

The coordinate system of the eye in cataract surgery: Performance comparison of the circle Hough transform and Daugman's algorithm

NASA Astrophysics Data System (ADS)

Vlachynska, Alzbeta; Oplatkova, Zuzana Kominkova; Sramka, Martin

2017-07-01

The aim of the work is to determine the coordinate system of an eye and insert a polar-axis system into images captured by a slip lamp. The image of the eye with the polar axis helps a surgeon accurately implant toric intraocular lens in the required position/rotation during the cataract surgery. In this paper, two common algorithms for pupil detection are compared: the circle Hough transform and Daugman's algorithm. The procedures were tested and analysed on the anonymous data set of 128 eyes captured at Gemini eye clinic in 2015.

An analysis of a discrete complex skill using Bernstein's stages of learning.

PubMed

Smith, D R; McCabe, D R; Wilkerson, J D

2001-08-01

The purpose of this study was to provide quantitative data about changes in coordination after practicing a racquetball forehand drive serve. Novice women (N = 10) were videotaped before and after 10 min. of practicing a racquetball forehand drive serve on Day 1, and after 10-min. practice sessions on consecutive Days 2 through 5. The PEAK5 Motion Measurement System was used to evaluate the following dependent variables: (a) range of motion of the wrist, elbow, upper torso, and pelvis from backswing to ball contact: (b) racket head velocity at ball contact; and (c) coordination. Coordination was evaluated based on analysis of the angular velocity graphs of each performance to assess sequencing and timing of the segmental contributions. Shared positive contribution was assessed between adjacent 2-segment combinations: pelvis-torso and elbow-wrist. A repeated-measures analysis of variance indicated racket velocity, pelvic rotation, and upper torso rotation significantly increased over the 5 days of practice. Although participants increased their pelvic and torso ranges of motion and racket velocity, improvement in coordination was not documented.

Misalignment calibration of geomagnetic vector measurement system using parallelepiped frame rotation method

NASA Astrophysics Data System (ADS)

Pang, Hongfeng; Zhu, XueJun; Pan, Mengchun; Zhang, Qi; Wan, Chengbiao; Luo, Shitu; Chen, Dixiang; Chen, Jinfei; Li, Ji; Lv, Yunxiao

2016-12-01

Misalignment error is one key factor influencing the measurement accuracy of geomagnetic vector measurement system, which should be calibrated with the difficulties that sensors measure different physical information and coordinates are invisible. A new misalignment calibration method by rotating a parallelepiped frame is proposed. Simulation and experiment result show the effectiveness of calibration method. The experimental system mainly contains DM-050 three-axis fluxgate magnetometer, INS (inertia navigation system), aluminium parallelepiped frame, aluminium plane base. Misalignment angles are calculated by measured data of magnetometer and INS after rotating the aluminium parallelepiped frame on aluminium plane base. After calibration, RMS error of geomagnetic north, vertical and east are reduced from 349.441 nT, 392.530 nT and 562.316 nT to 40.130 nT, 91.586 nT and 141.989 nT respectively.

Motion state analysis of space target based on optical cross section

NASA Astrophysics Data System (ADS)

Tian, Qichen; Li, Zhi; Xu, Can; Liu, Chenghao

2017-10-01

In order to solve the problem that the movement state analysis method of the space target based on OCS is not related to the real motion state. This paper proposes a method based on OCS for analyzing the state of space target motion. This paper first establish a three-dimensional model of real STSS satellite, then change the satellite's surface into element, and assign material to each panel according to the actual conditions of the satellite. This paper set up a motion scene according to the orbit parameters of STSS satellite in STK, and the motion states are set to three axis steady state and slowly rotating unstable state respectively. In these two states, the occlusion condition of the surface element is firstly determined, and the effective face element is selected. Then, the coordinates of the observation station and the solar coordinates in the satellite body coordinate system are input into the OCS calculation program, and the OCS variation curves of the three axis steady state and the slow rotating unstable state STSS satellite are obtained. Combining the satellite surface structure and the load situation, the OCS change curve of the three axis stabilized satellite is analyzed, and the conclude that the OCS curve fluctuates up and down when the sunlight is irradiated to the load area; By using Spectral analysis method, autocorrelation analysis and the cross residual method, the rotation speed of OCS satellite in slow rotating unstable state is analyzed, and the rotation speed of satellite is successfully reversed. By comparing the three methods, it is found that the cross residual method is more accurate.

Propagation of angular errors in two-axis rotation systems

NASA Astrophysics Data System (ADS)

Torrington, Geoffrey K.

2003-10-01

Two-Axis Rotation Systems, or "goniometers," are used in diverse applications including telescope pointing, automotive headlamp testing, and display testing. There are three basic configurations in which a goniometer can be built depending on the orientation and order of the stages. Each configuration has a governing set of equations which convert motion between the system "native" coordinates to other base systems, such as direction cosines, optical field angles, or spherical-polar coordinates. In their simplest form, these equations neglect errors present in real systems. In this paper, a statistical treatment of error source propagation is developed which uses only tolerance data, such as can be obtained from the system mechanical drawings prior to fabrication. It is shown that certain error sources are fully correctable, partially correctable, or uncorrectable, depending upon the goniometer configuration and zeroing technique. The system error budget can be described by a root-sum-of-squares technique with weighting factors describing the sensitivity of each error source. This paper tabulates weighting factors at 67% (k=1) and 95% (k=2) confidence for various levels of maximum travel for each goniometer configuration. As a practical example, this paper works through an error budget used for the procurement of a system at Sandia National Laboratories.

Acetabular cartilage defects cause altered hip and knee joint coordination variability during gait.

PubMed

Samaan, Michael A; Teng, Hsiang-Ling; Kumar, Deepak; Lee, Sonia; Link, Thomas M; Majumdar, Sharmila; Souza, Richard B

2015-12-01

Patients with acetabular cartilage defects reported increased pain and disability compared to those without acetabular cartilage defects. The specific effects of acetabular cartilage defects on lower extremity coordination patterns are unclear. The purpose of this study was to determine hip and knee joint coordination variability during gait in those with and without acetabular cartilage defects. A combined approach, consisting of a semi-quantitative MRI-based quantification method and vector coding, was used to assess hip and knee joint coordination variability during gait in those with and without acetabular cartilage lesions. The coordination variability of the hip flexion-extension/knee rotation, hip abduction-adduction/knee rotation, and hip rotation/knee rotation joint couplings were reduced in the acetabular lesion group compared to the control group during loading response of the gait cycle. The lesion group demonstrated increased variability in the hip flexion-extension/knee rotation and hip abduction-adduction/knee rotation joint couplings, compared to the control group, during the terminal stance/pre-swing phase of gait. Reduced variability during loading response in the lesion group may suggest reduced movement strategies and a possible compensation mechanism for lower extremity instability during this phase of the gait cycle. During terminal stance/pre-swing, a larger variability in the lesion group may suggest increased movement strategies and represent a compensation or pain avoidance mechanism caused by the load applied to the hip joint. Copyright © 2015 Elsevier Ltd. All rights reserved.

Orthonormal aberration polynomials for anamorphic optical imaging systems with rectangular pupils.

PubMed

Mahajan, Virendra N

2010-12-20

The classical aberrations of an anamorphic optical imaging system, representing the terms of a power-series expansion of its aberration function, are separable in the Cartesian coordinates of a point on its pupil. We discuss the balancing of a classical aberration of a certain order with one or more such aberrations of lower order to minimize its variance across a rectangular pupil of such a system. We show that the balanced aberrations are the products of two Legendre polynomials, one for each of the two Cartesian coordinates of the pupil point. The compound Legendre polynomials are orthogonal across a rectangular pupil and, like the classical aberrations, are inherently separable in the Cartesian coordinates of the pupil point. They are different from the balanced aberrations and the corresponding orthogonal polynomials for a system with rotational symmetry but a rectangular pupil.

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

PubMed

Tashman, Scott; Anderst, William

2003-04-01

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

Implementation of trigonometric function using CORDIC algorithms

NASA Astrophysics Data System (ADS)

Mokhtar, A. S. N.; Ayub, M. I.; Ismail, N.; Daud, N. G. Nik

2018-02-01

In 1959, Jack E. Volder presents a brand new formula to the real-time solution of the equation raised in navigation system. This new algorithm was the most beneficial replacement of analog navigation system by the digital. The CORDIC (Coordinate Rotation Digital Computer) algorithm are used for the rapid calculation associated with elementary operates like trigonometric function, multiplication, division and logarithm function, and also various conversions such as conversion of rectangular to polar coordinate including the conversion between binary coded information. In this current time CORDIC formula have many applications in the field of communication, signal processing, 3-D graphics, and others. This paper would be presents the trigonometric function implementation by using CORDIC algorithm in rotation mode for circular coordinate system. The CORDIC technique is used in order to generating the output angle between range 0o to 90o and error analysis is concern. The result showed that the average percentage error is about 0.042% at angles between ranges 00 to 900. But the average percentage error rose up to 45% at angle 90o and above. So, this method is very accurate at the 1st quadrant. The mirror properties method is used to find out an angle at 2nd, 3rd and 4th quadrant.

Motion correction for radiation therapy of prostate using B-mode ultrasound

NASA Astrophysics Data System (ADS)

Hummel, Johann; Figl, Michael; Schmidbauer, Jörg; Tinzl, Martina; Bergmann, Helmar; Birkfellner, Wolfgang

2007-03-01

The use of intensity modulated radiation therapy promises to spare organs at risk by applying better dose distribution on the tumor. The specific challenge of this methods is the exact positioning of the patient and the localization of the exposured organ. With respect to the filling of rectum and bladder the prostate can move several millimeters up to centimeters. Therefore, the position of the prostate should be determinated and corrected daily before irradiation. We used a B-mode US machine (Ultramark 9, advanced Technology Laboratories, USA) which was calibrated using an optical tracking system (Polaris, NDI, Can). After correct positioning of the patient in the simulation room three anatomical markers (apex prostate, prostate lateral sinister/dexter) were identified and their positions calculated with respect to the coordinate system of the simulator. The same situation is given in the treatment room. Both, simulator and accelerator are registered by a simple point-to-point registration using a block with five drilled holes with known coordinates in the block coordinate system. The block is aligned by means of laser markers. When the patient is placed on the treatment table, the three anatomical landmarks are located on the US images and their positions are calculated with respect to the coordinate system of the treatment room. Applying a point-to-point registration results in a rotation matrix and a translation vector in the desired coordinate system which can be used for repositioning by translating and rotating the patient table. Additionally, a fiducial registration error (FRE) is calculated which gives a dimension of the accuracy the three points were identified. We found an fiducial registration error (FRE) of 2.4 mm +/- 1.2 mm for the point-to-point registration of the anatomical landmarks. The FRE for the point-to-point registration between the block and the optical tracking system was 0.5 mm +/- 0.2 mm. According to the US calibration we found an error of 0.8 mm +/- 0.2 mm.

A quantum dynamical study of the rotation of the dihydrogen ligand in the Fe(H)2(H2)(PEtPh2)3 coordination complex.

PubMed

Gonzalez, Megan E; Eckert, Juergen; Aquino, Adelia J A; Poirier, Bill

2018-04-21

Progress in the hydrogen fuel field requires a clear understanding and characterization of how materials of interest interact with hydrogen. Due to the inherently quantum mechanical nature of hydrogen nuclei, any theoretical studies of these systems must be treated quantum dynamically. One class of material that has been examined in this context are dihydrogen complexes. Since their discovery by Kubas in 1984, many such complexes have been studied both experimentally and theoretically. This particular study examines the rotational dynamics of the dihydrogen ligand in the Fe(H) 2 (H 2 )(PEtPh 2 ) 3 complex, allowing for full motion in both the rotational degrees of freedom and treating the quantum dynamics (QD) explicitly. A "gas-phase" global potential energy surface is first constructed using density functional theory with the Becke, 3-parameter, Lee-Yang-Parr functional; this is followed by an exact QD calculation of the corresponding rotation/libration states. The results provide insight into the dynamical correlation of the two rotation angles as well as a comprehensive analysis of both ground- and excited-state librational tunneling splittings. The latter was computed to be 6.914 cm -1 -in excellent agreement with the experimental value of 6.4 cm -1 . This work represents the first full-dimensional ab initio exact QD calculation ever performed for dihydrogen ligand rotation in a coordination complex.

A quantum dynamical study of the rotation of the dihydrogen ligand in the Fe(H)2(H2)(PEtPh2)3 coordination complex

NASA Astrophysics Data System (ADS)

Gonzalez, Megan E.; Eckert, Juergen; Aquino, Adelia J. A.; Poirier, Bill

2018-04-01

Progress in the hydrogen fuel field requires a clear understanding and characterization of how materials of interest interact with hydrogen. Due to the inherently quantum mechanical nature of hydrogen nuclei, any theoretical studies of these systems must be treated quantum dynamically. One class of material that has been examined in this context are dihydrogen complexes. Since their discovery by Kubas in 1984, many such complexes have been studied both experimentally and theoretically. This particular study examines the rotational dynamics of the dihydrogen ligand in the Fe(H)2(H2)(PEtPh2)3 complex, allowing for full motion in both the rotational degrees of freedom and treating the quantum dynamics (QD) explicitly. A "gas-phase" global potential energy surface is first constructed using density functional theory with the Becke, 3-parameter, Lee-Yang-Parr functional; this is followed by an exact QD calculation of the corresponding rotation/libration states. The results provide insight into the dynamical correlation of the two rotation angles as well as a comprehensive analysis of both ground- and excited-state librational tunneling splittings. The latter was computed to be 6.914 cm-1—in excellent agreement with the experimental value of 6.4 cm-1. This work represents the first full-dimensional ab initio exact QD calculation ever performed for dihydrogen ligand rotation in a coordination complex.

Anisotropy of the Reynolds stress tensor in the wakes of wind turbine arrays in Cartesian arrangements with counter-rotating rotors

NASA Astrophysics Data System (ADS)

Hamilton, Nicholas; Cal, Raúl Bayoán

2015-01-01

A 4 × 3 wind turbine array in a Cartesian arrangement was constructed in a wind tunnel setting with four configurations based on the rotational sense of the rotor blades. The fourth row of devices is considered to be in the fully developed turbine canopy for a Cartesian arrangement. Measurements of the flow field were made with stereo particle-image velocimetry immediately upstream and downstream of the selected model turbines. Rotational sense of the turbine blades is evident in the mean spanwise velocity W and the Reynolds shear stress - v w ¯ . The flux of kinetic energy is shown to be of greater magnitude following turbines in arrays where direction of rotation of the blades varies. Invariants of the normalized Reynolds stress anisotropy tensor (η and ξ) are plotted in the Lumley triangle and indicate that distinct characters of turbulence exist in regions of the wake following the nacelle and the rotor blade tips. Eigendecomposition of the tensor yields principle components and corresponding coordinate system transformations. Characteristic spheroids representing the balance of components in the normalized anisotropy tensor are composed with the eigenvalues yielding shapes predicted by the Lumley triangle. Rotation of the coordinate system defined by the eigenvectors demonstrates trends in the streamwise coordinate following the rotors, especially trailing the top-tip of the rotor and below the hub. Direction of rotation of rotor blades is shown by the orientation of characteristic spheroids according to principle axes. In the inflows of exit row turbines, the normalized Reynolds stress anisotropy tensor shows cumulative effects of the upstream turbines, tending toward prolate shapes for uniform rotational sense, oblate spheroids for streamwise organization of rotational senses, and a mixture of characteristic shapes when the rotation varies by row. Comparison between the invariants of the Reynolds stress anisotropy tensor and terms from the mean mechanical energy equation indicate correlation between the degree of anisotropy and the regions of the wind turbine wakes where turbulence kinetic energy is produced. The flux of kinetic energy into the momentum-deficit area of the wake from above the canopy is associated with prolate characteristic spheroids. Flux upward into the wake from below the rotor area is associated with oblate characteristic spheroids. Turbulence in the region of the flow directly following the nacelle of the wind turbines demonstrates greater isotropy than regions following the rotor blades. The power and power coefficients for wind turbines indicate that flow structures on the order of magnitude of the spanwise turbine spacing that increase turbine efficiency depending on particular array configuration.

An anatomically based protocol for the description of foot segment kinematics during gait.

PubMed

Leardini, A; Benedetti, M G; Catani, F; Simoncini, L; Giannini, S

1999-10-01

To design a technique for the in vivo description of ankle and other foot joint rotations to be applied in routine functional evaluation using non-invasive stereophotogrammetry. Position and orientation of tibia/fibula, calcaneus, mid-foot, 1st metatarsal and hallux segments were tracked during the stance phase of walking in nine asymptomatic subjects. Rigid clusters of reflective markers were used for foot segment pose estimation. Anatomical landmark calibration was applied for the reconstruction of anatomical landmarks. Previous studies have analysed only a limited number of joints or have proposed invasive techniques. Anatomical landmark trajectories were reconstructed in the laboratory frame using data from the anatomical calibration procedure. Anatomical co-ordinate frames were defined using the obtained landmark trajectories. Joint co-ordinate systems were used to calculate corresponding joint rotations in all three anatomical planes. The patterns of the joint rotations were highly repeatable within subjects. Consistent patterns between subjects were also exhibited at most of the joints. The method proposed enables a detailed description of ankle and other foot joint rotations on an anatomical base. Joint rotations can therefore be expressed in the well-established terminology necessary for their clinical interpretation. Functional evaluation of patients affected by foot diseases has recently called for more detailed and non-invasive protocols for the description of foot joint rotations during gait. The proposed method can help clinicians to distinguish between normal and pathological pattern of foot joint rotations, and to quantitatively assess the restoration of normal function after treatment.

Error Propagation in the four terrestrial reference frames of the 2022 Modernized National Spatial Reference System

NASA Astrophysics Data System (ADS)

Roman, D. R.; Smith, D. A.

2017-12-01

In 2022, the National Geodetic Survey will replace all three NAD 83 reference frames with four new terrestrial reference frames. Each frame will be named after a tectonic plate (North American, Pacific, Caribbean and Mariana) and each will be related to the IGS frame through three Euler Pole parameters (EPPs). This talk will focus on three main areas of error propagation when defining coordinates in these four frames. Those areas are (1) use of the small angle approximation to relate true rotation about an Euler Pole to small rotations about three Cartesian axes (2) The current state of the art in determining the Euler Poles of these four plates and (3) the combination of both IGS Cartesian coordinate uncertainties and EPP uncertainties into coordinate uncertainties in the four new frames. Discussion will also include recent efforts at improving the Euler Poles for these frames and expected dates when errors in the EPPs will cause an unacceptable level of uncertainty in the four new terrestrial reference frames.

The coupling effects of kinematics and flexibility on the Lagrangian dynamic formulation of open chain deformable links

NASA Technical Reports Server (NTRS)

Changizi, Koorosh

1989-01-01

A nonlinear Lagrangian formulation for the spatial kinematic and dynamic analysis of open chain deformable links consisting of cylindrical joints that connect pairs of flexible links is developed. The special cases of revolute or prismatic joint can also be obtained from the kinematic equations. The kinematic equations are described using a 4x4 matrix method. The configuration of each deformable link in the open loop kinematic chain is identified using a coupled set of relative joint variables, constant geometric parameters, and elastic coordinates. The elastic coordinates define the link deformation with respect to a selected joint coordinate system that is consistent with the kinematic constraints on the boundary of the deformable link. These coordinates can be introduced using approximation techniques such as Rayleigh-Ritz method, finite element technique or any other desired approach. The large relative motion between two neighboring links are defined by a set of joint coordinates which describes the large relative translational and rotational motion between two neighboring joint coordinate systems. The origin of these coordinate systems are rigidly attached to the neighboring links at the joint definition points along the axis of motion.

Expressing the joint moments of drop jumps and sidestep cutting in different reference frames--does it matter?

PubMed

Kristianslund, Eirik; Krosshaug, Tron; Mok, Kam-Ming; McLean, Scott; van den Bogert, Antonie J

2014-01-03

Joint moments help us understand joint loading and muscle function during movement. However, the interpretation depends on the choice of reference frame, but the different reference frames have not been compared in dynamic, high-impact sporting movements. We have compared the magnitude and the resulting ranking of hip and knee joint moments expressed in the laboratory coordinate system, the local system of the distal segment and projected or decomposed to the Joint Coordinate System (JCS) axes. Hip and knee joint moments of drop jumps and sidestep cutting in 70 elite female handball players were calculated based on recordings from an eight-camera 240 Hz system and two force platforms and expressed with the four methods. The greatest variations in magnitude between conditions were seen for drop jump hip internal rotation (range: 0.31-0.71 Nm/kg) and sidestep cutting knee flexion (2.87-3.39 Nm/kg) and hip internal rotation (0.87-2.36 Nm/kg) and knee internal rotation (0.10-0.40 Nm/kg) moments. The rank correlations were highest between conditions for flexion moments (0.88-1.00) and sidestep cutting abduction moments (0.71-0.98). The rank correlations ranged from 0.64 to 0.73 for drop jump knee abduction moments and between -0.17 and 0.67 for hip and knee internal rotation moments. Expression of joint moments in different reference systems affects the magnitude and ranking of athletes. This lack of consistency may complicate the comparison and combination of results. Projection to the JCS is the only method where joint moments correspond to muscle and ligament loading. More widespread adoption of this convention could facilitate comparison of studies and ease the interpretation of results. © 2013 Elsevier Ltd. All rights reserved.

Self-calibration method for rotating laser positioning system using interscanning technology and ultrasonic ranging.

PubMed

Wu, Jun; Yu, Zhijing; Zhuge, Jingchang

2016-04-01

A rotating laser positioning system (RLPS) is an efficient measurement method for large-scale metrology. Due to multiple transmitter stations, which consist of a measurement network, the position relationship of these stations must be first calibrated. However, with such auxiliary devices such as a laser tracker, scale bar, and complex calibration process, the traditional calibration methods greatly reduce the measurement efficiency. This paper proposes a self-calibration method for RLPS, which can automatically obtain the position relationship. The method is implemented through interscanning technology by using a calibration bar mounted on the transmitter station. Each bar is composed of three RLPS receivers and one ultrasonic sensor whose coordinates are known in advance. The calibration algorithm is mainly based on multiplane and distance constraints and is introduced in detail through a two-station mathematical model. The repeated experiments demonstrate that the coordinate measurement uncertainty of spatial points by using this method is about 0.1 mm, and the accuracy experiments show that the average coordinate measurement deviation is about 0.3 mm compared with a laser tracker. The accuracy can meet the requirements of most applications, while the calibration efficiency is significantly improved.

Optimization and quality assurance of an image-guided radiation therapy system for intensity-modulated radiation therapy radiotherapy

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

Tsai, Jen-San, E-mail: jen-san.tsai@verizon.net; Micaily, Bizhan; Miyamoto, Curtis

2012-10-01

To develop a quality assurance (QA) of XVI cone beam system (XVIcbs) for its optimal imaging-guided radiotherapy (IGRT) implementation, and to construe prostate tumor margin required for intensity-modulated radiation therapy (IMRT) if IGRT is unavailable. XVIcbs spatial accuracy was explored with a humanoid phantom; isodose conformity to lesion target with a rice phantom housing a soap as target; image resolution with a diagnostic phantom; and exposure validation with a Radcal ion chamber. To optimize XVIcbs, rotation flexmap on coincidency between gantry rotational axis and that of XVI cone beam scan was investigated. Theoretic correlation to image quality of XVIcbs rotationalmore » axis stability was elaborately studied. Comprehensive QA of IGRT using XVIcbs has initially been explored and then implemented on our general IMRT treatments, and on special IMRT radiotherapies such as head and neck (H and N), stereotactic radiation therapy (SRT), stereotactic radiosurgery (SRS), and stereotactic body radiotherapy (SBRT). Fifteen examples of prostate setup accounted for 350 IGRT cone beam system were analyzed. IGRT accuracy results were in agreement {+-} 1 mm. Flexmap 0.25 mm met the manufacturer's specification. Films confirmed isodose coincidence with target (soap) via XVIcbs, otherwise not. Superficial doses were measured from 7.2-2.5 cGy for anatomic diameters 15-33 cm, respectively. Image quality was susceptible to rotational stability or patient movement. IGRT using XVIcbs on general IMRT treatments such as prostate, SRT, SRS, and SBRT for setup accuracy were verified; and subsequently coordinate shifts corrections were recorded. The 350 prostate IGRT coordinate shifts modeled to Gaussian distributions show central peaks deviated off the isocenter by 0.6 {+-} 3.0 mm, 0.5 {+-} 4.5 mm in the X(RL)- and Z(SI)-coordinates, respectively; and 2.0 {+-} 3.0 mm in the Y(AP)-coordinate as a result of belly and bladder capacity variations. Sixty-eight percent of confidence was within {+-} 4.5 mm coordinates shifting. IGRT using XVIcbs is critical to IMRT for prostate and H and N, especially SRT, SRS, and SBRT. To optimize this modality of IGRT, a vigilant QA program is indispensable. Prostate IGRT reveals treatment accuracy as subject to coordinates' adjustments; otherwise a 4.5-mm margin is required to allow for full dose coverage of the clinical target volume, notwithstanding toxicity to normal tissues.« less

Report of the IAU/IAG Working Group on cartographic coordinates and rotational elements: 2006

USGS Publications Warehouse

Seidelmann, P.K.; Archinal, B.A.; A'Hearn, M.F.; Conrad, A.; Consolmagno, G.J.; Hestroffer, D.; Hilton, J.L.; Krasinsky, G.A.; Neumann, G.; Oberst, J.; Stooke, P.; Tedesco, E.F.; Tholen, D.J.; Thomas, P.C.; Williams, I.P.

2007-01-01

Every three years the IAU/IAG Working Group on Cartographic Coordinates and Rotational Elements revises tables giving the directions of the poles of rotation and the prime meridians of the planets, satellites, minor planets, and comets. This report introduces improved values for the pole and rotation rate of Pluto, Charon, and Phoebe, the pole of Jupiter, the sizes and shapes of Saturn satellites and Charon, and the poles, rotation rates, and sizes of some minor planets and comets. A high precision realization for the pole and rotation rate of the Moon is provided. The expression for the Sun's rotation has been changed to be consistent with the planets and to account for light travel time ?? 2007 Springer Science+Business Media B.V.

Map Projection Equations

DTIC Science & Technology

1977-03-01

2 1.3 C’oordinate Systems ............ *............... 41 1.4 Scale . ..................................... 1.5 Classification by Feature...50 8S Conditions of Equal Area and Conformiality ..... 57 2.9 (Convergence of’the Meridians .......... 57 1.10 Rotation of’ the Coordinate System ...325 vI . ... .I l i FIGURES Figure Title Page 1.2.1 Distortion Ft’fects ............................... 3I 1.3.1 Terestral. oordinato System

Computer simulation of plasma and N-body problems

NASA Technical Reports Server (NTRS)

Harries, W. L.; Miller, J. B.

1975-01-01

The following FORTRAN language computer codes are presented: (1) efficient two- and three-dimensional central force potential solvers; (2) a three-dimensional simulator of an isolated galaxy which incorporates the potential solver; (3) a two-dimensional particle-in-cell simulator of the Jeans instability in an infinite self-gravitating compressible gas; and (4) a two-dimensional particle-in-cell simulator of a rotating self-gravitating compressible gaseous system of which rectangular coordinate and superior polar coordinate versions were written.

Coordination and variability in the elite female tennis serve.

PubMed

Whiteside, David; Elliott, Bruce Clifford; Lay, Brendan; Reid, Machar

2015-01-01

Enhancing the understanding of coordination and variability in the tennis serve may be of interest to coaches as they work with players to improve performance. The current study examined coordinated joint rotations and variability in the lower limbs, trunk, serving arm and ball location in the elite female tennis serve. Pre-pubescent, pubescent and adult players performed maximal effort flat serves while a 22-camera 500 Hz motion analysis system captured three-dimensional body kinematics. Coordinated joint rotations in the lower limbs and trunk appeared most consistent at the time players left the ground, suggesting that they coordinate the proximal elements of the kinematic chain to ensure that they leave the ground at a consistent time, in a consistent posture. Variability in the two degrees of freedom at the elbow became significantly greater closer to impact in adults, possibly illustrating the mechanical adjustments (compensation) these players employed to manage the changing impact location from serve to serve. Despite the variable ball toss, the temporal composition of the serve was highly consistent and supports previous assertions that players use the location of the ball to regulate their movement. Future work should consider these associations in other populations, while coaches may use the current findings to improve female serve performance.

Relationship between the hip and low back pain in athletes who participate in rotation-related sports.

PubMed

Harris-Hayes, Marcie; Sahrmann, Shirley A; Van Dillen, Linda R

2009-02-01

Hip function has been proposed to be related to low back pain (LBP) because of the anatomical proximity of the hip and lumbopelvic region. To date, findings have been inconclusive, possibly because the samples studied were heterogeneous. Sub-grouping samples based on characteristics such as activity demand, LBP classification, and sex might clarify research findings. To describe and summarize studies that examine 3 factors proposed to be important to the study of the hip-LBP relationship. Review of cross-sectional studies. Academic health-care center and research laboratory. 3 groups: athletes with a history of LBP who regularly participate in rotation-related sports, athletes without a history of LBP who are active but do not regularly participate in rotation-related sports, and athletes without a history of LBP who participate in rotation-related sports. Hip range of motion and hip-lumbopelvic region coordination. Hip range of motion was measured with an inclinometer. Coordination was examined based on kinematics obtained with a 3-dimensional motion-capture system. Differences among groups were found based on activity demand, LBP classification, and sex. When assessing athletes with and without LBP, characteristics such as activity demand, LBP classification, and sex should be considered.

Gait coordination in pregnancy: transverse pelvic and thoracic rotations and their relative phase.

PubMed

Wu, Wenhua; Meijer, Onno G; Lamoth, Claudine J C; Uegaki, Kimi; van Dieën, Jaap H; Wuisman, Paul I J M; de Vries, Johanna I P; Beek, Peter J

2004-06-01

To examine the effects of pregnancy on the coordination of transverse pelvic and thoracic rotations during gait. Gait of healthy pregnant women and nulligravidae was studied during treadmill walking at predetermined velocities ranging from 0.17 to 1.72 m/s. pelvis-thorax coordination during walking is altered in women with postpartum pregnancy-related pelvic girdle pain. This coordination has not been investigated in a healthy pregnant population. Comfortable walking velocity was established. Amplitudes of pelvic and thoracic rotations were calculated. Their coordination was characterized by relative Fourier phase and its standard deviation. Comfortable walking velocity was significantly reduced. The amplitudes of pelvic and thoracic rotations were somewhat reduced, with significantly smaller intra-individual standard deviations. Also pelvis-thorax relative Fourier phase was somewhat smaller, its intra-individual standard deviation was negatively correlated with week of pregnancy, and significantly lower at velocities > or = 1.06 m/s. The general pattern of gait kinematics in pregnant women is very similar to that of nulligravidae. Still, it appears that pregnant women experience difficulties in realizing the more anti-phase pelvis-thorax coordination that is required at higher walking velocities. The present study shows that gait in healthy pregnancy is remarkably normal, but some differences in pelvis-thorax coordination were detected. In healthy pregnancy, anti-phase pelvis-thorax coordination appears difficult, but less so than in pregnancy-related pelvic girdle pain. Better understanding of gait in healthy pregnancy may provide insight into the gait problems of women with pregnancy-related pelvic girdle pain. Copyright 2004 Elsevier Ltd.

Null test fourier domain alignment technique for phase-shifting point diffraction interferometer

DOEpatents

Naulleau, Patrick; Goldberg, Kenneth Alan

2000-01-01

Alignment technique for calibrating a phase-shifting point diffraction interferometer involves three independent steps where the first two steps independently align the image points and pinholes in rotation and separation to a fixed reference coordinate system, e.g, CCD. Once the two sub-elements have been properly aligned to the reference in two parameters (separation and orientation), the third step is to align the two sub-element coordinate systems to each other in the two remaining parameters (x,y) using standard methods of locating the pinholes relative to some easy to find reference point.

On the large-scale dynamics of rapidly rotating convection zones. [in solar and stellar interiors

NASA Technical Reports Server (NTRS)

Durney, B. R.

1983-01-01

The fact that the values of the eight basic waves present in turbulent flows in the presence of rotation prohibit a tilt of eddy towards the axis of rotation is incorporated into a formalism for rapidly rotating convection zones. Equations for turbulent velocities are defined in a rotating coordinate system, assuming that gravity and grad delta T act in a radial direction. An expression is derived for the lifetime of a basic wave and then for the average velocity vector. A real convective eddy is formulated and the wave vectors are calculated. The velocity amplitude and the stress tensor amplitude are integrated over the eddy domain. Applied to the solar convective zone, it is found that the convective cells are aligned along the axis of rotation at the poles and at the equator, a model that conflicts with nonrotating mixng length theory predictions.

Movable Cameras And Monitors For Viewing Telemanipulator

NASA Technical Reports Server (NTRS)

Diner, Daniel B.; Venema, Steven C.

1993-01-01

Three methods proposed to assist operator viewing telemanipulator on video monitor in control station when video image generated by movable video camera in remote workspace of telemanipulator. Monitors rotated or shifted and/or images in them transformed to adjust coordinate systems of scenes visible to operator according to motions of cameras and/or operator's preferences. Reduces operator's workload and probability of error by obviating need for mental transformations of coordinates during operation. Methods applied in outer space, undersea, in nuclear industry, in surgery, in entertainment, and in manufacturing.

Kinematics of Laying an Automated Weapon System

DTIC Science & Technology

2017-07-19

mathematical transformation is required to move the firing solution from its reference frame to a reference frame that is meaningful to the weapon system. This...Procedures 2 Conventions and Variable Definitions 2 Rotation Matrices 5 Transformation of a Vector 5 Conversion Between Cartestian and Spherical...Coordinate Systems 6 Transformation of Earth Referenced Lay to Platform Reference Frame 6 Results and Discussions 7 Conclusions 8 Bibliography 9

STS (Space Transportation System) Task Simulator.

DTIC Science & Technology

1985-08-15

3 Clohessy - Wiltshire Coordinate System • • -1 1- .M 1°... "p ’. -. .’- 0 . _ -~:Q ~. ... . .o. ., 1. INTRODUCTION The Space Transportation System...motion is obtained by applying the Clohessy - Wiltshire equations for terminal rendezvous/docking with the earth modeled as a uni- form sphere...rotational accelerations to the present quaternions. The Clohessy - Wiltshire equations for terminal rendezvous/dockinq are used to model orbital drift

Visuomotor Transformation in the Fly Gaze Stabilization System

PubMed Central

Huston, Stephen J; Krapp, Holger G

2008-01-01

For sensory signals to control an animal's behavior, they must first be transformed into a format appropriate for use by its motor systems. This fundamental problem is faced by all animals, including humans. Beyond simple reflexes, little is known about how such sensorimotor transformations take place. Here we describe how the outputs of a well-characterized population of fly visual interneurons, lobula plate tangential cells (LPTCs), are used by the animal's gaze-stabilizing neck motor system. The LPTCs respond to visual input arising from both self-rotations and translations of the fly. The neck motor system however is involved in gaze stabilization and thus mainly controls compensatory head rotations. We investigated how the neck motor system is able to selectively extract rotation information from the mixed responses of the LPTCs. We recorded extracellularly from fly neck motor neurons (NMNs) and mapped the directional preferences across their extended visual receptive fields. Our results suggest that—like the tangential cells—NMNs are tuned to panoramic retinal image shifts, or optic flow fields, which occur when the fly rotates about particular body axes. In many cases, tangential cells and motor neurons appear to be tuned to similar axes of rotation, resulting in a correlation between the coordinate systems the two neural populations employ. However, in contrast to the primarily monocular receptive fields of the tangential cells, most NMNs are sensitive to visual motion presented to either eye. This results in the NMNs being more selective for rotation than the LPTCs. Thus, the neck motor system increases its rotation selectivity by a comparatively simple mechanism: the integration of binocular visual motion information. PMID:18651791

Nonlinear chiral plasma transport in rotating coordinates

NASA Astrophysics Data System (ADS)

Dayi, Ömer F.; Kilinçarslan, Eda

2017-08-01

The nonlinear transport features of inhomogeneous chiral plasma in the presence of electromagnetic fields, in rotating coordinates are studied within the relaxation time approach. The chiral distribution functions up to second order in the electric field in rotating coordinates and the derivatives of chemical potentials are established by solving the Boltzmann transport equation. First, the vector and axial current densities in the weakly ionized chiral plasma for vanishing magnetic field are calculated. They involve the rotational analogues of the Hall effect as well as several new terms arising from the Coriolis and fictitious centrifugal forces. Then in the short relaxation time regime the angular velocity and electromagnetic fields are treated as perturbations. The current densities are obtained by retaining the terms up to second order in perturbations. The time evolution equations of the inhomogeneous chemical potentials are derived by demanding that collisions conserve the particle number densities.

Combined Optimal Control System for excavator electric drive

NASA Astrophysics Data System (ADS)

Kurochkin, N. S.; Kochetkov, V. P.; Platonova, E. V.; Glushkin, E. Y.; Dulesov, A. S.

2018-03-01

The article presents a synthesis of the combined optimal control algorithms of the AC drive rotation mechanism of the excavator. Synthesis of algorithms consists in the regulation of external coordinates - based on the theory of optimal systems and correction of the internal coordinates electric drive using the method "technical optimum". The research shows the advantage of optimal combined control systems for the electric rotary drive over classical systems of subordinate regulation. The paper presents a method for selecting the optimality criterion of coefficients to find the intersection of the range of permissible values of the coordinates of the control object. There is possibility of system settings by choosing the optimality criterion coefficients, which allows one to select the required characteristics of the drive: the dynamic moment (M) and the time of the transient process (tpp). Due to the use of combined optimal control systems, it was possible to significantly reduce the maximum value of the dynamic moment (M) and at the same time - reduce the transient time (tpp).

Eckart frame vibration-rotation Hamiltonians: Contravariant metric tensor

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

Pesonen, Janne, E-mail: janne.pesonen@helsinki.fi

2014-02-21

Eckart frame is a unique embedding in the theory of molecular vibrations and rotations. It is defined by the condition that the Coriolis coupling of the reference structure of the molecule is zero for every choice of the shape coordinates. It is far from trivial to set up Eckart kinetic energy operators (KEOs), when the shape of the molecule is described by curvilinear coordinates. In order to obtain the KEO, one needs to set up the corresponding contravariant metric tensor. Here, I derive explicitly the Eckart frame rotational measuring vectors. Their inner products with themselves give the rotational elements, andmore » their inner products with the vibrational measuring vectors (which, in the absence of constraints, are the mass-weighted gradients of the shape coordinates) give the Coriolis elements of the contravariant metric tensor. The vibrational elements are given as the inner products of the vibrational measuring vectors with themselves, and these elements do not depend on the choice of the body-frame. The present approach has the advantage that it does not depend on any particular choice of the shape coordinates, but it can be used in conjunction with all shape coordinates. Furthermore, it does not involve evaluation of covariant metric tensors, chain rules of derivation, or numerical differentiation, and it can be easily modified if there are constraints on the shape of the molecule. Both the planar and non-planar reference structures are accounted for. The present method is particular suitable for numerical work. Its computational implementation is outlined in an example, where I discuss how to evaluate vibration-rotation energies and eigenfunctions of a general N-atomic molecule, the shape of which is described by a set of local polyspherical coordinates.« less

The Effect of Improved Sub-Daily Earth Rotation Models on Global GPS Data Processing

NASA Astrophysics Data System (ADS)

Yoon, S.; Choi, K. K.

2017-12-01

Throughout the various International GNSS Service (IGS) products, strong periodic signals have been observed around the 14 day period. This signal is clearly visible in all IGS time-series such as those related to orbit ephemerides, Earth rotation parameters (ERP) and ground station coordinates. Recent studies show that errors in the sub-daily Earth rotation models are the main factors that induce such noise. Current IGS orbit processing standards adopted the IERS 2010 convention and its sub-daily Earth rotation model. Since the IERS convention had published, recent advances in the VLBI analysis have made contributions to update the sub-daily Earth rotation models. We have compared several proposed sub-daily Earth rotation models and show the effect of using those models on orbit ephemeris, Earth rotation parameters and ground station coordinates generated by the NGS global GPS data processing strategy.

Real-time estimation of prostate tumor rotation and translation with a kV imaging system based on an iterative closest point algorithm.

PubMed

Tehrani, Joubin Nasehi; O'Brien, Ricky T; Poulsen, Per Rugaard; Keall, Paul

2013-12-07

Previous studies have shown that during cancer radiotherapy a small translation or rotation of the tumor can lead to errors in dose delivery. Current best practice in radiotherapy accounts for tumor translations, but is unable to address rotation due to a lack of a reliable real-time estimate. We have developed a method based on the iterative closest point (ICP) algorithm that can compute rotation from kilovoltage x-ray images acquired during radiation treatment delivery. A total of 11 748 kilovoltage (kV) images acquired from ten patients (one fraction for each patient) were used to evaluate our tumor rotation algorithm. For each kV image, the three dimensional coordinates of three fiducial markers inside the prostate were calculated. The three dimensional coordinates were used as input to the ICP algorithm to calculate the real-time tumor rotation and translation around three axes. The results show that the root mean square error was improved for real-time calculation of tumor displacement from a mean of 0.97 mm with the stand alone translation to a mean of 0.16 mm by adding real-time rotation and translation displacement with the ICP algorithm. The standard deviation (SD) of rotation for the ten patients was 2.3°, 0.89° and 0.72° for rotation around the right-left (RL), anterior-posterior (AP) and superior-inferior (SI) directions respectively. The correlation between all six degrees of freedom showed that the highest correlation belonged to the AP and SI translation with a correlation of 0.67. The second highest correlation in our study was between the rotation around RL and rotation around AP, with a correlation of -0.33. Our real-time algorithm for calculation of rotation also confirms previous studies that have shown the maximum SD belongs to AP translation and rotation around RL. ICP is a reliable and fast algorithm for estimating real-time tumor rotation which could create a pathway to investigational clinical treatment studies requiring real-time measurement and adaptation to tumor rotation.

Real-time estimation of prostate tumor rotation and translation with a kV imaging system based on an iterative closest point algorithm

NASA Astrophysics Data System (ADS)

Nasehi Tehrani, Joubin; O'Brien, Ricky T.; Rugaard Poulsen, Per; Keall, Paul

2013-12-01

Previous studies have shown that during cancer radiotherapy a small translation or rotation of the tumor can lead to errors in dose delivery. Current best practice in radiotherapy accounts for tumor translations, but is unable to address rotation due to a lack of a reliable real-time estimate. We have developed a method based on the iterative closest point (ICP) algorithm that can compute rotation from kilovoltage x-ray images acquired during radiation treatment delivery. A total of 11 748 kilovoltage (kV) images acquired from ten patients (one fraction for each patient) were used to evaluate our tumor rotation algorithm. For each kV image, the three dimensional coordinates of three fiducial markers inside the prostate were calculated. The three dimensional coordinates were used as input to the ICP algorithm to calculate the real-time tumor rotation and translation around three axes. The results show that the root mean square error was improved for real-time calculation of tumor displacement from a mean of 0.97 mm with the stand alone translation to a mean of 0.16 mm by adding real-time rotation and translation displacement with the ICP algorithm. The standard deviation (SD) of rotation for the ten patients was 2.3°, 0.89° and 0.72° for rotation around the right-left (RL), anterior-posterior (AP) and superior-inferior (SI) directions respectively. The correlation between all six degrees of freedom showed that the highest correlation belonged to the AP and SI translation with a correlation of 0.67. The second highest correlation in our study was between the rotation around RL and rotation around AP, with a correlation of -0.33. Our real-time algorithm for calculation of rotation also confirms previous studies that have shown the maximum SD belongs to AP translation and rotation around RL. ICP is a reliable and fast algorithm for estimating real-time tumor rotation which could create a pathway to investigational clinical treatment studies requiring real-time measurement and adaptation to tumor rotation.

Gender difference of shoulder-pelvic kinematic integration for trunk rotation directions in healthy older adults.

PubMed

Sung, Paul S; Danial, Pamela

2017-12-01

The trunk coordination pattern has been extensively studied, and there is a higher pain prevalence and asymmetry in female older adults. However, there is a lack of investigation of different directions of trunk rotation and asymmetrical compensatory strategies of motor control between genders. The purpose of this study was to investigate shoulder and pelvic ranges of motion (ROM) as well as relative phases (RP) for the different directions of trunk rotation between genders in healthy older adults. There were 62 right hand dominant older adults in this study (31 female subjects (68.4 [5.62]years) and 31 male subjects (68.7 [5.68]years)). The participants performed trunk axial rotation from the left to the right direction (RP1) and then returned to the left side (RP2), three times repeatedly in standing. The measurements included shoulder and pelvic ROM, RP1, and RP2. The RP was defined as the average absolute relative phase, which was the difference between the phase angle of the shoulder and the phase angle of the pelvis during trunk rotation. The female group demonstrated significantly greater pelvic rotation compared to the male group (98.64 [24.67] vs. 86.96 [18.97]; t=2.09, p=0.04) during trunk rotation. The pelvic ROM demonstrated a significant positive correlation with shoulder ROM in both genders; however, the RP was negatively correlated with the pelvis. For pelvic rotation, the male group demonstrated a negative correlation with RP1 (r=-0.68, p<0.01) and RP2 (r=-0.60, p<0.01) while the female group demonstrated a negative correlation with RP2 (r=-0.53, p<0.01). The ageing factor demonstrated negative correlations with ROM for the shoulder and pelvis in both genders. Although no gender difference was indicated on the direction of RP, the pelvic ROM was significantly lesser in the male group. The male group demonstrated lesser pelvic rotation in both directions of rotation; however, the female group showed lesser pelvic rotation in RP2. The male group demonstrated stiffened pelvic rotation and greater shoulder rotation in both directions while the female group demonstrated pelvic stiffness only in the direction from right to left rotation. Clinicians need to consider this directional asymmetry of trunk rotation to enhance integrated shoulder-pelvic coordination in female older adults. A coordinative pattern of different directions of trunk rotation was investigated in healthy older adults. The pelvic range of motion was lesser in the male group compared with the female group. The female group demonstrated pelvic stiffness only in the direction from right to left rotation, while the male group demonstrated pelvic stiffness in both directions. Clinicians need to understand the gender difference of directional coordination as integrated coordination in female older adults. Copyright © 2017 Elsevier Ltd. All rights reserved.

Cervico-ocular coordination during neck rotation is distorted in people with whiplash-associated disorders.

PubMed

Bexander, Catharina S M; Hodges, Paul W

2012-03-01

People with whiplash-associated disorders (WAD) not only suffer from neck/head pain, but commonly report deficits in eye movement control. Recent work has highlighted a strong relationship between eye and neck muscle activation in pain-free subjects. It is possible that WAD may disrupt the intricate coordination between eye and neck movement. Electromyographic activity (EMG) of muscles that rotate the cervical spine to the right (left sternocleidomastoid, right obliquus capitis inferior (OI), right splenius capitis (SC) and right multifidus (MF)) was recorded in nine people with chronic WAD. Cervical rotation was performed with five gaze conditions involving different gaze directions relative to cervical rotation. The relationship between eye position/movement and neck muscle activity was contrasted with previous observations from pain-free controls. Three main differences were observed in WAD. First, the superficial muscle SC was active with both directions of cervical rotation in contrast to activity only with right rotation in pain-free controls. Second, activity of OI and MF varied between directions of cervical rotation, unlike the non-direction-specific activity in controls. Third, the effect of horizontal gaze direction on neck muscle EMG was augmented compared to controls. These observations provide evidence of redistribution of activity between neck muscles during cervical rotation and increased interaction between eye and neck muscle activity in people with WAD. These changes in cervico-ocular coordination may underlie clinical symptoms reported by people with WAD that involve visual deficits and changes in function during cervical rotation such as postural control.

SU-E-T-465: Dose Calculation Method for Dynamic Tumor Tracking Using a Gimbal-Mounted Linac

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

Sugimoto, S; Inoue, T; Kurokawa, C

Purpose: Dynamic tumor tracking using the gimbal-mounted linac (Vero4DRT, Mitsubishi Heavy Industries, Ltd., Japan) has been available when respiratory motion is significant. The irradiation accuracy of the dynamic tumor tracking has been reported to be excellent. In addition to the irradiation accuracy, a fast and accurate dose calculation algorithm is needed to validate the dose distribution in the presence of respiratory motion because the multiple phases of it have to be considered. A modification of dose calculation algorithm is necessary for the gimbal-mounted linac due to the degrees of freedom of gimbal swing. The dose calculation algorithm for the gimbalmore » motion was implemented using the linear transformation between coordinate systems. Methods: The linear transformation matrices between the coordinate systems with and without gimbal swings were constructed using the combination of translation and rotation matrices. The coordinate system where the radiation source is at the origin and the beam axis along the z axis was adopted. The transformation can be divided into the translation from the radiation source to the gimbal rotation center, the two rotations around the center relating to the gimbal swings, and the translation from the gimbal center to the radiation source. After operating the transformation matrix to the phantom or patient image, the dose calculation can be performed as the no gimbal swing. The algorithm was implemented in the treatment planning system, PlanUNC (University of North Carolina, NC). The convolution/superposition algorithm was used. The dose calculations with and without gimbal swings were performed for the 3 × 3 cm{sup 2} field with the grid size of 5 mm. Results: The calculation time was about 3 minutes per beam. No significant additional time due to the gimbal swing was observed. Conclusions: The dose calculation algorithm for the finite gimbal swing was implemented. The calculation time was moderate.« less

3D reconstruction of microminiature objects based on contour line

NASA Astrophysics Data System (ADS)

Li, Cailin; Wang, Qiang; Guo, Baoyun

2009-10-01

A new 3D automatic reconstruction method of micro solid of revolution is presented in this paper. In the implementation procedure of this method, image sequence of the solid of revolution of 360° is obtained, which rotation speed is controlled by motor precisely, in the rotate photographic mode of back light. Firstly, we need calibrate the height of turntable, the size of pixel and rotation axis of turntable. Then according to the calibration result of rotation axis, the height of turntable, rotation angle and the pixel size, the contour points of each image can be transformed into 3D points in the reference coordinate system to generate the point cloud model. Finally, the surface geometrical model of solid of revolution is obtained by using the relationship of two adjacent contours. Experimental results on real images are presented, which demonstrate the effectiveness of the Approach.

Design and performance of daily quality assurance system for carbon ion therapy at NIRS

NASA Astrophysics Data System (ADS)

Saotome, N.; Furukawa, T.; Hara, Y.; Mizushima, K.; Tansho, R.; Saraya, Y.; Shirai, T.; Noda, K.

2017-09-01

At National Institute of Radiological Sciences (NIRS), we have been commissioning a rotating-gantry system for carbon-ion radiotherapy. This rotating gantry can transport heavy ions at 430 MeV/u to an isocenter with irradiation angles of ±180° that can rotate around the patient so that the tumor can be irradiated from any direction. A three-dimensional pencil-beam scanning irradiation system equipped with the rotating gantry enables the optimal use of physical characteristics of carbon ions to provide accurate treatment. To ensure the treatment quality using such a complex system, the calibration of the primary dose monitor, output check, range check, dose rate check, machine safety check, and some mechanical tests should be performed efficiently. For this purpose, we have developed a measurement system dedicated for quality assurance (QA) of this gantry system: the Daily QA system. The system consists of an ionization chamber system and a scintillator system. The ionization chamber system is used for the calibration of the primary dose monitor, output check, and dose rate check, and the scintillator system is used for the range check, isocenter, and gantry angle. The performance of the Daily QA system was verified by a beam test. The stability of the output was within 0.5%, and the range was within 0.5 mm. The coincidence of the coordinates between the patient-positioning system and the irradiation system was verified using the Daily QA system. Our present findings verified that the new Daily QA system for a rotating gantry is capable of verifying the irradiation system with sufficient accuracy.

SU-E-T-570: New Quality Assurance Method Using Motion Tracking for 6D Robotic Couches

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

Cheon, W; Cho, J; Ahn, S

Purpose: To accommodate geometrically accurate patient positioning, a robotic couch that is capable of 6-degrees of freedom has been introduced. However, conventional couch QA methods are not sufficient to enable the necessary accuracy of tests. Therefore, we have developed a camera based motion detection and geometry calibration system for couch QA. Methods: Employing a Visual-Tracking System (VTS, BonitaB10, Vicon, UK) which tracks infrared reflective(IR) markers, camera calibration was conducted using a 5.7 × 5.7 × 5.7 cm{sup 3} cube attached with IR markers at each corner. After positioning a robotic-couch at the origin with the cube on the table top,more » 3D coordinates of the cube’s eight corners were acquired by VTS in the VTS coordinate system. Next, positions in reference coordinates (roomcoordinates) were assigned using the known relation between each point. Finally, camera calibration was completed by finding a transformation matrix between VTS and reference coordinate systems and by applying a pseudo inverse matrix method. After the calibration, the accuracy of linear and rotational motions as well as couch sagging could be measured by analyzing the continuously acquired data of the cube while the couch moves to a designated position. Accuracy of the developed software was verified through comparison with measurement data when using a Laser tracker (FARO, Lake Mary, USA) for a robotic-couch installed for proton therapy. Results: VTS system could track couch motion accurately and measured position in room-coordinates. The VTS measurements and Laser tracker data agreed within 1% of difference for linear and rotational motions. Also because the program analyzes motion in 3-Dimension, it can compute couch sagging. Conclusion: Developed QA system provides submillimeter/ degree accuracy which fulfills the high-end couch QA. This work was supported by the National Research Foundation of Korea funded by Ministry of Science, ICT & Future Planning. (2013M2A2A7043507 and 2012M3A9B6055201)« less

Gait in patients with pregnancy-related pain in the pelvis: an emphasis on the coordination of transverse pelvic and thoracic rotations.

PubMed

Wu, Wenhua; Meijer, Onno G; Jutte, Paul C; Uegaki, Kimi; Lamoth, Claudine J C; Sander de Wolf, G; van Dieën, Jaap H; Wuisman, Paul I J M; Kwakkel, Gert; de Vries, Johanna I P; Beek, Peter J

2002-01-01

To quantify gait impairments in women with pregnancy-related pain in the pelvis which persisted post-partum.Design. Nine patients and nine healthy subjects were studied during treadmill walking at different velocities. Walking problems in patients with pregnancy-related pain in the pelvis have been known to exist for a long time. To date, no quantitative gait studies have been conducted in this population. Maximum attainable walking velocity was determined, amplitudes of pelvic and thoracic rotations were calculated, and spectral analysis was used to assess the harmonicity of these rotations. Coordination between pelvic and thoracic rotations was characterized as mean relative Fourier phase and weighted coherence. Maximum attainable walking velocity was highly variable between patients, but on average significantly lower than in healthy controls. Moreover, patients had a significantly lower mean relative Fourier phase (again, highly variable) and higher weighted coherence. The other parameters did not differ significantly between groups. Coordination between pelvic and thoracic rotations in the transverse plane was affected in patients with pregnancy-related pain in the pelvis. Individual patients may apply different strategies during walking to cope with the underlying problems. Pregnancy-related pain in the pelvis is poorly understood. Patients with this condition are known to have problems with locomotion. The present study reveals that gait coordination is altered. Theoretically, this underlines the importance of analysing coordination in pathological movement. Clinically, better understanding the gait problems of women with pregnancy-related pain in the pelvis may contribute to more appropriate treatments.

Realistic simulations of the coupling between the protomotive force and the mechanical rotation of the F0-ATPase

PubMed Central

Mukherjee, Shayantani; Warshel, Arieh

2012-01-01

The molecular origin of the action of the F0 proton gradient-driven rotor presents a major puzzle despite significant structural advances. Although important conceptual models have provided guidelines of how such systems should work, it has been challenging to generate a structure-based molecular model using physical principles that will consistently lead to the unidirectional proton-driven rotational motion during ATP synthesis. This work uses a coarse-grained (CG) model to simulate the energetics of the F0-ATPase system in the combined space defined by the rotational coordinate and the proton transport (PTR) from the periplasmic side (P) to the cytoplasmic side (N). The model establishes the molecular origin of the rotation, showing that this effect is due to asymmetry in the energetics of the proton path rather than only the asymmetry of the interaction of the Asp on the c-ring helices and Arg on the subunit-a. The simulation provides a clear conceptual background for further exploration of the electrostatic basis of proton-driven mechanochemical systems. PMID:22927379

Single Axis Attitude Control and DC Bus Regulation with Two Flywheels

NASA Technical Reports Server (NTRS)

Kascak, Peter E.; Jansen, Ralph H.; Kenny, Barbara; Dever, Timothy P.

2002-01-01

A computer simulation of a flywheel energy storage single axis attitude control system is described. The simulation models hardware which will be experimentally tested in the future. This hardware consists of two counter rotating flywheels mounted to an air table. The air table allows one axis of rotational motion. An inertia DC bus coordinator is set forth that allows the two control problems, bus regulation and attitude control, to be separated. Simulation results are presented with a previously derived flywheel bus regulator and a simple PID attitude controller.

Passive stiffness of coupled wrist and forearm rotations.

PubMed

Drake, Will B; Charles, Steven K

2014-09-01

Coordinated movement requires that the neuromuscular system account and compensate for movement dynamics. One particularly complex aspect of movement dynamics is the interaction that occurs between degrees of freedom (DOF), which may be caused by inertia, damping, and/or stiffness. During wrist rotations, the two DOF of the wrist (flexion-extension and radial-ulnar deviation, FE and RUD) are coupled through interaction torques arising from passive joint stiffness. One important unanswered question is whether the DOF of the forearm (pronation-supination, PS) is coupled to the two DOF of the wrist. Answering this question, and understanding the dynamics of wrist and forearm rotations in general, requires knowledge of the stiffness encountered during rotations involving all three DOF (PS, FE, and RUD). Here we present the first-ever measurement of the passive stiffness encountered during simultaneous wrist and forearm rotations. Using a wrist and forearm robot, we measured coupled wrist and forearm stiffness in 10 subjects and present it as a 3-by-3 stiffness matrix. This measurement of passive wrist and forearm stiffness will enable future studies investigating the dynamics of wrist and forearm rotations, exposing the dynamics for which the neuromuscular system must plan and compensate during movements involving the wrist and forearm.

The Effects of Adding Coordinate Axes To a Mental Rotations Task in Measuring Spatial Visualization Ability in Introductory Undergraduate Technical Graphics Courses.

ERIC Educational Resources Information Center

Branoff, Ted

1998-01-01

Reports on a study to determine whether the presence of coordinate axes in a test of spatial-visualization ability affects scores and response times on a mental-rotations task for students enrolled in undergraduate introductory graphic communications classes. Based on Pavios's dual-coding theory. Contains 36 references. (DDR)

Divisions i and III / Working Group: Cartographic Coordinates and Rotational Elements

NASA Astrophysics Data System (ADS)

Archinal, Brent A.; Seidelmann, P. Kenneth; A'Hearn, Michael F.; Conrad, Albert R.; Consolmagno, Guy J.; Courtin, Régis; Fukushima, Toshio; Hestroffer, Daniel; Hilton, James L.; Neumann, Gregory A.; Oberst, Jürgen; Stooke, Philip J.; Tholen, David J.; Thomas, Peter C.; Williams, Iwan P.

2012-04-01

As in the past, the primary activity of the IAU Working Group on Cartographic Coordinates and Rotational Elements has been to prepare and publish a triennial (``2009'') report containing current recommendations for models for Solar System bodies (Archinal et al. (2011a)). The authors are B. A. Archinal, M. F. A'Hearn, E. Bowell, A. Conrad, G. J. Consolmagno, R. Courtin, T. Fukushima, D. Hestroffer, J. L. Hilton, G. A. Krasinsky, G. Neumann, J. Oberst, P. K. Seidelmann, P. Stooke, D. J. Tholen, P. C. Thomas, and I. P. Williams. An erratum to the ``2006'' and ``2009'' reports has also been published (Archinal et al. (2011b)). Below we briefly summarize the contents of the 2009 report, a plan to consider requests for new recommendations more often than every three years, three general recommendations by the WG to the planetary community, other WG activities, and plans for our next report.

Research on Coordinate Transformation Method of Gb-Sar Image Supported by 3d Laser Scanning Technology

NASA Astrophysics Data System (ADS)

Wang, P.; Xing, C.

2018-04-01

In the image plane of GB-SAR, identification of deformation distribution is usually carried out by artificial interpretation. This method requires analysts to have adequate experience of radar imaging and target recognition, otherwise it can easily cause false recognition of deformation target or region. Therefore, it is very meaningful to connect two-dimensional (2D) plane coordinate system with the common three-dimensional (3D) terrain coordinate system. To improve the global accuracy and reliability of the transformation from 2D coordinates of GB-SAR images to local 3D coordinates, and overcome the limitation of traditional similarity transformation parameter estimation method, 3D laser scanning data is used to assist the transformation of GB-SAR image coordinates. A straight line fitting method for calculating horizontal angle was proposed in this paper. After projection into a consistent imaging plane, we can calculate horizontal rotation angle by using the linear characteristics of the structure in radar image and the 3D coordinate system. Aided by external elevation information by 3D laser scanning technology, we completed the matching of point clouds and pixels on the projection plane according to the geometric projection principle of GB-SAR imaging realizing the transformation calculation of GB-SAR image coordinates to local 3D coordinates. Finally, the effectiveness of the method is verified by the GB-SAR deformation monitoring experiment on the high slope of Geheyan dam.

Response of Seismometer with Symmetric Triaxial Sensor Configuration to Complex Ground Motion

NASA Astrophysics Data System (ADS)

Graizer, V.

2007-12-01

Most instruments used in seismological practice to record ground motion in all directions use three sensors oriented toward North, East and upward. In this standard configuration horizontal and vertical sensors differ in their construction because of gravity acceleration always applied to a vertical sensor. An alternative way of symmetric sensor configuration was first introduced by Galperin (1955) for petroleum exploration. In this arrangement three identical sensors are also positioned orthogonally to each other but are tilted at the same angle of 54.7 degrees to the vertical axis (triaxial system of coordinate balanced on its corner). Records obtained using symmetric configuration must be rotated into an earth referenced X, Y, Z coordinate system. A number of recent seismological instruments (e.g., broadband seismometers Streckeisen STS-2, Trillium of Nanometrics and Cronos of Kinemetrics) are using symmetric sensor configuration. In most of seismological studies it is assumed that rotational (rocking and torsion) components of earthquake ground motion are small enough to be neglected. However, recently examples were shown when rotational components are significant relative to translational components of motions. Response of pendulums installed in standard configuration (vertical and two horizontals) to complex input motion that includes rotations has been studied in a number of publications. We consider the response of pendulums in a symmetric sensor configuration to complex input motions including rotations, and the resultant triaxial system response. Possible implications of using symmetric sensor configuration in strong motion studies are discussed. Considering benefits of equal design of all three sensors in symmetric configuration, and as a result potentially lower cost of the three-component accelerograph, it may be useful for strong motion measurements not requiring high resolution post signal processing. The disadvantage of this configuration is that if one of the sensors is not working properly or there is a misalignment of sensors, it results in degradation of all three components. Symmetric sensor configuration requires identical processing of each channel putting a number of limitations on further processing of strong motion records.

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.

Dynamic Stability Derivatives

DTIC Science & Technology

2015-06-01

kinematic viscocity , and speed-of-sound; wing geometric characteristics (area, mean aerodynamic chord and taper ratio); and its motion (free-stream...computed by integrating the vehicle’s velocity components expressed in a "trajectory" coordinate system which is fixed in space and aligned with the system...yawing motion is superfluous . The pitching motion results presented in Table 3-5 are interesting, though. Recall that the rotation rates are body

Rotations with Rodrigues' Vector

ERIC Educational Resources Information Center

Pina, E.

2011-01-01

The rotational dynamics was studied from the point of view of Rodrigues' vector. This vector is defined here by its connection with other forms of parametrization of the rotation matrix. The rotation matrix was expressed in terms of this vector. The angular velocity was computed using the components of Rodrigues' vector as coordinates. It appears…

Elevation scanning laser/multi-sensor hazard detection system controller and mirror/mast speed control components. [roving vehicle electromechanical devices

NASA Technical Reports Server (NTRS)

Craig, J.; Yerazunis, S. W.

1978-01-01

The electro-mechanical and electronic systems involved with pointing a laser beam from a roving vehicle along a desired vector are described. A rotating 8 sided mirror, driven by a phase-locked dc motor servo system, and monitored by a precision optical shaft encoder is used. This upper assembly is then rotated about an orthogonal axis to allow scanning into all 360 deg around the vehicle. This axis is also driven by a phase locked dc motor servo-system, and monitored with an optical shaft encoder. The electronics are realized in standard TTL integrated circuits with UV-erasable proms used to store desired coordinates of laser fire. Related topics such as the interface to the existing test vehicle are discussed.

Detumbling control for kinematically redundant space manipulator post-grasping a rotational satellite

NASA Astrophysics Data System (ADS)

Wang, Mingming; Luo, Jianjun; Yuan, Jianping; Walter, Ulrich

2017-12-01

The objective of this paper is to establish a detumbling strategy and a coordination control scheme for a kinematically redundant space manipulator post-grasping a rotational satellite. First, the dynamics of the kinematically redundant space robot after grasping the target is presented, which lays the foundation for the coordination controller design. Subsequently, optimal detumbling and motion planning strategy for the post-capture phase is proposed based on the quartic Bézier curves and adaptive differential evolution (DE) algorithm subject to the specific constraints. Both detumbling time and control torques are taken into account for the generation of the optimal detumbling strategy. Furthermore, a coordination control scheme is presented to track the designed reference path while regulating the attitude of the chaser to a desired value, which successfully dumps the initial angular velocity of the rotational satellite and controls the base attitude synchronously. Simulation results are presented for detumbling a target with rotational motion using a 7 degree-of-freedom (DOF) redundant space manipulator, which demonstrates the effectiveness of the proposed method.

An update to the analysis of the Canadian Spatial Reference System

NASA Astrophysics Data System (ADS)

Ferland, R.; Piraszewski, M.; Craymer, M.

2015-12-01

The primary objective of the Canadian Spatial Reference System (CSRS) is to provide users access to a consistent geo-referencing infrastructure over the Canadian landmass. Global Navigation Satellite System (GNSS) positioning accuracy requirements ranges from meter level to mm level (e.g.: crustal deformation). The highest level of the Canadian infrastructure consist of a network of continually operating GPS and GNSS receivers, referred to as active control stations. The network includes all Canadian public active control stations, some bordering US CORS and Alaska stations, Greenland active control stations, as well as a selection of IGS reference frame stations. The Bernese analysis software is used for the daily processing and the combination into weekly solutions which form the basis for this analysis. IGS weekly final orbit, Earth Rotation parameters (ERP's) and coordinates products are used in the processing. For the more demanding users, the time dependant changes of station coordinates is often more important.All station coordinate estimates and related covariance information is used in this analysis. For each input solution, variance factor, translation, rotation and scale (and if needed their rates) or subsets of these are estimated. In the combination of these weekly solutions, station positions and velocities are estimated. Since the time series from the stations in these networks often experience changes in behavior, new (or reuse of) parameters are generally used in these situations. As is often the case with real data, unrealistic coordinates may occur. Automatic detection and removal of outliers is used in these cases. For the transformation, position and velocity parameters loose apriori estimates and uncertainties are provided. Alignment using the usual Helmert transformation to the latest IGb08 realization of ITRF is also performed during the adjustment.

A novel verification method using a plastic scintillator imagining system for assessment of gantry sag in radiotherapy.

PubMed

Tsuneda, Masato; Nishio, Teiji; Saito, Akito; Tanaka, Sodai; Suzuki, Tatsuhiko; Kawahara, Daisuke; Matsushita, Keiichiro; Nishio, Aya; Ozawa, Shuichi; Karasawa, Kumiko; Nagata, Yasushi

2018-06-01

High accuracy of the beam-irradiated position is required for high-precision radiation therapy such as stereotactic body radiation therapy (SBRT), volumetric modulated arc therapy (VMAT), and intensity modulated radiation therapy (IMRT). Users generally perform the verification of the mechanical and radiation isocenters using the star shot test and the Winston Lutz test that allow evaluation of the displacement at the isocenter. However, these methods are unable to evaluate directly and quantitatively the sagging angle that is caused by the weight of the gantry itself along the gantry rotation axis. In addition, the verification of the central axis of the irradiated beam that is not dependent at the isocenter is needed for the mechanical quality assurance of a nonisocentric irradiation technique. In this study, we have developed a prototype system for the verification of three-dimensional (3D) beam alignment and we have verified the system concept for 3D isocentricity. Our system allows detection of the central axis in 3D coordinates and evaluation of the irradiated oblique angle to the gantry rotation axis, i.e., the sagging angle. In order to measure the central axis of the irradiated beam in 3D coordinates, we constructed the prototype verification system consisting of a column-shaped plastic scintillator (CoPS), a truncated cone-shaped mirror (TCsM), and a cooled charged-coupled device (CCD) camera. This verification system was irradiated with 6-MV photon beams and the scintillation light was measured using the CCD camera. The central axis on the axial plane (two-dimensional (2D) central axis) was acquired from the integration of the scintillation light along the major axis of the CoPS, and the central axis in 3D coordinates (3D central axis) was acquired from two curve-shaped profiles which were reflected by the TCsM. We verified the calculation accuracy of the gantry rotation axis, θ z . Additionally, we calculated the 3D central axis and the sagging angle at each gantry angle. We acquired the measurement images composed of the 2D central axis and the two curve-shaped profiles. The relationship between the irradiated and measured angles with respect to the gantry rotation axis had good linearity. The mean and standard deviation of the difference between the irradiated and measured angles were 0.012 and 0.078 degrees, respectively. The size of the 2D and 3D radiation isocenters were 0.470 and 0.652 mm on the axial plane and in 3D coordinates, respectively. The sagging angles were -0.31, 0.39, and 0.38 degrees at the gantry angles of 0, 180, and 180E degrees, respectively. We developed a novel verification system, designated as the "kompeito shot test system," to verify the 3D beam alignment. This system concept works for both verification of the 3D isocentricity and the direct evaluation of the sagging angle. Next, we want to improve the aspects of this system, such as the shape and the type of scintillator, to increase the system accuracy and nonisocentric beam alignment performance. © 2018 American Association of Physicists in Medicine.

A Viral Packaging Motor Varies Its DNA Rotation and Step Size to Preserve Subunit Coordination as the Capsid Fills

PubMed Central

Tafoya, Sara; Aathavan, K.; Schnitzbauer, Joerg; Grimes, Shelley; Jardine, Paul J.; Bustamante, Carlos

2014-01-01

SUMMARY Multimeric, ring-shaped molecular motors rely on the coordinated action of their subunits to perform crucial biological functions. During these tasks, motors often change their operation in response to regulatory signals. Here, we investigate a viral packaging machine as it fills the capsid with DNA and encounters increasing internal pressure. We find that the motor rotates the DNA during packaging and that the rotation per basepair increases with filling. This change accompanies a reduction in the motor’s step size. We propose that these adjustments preserve motor coordination by allowing one subunit to make periodic, specific, and regulatory contacts with the DNA. At high filling, we also observe the down-regulation of the ATP-binding rate and the emergence of long-lived pauses, suggesting a throttling-down mechanism employed by the motor near the completion of packaging. This study illustrates how a biological motor adjusts its operation in response to changing conditions, while remaining highly coordinated. PMID:24766813

Effects of rotational symmetry breaking in polymer-coated nanopores

NASA Astrophysics Data System (ADS)

Osmanović, D.; Kerr-Winter, M.; Eccleston, R. C.; Hoogenboom, B. W.; Ford, I. J.

2015-01-01

The statistical theory of polymers tethered around the inner surface of a cylindrical channel has traditionally employed the assumption that the equilibrium density of the polymers is independent of the azimuthal coordinate. However, simulations have shown that this rotational symmetry can be broken when there are attractive interactions between the polymers. We investigate the phases that emerge in these circumstances, and we quantify the effect of the symmetry assumption on the phase behavior of the system. In the absence of this assumption, one can observe large differences in the equilibrium densities between the rotationally symmetric case and the non-rotationally symmetric case. A simple analytical model is developed that illustrates the driving thermodynamic forces responsible for this symmetry breaking. Our results have implications for the current understanding of the behavior of polymers in cylindrical nanopores.

Effects of rotational symmetry breaking in polymer-coated nanopores

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

Osmanović, D.; Hoogenboom, B. W.; Ford, I. J.

2015-01-21

The statistical theory of polymers tethered around the inner surface of a cylindrical channel has traditionally employed the assumption that the equilibrium density of the polymers is independent of the azimuthal coordinate. However, simulations have shown that this rotational symmetry can be broken when there are attractive interactions between the polymers. We investigate the phases that emerge in these circumstances, and we quantify the effect of the symmetry assumption on the phase behavior of the system. In the absence of this assumption, one can observe large differences in the equilibrium densities between the rotationally symmetric case and the non-rotationally symmetricmore » case. A simple analytical model is developed that illustrates the driving thermodynamic forces responsible for this symmetry breaking. Our results have implications for the current understanding of the behavior of polymers in cylindrical nanopores.« less

Visual management system and timber management application

Treesearch

Warren R. Bacon; Asa D. (Bud) Twombly

1979-01-01

This paper includes an illustration of a planning process to guide vegetation management throughout a travel route seen area and over the time period of a total management rotation (100-300 years). The process will produce direction on visual characteristics to be created and maintained within the biological potential and coordinated with associated re-source...

Development and Feasibility Assessment of a Rotational Orthosis for Walking with Arm Swing.

PubMed

Fang, Juan; Xie, Qing; Yang, Guo-Yuan; Xie, Le

2017-01-01

Interlimb neural coupling might underlie human bipedal locomotion, which is reflected in the fact that people swing their arms synchronously with leg movement in normal gait. Therefore, arm swing should be included in gait training to provide coordinated interlimb performance. The present study aimed to develop a Rotational Orthosis for Walking with Arm Swing (ROWAS), and evaluate its feasibility from the perspectives of implementation, acceptability and responsiveness. We developed the mechanical structures of the ROWAS system in SolidWorks, and implemented the concept in a prototype. Normal gait data were used as the reference performance of the shoulder, hip, knee and ankle joints of the prototype. The ROWAS prototype was tested for function assessment and further evaluated using five able-bodied subjects for user feedback. The ROWAS prototype produced coordinated performance in the upper and lower limbs, with joint profiles similar to those occurring in normal gait. The subjects reported a stronger feeling of walking with arm swing than without. The ROWAS system was deemed feasible according to the formal assessment criteria.

Development and Feasibility Assessment of a Rotational Orthosis for Walking with Arm Swing

PubMed Central

Fang, Juan; Xie, Qing; Yang, Guo-Yuan; Xie, Le

2017-01-01

Interlimb neural coupling might underlie human bipedal locomotion, which is reflected in the fact that people swing their arms synchronously with leg movement in normal gait. Therefore, arm swing should be included in gait training to provide coordinated interlimb performance. The present study aimed to develop a Rotational Orthosis for Walking with Arm Swing (ROWAS), and evaluate its feasibility from the perspectives of implementation, acceptability and responsiveness. We developed the mechanical structures of the ROWAS system in SolidWorks, and implemented the concept in a prototype. Normal gait data were used as the reference performance of the shoulder, hip, knee and ankle joints of the prototype. The ROWAS prototype was tested for function assessment and further evaluated using five able-bodied subjects for user feedback. The ROWAS prototype produced coordinated performance in the upper and lower limbs, with joint profiles similar to those occurring in normal gait. The subjects reported a stronger feeling of walking with arm swing than without. The ROWAS system was deemed feasible according to the formal assessment criteria. PMID:28203142

SU-E-P-45: An Analytical Formula for Deriving Mechanical Iso-Center of Rotational Gantry Treatment Unit Rotational Gantry Treatment Unit

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

Ding, X; Bues, M

2015-06-15

Purpose: To present an analytical formula for deriving mechanical isocenter (MIC) of a rotational gantry treatment unit. The input data to the formula is obtained by a custom-made device. The formula has been implemented and used in an operational proton therapy facility since 2005. Methods: The custom made device consisted of 3 mutually perpendicular dial indicators and 5 clinometers, to obtain displacement data and gantry angle data simultaneously. During measurement, a steel sphere was affixed to the patient couch, and the device was attached to the snout rotating with the gantry. The displacement data and angle data were obtained simultaneouslymore » at angular increments of less than 1 degree. The analytical formula took the displacement and angle as input and derived the positions of dial indicator tips (DIT) position in room-fixed coordinate system. The formula derivation presupposes trigonometry and 3-dimentional coordinate transformations. Due to the symmetry properties of the defining equations, the DIT position can be solved for analytically without using mathematical approximations. We define the mean of all points in the DIT trajectory as the MIC. The formula was implemented in computer code, which has been employed during acceptance test, commissioning, as well as routine QA practice in an operational proton facility since 2005. Results: It took one minute for the custom-made device to acquire the measurement data for a full gantry rotation. The DIT trajectory and MIS are instantaneously available after the measurement. The MIC Result agrees well with vendor’s Result, which came from a different measurement setup, as well as different data analysis algorithm. Conclusion: An analytical formula for deriving mechanical isocenter was developed and validated. The formula is considered to be absolutely accurate mathematically. Be analyzing measured data of radial displacements as function of gantry angle, the formula calculates the MI position in room coordinate.« less

Estimating the accuracy of the technique of reconstructing the rotational motion of a satellite based on the measurements of its angular velocity and the magnetic field of the Earth

NASA Astrophysics Data System (ADS)

Belyaev, M. Yu.; Volkov, O. N.; Monakhov, M. I.; Sazonov, V. V.

2017-09-01

The paper has studied the accuracy of the technique that allows the rotational motion of the Earth artificial satellites (AES) to be reconstructed based on the data of onboard measurements of angular velocity vectors and the strength of the Earth magnetic field (EMF). The technique is based on kinematic equations of the rotational motion of a rigid body. Both types of measurement data collected over some time interval have been processed jointly. The angular velocity measurements have been approximated using convenient formulas, which are substituted into the kinematic differential equations for the quaternion that specifies the transition from the body-fixed coordinate system of a satellite to the inertial coordinate system. Thus obtained equations represent a kinematic model of the rotational motion of a satellite. The solution of these equations, which approximate real motion, has been found by the least-square method from the condition of best fitting between the data of measurements of the EMF strength vector and its calculated values. The accuracy of the technique has been estimated by processing the data obtained from the board of the service module of the International Space Station ( ISS). The reconstruction of station motion using the aforementioned technique has been compared with the telemetry data on the actual motion of the station. The technique has allowed us to reconstruct the station motion in the orbital orientation mode with a maximum error less than 0.6° and the turns with a maximal error of less than 1.2°.

Coordinated turn-and-reach movements. II. Planning in an external frame of reference

NASA Technical Reports Server (NTRS)

Pigeon, Pascale; Bortolami, Simone B.; DiZio, Paul; Lackner, James R.

2003-01-01

The preceding study demonstrated that normal subjects compensate for the additional interaction torques generated when a reaching movement is made during voluntary trunk rotation. The present paper assesses the influence of trunk rotation on finger trajectories and on interjoint coordination and determines whether simultaneous turn-and-reach movements are most simply described relative to a trunk-based or an external reference frame. Subjects reached to targets requiring different extents of arm joint and trunk rotation at a natural pace and quickly in normal lighting and in total darkness. We first examined whether the larger interaction torques generated during rapid turn-and-reach movements perturb finger trajectories and interjoint coordination and whether visual feedback plays a role in compensating for these torques. These issues were addressed using generalized Procrustes analysis (GPA), which attempts to overlap a group of configurations (e.g., joint trajectories) through translations and rotations in multi-dimensional space. We first used GPA to identify the mean intrinsic patterns of finger and joint trajectories (i.e., their average shape irrespective of location and orientation variability in the external and joint workspaces) from turn-and-reach movements performed in each experimental condition and then calculated their curvatures. We then quantified the discrepancy between each finger or joint trajectory and the intrinsic pattern both after GPA was applied individually to trajectories from a pair of experimental conditions and after GPA was applied to the same trajectories pooled together. For several subjects, joint trajectories but not finger trajectories were more curved in fast than slow movements. The curvature of both joint and finger trajectories of turn-and-reach movements was relatively unaffected by the vision conditions. Pooling across speed conditions significantly increased the discrepancy between joint but not finger trajectories for most subjects, indicating that subjects used different patterns of interjoint coordination in slow and fast movements while nevertheless preserving the shape of their finger trajectory. Higher movement speeds did not disrupt the arm joint rotations despite the larger interaction torques generated. Rather, subjects used the redundant degrees of freedom of the arm/trunk system to achieve similar finger trajectories with differing joint configurations. We examined finger movement patterns and velocity profiles to determine the frame of reference in which turn-and-reach movements could be most simply described. Finger trajectories of turn-and-reach movements had much larger curvatures and their velocity profiles were less smooth and less bell-like in trunk-based coordinates than in external coordinates. Taken together, these results support the conclusion that turn-and-reach movements are controlled in an external frame of reference.

Intrinsic character of Stokes matrices

NASA Astrophysics Data System (ADS)

Gagnon, Jean-François; Rousseau, Christiane

2017-02-01

Two germs of linear analytic differential systems x k + 1Y‧ = A (x) Y with a non-resonant irregular singularity are analytically equivalent if and only if they have the same eigenvalues and equivalent collections of Stokes matrices. The Stokes matrices are the transition matrices between sectors on which the system is analytically equivalent to its formal normal form. Each sector contains exactly one separating ray for each pair of eigenvalues. A rotation in S allows supposing that R+ lies in the intersection of two sectors. Reordering of the coordinates of Y allows ordering the real parts of the eigenvalues, thus yielding triangular Stokes matrices. However, the choice of the rotation in x is not canonical. In this paper we establish how the collection of Stokes matrices depends on this rotation, and hence on a chosen order of the projection of the eigenvalues on a line through the origin.

A retinal code for motion along the gravitational and body axes

PubMed Central

Sabbah, Shai; Gemmer, John A.; Bhatia-Lin, Ananya; Manoff, Gabrielle; Castro, Gabriel; Siegel, Jesse K.; Jeffery, Nathan; Berson, David M.

2017-01-01

Summary Self-motion triggers complementary visual and vestibular reflexes supporting image-stabilization and balance. Translation through space produces one global pattern of retinal image motion (optic flow), rotation another. We show that each subtype of direction-selective ganglion cell (DSGC) adjusts its direction preference topographically to align with specific translatory optic flow fields, creating a neural ensemble tuned for a specific direction of motion through space. Four cardinal translatory directions are represented, aligned with two axes of high adaptive relevance: the body and gravitational axes. One subtype maximizes its output when the mouse advances, others when it retreats, rises, or falls. ON-DSGCs and ON-OFF-DSGCs share the same spatial geometry but weight the four channels differently. Each subtype ensemble is also tuned for rotation. The relative activation of DSGC channels uniquely encodes every translation and rotation. Though retinal and vestibular systems both encode translatory and rotatory self-motion, their coordinate systems differ. PMID:28607486

Horizontal high speed stacking for batteries with prismatic cans

DOEpatents

Bartos, Andrew L.; Lin, Yhu-Tin; Turner, III, Raymond D.

2016-06-14

A system and method for stacking battery cells or related assembled components. Generally planar, rectangular (prismatic-shaped) battery cells are moved from an as-received generally vertical stacking orientation to a generally horizontal stacking orientation without the need for robotic pick-and-place equipment. The system includes numerous conveyor belts that work in cooperation with one another to deliver, rotate and stack the cells or their affiliated assemblies. The belts are outfitted with components to facilitate the cell transport and rotation. The coordinated movement between the belts and the components promote the orderly transport and rotation of the cells from a substantially vertical stacking orientation into a substantially horizontal stacking orientation. The approach of the present invention helps keep the stacked assemblies stable so that subsequent assembly steps--such as compressing the cells or attaching electrical leads or thermal management components--may proceed with a reduced chance of error.

Vorticity vector-potential method based on time-dependent curvilinear coordinates for two-dimensional rotating flows in closed configurations

NASA Astrophysics Data System (ADS)

Fu, Yuan; Zhang, Da-peng; Xie, Xi-lin

2018-04-01

In this study, a vorticity vector-potential method for two-dimensional viscous incompressible rotating driven flows is developed in the time-dependent curvilinear coordinates. The method is applicable in both inertial and non-inertial frames of reference with the advantage of a fixed and regular calculation domain. The numerical method is applied to triangle and curved triangle configurations in constant and varying rotational angular velocity cases respectively. The evolutions of flow field are studied. The geostrophic effect, unsteady effect and curvature effect on the evolutions are discussed.

Vorticity vector-potential method based on time-dependent curvilinear coordinates for two-dimensional rotating flows in closed configurations

NASA Astrophysics Data System (ADS)

Fu, Yuan; Zhang, Da-peng; Xie, Xi-lin

2018-03-01

In this study, a vorticity vector-potential method for two-dimensional viscous incompressible rotating driven flows is developed in the time-dependent curvilinear coordinates. The method is applicable in both inertial and non-inertial frames of reference with the advantage of a fixed and regular calculation domain. The numerical method is applied to triangle and curved triangle configurations in constant and varying rotational angular velocity cases respectively. The evolutions of flow field are studied. The geostrophic effect, unsteady effect and curvature effect on the evolutions are discussed.

Calculating Free Energies Using Average Force

NASA Technical Reports Server (NTRS)

Darve, Eric; Pohorille, Andrew; DeVincenzi, Donald L. (Technical Monitor)

2001-01-01

A new, general formula that connects the derivatives of the free energy along the selected, generalized coordinates of the system with the instantaneous force acting on these coordinates is derived. The instantaneous force is defined as the force acting on the coordinate of interest so that when it is subtracted from the equations of motion the acceleration along this coordinate is zero. The formula applies to simulations in which the selected coordinates are either unconstrained or constrained to fixed values. It is shown that in the latter case the formula reduces to the expression previously derived by den Otter and Briels. If simulations are carried out without constraining the coordinates of interest, the formula leads to a new method for calculating the free energy changes along these coordinates. This method is tested in two examples - rotation around the C-C bond of 1,2-dichloroethane immersed in water and transfer of fluoromethane across the water-hexane interface. The calculated free energies are compared with those obtained by two commonly used methods. One of them relies on determining the probability density function of finding the system at different values of the selected coordinate and the other requires calculating the average force at discrete locations along this coordinate in a series of constrained simulations. The free energies calculated by these three methods are in excellent agreement. The relative advantages of each method are discussed.

Thermodynamic and Mechanical Analysis of a Thermomagnetic Rotary Engine

NASA Astrophysics Data System (ADS)

Fajar, D. M.; Khotimah, S. N.; Khairurrijal

2016-08-01

A heat engine in magnetic system had three thermodynamic coordinates: magnetic intensity ℋ, total magnetization ℳ, and temperature T, where the first two of them are respectively analogous to that of gaseous system: pressure P and volume V. Consequently, Carnot cycle that constitutes the principle of a heat engine in gaseous system is also valid on that in magnetic system. A thermomagnetic rotary engine is one model of it that was designed in the form of a ferromagnetic wheel that can rotates because of magnetization change at Curie temperature. The study is aimed to describe the thermodynamic and mechanical analysis of a thermomagnetic rotary engine and calculate the efficiencies. In thermodynamic view, the ideal processes are isothermal demagnetization, adiabatic demagnetization, isothermal magnetization, and adiabatic magnetization. The values of thermodynamic efficiency depend on temperature difference between hot and cold reservoir. In mechanical view, a rotational work is determined through calculation of moment of inertia and average angular speed. The value of mechanical efficiency is calculated from ratio between rotational work and heat received by system. The study also obtains exergetic efficiency that states the performance quality of the engine.

Effect of centrifugal force on natural frequency of lateral vibration of rotating shafts

NASA Astrophysics Data System (ADS)

Behzad, M.; Bastami, A. R.

2004-07-01

This paper investigates the effect of shaft rotation on its natural frequency. Apart from gyroscopic effect, the axial force originated from centrifugal force and the Poisson effect results in change of shaft natural frequency. D'Alembert principle for shaft in cylindrical co-ordinate system, along with the stress-strain relation, gives the non-homogenous linear differential equation, which can be used to calculate axial stress in the shaft. Numerical results of this study show that axial stress produced by shaft rotation has a major effect on the natural frequency of long high-speed shafts, while shaft diameter has no influence on the results. In addition, change in lateral natural frequency due to gyroscopic effect is compared with the results of this study.

Aerodynamics in the amusement park: interpreting sensor data for acceleration and rotation

NASA Astrophysics Data System (ADS)

Löfstrand, Marcus; Pendrill, Ann-Marie

2016-09-01

The sky roller ride depends on interaction with the air to create a rolling motion. In this paper, we analyse forces, torque and angular velocities during different parts of the ride, combining a theoretical analysis, with photos, videos as well as with accelerometer and gyroscopic data, that may be collected e.g. with a smartphone. For interpreting the result, it must be taken into account that the sensors and their coordinate system rotate together with the rider. The sky roller offers many examples for physics education, from simple circular motion, to acceleration and rotation involving several axes, as well as the relation between wing orientation, torque and angular velocities and using barometer pressure to determine the elevation gain.

On the dynamical and geometrical symmetries of Keplerian motion

NASA Astrophysics Data System (ADS)

Wulfman, Carl E.

2009-05-01

The dynamical symmetries of classical, relativistic and quantum-mechanical Kepler systems are considered to arise from geometric symmetries in PQET phase space. To establish their interconnection, the symmetries are related with the aid of a Lie-algebraic extension of Dirac's correspondence principle, a canonical transformation containing a Cunningham-Bateman inversion, and a classical limit involving a preliminary canonical transformation in ET space. The Lie-algebraic extension establishes the conditions under which the uncertainty principle allows the local dynamical symmetry of a quantum-mechanical system to be the same as the geometrical phase-space symmetry of its classical counterpart. The canonical transformation converts Poincaré-invariant free-particle systems into ISO(3,1) invariant relativistic systems whose classical limit produces Keplerian systems. Locally Cartesian relativistic PQET coordinates are converted into a set of eight conjugate position and momentum coordinates whose classical limit contains Fock projective momentum coordinates and the components of Runge-Lenz vectors. The coordinate systems developed via the transformations are those in which the evolution and degeneracy groups of the classical system are generated by Poisson-bracket operators that produce ordinary rotation, translation and hyperbolic motions in phase space. The way in which these define classical Keplerian symmetries and symmetry coordinates is detailed. It is shown that for each value of the energy of a Keplerian system, the Poisson-bracket operators determine two invariant functions of positions and momenta, which together with its regularized Hamiltonian, define the manifold in six-dimensional phase space upon which motions evolve.

Observation of X-ray eclipses from LMC X-4

NASA Technical Reports Server (NTRS)

Li, F.; Rappaport, S.; Epstein, A.

1978-01-01

Observations made with the Rotation Modulation Collimator system (RMC) have revealed that X-ray source X-4 in the Large Magellanic Cloud (LMC X-4) is most likely part of a binary system. An analysis of the star's coordinates is presented, with attention given to orbital period and flux intensity variations. Stellar mass and orbital inclination angle are estimated for both X-4 and its companion star.

Flight Dynamics Simulation Modeling and Control of a Large Flexible Tiltrotor Aircraft

DTIC Science & Technology

2014-09-01

matrix from fixed to rotating coordinate systems u longitudinal aircraft velocity, state-space control vector v elastic beam chordwise displacement /lateral...spectrum active control , including flight control systems, rotor load limiting, and vibration and noisetiltion [1]. The development of a high-order...the flutter response of fixed- wing aircraft. The B-52 CCV ( Controls Configured Vehicle) was one of the first aircraft to demonstrate benefits of active

Method and system for assembling miniaturized devices

DOEpatents

Montesanti, Richard C.; Klingmann, Jeffrey L.; Seugling, Richard M.

2013-03-12

An apparatus for assembling a miniaturized device includes a manipulator system including six manipulators operable to position and orient components of the miniaturized device with submicron precision and micron-level accuracy. The manipulator system includes a first plurality of motorized axes, a second plurality of manual axes, and force and torque and sensors. Each of the six manipulators includes at least one translation stage, at least one rotation stage, tooling attached to the at least one translation stage or the at least one rotation stage, and an attachment mechanism disposed at a distal end of the tooling and operable to attach at least a portion of the miniaturized device to the tooling. The apparatus also includes an optical coordinate-measuring machine (OCMM) including a machine-vision system, a laser-based distance-measuring probe, and a touch probe. The apparatus also includes an operator control system coupled to the manipulator system and the OCMM.

New approach to isometric transformations in oblique local coordinate systems of reference

NASA Astrophysics Data System (ADS)

Stępień, Grzegorz; Zalas, Ewa; Ziębka, Tomasz

2017-12-01

The research article describes a method of isometric transformation and determining an exterior orientation of a measurement instrument. The method is based on a designation of a "virtual" translation of two relative oblique orthogonal systems to a common, known in the both systems, point. The relative angle orientation of the systems does not change as each of the systems is moved along its axis. The next step is the designation of the three rotation angles (e.g. Tait-Bryan or Euler angles), transformation of the system convoluted at the calculated angles and moving the system to the initial position where the primary coordinate system was. This way eliminates movements of the systems from the calculations and makes it possible to calculate angles of mutual rotation angles of two orthogonal systems primarily involved in the movement. The research article covers laboratory calculations for simulated data. The accuracy of the results is 10-6 m (10-3 regarding the accuracy of the input data). This confi rmed the correctness of the assumed calculation method. In the following step the method was verifi ed under fi eld conditions, where the accuracy of the method raised to 0.003 m. The proposed method enabled to make the measurements with the oblique and uncentered instrument, e.g. total station instrument set over an unknown point. This is the reason why the method was named by the authors as Total Free Station - TFS. The method may be also used for isometric transformations for photogrammetric purposes.

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

Hansen, Jacob; Edgar, Thomas W.; Daily, Jeffrey A.

With an ever-evolving power grid, concerns regarding how to maintain system stability, efficiency, and reliability remain constant because of increasing uncertainties and decreasing rotating inertia. To alleviate some of these concerns, demand response represents a viable solution and is virtually an untapped resource in the current power grid. This work describes a hierarchical control framework that allows coordination between distributed energy resources and demand response. This control framework is composed of two control layers: a coordination layer that ensures aggregations of resources are coordinated to achieve system objectives and a device layer that controls individual resources to assure the predeterminedmore » power profile is tracked in real time. Large-scale simulations are executed to study the hierarchical control, requiring advancements in simulation capabilities. Technical advancements necessary to investigate and answer control interaction questions, including the Framework for Network Co-Simulation platform and Arion modeling capability, are detailed. Insights into the interdependencies of controls across a complex system and how they must be tuned, as well as validation of the effectiveness of the proposed control framework, are yielded using a large-scale integrated transmission system model coupled with multiple distribution systems.« less

Rotation of endosomes demonstrates coordination of molecular motors during axonal transport.

PubMed

Kaplan, Luke; Ierokomos, Athena; Chowdary, Praveen; Bryant, Zev; Cui, Bianxiao

2018-03-01

Long-distance axonal transport is critical to the maintenance and function of neurons. Robust transport is ensured by the coordinated activities of multiple molecular motors acting in a team. Conventional live-cell imaging techniques used in axonal transport studies detect this activity by visualizing the translational dynamics of a cargo. However, translational measurements are insensitive to torques induced by motor activities. By using gold nanorods and multichannel polarization microscopy, we simultaneously measure the rotational and translational dynamics for thousands of axonally transported endosomes. We find that the rotational dynamics of an endosome provide complementary information regarding molecular motor activities to the conventionally tracked translational dynamics. Rotational dynamics correlate with translational dynamics, particularly in cases of increased rotation after switches between kinesin- and dynein-mediated transport. Furthermore, unambiguous measurement of nanorod angle shows that endosome-contained nanorods align with the orientation of microtubules, suggesting a direct mechanical linkage between the ligand-receptor complex and the microtubule motors.

Integrity monitoring of IGS products

NASA Technical Reports Server (NTRS)

Zumberge, James F.; Plag, H. -P.

2005-01-01

The IGS has successfully produced precise GPS and GLONASS transmitter parameters, coordinates of IGS tracking stations, Earth rotation parameters, and atmospheric parameters. In this paper we discuss the concepts of integrity monitoring, system monitoring, and performance assessment, all in the context of IGS products. We report on a recent survey of IGS product users, and propose an integrity strategy for the IGS.

Report of the IAU/IAG Working Group on Cartographic Coordinates and Rotational Elements: 2006

DTIC Science & Technology

2007-01-01

of Mars is that specified in the final MOLA Mission Experiment Gridded Data Record (MEGDR) Products (Smith et al. 2003). In particular, the 128...Altimeter Mission Experiment Gridded Data Record. NASA Planetary Data System, MGS-M- MOLA -5-MEGDR-L3-V1.0, 2003. Available on-line from http://pds

Wire-Guide Manipulator For Automated Welding

NASA Technical Reports Server (NTRS)

Morris, Tim; White, Kevin; Gordon, Steve; Emerich, Dave; Richardson, Dave; Faulkner, Mike; Stafford, Dave; Mccutcheon, Kim; Neal, Ken; Milly, Pete

1994-01-01

Compact motor drive positions guide for welding filler wire. Drive part of automated wire feeder in partly or fully automated welding system. Drive unit contains three parallel subunits. Rotations of lead screws in three subunits coordinated to obtain desired motions in three degrees of freedom. Suitable for both variable-polarity plasma arc welding and gas/tungsten arc welding.

Active stabilization of error field penetration via control field and bifurcation of its stable frequency range

NASA Astrophysics Data System (ADS)

Inoue, S.; Shiraishi, J.; Takechi, M.; Matsunaga, G.; Isayama, A.; Hayashi, N.; Ide, S.

2017-11-01

An active stabilization effect of a rotating control field against an error field penetration is numerically studied. We have developed a resistive magnetohydrodynamic code ‘AEOLUS-IT’, which can simulate plasma responses to rotating/static external magnetic field. Adopting non-uniform flux coordinates system, the AEOLUS-IT simulation can employ high magnetic Reynolds number condition relevant to present tokamaks. By AEOLUS-IT, we successfully clarified the stabilization mechanism of the control field against the error field penetration. Physical processes of a plasma rotation drive via the control field are demonstrated by the nonlinear simulation, which reveals that the rotation amplitude at a resonant surface is not a monotonic function of the control field frequency, but has an extremum. Consequently, two ‘bifurcated’ frequency ranges of the control field are found for the stabilization of the error field penetration.

Analysis of Pelvis-Thorax Coordination Patterns of Professional and Amateur Golfers during Golf Swing.

PubMed

Sim, Taeyong; Yoo, Hakje; Choi, Ahnryul; Lee, Ki Young; Choi, Mun-Taek; Lee, Soeun; Mun, Joung Hwan

2017-01-01

The aim of this research was to quantify the coordination pattern between thorax and pelvis during a golf swing. The coordination patterns were calculated using vector coding technique, which had been applied to quantify the coordination changes in coupling angle (γ) between two different segments. For this, fifteen professional and fifteen amateur golfers who had no significant history of musculoskeletal injuries. There was no significant difference in coordination patterns between the two groups for rotation motion during backswing (p = 0.333). On the other hand, during the downswing phase, there were significant differences between professional and amateur groups in all motions (flexion/extension: professional [γ] = 187.8°, amateur [γ] = 167.4°; side bending: professional [γ] = 288.4°, amateur [γ] = 245.7°; rotation: professional [γ] = 232.0°, amateur [γ] = 229.5°). These results are expected to be a discriminating measure to assess complex coordination of golfers' trunk movements and preliminary study for interesting comparison by golf skilled levels.

New mathematical definition and calculation of axial rotation of anatomical joints.

PubMed

Miyazaki, S; Ishida, A

1991-08-01

In the field of joint kinematics, clinical terms such as internal-external, or medical-lateral, rotations are commonly used to express the rotation of a body segment about its own long axis. However, these terms are not defined in a strict mathematical sense. In this paper, a new mathematical definition of axial rotation is proposed and methods to calculate it from the measured Euler angles are given. The definition and methods to calculate it from the measured Euler angles are given. The definition is based on the integration of the component of the angular velocity vector projected onto the long axis of the body segment. First, the absolute axial rotation of a body segment with respect to the stationary coordinate system is defined. This definition is then generalized to give the relative axial rotation of one body segment with respect to the other body segment where the two segments are moving in the three-dimensional space. The well-known Codman's paradox is cited as an example to make clear the difference between the definition so far proposed by other researchers and the new one.

A Rapid Coordinate Transformation Method Applied in Industrial Robot Calibration Based on Characteristic Line Coincidence.

PubMed

Liu, Bailing; Zhang, Fumin; Qu, Xinghua; Shi, Xiaojia

2016-02-18

Coordinate transformation plays an indispensable role in industrial measurements, including photogrammetry, geodesy, laser 3-D measurement and robotics. The widely applied methods of coordinate transformation are generally based on solving the equations of point clouds. Despite the high accuracy, this might result in no solution due to the use of ill conditioned matrices. In this paper, a novel coordinate transformation method is proposed, not based on the equation solution but based on the geometric transformation. We construct characteristic lines to represent the coordinate systems. According to the space geometry relation, the characteristic line scan is made to coincide by a series of rotations and translations. The transformation matrix can be obtained using matrix transformation theory. Experiments are designed to compare the proposed method with other methods. The results show that the proposed method has the same high accuracy, but the operation is more convenient and flexible. A multi-sensor combined measurement system is also presented to improve the position accuracy of a robot with the calibration of the robot kinematic parameters. Experimental verification shows that the position accuracy of robot manipulator is improved by 45.8% with the proposed method and robot calibration.

A Rapid Coordinate Transformation Method Applied in Industrial Robot Calibration Based on Characteristic Line Coincidence

PubMed Central

Liu, Bailing; Zhang, Fumin; Qu, Xinghua; Shi, Xiaojia

2016-01-01

Coordinate transformation plays an indispensable role in industrial measurements, including photogrammetry, geodesy, laser 3-D measurement and robotics. The widely applied methods of coordinate transformation are generally based on solving the equations of point clouds. Despite the high accuracy, this might result in no solution due to the use of ill conditioned matrices. In this paper, a novel coordinate transformation method is proposed, not based on the equation solution but based on the geometric transformation. We construct characteristic lines to represent the coordinate systems. According to the space geometry relation, the characteristic line scan is made to coincide by a series of rotations and translations. The transformation matrix can be obtained using matrix transformation theory. Experiments are designed to compare the proposed method with other methods. The results show that the proposed method has the same high accuracy, but the operation is more convenient and flexible. A multi-sensor combined measurement system is also presented to improve the position accuracy of a robot with the calibration of the robot kinematic parameters. Experimental verification shows that the position accuracy of robot manipulator is improved by 45.8% with the proposed method and robot calibration. PMID:26901203

Flowfield analysis of helicopter rotor in hover and forward flight based on CFD

NASA Astrophysics Data System (ADS)

Zhao, Qinghe; Li, Xiaodong

2018-05-01

The helicopter rotor field is simulated in hover and forward flight based on Computational Fluid Dynamics(CFD). In hover case only one rotor is simulated with the periodic boundary condition in the rotational coordinate system and the grid is fixed. In the non-lift forward flight case, the total rotor is simulated in inertia coordinate system and the whole grid moves rigidly. The dual-time implicit scheme is applied to simulate the unsteady flowfield on the movement grids. The k – ω turbulence model is employed in order to capture the effects of turbulence. To verify the solver, the flowfield around the Caradonna-Tung rotor is computed. The comparison shows a good agreement between the numerical results and the experimental data.

Determination of statistics for any rotation of axes of a bivariate normal elliptical distribution. [of wind vector components

NASA Technical Reports Server (NTRS)

Falls, L. W.; Crutcher, H. L.

1976-01-01

Transformation of statistics from a dimensional set to another dimensional set involves linear functions of the original set of statistics. Similarly, linear functions will transform statistics within a dimensional set such that the new statistics are relevant to a new set of coordinate axes. A restricted case of the latter is the rotation of axes in a coordinate system involving any two correlated random variables. A special case is the transformation for horizontal wind distributions. Wind statistics are usually provided in terms of wind speed and direction (measured clockwise from north) or in east-west and north-south components. A direct application of this technique allows the determination of appropriate wind statistics parallel and normal to any preselected flight path of a space vehicle. Among the constraints for launching space vehicles are critical values selected from the distribution of the expected winds parallel to and normal to the flight path. These procedures are applied to space vehicle launches at Cape Kennedy, Florida.

Rigid rotators. [deriving the time-independent energy states associated with rotational motions of the molecule

NASA Technical Reports Server (NTRS)

1976-01-01

The two-particle, steady-state Schroedinger equation is transformed to center of mass and internuclear distance vector coordinates, leading to the free particle wave equation for the kinetic energy motion of the molecule and a decoupled wave equation for a single particle of reduced mass moving in a spherical potential field. The latter describes the vibrational and rotational energy modes of the diatomic molecule. For fixed internuclear distance, this becomes the equation of rigid rotator motion. The classical partition function for the rotator is derived and compared with the quantum expression. Molecular symmetry effects are developed from the generalized Pauli principle that the steady-state wave function of any system of fundamental particles must be antisymmetric. Nuclear spin and spin quantum functions are introduced and ortho- and para-states of rotators, along with their degeneracies, are defined. Effects of nuclear spin on entropy are deduced. Next, rigid polyatomic rotators are considered and the partition function for this case is derived. The patterns of rotational energy levels for nonlinear molecules are discussed for the spherical symmetric top, for the prolate symmetric top, for the oblate symmetric top, and for the asymmetric top. Finally, the equilibrium energy and specific heat of rigid rotators are derived.

Integrated GNSS Attitude Determination and Positioning for Direct Geo-Referencing

PubMed Central

Nadarajah, Nandakumaran; Paffenholz, Jens-André; Teunissen, Peter J. G.

2014-01-01

Direct geo-referencing is an efficient methodology for the fast acquisition of 3D spatial data. It requires the fusion of spatial data acquisition sensors with navigation sensors, such as Global Navigation Satellite System (GNSS) receivers. In this contribution, we consider an integrated GNSS navigation system to provide estimates of the position and attitude (orientation) of a 3D laser scanner. The proposed multi-sensor system (MSS) consists of multiple GNSS antennas rigidly mounted on the frame of a rotating laser scanner and a reference GNSS station with known coordinates. Precise GNSS navigation requires the resolution of the carrier phase ambiguities. The proposed method uses the multivariate constrained integer least-squares (MC-LAMBDA) method for the estimation of rotating frame ambiguities and attitude angles. MC-LAMBDA makes use of the known antenna geometry to strengthen the underlying attitude model and, hence, to enhance the reliability of rotating frame ambiguity resolution and attitude determination. The reliable estimation of rotating frame ambiguities is consequently utilized to enhance the relative positioning of the rotating frame with respect to the reference station. This integrated (array-aided) method improves ambiguity resolution, as well as positioning accuracy between the rotating frame and the reference station. Numerical analyses of GNSS data from a real-data campaign confirm the improved performance of the proposed method over the existing method. In particular, the integrated method yields reliable ambiguity resolution and reduces position standard deviation by a factor of about 0.8, matching the theoretical gain of 3/4 for two antennas on the rotating frame and a single antenna at the reference station. PMID:25036330

Integrated GNSS attitude determination and positioning for direct geo-referencing.

PubMed

Nadarajah, Nandakumaran; Paffenholz, Jens-André; Teunissen, Peter J G

2014-07-17

Direct geo-referencing is an efficient methodology for the fast acquisition of 3D spatial data. It requires the fusion of spatial data acquisition sensors with navigation sensors, such as Global Navigation Satellite System (GNSS) receivers. In this contribution, we consider an integrated GNSS navigation system to provide estimates of the position and attitude (orientation) of a 3D laser scanner. The proposed multi-sensor system (MSS) consists of multiple GNSS antennas rigidly mounted on the frame of a rotating laser scanner and a reference GNSS station with known coordinates. Precise GNSS navigation requires the resolution of the carrier phase ambiguities. The proposed method uses the multivariate constrained integer least-squares (MC-LAMBDA) method for the estimation of rotating frame ambiguities and attitude angles. MC-LAMBDA makes use of the known antenna geometry to strengthen the underlying attitude model and, hence, to enhance the reliability of rotating frame ambiguity resolution and attitude determination. The reliable estimation of rotating frame ambiguities is consequently utilized to enhance the relative positioning of the rotating frame with respect to the reference station. This integrated (array-aided) method improves ambiguity resolution, as well as positioning accuracy between the rotating frame and the reference station. Numerical analyses of GNSS data from a real-data campaign confirm the improved performance of the proposed method over the existing method. In particular, the integrated method yields reliable ambiguity resolution and reduces position standard deviation by a factor of about 0:8, matching the theoretical gain of √ 3/4 for two antennas on the rotating frame and a single antenna at the reference station.

Metal-centred azaphosphatriptycene gear with a photo- and thermally driven mechanical switching function based on coordination isomerism.

PubMed

Ube, Hitoshi; Yasuda, Yoshihiro; Sato, Hiroyasu; Shionoya, Mitsuhiko

2017-02-08

Metal ions can serve as a centre of molecular motions due to their coordination geometry, reversible bonding nature and external stimuli responsiveness. Such essential features of metal ions have been utilized for metal-mediated molecular machines with the ability to motion switch via metallation/demetallation or coordination number variation at the metal centre; however, motion switching based on the change in coordination geometry remain largely unexplored. Herein, we report a Pt II -centred molecular gear that demonstrates control of rotor engagement and disengagement based on photo- and thermally driven cis-trans isomerization at the Pt II centre. This molecular rotary motion transmitter has been constructed from two coordinating azaphosphatriptycene rotators and one Pt II ion as a stator. Isomerization between an engaged cis-form and a disengaged trans-form is reversibly driven by ultraviolet irradiation and heating. Such a photo- and thermally triggered motional interconversion between engaged/disengaged states on a metal ion would provide a selector switch for more complex interlocking systems.

Micropolar curved rods. 2-D, high order, Timoshenko's and Euler-Bernoulli models

NASA Astrophysics Data System (ADS)

Zozulya, V. V.

2017-01-01

New models for micropolar plane curved rods have been developed. 2-D theory is developed from general 2-D equations of linear micropolar elasticity using a special curvilinear system of coordinates related to the middle line of the rod and special hypothesis based on assumptions that take into account the fact that the rod is thin.High order theory is based on the expansion of the equations of the theory of elasticity into Fourier series in terms of Legendre polynomials. First stress and strain tensors,vectors of displacements and rotation and body force shave been expanded into Fourier series in terms of Legendre polynomials with respect to a thickness coordinate.Thereby all equations of elasticity including Hooke's law have been transformed to the corresponding equations for Fourier coefficients. Then in the same way as in the theory of elasticity, system of differential equations in term of displacements and boundary conditions for Fourier coefficients have been obtained. The Timoshenko's and Euler-Bernoulli theories are based on the classical hypothesis and 2-D equations of linear micropolar elasticity in a special curvilinear system. The obtained equations can be used to calculate stress-strain and to model thin walled structures in macro, micro and nano scale when taking in to account micropolar couple stress and rotation effects.

Report of the IAU Working Group on Cartographic Coordinates and Rotational Elements: 2009

DTIC Science & Technology

2011-01-01

normal passes through P and by the height (h) of P above P ′. The topographic reference surface of Mars is that specified in the final MOLA Mission...System, MGS-M- MOLA -5-MEG- DR-L3-V1.0, 2003. Available on-line from http://pds-geosciences.wustl.edu/missions/mgs/megdr.html. Accessed 2010 October 18

A new mosaic method for three-dimensional surface

NASA Astrophysics Data System (ADS)

Yuan, Yun; Zhu, Zhaokun; Ding, Yongjun

2011-08-01

Three-dimensional (3-D) data mosaic is a indispensable link in surface measurement and digital terrain map generation. With respect to the mosaic problem of the local unorganized cloud points with rude registration and mass mismatched points, a new mosaic method for 3-D surface based on RANSAC is proposed. Every circular of this method is processed sequentially by random sample with additional shape constraint, data normalization of cloud points, absolute orientation, data denormalization of cloud points, inlier number statistic, etc. After N random sample trials the largest consensus set is selected, and at last the model is re-estimated using all the points in the selected subset. The minimal subset is composed of three non-colinear points which form a triangle. The shape of triangle is considered in random sample selection in order to make the sample selection reasonable. A new coordinate system transformation algorithm presented in this paper is used to avoid the singularity. The whole rotation transformation between the two coordinate systems can be solved by twice rotations expressed by Euler angle vector, each rotation has explicit physical means. Both simulation and real data are used to prove the correctness and validity of this mosaic method. This method has better noise immunity due to its robust estimation property, and has high accuracy as the shape constraint is added to random sample and the data normalization added to the absolute orientation. This method is applicable for high precision measurement of three-dimensional surface and also for the 3-D terrain mosaic.

Design and analysis of a sub-aperture scanning machine for the transmittance measurements of large-aperture optical system

NASA Astrophysics Data System (ADS)

He, Yingwei; Li, Ping; Feng, Guojin; Cheng, Li; Wang, Yu; Wu, Houping; Liu, Zilong; Zheng, Chundi; Sha, Dingguo

2010-11-01

For measuring large-aperture optical system transmittance, a novel sub-aperture scanning machine with double-rotating arms (SSMDA) was designed to obtain sub-aperture beam spot. Optical system full-aperture transmittance measurements can be achieved by applying sub-aperture beam spot scanning technology. The mathematical model of the SSMDA based on a homogeneous coordinate transformation matrix is established to develop a detailed methodology for analyzing the beam spot scanning errors. The error analysis methodology considers two fundamental sources of scanning errors, namely (1) the length systematic errors and (2) the rotational systematic errors. As the systematic errors of the parameters are given beforehand, computational results of scanning errors are between -0.007~0.028mm while scanning radius is not lager than 400.000mm. The results offer theoretical and data basis to the research on transmission characteristics of large optical system.

Gravity-oriented satellite dynamics subject to gravitational and active damping torques

NASA Astrophysics Data System (ADS)

Sarychev, V. A.; Gutnik, S. A.

2018-01-01

The dynamics of the rotational motion of a satellite moving in the central Newtonian field of force over a circular orbit under the effect of gravitational and active damping torques, which depend on the satellite angular velocity projections, has been investigated. The paper proposes a method of determining all equilibrium positions (equilibrium orientations) of a satellite in the orbital coordinate system for specified values of damping coefficients and principal central moments of inertia. The conditions of their existence have been obtained. For a zero equilibrium position where the axes of the satellite-centered coordinate system coincide with the axes of the orbital coordinate system, the necessary and sufficient conditions for asymptotic stability are obtained using the Routh-Hurwitz criterion. A detailed analysis of the regions where the conditions of the asymptotic stability of a zero equilibrium position are fulfilled have been obtained depending on three dimensionless parameters of the problem, and the numerical study of the process of attenuation of satellite's spatial oscillations for various damping coefficients has been carried out. It has been shown that there is a wide range of damping parameters from which, by choosing the necessary values, one can provide the asymptotic stability of satellite's zero equilibrium position in the orbital coordinate system.

REQUEST: A Recursive QUEST Algorithm for Sequential Attitude Determination

NASA Technical Reports Server (NTRS)

Bar-Itzhack, Itzhack Y.

1996-01-01

In order to find the attitude of a spacecraft with respect to a reference coordinate system, vector measurements are taken. The vectors are pairs of measurements of the same generalized vector, taken in the spacecraft body coordinates, as well as in the reference coordinate system. We are interested in finding the best estimate of the transformation between these coordinate system.s The algorithm called QUEST yields that estimate where attitude is expressed by a quarternion. Quest is an efficient algorithm which provides a least squares fit of the quaternion of rotation to the vector measurements. Quest however, is a single time point (single frame) batch algorithm, thus measurements that were taken at previous time points are discarded. The algorithm presented in this work provides a recursive routine which considers all past measurements. The algorithm is based on on the fact that the, so called, K matrix, one of whose eigenvectors is the sought quaternion, is linerly related to the measured pairs, and on the ability to propagate K. The extraction of the appropriate eigenvector is done according to the classical QUEST algorithm. This stage, however, can be eliminated, and the computation simplified, if a standard eigenvalue-eigenvector solver algorithm is used. The development of the recursive algorithm is presented and illustrated via a numerical example.

Flexible robot control: Modeling and experiments

NASA Technical Reports Server (NTRS)

Oppenheim, Irving J.; Shimoyama, Isao

1989-01-01

Described here is a model and its use in experimental studies of flexible manipulators. The analytical model uses the equivalent of Rayleigh's method to approximate the displaced shape of a flexible link as the static elastic displacement which would occur under end rotations as applied at the joints. The generalized coordinates are thereby expressly compatible with joint motions and rotations in serial link manipulators, because the amplitude variables are simply the end rotations between the flexible link and the chord connecting the end points. The equations for the system dynamics are quite simple and can readily be formulated for the multi-link, three-dimensional case. When the flexible links possess mass and (polar moment of) inertia which are small compared to the concentrated mass and inertia at the joints, the analytical model is exact and displays the additional advantage of reduction in system dimension for the governing equations. Four series of pilot tests have been completed. Studies on a planar single-link system were conducted at Carnegie-Mellon University, and tests conducted at Toshiba Corporation on a planar two-link system were then incorporated into the study. A single link system under three-dimensional motion, displaying biaxial flexure, was then tested at Carnegie-Mellon.

WE-DE-BRA-03: Construction of An Ultrasound Guidance Platform for Image-Guided Radiotherapy with the Intent to Treat Transitional Cell Carcinoma

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

Sick, J; Rancilio, N; Fulkerson, C

Purpose: Ultrasound (US) is a noninvasive, nonradiographic imaging technique with high spatial and temporal resolution that can be used for localizing soft-tissue structures and tumors in real-time during radiotherapy (inter- and intra-fraction). A detailed methodology integrating 3D-US within RT is presented. This method is easier to adopt into current treatment protocol than current US based systems and reduces user variability for image acquisition, thus eliminating transducer induced changes that limit CT planning system. Methods: We designed an in-house integrated US manipulator and platform to relate CT, 3D-US and linear accelerator coordinate systems. To validate the platform, an agar-based phantom withmore » measured densities and speed-of-sound consistent with tissues surrounding the bladder, was rotated (0–45°) resulting in translations (up to 55mm) relative to the CT and US coordinate systems. After acquiring and integrating CT and US images into the treatment planning system, US-to-US and US-to-CT images were co-registered to re-align the phantom relative to the linear accelerator. Errors in the transformation matrix components were calculate to determine precision of this method under different patient positions. Results: Statistical errors from US-US registrations for different patient orientations ranged from 0.06–1.66mm for x, y, and z translational components, and 0.00–1.05° for rotational components. Statistical errors from US-CT registrations were 0.23–1.18mm for the x, y and z translational components, and 0.08–2.52° for the rotational components. Conclusion: Based on our result, this is consistent with currently used techniques for positioning prostate patients if couch re-positioning is less than a 5 degree rotation. We are now testing this on a dog patient to obtain both inter and intra-fractional positional errors. Additional design considerations include the future use of ultrasound-based functionality (photoacoustics, radioacoustics, Doppler) to monitor blood flow and hypoxia and/or in-vivo dosimetry for applications in other therapeutic techniques, such as hyperthermia, anti-angiogenesis, and particle therapy.« less

Separation of variables for the Dirac equation in an extended class of Lorentzian metrics with local rotational symmetry

NASA Astrophysics Data System (ADS)

Iyer, B. R.; Kamran, N.

1991-09-01

The question of the separability of the Dirac equation in metrics with local rotational symmetry is reexamined by adapting the analysis of Kamran and McLenaghan [J. Math. Phys. 25, 1019 (1984)] for the metrics admitting a two-dimensional Abelian local isometry group acting orthogonally transitively. This generalized treatment, which involves the choice of a suitable system of local coordinates and spinor frame, allows one to establish the separability of the Dirac equation within the class of metrics for which the previous analysis of Iyer and Vishveshwara [J. Math. Phys. 26, 1034 (1985)] had left the question of separability open.

Phase-stepped fringe projection by rotation about the camera's perspective center.

PubMed

Huddart, Y R; Valera, J D; Weston, N J; Featherstone, T C; Moore, A J

2011-09-12

A technique to produce phase steps in a fringe projection system for shape measurement is presented. Phase steps are produced by introducing relative rotation between the object and the fringe projection probe (comprising a projector and camera) about the camera's perspective center. Relative motion of the object in the camera image can be compensated, because it is independent of the distance of the object from the camera, whilst the phase of the projected fringes is stepped due to the motion of the projector with respect to the object. The technique was validated with a static fringe projection system by moving an object on a coordinate measuring machine (CMM). The alternative approach, of rotating a lightweight and robust CMM-mounted fringe projection probe, is discussed. An experimental accuracy of approximately 1.5% of the projected fringe pitch was achieved, limited by the standard phase-stepping algorithms used rather than by the accuracy of the phase steps produced by the new technique.

Rotation of endosomes demonstrates coordination of molecular motors during axonal transport

PubMed Central

Kaplan, Luke; Ierokomos, Athena; Chowdary, Praveen; Bryant, Zev; Cui, Bianxiao

2018-01-01

Long-distance axonal transport is critical to the maintenance and function of neurons. Robust transport is ensured by the coordinated activities of multiple molecular motors acting in a team. Conventional live-cell imaging techniques used in axonal transport studies detect this activity by visualizing the translational dynamics of a cargo. However, translational measurements are insensitive to torques induced by motor activities. By using gold nanorods and multichannel polarization microscopy, we simultaneously measure the rotational and translational dynamics for thousands of axonally transported endosomes. We find that the rotational dynamics of an endosome provide complementary information regarding molecular motor activities to the conventionally tracked translational dynamics. Rotational dynamics correlate with translational dynamics, particularly in cases of increased rotation after switches between kinesin- and dynein-mediated transport. Furthermore, unambiguous measurement of nanorod angle shows that endosome-contained nanorods align with the orientation of microtubules, suggesting a direct mechanical linkage between the ligand-receptor complex and the microtubule motors. PMID:29536037

Semi-analytical integration of the Earth's precession-nutation based on the GCRS coordinates of the CIP unit vector

NASA Astrophysics Data System (ADS)

Capitaine, N.; Folgueira, M.

2012-12-01

In a previous paper (Capitaine et al. 2006), referred here as Paper I, we demonstrated the possibility of integrating the Earth's rotational motion in terms of the coordinates (X, Y ) of the celestial intermediate pole (CIP) unit vector in the Geocentric celestial reference system (GCRS). Here, we report on the approach that has been followed for solving the equations in the case of an axially symmetric rigid Earth and the semi-analytical (X, Y ) solution obtained from the expression of the external torque acting on the Earth derived from the most complete semi-analytical solutions for the Earth, Moon and planets.

RoboJockey: Designing an Entertainment Experience with Robots.

PubMed

Yoshida, Shigeo; Shirokura, Takumi; Sugiura, Yuta; Sakamoto, Daisuke; Ono, Tetsuo; Inami, Masahiko; Igarashi, Takeo

2016-01-01

The RoboJockey entertainment system consists of a multitouch tabletop interface for multiuser collaboration. RoboJockey enables a user to choreograph a mobile robot or a humanoid robot by using a simple visual language. With RoboJockey, a user can coordinate the mobile robot's actions with a combination of back, forward, and rotating movements and coordinate the humanoid robot's actions with a combination of arm and leg movements. Every action is automatically performed to background music. RoboJockey was demonstrated to the public during two pilot studies, and the authors observed users' behavior. Here, they report the results of their observations and discuss the RoboJockey entertainment experience.

Nonlinear Equations of Equilibrium for Elastic Helicopter or Wind Turbine Blades Undergoing Moderate Deformation

NASA Technical Reports Server (NTRS)

Rosen, A.; Friedmann, P. P.

1978-01-01

A set of nonlinear equations of equilibrium for an elastic wind turbine or helicopter blades are presented. These equations are derived for the case of small strains and moderate rotations (slopes). The derivation includes several assumptions which are carefully stated. For the convenience of potential users the equations are developed with respect to two different systems of coordinates, the undeformed and the deformed coordinates of the blade. Furthermore, the loads acting on the blade are given in a general form so as to make them suitable for a variety of applications. The equations obtained in the study are compared with those obtained in previous studies.

Gyroscopic analogy of a rotating stratified flow confined in a tilted spheroid and its implication to stability of a heavy symmetrical top

NASA Astrophysics Data System (ADS)

Fukumoto, Yasuhide; Miyachi, Yuki

2017-11-01

We address the suppression of the gravitational instability of rotating stratified flows in a confined geometry in two ways, continuous and discontinuous stratification. A rotating flow of a stratified fluid confined in an ellipsoid, subject to gravity force, whose velocity and density fields are linear in coordinates, bears an analogy with a mechanical system of finite degrees of freedom, that is, a heavy rigid body. An insight is gained into the mechanism of system rotation for the ability of a lighter fluid of sustaining, on top of it, a heavier fluid when the angular velocity is greater than a critical value. The sleeping top corresponds to such a state. First we show that a rotating stratified flow confined in a tilted spheroid is equivalent to a heavy symmetrical top with the symmetric axis tilted from the top axis. This tilting effect of the symmetric axis on the linear stability of the sleeping top and its bifurcation is investigated in some detail. Second, we explore the incompressible two-layer RTI of a discontinuously stratified fluid confined in the lower-half of an upright spheroid rotating about the axis of symmetry oriented parallel to the vertical direction. The gyroscopic analogy accounts for decrease of the critical rotation rate with oblateness. This work was supported in part by a Grant-in-Aid for Scientific Research from the Japan Society for the Promotion of Science (Grant No. 16K05476).

Dimensional coordinate measurements: application in characterizing cervical spine motion

NASA Astrophysics Data System (ADS)

Zheng, Weilong; Li, Linan; Wang, Shibin; Wang, Zhiyong; Shi, Nianke; Xue, Yuan

2014-06-01

Cervical spine as a complicated part in the human body, the form of its movement is diverse. The movements of the segments of vertebrae are three-dimensional, and it is reflected in the changes of the angle between two joint and the displacement in different directions. Under normal conditions, cervical can flex, extend, lateral flex and rotate. For there is no relative motion between measuring marks fixed on one segment of cervical vertebra, the cervical vertebrae with three marked points can be seen as a body. Body's motion in space can be decomposed into translational movement and rotational movement around a base point .This study concerns the calculation of dimensional coordinate of the marked points pasted to the human body's cervical spine by an optical method. Afterward, these measures will allow the calculation of motion parameters for every spine segment. For this study, we choose a three-dimensional measurement method based on binocular stereo vision. The object with marked points is placed in front of the CCD camera. Through each shot, we will get there two parallax images taken from different cameras. According to the principle of binocular vision we can be realized three-dimensional measurements. Cameras are erected parallelly. This paper describes the layout of experimental system and a mathematical model to get the coordinates.

High-accuracy optical extensometer based on coordinate transform in two-dimensional digital image correlation

NASA Astrophysics Data System (ADS)

Lv, Zeqian; Xu, Xiaohai; Yan, Tianhao; Cai, Yulong; Su, Yong; Zhang, Qingchuan

2018-01-01

In the measurement of plate specimens, traditional two-dimensional (2D) digital image correlation (DIC) is challenged by two aspects: (1) the slant optical axis (misalignment of the optical camera axis and the object surface) and (2) out-of-plane motions (including translations and rotations) of the specimens. There are measurement errors in the results measured by 2D DIC, especially when the out-of-plane motions are big enough. To solve this problem, a novel compensation method has been proposed to correct the unsatisfactory results. The proposed compensation method consists of three main parts: 1) a pre-calibration step is used to determine the intrinsic parameters and lens distortions; 2) a compensation panel (a rigid panel with several markers located at known positions) is mounted to the specimen to track the specimen's motion so that the relative coordinate transformation between the compensation panel and the 2D DIC setup can be calculated using the coordinate transform algorithm; 3) three-dimensional world coordinates of measuring points on the specimen can be reconstructed via the coordinate transform algorithm and used to calculate deformations. Simulations have been carried out to validate the proposed compensation method. Results come out that when the extensometer length is 400 pixels, the strain accuracy reaches 10 με no matter out-of-plane translations (less than 1/200 of the object distance) nor out-of-plane rotations (rotation angle less than 5°) occur. The proposed compensation method leads to good results even when the out-of-plane translation reaches several percents of the object distance or the out-of-plane rotation angle reaches tens of degrees. The proposed compensation method has been applied in tensile experiments to obtain high-accuracy results as well.

Modelling the Centers of Galaxies

NASA Technical Reports Server (NTRS)

Smith, B. F.; Miller, R. H.; Young, Richard E. (Technical Monitor)

1997-01-01

The key to studying central regions by means of nobody numerical experiments is to concentrate on the central few parsecs of a galaxy, replacing the remainder of the galaxy by a suitable boundary condition, rather after the manner in which stellar interiors can be studied without a detailed stellar atmosphere by replacing the atmosphere with a boundary condition. Replacements must be carefully designed because the long range gravitational force means that the core region is sensitive to mass outside that region and because particles can exchange between the outer galaxy and the core region. We use periodic boundary conditions, coupled with an iterative procedure to generate initial particle loads in isothermal equilibrium. Angular momentum conservation is ensured for problems including systematic rotation by a circular reflecting boundary and by integrating in a frame that rotates with the mean flow. Mass beyond the boundary contributes to the gravitational potential, but does not participate in the dynamics. A symplectic integration scheme has been developed for rotating coordinate systems. This combination works well, leading to robust configurations. Some preliminary results with this combination show that: (1) Rotating systems are extremely sensitive to non-axisymmetric external potentials, and (2) that a second core, orbiting near the main core (like the M31 second core system), shows extremely rapid orbital decay. The experimental setups will be discussed, along with preliminary results.

Nonuniformity of the Earth's rotation and the motion of the poles

NASA Technical Reports Server (NTRS)

Sidorenkov, N. S.

1983-01-01

The study of the nonuniformity of the Earth's rotation and the motion of the poles has great practical and theoretical significance. This study makes it possible to determine the coordinates of celestial and terrestrial objects, and to gain information in many domains of earth science. This paper reviews studies of rotation nonuniformity and polar motion, giving attention to astronomical data; the nature of periodic oscillations of the Earth's rotation; the nature of long-period variations of the Earth's rotation rate; and the use of Earth-rotation data in hydrometeorology.

Photometrical Research of GSS ≪INTELSAT 10-02≫

NASA Astrophysics Data System (ADS)

Sukhov, P. P.; Karpenko, G. F.; Epishev, V. P.; Motrunych, I. I.

On example of the studies the obtained coordinate and photometrical data GSS ≪Intelsat 10-02≫ is shown as possible surveillance with the help of ground-based optical facilities dynamic state satellite and his behaviors on orbit. The analysis of variation character of the light curves in B,V,R filters, time intervals between the flashes, the color indexes variation shows that the systems of stabilization of the platform, the transceiving antennas and the solar panels worked in operating normal mode during the dates of observation. The solar panels orientation relative to the Sun maintains well enough, rotated practically along the equtor plane tracking the Sun's path (the Earth's rotation). Orientation to axis of the rotation of the platform practically remains to be unchanged to direction on the centre of the masses of the Earth.

Low-frequency vibrations of a cylindrical shell rotating on rollers

NASA Astrophysics Data System (ADS)

Filippov, S. B.

2018-05-01

Small free low-frequency vibrations of a rotating closed cylindrical shell which is in a contact with rigid cylindrical rollers are considered. Assumptions of semi-momentless shell theory are used. By means of the expansion of solutions in truncated Fourier series in circumference coordinate the system of the algebraic equations for the approximate calculation of the vibration frequencies and the mode shapes is obtained. The algorithm for the evaluation of frequencies and vibration modes based on analytical solution is developed. In particular, the lowest frequencies of thin cylindrical shell, representing greatest interest for applications, were found. Approximate results are compared with results of numerical calculations carried out by the Finite Elements Analysis. It is shown that the semi-momentless theory can be used for the evaluation of the low frequencies of a cylindrical shell rotating on rollers.

A method of measuring three-dimensional scapular attitudes using the optotrak probing system.

PubMed

Hébert, L J; Moffet, H; McFadyen, B J; St-Vincent, G

2000-01-01

To develop a method to obtain accurate three-dimensional scapular attitudes and to assess their concurrent validity and reliability. In this methodological study, the three-dimensional scapular attitudes were calculated in degrees, using a rotation matrix (cyclic Cardanic sequence), from spatial coordinates obtained with the probing of three non colinear landmarks first on an anatomical model and second on a healthy subject. Although abnormal movement of the scapula is related to shoulder impingement syndrome, it is not clearly understood whether or not scapular motion impairment is a predisposing factor. Characterization of three-dimensional scapular attitudes in planes and at joint angles for which sub-acromial impingement is more likely to occur is not known. The Optotrak probing system was used. An anatomical model of the scapula was built and allowed us to impose scapular attitudes of known direction and magnitude. A local coordinate reference system was defined with three non colinear anatomical landmarks to assess accuracy and concurrent validity of the probing method with fixed markers. Axial rotation angles were calculated from a rotation matrix using a cyclic Cardanic sequence of rotations. The same three non colinear body landmarks were digitized on one healthy subject and the three dimensional scapular attitudes obtained were compared between sessions in order to assess the reliability. The measure of three dimensional scapular attitudes calculated from data using the Optotrak probing system was accurate with means of the differences between imposed and calculated rotation angles ranging from 1.5 degrees to 4.2 degrees. Greatest variations were observed around the third axis of the Cardanic sequence associated with posterior-anterior transverse rotations. The mean difference between the Optotrak probing system method and fixed markers was 1.73 degrees showing a good concurrent validity. Differences between the two methods were generally very low for one and two direction displacements and the largest discrepancies were observed for imposed displacements combining movement about the three axes. The between sessions variation of three dimensional scapular attitudes was less than 10% for most of the arm positions adopted by a healthy subject suggesting a good reliability. The Optotrak probing system used with a standardized protocol lead to accurate, valid and reliable measures of scapular attitudes. Although abnormal range of motion of the scapula is often related to shoulder pathologies, reliable outcome measures to quantify three-dimensional scapular motion on subjects are not available. It is important to establish a standardized protocol to characterize three-dimensional scapular motion on subjects using a method for which the accuracy and validity are known. The method used in the present study has provided such a protocol and will now allow to verify to what extent, scapular motion impairment is linked to the development of specific shoulder pathologies.

A microscopic derivation of nuclear collective rotation-vibration model and its application to nuclei

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

Gulshani, P., E-mail: matlap@bell.net

We derive a microscopic version of the successful phenomenological hydrodynamic model of Bohr-Davydov-Faessler-Greiner for collective rotation-vibration motion of an axially symmetric deformed nucleus. The derivation is not limited to small oscillation amplitude. The nuclear Schrodinger equation is canonically transformed to collective co-ordinates, which is then linearized using a constrained variational method. The associated constraints are imposed on the wavefunction rather than on the particle co-ordinates. The approach yields three self-consistent, time-reversal invariant, cranking-type Schrodinger equations for the rotation-vibration and intrinsic motions, and a self-consistency equation. For harmonic oscillator mean-field potentials, these equations are solved in closed forms for excitation energy,more » cut-off angular momentum, and other nuclear properties for the ground-state rotational band in some deformed nuclei. The results are compared with measured data.« less

Generating Mosaics of Astronomical Images

NASA Technical Reports Server (NTRS)

Bergou, Attila; Berriman, Bruce; Good, John; Jacob, Joseph; Katz, Daniel; Laity, Anastasia; Prince, Thomas; Williams, Roy

2005-01-01

"Montage" is the name of a service of the National Virtual Observatory (NVO), and of software being developed to implement the service via the World Wide Web. Montage generates science-grade custom mosaics of astronomical images on demand from input files that comply with the Flexible Image Transport System (FITS) standard and contain image data registered on projections that comply with the World Coordinate System (WCS) standards. "Science-grade" in this context signifies that terrestrial and instrumental features are removed from images in a way that can be described quantitatively. "Custom" refers to user-specified parameters of projection, coordinates, size, rotation, and spatial sampling. The greatest value of Montage is expected to lie in its ability to analyze images at multiple wavelengths, delivering them on a common projection, coordinate system, and spatial sampling, and thereby enabling further analysis as though they were part of a single, multi-wavelength image. Montage will be deployed as a computation-intensive service through existing astronomy portals and other Web sites. It will be integrated into the emerging NVO architecture and will be executed on the TeraGrid. The Montage software will also be portable and publicly available.

Using a Family of Dividing Surfaces Normal to the Minimum EnergyPath for Quantum Instanton Rate Constants

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

Li, Yimin; Miller, Wlliam H.

2006-02-22

One of the outstanding issues in the quantum instanton (QI) theory (or any transition state-type theory) for thermal rate constants of chemical reactions is the choice of an appropriate ''dividing surface'' (DS) that separates reactants and products. (In the general version of the QI theory, there are actually two dividing surfaces involved.) This paper shows one simple and general way for choosing DS's for use in QI Theory, namely using the family of (hyper) planes normal to the minimum energy path (MEP) on the potential energy surface at various distances s along it. Here the reaction coordinate is not onemore » of the dynamical coordinates of the system (which will in general be the Cartesian coordinates of the atoms), but rather simply a parameter which specifies the DS. It is also shown how this idea can be implemented for an N-atom system in 3d space in a way that preserves overall translational and rotational invariance. Numerical application to a simple system (the colliner H + H{sub 2} reaction) is presented to illustrate the procedure.« less

Mechanisms for Human Spatial Competence

DTIC Science & Technology

2007-01-01

Published as Lecture Note: Gunzelmann, G., & Lyon, D. R. (2007). Mechanisms of human spatial competence. In M . K. T. Barkowsky, G. Ligozat, & D...the ACT-R community. References 1. Richardson, A., Montello, D., Hegarty, M .: Spatial Knowledge Acquisition from Maps, and from Navigation in Real...Rotation of Three-Dimensional Objects. Science 171, 701–703 (1971) 7. Just, M ., Carpenter, P.: Cognitive Coordinate Systems: Accounts of Mental

56th Coloquium of the International Astronomical Union

NASA Astrophysics Data System (ADS)

Gaposchkin, E. M.

Geodesy, geophysics, astronomy, and astrophysics are all exploiting the unprecedented progress in the accuracy of metric measurements made from space and the earth's surface. Measurements of polar motion and earth rotation, crustal deformation and displacement, satellite and planetary motion, and the positions of stars and quasars are all being refined. These new measurements are providing information on plate tectonics and earth dynamics, the earth's variable rotation, the evolution of the moon and planets, the scale of the solar system and the universe, and the local space-time metric. A common requirement of all these investigations is the necessity of a well-defined coordinate system (or systems) to which all relevant observations, theories, and models can be referred and which can be used as a basis for discussion. In view of the widespread use and interdisciplinary implications of these observations, there is a need for the definition, practical realization, and international acceptance of a suitable coordinate system (or systems) to facilitate such work. The need, the scope of the issues, and the nontriviality of the problem is evidenced by the numerous specialized symposia organized during the past dozen years: Stressa [Markowitz and Guinot, 1968], Morioka [Melchior and Yumi, 1972; Yumi, 1971], Torun [Koaczek and Weiffenbach, 1974], Columbus [Mueller, 1975, 1978], Kiev [Federov et al, 1980], San Fernando [McCarthy and Pilkington, 1979], and recently, Warsaw [Gaposchkin and Ko/aczek, 1981]. The Warsaw meeting (September 8-12, 1980) is the subject of this review.

Generalization of Boundary-Layer Momentum-Integral Equations to Three-Dimensional Flows Including Those of Rotating System

NASA Technical Reports Server (NTRS)

Mager, Arthur

1952-01-01

The Navier-Stokes equations of motion and the equation of continuity are transformed so as to apply to an orthogonal curvilinear coordinate system rotating with a uniform angular velocity about an arbitrary axis in space. A usual simplification of these equations as consistent with the accepted boundary-layer theory and an integration of these equations through the boundary layer result in boundary-layer momentum-integral equations for three-dimensional flows that are applicable to either rotating or nonrotating fluid boundaries. These equations are simplified and an approximate solution in closed integral form is obtained for a generalized boundary-layer momentum-loss thickness and flow deflection at the wall in the turbulent case. A numerical evaluation of this solution carried out for data obtained in a curving nonrotating duct shows a fair quantitative agreement with the measures values. The form in which the equations are presented is readily adaptable to cases of steady, three-dimensional, incompressible boundary-layer flow like that over curved ducts or yawed wings; and it also may be used to describe the boundary-layer flow over various rotating surfaces, thus applying to turbomachinery, propellers, and helicopter blades.

Current control of PMSM based on maximum torque control reference frame

NASA Astrophysics Data System (ADS)

Ohnuma, Takumi

2017-07-01

This study presents a new method of current controls of PMSMs (Permanent Magnet Synchronous Motors) based on a maximum torque control reference frame, which is suitable for high-performance controls of the PMSMs. As the issues of environment and energy increase seriously, PMSMs, one of the AC motors, are becoming popular because of their high-efficiency and high-torque density in various applications, such as electric vehicles, trains, industrial machines, and home appliances. To use the PMSMs efficiently, a proper current control of the PMSMs is necessary. In general, a rotational coordinate system synchronizing with the rotor is used for the current control of PMSMs. In the rotating reference frame, the current control is easier because the currents on the rotating reference frame can be expressed as a direct current in the controller. On the other hand, the torque characteristics of PMSMs are non-linear and complex; the PMSMs are efficient and high-density though. Therefore, a complicated control system is required to involve the relation between the torque and the current, even though the rotating reference frame is adopted. The maximum torque control reference frame provides a simpler way to control efficiently the currents taking the torque characteristics of the PMSMs into consideration.

Natural selection in the colloid world: active chiral spirals.

PubMed

Zhang, Jie; Granick, Steve

2016-10-06

We present a model system in which to study natural selection in the colloid world. In the assembly of active Janus particles into rotating pinwheels when mixed with trace amounts of homogeneous colloids in the presence of an AC electric field, broken symmetry in the rotation direction produces spiral, chiral shapes. Locked into a central rotation point by the centre particle, the spiral arms are found to trail rotation of the overall cluster. To achieve a steady state, the spiral arms undergo an evolutionary process to coordinate their motion. Because all the particles as segments of the pinwheel arms are self-propelled, asymmetric arm lengths are tolerated. Reconfiguration of these structures can happen in various ways and various mechanisms of this directed structural change are analyzed in detail. We introduce the concept of VIP (very important particles) to express that sustainability of active structures is most sensitive to only a few particles at strategic locations in the moving self-assembled structures.

Products of multiple Fourier series with application to the multiblade transformation

NASA Technical Reports Server (NTRS)

Kunz, D. L.

1981-01-01

A relatively simple and systematic method for forming the products of multiple Fourier series using tensor like operations is demonstrated. This symbolic multiplication can be performed for any arbitrary number of series, and the coefficients of a set of linear differential equations with periodic coefficients from a rotating coordinate system to a nonrotating system is also demonstrated. It is shown that using Fourier operations to perform this transformation make it easily understood, simple to apply, and generally applicable.

Geocenter variations derived from a combined processing of LEO- and ground-based GPS observations

NASA Astrophysics Data System (ADS)

Männel, Benjamin; Rothacher, Markus

2017-08-01

GNSS observations provided by the global tracking network of the International GNSS Service (IGS, Dow et al. in J Geod 83(3):191-198, 2009) play an important role in the realization of a unique terrestrial reference frame that is accurate enough to allow a detailed monitoring of the Earth's system. Combining these ground-based data with GPS observations tracked by high-quality dual-frequency receivers on-board low earth orbiters (LEOs) is a promising way to further improve the realization of the terrestrial reference frame and the estimation of geocenter coordinates, GPS satellite orbits and Earth rotation parameters. To assess the scope of the improvement on the geocenter coordinates, we processed a network of 53 globally distributed and stable IGS stations together with four LEOs (GRACE-A, GRACE-B, OSTM/Jason-2 and GOCE) over a time interval of 3 years (2010-2012). To ensure fully consistent solutions, the zero-difference phase observations of the ground stations and LEOs were processed in a common least-squares adjustment, estimating all the relevant parameters such as GPS and LEO orbits, station coordinates, Earth rotation parameters and geocenter motion. We present the significant impact of the individual LEO and a combination of all four LEOs on the geocenter coordinates. The formal errors are reduced by around 20% due to the inclusion of one LEO into the ground-only solution, while in a solution with four LEOs LEO-specific characteristics are significantly reduced. We compare the derived geocenter coordinates w.r.t. LAGEOS results and external solutions based on GPS and SLR data. We found good agreement in the amplitudes of all components; however, the phases in x- and z-direction do not agree well.

Coordinated Control of Three-Dimensional Components of Smooth Pursuit to Rotating and Translating Textures.

PubMed

Edinger, Janick; Pai, Dinesh K; Spering, Miriam

2017-01-01

The neural control of pursuit eye movements to visual textures that simultaneously translate and rotate has largely been neglected. Here we propose that pursuit of such targets-texture pursuit-is a fully three-dimensional task that utilizes all three degrees of freedom of the eye, including torsion. Head-fixed healthy human adults (n = 8) tracked a translating and rotating random dot pattern, shown on a computer monitor, with their eyes. Horizontal, vertical, and torsional eye positions were recorded with a head-mounted eye tracker. The torsional component of pursuit is a function of the rotation of the texture, aligned with its visual properties. We observed distinct behaviors between those trials in which stimulus rotation was in the same direction as that of a rolling ball ("natural") in comparison to those with the opposite rotation ("unnatural"): Natural rotation enhanced and unnatural rotation reversed torsional velocity during pursuit, as compared to torsion triggered by a nonrotating random dot pattern. Natural rotation also triggered pursuit with a higher horizontal velocity gain and fewer and smaller corrective saccades. Furthermore, we show that horizontal corrective saccades are synchronized with torsional corrective saccades, indicating temporal coupling of horizontal and torsional saccade control. Pursuit eye movements have a torsional component that depends on the visual stimulus. Horizontal and torsional eye movements are separated in the motor periphery. Our findings suggest that translational and rotational motion signals might be coordinated in descending pursuit pathways.

Application of photogrammetry to transforming PIV-acquired velocity fields to a moving-body coordinate system

NASA Astrophysics Data System (ADS)

Nikoueeyan, Pourya; Naughton, Jonathan

2016-11-01

Particle Image Velocimetry is a common choice for qualitative and quantitative characterization of unsteady flows associated with moving bodies (e.g. pitching and plunging airfoils). Characterizing the separated flow behavior is of great importance in understanding the flow physics and developing predictive reduced-order models. In most studies, the model under investigation moves within a fixed camera field-of-view, and vector fields are calculated based on this fixed coordinate system. To better characterize the genesis and evolution of vortical structures in these unsteady flows, the velocity fields need to be transformed into the moving-body frame of reference. Data converted to this coordinate system allow for a more detailed analysis of the flow field using advanced statistical tools. In this work, a pitching NACA0015 airfoil has been used to demonstrate the capability of photogrammetry for such an analysis. Photogrammetry has been used first to locate the airfoil within the image and then to determine an appropriate mask for processing the PIV data. The photogrammetry results are then further used to determine the rotation matrix that transforms the velocity fields to airfoil coordinates. Examples of the important capabilities such a process enables are discussed. P. Nikoueeyan is supported by a fellowship from the University of Wyoming's Engineering Initiative.

Ultrafast fingerprint indexing for embedded systems

NASA Astrophysics Data System (ADS)

Zhou, Ru; Sin, Sang Woo; Li, Dongju; Isshiki, Tsuyoshi; Kunieda, Hiroaki

2011-10-01

A novel core-based fingerprint indexing scheme for embedded systems is presented in this paper. Our approach is enabled by our new precise and fast core-detection algorithm with the direction map. It introduces the feature of CMP (core minutiae pair), which describes the coordinates of minutiae and the direction of ridges associated with the minutiae based on the uniquely defined core coordinates. Since each CMP is identical against the shift and rotation of the fingerprint image, the CMP comparison between a template and an input image can be performed without any alignment. The proposed indexing algorithm based on CMP is suitable for embedded systems because the tremendous speed up and the memory reduction are achieved. In fact, the experiments with the fingerprint database FVC2002 show that its speed for the identifications becomes about 40 times faster than conventional approaches, even though the database includes fingerprints with no core.

A statistical model for analyzing the rotational error of single isocenter for multiple targets technique.

PubMed

Chang, Jenghwa

2017-06-01

To develop a statistical model that incorporates the treatment uncertainty from the rotational error of the single isocenter for multiple targets technique, and calculates the extra PTV (planning target volume) margin required to compensate for this error. The random vector for modeling the setup (S) error in the three-dimensional (3D) patient coordinate system was assumed to follow a 3D normal distribution with a zero mean, and standard deviations of σ x , σ y , σ z . It was further assumed that the rotation of clinical target volume (CTV) about the isocenter happens randomly and follows a three-dimensional (3D) independent normal distribution with a zero mean and a uniform standard deviation of σ δ . This rotation leads to a rotational random error (R), which also has a 3D independent normal distribution with a zero mean and a uniform standard deviation of σ R equal to the product of σδπ180 and dI⇔T, the distance between the isocenter and CTV. Both (S and R) random vectors were summed, normalized, and transformed to the spherical coordinates to derive the Chi distribution with three degrees of freedom for the radial coordinate of S+R. PTV margin was determined using the critical value of this distribution for a 0.05 significance level so that 95% of the time the treatment target would be covered by the prescription dose. The additional PTV margin required to compensate for the rotational error was calculated as a function of σ R and dI⇔T. The effect of the rotational error is more pronounced for treatments that require high accuracy/precision like stereotactic radiosurgery (SRS) or stereotactic body radiotherapy (SBRT). With a uniform 2-mm PTV margin (or σ x = σ y = σ z = 0.715 mm), a σ R = 0.328 mm will decrease the CTV coverage probability from 95.0% to 90.9%, or an additional 0.2-mm PTV margin is needed to prevent this loss of coverage. If we choose 0.2 mm as the threshold, any σ R > 0.328 mm will lead to an extra PTV margin that cannot be ignored, and the maximal σ δ that can be ignored is 0.45° (or 0.0079 rad ) for dI⇔T = 50 mm or 0.23° (or 0.004 rad ) for dI⇔T = 100 mm. The rotational error cannot be ignored for high-accuracy/-precision treatments like SRS/SBRT, particularly when the distance between the isocenter and target is large. © 2017 American Association of Physicists in Medicine.

Fast Regulation of Vertical Squat Jump during Push-Off in Skilled Jumpers.

PubMed

Fargier, Patrick; Massarelli, Raphael; Rabahi, Tahar; Gemignani, Angelo; Fargier, Emile

2016-01-01

The height of a maximum Vertical Squat Jump (VSJ) reflects the useful power produced by a jumper during the push-off phase. In turn this partly depends on the coordination of the jumper's segmental rotations at each instant. The physical system constituted by the jumper has been shown to be very sensitive to perturbations and furthermore the movement is realized in a very short time (ca. 300 ms), compared to the timing of known feedback loops. However, the dynamics of the segmental coordination and its efficiency in relation to energetics at each instant of the push-off phase still remained to be clarified. Their study was the main purpose of the present research. Eight young adult volunteers (males) performed maximal VSJ. They were skilled in jumping according to their sport activities (track and field or volleyball). A video analysis on the kinematics of the jump determined the influence of the jumpers' segments rotation on the vertical velocity and acceleration of the body mass center (MC). The efficiency in the production of useful power at the jumpers' MC level, by the rotation of the segments, was measured in consequence. The results showed a great variability in the segmental movements of the eight jumpers, but homogeneity in the overall evolution of these movements with three consecutive types of coordination in the second part of the push-off (lasting roughly 0.16 s). Further analyses gave insights on the regulation of the push-off, suggesting that very fast regulation(s) of the VSJ may be supported by: (a) the adaptation of the motor cerebral programming to the jumper's physical characteristics; (b) the control of the initial posture; and (c) the jumper's perception of the position of his MC relative to the ground reaction force, during push-off, to reduce energetic losses.

Auditory compensation for head rotation is incomplete.

PubMed

Freeman, Tom C A; Culling, John F; Akeroyd, Michael A; Brimijoin, W Owen

2017-02-01

Hearing is confronted by a similar problem to vision when the observer moves. The image motion that is created remains ambiguous until the observer knows the velocity of eye and/or head. One way the visual system solves this problem is to use motor commands, proprioception, and vestibular information. These "extraretinal signals" compensate for self-movement, converting image motion into head-centered coordinates, although not always perfectly. We investigated whether the auditory system also transforms coordinates by examining the degree of compensation for head rotation when judging a moving sound. Real-time recordings of head motion were used to change the "movement gain" relating head movement to source movement across a loudspeaker array. We then determined psychophysically the gain that corresponded to a perceptually stationary source. Experiment 1 showed that the gain was small and positive for a wide range of trained head speeds. Hence, listeners perceived a stationary source as moving slightly opposite to the head rotation, in much the same way that observers see stationary visual objects move against a smooth pursuit eye movement. Experiment 2 showed the degree of compensation remained the same for sounds presented at different azimuths, although the precision of performance declined when the sound was eccentric. We discuss two possible explanations for incomplete compensation, one based on differences in the accuracy of signals encoding image motion and self-movement and one concerning statistical optimization that sacrifices accuracy for precision. We then consider the degree to which such explanations can be applied to auditory motion perception in moving listeners. (PsycINFO Database Record (c) 2017 APA, all rights reserved).

Couple stress theory of curved rods. 2-D, high order, Timoshenko's and Euler-Bernoulli models

NASA Astrophysics Data System (ADS)

Zozulya, V. V.

2017-01-01

New models for plane curved rods based on linear couple stress theory of elasticity have been developed.2-D theory is developed from general 2-D equations of linear couple stress elasticity using a special curvilinear system of coordinates related to the middle line of the rod as well as special hypothesis based on assumptions that take into account the fact that the rod is thin. High order theory is based on the expansion of the equations of the theory of elasticity into Fourier series in terms of Legendre polynomials. First, stress and strain tensors, vectors of displacements and rotation along with body forces have been expanded into Fourier series in terms of Legendre polynomials with respect to a thickness coordinate.Thereby, all equations of elasticity including Hooke's law have been transformed to the corresponding equations for Fourier coefficients. Then, in the same way as in the theory of elasticity, a system of differential equations in terms of displacements and boundary conditions for Fourier coefficients have been obtained. Timoshenko's and Euler-Bernoulli theories are based on the classical hypothesis and the 2-D equations of linear couple stress theory of elasticity in a special curvilinear system. The obtained equations can be used to calculate stress-strain and to model thin walled structures in macro, micro and nano scales when taking into account couple stress and rotation effects.

Partial differential equations of 3D boundary layer and their numerical solutions in turbomachinery

NASA Astrophysics Data System (ADS)

Zhang, Guoqing; Hua, Yaonan; Wu, Chung-Hua

1991-08-01

This paper studies the 3D boundary layer equations (3DBLE) and their numerical solutions in turbomachinery: (1) the general form of 3DBLE in turbomachines with rotational and curvature effects are derived under the semiorthogonal coordinate system, in which the normal pressure gradient is not equal to zero; (2) the method of solution of the 3DBLE is discussed; (3) the 3D boundary layers on the rotating blade surface, IGV endwall, rotor endwall (with a relatively moving boundary) are numerically solved, and the predicted data correlates well with the measured data; and (4) the comparison is made between the numerical results of 3DBLE with and without normal pressure gradient.

Modification of Impulse Generation During Pirouette Turns With Increased Rotational Demands.

PubMed

Zaferiou, Antonia M; Wilcox, Rand R; McNitt-Gray, Jill L

2016-10-01

This study determined how dancers regulated angular and linear impulse during the initiation of pirouettes of increased rotation. Skilled dancers (n = 11) performed single and double pirouette turns with each foot supported by a force plate. Linear and angular impulses generated by each leg were quantified and compared between turn types using probability-based statistical methods. As rotational demands increased, dancers increased the net angular impulse generated. The contribution of each leg to net angular impulse in both single and double pirouettes was influenced by stance configuration strategies. Dancers who generated more angular impulse with the push leg than with the turn leg initiated the turn with the center of mass positioned closer to the turn leg than did other dancers. As rotational demands increased, dancers tended to increase the horizontal reaction force magnitude at one or both feet; however, they used subject-specific mechanisms. By coordinating the generation of reaction forces between legs, changes in net horizontal impulse remained minimal, despite impulse regulation at each leg used to achieve more rotations. Knowledge gained regarding how an individual coordinates the generation of linear and angular impulse between both legs as rotational demand increased can help design tools to improve that individual's performance.

An improved lateral control wheel steering law for the Transport Systems Research Vehicle (TSRV)

NASA Technical Reports Server (NTRS)

Ragsdale, W. A.

1992-01-01

A lateral control wheel steering law with improved performance was developed for the Transport Systems Research Vehicle (TSRV) simulation and used in the Microwave Landing System research project. The control law converted rotational hand controller inputs into roll rate commands, manipulated ailerons, spoilers, and the rudder to achieve the desired roll rates. The system included automatic turn coordination, track angle hold, and autopilot/autoland modes. The resulting control law produced faster roll rates (15 degrees/sec), quicker response to command reversals, and safer bank angle limits, while using a more concise program code.

The Athena Astrophysical MHD Code in Cylindrical Geometry

NASA Astrophysics Data System (ADS)

Skinner, M. A.; Ostriker, E. C.

2011-10-01

We have developed a method for implementing cylindrical coordinates in the Athena MHD code (Skinner & Ostriker 2010). The extension has been designed to alter the existing Cartesian-coordinates code (Stone et al. 2008) as minimally and transparently as possible. The numerical equations in cylindrical coordinates are formulated to maintain consistency with constrained transport, a central feature of the Athena algorithm, while making use of previously implemented code modules such as the eigensystems and Riemann solvers. Angular-momentum transport, which is critical in astrophysical disk systems dominated by rotation, is treated carefully. We describe modifications for cylindrical coordinates of the higher-order spatial reconstruction and characteristic evolution steps as well as the finite-volume and constrained transport updates. Finally, we have developed a test suite of standard and novel problems in one-, two-, and three-dimensions designed to validate our algorithms and implementation and to be of use to other code developers. The code is suitable for use in a wide variety of astrophysical applications and is freely available for download on the web.

Barn owls maximize head rotations by a combination of yawing and rolling in functionally diverse regions of the neck.

PubMed

Krings, Markus; Nyakatura, John A; Boumans, Mark L L M; Fischer, Martin S; Wagner, Hermann

2017-07-01

Owls are known for their outstanding neck mobility: these birds can rotate their heads more than 270°. The anatomical basis of this extraordinary neck rotation ability is not well understood. We used X-ray fluoroscopy of living owls as well as forced neck rotations in dead specimens and computer tomographic (CT) reconstructions to study how the individual cervical joints contribute to head rotation in barn owls (Tyto furcata pratincola). The X-ray data showed the natural posture of the neck, and the reconstructions of the CT-scans provided the shapes of the individual vertebrae. Joint mobility was analyzed in a spherical coordinate system. The rotational capability was described as rotation about the yaw and roll axes. The analyses suggest a functional division of the cervical spine into several regions. Most importantly, an upper region shows high rolling and yawing capabilities. The mobility of the lower, more horizontally oriented joints of the cervical spine is restricted mainly to the roll axis. These rolling movements lead to lateral bending, effectively resulting in a side shift of the head compared with the trunk during large rotations. The joints in the middle of the cervical spine proved to contribute less to head rotation. The analysis of joint mobility demonstrated how owls might maximize horizontal head rotation by a specific and variable combination of yawing and rolling in functionally diverse regions of the neck. © 2017 Anatomical Society.

Pattern recognition neural-net by spatial mapping of biology visual field

NASA Astrophysics Data System (ADS)

Lin, Xin; Mori, Masahiko

2000-05-01

The method of spatial mapping in biology vision field is applied to artificial neural networks for pattern recognition. By the coordinate transform that is called the complex-logarithm mapping and Fourier transform, the input images are transformed into scale- rotation- and shift- invariant patterns, and then fed into a multilayer neural network for learning and recognition. The results of computer simulation and an optical experimental system are described.

Analytic studies of local-severe-storm observables by satellites

NASA Technical Reports Server (NTRS)

Dergarabedian, P.; Fendell, F.

1977-01-01

Attention is concentrated on the exceptionally violet whirlwind, often characterized by a fairly vertical axis of rotation. For a cylindrical polar coordinate system with axis coincident with the axis of rotation, the secondary flow involves the radial and axial velocity components. The thesis advanced is, first, that a violent whirlwind is characterized by swirl speeds relative to the axis of rotation on the order of 90 m/s, with 100 m/s being close to an upper bound. This estimate is based on interpretation of funnel-cloud shape (which also suggests properties of the radial profile of swirl, as well as the maximum magnitude); an error assessment of the funnel-cloud interpretation procedure is developed. Second, computation of ground-level pressure deficits achievable from typical tornado-spawning ambients by idealized thermohydrostatic processes suggests that a two-cell structure is required to sustain such large speeds.

Milestone Deliverable: FY18-Q1: Deploy production sliding mesh capability with linear solver benchmarking.

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

Domino, Stefan P.

2017-12-01

This milestone was focused on deploying and verifying a “sliding-mesh interface,” and establishing baseline timings for blade-resolved simulations of a sub-MW-scale turbine. In the ExaWind project, we are developing both sliding-mesh and overset-mesh approaches for handling the rotating blades in an operating wind turbine. In the sliding-mesh approach, the turbine rotor and its immediate surrounding fluid are captured in a “disk” that is embedded in the larger fluid domain. The embedded fluid is simulated in a coordinate system that rotates with the rotor. It is important that the coupling algorithm (and its implementation) between the rotating and inertial discrete modelsmore » maintains the accuracy of the numerical methods on either side of the interface, i.e., the interface is “design order.”« less

Eye-Hand Coordination during Visuomotor Adaptation with Different Rotation Angles

PubMed Central

Rentsch, Sebastian; Rand, Miya K.

2014-01-01

This study examined adaptive changes of eye-hand coordination during a visuomotor rotation task. Young adults made aiming movements to targets on a horizontal plane, while looking at the rotated feedback (cursor) of hand movements on a monitor. To vary the task difficulty, three rotation angles (30°, 75°, and 150°) were tested in three groups. All groups shortened hand movement time and trajectory length with practice. However, control strategies used were different among groups. The 30° group used proportionately more implicit adjustments of hand movements than other groups. The 75° group used more on-line feedback control, whereas the 150° group used explicit strategic adjustments. Regarding eye-hand coordination, timing of gaze shift to the target was gradually changed with practice from the late to early phase of hand movements in all groups, indicating an emerging gaze-anchoring behavior. Gaze locations prior to the gaze anchoring were also modified with practice from the cursor vicinity to an area between the starting position and the target. Reflecting various task difficulties, these changes occurred fastest in the 30° group, followed by the 75° group. The 150° group persisted in gazing at the cursor vicinity. These results suggest that the function of gaze control during visuomotor adaptation changes from a reactive control for exploring the relation between cursor and hand movements to a predictive control for guiding the hand to the task goal. That gaze-anchoring behavior emerged in all groups despite various control strategies indicates a generality of this adaptive pattern for eye-hand coordination in goal-directed actions. PMID:25333942

Development of one-shot aspheric measurement system with a Shack-Hartmann sensor.

PubMed

Furukawa, Yasunori; Takaie, Yuichi; Maeda, Yoshiki; Ohsaki, Yumiko; Takeuchi, Seiji; Hasegawa, Masanobu

2016-10-10

We present a measurement system for a rotationally symmetric aspheric surface that is designed for accurate and high-volume measurements. The system uses the Shack-Hartmann sensor and is capable of measuring aspheres with a maximum diameter of 90 mm in one shot. In our system, a reference surface, made with the same aspheric parameter as the test surface, is prepared. The test surface is recovered as the deviation from the reference surface using a figure-error reconstruction algorithm with a ray coordinate and angle variant table. In addition, we developed a method to calibrate the rotationally symmetric system error. These techniques produce stable measurements and high accuracy. For high-throughput measurements, a single measurement scheme and auto alignment are implemented; they produce a 4.5 min measurement time, including calibration and alignment. In this paper, we introduce the principle and calibration method of our system. We also demonstrate that our system achieved an accuracy better than 5.8 nm RMS and a repeatability of 0.75 nm RMS by comparing our system's aspheric measurement results with those of a probe measurement machine.

An imaging method of wavefront coding system based on phase plate rotation

NASA Astrophysics Data System (ADS)

Yi, Rigui; Chen, Xi; Dong, Liquan; Liu, Ming; Zhao, Yuejin; Liu, Xiaohua

2018-01-01

Wave-front coding has a great prospect in extending the depth of the optical imaging system and reducing optical aberrations, but the image quality and noise performance are inevitably reduced. According to the theoretical analysis of the wave-front coding system and the phase function expression of the cubic phase plate, this paper analyzed and utilized the feature that the phase function expression would be invariant in the new coordinate system when the phase plate rotates at different angles around the z-axis, and we proposed a method based on the rotation of the phase plate and image fusion. First, let the phase plate rotated at a certain angle around the z-axis, the shape and distribution of the PSF obtained on the image surface remain unchanged, the rotation angle and direction are consistent with the rotation angle of the phase plate. Then, the middle blurred image is filtered by the point spread function of the rotation adjustment. Finally, the reconstruction images were fused by the method of the Laplacian pyramid image fusion and the Fourier transform spectrum fusion method, and the results were evaluated subjectively and objectively. In this paper, we used Matlab to simulate the images. By using the Laplacian pyramid image fusion method, the signal-to-noise ratio of the image is increased by 19% 27%, the clarity is increased by 11% 15% , and the average gradient is increased by 4% 9% . By using the Fourier transform spectrum fusion method, the signal-to-noise ratio of the image is increased by 14% 23%, the clarity is increased by 6% 11% , and the average gradient is improved by 2% 6%. The experimental results show that the image processing by the above method can improve the quality of the restored image, improving the image clarity, and can effectively preserve the image information.

A Global Terrestrial Reference Frame from simulated VLBI and SLR data in view of GGOS

NASA Astrophysics Data System (ADS)

Glaser, Susanne; König, Rolf; Ampatzidis, Dimitrios; Nilsson, Tobias; Heinkelmann, Robert; Flechtner, Frank; Schuh, Harald

2017-07-01

In this study, we assess the impact of two combination strategies, namely local ties (LT) and global ties (GT), on the datum realization of Global Terrestrial Reference Frames in view of the Global Geodetic Observing System requiring 1 mm-accuracy. Simulated Very Long Baseline Interferometry (VLBI) and Satellite Laser Ranging (SLR) data over a 7 year time span was used. The LT results show that the geodetic datum can be best transferred if the precision of the LT is at least 1 mm. Investigating different numbers of LT, the lack of co-located sites on the southern hemisphere is evidenced by differences of 9 mm in translation and rotation compared to the solution using all available LT. For the GT, the combination applying all Earth rotation parameters (ERP), such as pole coordinates and UT1-UTC, indicates that the rotation around the Z axis cannot be adequately transferred from VLBI to SLR within the combination. Applying exclusively the pole coordinates as GT, we show that the datum can be transferred with mm-accuracy within the combination. Furthermore, adding artificial stations in Tahiti and Nigeria to the current VLBI network results in an improvement in station positions by 13 and 12%, respectively, and in ERP by 17 and 11%, respectively. Extending to every day VLBI observations leads to 65% better ERP estimates compared to usual twice-weekly VLBI observations.

Age and sex influences on running mechanics and coordination variability.

PubMed

Boyer, Katherine A; Freedman Silvernail, Julia; Hamill, Joseph

2017-11-01

The purpose of this study was to examine the impact of age on running mechanics separately for male and female runners and to quantify sex differences in running mechanics and coordination variability for older runners. Kinematics and kinetics were captured for 20 younger (10 male) and 20 older (10 male) adults running overground at 3.5 m · s -1 . A modified vector coding technique was used to calculate segment coordination variability. Lower extremity joint angles, moments and segment coordination variability were compared between age and sex groups. Significant sex-age interaction effects were found for heel-strike hip flexion and ankle in/eversion angles and peak ankle dorsiflexion angle. In older adults, mid-stance knee flexion angle, ankle inversion and abduction moments and hip abduction and external rotation moments differed by sex. Older compared with younger females had reduced coordination variability in the thigh-shank transverse plane couple but greater coordination variability for the shank rotation-foot eversion couple in early stance. These results suggest there may be a non-equivalent aging process in the movement mechanics for males and females. The age and sex differences in running mechanics and coordination variability highlight the need for sex-based analyses for future studies examining injury risk with age.

Unidirectional rotary motion in a molecular system

NASA Astrophysics Data System (ADS)

Kelly, T. Ross; de Silva, Harshani; Silva, Richard A.

1999-09-01

The conversion of energy into controlled motion plays an important role in both man-made devices and biological systems. The principles of operation of conventional motors are well established, but the molecular processes used by `biological motors' such as muscle fibres, flagella and cilia to convert chemical energy into co-ordinated movement remain poorly understood. Although `brownian ratchets' are known to permit thermally activated motion in one direction only, the concept of channelling random thermal energy into controlled motion has not yet been extended to the molecular level. Here we describe a molecule that uses chemical energy to activate and bias a thermally induced isomerization reaction, and thereby achieve unidirectional intramolecular rotary motion. The motion consists of a 120° rotation around a single bond connecting a three-bladed subunit to the bulky remainder of the molecule, and unidirectional motion is achieved by reversibly introducing a tether between the two units to energetically favour one of the two possible rotation directions. Although our system does not achieve continuous and fast rotation, the design principles that we have used may prove relevant for a better understanding of biological and synthetic molecular motors producing unidirectional rotary motion.

Bifurcation analysis of an automatic dynamic balancing mechanism for eccentric rotors

NASA Astrophysics Data System (ADS)

Green, K.; Champneys, A. R.; Lieven, N. J.

2006-04-01

We present a nonlinear bifurcation analysis of the dynamics of an automatic dynamic balancing mechanism for rotating machines. The principle of operation is to deploy two or more masses that are free to travel around a race at a fixed distance from the hub and, subsequently, balance any eccentricity in the rotor. Mathematically, we start from a Lagrangian description of the system. It is then shown how under isotropic conditions a change of coordinates into a rotating frame turns the problem into a regular autonomous dynamical system, amenable to a full nonlinear bifurcation analysis. Using numerical continuation techniques, curves are traced of steady states, limit cycles and their bifurcations as parameters are varied. These results are augmented by simulations of the system trajectories in phase space. Taking the case of a balancer with two free masses, broad trends are revealed on the existence of a stable, dynamically balanced steady-state solution for specific rotation speeds and eccentricities. However, the analysis also reveals other potentially attracting states—non-trivial steady states, limit cycles, and chaotic motion—which are not in balance. The transient effects which lead to these competing states, which in some cases coexist, are investigated.

Deriving a geocentric reference frame for satellite positioning and navigation

NASA Technical Reports Server (NTRS)

Malla, R. P.; Wu, S.-C.

1988-01-01

With the advent of Earth-orbiting geodetic satellites, nongeocentric datums or reference frames have become things of the past. Accurate geocentric three-dimensional positioning is now possible and is of great importance for various geodetic and oceanographic applications. While relative positioning accuracy of a few centimeters has become a reality using very long baseline interferometry (VLBI), the uncertainty in the offset of the adopted coordinate system origin from the geocenter is still believed to be on the order of 1 meter. Satellite laser ranging (SLR), however, is capable of determining this offset to better than 10 cm, but this is possible only after years of measurements. Global Positioning System (GPS) measurements provide a powerful tool for an accurate determination of this origin offset. Two strategies are discussed. The first strategy utilizes the precise relative positions that were predetermined by VLBI to fix the frame orientation and the absolute scaling, while the offset from the geocenter is determined from GPS measurements. Three different cases are presented under this strategy. The reference frame thus adopted will be consistent with the VLBI coordinate system. The second strategy establishes a reference frame by holding only the longitude of one of the tracking sites fixed. The absolute scaling is determined by the adopted gravitational constant (GM) of the Earth; and the latitude is inferred from the time signature of the Earth rotation in the GPS measurements. The coordinate system thus defined will be a geocentric Earth-fixed coordinate system.

Evidence of m = 1 density mode (plasma cam) in Saturn's rotating magnetosphere

NASA Astrophysics Data System (ADS)

Goldstein, J.; Waite, J. H.; Burch, J. L.; Livi, R.

2016-03-01

Cassini field and plasma data measured in the rotating Saturn Longitude System 3 (SLS3) coordinate system show positive evidence of structure whose dominant azimuthal wave number is m = 1: a long-lived, nonaxisymmetric, cam-shaped, global plasma distribution in Saturn's magnetosphere. Previous studies have identified evidence of this plasma cam in wave-derived electron density data and in Cassini Plasma Spectrometer (CAPS) W+ ion counts data. In this paper we report the first comprehensive analysis of CAPS ion moments data to identify the m = 1 density cam. We employ a multiyear, multispecies database of 685,678 CAPS density values, binned into a 1 RS by 4.8° discretized grid, spanning 4-19 RS. Fourier (harmonic) analysis shows that at most radial distances the dominant azimuthal mode is m = 1, for both W+ and H+ ion distributions. The majority (63%) of m = 1 ion peaks are clustered in an SLS3 quadrant centered at 330°. The plasma cam's existence has important implications for the global interchange-driven convection cycle and is a clue to solving the mystery of the rotational periodicities in Saturn's magnetosphere.

Polar Flagellar Motility of the Vibrionaceae

PubMed Central

McCarter, Linda L.

2001-01-01

Polar flagella of Vibrio species can rotate at speeds as high as 100,000 rpm and effectively propel the bacteria in liquid as fast as 60 μm/s. The sodium motive force powers rotation of the filament, which acts as a propeller. The filament is complex, composed of multiple subunits, and sheathed by an extension of the cell outer membrane. The regulatory circuitry controlling expression of the polar flagellar genes of members of the Vibrionaceae is different from the peritrichous system of enteric bacteria or the polar system of Caulobacter crescentus. The scheme of gene control is also pertinent to other members of the gamma purple bacteria, in particular to Pseudomonas species. This review uses the framework of the polar flagellar system of Vibrio parahaemolyticus to provide a synthesis of what is known about polar motility systems of the Vibrionaceae. In addition to its propulsive role, the single polar flagellum of V. parahaemolyticus is believed to act as a tactile sensor controlling surface-induced gene expression. Under conditions that impede rotation of the polar flagellum, an alternate, lateral flagellar motility system is induced that enables movement through viscous environments and over surfaces. Although the dual flagellar systems possess no shared structural components and although distinct type III secretion systems direct the simultaneous placement and assembly of polar and lateral organelles, movement is coordinated by shared chemotaxis machinery. PMID:11528005

MO-FG-CAMPUS-JeP3-01: A Statistical Model for Analyzing the Rotational Error of Single Iso-Center Technique

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

Chang, J; Dept of Radiation Oncology, New York Weill Cornell Medical Ctr, New York, NY

Purpose: To develop a generalized statistical model that incorporates the treatment uncertainty from the rotational error of single iso-center technique, and calculate the additional PTV (planning target volume) margin required to compensate for this error. Methods: The random vectors for setup and additional rotation errors in the three-dimensional (3D) patient coordinate system were assumed to follow the 3D independent normal distribution with zero mean, and standard deviations σx, σy, σz, for setup error and a uniform σR for rotational error. Both random vectors were summed, normalized and transformed to the spherical coordinates to derive the chi distribution with 3 degreesmore » of freedom for the radical distance ρ. PTV margin was determined using the critical value of this distribution for 0.05 significant level so that 95% of the time the treatment target would be covered by ρ. The additional PTV margin required to compensate for the rotational error was calculated as a function of σx, σy, σz and σR. Results: The effect of the rotational error is more pronounced for treatments that requires high accuracy/precision like stereotactic radiosurgery (SRS) or stereotactic body radiotherapy (SBRT). With a uniform 2mm PTV margin (or σx =σy=σz=0.7mm), a σR=0.32mm will decrease the PTV coverage from 95% to 90% of the time, or an additional 0.2mm PTV margin is needed to prevent this loss of coverage. If we choose 0.2 mm as the threshold, any σR>0.3mm will lead to an additional PTV margin that cannot be ignored, and the maximal σR that can be ignored is 0.0064 rad (or 0.37°) for iso-to-target distance=5cm, or 0.0032 rad (or 0.18°) for iso-to-target distance=10cm. Conclusions: The rotational error cannot be ignored for high-accuracy/-precision treatments like SRS/SBRT, particularly when the distance between the iso-center and target is large.« less

Modeling and simulation for fewer-axis grinding of complex surface

NASA Astrophysics Data System (ADS)

Li, Zhengjian; Peng, Xiaoqiang; Song, Ci

2017-10-01

As the basis of fewer-axis grinding of complex surface, the grinding mathematical model is of great importance. A mathematical model of the grinding wheel was established, and then coordinate and normal vector of the wheel profile could be calculated. Through normal vector matching at the cutter contact point and the coordinate system transformation, the grinding mathematical model was established to work out the coordinate of the cutter location point. Based on the model, interference analysis was simulated to find out the right position and posture of workpiece for grinding. Then positioning errors of the workpiece including the translation positioning error and the rotation positioning error were analyzed respectively, and the main locating datum was obtained. According to the analysis results, the grinding tool path was planned and generated to grind the complex surface, and good form accuracy was obtained. The grinding mathematical model is simple, feasible and can be widely applied.

Rotational elasticity

NASA Astrophysics Data System (ADS)

Vassiliev, Dmitri

2017-04-01

We consider an infinite three-dimensional elastic continuum whose material points experience no displacements, only rotations. This framework is a special case of the Cosserat theory of elasticity. Rotations of material points are described mathematically by attaching to each geometric point an orthonormal basis that gives a field of orthonormal bases called the coframe. As the dynamical variables (unknowns) of our theory, we choose the coframe and a density. We write down the general dynamic variational functional for our rotational theory of elasticity, assuming our material to be physically linear but the kinematic model geometrically nonlinear. Allowing geometric nonlinearity is natural when dealing with rotations because rotations in dimension three are inherently nonlinear (rotations about different axes do not commute) and because there is no reason to exclude from our study large rotations such as full turns. The main result of the talk is an explicit construction of a class of time-dependent solutions that we call plane wave solutions; these are travelling waves of rotations. The existence of such explicit closed-form solutions is a non-trivial fact given that our system of Euler-Lagrange equations is highly nonlinear. We also consider a special case of our rotational theory of elasticity which in the stationary setting (harmonic time dependence and arbitrary dependence on spatial coordinates) turns out to be equivalent to a pair of massless Dirac equations. The talk is based on the paper [1]. [1] C.G.Boehmer, R.J.Downes and D.Vassiliev, Rotational elasticity, Quarterly Journal of Mechanics and Applied Mathematics, 2011, vol. 64, p. 415-439. The paper is a heavily revised version of preprint https://arxiv.org/abs/1008.3833

Unlocking the talus by eversion limits medial ankle injury risk during external rotation.

PubMed

Button, Keith D; Wei, Feng; Haut, Roger C

2015-10-15

Eversion prior to excessive external foot rotation has been shown to predispose the anterior tibiofibular ligament (ATiFL) to failure, yet protect the anterior deltoid ligament (ADL) from failure despite high levels of foot rotation. The purpose of the current study was to measure the rotations of both the subtalar and talocrural joints during foot external rotation at sub-failure levels in either a neutral or a pre-everted position as a first step towards understanding the mechanisms of injury in previous studies. Fourteen (seven pairs) cadaver lower extremities were externally rotated 20° in either a pre-everted or neutral configuration, without producing injury. Motion capture was performed to track the tibia, talus, and calcaneus motions, and a joint coordinate system was used to analyze motions of the two joints. While talocrural joint rotation was greater in the neutral ankle (13.3±2.0° versus 10.5±2.7°, p=0.006), subtalar joint rotation was greater in the pre-everted ankle (2.4±1.9° versus 1.1±1.0°, p=0.014). Overall, the talocrural joint rotated more than the subtalar joint (11.9±2.8° versus 1.8±1.6°, p<0.001). It was proposed that the calcaneus and talus 'lock' in a neutral position, but 'unlock' when the ankle is everted prior to rotation. This locking/unlocking mechanism could be responsible for an increased subtalar rotation, but decreased talocrural rotation when the ankle is pre-everted, protecting the ADL from failure. This study may provide information valuable to the study of external rotation kinematics and injury risk. Copyright © 2015 Elsevier Ltd. All rights reserved.

Global health training and international clinical rotations during residency: current status, needs, and opportunities.

PubMed

Drain, Paul K; Holmes, King K; Skeff, Kelley M; Hall, Thomas L; Gardner, Pierce

2009-03-01

Increasing international travel and migration have contributed to globalization of diseases. Physicians today must understand the global burden and epidemiology of diseases, the disparities and inequities in global health systems, and the importance of cross-cultural sensitivity. To meet these needs, resident physicians across all specialties have expressed growing interest in global health training and international clinical rotations. More residents are acquiring international experience, despite inadequate guidance and support from most accreditation organizations and residency programs. Surveys of global health training, including international clinical rotations, highlight the benefits of global health training as well as the need for a more coordinated approach. In particular, international rotations broaden a resident's medical knowledge, reinforce physical examination skills, and encourage practicing medicine among underserved and multicultural populations. As residents recognize these personal and professional benefits, a strong majority of them seek to gain international clinical experience. In conclusion, with feasible and appropriate administrative steps, all residents can receive global health training and be afforded the accreditation and programmatic support to participate in safe international rotations. The next steps should address accreditation for international rotations and allowance for training away from continuity clinics by residency accreditation bodies, and stipend and travel support for six or more weeks of call-free elective time from residency programs.

A decoupled recursive approach for constrained flexible multibody system dynamics

NASA Technical Reports Server (NTRS)

Lai, Hao-Jan; Kim, Sung-Soo; Haug, Edward J.; Bae, Dae-Sung

1989-01-01

A variational-vector calculus approach is employed to derive a recursive formulation for dynamic analysis of flexible multibody systems. Kinematic relationships for adjacent flexible bodies are derived in a companion paper, using a state vector notation that represents translational and rotational components simultaneously. Cartesian generalized coordinates are assigned for all body and joint reference frames, to explicitly formulate deformation kinematics under small deformation kinematics and an efficient flexible dynamics recursive algorithm is developed. Dynamic analysis of a closed loop robot is performed to illustrate efficiency of the algorithm.

Relativistic theory for picosecond time transfer in the vicinity of Earth

NASA Technical Reports Server (NTRS)

Petit, G.; Wolf, P.

1994-01-01

The problem of light propagation is treated in a geocentric reference system with the goal of ensuring picosecond accuracy for time transfer techniques using electromagnetic signals in the vicinity of the Earth. We give an explicit formula for a one way time transfer, to be applied when the spatial coordinates of the time transfer stations are known in a geocentric reference system rotating with the Earth. This expression is extended, at the same accuracy level of one picosecond, to the special cases of two way and LASSO time transfers via geostationary satellites.

The Determination of Earth Orientation by VLBI and GNSS: Principles and Results

NASA Astrophysics Data System (ADS)

Capitaine, Nicole

2017-10-01

The Earth Orientation Parameters (EOP) connect the International Terrestrial Reference System (ITRS) to the Geocentric Celestial Reference System (GCRS). These parameters, i.e., Universal Time, UT1, and pole coordinates in the ITRS and in the GCRS, describe the irregularities of the Earth's rotation. They are mainly determined by two modern astro-geodetic techniques, VLBI (Very Long Baseline Radio Interferometry) on extragalactic radio sources, which is used to realize and maintain the International Celestial Reference System (ICRS), and Global Navigation Satellite System (GNSS), especially GPS (Global Positioning System), which has an important contribution to the realization of the ITRS. The aim of this presentation is twofold: to present the modern bases for the consider- ation of Earth orientation and to discuss how the principles of VLBI and GPS give access to the measure of different components of the EOP variations, especially UT1. The accuracy that can be achieved is based on the improved concepts, definitions, and models that have been adopted by IAU/IUGG resolutions on reference systems and Earth's rotation, as well as on the refined strategy of the observations.

The Axial Curve Rotator.

ERIC Educational Resources Information Center

Hunter, Walter M.

This document contains detailed directions for constructing a device that mechanically produces the three-dimensional shape resulting from the rotation of any algebraic line or curve around either axis on the coordinate plant. The device was developed in response to student difficulty in visualizing, and thus grasping the mathematical principles…

Assessment of a 3-D boundary layer code to predict heat transfer and flow losses in a turbine

NASA Technical Reports Server (NTRS)

Anderson, O. L.

1984-01-01

Zonal concepts are utilized to delineate regions of application of three-dimensional boundary layer (DBL) theory. The zonal approach requires three distinct analyses. A modified version of the 3-DBL code named TABLET is used to analyze the boundary layer flow. This modified code solves the finite difference form of the compressible 3-DBL equations in a nonorthogonal surface coordinate system which includes coriolis forces produced by coordinate rotation. These equations are solved using an efficient, implicit, fully coupled finite difference procedure. The nonorthogonal surface coordinate system is calculated using a general analysis based on the transfinite mapping of Gordon which is valid for any arbitrary surface. Experimental data is used to determine the boundary layer edge conditions. The boundary layer edge conditions are determined by integrating the boundary layer edge equations, which are the Euler equations at the edge of the boundary layer, using the known experimental wall pressure distribution. Starting solutions along the inflow boundaries are estimated by solving the appropriate limiting form of the 3-DBL equations.

Rotational control of computer generated holograms.

PubMed

Preece, Daryl; Rubinsztein-Dunlop, Halina

2017-11-15

We develop a basis for three-dimensional rotation of arbitrary light fields created by computer generated holograms. By adding an extra phase function into the kinoform, any light field or holographic image can be tilted in the focal plane with minimized distortion. We present two different approaches to rotate an arbitrary hologram: the Scheimpflug method and a novel coordinate transformation method. Experimental results are presented to demonstrate the validity of both proposed methods.

Normal gravity field in relativistic geodesy

NASA Astrophysics Data System (ADS)

Kopeikin, Sergei; Vlasov, Igor; Han, Wen-Biao

2018-02-01

Modern geodesy is subject to a dramatic change from the Newtonian paradigm to Einstein's theory of general relativity. This is motivated by the ongoing advance in development of quantum sensors for applications in geodesy including quantum gravimeters and gradientometers, atomic clocks and fiber optics for making ultra-precise measurements of the geoid and multipolar structure of the Earth's gravitational field. At the same time, very long baseline interferometry, satellite laser ranging, and global navigation satellite systems have achieved an unprecedented level of accuracy in measuring 3-d coordinates of the reference points of the International Terrestrial Reference Frame and the world height system. The main geodetic reference standard to which gravimetric measurements of the of Earth's gravitational field are referred is a normal gravity field represented in the Newtonian gravity by the field of a uniformly rotating, homogeneous Maclaurin ellipsoid of which mass and quadrupole momentum are equal to the total mass and (tide-free) quadrupole moment of Earth's gravitational field. The present paper extends the concept of the normal gravity field from the Newtonian theory to the realm of general relativity. We focus our attention on the calculation of the post-Newtonian approximation of the normal field that is sufficient for current and near-future practical applications. We show that in general relativity the level surface of homogeneous and uniformly rotating fluid is no longer described by the Maclaurin ellipsoid in the most general case but represents an axisymmetric spheroid of the fourth order with respect to the geodetic Cartesian coordinates. At the same time, admitting a post-Newtonian inhomogeneity of the mass density in the form of concentric elliptical shells allows one to preserve the level surface of the fluid as an exact ellipsoid of rotation. We parametrize the mass density distribution and the level surface with two parameters which are intrinsically connected to the existence of the residual gauge freedom, and derive the post-Newtonian normal gravity field of the rotating spheroid both inside and outside of the rotating fluid body. The normal gravity field is given, similarly to the Newtonian gravity, in a closed form by a finite number of the ellipsoidal harmonics. We employ transformation from the ellipsoidal to spherical coordinates to deduce a more conventional post-Newtonian multipolar expansion of scalar and vector gravitational potentials of the rotating spheroid. We compare these expansions with that of the normal gravity field generated by the Kerr metric and demonstrate that the Kerr metric has a fairly limited application in relativistic geodesy as it does not match the normal gravity field of the Maclaurin ellipsoid already in the Newtonian limit. We derive the post-Newtonian generalization of the Somigliana formula for the normal gravity field measured on the surface of the rotating spheroid and employed in practical work for measuring Earth's gravitational field anomalies. Finally, we discuss the possible choice of the gauge-dependent parameters of the normal gravity field model for practical applications and compare it with the existing EGM2008 model of a gravitational field.

Laser backscattering analytical model of Doppler power spectra about rotating convex quadric bodies of revolution

NASA Astrophysics Data System (ADS)

Gong, YanJun; Wu, ZhenSen; Wang, MingJun; Cao, YunHua

2010-01-01

We propose an analytical model of Doppler power spectra in backscatter from arbitrary rough convex quadric bodies of revolution (whose lateral surface is a quadric) rotating around axes. In the global Cartesian coordinate system, the analytical model deduced is suitable for general convex quadric body of revolution. Based on this analytical model, the Doppler power spectra of cones, cylinders, paraboloids of revolution, and sphere-cones combination are proposed. We analyze numerically the influence of geometric parameters, aspect angle, wavelength and reflectance of rough surface of the objects on the broadened spectra because of the Doppler effect. This analytical solution may contribute to laser Doppler velocimetry, and remote sensing of ballistic missile that spin.

Simultaneous observation of chemomechanical coupling of a molecular motor.

PubMed

Nishizaka, Takayuki; Hasimoto, Yuh; Masaike, Tomoko

2011-01-01

F(1)-ATPase is the smallest rotary molecular motor ever found. Unidirectional rotation of the γ-shaft is driven by precisely coordinated sequential ATP hydrolysis reactions in three catalytic sites arranged 120° apart in the cylinder. Single-molecule observation allows us to directly watch the rotation of the shaft using micron-sized plastic beads. Additionally, an advanced version of "total internal reflection fluorescence microscope (TIRFM)" enables us to detect binding and release of energy currency through fluorescently labeled ATP. In this chapter, we describe how to set up the system for simultaneous observation of these two critical events. This specialized optical setup is applicable to a variety of research, not only molecular motors but also other single-molecule topics.

Rotational and constitutional dynamics of caged supramolecules

PubMed Central

Kühne, Dirk; Klappenberger, Florian; Krenner, Wolfgang; Klyatskaya, Svetlana; Ruben, Mario; Barth, Johannes V.

2010-01-01

The confinement of molecular species in nanoscale environments leads to intriguing dynamic phenomena. Notably, the organization and rotational motions of individual molecules were controlled by carefully designed, fully supramolecular host architectures. Here we use an open 2D coordination network on a smooth metal surface to steer the self-assembly of discrete trimeric guest units, identified as noncovalently bound dynamers. Each caged chiral supramolecule performs concerted, chirality-preserving rotary motions within the template honeycomb pore, which are visualized and quantitatively analyzed using temperature-controlled scanning tunneling microscopy. Furthermore, with higher thermal energies, a constitutional system dynamics appears, which is revealed by monitoring repetitive switching events of the confined supramolecules’ chirality signature, reflecting decay and reassembly of the caged units. PMID:21098303

Coordination Between Ribs Motion and Thoracoabdominal Volumes in Swimmers During Respiratory Maneuvers

PubMed Central

Sarro, Karine J.; Silvatti, Amanda P.; Barros, Ricardo M. L.

2008-01-01

This work aimed to verify if swimmers present better chest wall coordination during breathing than healthy non-athletes analyzing the correlation between ribs motion and the variation of thoracoabdominal volumes. The results of two up-to-date methods based on videogrammetry were correlated in this study. The first one measured the volumes of 4 separate compartments of the chest wall (superior thorax, inferior thorax, superior abdomen and inferior abdomen) as a function of time. The second calculated the rotation angle of the 2nd to the 10th ribs around the quasi-transversal axis also in function of time. The chest wall was represented by 53 markers, attached to the ribs, vertebrae, thorax and abdomen of 15 male swimmers and of 15 non- athletes. A kinematical analysis system equipped with 6 digital video cameras (60Hz) was used to obtain the 3D coordinates of the markers. Correlating the curves of ribs rotation angles with the curves of the separate volumes, swimmers presented higher values than non-athletes when the superior and inferior abdomen were considered and the highest correlation values were found in swimmers for the inferior thorax. These results suggest a better coordination between ribs motion and thoracoabdominal volumes in swimmers, indicating the prevalent and coordinated action of the diaphragm and abdominal muscles to inflate and deflate the chest wall. The results further suggest that swimming practice leads to the formation of an optimized breathing pattern and can partially explain the higher lung volumes found in these athletes reported in literature. Key pointsThe study revealed that swimmers present higher correlation between the ribs motion and the variation of abdominal volumes than non-swimmers, suggesting that swimming practice might lead to the formation of an optimized breathing pattern, increasing the coordination between the thoracoabdominal volumes and the ribs motion.No previous work was found in the literature reporting this optimized breathing pattern in swimmers.The higher coordination between the thoracoabdominal volumes and the ribs motion found in swimmers can partially explain the higher lung volumes reported in literature for these athletes. PMID:24149449

On the Long-Term "Hesitation Waltz" Between the Earth's Figure and Rotation Axes

NASA Astrophysics Data System (ADS)

Couhert, A.; Mercier, F.; Bizouard, C.

2017-12-01

The principal figure axis of the Earth refers to its axis of maximum inertia. In the absence of external torques, the latter should closely coincide with the rotation pole, when averaged over many years. However, because of tidal and non-tidal mass redistributions within the Earth system, the rotational axis executes a circular motion around the figure axis essentially at seasonal time scales. In between, it is not clear what happens at decadal time spans and how well the two axes are aligned. The long record of accurate Satellite Laser Ranging (SLR) observations to Lageos makes possible to directly measure the long time displacement of the figure axis with respect to the crust, through the determination of the degree 2 order 1 geopotential coefficients for the 34-year period 1983-2017. On the other hand, the pole coordinate time series (mainly from GNSS and VLBI data) yield the motion of the rotation pole with even a greater accuracy. This study is focused on the analysis of the long-term behavior of the two time series, as well as the derivation of possible explanations for their discrepancies.

Rotation and scale invariant shape context registration for remote sensing images with background variations

NASA Astrophysics Data System (ADS)

Jiang, Jie; Zhang, Shumei; Cao, Shixiang

2015-01-01

Multitemporal remote sensing images generally suffer from background variations, which significantly disrupt traditional region feature and descriptor abstracts, especially between pre and postdisasters, making registration by local features unreliable. Because shapes hold relatively stable information, a rotation and scale invariant shape context based on multiscale edge features is proposed. A multiscale morphological operator is adapted to detect edges of shapes, and an equivalent difference of Gaussian scale space is built to detect local scale invariant feature points along the detected edges. Then, a rotation invariant shape context with improved distance discrimination serves as a feature descriptor. For a distance shape context, a self-adaptive threshold (SAT) distance division coordinate system is proposed, which improves the discriminative property of the feature descriptor in mid-long pixel distances from the central point while maintaining it in shorter ones. To achieve rotation invariance, the magnitude of Fourier transform in one-dimension is applied to calculate angle shape context. Finally, the residual error is evaluated after obtaining thin-plate spline transformation between reference and sensed images. Experimental results demonstrate the robustness, efficiency, and accuracy of this automatic algorithm.

Suction is kid's play: extremely fast suction in newborn seahorses.

PubMed

Van Wassenbergh, Sam; Roos, Gert; Genbrugge, Annelies; Leysen, Heleen; Aerts, Peter; Adriaens, Dominique; Herrel, Anthony

2009-04-23

Ongoing anatomical development typically results in a gradual maturation of the feeding movements from larval to adult fishes. Adult seahorses are known to capture prey by rotating their long-snouted head extremely quickly towards prey, followed by powerful suction. This type of suction is powered by elastic recoil and requires very precise coordination of the movements of the associated feeding structures, making it an all-or-none phenomenon. Here, we show that newborn Hippocampus reidi are able to successfully feed using an extremely rapid and powerful snout rotation combined with a high-volume suction, surpassing that observed in adult seahorses. An inverse dynamic analysis shows that an elastic recoil mechanism is also used to power head rotation in newborn H. reidi. This illustrates how extreme levels of performance in highly complex musculoskeletal systems can be present at birth given a delayed birth and rapid development of functionally important structures. The fact that the head skeleton of newborn seahorses is still largely cartilaginous may not be problematic because the hydrodynamic stress on the rotating snout appeared considerably lower than in adult syngnathids.

Suction is kid's play: extremely fast suction in newborn seahorses

PubMed Central

Van Wassenbergh, Sam; Roos, Gert; Genbrugge, Annelies; Leysen, Heleen; Aerts, Peter; Adriaens, Dominique; Herrel, Anthony

2009-01-01

Ongoing anatomical development typically results in a gradual maturation of the feeding movements from larval to adult fishes. Adult seahorses are known to capture prey by rotating their long-snouted head extremely quickly towards prey, followed by powerful suction. This type of suction is powered by elastic recoil and requires very precise coordination of the movements of the associated feeding structures, making it an all-or-none phenomenon. Here, we show that newborn Hippocampus reidi are able to successfully feed using an extremely rapid and powerful snout rotation combined with a high-volume suction, surpassing that observed in adult seahorses. An inverse dynamic analysis shows that an elastic recoil mechanism is also used to power head rotation in newborn H. reidi. This illustrates how extreme levels of performance in highly complex musculoskeletal systems can be present at birth given a delayed birth and rapid development of functionally important structures. The fact that the head skeleton of newborn seahorses is still largely cartilaginous may not be problematic because the hydrodynamic stress on the rotating snout appeared considerably lower than in adult syngnathids. PMID:19324657

A multidimensional model of the effect of gravity on the spatial orientation of the monkey

NASA Technical Reports Server (NTRS)

Merfeld, D. M.; Young, L. R.; Oman, C. M.; Shelhamer, M. J.

1993-01-01

A "sensory conflict" model of spatial orientation was developed. This mathematical model was based on concepts derived from observer theory, optimal observer theory, and the mathematical properties of coordinate rotations. The primary hypothesis is that the central nervous system of the squirrel monkey incorporates information about body dynamics and sensory dynamics to develop an internal model. The output of this central model (expected sensory afference) is compared to the actual sensory afference, with the difference defined as "sensory conflict." The sensory conflict information is, in turn, used to drive central estimates of angular velocity ("velocity storage"), gravity ("gravity storage"), and linear acceleration ("acceleration storage") toward more accurate values. The model successfully predicts "velocity storage" during rotation about an earth-vertical axis. The model also successfully predicts that the time constant of the horizontal vestibulo-ocular reflex is reduced and that the axis of eye rotation shifts toward alignment with gravity following postrotatory tilt. Finally, the model predicts the bias, modulation, and decay components that have been observed during off-vertical axis rotations (OVAR).

Impact of orbit modeling on DORIS station position and Earth rotation estimates

NASA Astrophysics Data System (ADS)

Štěpánek, Petr; Rodriguez-Solano, Carlos Javier; Hugentobler, Urs; Filler, Vratislav

2014-04-01

The high precision of estimated station coordinates and Earth rotation parameters (ERP) obtained from satellite geodetic techniques is based on the precise determination of the satellite orbit. This paper focuses on the analysis of the impact of different orbit parameterizations on the accuracy of station coordinates and the ERPs derived from DORIS observations. In a series of experiments the DORIS data from the complete year 2011 were processed with different orbit model settings. First, the impact of precise modeling of the non-conservative forces on geodetic parameters was compared with results obtained with an empirical-stochastic modeling approach. Second, the temporal spacing of drag scaling parameters was tested. Third, the impact of estimating once-per-revolution harmonic accelerations in cross-track direction was analyzed. And fourth, two different approaches for solar radiation pressure (SRP) handling were compared, namely adjusting SRP scaling parameter or fixing it on pre-defined values. Our analyses confirm that the empirical-stochastic orbit modeling approach, which does not require satellite attitude information and macro models, results for most of the monitored station parameters in comparable accuracy as the dynamical model that employs precise non-conservative force modeling. However, the dynamical orbit model leads to a reduction of the RMS values for the estimated rotation pole coordinates by 17% for x-pole and 12% for y-pole. The experiments show that adjusting atmospheric drag scaling parameters each 30 min is appropriate for DORIS solutions. Moreover, it was shown that the adjustment of cross-track once-per-revolution empirical parameter increases the RMS of the estimated Earth rotation pole coordinates. With recent data it was however not possible to confirm the previously known high annual variation in the estimated geocenter z-translation series as well as its mitigation by fixing the SRP parameters on pre-defined values.

Rotation as a course: lessons learned from developing a hybrid online/on-ground approach to general surgical resident education.

PubMed

Maddaus, Michael A; Chipman, Jeffrey G; Whitson, Bryan A; Groth, Shawn S; Schmitz, Connie C

2008-01-01

To improve the consistency and the quality of resident education on clinical rotations, 5 surgical rotations (thoracic, bariatrics, surgical oncology, pediatrics, and critical care) were restructured "as courses" with learning objectives, educational activities (online and on-ground), pretests, posttests, and oral examinations. University surgical training program in a large metropolitan area, which serves approximately 65 residents per year. The online course management system, WebCT/VISTA (Blackboard Inc., Washington, DC), was used to build 5 online course sites. To engage and garner support from faculty, several organizational change tactics and resources were employed, such as Grand Rounds presentations, a faculty retreat, consultation and support from professional staff, and the use of residents as reviewers and codevelopers. To support resident use of the online sites, a designated education coordinator provided individual and group orientation sessions and employed weekly tracking and reminder systems; completion of pretests and posttests was mandated. Between 6 and 8 learning modules were created per rotation, with over 50 reading assignments (collectively) and 45 online presentations. Since July 2006, 53 residents have completed a total of 106 rotations on these services. Preliminary results from a longitudinal study suggest that the hybrid approach is well received and effective when fully executed, but that online course materials are used by residents only if they feel that the faculty members are truly engaged and actively promoting the site. Changing the culture of learning on rotation to include learning objectives, assessment, and integrated online/on-ground activities takes significant leadership, resident input, professional staff support, faculty engagement, and time.

Plate measurement techniques and reduction methods used by the West German satellite observers, and resulting consequences for the observation

NASA Technical Reports Server (NTRS)

Deker, H.

1971-01-01

The West German tracking stations are equipped with ballistic cameras. Plate measurement and plate reduction must therefore follow photogrammetric methods. Approximately 100 star positions and 200 satellite positions are measured on each plate. The mathematical model for spatial rotation of the bundle of rays is extended by including terms for distortion and internal orientation of the camera as well as by providing terms for refraction which are computed for the measured coordinates of the star positions on the plate. From the measuring accuracy of the plate coordinates it follows that the timing accuracy for the exposures has to be about one millisecond, in order to obtain a homogeneous system.

Pure quasi-P wave equation and numerical solution in 3D TTI media

NASA Astrophysics Data System (ADS)

Zhang, Jian-Min; He, Bing-Shou; Tang, Huai-Gu

2017-03-01

Based on the pure quasi-P wave equation in transverse isotropic media with a vertical symmetry axis (VTI media), a quasi-P wave equation is obtained in transverse isotropic media with a tilted symmetry axis (TTI media). This is achieved using projection transformation, which rotates the direction vector in the coordinate system of observation toward the direction vector for the coordinate system in which the z-component is parallel to the symmetry axis of the TTI media. The equation has a simple form, is easily calculated, is not influenced by the pseudo-shear wave, and can be calculated reliably when δ is greater than ɛ. The finite difference method is used to solve the equation. In addition, a perfectly matched layer (PML) absorbing boundary condition is obtained for the equation. Theoretical analysis and numerical simulation results with forward modeling prove that the equation can accurately simulate a quasi-P wave in TTI medium.

SU-F-J-40: Evaluation of Sensitivity of the Automatic Matching Between Cone-Beam CT Image and Simulation CT Image in TrueBeam 2.0 Imaging System 6DoF Considering Different Uncertainty Sources

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

Bonaque, J; Bautista-Ballesteros, J; Ibanez-Rosello, B

Purpose: To estimate the sensitivity of TrueBeam 2.0 Imaging System 6DoF automatic matching tool through the acquisition of cone-beam CT images in different phantoms applying submillimeter translations and rotations of tenths of a degree and registered with image simulation CT. Methods: To evaluate overall system-wide image, we consider two uncertainties source; First, the uncertainty of the manual phantom displacement (ε-m). This uncertainty is calculated by a digital caliper (0.01 mm) for vertical (Vrt), lateral (Lat) and longitudinal (Lng). A digital inclinometer (0.01°) for the pitch and roll and the own phantom scale to evaluate the coordinate rotation (Rtn). The secondmore » uncertainty is the displacement detected by the algorithm system of matching (σ-d) that we obtain from the standard deviations of the different measurements. We use three different phantoms. The BrainLab Radiosurgery system for supporting masks with an anthropomorphic dummy adapted to allow displacements of 0.1 mm in Vrt, Lat and Lng dimensions and rotations of 0.1° in Pitch dimension. For the analysis of the Rtn and Roll dimensions we use two homemade phantoms (RinoRot and RinoRoll, La Fe Hospital, Valencia, Spain) that allow rotations of 0.3°. Results: In the case of manual displacement of 0.10 ± 0.03 mm in the translations, the system detect 0.10 ± 0.07 mm, 0.12 ± 0.07 mm and 0.13 ± 0.07 mm (mean ± SD) in Lat, Vrt and Lng respectively. In the case of rotational dimension, manual displacement of 0.3 ± 0.1° was detected with 0.19 ± 0.06°, 0.29 ± 0.03° and 0.27 ± 0.06° in Pitch, Roll and Rtn. Conclusion: We conclude that the sensitivity of the automatic matching system is within 0.10 mm in translations and 0.3° in rotations. These values are under the own sensitivity of the software.« less

Self-rotations in simulated microgravity: performance effects of strategy training.

PubMed

Stirling, Leia; Newman, Dava; Willcox, Karen

2009-01-01

This research studies reorientation methodologies in a simulated microgravity environment using an experimental framework to reduce astronaut adaptation time and provide for a safety countermeasure during extravehicular activity. There were 20 subjects (10 men, 10 women, mean age of 23.6 +/- 3.5) who were divided into 2 groups, fully trained and minimally trained, which determined the amount of motion strategy training received. Subjects performed a total of 48 rotations about their pitch, roll, and yaw axes in a suspension system that simulated microgravity. In each trial subjects either rotated 90 degrees in pitch, 90 degrees in roll, or 180 degrees in yaw. Experimental measures include subject coordination, performance time, cognitive workload assessments, and qualitative motion control strategies. Subjects in the fully trained group had better initial performance with respect to performance time and workload scores for the pitch and yaw rotations. Further, trained subjects reached a steady-state performance time in fewer trials than those with minimal training. The subjects with minimal training tended to use motions that were common in an Earth environment since no technique was provided. For roll rotations they developed motions that would have led to significant off-axis (pitch and yaw) rotations in a true microgravity environment. We have shown that certain body axes are easier to rotate about than others and that fully trained subjects had an easier time performing the body rotations than the minimally trained subjects. This study has provided the groundwork for the development of an astronaut motion-control training program.

Report of the IAU Working Group on Cartographic Coordinates and Rotational Elements: 2015

NASA Astrophysics Data System (ADS)

Archinal, B. A.; Acton, C. H.; A'Hearn, M. F.; Conrad, A.; Consolmagno, G. J.; Duxbury, T.; Hestroffer, D.; Hilton, J. L.; Kirk, R. L.; Klioner, S. A.; McCarthy, D.; Meech, K.; Oberst, J.; Ping, J.; Seidelmann, P. K.; Tholen, D. J.; Thomas, P. C.; Williams, I. P.

2018-03-01

This report continues the practice where the IAU Working Group on Cartographic Coordinates and Rotational Elements revises recommendations regarding those topics for the planets, satellites, minor planets, and comets approximately every 3 years. The Working Group has now become a "functional working group" of the IAU, and its membership is open to anyone interested in participating. We describe the procedure for submitting questions about the recommendations given here or the application of these recommendations for creating a new or updated coordinate system for a given body. Regarding body orientation, the following bodies have been updated: Mercury, based on MESSENGER results; Mars, along with a refined longitude definition; Phobos; Deimos; (1) Ceres; (52) Europa; (243) Ida; (2867) Šteins; Neptune; (134340) Pluto and its satellite Charon; comets 9P/Tempel 1, 19P/Borrelly, 67P/Churyumov-Gerasimenko, and 103P/Hartley 2, noting that such information is valid only between specific epochs. The special challenges related to mapping 67P/Churyumov-Gerasimenko are also discussed. Approximate expressions for the Earth have been removed in order to avoid confusion, and the low precision series expression for the Moon's orientation has been removed. The previously online only recommended orientation model for (4) Vesta is repeated with an explanation of how it was updated. Regarding body shape, text has been included to explain the expected uses of such information, and the relevance of the cited uncertainty information. The size of the Sun has been updated, and notation added that the size and the ellipsoidal axes for the Earth and Jupiter have been recommended by an IAU Resolution. The distinction of a reference radius for a body (here, the Moon and Titan) is made between cartographic uses, and for orthoprojection and geophysical uses. The recommended radius for Mercury has been updated based on MESSENGER results. The recommended radius for Titan is returned to its previous value. Size information has been updated for 13 other Saturnian satellites and added for Aegaeon. The sizes of Pluto and Charon have been updated. Size information has been updated for (1) Ceres and given for (16) Psyche and (52) Europa. The size of (25143) Itokawa has been corrected. In addition, the discussion of terminology for the poles (hemispheres) of small bodies has been modified and a discussion on cardinal directions added. Although they continue to be used for planets and their satellites, it is assumed that the planetographic and planetocentric coordinate system definitions do not apply to small bodies. However, planetocentric and planetodetic latitudes and longitudes may be used on such bodies, following the right-hand rule. We repeat our previous recommendations that planning and efforts be made to make controlled cartographic products; newly recommend that common formulations should be used for orientation and size; continue to recommend that a community consensus be developed for the orientation models of Jupiter and Saturn; newly recommend that historical summaries of the coordinate systems for given bodies should be developed, and point out that for planets and satellites planetographic systems have generally been historically preferred over planetocentric systems, and that in cases when planetographic coordinates have been widely used in the past, there is no obvious advantage to switching to the use of planetocentric coordinates. The Working Group also requests community input on the question submitting process, posting of updates to the Working Group website, and on whether recommendations should be made regarding exoplanet coordinate systems.

Responses of neurons in the medial column of the inferior olive in pigeons to translational and rotational optic flowfields.

PubMed

Winship, I R; Wylie, D R

2001-11-01

The responses of neurons in the medial column of the inferior olive to translational and rotational optic flow were recorded from anaesthetized pigeons. Panoramic translational or rotational flowfields were produced by mechanical devices that projected optic flow patterns onto the walls, ceiling and floor of the room. The axis of rotation/translation could be positioned to any orientation in three-dimensional space such that axis tuning could be determined. Each neuron was assigned a vector representing the axis about/along which the animal would rotate/translate to produce the flowfield that elicited maximal modulation. Both translation-sensitive and rotation-sensitive neurons were found. For neurons responsive to translational optic flow, the preferred axis is described with reference to a standard right-handed coordinate system, where +x, +y and +z represent rightward, upward and forward translation of the animal, respectively (assuming that all recordings were from the right side of the brain). t(+y) neurons were maximally excited in response to a translational optic flowfield that results from self-translation upward along the vertical (y) axis. t(-y) neurons also responded best to translational optic flow along the vertical axis but showed the opposite direction preference. The two remaining groups, t(-x+z) and t(-x-z) neurons, responded best to translational optic flow along horizontal axes that were oriented 45 degrees to the midline. There were two types of neurons responsive to rotational optic flow: rVA neurons preferred rotation about the vertical axis, and rH135c neurons preferred rotation about a horizontal axis at 135 degrees contralateral azimuth. The locations of marking lesions indicated a clear topographical organization of the six response types. In summary, our results reinforce that the olivo-cerebellar system dedicated to the analysis of optic flow is organized according to a reference frame consisting of three approximately orthogonal axes: the vertical axis, and two horizontal axes oriented 45 degrees to either side the midline. Previous research has shown that the eye muscles, vestibular semicircular canals and postural control system all share a similar spatial frame of reference.

Motor coordination defects in mice deficient for the Sam68 RNA-binding protein.

PubMed

Lukong, Kiven E; Richard, Stéphane

2008-06-03

The role of RNA-binding proteins in the central nervous system and more specifically their role in motor coordination and learning are poorly understood. We previously reported that ablation of RNA-binding protein Sam68 in mice results in male sterility and delayed mammary gland development and protection against osteoporosis in females. Sam68 however is highly expressed in most regions of the brain especially the cerebellum and thus we investigated the cerebellar-related manifestations in Sam68-null mice. We analyzed the mice for motor function, sensory function, and learning and memory abilities. Herein, we report that Sam68-null mice have motor coordination defects as assessed by beam walking and rotorod performance. Forty-week-old Sam68-null mice (n=12) were compared to their wild-type littermates (n=12). The Sam68-null mice exhibited more hindpaw faults in beam walking tests and fell from the rotating drum at lower speeds and prematurely compared to the wild-type controls. The Sam68-null mice were, however, normal for forelimb strength, tail-hang reflex, balance test, grid walking, the Morris water task, recognition memory, visual discrimination, auditory stimulation and conditional taste aversion. Our findings support a role for Sam68 in the central nervous system in the regulation of motor coordination.

CLASSICAL AREAS OF PHENOMENOLOGY: Material parameter equation for rotating elliptical spherical cloaks

NASA Astrophysics Data System (ADS)

Ma, Hua; Qu, Shao-Bo; Xu, Zhuo; Zhang, Jie-Qiu; Wang, Jia-Fu

2009-01-01

By using the coordinate transformation method, we have deduced the material parameter equation for rotating elliptical spherical cloaks and carried out simulation as well. The results indicate that the rotating elliptical spherical cloaking shell, which is made of meta-materials whose permittivity and permeability are governed by the equation deduced in this paper, can achieve perfect invisibility by excluding electromagnetic fields from the internal region without disturbing any external field.

Crustal dynamics project data analysis, 1991: VLBI geodetic results, 1979 - 1990

NASA Technical Reports Server (NTRS)

Ma, C.; Ryan, J. W.; Caprette, D. S.

1992-01-01

The Goddard VLBI group reports the results of analyzing 1412 Mark II data sets acquired from fixed and mobile observing sites through the end of 1990 and available to the Crustal Dynamics Project. Three large solutions were used to obtain Earth rotation parameters, nutation offsets, global source positions, site velocities, and baseline evolution. Site positions are tabulated on a yearly basis from 1979 through 1992. Site velocities are presented in both geocentric Cartesian coordinates and topocentric coordinates. Baseline evolution is plotted for 175 baselines. Rates are computed for earth rotation and nutation parameters. Included are 104 sources, 88 fixed stations and mobile sites, and 688 baselines.

Functionally relevant protein motions: Extracting basin-specific collective coordinates from molecular dynamics trajectories

NASA Astrophysics Data System (ADS)

Pan, Patricia Wang; Dickson, Russell J.; Gordon, Heather L.; Rothstein, Stuart M.; Tanaka, Shigenori

2005-01-01

Functionally relevant motion of proteins has been associated with a number of atoms moving in a concerted fashion along so-called "collective coordinates." We present an approach to extract collective coordinates from conformations obtained from molecular dynamics simulations. The power of this technique for differentiating local structural fuctuations between classes of conformers obtained by clustering is illustrated by analyzing nanosecond-long trajectories for the response regulator protein Spo0F of Bacillus subtilis, generated both in vacuo and using an implicit-solvent representation. Conformational clustering is performed using automated histogram filtering of the inter-Cα distances. Orthogonal (varimax) rotation of the vectors obtained by principal component analysis of these interresidue distances for the members of individual clusters is key to the interpretation of collective coordinates dominating each conformational class. The rotated loadings plots isolate significant variation in interresidue distances, and these are associated with entire mobile secondary structure elements. From this we infer concerted motions of these structural elements. For the Spo0F simulations employing an implicit-solvent representation, collective coordinates obtained in this fashion are consistent with the location of the protein's known active sites and experimentally determined mobile regions.

A weighted adjustment of a similarity transformation between two point sets containing errors

NASA Astrophysics Data System (ADS)

Marx, C.

2017-10-01

For an adjustment of a similarity transformation, it is often appropriate to consider that both the source and the target coordinates of the transformation are affected by errors. For the least squares adjustment of this problem, a direct solution is possible in the cases of specific-weighing schemas of the coordinates. Such a problem is considered in the present contribution and a direct solution is generally derived for the m-dimensional space. The applied weighing schema allows (fully populated) point-wise weight matrices for the source and target coordinates, both weight matrices have to be proportional to each other. Additionally, the solutions of two borderline cases of this weighting schema are derived, which only consider errors in the source or target coordinates. The investigated solution of the rotation matrix of the adjustment is independent of the scaling between the weight matrices of the source and the target coordinates. The mentioned borderline cases, therefore, have the same solution of the rotation matrix. The direct solution method is successfully tested on an example of a 3D similarity transformation using a comparison with an iterative solution based on the Gauß-Helmert model.

Cognitive Coordinate Systems: Accounts of Mental Rotation and Individual Differences in Spatial Ability.

DTIC Science & Technology

1984-09-01

10). Barratt (1953) also found variation in strategies in a number of spatial tests, particularly for more difficult items. Thus, there is likely to...J. R. Arguments concerning representations for mental imagery. Psychological Review, 1978, §5, 249-277. Barratt , E. S. An analysis of verbal reports...Naval Education and Training Liason Office I Dr. NiIliaa L. Malay t21 Air Force Human Resource Laboratory Chief of Naval Education and Traininc

The free moment is associated with torsion between the pelvis and the foot during gait.

PubMed

Ohkawa, Takahiro; Atomi, Tomoaki; Hasegawa, Katsuya; Atomi, Yoriko

2017-10-01

During walking, the friction between the foot and the ground surface causes a free moment (FM), which influences the torsional stress on the lower extremity. However, few studies have investigated the FM during natural walking. The main aim of this study was to examine the relationship between the FM and the absolute and relative rotation angles of the foot and pelvis. The rotation angles of foot and pelvic were measured in 18 healthy men using a motion capture system. Rotation angles were measured in absolute and relative coordinates as well as in reference to the line connecting the center of pressure (CoP) line under the right and left feet to evaluate the effects of the opposite lower limb on the FM. The absolute and relative rotation angles of the foot and pelvis were entered into forced-entry linear regression models to evaluate the influence on the FM. Only the relative angle of rotation between the foot and pelvis could explain the prediction equations significantly. In the Pearson's product-moment correlation coefficient, the rotation angles of the foot and pelvis defined using the bilateral CoP points had not significantly correlated with FM. No joint rotation movement was correlated with FM. The torsion of the entire lower extremity should be performed principally through hip internal rotation. When evaluating the FM as a torsional stress, focusing on the rotation of the entire lower extremity, rather than on one segment, is beneficial. Copyright © 2017 Elsevier B.V. All rights reserved.

A design of optical measurement laboratory for space-based illumination condition emulation

NASA Astrophysics Data System (ADS)

Xu, Rong; Zhao, Fei; Yang, Xin

2015-10-01

Space Objects Identification(SOI) and related technology have aroused wide attention from spacefaring nations due to the increasingly severe space environment. Multiple ground-based assets have been employed to acquire statistical survey data, detect faint debris, acquire photometric and spectroscopic data. Great efforts have been made to characterize different space objects using the statistical data acquired by telescopes. Furthermore, detailed laboratory data are needed to optimize the characterization of orbital debris and satellites via material composition and potential rotation axes, which calls for a high-precision and flexible optical measurement system. A typical method of taking optical measurements of a space object(or model) is to move light source and sensors through every possible orientation around it and keep the target still. However, moving equipments to accurate orientations in the air is difficult, especially for those large precise instruments sensitive to vibrations. Here, a rotation structure of "3+1" axes, with a three-axis turntable manipulating attitudes of the target and the sensor revolving around a single axis, is utilized to emulate every possible illumination condition in space, which can also avoid the inconvenience of moving large aparatus. Firstly, the source-target-sensor orientation of a real satellite was analyzed with vectors and coordinate systems built to illustrate their spatial relationship. By bending the Reference Coordinate Frame to the Phase Angle plane, the sensor only need to revolve around a single axis while the other three degrees of freedom(DOF) are associated with the Euler's angles of the satellite. Then according to practical engineering requirements, an integrated rotation system of four-axis structure is brought forward. Schemetic diagrams of the three-axis turntable and other equipments show an overview of the future laboratory layout. Finally, proposals on evironment arrangements, light source precautions and sensor selections are provided. Comparing to current methods, this design shows better effects on device simplication, automatic control and high-precision measurement.

Estimating the Earth's geometry, rotation and gravity field using a multi-satellite SLR solution

NASA Astrophysics Data System (ADS)

Stefka, V.; Blossfeld, M.; Mueller, H.; Gerstl, M.; Panafidina, N.

2012-12-01

Satellite Laser Ranging (SLR) is the unique technique to determine station coordinates, Earth Orientation Parameter (EOP) and Stokes coefficients of the Earth's gravity field in one common adjustment. These parameters form the so called "three pillars" (Plag & Pearlman, 2009) of the Global Geodetic Observing System (GGOS). In its function as official analysis center of the International Laser Ranging Service (ILRS), DGFI is developing and maintaining software to process SLR observations called "DGFI Orbit and Geodetic parameter estimation Software" (DOGS). The software is used to analyze SLR observations and to compute multi-satellite solutions. To take benefit of different orbit performances (e.g. inclination and altitude), a solution using ten different spherical satellites (ETALON1/2, LAGEOS1/2, STELLA, STARLETTE, AJISAI, LARETS, LARES, BLITS) covering the period of 12 years of observations is computed. The satellites are relatively weighted using a variance component estimation (VCE). The obtained weights are analyzed w.r.t. the potential of the satellite to monitor changes in the Earths geometry, rotation and gravity field. The estimated parameters (station coordinates and EOP) are validated w.r.t. official time series of the IERS. The Stokes coefficients are compared to recent gravity field solutions.

Tidal disruptions by rotating black holes: relativistic hydrodynamics with Newtonian codes

NASA Astrophysics Data System (ADS)

Tejeda, Emilio; Gafton, Emanuel; Rosswog, Stephan; Miller, John C.

2017-08-01

We propose an approximate approach for studying the relativistic regime of stellar tidal disruptions by rotating massive black holes. It combines an exact relativistic description of the hydrodynamical evolution of a test fluid in a fixed curved space-time with a Newtonian treatment of the fluid's self-gravity. Explicit expressions for the equations of motion are derived for Kerr space-time using two different coordinate systems. We implement the new methodology within an existing Newtonian smoothed particle hydrodynamics code and show that including the additional physics involves very little extra computational cost. We carefully explore the validity of the novel approach by first testing its ability to recover geodesic motion, and then by comparing the outcome of tidal disruption simulations against previous relativistic studies. We further compare simulations in Boyer-Lindquist and Kerr-Schild coordinates and conclude that our approach allows accurate simulation even of tidal disruption events where the star penetrates deeply inside the tidal radius of a rotating black hole. Finally, we use the new method to study the effect of the black hole spin on the morphology and fallback rate of the debris streams resulting from tidal disruptions, finding that while the spin has little effect on the fallback rate, it does imprint heavily on the stream morphology, and can even be a determining factor in the survival or disruption of the star itself. Our methodology is discussed in detail as a reference for future astrophysical applications.

The kinetic energy operator for distance-dependent effective nuclear masses: Derivation for a triatomic molecule.

PubMed

Khoma, Mykhaylo; Jaquet, Ralph

2017-09-21

The kinetic energy operator for triatomic molecules with coordinate or distance-dependent nuclear masses has been derived. By combination of the chain rule method and the analysis of infinitesimal variations of molecular coordinates, a simple and general technique for the construction of the kinetic energy operator has been proposed. The asymptotic properties of the Hamiltonian have been investigated with respect to the ratio of the electron and proton mass. We have demonstrated that an ad hoc introduction of distance (and direction) dependent nuclear masses in Cartesian coordinates preserves the total rotational invariance of the problem. With the help of Wigner rotation functions, an effective Hamiltonian for nuclear motion can be derived. In the derivation, we have focused on the effective trinuclear Hamiltonian. All necessary matrix elements are given in closed analytical form. Preliminary results for the influence of non-adiabaticity on vibrational band origins are presented for H 3 + .

Parameter estimation in 3D affine and similarity transformation: implementation of variance component estimation

NASA Astrophysics Data System (ADS)

Amiri-Simkooei, A. R.

2018-01-01

Three-dimensional (3D) coordinate transformations, generally consisting of origin shifts, axes rotations, scale changes, and skew parameters, are widely used in many geomatics applications. Although in some geodetic applications simplified transformation models are used based on the assumption of small transformation parameters, in other fields of applications such parameters are indeed large. The algorithms of two recent papers on the weighted total least-squares (WTLS) problem are used for the 3D coordinate transformation. The methodology can be applied to the case when the transformation parameters are generally large of which no approximate values of the parameters are required. Direct linearization of the rotation and scale parameters is thus not required. The WTLS formulation is employed to take into consideration errors in both the start and target systems on the estimation of the transformation parameters. Two of the well-known 3D transformation methods, namely affine (12, 9, and 8 parameters) and similarity (7 and 6 parameters) transformations, can be handled using the WTLS theory subject to hard constraints. Because the method can be formulated by the standard least-squares theory with constraints, the covariance matrix of the transformation parameters can directly be provided. The above characteristics of the 3D coordinate transformation are implemented in the presence of different variance components, which are estimated using the least squares variance component estimation. In particular, the estimability of the variance components is investigated. The efficacy of the proposed formulation is verified on two real data sets.

Design of a Reconfigurable Robotic System for Flexoextension Fitted to Hand Fingers Size

PubMed Central

Castillo-Castaneda, Eduardo

2016-01-01

Due to the growing demand for assistance in rehabilitation therapies for hand movements, a robotic system is proposed to mobilize the hand fingers in flexion and extension exercises. The robotic system is composed by four, type slider-crank, mechanisms that have the ability to fit the user fingers length from the index to the little finger, through the adjustment of only one link for each mechanism. The trajectory developed by each mechanism corresponds to the natural flexoextension path of each finger. The amplitude of the rotations for metacarpophalangeal joint (MCP) and proximal interphalangeal joint (PIP) varies from 0 to 90° and the distal interphalangeal joint (DIP) varies from 0 to 60°; the joint rotations are coordinated naturally. The four R-RRT mechanisms orientation allows a 15° abduction movement for index, ring, and little fingers. The kinematic analysis of this mechanism was developed in order to assure that the displacement speed and smooth acceleration into the desired range of motion and the simulation results are presented. The reconfiguration of mechanisms covers about 95% of hand sizes of a group of Mexican adult population. Maximum trajectory tracking error is less than 3% in full range of movement and it can be compensated by the additional rotation of finger joints without injury to the user. PMID:27524880

Design of a Reconfigurable Robotic System for Flexoextension Fitted to Hand Fingers Size.

PubMed

Aguilar-Pereyra, J Felipe; Castillo-Castaneda, Eduardo

2016-01-01

Due to the growing demand for assistance in rehabilitation therapies for hand movements, a robotic system is proposed to mobilize the hand fingers in flexion and extension exercises. The robotic system is composed by four, type slider-crank, mechanisms that have the ability to fit the user fingers length from the index to the little finger, through the adjustment of only one link for each mechanism. The trajectory developed by each mechanism corresponds to the natural flexoextension path of each finger. The amplitude of the rotations for metacarpophalangeal joint (MCP) and proximal interphalangeal joint (PIP) varies from 0 to 90° and the distal interphalangeal joint (DIP) varies from 0 to 60°; the joint rotations are coordinated naturally. The four R-RRT mechanisms orientation allows a 15° abduction movement for index, ring, and little fingers. The kinematic analysis of this mechanism was developed in order to assure that the displacement speed and smooth acceleration into the desired range of motion and the simulation results are presented. The reconfiguration of mechanisms covers about 95% of hand sizes of a group of Mexican adult population. Maximum trajectory tracking error is less than 3% in full range of movement and it can be compensated by the additional rotation of finger joints without injury to the user.

Reference equations of motion for automatic rendezvous and capture

NASA Technical Reports Server (NTRS)

Henderson, David M.

1992-01-01

The analysis presented in this paper defines the reference coordinate frames, equations of motion, and control parameters necessary to model the relative motion and attitude of spacecraft in close proximity with another space system during the Automatic Rendezvous and Capture phase of an on-orbit operation. The relative docking port target position vector and the attitude control matrix are defined based upon an arbitrary spacecraft design. These translation and rotation control parameters could be used to drive the error signal input to the vehicle flight control system. Measurements for these control parameters would become the bases for an autopilot or feedback control system (FCS) design for a specific spacecraft.

Integration of vestibular and head movement signals in the vestibular nuclei during whole-body rotation

NASA Technical Reports Server (NTRS)

Gdowski, G. T.; McCrea, R. A.; Peterson, B. W. (Principal Investigator)

1999-01-01

Single-unit recordings were obtained from 107 horizontal semicircular canal-related central vestibular neurons in three alert squirrel monkeys during passive sinusoidal whole-body rotation (WBR) while the head was free to move in the yaw plane (2.3 Hz, 20 degrees /s). Most of the units were identified as secondary vestibular neurons by electrical stimulation of the ipsilateral vestibular nerve (61/80 tested). Both non-eye-movement (n = 52) and eye-movement-related (n = 55) units were studied. Unit responses recorded when the head was free to move were compared with responses recorded when the head was restrained from moving. WBR in the absence of a visual target evoked a compensatory vestibulocollic reflex (VCR) that effectively reduced the head velocity in space by an average of 33 +/- 14%. In 73 units, the compensatory head movements were sufficiently large to permit the effect of the VCR on vestibular signal processing to be assessed quantitatively. The VCR affected the rotational responses of different vestibular neurons in different ways. Approximately one-half of the units (34/73, 47%) had responses that decreased as head velocity decreased. However, the responses of many other units (24/73) showed little change. These cells had signals that were better correlated with trunk velocity than with head velocity. The remaining units had responses that were significantly larger (15/73, 21%) when the VCR produced a decrease in head velocity. Eye-movement-related units tended to have rotational responses that were correlated with head velocity. On the other hand, non-eye-movement units tended to have rotational responses that were better correlated with trunk velocity. We conclude that sensory vestibular signals are transformed from head-in-space coordinates to trunk-in-space coordinates on many secondary vestibular neurons in the vestibular nuclei by the addition of inputs related to head rotation on the trunk. This coordinate transformation is presumably important for controlling postural reflexes and constructing a central percept of body orientation and movement in space.

The effect of host cluster gravitational tidal forces on the internal dynamics of spiral galaxies

NASA Astrophysics Data System (ADS)

Mayer, Alexander

2013-04-01

New empirical observation by Bidin, Carraro, Mendez & Smith finds ``a lack of dark matter in the Solar neighborhood" (2012 ApJ 751, 30). This, and the discovery of a vast polar structure of Milky Way satellites by Pawlowski, Pflamm-Altenburg & Kroupa (2012 MNRAS 423, 1109), conflict with the prevailing interpretation of the measured Galactic rotation curve. Simulating the dynamical effects of host cluster tidal forces on galaxy disks reveals radial migration in a spiral structure and an orbital velocity that accelerates with increasing galactocentric radial coordinate. A virtual ``toy model,'' which is based on an Earth-orbiting system of particles and is physically realizable in principle, is available at GravitySim.net. Given the perturbing gravitational effect of the host cluster on a spiral galaxy disk and that a similar effect does not exist for the Solar System, the two systems represent distinct classes of gravitational dynamical systems. The observed `flat' and accelerating rotation curves of spiral galaxies can be attributed to gravitational interaction with the host cluster; no `dark matter halo' is required to explain the observable.

A resident conference for systems-based practice and practice-based learning.

PubMed

Sultana, Carmen J; Baxter, Jason K

2011-02-01

Improving patient safety and quality of care is part of systems-based practice and practice-based learning for residents. We expanded our obstetrics and gynecology department's regularly scheduled morbidity and mortality conferences to teach quality assurance concepts based on patient care on obstetrics and gynecology fourth-year resident rotations. Obstetrics and gynecology fourth-year residents on one of the two rotations each presented and analyzed a systems-based problem they encountered during patient care. They used an online learning module and proposed solutions, many of which were effectively implemented. Over 5 years, case presentations from 33 conferences were available with problems identified in emergency preparedness, coordination of care, scheduling and supervision, communication, medical practice, documentation, and lack of equipment or facilities. Twenty-two of the suggested solutions were partially or totally implemented. Barriers to implementation were identified. In conclusion, a conference presentation by fourth-year residents can identify patient safety problems, aid in their resolution, and suggest changes to patient care while teaching the principles of systems-based practice and practice-based learning.

A formulation for studying dynamics of N connected flexible deployable members

NASA Astrophysics Data System (ADS)

Ibrahim, A. M.; Modi, V. J.

A relatively general formulation for studying dynamics of a system, consisting of N connected flexible deployable members (beams, plates, shells, membranes, strings) forming a topological tree or a closed configuration, is presented. The mathematical description of the system can be, in general, a combination of discrete and distributed coordinates. Joints, elastic and dissipative, permit relative rotation and translation between bodies. The elastic deformations (lateral, axial, and torsional) can be discretized using admissible functions, finite elements or lumped mass method. Rotations of the members, as well as of the entire system, can be described using a set of orientation angles, Euler parameters or Rodrigues vectors. The formulation accounts for: the presence of momentum or reaction wheels (gimballed or fixed); thrusters distributed over the flexible and rigid portions; and any prescribed forms of energy dissipation mechanisms. Of course, the generalized forces can simulate desired environmental effects. The formulation is valid for orbiting as well as ground based and marine systems. Application of the formulation is illustrated through several examples, in spacecraft dynamics, which are of contemporary interest.

Geometric registration of images by similarity transformation using two reference points

NASA Technical Reports Server (NTRS)

Kang, Yong Q. (Inventor); Jo, Young-Heon (Inventor); Yan, Xiao-Hai (Inventor)

2011-01-01

A method for registering a first image to a second image using a similarity transformation. The each image includes a plurality of pixels. The first image pixels are mapped to a set of first image coordinates and the second image pixels are mapped to a set of second image coordinates. The first image coordinates of two reference points in the first image are determined. The second image coordinates of these reference points in the second image are determined. A Cartesian translation of the set of second image coordinates is performed such that the second image coordinates of the first reference point match its first image coordinates. A similarity transformation of the translated set of second image coordinates is performed. This transformation scales and rotates the second image coordinates about the first reference point such that the second image coordinates of the second reference point match its first image coordinates.

Shaping Cutter Original Profile for Fine-module Ratchet Teeth Cutting

NASA Astrophysics Data System (ADS)

Sharkov, O. V.; Koryagin, S. I.; Velikanov, N. L.

2018-03-01

The methods for determining geometric characteristics of a theoretical original profile of the cutter for cutting ratchet teeth with a module of 0.3–1.0 mm are considered in the article. Design models describing the shaping process of cutting edges of cutter teeth are developed. Systems of expressions for determining coordinates of the points of front and back edges of cutter teeth; the workpiece angles of rotation during the cutting process; the minimum cutter radius are received. The basic data when using the proposed technique are: radii of circumferences passing through cavities of cutter teeth and external cut teeth; the gradient angle and length of straight section of the front edge of a cut tooth; angles of rotation of the cutter and the workpiece at the moment of shaping.

Theoferometer for the Construction of Precision Optomechanical Assemblies

NASA Technical Reports Server (NTRS)

Korzun, Ashley M.

2006-01-01

The increasing difficulty of metrology requirements on projects involving optics and the alignment of instrumentation on spacecraft has reached a turning point. Requirements as low as 0.1 arcseconds for the static, rotational alignment of components within a coordinate system cannot be met with a theodolite, the alignment tool currently in use. A "theoferometer" is an interferometer mounted on a rotation stage with degrees of freedom in azimuth and elevation for metrology and alignment applications. The success of a prototype theoferometer in approaching these metrology requirements led to a redesign stressing mechanical, optical, and software changes to increase the sensitivity and portability of the unit. This paper covers the improvements made to the first prototype theoferometer, characteristic testing, and demonstration of the redesigned theoferometer s capabilities as a "theodolite replacement" and low-uncertainty metrology tool.

Non-collinear magnetism with analytic Bond-Order Potentials

NASA Astrophysics Data System (ADS)

Ford, Michael E.; Pettifor, D. G.; Drautz, Ralf

2015-03-01

The theory of analytic Bond-Order Potentials as applied to non-collinear magnetic structures of transition metals is extended to take into account explicit rotations of Hamiltonian and local moment matrix elements between locally and globally defined spin-coordinate systems. Expressions for the gradients of the energy with respect to the Hamiltonian matrix elements, the interatomic forces and the magnetic torques are derived. The method is applied to simulations of the rotation of magnetic moments in α iron, as well as α and β manganese, based on d-valent orthogonal tight-binding parametrizations of the electronic structure. A new weighted-average terminator is introduced to improve the convergence of the Bond-Order Potential energies and torques with respect to tight-binding reference values, although the general behavior is qualitatively correct for low-moment expansions.

Computation of turbulent boundary layers on curved surfaces, 1 June 1975 - 31 January 1976

NASA Technical Reports Server (NTRS)

Wilcox, D. C.; Chambers, T. L.

1976-01-01

An accurate method was developed for predicting effects of streamline curvature and coordinate system rotation on turbulent boundary layers. A new two-equation model of turbulence was developed which serves as the basis of the study. In developing the new model, physical reasoning is combined with singular perturbation methods to develop a rational, physically-based set of equations which are, on the one hand, as accurate as mixing-length theory for equilibrium boundary layers and, on the other hand, suitable for computing effects of curvature and rotation. The equations are solved numerically for several boundary layer flows over plane and curved surfaces. For incompressible boundary layers, results of the computations are generally within 10% of corresponding experimental data. Somewhat larger discrepancies are noted for compressible applications.

Coordinate measuring machine test standard apparatus and method

DOEpatents

Bieg, L.F.

1994-08-30

A coordinate measuring machine test standard apparatus and method are disclosed which includes a rotary spindle having an upper phase plate and an axis of rotation, a kinematic ball mount attached to the phase plate concentric with the axis of rotation of the phase plate, a groove mounted at the circumference of the phase plate, and an arm assembly which rests in the groove. The arm assembly has a small sphere at one end and a large sphere at the other end. The small sphere may be a coordinate measuring machine probe tip and may have variable diameters. The large sphere is secured in the kinematic ball mount and the arm is held in the groove. The kinematic ball mount includes at least three mounting spheres and the groove is an angular locating groove including at least two locking spheres. The arm may have a hollow inner core and an outer layer. The rotary spindle may be a ratio reducer. The device is used to evaluate the measuring performance of a coordinate measuring machine for periodic recertification, including 2 and 3 dimensional accuracy, squareness, straightness, and angular accuracy. 5 figs.

Coordinate measuring machine test standard apparatus and method

DOEpatents

Bieg, Lothar F.

1994-08-30

A coordinate measuring machine test standard apparatus and method which iudes a rotary spindle having an upper phase plate and an axis of rotation, a kinematic ball mount attached to the phase plate concentric with the axis of rotation of the phase plate, a groove mounted at the circumference of the phase plate, and an arm assembly which rests in the groove. The arm assembly has a small sphere at one end and a large sphere at the other end. The small sphere may be a coordinate measuring machine probe tip and may have variable diameters. The large sphere is secured in the kinematic ball mount and the arm is held in the groove. The kinematic ball mount includes at least three mounting spheres and the groove is an angular locating groove including at least two locking spheres. The arm may have a hollow inner core and an outer layer. The rotary spindle may be a ratio reducer. The device is used to evaluate the measuring performance of a coordinate measuring machine for periodic recertification, including 2 and 3 dimensional accuracy, squareness, straightness, and angular accuracy.

Fast Regulation of Vertical Squat Jump during Push-Off in Skilled Jumpers

PubMed Central

Fargier, Patrick; Massarelli, Raphael; Rabahi, Tahar; Gemignani, Angelo; Fargier, Emile

2016-01-01

The height of a maximum Vertical Squat Jump (VSJ) reflects the useful power produced by a jumper during the push-off phase. In turn this partly depends on the coordination of the jumper's segmental rotations at each instant. The physical system constituted by the jumper has been shown to be very sensitive to perturbations and furthermore the movement is realized in a very short time (ca. 300 ms), compared to the timing of known feedback loops. However, the dynamics of the segmental coordination and its efficiency in relation to energetics at each instant of the push-off phase still remained to be clarified. Their study was the main purpose of the present research. Eight young adult volunteers (males) performed maximal VSJ. They were skilled in jumping according to their sport activities (track and field or volleyball). A video analysis on the kinematics of the jump determined the influence of the jumpers' segments rotation on the vertical velocity and acceleration of the body mass center (MC). The efficiency in the production of useful power at the jumpers' MC level, by the rotation of the segments, was measured in consequence. The results showed a great variability in the segmental movements of the eight jumpers, but homogeneity in the overall evolution of these movements with three consecutive types of coordination in the second part of the push-off (lasting roughly 0.16 s). Further analyses gave insights on the regulation of the push-off, suggesting that very fast regulation(s) of the VSJ may be supported by: (a) the adaptation of the motor cerebral programming to the jumper's physical characteristics; (b) the control of the initial posture; and (c) the jumper's perception of the position of his MC relative to the ground reaction force, during push-off, to reduce energetic losses. PMID:27486404

First order coupled dynamic model of flexible space structures with time-varying configurations

NASA Astrophysics Data System (ADS)

Wang, Jie; Li, Dongxu; Jiang, Jianping

2017-03-01

This paper proposes a first order coupled dynamic modeling method for flexible space structures with time-varying configurations for the purpose of deriving the characteristics of the system. The model considers the first time derivative of the coordinate transformation matrix between the platform's body frame and the appendage's floating frame. As a result it can accurately predict characteristics of the system even if flexible appendages rotate with complex trajectory relative to the rigid part. In general, flexible appendages are fixed on the rigid platform or forced to rotate with a slow angular velocity. So only the zero order of the transformation matrix is considered in conventional models. However, due to neglecting of time-varying terms of the transformation matrix, these models introduce severe error when appendages, like antennas, for example, rotate with a fast speed relative to the platform. The first order coupled dynamic model for flexible space structures proposed in this paper resolve this problem by introducing the first time derivative of the transformation matrix. As a numerical example, a central core with a rotating solar panel is considered and the results are compared with those given by the conventional model. It has been shown that the first order terms are of great importance on the attitude of the rigid body and dynamic response of the flexible appendage.

VizieR Online Data Catalog: Lowell Photometric Database asteroid models (Durech+, 2016)

NASA Astrophysics Data System (ADS)

Durech, J.; Hanus, J.; Oszkiewicz, D.; Vanco, R.

2016-01-01

List of new asteroid models. For each asteroid, there is one or two pole directions in the ecliptic coordinates, the sidereal rotation period, rotation period from LCDB and its quality code (if available), the minimum and maximum lightcurve amplitude, the number of data points, and the method which was used to derive the unique rotation period. The accuracy of the sidereal rotation period is of the order of the last decimal place given. Asteroids marked with asterisk were independently confirmed by Hanus et al. (2016A&A...586A.108H). (2 data files).

Formulation of the rotational transformation of wave fields and their application to digital holography.

PubMed

Matsushima, Kyoji

2008-07-01

Rotational transformation based on coordinate rotation in Fourier space is a useful technique for simulating wave field propagation between nonparallel planes. This technique is characterized by fast computation because the transformation only requires executing a fast Fourier transform twice and a single interpolation. It is proved that the formula of the rotational transformation mathematically satisfies the Helmholtz equation. Moreover, to verify the formulation and its usefulness in wave optics, it is also demonstrated that the transformation makes it possible to reconstruct an image on arbitrarily tilted planes from a wave field captured experimentally by using digital holography.

An elementary singularity-free Rotational Brownian Dynamics algorithm for anisotropic particles

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

Ilie, Ioana M.; Briels, Wim J.; MESA+ Institute for Nanotechnology, University of Twente, P.O. Box 217, 7500 AE Enschede

2015-03-21

Brownian Dynamics is the designated technique to simulate the collective dynamics of colloidal particles suspended in a solution, e.g., the self-assembly of patchy particles. Simulating the rotational dynamics of anisotropic particles by a first-order Langevin equation, however, gives rise to a number of complications, ranging from singularities when using a set of three rotational coordinates to subtle metric and drift corrections. Here, we derive and numerically validate a quaternion-based Rotational Brownian Dynamics algorithm that handles these complications in a simple and elegant way. The extension to hydrodynamic interactions is also discussed.

Information Fusion from the Point of View of Communication Theory; Fusing Information to Trade-Off the Resolution of Assessments Against the Probability of Mis-Assessment

DTIC Science & Technology

2013-08-19

excellence in linear models , 2010. She successfully defended her dissertation, Linear System Design for Fusion and Compression, on Aug 13, 2013. Her work was...measurements into canonical coordinates, scaling, and rotation; there is a water-filling interpretation; (3) the optimum design of a linear secondary channel of...measurements to fuse with a primary linear channel of measurements maximizes a generalized Rayleigh quotient; (4) the asymptotically optimum

Microstructural evolution during sintering of copper particles studied by laboratory diffraction contrast tomography (LabDCT).

PubMed

McDonald, S A; Holzner, C; Lauridsen, E M; Reischig, P; Merkle, A P; Withers, P J

2017-07-12

Pressureless sintering of loose or compacted granular bodies at elevated temperature occurs by a combination of particle rearrangement, rotation, local deformation and diffusion, and grain growth. Understanding of how each of these processes contributes to the densification of a powder body is still immature. Here we report a fundamental study coupling the crystallographic imaging capability of laboratory diffraction contrast tomography (LabDCT) with conventional computed tomography (CT) in a time-lapse study. We are able to follow and differentiate these processes non-destructively and in three-dimensions during the sintering of a simple copper powder sample at 1050 °C. LabDCT quantifies particle rotation (to <0.05° accuracy) and grain growth while absorption CT simultaneously records the diffusion and deformation-related morphological changes of the sintering particles. We find that the rate of particle rotation is lowest for the more highly coordinated particles and decreases during sintering. Consequently, rotations are greater for surface breaking particles than for more highly coordinated interior ones. Both rolling (cooperative) and sliding particle rotations are observed. By tracking individual grains the grain growth/shrinkage kinetics during sintering are quantified grain by grain for the first time. Rapid, abnormal grain growth is observed for one grain while others either grow or are consumed more gradually.

Numerical Procedures for Analyzing Dynamical Processes.

DTIC Science & Technology

1992-02-29

different in nature and can be of the third coordinate of the numerically calcu- called crnamic in that information about the dy- lated solution. Such...recover the matrix A by changing coordinates back to the original basis. "The points x, are points on the attractor which are not For example, if we...the attractor contained witun a small distance (of rotate the coordinate axes by 45’, The dynamics Xrer. In this notation. x, and y, are consecutive

Effect of baffle on slosh reaction forces in rotating liquid helium subjected to a lateral impulse in microgravity

NASA Technical Reports Server (NTRS)

Hung, R. J.; Long, Y. T.

1995-01-01

Sloshing dynamics within a partially filled rotating Dewar of superfluid He II are investigated in response to a lateral impulse. The study investigates several factors, including how the rotating bubble of superfluid He II reacts to the impulse in microgravity, how the amplitudes of slosh reaction forces act on the Dewar with various rotating speeds, how the frequencies of the sloshing modes excited differ in terms of differences in rotating speeds, and how the sloshing dynamics differ with and without a baffle. The numerical computation of sloshing dynamics is based on the noninertial frame spacecraft-bound coordinates. Results of the simulations are illustrated.

Accuracy of the HST Standard Astrometric Catalogs w.r.t. Gaia

NASA Astrophysics Data System (ADS)

Kozhurina-Platais, V.; Grogin, N.; Sabbi, E.

2018-02-01

The goal of astrometric calibration of the HST ACS/WFC and WFC3/UVIS imaging instruments is to provide a coordinate system free of distortion to the precision level of 0.1 pixel 4-5 mas or better. This astrometric calibration is based on two HST astrometric standard fields in the vicinity of the globular clusters, 47 Tuc and omega Cen, respectively. The derived calibration of the geometric distortion is assumed to be accurate down to 2-3 mas. Is this accuracy in agreement with the true value? Now, with the access to globally accurate positions from the first Gaia data release (DR1), we found that there are measurable offsets, rotation, scale and other deviations of distortion parameters in two HST standard astrometric catalogs. These deviations from the distortion-free and properly aligned coordinate system should be accounted and corrected for, so that the high precision HST positions are free of any systematic errors. We also found that the precision of the HST pixel coordinates is substantially better than the accuracy listed in the Gaia DR1. Therefore, in order to finalize the components of distortion in the HST standard catalogs, the next release of Gaia data is needed.

Estimability of geodetic parameters from space VLBI observables

NASA Technical Reports Server (NTRS)

Adam, Jozsef

1990-01-01

The feasibility of space very long base interferometry (VLBI) observables for geodesy and geodynamics is investigated. A brief review of space VLBI systems from the point of view of potential geodetic application is given. A selected notational convention is used to jointly treat the VLBI observables of different types of baselines within a combined ground/space VLBI network. The basic equations of the space VLBI observables appropriate for convariance analysis are derived and included. The corresponding equations for the ground-to-ground baseline VLBI observables are also given for a comparison. The simplified expression of the mathematical models for both space VLBI observables (time delay and delay rate) include the ground station coordinates, the satellite orbital elements, the earth rotation parameters, the radio source coordinates, and clock parameters. The observation equations with these parameters were examined in order to determine which of them are separable or nonseparable. Singularity problems arising from coordinate system definition and critical configuration are studied. Linear dependencies between partials are analytically derived. The mathematical models for ground-space baseline VLBI observables were tested with simulation data in the frame of some numerical experiments. Singularity due to datum defect is confirmed.

Relativistic time transfer for a Mars lander: from proper time to Areocentric Coordinate Time

NASA Astrophysics Data System (ADS)

Xu, De-Wang; Yu, Qing-Shan; Xie, Yi

2016-10-01

As the first step in relativistic time transfer for a Mars lander from its proper time to the time scale at the ground station, we investigate the transformation between proper time and Areocentric Coordinate Time (TCA) in the framework of IAU Resolutions. TCA is a local time scale for Mars, which is analogous to the Geocentric Coordinate Time (TCG) for Earth. This transformation contains two contributions: internal and external. The internal contribution comes from the gravitational potential and the rotation of Mars. The external contribution is due to the gravitational fields of other bodies (except Mars) in the Solar System. When the (in)stability of an onboard clock is assumed to be at the level of 10-13, we find that the internal contribution is dominated by the gravitational potential of spherical Mars with necessary corrections associated with the height of the lander on the areoid, the dynamic form factor of Mars, the flattening of the areoid and the spin rate of Mars. For the external contribution, we find the gravitational effects from other bodies in the Solar System can be safely neglected in this case after calculating their maximum values.

Hybrid vision activities at NASA Johnson Space Center

NASA Technical Reports Server (NTRS)

Juday, Richard D.

1990-01-01

NASA's Johnson Space Center in Houston, Texas, is active in several aspects of hybrid image processing. (The term hybrid image processing refers to a system that combines digital and photonic processing). The major thrusts are autonomous space operations such as planetary landing, servicing, and rendezvous and docking. By processing images in non-Cartesian geometries to achieve shift invariance to canonical distortions, researchers use certain aspects of the human visual system for machine vision. That technology flow is bidirectional; researchers are investigating the possible utility of video-rate coordinate transformations for human low-vision patients. Man-in-the-loop teleoperations are also supported by the use of video-rate image-coordinate transformations, as researchers plan to use bandwidth compression tailored to the varying spatial acuity of the human operator. Technological elements being developed in the program include upgraded spatial light modulators, real-time coordinate transformations in video imagery, synthetic filters that robustly allow estimation of object pose parameters, convolutionally blurred filters that have continuously selectable invariance to such image changes as magnification and rotation, and optimization of optical correlation done with spatial light modulators that have limited range and couple both phase and amplitude in their response.

Symmetry of oculomotor burst neuron coordinates about Listing's plane.

PubMed

Crawford, J D; Vilis, T

1992-08-01

1. The purpose of this investigation was to determine the axes of eye rotation generated by oculomotor burst neuron populations and the coordinate system that they collectively define. In particular, we asked if such coordinates might be related to constraints in the emergent behavior, i.e., Listing's law for saccades. 2. The mesencephalic rostral interstitial nucleus of the medial longitudinal fasciculus (riMLF) was identified in four monkeys with the use of single-unit recording, and then explored with the use of electrical microstimulation and pharmacological inactivation with the inhibitory gamma-aminobutyric acid (GABA) agonist muscimol. Three-dimensional (3-D) eye positions and velocities were recorded in one or both eyes while alert animals made eye movements in response to visual stimuli and head rotation. 3. Unilateral stimulation of the riMLF (20 microA, 200 Hz, 300-600 ms) produced conjugate, constant velocity eye rotations, which then stopped abruptly and held their final positions. This is expected if the riMLF produces phasic signals upstream from the oculomotor integrator. 4. Units that burst before upward or downward saccades were recorded intermingled in each side of the riMLF. Unilateral stimulation of the same riMLF sites produced eye rotations about primarily torsional axes, clockwise (CW) during right riMLF stimulation and counterclockwise (CCW) during left stimulation. Only small and inconsistent vertical components were observed, supporting the view that the riMLF carries intermingled up and down signals. 5. The torsional axes of eye rotation produced by riMLF stimulation did not correlate to external anatomic landmarks. Instead, stimulation axes from both riMLF sides aligned with the primary gaze direction orthogonal to Listing's plane of eye positions recorded during saccades. 6. Injection of muscimol into one side of the riMLF produced a conjugate deficit in saccades and quick phases, including a 50% reduction in all vertical velocities and complete loss of one torsional direction. CW was lost after right riMLF inactivation, and CCW was lost after left inactivation. 7. The plane that separated the intact torsional axes from the missing axes correlated with the orientation of Listing's plane. Thus, during left or right riMLF inactivation, the vertical axes of intact horizontal saccades were abnormally aligned with Listing's plane. The orientation of these axes was not correlated with external anatomic landmarks. 8. As suggested by their alignment with Listing's plane, the intact vertical axes of horizontal saccades following riMLF inactivation were orthogonal to torsional riMLF stimulation axes.(ABSTRACT TRUNCATED AT 400 WORDS)

Characteristics of manipulator for industrial robot with three rotational pairs having parallel axes

NASA Astrophysics Data System (ADS)

Poteyev, M. I.

1986-01-01

The dynamics of a manipulator with three rotatinal kinematic pairs having parallel axes are analyzed, for application in an industrial robot. The system of Lagrange equations of the second kind, describing the motion of such a mechanism in terms of kinetic energy in generalized coordinates, is reduced to equations of motion in terms of Newton's laws. These are useful not only for either determining the moments of force couples which will produce a prescribed motion or, conversely determining the motion which given force couples will produce but also for solving optimization problems under constraints in both cases and for estimating dynamic errors. As a specific example, a manipulator with all three axes of vertical rotation is considered. The performance of this manipulator, namely the parameters of its motion as functions of time, is compared with that of a manipulator having one rotational and two translational kinematic pairs. Computer aided simulation of their motion on the basis of ideal models, with all three links represented by identical homogeneous bars, has yielded velocity time diagrams which indicate that the manipulator with three rotational pairs is 4.5 times faster.

Supercapacitor to Provide Ancillary Services: Preprint

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

Muljadi, Eduard; Gevorgian, Vahan; Luo, Yusheng

Supercapacitor technology has reached a level of maturity as a viable energy storage option available to support a modern electric power system grid; however, its application is still limited because of its energy capacity and the cost of the commercial product. In this paper, we demonstrate transient models of supercapacitor energy storage plants operating in coordination with run-of-the-river (ROR), doubly-fed induction generator hydropower plants (HPP) using a system control concept and architecture developed. A detailed transient model of a supercapacitor energy storage device is coupled with the grid via a three-phase inverter/rectifier and bidirectional DC-DC converter. In addition, we usemore » a version of a 14-bus IEEE test case that includes the models of the supercapacitor energy storage device, ROR HPPs, and synchronous condensers that use the rotating synchronous generators of retired coal-powered plants. The purpose of the synchronous condensers is to enhance the system stability by providing voltage and reactive power control, provide power system oscillations damping, and maintain system inertia at secure levels. The control layer provides coordinated, decentralized operation of distributed ROR HPPs and energy storage as aggregate support to power system operations.« less

A general-purpose approach to computer-aided dynamic analysis of a flexible helicopter

NASA Technical Reports Server (NTRS)

Agrawal, Om P.

1988-01-01

A general purpose mathematical formulation is described for dynamic analysis of a helicopter consisting of flexible and/or rigid bodies that undergo large translations and rotations. Rigid body and elastic sets of generalized coordinates are used. The rigid body coordinates define the location and the orientation of a body coordinate frame (global frame) with respect to an inertial frame. The elastic coordinates are introduced using a finite element approach in order to model flexible components. The compatibility conditions between two adjacent elements in a flexible body are imposed using a Boolean matrix, whereas the compatibility conditions between two adjacent bodies are imposed using the Lagrange multiplier approach. Since the form of the constraint equations depends upon the type of kinematic joint and involves only the generalized coordinates of the two participating elements, then a library of constraint elements can be developed to impose the kinematic constraint in an automated fashion. For the body constraints, the Lagrange multipliers yield the reaction forces and torques of the bodies at the joints. The virtual work approach is used to derive the equations of motion, which are a system of differential and algebraic equations that are highly nonlinear. The formulation presented is general and is compared with hard-wired formulations commonly used in helicopter analysis.

Field Programmable Gate Array (FPGA) Respiratory Monitoring System Using a Flow Microsensor and an Accelerometer

NASA Astrophysics Data System (ADS)

Mellal, Idir; Laghrouche, Mourad; Bui, Hung Tien

2017-04-01

This paper describes a non-invasive system for respiratory monitoring using a Micro Electro Mechanical Systems (MEMS) flow sensor and an IMU (Inertial Measurement Unit) accelerometer. The designed system is intended to be wearable and used in a hospital or at home to assist people with respiratory disorders. To ensure the accuracy of our system, we proposed a calibration method based on ANN (Artificial Neural Network) to compensate the temperature drift of the silicon flow sensor. The sigmoid activation functions used in the ANN model were computed with the CORDIC (COordinate Rotation DIgital Computer) algorithm. This algorithm was also used to estimate the tilt angle in body position. The design was implemented on reconfigurable platform FPGA.

Staggered solution procedures for multibody dynamics simulation

NASA Technical Reports Server (NTRS)

Park, K. C.; Chiou, J. C.; Downer, J. D.

1990-01-01

The numerical solution procedure for multibody dynamics (MBD) systems is termed a staggered MBD solution procedure that solves the generalized coordinates in a separate module from that for the constraint force. This requires a reformulation of the constraint conditions so that the constraint forces can also be integrated in time. A major advantage of such a partitioned solution procedure is that additional analysis capabilities such as active controller and design optimization modules can be easily interfaced without embedding them into a monolithic program. After introducing the basic equations of motion for MBD system in the second section, Section 3 briefly reviews some constraint handling techniques and introduces the staggered stabilized technique for the solution of the constraint forces as independent variables. The numerical direct time integration of the equations of motion is described in Section 4. As accurate damping treatment is important for the dynamics of space structures, we have employed the central difference method and the mid-point form of the trapezoidal rule since they engender no numerical damping. This is in contrast to the current practice in dynamic simulations of ground vehicles by employing a set of backward difference formulas. First, the equations of motion are partitioned according to the translational and the rotational coordinates. This sets the stage for an efficient treatment of the rotational motions via the singularity-free Euler parameters. The resulting partitioned equations of motion are then integrated via a two-stage explicit stabilized algorithm for updating both the translational coordinates and angular velocities. Once the angular velocities are obtained, the angular orientations are updated via the mid-point implicit formula employing the Euler parameters. When the two algorithms, namely, the two-stage explicit algorithm for the generalized coordinates and the implicit staggered procedure for the constraint Lagrange multipliers, are brought together in a staggered manner, they constitute a staggered explicit-implicit procedure which is summarized in Section 5. Section 6 presents some example problems and discussions concerning several salient features of the staggered MBD solution procedure are offered in Section 7.

Development of an automatic rotational orthosis for walking with arm swing.

PubMed

Fang, Juan; Yang, Guo-Yuan; Xie, Le

2017-07-01

Interlimb neural coupling is often observed during normal gait and is postulated to be important for gait restoration. In order to provide a testbed for investigation of interlimb neural coupling, we previously developed a rotational orthosis for walking with arm swing (ROWAS). The present study aimed to develop and evaluate the feasibility of a new system, viz. an automatic ROWAS (aROWAS). We developed the mechanical structures of aROWAS in SolidWorks, and implemented the concept in a prototype. Normal gait data from walking at various speeds were used as reference trajectories of the shoulder, hip, knee and ankle joints. The aROWAS prototype was tested in three able-bodied subjects. The prototype could automatically adjust to size and height, and automatically produced adaptable coordinated performance in the upper and lower limbs, with joint profiles similar to those occurring in normal gait. The subjects reported better acceptance in aROWAS than in ROWAS. The aROWAS system was deemed feasible among able-bodied subjects.

Effective potentials for H2O-He and H2O-Ar systems. Isotropic induction-dispersion potentials

NASA Astrophysics Data System (ADS)

Starikov, Vitali I.; Petrova, Tatiana M.; Solodov, Alexander M.; Solodov, Alexander A.; Deichuli, Vladimir M.

2017-05-01

The vibrational and rotational dependence of the effective isotropic interaction potential of H2O-He and H2O-Ar systems, taken in the form of Lennard-Jones 6-12 potential has been analyzed. The analysis is based on the experimental line broadening (γ) and line shift (δ) coefficients obtained for different vibrational bands of H2O molecule perturbed by He and Ar. The first and second derivatives of the function C(1)(q) for the long-range part of the induction-dispersion potential with respect to the dimensionless normal coordinates q were calculated using literature information for the dipole moment and mean polarizability functions μ(q) and α(q), respectively. These derivatives have been used in the calculations of the quantities which determine the vibrational and rotational dependence of the long-range part of the effective isotropic potential. The optimal set of the derivatives for the function C(1)(q) is proposed. The comparison with the experimental data has been performed.

Dish layouts analysis method for concentrative solar power plant.

PubMed

Xu, Jinshan; Gan, Shaocong; Li, Song; Ruan, Zhongyuan; Chen, Shengyong; Wang, Yong; Gui, Changgui; Wan, Bin

2016-01-01

Designs leading to maximize the use of sun radiation of a given reflective area without increasing the expense on investment are important to solar power plants construction. We here provide a method that allows one to compute shade area at any given time as well as the total shading effect of a day. By establishing a local coordinate system with the origin at the apex of a parabolic dish and z -axis pointing to the sun, neighboring dishes only with [Formula: see text] would shade onto the dish when in tracking mode. This procedure reduces the required computational resources, simplifies the calculation and allows a quick search for the optimum layout by considering all aspects leading to optimized arrangement: aspect ratio, shifting and rotation. Computer simulations done with information on dish Stirling system as well as DNI data released from NREL, show that regular-spacing is not an optimal layout, shifting and rotating column by certain amount can bring more benefits.

Factors determining the spin axis of a pitched fastball in baseball.

PubMed

Jinji, Tsutomu; Sakurai, Shinji; Hirano, Yuichi

2011-04-01

In this study, we wished to investigate the factors that determine the direction of the spin axis of a pitched baseball. Nineteen male baseball pitchers were recruited to pitch fastballs. The pitching motion was recorded with a three-dimensional motion analysis system (1000 Hz), and the orientations of the hand segment in a global coordinate system were calculated using Euler rotation angles. Reflective markers were attached to the ball, and the direction of the spin axis was calculated on the basis of their positional changes. The spin axis directions were significantly correlated with the orientations of the hand just before ball release. The ball is released from the fingertip and rotates on a plane that is formed by the palm and fingers; the spin axis of the ball is parallel to this plane. The lift force of the pitched baseball is largest when the angular and translational velocity vectors are mutually perpendicular. Furthermore, to increase the lift forces for the fastballs, the palm must face home plate.

Vibration of a flexible spacecraft with momentum exchange controllers

NASA Technical Reports Server (NTRS)

Canavin, J. R.

1976-01-01

Floating reference frames were investigated in order to allow first order vibration analysis in the presence of large system rotations. When the deformations of an elastic continuum are expanded in terms of the free-free modes of an unconstrained system, the rigid body modes are found to be fixed relative to the Tisserand frame, with respect to which the relative momentum is zero. The proof presented for this is based on the orthogonality condition for modes with distinct natural frequencies. This result also guarantees the independence of coordinates for all modes with nonzero natural frequencies. A Modified Tisserand Constraint is introduced in order to define a floating reference frame with similar properties for an elastic body which contains a spinning rotor. Finite element equations of motion are derived for a completely flexible spacecraft with momentum exchange controllers, using a Modified Tisserand Frame. The deformable systems covered in this application are assumed to undergo only small rotations, and therefore the rotor torques must formally be small, although in engineering applications it may be possible to relax this constraint. A modal analysis is performed for the system and the resulting set of equations is reduced in number by a truncation procedure for more efficient system simulation.

Optokinetic and vestibular stimulation determines the spatial orientation of negative optokinetic afternystagmus in the rabbit.

PubMed

Pettorossi, V E; Errico, P; Ferraresi, A; Barmack, N H

1999-02-15

Prolonged binocular optokinetic stimulation (OKS) in the rabbit induces a high-velocity negative optokinetic afternystagmus (OKAN II) that persists for several hours. We have taken advantage of this uniform nystagmus to study how changes in static head orientation in the pitch plane might influence the orientation of the nystagmus. After horizontal OKS, the rotation axis of the OKAN II remained almost constant in space as it was kept aligned with the gravity vector when the head was pitched by as much as 80 degrees up and 35 degrees down. Moreover, during reorientation, slow-phase eye velocity decreased according to the head pitch angle. Thereafter, we analyzed the space orientation of OKAN II after optokinetic stimulation during which the head and/or the OKS were pitched upward and downward. The rotation axis of OKAN II did not remain aligned with an earth vertical axis nor a head vertical axis, but it tended to be aligned with that of the OKS respace. The slow-phase eye velocity of OKAN II was also affected by the head pitch angle during OKS, because maximal OKAN II velocity occurred at the same head pitch angle as that during optokinetic stimulation. We suggest that OKAN II is coded in gravity-centered rather than in head-centered coordinates, but that this coordinate system may be influenced by optokinetic and vestibular stimulation. Moreover, the velocity attenuation of OKAN II seems to depend on the mismatch between the space-centered nystagmus rotation axis orientation and that of the "remembered" head-centered optokinetic pathway activated by OKS.

[Strategies for simultaneous control of the equilibrium and of the head position during the raising movement of a leg].

PubMed

Mouchnino, L; Aurenty, R; Massion, J; Pedotti, A

1991-01-01

The coordination between equilibrium control and the ability to maintain the position of given segments (head, trunk) was studied in standing subjects, instructed to raise one leg laterally at an angle of 45 degrees in response to a light. Two sources of light placed at eye level indicated the side on which the movement was to be performed. Two populations were compared: naive subjects and dancers. Two control strategies were identified. An "inclination" strategy was used by the naive subjects. This consisted of an external rotation of the body around the antero-posterior ankle joint axis; a counter-rotation of the head with respect to the trunk was observed, which ensured some stabilization in the horizontal plane of the interorbital line. A "translation" strategy was used by the dancers. Here the external rotation of the leg around the ankle joint was associated with a feed-forward counter-rotation of the trunk around the coxofemoral joint so that the horizontality of the interorbital line and the verticality of the trunk axis were maintained. This new coordination results from a long-term training and indicates that a new motor program has been elaborated.

Orthodontics: computer-aided diagnosis and treatment planning

NASA Astrophysics Data System (ADS)

Yi, Yaxing; Li, Zhongke; Wei, Suyuan; Deng, Fanglin; Yao, Sen

2000-10-01

The purpose of this article is to introduce the outline of our newly developed computer-aided 3D dental cast analyzing system with laser scanning, and its preliminary clinical applications. The system is composed of a scanning device and a personal computer as a scanning controller and post processor. The scanning device is composed of a laser beam emitter, two sets of linear CCD cameras and a table which is rotatable by two-degree-of-freedom. The rotating is controlled precisely by a personal computer. The dental cast is projected and scanned with a laser beam. Triangulation is applied to determine the location of each point. Generation of 3D graphics of the dental cast takes approximately 40 minutes. About 170,000 sets of X,Y,Z coordinates are store for one dental cast. Besides the conventional linear and angular measurements of the dental cast, we are also able to demonstrate the size of the top surface area of each molar. The advantage of this system is that it facilitates the otherwise complicated and time- consuming mock surgery necessary for treatment planning in orthognathic surgery.

Celestial reference frames and the gauge freedom in the post-Newtonian mechanics of the Earth-Moon system

NASA Astrophysics Data System (ADS)

Kopeikin, Sergei; Xie, Yi

2010-11-01

We introduce the Jacobi coordinates adopted to the advanced theoretical analysis of the relativistic Celestial Mechanics of the Earth-Moon system. Theoretical derivation utilizes the relativistic resolutions on reference frames adopted by the International Astronomical Union (IAU) in 2000. The resolutions assume that the Solar System is isolated and space-time is asymptotically flat at infinity and the primary reference frame covers the entire space-time, has its origin at the Solar System barycenter (SSB) with spatial axes stretching up to infinity. The SSB frame is not rotating with respect to a set of distant quasars that are assumed to be at rest on the sky forming the International Celestial Reference Frame (ICRF). The second reference frame has its origin at the Earth-Moon barycenter (EMB). The EMB frame is locally inertial and is not rotating dynamically in the sense that equation of motion of a test particle moving with respect to the EMB frame, does not contain the Coriolis and centripetal forces. Two other local frames—geocentric and selenocentric—have their origins at the center of mass of Earth and Moon respectively and do not rotate dynamically. Each local frame is subject to the geodetic precession both with respect to other local frames and with respect to the ICRF because of their relative motion with respect to each other. Theoretical advantage of the dynamically non-rotating local frames is in a more simple mathematical description of the metric tensor and relative equations of motion of the Moon with respect to Earth. Each local frame can be converted to kinematically non-rotating one after alignment with the axes of ICRF by applying the matrix of the relativistic precession as recommended by the IAU resolutions. The set of one global and three local frames is introduced in order to decouple physical effects of gravity from the gauge-dependent effects in the equations of relative motion of the Moon with respect to Earth.

RPBS: Rotational Projected Binary Structure for point cloud representation

NASA Astrophysics Data System (ADS)

Fang, Bin; Zhou, Zhiwei; Ma, Tao; Hu, Fangyu; Quan, Siwen; Ma, Jie

2018-03-01

In this paper, we proposed a novel three-dimension local surface descriptor named RPBS for point cloud representation. First, points cropped form the query point within a predefined radius is regard as a local surface patch. Then pose normalization is done to the local surface to equip our descriptor with the invariance to rotation transformation. To obtain more information about the cropped surface, multi-view representation is formed by successively rotating it along the coordinate axis. Further, orthogonal projections to the three coordinate plane are adopted to construct two-dimension distribution matrixes, and binarization is applied to each matrix by following the rule that whether the grid is occupied, if yes, set the grid one, otherwise zero. We calculate the binary maps from all the viewpoints and concatenate them together as the final descriptor. Comparative experiments for evaluating our proposed descriptor is conducted on the standard dataset named Bologna with several state-of-the-art 3D descriptors, and results show that our descriptor achieves the best performance on feature matching experiments.

Three-Dimensional ISAR Imaging Method for High-Speed Targets in Short-Range Using Impulse Radar Based on SIMO Array.

PubMed

Zhou, Xinpeng; Wei, Guohua; Wu, Siliang; Wang, Dawei

2016-03-11

This paper proposes a three-dimensional inverse synthetic aperture radar (ISAR) imaging method for high-speed targets in short-range using an impulse radar. According to the requirements for high-speed target measurement in short-range, this paper establishes the single-input multiple-output (SIMO) antenna array, and further proposes a missile motion parameter estimation method based on impulse radar. By analyzing the motion geometry relationship of the warhead scattering center after translational compensation, this paper derives the receiving antenna position and the time delay after translational compensation, and thus overcomes the shortcomings of conventional translational compensation methods. By analyzing the motion characteristics of the missile, this paper estimates the missile's rotation angle and the rotation matrix by establishing a new coordinate system. Simulation results validate the performance of the proposed algorithm.

The calculation of the mass moment of inertia of a fluid in a rotating rectangular tank

NASA Technical Reports Server (NTRS)

1977-01-01

This analysis calculated the mass moment of inertia of a nonviscous fluid in a slowly rotating rectangular tank. Given the dimensions of the tank in the x, y, and z coordinates, the axis of rotation, the percentage of the tank occupied by the fluid, and angle of rotation, an algorithm was written that could calculate the mass moment of inertia of the fluid. While not included in this paper, the change in the mass moment of inertia of the fluid could then be used to calculate the force exerted by the fluid on the container wall.

A kinematic model for 3-D head-free gaze-shifts

PubMed Central

Daemi, Mehdi; Crawford, J. Douglas

2015-01-01

Rotations of the line of sight are mainly implemented by coordinated motion of the eyes and head. Here, we propose a model for the kinematics of three-dimensional (3-D) head-unrestrained gaze-shifts. The model was designed to account for major principles in the known behavior, such as gaze accuracy, spatiotemporal coordination of saccades with vestibulo-ocular reflex (VOR), relative eye and head contributions, the non-commutativity of rotations, and Listing's and Fick constraints for the eyes and head, respectively. The internal design of the model was inspired by known and hypothesized elements of gaze control physiology. Inputs included retinocentric location of the visual target and internal representations of initial 3-D eye and head orientation, whereas outputs were 3-D displacements of eye relative to the head and head relative to shoulder. Internal transformations decomposed the 2-D gaze command into 3-D eye and head commands with the use of three coordinated circuits: (1) a saccade generator, (2) a head rotation generator, (3) a VOR predictor. Simulations illustrate that the model can implement: (1) the correct 3-D reference frame transformations to generate accurate gaze shifts (despite variability in other parameters), (2) the experimentally verified constraints on static eye and head orientations during fixation, and (3) the experimentally observed 3-D trajectories of eye and head motion during gaze-shifts. We then use this model to simulate how 2-D eye-head coordination strategies interact with 3-D constraints to influence 3-D orientations of the eye-in-space, and the implications of this for spatial vision. PMID:26113816

Independent bases on the spatial wavefunction of four-identical-particle systems

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

Xiao, Shuyuan; Deng, Zhixuan; Chen, Hong

2013-12-15

We construct the independent bases on the spatial wavefunction of four-identical-particle systems classified under the rotational group SO(3) and the permutation group S{sub 4} with the usage of transformation coefficients that relate wavefunctions described in one set of internal coordinates with those in another. The basis functions for N⩽ 2 are presented in the explicit expressions based on the harmonic oscillator model. Such independent bases are supposed to play a key role in the construction of the wavefunctions of the five-quark states and the variation calculation of four-body systems. Our prescription avoids the spurious states and can be programmed formore » arbitrary N.« less

Effect of coordinate frame compatibility on the transfer of implicit and explicit learning across limbs

PubMed Central

Carroll, Timothy J.

2016-01-01

Insights into the neural representation of motor learning can be obtained by investigating how learning transfers to novel task conditions. We recently demonstrated that visuomotor rotation learning transferred strongly between left and right limbs when the task was performed in a sagittal workspace, which afforded a consistent remapping for the two limbs in both extrinsic and joint-based coordinates. In contrast, transfer was absent when performed in horizontal workspace, where the extrinsically defined perturbation required conflicting joint-based remapping for the left and right limbs. Because visuomotor learning is thought to be supported by both implicit and explicit forms of learning, however, it is unclear to what extent these distinct forms of learning contribute to interlimb transfer. In this study, we assessed the degree to which interlimb transfer, following visuomotor rotation training, reflects explicit vs. implicit learning by obtaining verbal reports of participants' aiming direction before each movement. We also determined the extent to which these distinct components of learning are constrained by the compatibility of coordinate systems by comparing transfer between groups of participants who reached to targets arranged in the horizontal and sagittal planes. Both sagittal and horizontal conditions displayed complete transfer of explicit learning to the untrained limb. In contrast, transfer of implicit learning was incomplete, but the sagittal condition showed greater transfer than the horizontal condition. These findings suggest that explicit strategies developed with one limb can be fully implemented in the opposite limb, whereas implicit transfer depends on the degree to which new sensorimotor maps are spatially compatible for the two limbs. PMID:27334955

Effect of coordinate frame compatibility on the transfer of implicit and explicit learning across limbs.

PubMed

Poh, Eugene; Carroll, Timothy J; Taylor, Jordan A

2016-09-01

Insights into the neural representation of motor learning can be obtained by investigating how learning transfers to novel task conditions. We recently demonstrated that visuomotor rotation learning transferred strongly between left and right limbs when the task was performed in a sagittal workspace, which afforded a consistent remapping for the two limbs in both extrinsic and joint-based coordinates. In contrast, transfer was absent when performed in horizontal workspace, where the extrinsically defined perturbation required conflicting joint-based remapping for the left and right limbs. Because visuomotor learning is thought to be supported by both implicit and explicit forms of learning, however, it is unclear to what extent these distinct forms of learning contribute to interlimb transfer. In this study, we assessed the degree to which interlimb transfer, following visuomotor rotation training, reflects explicit vs. implicit learning by obtaining verbal reports of participants' aiming direction before each movement. We also determined the extent to which these distinct components of learning are constrained by the compatibility of coordinate systems by comparing transfer between groups of participants who reached to targets arranged in the horizontal and sagittal planes. Both sagittal and horizontal conditions displayed complete transfer of explicit learning to the untrained limb. In contrast, transfer of implicit learning was incomplete, but the sagittal condition showed greater transfer than the horizontal condition. These findings suggest that explicit strategies developed with one limb can be fully implemented in the opposite limb, whereas implicit transfer depends on the degree to which new sensorimotor maps are spatially compatible for the two limbs. Copyright © 2016 the American Physiological Society.

The terrestrial gravitational wave environment from known sources

NASA Technical Reports Server (NTRS)

Webbink, Ronald F.

1993-01-01

The objective of this project was to produce a gravitational wave spectral line list of all known binary stars producing expected strain amplitudes at Earth in excess of h = 10 (exp -21), or gravitational wave fluxes in excess of F = 10 (exp -12) erg cm(exp -2) s(exp -1). These strain and flux limits lie above the anticipated detection thresholds for space-borne laser interferometers capable of detecting gravitational radiation in the 10 micron Hz to 1 Hz frequency range. The source list was intended to provide frequency (including each harmonic), amplitude and phase (for each polarization and harmonic), and celestial coordinates for each system, lacking only the orientation of the principal polarization axis with respect to the pole of the coordinate system, and the sign of the source phase and frequency (or, equivalently, of the sense of rotation of the strain tensor with time) from providing a complete source description. Such a spectral line list would lay essential groundwork for high-sensitivity, low-frequency searches for gravitational radiation.

Single camera photogrammetry system for EEG electrode identification and localization.

PubMed

Baysal, Uğur; Sengül, Gökhan

2010-04-01

In this study, photogrammetric coordinate measurement and color-based identification of EEG electrode positions on the human head are simultaneously implemented. A rotating, 2MP digital camera about 20 cm above the subject's head is used and the images are acquired at predefined stop points separated azimuthally at equal angular displacements. In order to realize full automation, the electrodes have been labeled by colored circular markers and an electrode recognition algorithm has been developed. The proposed method has been tested by using a plastic head phantom carrying 25 electrode markers. Electrode locations have been determined while incorporating three different methods: (i) the proposed photogrammetric method, (ii) conventional 3D radiofrequency (RF) digitizer, and (iii) coordinate measurement machine having about 6.5 mum accuracy. It is found that the proposed system automatically identifies electrodes and localizes them with a maximum error of 0.77 mm. It is suggested that this method may be used in EEG source localization applications in the human brain.

Automatic pose correction for image-guided nonhuman primate brain surgery planning

NASA Astrophysics Data System (ADS)

Ghafurian, Soheil; Chen, Antong; Hines, Catherine; Dogdas, Belma; Bone, Ashleigh; Lodge, Kenneth; O'Malley, Stacey; Winkelmann, Christopher T.; Bagchi, Ansuman; Lubbers, Laura S.; Uslaner, Jason M.; Johnson, Colena; Renger, John; Zariwala, Hatim A.

2016-03-01

Intracranial delivery of recombinant DNA and neurochemical analysis in nonhuman primate (NHP) requires precise targeting of various brain structures via imaging derived coordinates in stereotactic surgeries. To attain targeting precision, the surgical planning needs to be done on preoperative three dimensional (3D) CT and/or MR images, in which the animals head is fixed in a pose identical to the pose during the stereotactic surgery. The matching of the image to the pose in the stereotactic frame can be done manually by detecting key anatomical landmarks on the 3D MR and CT images such as ear canal and ear bar zero position. This is not only time intensive but also prone to error due to the varying initial poses in the images which affects both the landmark detection and rotation estimation. We have introduced a fast, reproducible, and semi-automatic method to detect the stereotactic coordinate system in the image and correct the pose. The method begins with a rigid registration of the subject images to an atlas and proceeds to detect the anatomical landmarks through a sequence of optimization, deformable and multimodal registration algorithms. The results showed similar precision (maximum difference of 1.71 in average in-plane rotation) to a manual pose correction.

General circular velocity relation of a test particle in a 3D gravitational potential: application to the rotation curves analysis and total mass determination of UGC 8490 and UGC 9753

NASA Astrophysics Data System (ADS)

Repetto, P.; Martínez-García, E. E.; Rosado, M.; Gabbasov, R.

2018-06-01

In this paper, we derive a novel circular velocity relation for a test particle in a 3D gravitational potential applicable to every system of curvilinear coordinates, suitable to be reduced to orthogonal form. As an illustration of the potentiality of the determined circular velocity expression, we perform the rotation curves analysis of UGC 8490 and UGC 9753 and we estimate the total and dark matter mass of these two galaxies under the assumption that their respective dark matter haloes have spherical, prolate, and oblate spheroidal mass distributions. We employ stellar population synthesis models and the total H I density map to obtain the stellar and H I+He+metals rotation curves of both galaxies. The subtraction of the stellar plus gas rotation curves from the observed rotation curves of UGC 8490 and UGC 9753 generates the dark matter circular velocity curves of both galaxies. We fit the dark matter rotation curves of UGC 8490 and UGC 9753 through the newly established circular velocity formula specialized to the spherical, prolate, and oblate spheroidal mass distributions, considering the Navarro, Frenk, and White, Burkert, Di Cintio, Einasto, and Stadel dark matter haloes. Our principal findings are the following: globally, cored dark matter profiles Burkert and Einasto prevail over cuspy Navarro, Frenk, and White, and Di Cintio. Also, spherical/oblate dark matter models fit better the dark matter rotation curves of both galaxies than prolate dark matter haloes.

Binocular Coordination of the Human Vestibulo-Ocular Reflex during Off-axis Pitch Rotation

NASA Technical Reports Server (NTRS)

Wood, S. J.; Reschke, M. F.; Kaufman, G. D.; Black, F. O.; Paloski, W. H.

2006-01-01

Head movements in the sagittal pitch plane typically involve off-axis rotation requiring both vertical and horizontal vergence ocular reflexes to compensate for angular and translational motion relative to visual targets of interest. The purpose of this study was to compare passive pitch VOR responses during rotation about an Earth-vertical axis (canal only cues) with off-axis rotation (canal and otolith cues). Methods. Eleven human subjects were oscillated sinusoidally at 0.13, 0.3 and 0.56 Hz while lying left-side down with the interaural axis either aligned with the axis of rotation or offset by 50 cm. In a second set of measurements, twelve subjects were also tested during sinusoidally varying centrifugation over the same frequency range. The modulation of vertical and horizontal vergence ocular responses was measured with a binocular videography system. Results. Off-axis pitch rotation enhanced the vertical VOR at lower frequencies and enhanced the vergence VOR at higher frequencies. During sinusoidally varying centrifugation, the opposite trend was observed for vergence, with both vertical and vergence vestibulo-ocular reflexes being suppressed at the highest frequency. Discussion. These differential effects of off-axis rotation over the 0.13 to 0.56 Hz range are consistent with the hypothesis that otolith-ocular reflexes are segregated in part on the basis of stimulus frequency. At the lower frequencies, tilt otolith-ocular responses compensate for declining canal input. At higher frequencies, translational otolith-ocular reflexes compensate for declining visual contributions to the kinematic demands required for fixating near targets.

High precision applications of the global positioning system

NASA Technical Reports Server (NTRS)

Lichten, Stephen M.

1991-01-01

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

Realization of ETRF2000 as a New Terrestrial Reference Frame in Republic of Serbia

NASA Astrophysics Data System (ADS)

Blagojevic, D.; Vasilic, V.

2012-12-01

The International Earth Rotation and Reference Systems Service (IERS) is a joint service of the International Association of Geodesy (IAG) and the International Astronomical Union (IAU), which provides the scientific community with the means for computing the transformation from the International Celestial Reference System (ICRS) to the International Terrestrial Reference System (ITRS). It further maintains the realizations of these systems by appropriate coordinate sets called "frames". The densification of terrestrial frame usually serves as official frame for positioning and navigation tasks within the territory of particular country. One of these densifications was recently performed in order to establish new reference frame for Republic of Serbia. The paper describes related activities resulting in ETRF2000 as a new Serbian terrestrial reference frame.

Coordinates of features on the Galilean satellites

NASA Technical Reports Server (NTRS)

Merton, E. D.; Katayama, F. Y.

1980-01-01

Control nets of the four Galilean satellites, established photogrammetrically from pictures taken by the two Voyager spacecraft during their flybys of Jupiter in 1979, are discussed. Coordinates of 504 points on Io, 112 points on Europa, 1547 points on Ganymede, and 439 points on Callisto are listed. Selected points are identified on maps of the satellites. Measurements of these points were made on 234 pictures of Io, 115 pictures of Europa, 282 pictures of Ganymede, and 200 pictures of Callisto. The systems of longitude were defined by craters on Europa, Ganymede, and Callisto. Preliminary solutions are found for the directions of the axes of rotation of the Galilean satellites. Mean radii are determined as 1815 + or - 5 km for Io, 1569 + or - 10 km for Europa, 2631 + or - km for Ganymede, and 2400 + or - 10 km for Callisto.

Method for measuring target rotation angle by theodolites

NASA Astrophysics Data System (ADS)

Sun, Zelin; Wang, Zhao; Zhai, Huanchun; Yang, Xiaoxu

2013-05-01

To overcome the disadvantage of the current measurement methods using theodolites in an environment with shock and long working hours and so on, this paper proposes a new method for 3D coordinate measurement that is based on an immovable measuring coordinate system. According to the measuring principle, the mathematics model is established and the measurement uncertainty is analysed. The measurement uncertainty of the new method is a function of the theodolite observation angles and their uncertainty, and can be reduced by optimizing the theodolites’ placement. Compared to other methods, this method allows the theodolite positions to be changed in the measuring process, and mutual collimation between the theodolites is not required. The experimental results show that the measurement model and the optimal placement principle are correct, and the measurement error is less than 0.01° after optimizing the theodolites’ placement.

Architecture and data processing alternatives for the tse computer. Volume 4: Image rotation using tse operations

NASA Technical Reports Server (NTRS)

Kao, M. H.; Bodenheimer, R. E.

1976-01-01

The tse computer's capability of achieving image congruence between temporal and multiple images with misregistration due to rotational differences is reported. The coordinate transformations are obtained and a general algorithms is devised to perform image rotation using tse operations very efficiently. The details of this algorithm as well as its theoretical implications are presented. Step by step procedures of image registration are described in detail. Numerous examples are also employed to demonstrate the correctness and the effectiveness of the algorithms and conclusions and recommendations are made.

Direct formulation of a 4-node hybrid shell element with rotational degrees of freedom

NASA Technical Reports Server (NTRS)

Aminpour, Mohammad A.

1990-01-01

A simple 4-node assumed-stress hybrid quadrilateral shell element with rotational or drilling degrees of freedom is formulated. The element formulation is based directly on a 4-node element. This direct formulation requires fewer computations than a similar element that is derived from an internal 8-node isoparametric element in which the midside degrees of freedom are eliminated in favor of rotational degree of freedom at the corner nodes. The formulation is based on the principle of minimum complementary energy. The membrane part of the element has 12 degrees of freedom including rotational degrees of freedom. The bending part of the element also has 12 degrees of freedom. The bending part of the quadratic variations for both in-plane and out-of-plane displacement fields and linear variations for both in-plane and out-of-plane rotation fields are assumed along the edges of the element. The element Cartesian-coordinate system is chosen such as to make the stress field invariant with respect to node numbering. The membrane part of the stress field is based on a 9-parameter equilibrating stress field, while the bending part is based on a 13-parameter equilibrating stress field. The element passes the patch test, is nearly insensitive to mesh distortion, does not lock, possesses the desirable invariance properties, has no spurious modes, and produces accurate and reliable results.

Reference frames, gauge transformations and gravitomagnetism in the post-Newtonian theory of the lunar motion

NASA Astrophysics Data System (ADS)

Xie, Yi; Kopeikin, Sergei

2010-01-01

We construct a set of reference frames for description of the orbital and rotational motion of the Moon. We use a scalar-tensor theory of gravity depending on two parameters of the parametrized post-Newtonian (PPN) formalism and utilize the concepts of the relativistic resolutions on reference frames adopted by the International Astronomical Union in 2000. We assume that the solar system is isolated and space-time is asymptotically flat. The primary reference frame has the origin at the solar-system barycenter (SSB) and spatial axes are going to infinity. The SSB frame is not rotating with respect to distant quasars. The secondary reference frame has the origin at the Earth-Moon barycenter (EMB). The EMB frame is local with its spatial axes spreading out to the orbits of Venus and Mars and not rotating dynamically in the sense that both the Coriolis and centripetal forces acting on a free-falling test particle, moving with respect to the EMB frame, are excluded. Two other local frames, the geocentric (GRF) and the selenocentric (SRF) frames, have the origin at the center of mass of the Earth and Moon respectively. They are both introduced in order to connect the coordinate description of the lunar motion, observer on the Earth, and a retro-reflector on the Moon to the observable quantities which are the proper time and the laser-ranging distance. We solve the gravity field equations and find the metric tensor and the scalar field in all frames. We also derive the post-Newtonian coordinate transformations between the frames and analyze the residual gauge freedom of the solutions of the field equations. We discuss the gravitomagnetic effects in the barycentric equations of the motion of the Moon and argue that they are beyond the current accuracy of lunar laser ranging (LLR) observations.

Analysis of stationary displacement patterns in rotating machinery subject to local harmonic excitation

NASA Astrophysics Data System (ADS)

Österlind, Tomas; Kari, Leif; Nicolescu, Cornel Mihai

2017-02-01

Rotor vibration and stationary displacement patterns observed in rotating machineries subject to local harmonic excitation are analysed for improved understanding and dynamic characterization. The analysis stresses the importance of coordinate transformation between rotating and stationary frame of reference for accurate results and estimation of dynamic properties. A generic method which can be used for various rotor applications such as machine tool spindle and turbo machinery vibration is presented. The phenomenon shares similarities with stationary waves in rotating disks though focuses on vibration in shafts. The paper further proposes a graphical tool, the displacement map, which can be used for selection of stable rotational speed for rotating machinery. The results are validated through simulation of dynamic response of a milling cutter, which is a typical example of a variable speed rotor operating under different load conditions.

The Microwave Spectroscopy Study of 1,2-DIMETHOXYETHANE

NASA Astrophysics Data System (ADS)

Li, Weixing; Vigorito, Annalisa; Calabrese, Camilla; Evangelisti, Luca; Favero, Laura B.; Maris, Assimo; Melandri, Sonia

2017-06-01

With Pulsed-Jet Fourier Transform MicroWave (PJ-FTMW) spectroscopy and Stark modulated Free Jet Millimeter-Wave absorption (FJ-AMMW) spectroscopy, the rotational spectra of two conformers of 1,2-Dimethoxyethane were identified and characterized. Besides the normal species, the spectra of all the mono-substituted ^{13}C isotopologues in natural abundance were also measured. By fitting the rotational transitions split by the methyl internal rotations using both XIAM and ERHAM programs, the spectroscopic parameters were obtained and compared. The rotational constants indicated the conformers to be TGT and TGG', respectively. With the rotational constants of the normal and ^{13}C species, the coordinates of the substituted carbon atoms could be calculated with Kraitchmann's equations. The carbon-frameworks further confirmed the assignment of the two conformations. The V_{3} barriers of the two methyl groups' internal rotations were also experimentally determined.

Barriers and facilitators to provide quality TIA care in the Veterans Healthcare Administration

PubMed Central

Miech, Edward J.; Sico, Jason J.; Phipps, Michael S.; Arling, Greg; Ferguson, Jared; Austin, Charles; Myers, Laura; Baye, Fitsum; Luckhurst, Cherie; Keating, Ava B.; Moran, Eileen; Bravata, Dawn M.

2017-01-01

Objective: To identify key barriers and facilitators to the delivery of guideline-based care of patients with TIA in the national Veterans Health Administration (VHA). Methods: We conducted a cross-sectional, observational study of 70 audiotaped interviews of multidisciplinary clinical staff involved in TIA care at 14 VHA hospitals. We de-identified and analyzed all transcribed interviews. We identified emergent themes and patterns of barriers to providing TIA care and of facilitators applied to overcome these barriers. Results: Identified barriers to providing timely acute and follow-up TIA care included difficulties accessing brain imaging, a constantly rotating pool of housestaff, lack of care coordination, resource constraints, and inadequate staff education. Key informants revealed that both stroke nurse coordinators and system-level factors facilitated the provision of TIA care. Few facilities had specific TIA protocols. However, stroke nurse coordinators often expanded upon their role to include TIA. They facilitated TIA care by (1) coordinating patient care across services, communicating across service lines, and educating clinical staff about facility policies and evidence-based practices; (2) tracking individual patients from emergency departments to inpatient settings and to discharge for timely follow-up care; (3) providing and referring TIA patients to risk factor management programs; and (4) performing regular audit and feedback of quality performance data. System-level facilitators included clinical service leadership engagement and use of electronic tools for continuous care across services. Conclusions: The local organization within a health care facility may be targeted to cultivate internal facilitators and a systemic infrastructure to provide evidence-based TIA care. PMID:29117959

Measuring the Earth to within an inch using GPS satellites

NASA Astrophysics Data System (ADS)

Blewitt, Geoffrey

1992-01-01

A recently developed technique for “measuring the Earth” was demonstrated in 1991 using data from an experiment involving a world-wide network of receivers that track satellites of the Global Positioning System (GPS). Recent results indicate that distances between points separated by as much as 10,000 km on the surface of the Earth can be determined at the 2 cm level, and that the position of the pole of rotation at the Earth's surface can be estimated daily to better than 2 cm. Achieving this level of accuracy in a reliable, economical way is an important step towards building our understanding of the Earth as a rotating, deforming body.Funded by NASA's Solid Earth Science Program, the Jet Propulsion Laboratory coordinated participation of many international institutions in a 3-week experiment in January-February 1991 called GPS for International Earth Rotation Service (IERS) and Geodynamics '91 (GIG'91). Twenty-one receivers developed by J PL and scores of commercial receivers were simultaneously deployed. Several independent groups around the world analyzed the data and presented results at meetings in the summer and fall of 1991.

Method for laser-based two-dimensional navigation system in a structured environment

DOEpatents

Boultinghouse, Karlan D.; Schoeneman, J. Lee; Tise, Bertice L.

1989-01-01

A low power, narrow laser beam, generated by a laser carried by a mobile vehicle, is rotated about a vertical reference axis as the vehicle navigates within a structured environment. At least three stationary retroreflector elements are located at known positions, preferably at the periphery of the structured environment, with one of the elements having a distinctive retroreflection. The projected rotating beam traverses each retroreflector in succession, and the corresponding retroreflections are received at the vehicle and focussed on a photoelectric cell to generate corresponding electrical signals. The signal caused by the distinctive retroreflection serves as an angle-measurement datum. An angle encoder coupled to the apparatus rotating the projected laser beam provides the angular separation from this datum of the lines connecting the mobile reference axis to successive retroreflectors. This real-time angular data is utilized with the known locations of the retroreflectors to trigonometrically compute using three point resection, the exact real-time location of the mobile reference axis (hence the navigating vehicle) vis-a-vis the structured environment, e.g., in terms of two-dimensional Cartesian coordinates associated with the environment.

Investigating head and trunk rotation in sitting: a pilot study comparing people after stroke and healthy controls.

PubMed

Verheyden, Geert; Ashburn, Ann; Burnett, Malcolm; Littlewood, Janet; Kunkel, Dorit

2012-06-01

Healthy individuals have a top-down coordination pattern when turning while walking; they first rotate the head, then the shoulders, the pelvis and, finally, the feet. The aim of this study was to compare spatial and temporal characteristics of head and trunk rotation in sitting between people early after stroke and healthy participants, and investigate change over time. This was a pilot, quantitative, longitudinal study. We recruited participants from stroke wards and local groups. People with stroke were assessed at 3, 6 and 12 weeks after stroke. Healthy participants were examined with the same weekly intervals. Participants were in a seated position and were asked verbally to rotate their head and look at a visual signal placed at 90° to the left and to the right of the subject. CODAmotion (Charnwood Dynamics Ltd, Rothley, UK) was used for 3-D motion recording and analysis. Healthy participants (two women and four men; mean age 66 years) showed significant rotation of the head before rotation of the shoulders at all three time points; people with stroke (one woman and five men; mean age 71 years) did not show this top-down pattern of movement. There was no significant difference between start times of head and shoulder rotation at 3 (p = 0.167), 6 (p = 0.084) and 12 weeks after stroke (p = 0.062). Conclusions. The results of our pilot study warrant further investigation into the recovery and pattern of axial coordination after stroke. Future studies could provide insight into the mechanisms behind impaired postural control in people after stroke. Copyright © 2011 John Wiley & Sons, Ltd.

Trajectories of ballistic impact ejecta on a rotating Earth

NASA Technical Reports Server (NTRS)

Alvarez, W.

1994-01-01

On an airless, slowly rotating planetary body like the Moon, ejecta particles from an impact follow simple ballistic trajectories. If gaseous interactions in the fireball are ignored, ejecta particles follow elliptical orbits with the center of the planetary body at one focus until they encounter the surface at the point of reimpact. The partial elliptical orbit of the ejecta particle lies in a plane in inertial (galactic) coordinates. Because of the slow rotation rate (for example, 360 degrees/28 days for the Moon), the intersection of the orbital plane and the surface remains nearly a great circle during the flight time of the ejecta. For this reason, lunar rays, representing concentrations of ejecta with the same azimuth but different velocities and/or ejecta angles, lie essentially along great circles. Ejecta from airless but more rapidly rotating bodies will follow more complicated, curving trajectories when plotted in the coordinate frame of the rotating planet or viewed as rays on the planetary surface. The curvature of trajectories of ejecta particles can be treated as a manifestation of the Coriolis effect, with the particles being accelerated by Coriolis pseudoforces. However, it is more straightforward to calculate the elliptical orbit in inertial space and then determine how far the planet rotates beneath the orbiting ejecta particle before reimpact. The Earth's eastward rotation affects ballistic ejecta in two ways: (1) the eastward velocity component increases the velocity of eastbound ejecta and reduces the velocity of westbound ejecta; and (2) the Earth turns underneath inflight ejecta, so that although the latitude of reimpact is not changed, the longitude is displaced westward, with the displacement increasing as a function of the time the ejecta remains aloft.

Instantaneous relationship between solar inertial and local vertical local horizontal attitudes

NASA Technical Reports Server (NTRS)

Vickery, S. A.

1977-01-01

The instantaneous relationship between the Solar Inertial (SI) and Local Vertical Local Horizontal (LVLH) coordinate systems is derived. A method is presented for computation of the LVLH to SI rotational transformation matrix as a function of an input LVLH attitude and the corresponding look angles to the sun. Logic is provided for conversion between LVLH and SI attitudes expressed in terms of a pitch, yaw, roll Euler sequence. Documentation is included for a program which implements the logic on the Hewlett-Packard 97 programmable calculator.

Why three-body physics does not solve the proton-radius puzzle.

PubMed

Karr, Jean-Philippe; Hilico, Laurent

2012-09-07

The possible involvement of weakly bound three-body systems in the muonic hydrogen spectroscopy experiment, which could resolve the current discrepancy between determinations of the proton radius, is investigated. Using variational calculations with complex coordinate rotation, we show that in the pμe ion, which was recently proposed as a possible candidate, the pμ core fails to bind the outer electron tightly enough to explain the discrepancy. It is also shown that the ppμ molecular ion cannot play any role in the observed line.

The Serret-Andoyer Formalism in Rigid-Body Dynamics: 1. Symmetries and Perturbations

DTIC Science & Technology

2007-01-01

b. ABSTRACT unclassified c. THIS PAGE unclassified Standard Form 298 (Rev. 8-98) Prescribed by ANSI Std Z39-18 390 GURFIL et al. solved in any...applications to planetary rotation. A subsequent publication by Bloch, Gurfil , and Lum (2007) [26] will deal with the Andoyer-variables-geometry...convention, (ψ, θ, φ), is in use [8–12]. REGULAR AND CHAOTIC DYNAMICS Vol. 12 No. 4 2007 392 GURFIL et al. Fig. 1. An inertial coordinate system, ŝ1, ŝ2, ŝ3

Consistent realization of Celestial and Terrestrial Reference Frames

NASA Astrophysics Data System (ADS)

Kwak, Younghee; Bloßfeld, Mathis; Schmid, Ralf; Angermann, Detlef; Gerstl, Michael; Seitz, Manuela

2018-03-01

The Celestial Reference System (CRS) is currently realized only by Very Long Baseline Interferometry (VLBI) because it is the space geodetic technique that enables observations in that frame. In contrast, the Terrestrial Reference System (TRS) is realized by means of the combination of four space geodetic techniques: Global Navigation Satellite System (GNSS), VLBI, Satellite Laser Ranging (SLR), and Doppler Orbitography and Radiopositioning Integrated by Satellite. The Earth orientation parameters (EOP) are the link between the two types of systems, CRS and TRS. The EOP series of the International Earth Rotation and Reference Systems Service were combined of specifically selected series from various analysis centers. Other EOP series were generated by a simultaneous estimation together with the TRF while the CRF was fixed. Those computation approaches entail inherent inconsistencies between TRF, EOP, and CRF, also because the input data sets are different. A combined normal equation (NEQ) system, which consists of all the parameters, i.e., TRF, EOP, and CRF, would overcome such an inconsistency. In this paper, we simultaneously estimate TRF, EOP, and CRF from an inter-technique combined NEQ using the latest GNSS, VLBI, and SLR data (2005-2015). The results show that the selection of local ties is most critical to the TRF. The combination of pole coordinates is beneficial for the CRF, whereas the combination of Δ UT1 results in clear rotations of the estimated CRF. However, the standard deviations of the EOP and the CRF improve by the inter-technique combination which indicates the benefits of a common estimation of all parameters. It became evident that the common determination of TRF, EOP, and CRF systematically influences future ICRF computations at the level of several μas. Moreover, the CRF is influenced by up to 50 μas if the station coordinates and EOP are dominated by the satellite techniques.

Gait in Pregnancy-related Pelvic girdle Pain: amplitudes, timing, and coordination of horizontal trunk rotations.

PubMed

Wu, Wen Hua; Meijer, Onno G; Bruijn, Sjoerd M; Hu, Hai; van Dieën, Jaap H; Lamoth, Claudine J C; van Royen, Barend J; Beek, Peter J

2008-09-01

Walking is impaired in Pregnancy-related Pelvic girdle Pain (PPP). Walking velocity is reduced, and in postpartum PPP relative phase between horizontal pelvis and thorax rotations was found to be lower at higher velocities, and rotational amplitudes tended to be larger. While attempting to confirm these findings for PPP during pregnancy, we wanted to identify underlying mechanisms. We compared gait kinematics of 12 healthy pregnant women and 12 pregnant women with PPP, focusing on the amplitudes of transverse segmental rotations, the timing and relative phase of these rotations, and the amplitude of spinal rotations. In PPP during pregnancy walking velocity was lower than in controls, and negatively correlated with fear of movement. While patients' rotational amplitudes were larger, with large inter-individual differences, spinal rotations did not differ between groups. In the patients, peak thorax rotation occurred earlier in the stride cycle at higher velocities, and relative phase was lower. The earlier results on postpartum PPP were confirmed for PPP during pregnancy. Spinal rotations remained unaffected, while at higher velocities the peak of thorax rotations occurred earlier in the stride cycle. The latter change may serve to avoid excessive spine rotations caused by the larger segmental rotations.

Gait in Pregnancy-related Pelvic girdle Pain: amplitudes, timing, and coordination of horizontal trunk rotations

PubMed Central

Wu, Wen Hua; Bruijn, Sjoerd M.; Hu, Hai; van Dieën, Jaap H.; Lamoth, Claudine J. C.; van Royen, Barend J.; Beek, Peter J.

2008-01-01

Walking is impaired in Pregnancy-related Pelvic girdle Pain (PPP). Walking velocity is reduced, and in postpartum PPP relative phase between horizontal pelvis and thorax rotations was found to be lower at higher velocities, and rotational amplitudes tended to be larger. While attempting to confirm these findings for PPP during pregnancy, we wanted to identify underlying mechanisms. We compared gait kinematics of 12 healthy pregnant women and 12 pregnant women with PPP, focusing on the amplitudes of transverse segmental rotations, the timing and relative phase of these rotations, and the amplitude of spinal rotations. In PPP during pregnancy walking velocity was lower than in controls, and negatively correlated with fear of movement. While patients’ rotational amplitudes were larger, with large inter-individual differences, spinal rotations did not differ between groups. In the patients, peak thorax rotation occurred earlier in the stride cycle at higher velocities, and relative phase was lower. The earlier results on postpartum PPP were confirmed for PPP during pregnancy. Spinal rotations remained unaffected, while at higher velocities the peak of thorax rotations occurred earlier in the stride cycle. The latter change may serve to avoid excessive spine rotations caused by the larger segmental rotations. PMID:18661160

Chloridotetra­kis(pyridine-4-carb­alde­hyde-κN)copper(II) chloride

PubMed Central

Meng, Xiu-Jin; Zhang, Shu-Hua; Yang, Ge-Ge; Huang, Xue-Ren; Jiang, Yi-Min

2009-01-01

In the mol­ecular structure of the title compound, [CuCl(C6H5NO)4]Cl, the CuII atom is coordinated by four N atoms of four pyridine-4-carboxaldehyde ligands and one chloride anion in a slightly distorted square-pyramidal coordination geometry. There is also a non-coordinating Cl− anion in the crystal structure. The CuII atom and both Cl atoms are situated on fourfold rotation axes. A weak C—H⋯Cl inter­action is also present. PMID:21578129

Orthonormal aberration polynomials for anamorphic optical imaging systems with circular pupils.

PubMed

Mahajan, Virendra N

2012-06-20

In a recent paper, we considered the classical aberrations of an anamorphic optical imaging system with a rectangular pupil, representing the terms of a power series expansion of its aberration function. These aberrations are inherently separable in the Cartesian coordinates (x,y) of a point on the pupil. Accordingly, there is x-defocus and x-coma, y-defocus and y-coma, and so on. We showed that the aberration polynomials orthonormal over the pupil and representing balanced aberrations for such a system are represented by the products of two Legendre polynomials, one for each of the two Cartesian coordinates of the pupil point; for example, L(l)(x)L(m)(y), where l and m are positive integers (including zero) and L(l)(x), for example, represents an orthonormal Legendre polynomial of degree l in x. The compound two-dimensional (2D) Legendre polynomials, like the classical aberrations, are thus also inherently separable in the Cartesian coordinates of the pupil point. Moreover, for every orthonormal polynomial L(l)(x)L(m)(y), there is a corresponding orthonormal polynomial L(l)(y)L(m)(x) obtained by interchanging x and y. These polynomials are different from the corresponding orthogonal polynomials for a system with rotational symmetry but a rectangular pupil. In this paper, we show that the orthonormal aberration polynomials for an anamorphic system with a circular pupil, obtained by the Gram-Schmidt orthogonalization of the 2D Legendre polynomials, are not separable in the two coordinates. Moreover, for a given polynomial in x and y, there is no corresponding polynomial obtained by interchanging x and y. For example, there are polynomials representing x-defocus, balanced x-coma, and balanced x-spherical aberration, but no corresponding y-aberration polynomials. The missing y-aberration terms are contained in other polynomials. We emphasize that the Zernike circle polynomials, although orthogonal over a circular pupil, are not suitable for an anamorphic system as they do not represent balanced aberrations for such a system.

Real-time target tracking and locating system for UAV

NASA Astrophysics Data System (ADS)

Zhang, Chao; Tang, Linbo; Fu, Huiquan; Li, Maowen

2017-07-01

In order to achieve real-time target tracking and locating for UAV, a reliable processing system is built on the embedded platform. Firstly, the video image is acquired in real time by the photovoltaic system on the UAV. When the target information is known, KCF tracking algorithm is adopted to track the target. Then, the servo is controlled to rotate with the target, when the target is in the center of the image, the laser ranging module is opened to obtain the distance between the UAV and the target. Finally, to combine with UAV flight parameters obtained by BeiDou navigation system, through the target location algorithm to calculate the geodetic coordinates of the target. The results show that the system is stable for real-time tracking of targets and positioning.

A Conventional Mean Pole

NASA Astrophysics Data System (ADS)

Stamatakos, N. G.; McCarthy, D. D.

2016-12-01

A CONVENTIONAL MEAN POLE PATH The gradual drift of the pole associated with the rotational axis of the Earth in a terrestrial reference frame is characterized by the motion of a "mean pole." The IERS Conventions (2010) does not provide a formal definition of such a "mean pole." In its glossary it defines the terminology "mean pole" in the celestial frame by using the definition "the position on the celestial sphere towards which the Earth's axis points at a particular epoch, with the oscillations due to precession-nutation removed." The need for a terrestrial mean pole is mentioned in Section 7.1.4 of the IERS Conventions, which outlines the procedure to account for the variation in terrestrial site coordinates caused by the pole tide. It states, that an estimate of the wander of the mean pole to within about 10 milliarc-seconds is needed to ensure that the geopotential field is aligned to the long term mean pole. Historically the angular coordinates of this "mean pole" were calculated by averaging the observed angular coordinates of the rotational pole over six years, the beat period of the annual and approximately 14-month Chandler motions of the rotational pole. The IERS Conventions (2010) realization of the mean pole is composed of a cubic fit of the polar coordinates valid over 1976-2010 and a linear model for extrapolation after 2010.0. Further it notes that in the future, the IERS conventional mean pole will be revised as needed with sufficient advance notice. However, this document leaves open the formal definition of a conventional terrestrial mean pole, the spectral frequency content to be expected in such a definition and a procedure to be used to realize the coordinates of the path for users. Background is provided regarding past realizations of a "mean pole," and the requirements for a realization of a mean pole path are reviewed. Possible definitions and potential mathematical models to provide mean pole coordinates in the future are outlined. In addition, the authors hope that this poster will serve to open a discussion, which will identify geodesy disciplines that require a mean pole and what type of definition would be suitable to their needs.

MK-801 Impairs Cognitive Coordination on a Rotating Arena (Carousel) and Contextual Specificity of Hippocampal Immediate-Early Gene Expression in a Rat Model of Psychosis

PubMed Central

Kubík, Štěpán; Buchtová, Helena; Valeš, Karel; Stuchlík, Aleš

2014-01-01

Flexible behavior in dynamic, real-world environments requires more than static spatial learning and memory. Discordant and unstable cues must be organized in coherent subsets to give rise to meaningful spatial representations. We model this form of cognitive coordination on a rotating arena – Carousel where arena- and room-bound spatial cues are dissociated. Hippocampal neuronal ensemble activity can repeatedly switch between multiple representations of such an environment. Injection of tetrodotoxin into one hippocampus prevents cognitive coordination during avoidance of a stationary room-defined place on the Carousel and increases coactivity of previously unrelated neurons in the uninjected hippocampus. Place avoidance on the Carousel is impaired after systemic administration of non-competitive NMDAr blockers (MK-801) used to model schizophrenia in animals and people. We tested if this effect is due to cognitive disorganization or other effect of NMDAr antagonism such as hyperlocomotion, spatial memory impairment, or general learning deficit. We also examined if the same dose of MK-801 alters patterns of immediate-early gene (IEG) expression in the hippocampus. IEG expression is triggered in neuronal nuclei in a context-specific manner after behavioral exploration and it is used to map activity in neuronal populations. IEG expression is critical for maintenance of synaptic plasticity and memory consolidation. We show that the same dose of MK-801 that impairs spatial coordination of rats on the Carousel also eliminates contextual specificity of IEG expression in hippocampal CA1 ensembles. This effect is due to increased similarity between ensembles activated in different environments, consistent with the idea that it is caused by increased coactivity between neurons, which did not previously fire together. Our data support the proposition of the Hypersynchrony theory that cognitive disorganization in psychosis is due to increased coactivity between unrelated neurons. PMID:24659959

Rotation, Reflection, and Frame Changes; Orthogonal tensors in computational engineering mechanics

NASA Astrophysics Data System (ADS)

Brannon, R. M.

2018-04-01

Whilst vast literature is available for the most common rotation-related tasks such as coordinate changes, most reference books tend to cover one or two methods, and resources for less-common tasks are scarce. Specialized research applications can be found in disparate journal articles, but a self-contained comprehensive review that covers both elementary and advanced concepts in a manner comprehensible to engineers is rare. Rotation, Reflection, and Frame Changes surveys a refreshingly broad range of rotation-related research that is routinely needed in engineering practice. By illustrating key concepts in computer source code, this book stands out as an unusually accessible guide for engineers and scientists in engineering mechanics.

Solutions to Three-Dimensional Thin-Layer Navier-Stokes Equations in Rotating Coordinates for Flow Through Turbomachinery

NASA Technical Reports Server (NTRS)

Ghosh, Amrit Raj

1996-01-01

The viscous, Navier-Stokes solver for turbomachinery applications, MSUTC has been modified to include the rotating frame formulation. The three-dimensional thin-layer Navier-Stokes equations have been cast in a rotating Cartesian frame enabling the freezing of grid motion. This also allows the flow-field associated with an isolated rotor to be viewed as a steady-state problem. Consequently, local time stepping can be used to accelerate convergence. The formulation is validated by running NASA's Rotor 67 as the test case. results are compared between the rotating frame code and the absolute frame code. The use of the rotating frame approach greatly enhances the performance of the code with respect to savings in computing time, without degradation of the solution.

Equivalent model of a dually-fed machine for electric drive control systems

NASA Astrophysics Data System (ADS)

Ostrovlyanchik, I. Yu; Popolzin, I. Yu

2018-05-01

The article shows that the mathematical model of a dually-fed machine is complicated because of the presence of a controlled voltage source in the rotor circuit. As a method of obtaining a mathematical model, the method of a generalized two-phase electric machine is applied and a rotating orthogonal coordinate system is chosen that is associated with the representing vector of a stator current. In the chosen coordinate system in the operator form the differential equations of electric equilibrium for the windings of the generalized machine (the Kirchhoff equation) are written together with the expression for the moment, which determines the electromechanical energy transformation in the machine. Equations are transformed so that they connect the currents of the windings, that determine the moment of the machine, and the voltages on these windings. The structural diagram of the machine is assigned to the written equations. Based on the written equations and accepted assumptions, expressions were obtained for the balancing the EMF of windings, and on the basis of these expressions an equivalent mathematical model of a dually-fed machine is proposed, convenient for use in electric drive control systems.

Neural control of arm movements reveals a tendency to use gravity to simplify joint coordination rather than to decrease muscle effort.

PubMed

Wang, Wanyue; Dounskaia, Natalia

2016-12-17

How gravity influences neural control of arm movements remains under debate. We tested three alternative interpretations suggested by previous research: (1) that muscular control includes two components, tonic which compensates for gravity and phasic which produces the movement; (2) that there is a tendency to exploit gravity to reduce muscle effort; and (3) that there is a tendency to use a trailing pattern of joint control during which either the shoulder or elbow is rotated actively and the other joint rotates predominantly passively, and to exploit gravity for control of the passively rotated joint. A free-stroke drawing task was performed that required production of center-out strokes within a circle while selecting stroke directions randomly. The circle was positioned in the horizontal, sagittal, and frontal plane. The arm joints freely rotated in space. In each plane, the distribution of the strokes across directions was non-uniform. Directional histograms were built and their peaks were used to identify preferred movement directions. The directional preferences were especially pronounced in the two vertical planes. The upward directions were most preferred. To test the three interpretations, we used a kinetic analysis that determined the role of gravitational torque in the production of movement in the preferred directions. The results supported the third interpretation and provided evidence against the first and second interpretation. The trailing pattern has been associated with reduced neural effort for joint coordination, and therefore, we conclude that the major tendency with respect to gravity is to exploit it for simplification of joint coordination. Copyright © 2016 IBRO. Published by Elsevier Ltd. All rights reserved.

Vibration-rotation-tunneling dynamics in small water clusters

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

Pugliano, Nick

The goal of this work is to characterize the intermolecular vibrations of small water clusters. Using tunable far infrared laser absorption spectroscopy, large amplitude vibration-rotation-tunneling (VRT) dynamics in vibrationally excited states of the water dimer and the water trimer are investigated. This study begins with the measurement of 12 VRT subbands, consisting of approximately 230 transitions, which are assigned to an 82.6 cm -1 intermolecular vibration of the water dimer-d 4. Each of the VRT subbands originate from K a''=0 and terminate in either K a'=0 or 1. These data provide a complete characterization of the tunneling dynamics in themore » vibrationally excited state as well as definitive symmetry labels for all VRT energy levels. Furthermore, an accurate value for the A' rotational constant is found to agree well with its corresponding ground state value. All other excited state rotational constants are fitted, and discussed in terms of the corresponding ground state constants. In this vibration, the quantum tunneling motions are determined to exhibit large dependencies with both the K a' quantum number and the vibrational coordinate, as is evidenced by the measured tunneling splittings. The generalized internal-axis-method treatment which has been developed to model the tunneling dynamics, is considered for the qualitative description of each tunneling pathway, however, the variation of tunneling splittings with vibrational excitation indicate that the high barrier approximation does not appear to be applicable for this vibrational coordinate. The data are consistent with a motion possessing a' symmetry, and the vibration is assigned as the v 12 acceptor bending coordinate. This assignment is in agreement with the vibrational symmetry, the resultsof high level ab initio calculations, and preliminary data assigned to the analogous vibration in the D 2O-DOH isotopomer.« less

A 4-node assumed-stress hybrid shell element with rotational degrees of freedom

NASA Technical Reports Server (NTRS)

Aminpour, Mohammad A.

1990-01-01

An assumed-stress hybrid/mixed 4-node quadrilateral shell element is introduced that alleviates most of the deficiencies associated with such elements. The formulation of the element is based on the assumed-stress hybrid/mixed method using the Hellinger-Reissner variational principle. The membrane part of the element has 12 degrees of freedom including rotational or drilling degrees of freedom at the nodes. The bending part of the element also has 12 degrees of freedom. The bending part of the element uses the Reissner-Mindlin plate theory which takes into account the transverse shear contributions. The element formulation is derived from an 8-node isoparametric element. This process is accomplished by assuming quadratic variations for both in-plane and out-of-plane displacement fields and linear variations for both in-plane and out-of-plane rotation fields along the edges of the element. In addition, the degrees of freedom at midside nodes are approximated in terms of the degrees of freedom at corner nodes. During this process the rotational degrees of freedom at the corner nodes enter into the formulation of the element. The stress field are expressed in the element natural-coordinate system such that the element remains invariant with respect to node numbering.

Color-coded topography and shaded relief map of the lunar near side and far side hemispheres

USGS Publications Warehouse

,

2003-01-01

This publication is a set of three sheets of topographic maps that presents color-coded topographic data digitally merged with shaded relief data. Adopted figure: The figure for the Moon, used for the computation of the map projection, is a sphere with a radius of 1737.4 km. Because the Moon has no surface water, and hence no sea level, the datum (the 0 km contour) for elevations is defined as the radius of 1737.4 km. Coordinates are based on the mean Earth/polar axis (M.E.) coordinates system, the z axis is the axis of the Moon's rotation, and the x axis is the mean Earth direction. The center of mass is the origin of the coordinate system. The equator lies in the x-y plane and the prime meridian lies in the x-z plane with east longitude values being positive. Projection: The projection is Lambert Azimuthal Equal Area Projection. The scale factor at the central latitude and central longitude point is 1:10,000,000. For the near side hemisphere the central latitude and central longitude point is at 0° and 0°. For the far side hemisphere the central latitude and central longitude point is at 0° and 180°.

Strong magneto-optical effects in A Cr2O4 (A =Fe,Co ) spinel oxides generated by tetrahedrally coordinated transition metal ions

NASA Astrophysics Data System (ADS)

Kocsis, V.; Bordács, S.; Deisenhofer, J.; Kiss, L. F.; Ohgushi, K.; Kaneko, Y.; Tokura, Y.; Kézsmárki, I.

2018-03-01

Magneto-optical effects have been investigated over the infrared visible spectral range in A Cr2O4 (A =Fe,Co ) spinel oxides with noncollinear spin orders in their ground states. We found large magneto-optical Kerr rotation and ellipticity at the on-site d -d transitions of the A2 + ions located within the charge gap. The magneto-optical Kerr rotation of ϑKerr≈12∘ observed in CoCr2O4 is unprecedentedly large among magnetic semiconductors and points toward the uniqueness of tetrahedrally coordinated Co2 + ions in generating strong magneto-optical response. Criteria of strong magneto-optical effects emerging at on-site d -d transitions of transition metal ions are discussed.

User's manual for three dimensional boundary layer (BL3-D) code

NASA Technical Reports Server (NTRS)

Anderson, O. L.; Caplin, B.

1985-01-01

An assessment has been made of the applicability of a 3-D boundary layer analysis to the calculation of heat transfer, total pressure losses, and streamline flow patterns on the surface of both stationary and rotating turbine passages. In support of this effort, an analysis has been developed to calculate a general nonorthogonal surface coordinate system for arbitrary 3-D surfaces and also to calculate the boundary layer edge conditions for compressible flow using the surface Euler equations and experimental data to calibrate the method, calculations are presented for the pressure endwall, and suction surfaces of a stationary cascade and for the pressure surface of a rotating turbine blade. The results strongly indicate that the 3-D boundary layer analysis can give good predictions of the flow field, loss, and heat transfer on the pressure, suction, and endwall surface of a gas turbine passage.

Dynamic motion analysis of dart throwers motion visualized through computerized tomography and calculation of the axis of rotation.

PubMed

Edirisinghe, Y; Troupis, J M; Patel, M; Smith, J; Crossett, M

2014-05-01

We used a dynamic three-dimensional (3D) mapping method to model the wrist in dynamic unrestricted dart throwers motion in three men and four women. With the aid of precision landmark identification, a 3D coordinate system was applied to the distal radius and the movement of the carpus was described. Subsequently, with dynamic 3D reconstructions and freedom to position the camera viewpoint anywhere in space, we observed the motion pathways of all carpal bones in dart throwers motion and calculated its axis of rotation. This was calculated to lie in 27° of anteversion from the coronal plane and 44° of varus angulation relative to the transverse plane. This technique is a safe and a feasible carpal imaging method to gain key information for decision making in future hand surgical and rehabilitative practices.

Diurnal polar motion

NASA Technical Reports Server (NTRS)

Mcclure, P.

1973-01-01

An analytical theory is developed to describe diurnal polar motion in the earth which arises as a forced response due to lunisolar torques and tidal deformation. Doodson's expansion of the tide generating potential is used to represent the lunisolar torques. Both the magnitudes and the rates of change of perturbations in the earth's inertia tensor are included in the dynamical equations for the polar motion so as to account for rotational and tidal deformation. It is found that in a deformable earth with Love's number k = 0.29, the angular momentum vector departs by as much as 20 cm from the rotation axis rather than remaining within 1 or 2 cm as it would in a rigid earth. This 20 cm separation is significant in the interpretation of submeter polar motion observations because it necessitates an additional coordinate transformation in order to remove what would otherwise be a 20 cm error source in the conversion between inertial and terrestrial reference systems.

Concept and analytical basis for revistas - A fast, flexible computer/graphic system for generating periodic satellite coverage patterns

NASA Technical Reports Server (NTRS)

King, J. C.

1976-01-01

The generation of satellite coverage patterns is facilitated by three basic strategies: use of a simplified physical model, permitting rapid closed-form calculation; separation of earth rotation and nodal precession from initial geometric analyses; and use of symmetries to construct traces of indefinite length by repetitive transposition of basic one-quadrant elements. The complete coverage patterns generated consist of a basic nadir trace plus a number of associated off-nadir traces, one for each sensor swath edge to be delineated. Each trace is generated by transposing one or two of the basic quadrant elements into a circle on a nonrotating earth model sphere, after which the circle is expanded into the actual 'helical' pattern by adding rotational displacements to the longitude coordinates. The procedure adapts to the important periodic coverage cases by direct insertion of the characteristic integers N and R (days and orbital revolutions, respectively, per coverage period).

Three-Dimensional ISAR Imaging Method for High-Speed Targets in Short-Range Using Impulse Radar Based on SIMO Array

PubMed Central

Zhou, Xinpeng; Wei, Guohua; Wu, Siliang; Wang, Dawei

2016-01-01

This paper proposes a three-dimensional inverse synthetic aperture radar (ISAR) imaging method for high-speed targets in short-range using an impulse radar. According to the requirements for high-speed target measurement in short-range, this paper establishes the single-input multiple-output (SIMO) antenna array, and further proposes a missile motion parameter estimation method based on impulse radar. By analyzing the motion geometry relationship of the warhead scattering center after translational compensation, this paper derives the receiving antenna position and the time delay after translational compensation, and thus overcomes the shortcomings of conventional translational compensation methods. By analyzing the motion characteristics of the missile, this paper estimates the missile’s rotation angle and the rotation matrix by establishing a new coordinate system. Simulation results validate the performance of the proposed algorithm. PMID:26978372

Collective circular motion in synchronized and balanced formations with second-order rotational dynamics

NASA Astrophysics Data System (ADS)

Jain, Anoop; Ghose, Debasish

2018-01-01

This paper considers collective circular motion of multi-agent systems in which all the agents are required to traverse different circles or a common circle at a prescribed angular velocity. It is required to achieve these collective motions with the heading angles of the agents synchronized or balanced. In synchronization, the agents and their centroid have a common velocity direction, while in balancing, the movement of agents causes the location of the centroid to become stationary. The agents are initially considered to move at unit speed around individual circles at different angular velocities. It is assumed that the agents are subjected to limited communication constraints, and exchange relative information according to a time-invariant undirected graph. We present suitable feedback control laws for each of these motion coordination tasks by considering a second-order rotational dynamics of the agent. Simulations are given to illustrate the theoretical findings.

Coordination pattern of baseball pitching among young pitchers of various ages and velocity levels.

PubMed

Chen, Hsiu-Hui; Liu, Chiang; Yang, Wen-Wen

2016-09-01

This study compared the whole-body movement coordination of pitching among 72 baseball players of various ages and velocity levels. Participants were classified as senior, junior, and little according to their age, with each group comprising 24 players. The velocity levels of the high-velocity (the top eight) and low-velocity (the lowest eight) groups were classified according to their pitching velocity. During pitching, the coordinates of 15 markers attached to the major joints of the whole-body movement system were collected for analysis. Sixteen kinematic parameters were calculated to compare the groups and velocity levels. Principal component analysis (PCA) was conducted to quantify the coordination pattern of pitching movement. The results were as follows: (1) five position and two velocity parameters significantly differed among the age groups, and two position and one velocity parameters significantly differed between the high- and low-velocity groups. (2) The coordination patterns of pitching movement could be described using three components, of which the eigenvalues and contents varied according to age and velocity level. In conclusion, the senior and junior players showed greater elbow angular velocity, whereas the little players exhibited a wider shoulder angle only at the beginning of pitching. The players with high velocity exhibited higher trunk and shoulder rotation velocity. The variations among groups found using PCA and kinematics parameter analyses were consistent.

Post-Newtonian Reference Frames for Advanced Theory of the Lunar Motion and a New Generation of Lunar Laser Ranging

NASA Astrophysics Data System (ADS)

Xie, Yi; Kopeikin, Sergei Affiliaiton: AB(Department of Physics and Astronomy, University of Missouri, USA kopeikins@missouri.edu)

2010-08-01

We overview a set of post-Newtonian reference frames for a comprehensive study of the orbital dynamics and rotational motion of Moon and Earth by means of lunar laser ranging (LLR). We employ a scalar-tensor theory of gravity depending on two post-Newtonian parameters, and , and utilize the relativistic resolutions on reference frames adopted by the International Astronomical Union (IAU) in 2000. We assume that the solar system is isolated and space-time is asymptotically flat at infinity. The primary reference frame covers the entire space-time, has its origin at the solar-system barycenter (SSB) and spatial axes stretching up to infinity. The SSB frame is not rotating with respect to a set of distant quasars that are forming the International Celestial Reference Frame (ICRF). The secondary reference frame has its origin at the Earth-Moon barycenter (EMB). The EMB frame is locally-inertial and is not rotating dynamically in the sense that equation of motion of a test particle moving with respect to the EMB frame, does not contain the Coriolis and centripetal forces. Two other local frames geocentric (GRF) and selenocentric (SRF) have their origins at the center of mass of Earth and Moon respectively and do not rotate dynamically. Each local frame is subject to the geodetic precession both with respect to other local frames and with respect to the ICRF because of their relative motion with respect to each other. Theoretical advantage of the dynamically non-rotating local frames is in a more simple mathematical description. Each local frame can be aligned with the axes of ICRF after applying the matrix of the relativistic precession. The set of one global and three local frames is introduced in order to fully decouple the relative motion of Moon with respect to Earth from the orbital motion of the Earth-Moon barycenter as well as to connect the coordinate description of the lunar motion, an observer on Earth, and a retro-reflector on Moon to directly measurable quantities such as the proper time and the round-trip laser-light distance. We solve the gravity field equations and find out the metric tensor and the scalar field in all frames which description includes the post-Newtonian multipole moments of the gravitational field of Earth and Moon. We also derive the post-Newtonian coordinate transformations between the frames and analyze the residual gauge freedom.

Segment coupling and coordination variability analyses of the roundhouse kick in taekwondo relative to the initial stance position.

PubMed

Estevan, Isaac; Freedman Silvernail, Julia; Jandacka, Daniel; Falco, Coral

2016-09-01

The initial stance position (ISP) has been observed as a factor affecting the execution technique during taekwondo kicks. In the present study, authors aimed to analyse a roundhouse kick to the chest by measuring movement coordination and the variability of coordination and comparing this across the different ISP (0°, 45° and 90°). Eight experienced taekwondo athletes performed consecutive kicking trials in random order from every of the three relative positions. The execution was divided into three phases (stance, first swing and second swing phase). A motion capture system was used to measure athletes' angular displacement of pelvis and thigh. A modified vector coding technique was used to quantify the coordination of the segments which contributed to the overall movement. The variability of this coordination (CV) for each ISP was also calculated. Comparative analysis showed that during the stance phase in the transverse plane, athletes coordinated movement of the trunk and thigh with a higher frequency of in-phase and lower frequency of exclusive thigh rotation in the 0° stance than the 90° stance position (P < 0.05). CV was also influenced by the different ISP. During the first swing and the majority of the second swing phase, predominant in-phase coordination of the pelvis and thigh was observed. Including exercises that require in-phase movement could not only help athletes to acquire coordination stability but also efficiency. The existence of a constraint such as ISP implies an increase of the variability when the athletes have to kick from ISP they are not used to adopt (i.e., 0° and 90° ISP) as an evidence of adaptability in the athletes' execution technique.

Coding of Velocity Storage in the Vestibular Nuclei.

PubMed

Yakushin, Sergei B; Raphan, Theodore; Cohen, Bernard

2017-01-01

Semicircular canal afferents sense angular acceleration and output angular velocity with a short time constant of ≈4.5 s. This output is prolonged by a central integrative network, velocity storage that lengthens the time constants of eye velocity. This mechanism utilizes canal, otolith, and visual (optokinetic) information to align the axis of eye velocity toward the spatial vertical when head orientation is off-vertical axis. Previous studies indicated that vestibular-only (VO) and vestibular-pause-saccade (VPS) neurons located in the medial and superior vestibular nucleus could code all aspects of velocity storage. A recently developed technique enabled prolonged recording while animals were rotated and received optokinetic stimulation about a spatial vertical axis while upright, side-down, prone, and supine. Firing rates of 33 VO and 8 VPS neurons were studied in alert cynomolgus monkeys. Majority VO neurons were closely correlated with the horizontal component of velocity storage in head coordinates, regardless of head orientation in space. Approximately, half of all tested neurons (46%) code horizontal component of velocity in head coordinates, while the other half (54%) changed their firing rates as the head was oriented relative to the spatial vertical, coding the horizontal component of eye velocity in spatial coordinates. Some VO neurons only coded the cross-coupled pitch or roll components that move the axis of eye rotation toward the spatial vertical. Sixty-five percent of these VO and VPS neurons were more sensitive to rotation in one direction (predominantly contralateral), providing directional orientation for the subset of VO neurons on either side of the brainstem. This indicates that the three-dimensional velocity storage integrator is composed of directional subsets of neurons that are likely to be the bases for the spatial characteristics of velocity storage. Most VPS neurons ceased firing during drowsiness, but the firing rates of VO neurons were unaffected by states of alertness and declined with the time constant of velocity storage. Thus, the VO neurons are the prime components of the mechanism of coding for velocity storage, whereas the VPS neurons are likely to provide the path from the vestibular to the oculomotor system for the VO neurons.

Coding of Velocity Storage in the Vestibular Nuclei

PubMed Central

Yakushin, Sergei B.; Raphan, Theodore; Cohen, Bernard

2017-01-01

Semicircular canal afferents sense angular acceleration and output angular velocity with a short time constant of ≈4.5 s. This output is prolonged by a central integrative network, velocity storage that lengthens the time constants of eye velocity. This mechanism utilizes canal, otolith, and visual (optokinetic) information to align the axis of eye velocity toward the spatial vertical when head orientation is off-vertical axis. Previous studies indicated that vestibular-only (VO) and vestibular-pause-saccade (VPS) neurons located in the medial and superior vestibular nucleus could code all aspects of velocity storage. A recently developed technique enabled prolonged recording while animals were rotated and received optokinetic stimulation about a spatial vertical axis while upright, side-down, prone, and supine. Firing rates of 33 VO and 8 VPS neurons were studied in alert cynomolgus monkeys. Majority VO neurons were closely correlated with the horizontal component of velocity storage in head coordinates, regardless of head orientation in space. Approximately, half of all tested neurons (46%) code horizontal component of velocity in head coordinates, while the other half (54%) changed their firing rates as the head was oriented relative to the spatial vertical, coding the horizontal component of eye velocity in spatial coordinates. Some VO neurons only coded the cross-coupled pitch or roll components that move the axis of eye rotation toward the spatial vertical. Sixty-five percent of these VO and VPS neurons were more sensitive to rotation in one direction (predominantly contralateral), providing directional orientation for the subset of VO neurons on either side of the brainstem. This indicates that the three-dimensional velocity storage integrator is composed of directional subsets of neurons that are likely to be the bases for the spatial characteristics of velocity storage. Most VPS neurons ceased firing during drowsiness, but the firing rates of VO neurons were unaffected by states of alertness and declined with the time constant of velocity storage. Thus, the VO neurons are the prime components of the mechanism of coding for velocity storage, whereas the VPS neurons are likely to provide the path from the vestibular to the oculomotor system for the VO neurons. PMID:28861030

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

Qian, X; Wuu, C; Admovics, J

Purpose: A 3-D radiochromic plastic dosimeter has been used to cross-test the isocentricity of a high resolution image-guided small animal microirradiation platform. In this platform, the mouse stage rotating for cone beam CT imaging is perpendicular to the gantry rotation for sub-millimeter radiation delivery. A 3-D dosimeter can be used to verify both imaging and irradiation coordinates. Methods: A 3-D dosimeter and optical CT scanner were used in this study. In the platform, both mouse stage and gantry can rotate 360° with rotation axis perpendicular to each other. Isocentricity and coincidence of mouse stage and gantry rotations were evaluated usingmore » star patterns. A 3-D dosimeter was placed on mouse stage with center at platform isocenter approximately. For CBCT isocentricity, with gantry moved to 90°, the mouse stage rotated horizontally while the x-ray was delivered to the dosimeter at certain angles. For irradiation isocentricity, the gantry rotated 360° to deliver beams to the dosimeter at certain angles for star patterns. The uncertainties and agreement of both CBCT and irradiation isocenters can be determined from the star patterns. Both procedures were repeated 3 times using 3 dosimeters to determine short-term reproducibility. Finally, dosimeters were scanned using optical CT scanner to obtain the results. Results: The gantry isocentricity is 0.9 ± 0.1 mm and mouse stage rotation isocentricity is about 0.91 ± 0.11 mm. Agreement between the measured isocenters of irradiation and imaging coordinates was determined. The short-term reproducibility test yielded 0.5 ± 0.1 mm between the imaging isocenter and the irradiation isocenter, with a maximum displacement of 0.7 ± 0.1 mm. Conclusion: The 3-D dosimeter can be very useful in precise verification of targeting for a small animal irradiation research. In addition, a single 3-D dosimeter can provide information in both geometric and dosimetric uncertainty, which is crucial for translational studies.« less

Bi-directional planar slide mechanism

DOEpatents

Bieg, Lothar F.

2003-11-04

A bi-directional slide mechanism. A pair of master and slave disks engages opposite sides of the platform. Rotational drivers are connected to master disks so the disks rotate eccentrically about their respective axes of rotation. Opposing slave disks are connected to master disks on opposite sides of the platform by a circuitous mechanical linkage, or are electronically synchronized together using stepper motors, to effect coordinated motion. The synchronized eccentric motion of the pairs of master/slave disks compels smooth linear motion of the platform forwards and backwards without backlash. The apparatus can be incorporated in a MEMS device.

ShapeRotator: An R tool for standardized rigid rotations of articulated three-dimensional structures with application for geometric morphometrics.

PubMed

Vidal-García, Marta; Bandara, Lashi; Keogh, J Scott

2018-05-01

The quantification of complex morphological patterns typically involves comprehensive shape and size analyses, usually obtained by gathering morphological data from all the structures that capture the phenotypic diversity of an organism or object. Articulated structures are a critical component of overall phenotypic diversity, but data gathered from these structures are difficult to incorporate into modern analyses because of the complexities associated with jointly quantifying 3D shape in multiple structures. While there are existing methods for analyzing shape variation in articulated structures in two-dimensional (2D) space, these methods do not work in 3D, a rapidly growing area of capability and research. Here, we describe a simple geometric rigid rotation approach that removes the effect of random translation and rotation, enabling the morphological analysis of 3D articulated structures. Our method is based on Cartesian coordinates in 3D space, so it can be applied to any morphometric problem that also uses 3D coordinates (e.g., spherical harmonics). We demonstrate the method by applying it to a landmark-based dataset for analyzing shape variation using geometric morphometrics. We have developed an R tool (ShapeRotator) so that the method can be easily implemented in the commonly used R package geomorph and MorphoJ software. This method will be a valuable tool for 3D morphological analyses in articulated structures by allowing an exhaustive examination of shape and size diversity.

A new potential energy surface for vibration-vibration coupling in HF-HF collisions. Formulation and quantal scattering calculations

NASA Astrophysics Data System (ADS)

Schwenke, David W.; Truhlar, Donald G.

1988-04-01

We present new ab initio calculations of the HF-HF interaction potential for the case where both molecules are simultaneously displaced from their equilibrium internuclear distance. These and previous ab initio calculations are then fit to a new analytic representation which is designed to be efficient to evaluate and to provide an especially faithful account of the forces along the vibrational coordinates. We use the new potential for two sets of quantal scattering calculations for collisions in three dimensions with total angular momentum zero. First we test that the angular harmonic representation of the anisotropy is adequate by comparing quantal rigid rotator calculations to those carried out for potentials involving higher angular harmonics and for which the expansion in angular harmonics is systematically increased to convergence. Then we carry out large-scale quantal calculations of vibration-vibration energy transfer including the coupling of both sets of vibrational and rotational coordinates. These calculations indicate that significant rotational energy transfer accompanies the vibration-to-vibration energy transfer process.

A computational procedure for the dynamics of flexible beams within multibody systems. Ph.D. Thesis Final Technical Report

NASA Technical Reports Server (NTRS)

Downer, Janice Diane

1990-01-01

The dynamic analysis of three dimensional elastic beams which experience large rotational and large deformational motions are examined. The beam motion is modeled using an inertial reference for the translational displacements and a body-fixed reference for the rotational quantities. Finite strain rod theories are then defined in conjunction with the beam kinematic description which accounts for the effects of stretching, bending, torsion, and transverse shear deformations. A convected coordinate representation of the Cauchy stress tensor and a conjugate strain definition is introduced to model the beam deformation. To treat the beam dynamics, a two-stage modification of the central difference algorithm is presented to integrate the translational coordinates and the angular velocity vector. The angular orientation is then obtained from the application of an implicit integration algorithm to the Euler parameter/angular velocity kinematical relation. The combined developments of the objective internal force computation with the dynamic solution procedures result in the computational preservation of total energy for undamped systems. The present methodology is also extended to model the dynamics of deployment/retrieval of the flexible members. A moving spatial grid corresponding to the configuration of a deployed rigid beam is employed as a reference for the dynamic variables. A transient integration scheme which accurately accounts for the deforming spatial grid is derived from a space-time finite element discretization of a Hamiltonian variational statement. The computational results of this general deforming finite element beam formulation are compared to reported results for a planar inverse-spaghetti problem.

A NEW THREE-DIMENSIONAL SOLAR WIND MODEL IN SPHERICAL COORDINATES WITH A SIX-COMPONENT GRID

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

Feng, Xueshang; Zhang, Man; Zhou, Yufen, E-mail: fengx@spaceweather.ac.cn

In this paper, we introduce a new three-dimensional magnetohydrodynamics numerical model to simulate the steady state ambient solar wind from the solar surface to 215 R {sub s} or beyond, and the model adopts a splitting finite-volume scheme based on a six-component grid system in spherical coordinates. By splitting the magnetohydrodynamics equations into a fluid part and a magnetic part, a finite volume method can be used for the fluid part and a constrained-transport method able to maintain the divergence-free constraint on the magnetic field can be used for the magnetic induction part. This new second-order model in space andmore » time is validated when modeling the large-scale structure of the solar wind. The numerical results for Carrington rotation 2064 show its ability to produce structured solar wind in agreement with observations.« less

System of polarization correlometry of polycrystalline layers of urine in the differentiation stage of diabetes

NASA Astrophysics Data System (ADS)

Ushenko, Yu. O.; Pashkovskaya, N. V.; Marchuk, Y. F.; Dubolazov, O. V.; Savich, V. O.

2015-08-01

The work consists of investigation results of diagnostic efficiency of a new azimuthally stable Muellermatrix method of analysis of laser autofluorescence coordinate distributions of biological liquid layers. A new model of generalized optical anisotropy of biological tissues protein networks is proposed in order to define the processes of laser autofluorescence. The influence of complex mechanisms of both phase anisotropy (linear birefringence and optical activity) and linear (circular) dichroism is taken into account. The interconnections between the azimuthally stable Mueller-matrix elements characterizing laser autofluorescence and different mechanisms of optical anisotropy are determined. The statistic analysis of coordinate distributions of such Mueller-matrix rotation invariants is proposed. Thereupon the quantitative criteria (statistic moments of the 1st to the 4th order) of differentiation of human urine polycrystalline layers for the sake of diagnosing and differentiating cholelithiasis with underlying chronic cholecystitis (group 1) and diabetes mellitus of degree II (group 2) are estimated.

An exact solution for a rotating black hole in modified gravity

NASA Astrophysics Data System (ADS)

Filippini, Francesco; Tasinato, Gianmassimo

2018-01-01

Exact solutions describing rotating black holes can offer important tests for alternative theories of gravity, motivated by the dark energy and dark matter problems. We present an analytic rotating black hole solution for a class of vector-tensor theories of modified gravity, valid for arbitrary values of the rotation parameter. The new configuration is characterised by parametrically large deviations from the Kerr-Newman geometry, controlled by non-minimal couplings between vectors and gravity. It has an oblate horizon in Boyer-Lindquist coordinates, and it can rotate more rapidly and have a larger ergosphere than black holes in General Relativity (GR) with the same asymptotic properties. We analytically investigate the features of the innermost stable circular orbits for massive objects on the equatorial plane, and show that stable orbits lie further away from the black hole horizon with respect to rotating black holes in GR. We also comment on possible applications of our findings for the extraction of rotational energy from the black hole.

Surprising trunk rotational capabilities in chimpanzees and implications for bipedal walking proficiency in early hominins

PubMed Central

Thompson, Nathan E.; Demes, Brigitte; O'Neill, Matthew C.; Holowka, Nicholas B.; Larson, Susan G.

2015-01-01

Human walking entails coordinated out-of-phase axial rotations of the thorax and pelvis. A long-held assumption is that this ability relies on adaptations for trunk flexibility present in humans, but not in chimpanzees, other great apes, or australopithecines. Here we use three-dimensional kinematic analyses to show that, contrary to current thinking, chimpanzees walking bipedally rotate their lumbar and thoracic regions in a manner similar to humans. This occurs despite differences in the magnitude of trunk motion, and despite morphological differences in truncal ‘rigidity' between species. These results suggest that, like humans and chimpanzees, early hominins walked with upper body rotations that countered pelvic rotation. We demonstrate that even if early hominins walked with pelvic rotations 50% larger than humans, they may have accrued the energetic and mechanical benefits of out-of-phase thoracic rotations. This would have allowed early hominins to reduce work and locomotor cost, improving walking efficiency early in hominin evolution. PMID:26441046

Analysis of the Effect of UTI-UTC to High Precision Orbit

NASA Astrophysics Data System (ADS)

Shin, Dongseok; Kwak, Sunghee; Kim, Tag-Gon

1999-12-01

As the spatial resolution of remote sensing satellites becomes higher, very accurate determination of the position of a LEO (Low Earth Orbit) satellite is demanding more than ever. Non-symmetric Earth gravity is the major perturbation force to LEO satellites. Since the orbit propagation is performed in the celestial frame while Earth gravity is defined in the terrestrial frame, it is required to convert the coordinates of the satellite from one to the other accurately. Unless the coordinate conversion between the two frames is performed accurately the orbit propagation calculates incorrect Earth gravitational force at a specific time instant, and hence, causes errors in orbit prediction. The coordinate conversion between the two frames involves precession, nutation, Earth rotation and polar motion. Among these factors, unpredictability and uncertainty of Earth rotation, called UTI-UTC, is the largest error source. In this paper, the effect of UTI-UTC on the accuracy of the LEO propagation is introduced, tested and analzed. Considering the maximum unpredictability of UTI-UTC, 0.9 seconds, the meaningful order of non-spherical Earth harmonic functions is derived.

Fault tolerant vector control of induction motor drive

NASA Astrophysics Data System (ADS)

Odnokopylov, G.; Bragin, A.

2014-10-01

For electric composed of technical objects hazardous industries, such as nuclear, military, chemical, etc. an urgent task is to increase their resiliency and survivability. The construction principle of vector control system fault-tolerant asynchronous electric. Displaying recovery efficiency three-phase induction motor drive in emergency mode using two-phase vector control system. The process of formation of a simulation model of the asynchronous electric unbalance in emergency mode. When modeling used coordinate transformation, providing emergency operation electric unbalance work. The results of modeling transient phase loss motor stator. During a power failure phase induction motor cannot save circular rotating field in the air gap of the motor and ensure the restoration of its efficiency at rated torque and speed.

Rotating-fluid experiments with an atmospheric general circulation model

NASA Technical Reports Server (NTRS)

Geisler, J. E.; Pitcher, E. J.; Malone, R. C.

1983-01-01

In order to determine features of rotating fluid flow that are dependent on the geometry, rotating annulus-type experiments are carried out with a numerical model in spherical coordinates. Rather than constructing and testing a model expressly for this purpose, it is found expedient to modify an existing general circulation model of the atmosphere by removing the model physics and replacing the lower boundary with a uniform surface. A regime diagram derived from these model experiments is presented; its major features are interpreted and contrasted with the major features of rotating annulus regime diagrams. Within the wave regime, a narrow region is found where one or two zonal wave numbers are dominant. The results reveal no upper symmetric regime; wave activity at low rotation rates is thought to be maintained by barotropic rather than baroclinic processes.

Conjunct rotation: Codman's paradox revisited.

PubMed

Wolf, Sebastian I; Fradet, Laetitia; Rettig, Oliver

2009-05-01

This contribution mathematically formalizes Codman's idea of conjunct rotation, a term he used in 1934 to describe a paradoxical phenomenon arising from a closed-loop arm movement. Real (axial) rotation is distinguished from conjunct rotation. For characterizing the latter, the idea of reference vector fields is developed to define the neutral axial position of the humerus for any given orientation of its long axis. This concept largely avoids typical coordinate singularities arising from decomposition of 3D joint motion and therefore can be used for postural (axial) assessment of the shoulder joint both clinically and in sports science in almost the complete accessible range of motion. The concept, even though algebraic rather complex, might help to get an easier and more intuitive understanding of axial rotation of the shoulder in complex movements present in daily life and in sports.

Long-range active retroreflector to measure the rotational orientation in conjunction with a laser tracker

NASA Astrophysics Data System (ADS)

Hofherr, O.; Wachten, Christian; Müller, C.; Reinecke, H.

2014-11-01

High precision optical non-contact position measurement is a key technology in modern engineering. Laser trackers (LT) accurately determine x-y-z coordinates of passive retroreflectors. Next-generation systems answer the need to measure an object`s rotational orientation (pitch, yaw, roll). So far, these devices are based either on photogrammetry or on enhanced retroreflectors. Here we present a new method to measure all six degrees of freedom in conjunction with a LT. The basic principle is to analyze the orientation to the LT's beam path by coupling-out laser radiation. The optical design is inspired by a cat's eye retroreflector equipped with an integrated beam splitter layer. The optical spherical aberration is compensated, which reduces the divergence angle for the reflected beam by one order of magnitude compared to an uncompensated standard system of the same size. The wave front distortion is reduced to less than 0.1 λ @ 633 nm for beam diameters up to 8 mm. Our active retroreflector is suitable for long-range measurements for a distance > 10 m.

Analysis of the dynamics and frequency spectrum synthesis of an optical-mechanical scanning device

NASA Technical Reports Server (NTRS)

Andryushkevichyus, A. I.; Kumpikas, A. L.; Kumpikas, K. L.

1973-01-01

A two-coordinate optical-mechanical scanning device (OMSD), the operating unit of which is a scanning disk, with directional and focusing optics and a board, on which the data carrier is placed, is examined. The disk and board are kinematically connected by a transmission mechanism, consisting of a worm and complex gear drive and a tightening screw-nut with correcting device, and it is run by a synchronous type motor. The dynamic errors in the system depend, first, on irregularities in rotation of the disk, fluctuations in its axis and vibrations of the table in the plane parallel to the plane of the disk. The basic sources of the fluctuations referred to above are residual disbalance of the rotor and other rotating masses, the periodic component of the driving torque of the synchronous motor, variability in the resistance, kinematic errors in the drive and other things. The fluctuations can be transmitted to the operating units through the kinematic link as a flexural-torsional system, as well as through vibrations of the housing of the device.

Active retroreflector with in situ beam analysis to measure the rotational orientation in conjunction with a laser tracker

NASA Astrophysics Data System (ADS)

Hofherr, O.; Wachten, C.; Müller, C.; Reinecke, H.

2013-04-01

High precision optical non-contact position measurement is a key technology in modern engineering. Laser trackers (LT) can determine accurately x-y-z coordinates of passive retroreflectors. Next-generation systems answer the additional need to measure an object`s rotational orientation (pitch, yaw, roll). These devices are based either on photogrammetry or on enhanced retroreflectors. However, photogrammetry relies on costly camera systems and time-consuming image processing. Enhanced retroreflectors analyze the LT`s beam but are restricted in roll angle measurements. In the past we have presented a new method [1][2] to measure all six degrees of freedom in conjunction with a LT. Now we dramatically optimized the method and designed a new prototype, e.g. taking into consideration optical alignment, reduced power loss, highly optimized measuring signals and higher resolution. A method is described that allows compensating the influence of the LT's beam offset during tracking the active retroreflector. We prove the functionality of the active retroreflector with the LT and, furthermore, demonstrate the capability of the system to characterize the tracking behavior of a LT. The measurement range for the incident laser beam is +/-12° with a resolution of 0.6".

Active retroreflector to measure the rotational orientation in conjunction with a laser tracker

NASA Astrophysics Data System (ADS)

Hofherr, O.; Wachten, C.; Müller, C.; Reinecke, H.

2012-10-01

High precision optical non-contact position measurement is a key technology in modern engineering. Laser trackers (LT) can determine accurately x-y-z coordinates of passive retroreflectors. Next-generation systems answer the additional need to measure an object's rotational orientation (pitch, yaw, roll). These devices are based on photogrammetry or on enhanced retroreflectors. However, photogrammetry relies on camera systems and time-consuming image processing. Enhanced retroreflectors analyze the LT's beam but are restricted in roll angle measurements. Here we present an integrated laser based method to evaluate all six degrees of freedom. An active retroreflector directly analyzes its orientation to the LT's beam path by outcoupling laser light on detectors. A proof of concept prototype has been designed with a specified measuring range of 360° for roll angle measurements and +/-15° for pitch and yaw angle respectively. The prototype's optical design is inspired by a cat's eye retroreflector. First results are promising and further improvements are under development. We anticipate our method to facilitate simple and cost-effective six degrees of freedom measurements. Furthermore, for industrial applications wide customizations are possible, e.g. adaptation of measuring range, optimization of accuracy, and further system miniaturization.

SU-F-I-49: Vendor-Independent, Model-Based Iterative Reconstruction On a Rotating Grid with Coordinate-Descent Optimization for CT Imaging Investigations

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

Young, S; Hoffman, J; McNitt-Gray, M

Purpose: Iterative reconstruction methods show promise for improving image quality and lowering the dose in helical CT. We aim to develop a novel model-based reconstruction method that offers potential for dose reduction with reasonable computation speed and storage requirements for vendor-independent reconstruction from clinical data on a normal desktop computer. Methods: In 2012, Xu proposed reconstructing on rotating slices to exploit helical symmetry and reduce the storage requirements for the CT system matrix. Inspired by this concept, we have developed a novel reconstruction method incorporating the stored-system-matrix approach together with iterative coordinate-descent (ICD) optimization. A penalized-least-squares objective function with amore » quadratic penalty term is solved analytically voxel-by-voxel, sequentially iterating along the axial direction first, followed by the transaxial direction. 8 in-plane (transaxial) neighbors are used for the ICD algorithm. The forward problem is modeled via a unique approach that combines the principle of Joseph’s method with trilinear B-spline interpolation to enable accurate reconstruction with low storage requirements. Iterations are accelerated with multi-CPU OpenMP libraries. For preliminary evaluations, we reconstructed (1) a simulated 3D ellipse phantom and (2) an ACR accreditation phantom dataset exported from a clinical scanner (Definition AS, Siemens Healthcare). Image quality was evaluated in the resolution module. Results: Image quality was excellent for the ellipse phantom. For the ACR phantom, image quality was comparable to clinical reconstructions and reconstructions using open-source FreeCT-wFBP software. Also, we did not observe any deleterious impact associated with the utilization of rotating slices. The system matrix storage requirement was only 4.5GB, and reconstruction time was 50 seconds per iteration. Conclusion: Our reconstruction method shows potential for furthering research in low-dose helical CT, in particular as part of our ongoing development of an acquisition/reconstruction pipeline for generating images under a wide range of conditions. Our algorithm will be made available open-source as “FreeCT-ICD”. NIH U01 CA181156; Disclosures (McNitt-Gray): Institutional research agreement, Siemens Healthcare; Past recipient, research grant support, Siemens Healthcare; Consultant, Toshiba America Medical Systems; Consultant, Samsung Electronics.« less

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

Boros, Eszter; Srinivas, Raja; Kim, Hee -Kyung

Aqua ligands can undergo rapid internal rotation about the M-O bond. For magnetic resonance contrast agents, this rotation results in diminished relaxivity. Herein, we show that an intramolecular hydrogen bond to the aqua ligand can reduce this internal rotation and increase relaxivity. Molecular modeling was used to design a series of four Gd complexes capable of forming an intramolecular H-bond to the coordinated water ligand, and these complexes had anomalously high relaxivities compared to similar complexes lacking a H-bond acceptor. Molecular dynamics simulations supported the formation of a stable intramolecular H-bond, while alternative hypotheses that could explain the higher relaxivitymore » were systematically ruled out. Finally, intramolecular H-bonding represents a useful strategy to limit internal water rotational motion and increase relaxivity of Gd complexes.« less

Practical Method to Identify Orbital Anomaly as Breakup Event in the Geostationary Region

DTIC Science & Technology

2015-01-14

point ! Geocentric distance at the pinch point Table 4 summarizes the results of the origin identifications. One object labeled x15300 was...Table 4. The result of origin identification of the seven detected objects Object name Parent object Inclination vector Pinch point Geocentric distance...of the object. X-Y, X’-Y’, and R.A.-Dec. represent the Image Coordinate before rotating the CCD sensor, after rotation, and the Geocentric Inertial

Barriers and facilitators to provide quality TIA care in the Veterans Healthcare Administration.

PubMed

Damush, Teresa M; Miech, Edward J; Sico, Jason J; Phipps, Michael S; Arling, Greg; Ferguson, Jared; Austin, Charles; Myers, Laura; Baye, Fitsum; Luckhurst, Cherie; Keating, Ava B; Moran, Eileen; Bravata, Dawn M

2017-12-12

To identify key barriers and facilitators to the delivery of guideline-based care of patients with TIA in the national Veterans Health Administration (VHA). We conducted a cross-sectional, observational study of 70 audiotaped interviews of multidisciplinary clinical staff involved in TIA care at 14 VHA hospitals. We de-identified and analyzed all transcribed interviews. We identified emergent themes and patterns of barriers to providing TIA care and of facilitators applied to overcome these barriers. Identified barriers to providing timely acute and follow-up TIA care included difficulties accessing brain imaging, a constantly rotating pool of housestaff, lack of care coordination, resource constraints, and inadequate staff education. Key informants revealed that both stroke nurse coordinators and system-level factors facilitated the provision of TIA care. Few facilities had specific TIA protocols. However, stroke nurse coordinators often expanded upon their role to include TIA. They facilitated TIA care by (1) coordinating patient care across services, communicating across service lines, and educating clinical staff about facility policies and evidence-based practices; (2) tracking individual patients from emergency departments to inpatient settings and to discharge for timely follow-up care; (3) providing and referring TIA patients to risk factor management programs; and (4) performing regular audit and feedback of quality performance data. System-level facilitators included clinical service leadership engagement and use of electronic tools for continuous care across services. The local organization within a health care facility may be targeted to cultivate internal facilitators and a systemic infrastructure to provide evidence-based TIA care. Copyright © 2017 The Author(s). Published by Wolters Kluwer Health, Inc. on behalf of the American Academy of Neurology.

Reduction of astrometric plates

NASA Technical Reports Server (NTRS)

Stock, J.

1984-01-01

A rapid and accurate method for the reduction of comet or asteroid plates is described. Projection equations, scale length correction, rotation of coordinates, linearization, the search for additional reference stars, and the final solution are examined.

String method for calculation of minimum free-energy paths in Cartesian space in freely-tumbling systems.

PubMed

Branduardi, Davide; Faraldo-Gómez, José D

2013-09-10

The string method is a molecular-simulation technique that aims to calculate the minimum free-energy path of a chemical reaction or conformational transition, in the space of a pre-defined set of reaction coordinates that is typically highly dimensional. Any descriptor may be used as a reaction coordinate, but arguably the Cartesian coordinates of the atoms involved are the most unprejudiced and intuitive choice. Cartesian coordinates, however, present a non-trivial problem, in that they are not invariant to rigid-body molecular rotations and translations, which ideally ought to be unrestricted in the simulations. To overcome this difficulty, we reformulate the framework of the string method to integrate an on-the-fly structural-alignment algorithm. This approach, referred to as SOMA (String method with Optimal Molecular Alignment), enables the use of Cartesian reaction coordinates in freely tumbling molecular systems. In addition, this scheme permits the dissection of the free-energy change along the most probable path into individual atomic contributions, thus revealing the dominant mechanism of the simulated process. This detailed analysis also provides a physically-meaningful criterion to coarse-grain the representation of the path. To demonstrate the accuracy of the method we analyze the isomerization of the alanine dipeptide in vacuum and the chair-to-inverted-chair transition of β -D mannose in explicit water. Notwithstanding the simplicity of these systems, the SOMA approach reveals novel insights into the atomic mechanism of these isomerizations. In both cases, we find that the dynamics and the energetics of these processes are controlled by interactions involving only a handful of atoms in each molecule. Consistent with this result, we show that a coarse-grained SOMA calculation defined in terms of these subsets of atoms yields nearidentical minimum free-energy paths and committor distributions to those obtained via a highly-dimensional string.

String method for calculation of minimum free-energy paths in Cartesian space in freely-tumbling systems

PubMed Central

Branduardi, Davide; Faraldo-Gómez, José D.

2014-01-01

The string method is a molecular-simulation technique that aims to calculate the minimum free-energy path of a chemical reaction or conformational transition, in the space of a pre-defined set of reaction coordinates that is typically highly dimensional. Any descriptor may be used as a reaction coordinate, but arguably the Cartesian coordinates of the atoms involved are the most unprejudiced and intuitive choice. Cartesian coordinates, however, present a non-trivial problem, in that they are not invariant to rigid-body molecular rotations and translations, which ideally ought to be unrestricted in the simulations. To overcome this difficulty, we reformulate the framework of the string method to integrate an on-the-fly structural-alignment algorithm. This approach, referred to as SOMA (String method with Optimal Molecular Alignment), enables the use of Cartesian reaction coordinates in freely tumbling molecular systems. In addition, this scheme permits the dissection of the free-energy change along the most probable path into individual atomic contributions, thus revealing the dominant mechanism of the simulated process. This detailed analysis also provides a physically-meaningful criterion to coarse-grain the representation of the path. To demonstrate the accuracy of the method we analyze the isomerization of the alanine dipeptide in vacuum and the chair-to-inverted-chair transition of β-D mannose in explicit water. Notwithstanding the simplicity of these systems, the SOMA approach reveals novel insights into the atomic mechanism of these isomerizations. In both cases, we find that the dynamics and the energetics of these processes are controlled by interactions involving only a handful of atoms in each molecule. Consistent with this result, we show that a coarse-grained SOMA calculation defined in terms of these subsets of atoms yields nearidentical minimum free-energy paths and committor distributions to those obtained via a highly-dimensional string. PMID:24729762

Non-linear motions in reprocessed GPS station position time series

NASA Astrophysics Data System (ADS)

Rudenko, Sergei; Gendt, Gerd

2010-05-01

Global Positioning System (GPS) data of about 400 globally distributed stations obtained at time span from 1998 till 2007 were reprocessed using GFZ Potsdam EPOS (Earth Parameter and Orbit System) software within International GNSS Service (IGS) Tide Gauge Benchmark Monitoring (TIGA) Pilot Project and IGS Data Reprocessing Campaign with the purpose to determine weekly precise coordinates of GPS stations located at or near tide gauges. Vertical motions of these stations are used to correct the vertical motions of tide gauges for local motions and to tie tide gauge measurements to the geocentric reference frame. Other estimated parameters include daily values of the Earth rotation parameters and their rates, as well as satellite antenna offsets. The solution GT1 derived is based on using absolute phase center variation model, ITRF2005 as a priori reference frame, and other new models. The solution contributed also to ITRF2008. The time series of station positions are analyzed to identify non-linear motions caused by different effects. The paper presents the time series of GPS station coordinates and investigates apparent non-linear motions and their influence on GPS station height rates.

First-order dipolar phase transition in the Dicke model with infinitely coordinated frustrating interaction

NASA Astrophysics Data System (ADS)

Mukhin, S. I.; Gnezdilov, N. V.

2018-05-01

We found analytically a first-order quantum phase transition in a Cooper pair box array of N low-capacitance Josephson junctions capacitively coupled to resonant photons in a microwave cavity. The Hamiltonian of the system maps on the extended Dicke Hamiltonian of N spins 1 /2 with infinitely coordinated antiferromagnetic (frustrating) interaction. This interaction arises from the gauge-invariant coupling of the Josephson-junction phases to the vector potential of the resonant photons field. In the N ≫1 semiclassical limit, we found a critical coupling at which the ground state of the system switches to one with a net collective electric dipole moment of the Cooper pair boxes coupled to a super-radiant equilibrium photonic condensate. This phase transition changes from the first to second order if the frustrating interaction is switched off. A self-consistently "rotating" Holstein-Primakoff representation for the Cartesian components of the total superspin is proposed, that enables one to trace both the first- and the second-order quantum phase transitions in the extended and standard Dicke models, respectively.

a Numerical Method for Stability Analysis of Pinned Flexible Mechanisms

NASA Astrophysics Data System (ADS)

Beale, D. G.; Lee, S. W.

1996-05-01

A technique is presented to investigate the stability of mechanisms with pin-jointed flexible members. The method relies on a special floating frame from which elastic link co-ordinates are defined. Energies are easily developed for use in a Lagrange equation formulation, leading to a set of non-linear and mixed ordinary differential-algebraic equations of motion with constraints. Stability and bifurcation analysis is handled using a numerical procedure (generalized co-ordinate partitioning) that avoids the tedious and difficult task of analytically reducing the system of equations to a number equalling the system degrees of freedom. The proposed method was then applied to (1) a slider-crank mechanism with a flexible connecting rod and crank of constant rotational speed, and (2) a four-bar linkage with a flexible coupler with a constant speed crank. In both cases, a single pinned-pinned beam bending mode is employed to develop resonance curves and stability boundaries in the crank length-crank speed parameter plane. Flip and fold bifurcations are common occurrences in both mechanisms. The accuracy of the proposed method was also verified by comparison with previous experimental results [1].

Numerical analysis of three-dimensional viscous internal flows

NASA Technical Reports Server (NTRS)

Chima, Rodrick V.; Yokota, Jeffrey W.

1988-01-01

A 3-D Navier-Stokes code has been developed for analysis of turbomachinery blade rows and other internal flows. The Navier-Stokes equations are written in a Cartesian coordinate system rotating about the x-axis, and then mapped to a general body-fitted coordinate system. Streamwise viscous terms are neglected using the thin-layer assumption, and turbulence effects are modeled using the Baldwin-Lomax turbulence model. The equations are discretized using finite differences on stacked C-type grids and are solved using a multistage Runge-Kutta algorithm with a spatially-varying time step and implicit residual smoothing. Calculations have been made of a horseshoe vortex formed in front of a flat plate with a round leading edge standing in a turbulent endwall boundary layer. Comparisons are made with experimental data taken by Eckerle and Langston for a circular cylinder under similar conditions. Computer and measured results are compared in terms of endwall flow visualization pictures and total pressure loss contours and vector plots on the symmetry plane. Calculated details of the primary vortex show excellent agreement with the experimental data. The calculations also show a small secondary vortex not seen experimentally.

Standardizing the atomic description, axis and centre of biological ion channels.

PubMed

Kaats, Adrian J; Galiana, Henrietta L; Nadeau, Jay L

2007-09-15

A general representation of the atomic co-ordinates of a biological ion channel is obtained from a definition of channel axis and centre. Through rotation and translation of the channel, its centre becomes the origin of the standard co-ordinate system, and the channel axis becomes the system's z-axis. A method for determining the channel axis and centre based on the concepts of mass centre and mass moment of inertia is presented. The method for determining the channel axis can be directly applied to channels that adhere to two specific conditions regarding their geometry and mass distribution. Specific examples are given for Gramicidin A (GA), and the mammalian potassium channel Kv 1.2. For channels that do not adhere to these conditions, minor modifications of these procedures can be applied in determining the channel axis. Specific examples are given for the outer membrane bacterial porin OmpF, and for the staphylococcal pore-forming toxin alpha-hemolysin (alpha HL). The definitions and procedures presented are made in an effort to establish a standard basis for performing, sharing, and comparing computations in a consistent manner.

Theoretical Manual for Analysis of Arch Dams

DTIC Science & Technology

1993-07-01

eight nodes lying on the midsurface , half-way between the corresponding surface nodes (Pawsey 1970). Each node on the midsurface has five DOF’s, three...translations in the global directions, and two rotations about two axes perpendicular to the midsurface normal (Figure 5-4). The sixth DOF, associated...Figure 5-3). The coordinates of any point within the element are described in terms of the midsurface coordinates and a vector connecting the two upper

Basic research for the geodynamics program

NASA Technical Reports Server (NTRS)

1984-01-01

Some objectives of this geodynamic program are: (1) optimal utilization of laser and VLBI observations as reference frames for geodynamics, (2) utilization of range difference observations in geodynamics, and (3) estimation techniques in crustal deformation analysis. The determination of Earth rotation parameters from different space geodetic systems is studied. Also reported on is the utilization of simultaneous laser range differences for the determination of baseline variation. An algorithm for the analysis of regional or local crustal deformation measurements is proposed along with other techniques and testing procedures. Some results of the reference from comparisons in terms of the pole coordinates from different techniques are presented.

Mathematical modeling of a class of multibody flexible spacecraft structures

NASA Technical Reports Server (NTRS)

Kelkar, Atul, G.

1994-01-01

A mathematical model for a general multibody flexible spacecraft is obtained. The generic spacecraft considered consists of a flexible central body to which a number of flexible multibody structures are attached. The coordinate systems used in the derivation allow effective decoupling of the translational motion of the entire spacecraft from its rotational motion about its center of mass. The derivation assumes that the deformations in the bodies are only due to elastic motions. The dynamic model derived is a closed-form vector-matrix differential equation. The model developed can be used for analysis and simulation of many realistic spacecraft configurations.

Basic Operational Robotics Instructional System

NASA Technical Reports Server (NTRS)

Todd, Brian Keith; Fischer, James; Falgout, Jane; Schweers, John

2013-01-01

The Basic Operational Robotics Instructional System (BORIS) is a six-degree-of-freedom rotational robotic manipulator system simulation used for training of fundamental robotics concepts, with in-line shoulder, offset elbow, and offset wrist. BORIS is used to provide generic robotics training to aerospace professionals including flight crews, flight controllers, and robotics instructors. It uses forward kinematic and inverse kinematic algorithms to simulate joint and end-effector motion, combined with a multibody dynamics model, moving-object contact model, and X-Windows based graphical user interfaces, coordinated in the Trick Simulation modeling environment. The motivation for development of BORIS was the need for a generic system for basic robotics training. Before BORIS, introductory robotics training was done with either the SRMS (Shuttle Remote Manipulator System) or SSRMS (Space Station Remote Manipulator System) simulations. The unique construction of each of these systems required some specialized training that distracted students from the ideas and goals of the basic robotics instruction.

Full-degrees-of-freedom frequency based substructuring

NASA Astrophysics Data System (ADS)

Drozg, Armin; Čepon, Gregor; Boltežar, Miha

2018-01-01

Dividing the whole system into multiple subsystems and a separate dynamic analysis is common practice in the field of structural dynamics. The substructuring process improves the computational efficiency and enables an effective realization of the local optimization, modal updating and sensitivity analyses. This paper focuses on frequency-based substructuring methods using experimentally obtained data. An efficient substructuring process has already been demonstrated using numerically obtained frequency-response functions (FRFs). However, the experimental process suffers from several difficulties, among which, many of them are related to the rotational degrees of freedom. Thus, several attempts have been made to measure, expand or combine numerical correction methods in order to obtain a complete response model. The proposed methods have numerous limitations and are not yet generally applicable. Therefore, in this paper an alternative approach based on experimentally obtained data only, is proposed. The force-excited part of the FRF matrix is measured with piezoelectric translational and rotational direct accelerometers. The incomplete moment-excited part of the FRF matrix is expanded, based on the modal model. The proposed procedure is integrated in a Lagrange Multiplier Frequency Based Substructuring method and demonstrated on a simple beam structure, where the connection coordinates are mainly associated with the rotational degrees of freedom.

Hip joint kinetics in the table tennis topspin forehand: relationship to racket velocity.

PubMed

Iino, Yoichi

2018-04-01

The purpose of this study was to determine hip joint kinetics during a table tennis topspin forehand, and to investigate the relationship between the relevant kinematic and kinetic variables and the racket horizontal and vertical velocities at ball impact. Eighteen male advanced table tennis players hit cross-court topspin forehands against backspin balls. The hip joint torque and force components around the pelvis coordinate system were determined using inverse dynamics. Furthermore, the work done on the pelvis by these components was also determined. The peak pelvis axial rotation velocity and the work done by the playing side hip pelvis axial rotation torque were positively related to the racket horizontal velocity at impact. The sum of the work done on the pelvis by the backward tilt torques and the upward joint forces was positively related to the racket vertical velocity at impact. The results suggest that the playing side hip pelvis axial rotation torque exertion is important for acquiring a high racket horizontal velocity at impact. The pelvis backward tilt torques and upward joint forces at both hip joints collectively contribute to the generation of the racket vertical velocity, and the mechanism for acquiring the vertical velocity may vary among players.

Continuous relative phase variability during an exhaustive run in runners with a history of iliotibial band syndrome.

PubMed

Miller, Ross H; Meardon, Stacey A; Derrick, Timothy R; Gillette, Jason C

2008-08-01

Previous research has proposed that a lack of variability in lower extremity coupling during running is associated with pathology. The purpose of the study was to evaluate lower extremity coupling variability in runners with and without a history of iliotibial band syndrome (ITBS) during an exhaustive run. Sixteen runners ran to voluntary exhaustion on a motorized treadmill while a motion capture system recorded reflective marker locations. Eight runners had a history of ITBS. At the start and end of the run, continuous relative phase (CRP) angles and CRP variability between strides were calculated for key lower extremity kinematic couplings. The ITBS runners demonstrated less CRP variability than controls in several couplings between segments that have been associated with knee pain and ITBS symptoms, including tibia rotation-rearfoot motion and rearfoot motion-thigh ad/abduction, but more variability in knee flexion/extension-foot ad/abduction. The ITBS runners also demonstrated low variability at heel strike in coupling between rearfoot motion-tibia rotation. The results suggest that runners prone to ITBS use abnormal segmental coordination patterns, particular in couplings involving thigh ad/abduction and tibia internal/external rotation. Implications for variability in injury etiology are suggested.

Earth rotation, station coordinates and orbit determination from satellite laser ranging

NASA Astrophysics Data System (ADS)

Murata, Masaaki

The Project MERIT, a special program of international colaboration to Monitor Earth Rotation and Intercompare the Techniques of observation and analysis, has come to an end with great success. Its major objective was to evaluate the ultimate potential of space techniques such as VLBI and satellite laser ranging, in contrast with the other conventional techniques, in the determination of rotational dynamics of the earth. The National Aerospace Laboratory (NAL) has officially participated in the project as an associate analysis center for satellite laser technique for the period of the MERIT Main Campaign (September 1983-October 1984). In this paper, the NAL analysis center results are presented.

Reorganization of finger coordination patterns during adaptation to rotation and scaling of a newly learned sensorimotor transformation.

PubMed

Liu, Xiaolin; Mosier, Kristine M; Mussa-Ivaldi, Ferdinando A; Casadio, Maura; Scheidt, Robert A

2011-01-01

We examined how people organize redundant kinematic control variables (finger joint configurations) while learning to make goal-directed movements of a virtual object (a cursor) within a low-dimensional task space (a computer screen). Subjects participated in three experiments performed on separate days. Learning progressed rapidly on day 1, resulting in reduced target capture error and increased cursor trajectory linearity. On days 2 and 3, one group of subjects adapted to a rotation of the nominal map, imposed either stepwise or randomly over trials. Another group experienced a scaling distortion. We report two findings. First, adaptation rates and memory-dependent motor command updating depended on distortion type. Stepwise application and removal of the rotation induced a marked increase in finger motion variability but scaling did not, suggesting that the rotation initiated a more exhaustive search through the space of viable finger motions to resolve the target capture task than did scaling. Indeed, subjects formed new coordination patterns in compensating the rotation but relied on patterns established during baseline practice to compensate the scaling. These findings support the idea that the brain compensates direction and extent errors separately and in computationally distinct ways, but are inconsistent with the idea that once a task is learned, command updating is limited to those degrees of freedom contributing to performance (thereby minimizing energetic or similar costs of control). Second, we report that subjects who learned a scaling while moving to just one target generalized more narrowly across directions than those who learned a rotation. This contrasts with results from whole-arm reaching studies, where a learned scaling generalizes more broadly across direction than rotation. Based on inverse- and forward-dynamics analyses of reaching with the arm, we propose the difference in results derives from extensive exposure in reaching with familiar arm dynamics versus the novelty of the manual task.

Rotation of a Single Acetylene Molecule on Cu(001) by Tunneling Electrons in STM

NASA Astrophysics Data System (ADS)

Shchadilova, Yulia E.; Tikhodeev, Sergei G.; Paulsson, Magnus; Ueba, Hiromu

2013-11-01

We study the elementary processes behind one of the pioneering works on scanning tunneling microscope controlled reactions of single molecules [Stipe et al., Phys. Rev. Lett. 81, 1263 (1998)]. Using the Keldysh-Green function approach for the vibrational generation rate in combination with density functional theory calculations to obtain realistic parameters we reproduce the experimental rotation rate of an acetylene molecule on a Cu(100) surface as a function of bias voltage and tunneling current. This combined approach allows us to identify the reaction coordinate mode of the acetylene rotation and its anharmonic coupling with the C-H stretch mode. We show that three different elementary processes, the excitation of C-H stretch, the overtone ladder climbing of the hindered rotational mode, and the combination band excitation together explain the rotation of the acetylene molecule on Cu(100).

Microcinematographic analysis of tethered Leptospira illini.

PubMed Central

Charon, N W; Daughtry, G R; McCuskey, R S; Franz, G N

1984-01-01

A model of Leptospira motility was recently proposed. One element of the model states that in translating cells the anterior spiral-shaped end gyrates counterclockwise and the posterior hook-shaped end gyrates clockwise. We tested these predictions by analyzing cells tethered to a glass surface. Leptospira illini was incubated with antibody-coated latex beads (Ab-beads). These beads adhered to the cells, and subsequently some cells became attached to either the slide or the cover glass via the Ab-beads. As previously reported, these cells rapidly moved back and forth across the surface of the beads. In addition, a general trend was observed: cells tethered to the cover glass rotated clockwise around the Ab-bead; cells tethered to the slide rotated counterclockwise around the Ab-bead. A computer-aided microcinematographic analysis of tethered cells indicated that the direction of rotation of cells around the Ab-bead was a function of both the surface of attachment and the shape of the cell ends. The results can best be explained by assuming that the gyrating ends interact with the glass surface to cause rotation around the Ab-beads. The analysis obtained indicates that the hook- and spiral-shaped ends rotate in the directions predicted by the model. In addition, the tethered cell assay permitted detection of rapid, coordinated reversals of the cell ends, e.g., cells rapidly switched from a hook-spiral configuration to a spiral-hook configuration. These results suggest the existance of a mechanism which coordinates the shape of the cell ends of L. illini. Images PMID:6501226

Rotation invariants of vector fields from orthogonal moments

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

Yang, Bo; Kostková, Jitka; Flusser, Jan

Vector field images are a type of new multidimensional data that appear in many engineering areas. Although the vector fields can be visualized as images, they differ from graylevel and color images in several aspects. In order to analyze them, special methods and algorithms must be originally developed or substantially adapted from the traditional image processing area. Here, we propose a method for the description and matching of vector field patterns under an unknown rotation of the field. Rotation of a vector field is so-called total rotation, where the action is applied not only on the spatial coordinates but alsomore » on the field values. Invariants of vector fields with respect to total rotation constructed from orthogonal Gaussian–Hermite moments and Zernike moments are introduced. Their numerical stability is shown to be better than that of the invariants published so far. We demonstrate their usefulness in a real world template matching application of rotated vector fields.« less

Rotation invariants of vector fields from orthogonal moments

DOE PAGES

Yang, Bo; Kostková, Jitka; Flusser, Jan; ...

2017-09-11

Vector field images are a type of new multidimensional data that appear in many engineering areas. Although the vector fields can be visualized as images, they differ from graylevel and color images in several aspects. In order to analyze them, special methods and algorithms must be originally developed or substantially adapted from the traditional image processing area. Here, we propose a method for the description and matching of vector field patterns under an unknown rotation of the field. Rotation of a vector field is so-called total rotation, where the action is applied not only on the spatial coordinates but alsomore » on the field values. Invariants of vector fields with respect to total rotation constructed from orthogonal Gaussian–Hermite moments and Zernike moments are introduced. Their numerical stability is shown to be better than that of the invariants published so far. We demonstrate their usefulness in a real world template matching application of rotated vector fields.« less

Rotational velocities of newly discovered, low-mass members of the Alpha Persei cluster

NASA Technical Reports Server (NTRS)

Stauffer, John R.; Hartmann, Lee W.; Jones, Burton F.

1989-01-01

About 30 new, low-mass members of the young open cluster Alpha Persei are identified via a proper-motion study and subsequent photometric and spectroscopic observations. Membership in the cluster is confirmed for a number of the fainter proper-motion candidates from Heckman, Dieckvoss, and Kox (1956). Coordinates, finding charts, BVRI photometry, and rotational velocities are provided for most of the stars. At least two of the stars show peculiar H-alpha emission profiles, with weak but very broad emission wings, and relatively narrow absorption reversals. The rotational velocity distribution for low-mass stars in the Alpha Per cluster are compared with recently derived rotational velocity distributions for T Tauri stars, placing strong constraints on the mechanisms for angular momentum loss during pre-main-sequence evolution.

Bubble mass center and fluid feedback force fluctuations activated by constant lateral impulse with variable thrust

NASA Technical Reports Server (NTRS)

Hung, R. J.; Long, Y. T.

1995-01-01

Sloshing dynamics within a partially filled rotating dewar of superfluid helium 2 are investigated in response to constant lateral impulse with variable thrust. The study, including how the rotating bubble of superfluid helium 2 reacts to the constant impulse with variable time period of thrust action in microgravity, how amplitudes of bubble mass center fluctuates with growth and decay of disturbances, and how fluid feedback forces fluctuates in activating on the rotating dewar through the dynamics of sloshing waves are investigated. The numerical computation of sloshing dynamics is based on the non-inertial frame spacecraft bound coordinate with lateral impulses actuating on the rotating dewar in both inertial and non-inertial frames of thrust. Results of the simulations are illustrated.

Modes of uncontrolled rotational motion of the Progress M-29M spacecraft

NASA Astrophysics Data System (ADS)

Belyaev, M. Yu.; Matveeva, T. V.; Monakhov, M. I.; Rulev, D. N.; Sazonov, V. V.

2018-01-01

We have reconstructed the uncontrolled rotational motion of the Progress M-29M transport cargo spacecraft in the single-axis solar orientation mode (the so-called sunward spin) and in the mode of the gravitational orientation of a rotating satellite. The modes were implemented on April 3-7, 2016 as a part of preparation for experiments with the DAKON convection sensor onboard the Progress spacecraft. The reconstruction was performed by integral statistical techniques using the measurements of the spacecraft's angular velocity and electric current from its solar arrays. The measurement data obtained in a certain time interval have been jointly processed using the least-squares method by integrating the equations of the spacecraft's motion relative to the center of mass. As a result of processing, the initial conditions of motion and parameters of the mathematical model have been estimated. The motion in the sunward spin mode is the rotation of the spacecraft with an angular velocity of 2.2 deg/s about the normal to the plane of solar arrays; the normal is oriented toward the Sun or forms a small angle with this direction. The duration of the mode is several orbit passes. The reconstruction has been performed over time intervals of up to 1 h. As a result, the actual rotational motion of the spacecraft relative to the Earth-Sun direction was obtained. In the gravitational orientation mode, the spacecraft was rotated about its longitudinal axis with an angular velocity of 0.1-0.2 deg/s; the longitudinal axis executed small oscillated relative to the local vertical. The reconstruction of motion relative to the orbital coordinate system was performed in time intervals of up to 7 h using only the angularvelocity measurements. The measurements of the electric current from solar arrays were used for verification.

An estimation of Envisat's rotational state accounting for the precession of its rotational axis caused by gravity-gradient torque

NASA Astrophysics Data System (ADS)

Lin, Hou-Yuan; Zhao, Chang-Yin

2018-01-01

The rotational state of Envisat is re-estimated using the specular glint times in optical observation data obtained from 2013 to 2015. The model is simplified to a uniaxial symmetric model with the first order variation of its angular momentum subject to a gravity-gradient torque causing precession around the normal of the orbital plane. The sense of Envisat's rotation can be derived from observational data, and is found to be opposite to the sense of its orbital motion. The rotational period is estimated to be (120.674 ± 0.068) · exp((4.5095 ± 0.0096) ×10-4 · t) s , where t is measured in days from the beginning of 2013. The standard deviation is 0.760 s, making this the best fit obtained for Envisat in the literature to date. The results demonstrate that the angle between the angular momentum vector and the negative normal of the orbital plane librates around a mean value of 8.53 ° ± 0.42 ° with an amplitude from about 0.7 ° (in 2013) to 0.5 ° (in 2015), with the libration period equal to the precession period of the angular momentum, from about 4.8 days (in 2013) to 3.4 days (in 2015). The ratio of the minimum to maximum principal moments of inertia is estimated to be 0.0818 ± 0.0011 , and the initial longitude of the angular momentum in the orbital coordinate system is 40.5 ° ± 9.3 ° . The direction of the rotation axis derived from our results at September 23, 2013, UTC 20:57 is similar to the results obtained from satellite laser ranging data but about 20 ° closer to the negative normal of the orbital plane.

Generalization of the Activated Complex Theory of Reaction Rates. I. Quantum Mechanical Treatment

DOE R&D Accomplishments Database

Marcus, R. A.

1964-01-01

In its usual form activated complex theory assumes a quasi-equilibrium between reactants and activated complex, a separable reaction coordinate, a Cartesian reaction coordinate, and an absence of interaction of rotation with internal motion in the complex. In the present paper a rate expression is derived without introducing the Cartesian assumption. The expression bears a formal resemblance to the usual one and reduces to it when the added assumptions of the latter are introduced.

Head eye co-ordination and gaze stability in subjects with persistent whiplash associated disorders.

PubMed

Treleaven, Julia; Jull, Gwendolen; Grip, Helena

2011-06-01

Symptoms of dizziness, unsteadiness and visual disturbances are frequent complaints in persons with persistent whiplash associated disorders. This study investigated eye, head co-ordination and gaze stability in subjects with persistent whiplash (n = 20) and asymptomatic controls (n = 20). Wireless motion sensors and electro-oculography were used to measure: head rotation during unconstrained head movement, head rotation during gaze stability and sequential head and eye movements. Ten control subjects participated in a repeatability study (two occasions one week apart). Between-day repeatability was acceptable (ICC > 0.6) for most measures. The whiplash group had significantly less maximal eye angle to the left, range of head movement during the gaze stability task and decreased velocity of head movement in head eye co-ordination and gaze stability tasks compared to the control group (p < 0.01). There were significant correlations (r > 0.55) between both unrestrained neck movement and neck pain and head movement and velocity in the whiplash group. Deficits in gaze stability and head eye co-ordination may be related to disturbed reflex activity associated with decreased head range of motion and/or neck pain. Further research is required to explore the mechanisms behind these deficits, the nature of changes over time and the tests' ability to measure change in response to rehabilitation. Crown Copyright © 2010. Published by Elsevier Ltd. All rights reserved.

Precision of fit between implant impression coping and implant replica pairs for three implant systems.

PubMed

Nicoll, Roxanna J; Sun, Albert; Haney, Stephan; Turkyilmaz, Ilser

2013-01-01

The fabrication of an accurately fitting implant-supported fixed prosthesis requires multiple steps, the first of which is assembling the impression coping on the implant. An imprecise fit of the impression coping on the implant will cause errors that will be magnified in subsequent steps of prosthesis fabrication. The purpose of this study was to characterize the 3-dimensional (3D) precision of fit between impression coping and implant replica pairs for 3 implant systems. The selected implant systems represent the 3 main joint types used in implant dentistry: external hexagonal, internal trilobe, and internal conical. Ten impression copings and 10 implant replicas from each of the 3 systems, B (Brånemark System), R (NobelReplace Select), and A (NobelActive) were paired. A standardized aluminum test body was luted to each impression coping, and the corresponding implant replica was embedded in a stone base. A coordinate measuring machine was used to quantify the maximum range of displacement in a vertical direction as a function of the tightening force applied to the guide pin. Maximum angular displacement in a horizontal plane was measured as a function of manual clockwise or counterclockwise rotation. Vertical and rotational positioning was analyzed by using 1-way analysis of variance (ANOVA). The Fisher protected least significant difference (PLSD) multiple comparisons test of the means was applied when the F-test in the ANOVA was significant (α=.05). The mean and standard deviation for change in the vertical positioning of impression copings was 4.3 ±2.1 μm for implant system B, 2.8 ±4.2 μm for implant system R, and 20.6 ±8.8 μm for implant system A. The mean and standard deviation for rotational positioning was 3.21 ±0.98 degrees for system B, 2.58 ±1.03 degrees for system R, and 5.30 ±0.79 degrees for system A. The P-value for vertical positioning between groups A and B and between groups A and R was <.001. No significant differences were found for vertical positioning between groups B and R. The P-value for rotational positioning between groups A and B and between groups A and R was <.001. No significant differences were found for rotational positioning between groups B and R. The results of the study confirmed that implant systems differ in precision of fit. Vertical precision between paired implant components is a function of joint type and the tightening force applied to the guide pin. The magnitude of vertical displacement with applied torque is greater for conical connections than for butt joint connections. The rotational freedom between paired components is unique to the implant system and is presumably related to the machining tolerances specified by the manufacturer. Copyright © 2013 The Editorial Council of the Journal of Prosthetic Dentistry. Published by Mosby, Inc. All rights reserved.

Robotic Assistance for Ultrasound-Guided Prostate Brachytherapy

PubMed Central

Fichtinger, Gabor; Fiene, Jonathan P.; Kennedy, Christopher W.; Kronreif, Gernot; Iordachita, Iulian; Song, Danny Y.; Burdette, Everette C.; Kazanzides, Peter

2016-01-01

We present a robotically assisted prostate brachytherapy system and test results in training phantoms and Phase-I clinical trials. The system consists of a transrectal ultrasound (TRUS) and a spatially co-registered robot, fully integrated with an FDA-approved commercial treatment planning system. The salient feature of the system is a small parallel robot affixed to the mounting posts of the template. The robot replaces the template interchangeably, using the same coordinate system. Established clinical hardware, workflow and calibration remain intact. In all phantom experiments, we recorded the first insertion attempt without adjustment. All clinically relevant locations in the prostate were reached. Non-parallel needle trajectories were achieved. The pre-insertion transverse and rotational errors (measured with a Polaris optical tracker relative to the template’s coordinate frame) were 0.25mm (STD=0.17mm) and 0.75° (STD=0.37°). In phantoms, needle tip placement errors measured in TRUS were 1.04mm (STD=0.50mm). A Phase-I clinical feasibility and safety trial has been successfully completed with the system. We encountered needle tip positioning errors of a magnitude greater than 4mm in only 2 out of 179 robotically guided needles, in contrast to manual template guidance where errors of this magnitude are much more common. Further clinical trials are necessary to determine whether the apparent benefits of the robotic assistant will lead to improvements in clinical efficacy and outcomes. PMID:18650122

Wing Twist Measurements at the National Transonic Facility

NASA Technical Reports Server (NTRS)

Burner, Alpheus W.; Wahls, Richard A.; Goad, William K.

1996-01-01

A technique for measuring wing twist currently in use at the National Transonic Facility is described. The technique is based upon a single camera photogrammetric determination of two dimensional coordinates with a fixed (and known) third dimensional coordinate. The wing twist is found from a conformal transformation between wind-on and wind-off 2-D coordinates in the plane of rotation. The advantages and limitations of the technique as well as the rationale for selection of this particular technique are discussed. Examples are presented to illustrate run-to-run and test-to-test repeatability of the technique in air mode. Examples of wing twist in cryogenic nitrogen mode are also presented.

Navier-Stokes predictions of pitch damping for axisymmetric shell using steady coning motion

NASA Technical Reports Server (NTRS)

Weinacht, Paul; Sturek, Walter B.; Schiff, Lewis B.

1991-01-01

Previous theoretical investigations have proposed that the side force and moment acting on a body of revolution in steady coning motion could be related to the pitch-damping force and moment. In the current research effort, this approach is applied to produce predictions of the pitch damping for axisymmetric shell. The flow fields about these projectiles undergoing steady coning motion are successfully computed using a parabolized Navier-Stokes computational approach which makes use of a rotating coordinate frame. The governing equations are modified to include the centrifugal and Coriolis force terms due to the rotating coordinate frame. From the computed flow field, the side moments due to coning motion, spinning motion, and combined spinning and coning motion are used to determine the pitch-damping coefficients. Computations are performed for two generic shell configurations, a secant-ogive-cylinder and a secant-ogive-cylinder-boattail.

Small massless excitations against a nontrivial background

NASA Astrophysics Data System (ADS)

Khariton, N. G.; Svetovoy, V. B.

1994-03-01

We propose a systematic approach for finding bosonic zero modes of nontrivial classical solutions in a gauge theory. The method allows us to find all the modes connected with the broken space-time and gauge symmetries. The ground state is supposed to be dependent on some space coordinates yα and independent of the rest of the coordinates xi. The main problem which is solved is how to construct the zero modes corresponding to the broken xiyα rotations in vacuum and which boundary conditions specify them. It is found that the rotational modes are typically singular at the origin or at infinity, but their energy remains finite. They behave as massless vector fields in x space. We analyze local and global symmetries affecting the zero modes. An algorithm for constructing the zero mode excitations is formulated. The main results are illustrated in the Abelian Higgs model with the string background.

The dynamics of plus end polarization and microtubule assembly during Xenopus cortical rotation

PubMed Central

Olson, David J.; Oh, Denise

2015-01-01

The self-organization of dorsally-directed microtubules during cortical rotation in the Xenopus egg is essential for dorsal axis formation. The mechanisms controlling this process have been problematic to analyze, owing to difficulties in visualizing microtubules in living egg. Also, the order of events occurring at the onset of cortical rotation have not been satisfactorily visualized in vivo and have been inferred from staged fixed samples. To address these issues, we have characterized the dynamics of total microtubule and plus end behavior continuously throughout cortical rotation, as well as in oocytes and unfertilized eggs. Here, we show that the nascent microtubule network forms in the cortex but associates with the deep cytoplasm at the start of rotation. Importantly, plus ends remain cortical and become increasingly more numerous and active prior to rotation, with dorsal polarization occurring rapidly after the onset of rotation. Additionally, we show that vegetally localized Trim36 is required to attenuate dynamic plus end growth, suggesting that vegetal factors are needed to locally coordinate growth in the cortex. PMID:25753733

A similarity measure for partially folded proteins: application to unfolded and native-like conformational fluctuations

NASA Astrophysics Data System (ADS)

Larios, Edgar; Yang, Wei Y.; Schulten, K.; Gruebele, M.

2004-12-01

Computing the root-mean-square deviation (RMSD) of a partially folded protein structure from the folded state requires the two structures to be translationally and rotationally aligned. We examine the constraint matrix L that preserves orthogonality of the rotation matrix during minimization of the RMSD. L is proportional to the sensitivity of the RMSD to the rotational alignment matrix. Its trace yields an isotropic reaction coordinate, while its off-diagonal matrix elements are related to the moment of inertia derivative tensor that encodes anisotropic information about the structure. We use L to compare λ-repressor fragment 6-85 (λ 6-85) to several partially folded structures obtained from molecular dynamics simulation (MD), and find that L as a reaction coordinate indeed encodes some information about protein topology. We also apply C α RMSD, L and tryptophan sidechain mobility as criteria for native state structural fluctuations of several λ 6-85 mutants. The mutants' denaturation curves and fluorescence quenching are measured experimentally for comparison. The results are in accord with a recent proposal that structural fluctuations near the chromophore can induce increased native state fluorescence or hyperfluorescence during unfolding of proteins.

Spinning solutions in general relativity with infinite central density

NASA Astrophysics Data System (ADS)

Flammer, P. D.

2018-05-01

This paper presents general relativistic numerical simulations of uniformly rotating polytropes. Equations are developed using MSQI coordinates, but taking a logarithm of the radial coordinate. The result is relatively simple elliptical differential equations. Due to the logarithmic scale, we can resolve solutions with near-singular mass distributions near their center, while the solution domain extends many orders of magnitude larger than the radius of the distribution (to connect with flat space-time). Rotating solutions are found with very high central energy densities for a range of adiabatic exponents. Analytically, assuming the pressure is proportional to the energy density (which is true for polytropes in the limit of large energy density), we determine the small radius behavior of the metric potentials and energy density. This small radius behavior agrees well with the small radius behavior of large central density numerical results, lending confidence to our numerical approach. We compare results with rotating solutions available in the literature, which show good agreement. We study the stability of spherical solutions: instability sets in at the first maximum in mass versus central energy density; this is also consistent with results in the literature, and further lends confidence to the numerical approach.

Switching on fluorescence for selective visual recognition of naringenin and morin with a metal-organic coordination polymer of Zn(bix) [bix = 1,4-bis(imidazol-1-ylmethyl)benzene

NASA Astrophysics Data System (ADS)

Zhao, Xi Juan; Wang, Hui Juan; Liang, Li Jiao; Li, Yuan Fang

2013-02-01

Flavonoids such as naringenin and morin are ubiquitous in a wide range of foods isolated from plants, and have diverse effects on plants even on human health. Here, we establish a selective visual method for recognition of aringenin and morin based on the "switched on" fluorescence induced by a metal-organic coordination polymer of Zn(bix) [bix = 1,4-bis(imidazol-1-ylmethyl)benzene]. Owing to the coordination interaction of aringenin and morin with Zn(II) from the polymeric structure of Zn(bix), the conformational free rotation of naringenin and morin is restricted leading to relatively rigid structures. And as a consequence, the fluorescence is switched on. While luteolin and quercetin, holding a very similar structure with naringenin and morin, have no such fluorescence enhancement most likely owing to the 3'-hydroxy substitution in the B ring. Under 365 nm UV lamp light, we can visually recognize and discriminate naringenin and morin from them each other and luteolin as well as quercetin based on the colors of their emission. With this recognition system, the detection of naringenin and morin in human urine was made with satisfactory results.

Procedure for Tooth Contact Analysis of a Face Gear Meshing With a Spur Gear Using Finite Element Analysis

NASA Technical Reports Server (NTRS)

Bibel, George; Lewicki, David G. (Technical Monitor)

2002-01-01

A procedure was developed to perform tooth contact analysis between a face gear meshing with a spur pinion using finite element analysis. The face gear surface points from a previous analysis were used to create a connected tooth solid model without gaps or overlaps. The face gear surface points were used to create a five tooth face gear Patran model (with rim) using Patran PCL commands. These commands were saved in a series of session files suitable for Patran input. A four tooth spur gear that meshes with the face gear was designed and constructed with Patran PCL commands. These commands were also saved in a session files suitable for Patran input. The orientation of the spur gear required for meshing with the face gear was determined. The required rotations and translations are described and built into the session file for the spur gear. The Abaqus commands for three-dimensional meshing were determined and verified for a simplified model containing one spur tooth and one face gear tooth. The boundary conditions, loads, and weak spring constraints were determined to make the simplified model work. The load steps and load increments to establish contact and obtain a realistic load was determined for the simplified two tooth model. Contact patterns give some insight into required mesh density. Building the two gears in two different local coordinate systems and rotating the local coordinate systems was verified as an easy way to roll the gearset through mesh. Due to limitation of swap space, disk space and time constraints of the summer period, the larger model was not completed.

Vibration control of a manipulator tip on a flexible body

NASA Technical Reports Server (NTRS)

Xu, J.; Bainum, P. M.; Li, F.

1992-01-01

Vibration control of a rigid manipulator tip on a main flexible uniform beam is examined. It is proposed to add a compensator between the manipulator and the beam to rotate and extend/retrieve the manipulator during the control period. The 2D station-keeping maneuvers within the linear range without gravity and damping are considered. The compensatory open-loop control law, which depends on the amplitudes of the beam's flexible deformations at the connection joint, is synthesized using linear quadratic regulator techniques. After introducing the compensatory control into the system, system control is still stable, and the tip coordinates of the manipulator can be made to closely follow the rigid beam motion, which is assumed to be a desired motion.

Vibration-rotation-tunneling dynamics in small water clusters

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

Pugliano, N.

The goal of this work is to characterize the intermolecular vibrations of small water clusters. Using tunable far infrared laser absorption spectroscopy, large amplitude vibration-rotation-tunneling (VRT) dynamics in vibrationally excited states of the water dimer and the water trimer are investigated. This study begins with the measurement of 12 VRT subbands, consisting of approximately 230 transitions, which are assigned to an 82.6 cm[sup [minus]1] intermolecular vibration of the water dimer-d[sub 4]. Each of the VRT subbands originate from K[sub a][double prime]=0 and terminate in either K[sub a][prime]=0 or 1. These data provide a complete characterization of the tunneling dynamics inmore » the vibrationally excited state as well as definitive symmetry labels for all VRT energy levels. Furthermore, an accurate value for the A[prime] rotational constant is found to agree well with its corresponding ground state value. All other excited state rotational constants are fitted, and discussed in terms of the corresponding ground state constants. In this vibration, the quantum tunneling motions are determined to exhibit large dependencies with both the K[sub a][prime] quantum number and the vibrational coordinate, as is evidenced by the measured tunneling splittings. The generalized internal-axis-method treatment which has been developed to model the tunneling dynamics, is considered for the qualitative description of each tunneling pathway, however, the variation of tunneling splittings with vibrational excitation indicate that the high barrier approximation does not appear to be applicable for this vibrational coordinate. The data are consistent with a motion possessing a[prime] symmetry, and the vibration is assigned as the [nu][sub 12] acceptor bending coordinate. This assignment is in agreement with the vibrational symmetry, the resultsof high level ab initio calculations, and preliminary data assigned to the analogous vibration in the D[sub 2]O-DOH isotopomer.« less

On the Intensity of Radiation of an Electromagnetic Field by a Rotating Ferroelectric Sphere

NASA Astrophysics Data System (ADS)

Gladkov, S. O.; Bogdanova, S. B.

2018-05-01

It is shown that in the case when the spontaneous polarization vector P 0 and the rotational frequency vector ω of a ferroelectric sphere do not coincide, electromagnetic waves will be radiated. The intensity of the radiation is calculated as a function of the coordinates and time, and the anisotropy of this radiation is proven. The distribution of the intensity of radiation is graphically illustrated in the form of a function of the central distance r.

Research on Aircraft Target Detection Algorithm Based on Improved Radial Gradient Transformation

NASA Astrophysics Data System (ADS)

Zhao, Z. M.; Gao, X. M.; Jiang, D. N.; Zhang, Y. Q.

2018-04-01

Aiming at the problem that the target may have different orientation in the unmanned aerial vehicle (UAV) image, the target detection algorithm based on the rotation invariant feature is studied, and this paper proposes a method of RIFF (Rotation-Invariant Fast Features) based on look up table and polar coordinate acceleration to be used for aircraft target detection. The experiment shows that the detection performance of this method is basically equal to the RIFF, and the operation efficiency is greatly improved.

Health system factors affecting implementation of integrated management of childhood illness (IMCI): qualitative insights from a South African province.

PubMed

Pandya, Himani; Slemming, Wiedaad; Saloojee, Haroon

2018-03-01

The Integrated Management of Childhood Illness (IMCI) strategy has been adopted by 102 countries including South Africa, as the preferred primary health care (PHC) delivery strategy for sick children under 5 years. Despite substantial investment to support IMCI in South Africa, its delivery remains sub-optimal, with varied implementation in different settings. There is scarce research globally, and in the local context, examining the effects of health system characteristics on IMCI implementation. This study explored key determinants of IMCI delivery in a South African province, with a specific focus on health system building blocks using a health system dynamics framework. In-depth interviews were conducted with 38 districts, provincial and national respondents involved with IMCI co-ordination and delivery, exploring their involvement in, and perceptions of, IMCI strategy implementation. Identified barriers included poor definition of elements of a service package for children and how IMCI aligned with this, incompetence of trained nurses exacerbated by inappropriate rotation practices, use of inappropriate indicators to track progress, multiple cadres coordinating similar activities with poor role delineation, and fragmented, vertical governance of programmes included within IMCI, such as immunization. Enabling practices in one district included the use of standardized child health records incorporating IMCI activities and stringent practice monitoring through record audits. Using IMCI as a case study, our work highlights critical health system deficiencies affecting service delivery for young children which need to be resolved to reposition IMCI within the broader child 'survive, thrive and transform' agenda. Recommendations for appropriate health system strengthening include the need for redefining IMCI within a broader PHC service package for children, prioritizing post-training supervision and mentoring of practitioners through appropriate duty allocation and rotation policies, strengthening IMCI monitoring with a specific focus on quality of care and building stronger clinical governance through workforce allocation, role delineation and improved accountability. © The Author 2017. Published by Oxford University Press in association with The London School of Hygiene and Tropical Medicine. All rights reserved. For permissions, please e-mail: journals.permissions@oup.com.

TH-C-17A-06: A Hardware Implementation and Evaluation of Robotic SPECT: Toward Molecular Imaging Onboard Radiation Therapy Machines

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

Yan, S; Touch, M; Bowsher, J

Purpose: To construct a robotic SPECT system and demonstrate its capability to image a thorax phantom on a radiation therapy flat-top couch. The system has potential for on-board functional and molecular imaging in radiation therapy. Methods: A robotic SPECT imaging system was developed utilizing a Digirad 2020tc detector and a KUKA KR150-L110 robot. An imaging study was performed with the PET CT Phantom, which includes 5 spheres: 10, 13, 17, 22 and 28 mm in diameter. Sphere-tobackground concentration ratio was 6:1 of Tc99m. The phantom was placed on a flat-top couch. SPECT projections were acquired with a parallel-hole collimator andmore » a single pinhole collimator. The robotic system navigated the detector tracing the flat-top table to maintain the closest possible proximity to the phantom. For image reconstruction, detector trajectories were described by six parameters: radius-of-rotation, x and z detector shifts, and detector rotation θ, tilt ϕ and twist γ. These six parameters were obtained from the robotic system by calibrating the robot base and tool coordinates. Results: The robotic SPECT system was able to maneuver parallel-hole and pinhole collimated SPECT detectors in close proximity to the phantom, minimizing impact of the flat-top couch on detector-to-COR (center-ofrotation) distance. In acquisitions with background at 1/6th sphere activity concentration, photopeak contamination was heavy, yet the 17, 22, and 28 mm diameter spheres were readily observed with the parallel hole imaging, and the single, targeted sphere (28 mm diameter) was readily observed in the pinhole region-of-interest (ROI) imaging. Conclusion: Onboard SPECT could be achieved by a robot maneuvering a SPECT detector about patients in position for radiation therapy on a flat-top couch. The robot inherent coordinate frame could be an effective means to estimate detector pose for use in SPECT image reconstruction. PHS/NIH/NCI grant R21-CA156390-01A1.« less

Immersive cyberspace system

NASA Technical Reports Server (NTRS)

Park, Brian V. (Inventor)

1997-01-01

An immersive cyberspace system is presented which provides visual, audible, and vibrational inputs to a subject remaining in neutral immersion, and also provides for subject control input. The immersive cyberspace system includes a relaxation chair and a neutral immersion display hood. The relaxation chair supports a subject positioned thereupon, and places the subject in position which merges a neutral body position, the position a body naturally assumes in zero gravity, with a savasana yoga position. The display hood, which covers the subject's head, is configured to produce light images and sounds. An image projection subsystem provides either external or internal image projection. The display hood includes a projection screen moveably attached to an opaque shroud. A motion base supports the relaxation chair and produces vibrational inputs over a range of about 0-30 Hz. The motion base also produces limited translation and rotational movements of the relaxation chair. These limited translational and rotational movements, when properly coordinated with visual stimuli, constitute motion cues which create sensations of pitch, yaw, and roll movements. Vibration transducers produce vibrational inputs from about 20 Hz to about 150 Hz. An external computer, coupled to various components of the immersive cyberspace system, executes a software program and creates the cyberspace environment. One or more neutral hand posture controllers may be coupled to the external computer system and used to control various aspects of the cyberspace environment, or to enter data during the cyberspace experience.

The guidance methodology of a new automatic guided laser theodolite system

NASA Astrophysics Data System (ADS)

Zhang, Zili; Zhu, Jigui; Zhou, Hu; Ye, Shenghua

2008-12-01

Spatial coordinate measurement systems such as theodolites, laser trackers and total stations have wide application in manufacturing and certification processes. The traditional operation of theodolites is manual and time-consuming which does not meet the need of online industrial measurement, also laser trackers and total stations need reflective targets which can not realize noncontact and automatic measurement. A new automatic guided laser theodolite system is presented to achieve automatic and noncontact measurement with high precision and efficiency which is comprised of two sub-systems: the basic measurement system and the control and guidance system. The former system is formed by two laser motorized theodolites to accomplish the fundamental measurement tasks while the latter one consists of a camera and vision system unit mounted on a mechanical displacement unit to provide azimuth information of the measured points. The mechanical displacement unit can rotate horizontally and vertically to direct the camera to the desired orientation so that the camera can scan every measured point in the measuring field, then the azimuth of the corresponding point is calculated for the laser motorized theodolites to move accordingly to aim at it. In this paper the whole system composition and measuring principle are analyzed, and then the emphasis is laid on the guidance methodology for the laser points from the theodolites to move towards the measured points. The guidance process is implemented based on the coordinate transformation between the basic measurement system and the control and guidance system. With the view field angle of the vision system unit and the world coordinate of the control and guidance system through coordinate transformation, the azimuth information of the measurement area that the camera points at can be attained. The momentary horizontal and vertical changes of the mechanical displacement movement are also considered and calculated to provide real time azimuth information of the pointed measurement area by which the motorized theodolite will move accordingly. This methodology realizes the predetermined location of the laser points which is within the camera-pointed scope so that it accelerates the measuring process and implements the approximate guidance instead of manual operations. The simulation results show that the proposed method of automatic guidance is effective and feasible which provides good tracking performance of the predetermined location of laser points.

A Force-Velocity Relationship and Coordination Patterns in Overarm Throwing

PubMed Central

van den Tillaar, Roland; Ettema, Gertjan

2004-01-01

A force-velocity relationship in overarm throwing was determined using ball weights varying from 0.2 to 0.8 kg. Seven experienced handball players were filmed at 240 frames per second. Velocity of joints of the upper extremity and ball together with the force on the ball were derived from the data. A statistically significant negative relationship between force and maximal ball velocity, as well as between ball weight and maximal ball velocity was observed. Also, with increase of ball weight the total throwing movement time increased. No significant change in relative timing of the different joints was demonstrated, suggesting that the subjects did not change their “global ”coordination pattern (kinematics) within the tested range of ball weights. A simple model revealed that 67% of ball velocity at ball release was explained by the summation of effects from the velocity of elbow extension and internal rotation of the shoulder. With regard to the upper extremity the internal rotation of the shoulder and elbow extension are two important contributors to the total ball velocity at release. Key Points An inverse relationship between load and velocity and a linear force-velocity exists in overarm throwing with ball weights varying from 0.2 to 0.8 kg. Qualitatively, no changes in coordination pattern (relative timing) occur with increasing ball weight within the tested range of ball weights. The absolute throwing movement time increased with ball weight. Quantitatively, with regard to the upper extremity, the internal rotation of the shoulder and elbow extension are two important contributors to the total ball velocity at release. PMID:24624005

An experimental evaluation of a new designed apparatus (NDA) for the rapid measurement of impaired motor function in rats.

PubMed

Jarrahi, M; Sedighi Moghadam, B; Torkmandi, H

2015-08-15

Assessment of the ability of rat to balance by rotarod apparatus (ROTA) is frequently used as a measure of impaired motor system function. Most of these methods have some disadvantages, such as failing to sense motor coordination rather than endurance and as the sensitivity of the method is low, more animals are needed to obtain statistically significant results. We have designed and tested a new designed apparatus (NDA) to measure motor system function in rats. Our system consists of a glass box containing 4 beams which placed with 1cm distance between them, two electrical motors for rotating the beams, and a camera to record the movements of the rats. The RPM of the beams is adjustable digitally between 0 and 50 rounds per minute. We evaluated experimentally the capability of the NDA for the rapid measurement of impaired motor function in rats. Also we demonstrated that the sensitivity of the NDA increases by faster rotation speeds and may be more sensitive than ROTA for evaluating of impaired motor system function. Compared to a previous version of this task, our NDA provides a more efficient method to test rodents for studies of motor system function after impaired motor nervous system. In summary, our NDA will allow high efficient monitoring of rat motor system function and may be more sensitive than ROTA for evaluating of impaired motor system function in rats. Copyright © 2015 Elsevier B.V. All rights reserved.

Generalized procrustean image deformation for subtraction of mammograms

NASA Astrophysics Data System (ADS)

Good, Walter F.; Zheng, Bin; Chang, Yuan-Hsiang; Wang, Xiao Hui; Maitz, Glenn S.

1999-05-01

This project is a preliminary evaluation of two simple fully automatic nonlinear transformations which can map any mammographic image onto a reference image while guaranteeing registration of specific features. The first method automatically identifies skin lines, after which each pixel is given coordinates in the range [0,1] X [0,1], where the actual value of a coordinate is the fractional distance of the pixel between tissue boundaries in either the horizontal or vertical direction. This insures that skin lines are put in registration. The second method, which is the method of primary interest, automatically detects pectoral muscles, skin lines and nipple locations. For each image, a polar coordinate system is established with its origin at the intersection of the nipple axes line (NAL) and a line indicating the pectoral muscle. Points within a mammogram are identified by the angle of their position vector, relative to the NAL, and by their fractional distance between the origin and the skin line. This deforms mammograms in such a way that their pectoral lines, NALs and skin lines are all in registration. After images are deformed, their grayscales are adjusted by applying linear regression to pixel value pairs for corresponding tissue pixels. In a comparison of these methods to a previously reported 'translation/rotation' technique, evaluation of difference images clearly indicates that the polar coordinates method results in the most accurate registration of the transformations considered.

Getting around when you're round: quantitative analysis of the locomotion of the blunt-spined brittle star, Ophiocoma echinata.

PubMed

Astley, Henry C

2012-06-01

Brittle stars (Ophiuroidea, Echinodermata) are pentaradially symmetrical echinoderms that use five multi-jointed limbs to locomote along the seafloor. Prior qualitative descriptions have claimed coordinated movements of the limbs in a manner similar to tetrapod vertebrates, but this has not been evaluated quantitatively. It is uncertain whether the ring-shaped nervous system, which lacks an anatomically defined anterior, is capable of generating rhythmic coordinated movements of multiple limbs. This study tested whether brittle stars possess distinct locomotor modes with strong inter-limb coordination as seen in limbed animals in other phyla (e.g. tetrapods and arthropods), or instead move each limb independently according to local sensory feedback. Limb tips and the body disk were digitized for 56 cycles from 13 individuals moving across sand. Despite their pentaradial anatomy, all individuals were functionally bilateral, moving along the axis of a central limb via synchronous motions of contralateral limbs (±~13% phase lag). Two locomotor modes were observed, distinguishable mainly by whether the central limb was directed forwards or backwards. Turning was accomplished without rotation of the body disk by defining a different limb as the center limb and shifting other limb identities correspondingly, and then continuing locomotion in the direction of the newly defined anterior. These observations support the hypothesis that, in spite of their radial body plan, brittle stars employ coordinated, bilaterally symmetrical locomotion.

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

Lin, Wei; Pringle, Wallace C.; Novick, Stewart E.

The rotational spectrum of the argon-tropolone van der Waals complex in the ground vibrational state has been measured in the frequency range of 6 to 17 GHz using a pulsed-jet, Balle-Flygare-type Fourier transform microwave spectrometer. Eighty-six transitions for the complex (Ar- 12C 7H 6 16O 2) were observed, assigned, and fit using a Watson A-reduction Hamiltonian giving the rotational and centrifugal distortion constants A = 1080.4365(3) MHz, B = 883.4943(3) MHz, C = 749.0571(2) MHz, Δ J = 2.591(2) kHz, Δ JK = -3.32(1) kHz, Δ K = 5.232(9) kHz, δ J = 0.944(1) kHz, and δ K = -0.028(8)more » kHz. The tunneling motion of the hydroxyl proton in the tropolone moiety is quenched in the ground electronic state by complexation with argon. The coordinates of the argon atom in the monomer’s principal axis system are a = 0.43 Å, b = 0.23 Å, c = 3.48 Å.« less

Applications of PTTI to new techniques for determining crustal movements, polar motion, and the rotation of the earth

NASA Technical Reports Server (NTRS)

Bender, P. L.

1974-01-01

New extra-terrestrial techniques are discussed for geodesy and geodynamics include laser range measurements to the moon or to artificial satellites, Doppler measurements with the Transit satellite system, and both independent-clock and linked-antenna microwave interferometry. The ways in which PTTI measurements are used in these techniques will be reviewed, and the accuracies expected during the latter half of the 1970's will be discussed. At least 3 of the techniques appear capable of giving accuracies of 5 cm or better in each coordinate for many points on the earth's surface, and comparable accuracies for the earth's rotation and polar motion. For fixed stations or for sites a few hundred km apart, baseline lengths accurate to 1 cm may be achieved. Ways in which the complementary aspects of the different techniques can be exploited will be discussed, as well as how they tie in with improved ground techniques for determining crustal movements. Some recent results from the extra-terrestrial methods will be mentioned.

Chandler wobble: two more large phase jumps revealed

NASA Astrophysics Data System (ADS)

Malkin, Zinovy; Miller, Natalia

2010-12-01

Investigations of the anomalies in the Earth rotation, in particular, the polar motion components, play an important role in our understanding of the processes that drive changes in the Earth's surface, interior, atmosphere, and ocean. This paper is primarily aimed at investigation of the Chandler wobble (CW) at the whole available 163-year interval to search for the major CW amplitude and phase variations. First, the CW signal was extracted from the IERS (International Earth Rotation and Reference Systems Service) Pole coordinates time series using two digital filters: the singular spectrum analysis and Fourier transform. The CW amplitude and phase variations were examined by means of the wavelet transform and Hilbert transform. Results of our analysis have shown that, besides the well-known CW phase jump in the 1920s, two other large phase jumps have been found in the 1850s and 2000s. As in the 1920s, these phase jumps occurred contemporarily with a sharp decrease in the CW amplitude.

Perfect relativistic magnetohydrodynamics around black holes in horizon penetrating coordinates

NASA Astrophysics Data System (ADS)

Cherubini, Christian; Filippi, Simonetta; Loppini, Alessandro; Moradi, Rahim; Ruffini, Remo; Wang, Yu; Xue, She-Sheng

2018-03-01

Plasma accreting processes on black holes represent a central problem for relativistic astrophysics. In this context, here we specifically revisit the classical Ruffini-Wilson work developed for analytically modeling via geodesic equations the accretion of perfect magnetized plasma on a rotating Kerr black hole. Introducing the horizon penetrating coordinates found by Doran 25 years later, we revisit the entire approach studying Maxwell invariants, electric and magnetic fields, volumetric charge density and electromagnetic total energy. We finally discuss the physical implications of this analysis.

Three-dimensional solutions of the magnetohydrostatic equations for rigidly rotating magnetospheres in cylindrical coordinates

NASA Astrophysics Data System (ADS)

Wilson, F.; Neukirch, T.

2018-01-01

We present new analytical three-dimensional solutions of the magnetohydrostatic equations, which are applicable to the co-rotating frame of reference outside a rigidly rotating cylindrical body, and have potential applications to planetary magnetospheres and stellar coronae. We consider the case with centrifugal force only, and use a transformation method in which the governing equation for the "pseudo-potential" (from which the magnetic field can be calculated) becomes the Laplace partial differential equation. The new solutions extend the set of previously found solutions to those of a "fractional multipole" nature, and offer wider possibilities for modelling than before. We consider some special cases, and present example solutions.

Broadband Ftmw Spectroscopy of 2-METHYLIMIDAZOLE and Complexes with Water and Argon

NASA Astrophysics Data System (ADS)

Medcraft, Chris; Heitkämper, Juliane; Mullaney, John C.; Walker, Nick

2017-06-01

The rotational spectrum of 2-methylimidazole has been measured using laser ablation chirped-pulse Fourier transform microwave spectroscopy from 2-18.5 GHz. 2-methylimidazole was laser vaporised then entrained within an argon buffer gas undergoing supersonic expansion allowing for efficient rotational cooling. Carbon-13 and nitrogen-15 isotopologues were measured in natural abundance and substitution coordinates have been determined. The barrier to internal rotation of the methyl group was found to be 122.697(20) cm^{-1}. Nuclear quadropole coupling constants for the two nitrogen nuclei were determined via a rigid rotor fit of the A internal rotor state. Complexes with water and argon were also observed and fit in a similar way.

Quantifying coordination among the rearfoot, midfoot, and forefoot segments during running.

PubMed

Takabayashi, Tomoya; Edama, Mutsuaki; Yokoyama, Erika; Kanaya, Chiaki; Kubo, Masayoshi

2018-03-01

Because previous studies have suggested that there is a relationship between injury risk and inter-segment coordination, quantifying coordination between the segments is essential. Even though the midfoot and forefoot segments play important roles in dynamic tasks, previous studies have mostly focused on coordination between the shank and rearfoot segments. This study aimed to quantify coordination among rearfoot, midfoot, and forefoot segments during running. Eleven healthy young men ran on a treadmill. The coupling angle, representing inter-segment coordination, was calculated using a modified vector coding technique. The coupling angle was categorised into four coordination patterns. During the absorption phase, rearfoot-midfoot coordination in the frontal planes was mostly in-phase (rearfoot and midfoot eversion with similar amplitudes). The present study found that the eversion of the midfoot with respect to the rearfoot was comparable in magnitude to the eversion of the rearfoot with respect to the shank. A previous study has suggested that disruption of the coordination between the internal rotation of the shank and eversion of the rearfoot leads to running injuries such as anterior knee pain. Thus, these data might be used in the future to compare to individuals with foot deformities or running injuries.

Linear Transformation of the Polarization Modes in Coiled Optical Spun-Fibers with Strong Unperturbed Linear Birefringence. I. Nonresonant Transformation

NASA Astrophysics Data System (ADS)

Malykin, G. B.; Pozdnyakova, V. I.

2018-03-01

A linear transformation of orthogonal polarization modes in coiled optical spun-fibers with strong unperturbed linear birefringence, which causes the emergence of the dependences of the integrated elliptical birefringence and the ellipticity and azimuth of the major axis of the ellipse, as well as the polarization state of radiation (PSR), on the length of optical fiber has been considered. Optical spun-fibers are subjected to a strong mechanical twisting, which is frozen into the structure of the optical fiber upon cooling, in the process of being drawn out from the workpiece. Since the values of the local polarization parameters of coiled spunwaveguides vary according to a rather complex law, the calculations were carried out by numerical modeling of the parameters of the Jones matrices. Since the rotation speed of the axes of the birefringence is constant on a relatively short segment of a coiled optical spun-fiber in the accompanying torsion (helical) coordinate system, the so-called "Ginzburg helical polarization modes" (GHPMs)—two mutually orthogonal ellipses with the opposite directions of traversal, the axis of which rotate relative to the fixed coordinate system uniformly and unidirectionally—are approximately the local normal polarization modes of such optical fiber. It has been shown that, despite the fact that the unperturbed linear birefringence of the spun-fibers significantly exceeds the linear birefringence, which is caused by the winding on a coil, the integral birefringence of an extended segment of such a fiber coincides in order of magnitude with the linear birefringence, which is caused by the winding on the coil, and the integral polarization modes tend asymptotically to circular ones. It has been also shown that the values of the circular birefringence of twisted single-mode fibers, which were calculated in a nonrotating and torsion helical coordinate systems, differ significantly. It has been shown that the polarization phenomena occur in the process of linear transformation of local polarization modes, which lead to small quasi-harmonic oscillations of the birefringence integral parameters of the optical spun-fibers, which depend on their length, and the period of these oscillations is approximately equal to half of the effective period of polarization beating.

Electronic spectra of 2- and 3-tolunitrile in the gas phase. I. A study of methyl group internal rotation via rovibronically resolved spectroscopy

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

Ruiz-Santoyo, José Arturo; Álvarez-Valtierra, Leonardo, E-mail: leoav@fisica.ugto.mx; Wilke, Josefin

2016-01-28

Rotationally resolved fluorescence excitation spectra of the origin bands in the S{sub 1}←S{sub 0} transition of 2-tolunitrile (2TN) and 3-tolunitrile (3TN) have been recorded in the collision-free environment of a molecular beam. Analyses of these data provide the rotational constants of each molecule and the potential energy curves governing the internal rotation of the attached methyl groups in both electronic states. 2TN exhibits much larger barriers along this coordinate than 3TN. Interestingly, the electronic transition dipole moment in both molecules is markedly influenced by the position of the attached methyl group rather than the position of the cyano group; possiblemore » reasons for this intriguing behavior are discussed.« less

A technique for measuring vertically and horizontally polarized microwave brightness temperatures using electronic polarization-basis rotation

NASA Technical Reports Server (NTRS)

Gasiewski, Albin J.

1992-01-01

This technique for electronically rotating the polarization basis of an orthogonal-linear polarization radiometer is based on the measurement of the first three feedhorn Stokes parameters, along with the subsequent transformation of this measured Stokes vector into a rotated coordinate frame. The technique requires an accurate measurement of the cross-correlation between the two orthogonal feedhorn modes, for which an innovative polarized calibration load was developed. The experimental portion of this investigation consisted of a proof of concept demonstration of the technique of electronic polarization basis rotation (EPBR) using a ground based 90-GHz dual orthogonal-linear polarization radiometer. Practical calibration algorithms for ground-, aircraft-, and space-based instruments were identified and tested. The theoretical effort consisted of radiative transfer modeling using the planar-stratified numerical model described in Gasiewski and Staelin (1990).

Hemodynamic Improvement in Cardiac Resynchronization Does Not Require Improvement in Left Ventricular Rotation Mechanics

PubMed Central

Ashikaga, Hiroshi; Leclercq, Christophe; Wang, Jiangxia; Kass, David A.; McVeigh, Elliot R.

2010-01-01

Background Earlier studies have yielded conflicting evidence on whether or not cardiac resynchronization therapy (CRT) improves left ventricular (LV) rotation mechanics. Methods and Results In dogs with left bundle branch block and pacing-induced heart failure (n=7), we studied the effects of CRT on LV rotation mechanics in vivo by 3-dimensional tagged magnetic resonance imaging with a temporal resolution of 14 ms. CRT significantly improved hemodynamic parameters but did not significantly change the LV rotation or rotation rate. LV torsion, defined as LV rotation of each slice with respect to that of the most basal slice, was not significantly changed by CRT. CRT did not significantly change the LV torsion rate. There was no significant circumferential regional heterogeneity (anterior, lateral, inferior, and septal) in LV rotation mechanics in either left bundle branch block with pacing-induced heart failure or CRT, but there was significant apex-to-base regional heterogeneity. Conclusions CRT acutely improves hemodynamic parameters without improving LV rotation mechanics. There is no significant circumferential regional heterogeneity of LV rotation mechanics in the mechanically dyssynchronous heart. These results suggest that LV rotation mechanics is an index of global LV function, which requires coordination of all regions of the left ventricle, and improvement in LV rotation mechanics appears to be a specific but insensitive index of acute hemodynamic response to CRT. PMID:20478988

Novel approach to ambulatory assessment of human segmental orientation on a wearable sensor system.

PubMed

Liu, Kun; Liu, Tao; Shibata, Kyoko; Inoue, Yoshio; Zheng, Rencheng

2009-12-11

A new method using a double-sensor difference based algorithm for analyzing human segment rotational angles in two directions for segmental orientation analysis in the three-dimensional (3D) space was presented. A wearable sensor system based only on triaxial accelerometers was developed to obtain the pitch and yaw angles of thigh segment with an accelerometer approximating translational acceleration of the hip joint and two accelerometers measuring the actual accelerations on the thigh. To evaluate the method, the system was first tested on a 2 degrees of freedom mechanical arm assembled out of rigid segments and encoders. Then, to estimate the human segmental orientation, the wearable sensor system was tested on the thighs of eight volunteer subjects, who walked in a straight forward line in the work space of an optical motion analysis system at three self-selected speeds: slow, normal and fast. In the experiment, the subject was assumed to walk in a straight forward way with very little trunk sway, skin artifacts and no significant internal/external rotation of the leg. The root mean square (RMS) errors of the thigh segment orientation measurement were between 2.4 degrees and 4.9 degrees during normal gait that had a 45 degrees flexion/extension range of motion. Measurement error was observed to increase with increasing walking speed probably because of the result of increased trunk sway, axial rotation and skin artifacts. The results show that, without integration and switching between different sensors, using only one kind of sensor, the wearable sensor system is suitable for ambulatory analysis of normal gait orientation of thigh and shank in two directions of the segment-fixed local coordinate system in 3D space. It can then be applied to assess spatio-temporal gait parameters and monitoring the gait function of patients in clinical settings.

Measurement of M²-Curve for Asymmetric Beams by Self-Referencing Interferometer Wavefront Sensor.

PubMed

Du, Yongzhao

2016-11-29

For asymmetric laser beams, the values of beam quality factor M x 2 and M y 2 are inconsistent if one selects a different coordinate system or measures beam quality with different experimental conditionals, even when analyzing the same beam. To overcome this non-uniqueness, a new beam quality characterization method named as M²-curve is developed. The M²-curve not only contains the beam quality factor M x 2 and M y 2 in the x -direction and y -direction, respectively; but also introduces a curve of M x α 2 versus rotation angle α of coordinate axis. Moreover, we also present a real-time measurement method to demonstrate beam propagation factor M²-curve with a modified self-referencing Mach-Zehnder interferometer based-wavefront sensor (henceforth SRI-WFS). The feasibility of the proposed method is demonstrated with the theoretical analysis and experiment in multimode beams. The experimental results showed that the proposed measurement method is simple, fast, and a single-shot measurement procedure without movable parts.

Measurement of M2-Curve for Asymmetric Beams by Self-Referencing Interferometer Wavefront Sensor

PubMed Central

Du, Yongzhao

2016-01-01

For asymmetric laser beams, the values of beam quality factor Mx2 and My2 are inconsistent if one selects a different coordinate system or measures beam quality with different experimental conditionals, even when analyzing the same beam. To overcome this non-uniqueness, a new beam quality characterization method named as M2-curve is developed. The M2-curve not only contains the beam quality factor Mx2 and My2 in the x-direction and y-direction, respectively; but also introduces a curve of Mxα2 versus rotation angle α of coordinate axis. Moreover, we also present a real-time measurement method to demonstrate beam propagation factor M2-curve with a modified self-referencing Mach-Zehnder interferometer based-wavefront sensor (henceforth SRI-WFS). The feasibility of the proposed method is demonstrated with the theoretical analysis and experiment in multimode beams. The experimental results showed that the proposed measurement method is simple, fast, and a single-shot measurement procedure without movable parts. PMID:27916845

The Z3 model of Saturns magnetic field and the Pioneer 11 vector helium magnetometer observations

NASA Technical Reports Server (NTRS)

Connerney, J. E. P.; Acuna, M. H.; Ness, N. F.

1984-01-01

Magnetic field observations obtained by the Pioneer 11 vector helium magnetometer are compared with the Z(sub 3) model magnetic field. These Pioneer 11 observations, obtained at close-in radial distances, constitute an important and independent test of the Z(sub 3) zonal harmonic model, which was derived from Voyager 1 and Voyager 2 fluxgate magnetometer observations. Differences between the Pioneer 11 magnetometer and the Z(sub 3) model field are found to be small (approximately 1%) and quantitatively consistent with the expected instrumental accuracy. A detailed examination of these differences in spacecraft payload coordinates shows that they are uniquely associated with the instrument frame of reference and operation. A much improved fit to the Pioneer 11 observations is obtained by rotation of the instrument coordinate system about the spacecraft spin axis by 1.4 degree. With this adjustment, possibly associated with an instrumental phase lag or roll attitude error, the Pioneer 11 vector helium magnetometer observations are fully consistent with the Voyager Z(sub 3) model.

Overall properties of the Gaia DR1 reference frame

NASA Astrophysics Data System (ADS)

Liu, N.; Zhu, Z.; Liu, J.-C.; Ding, C.-Y.

2017-03-01

Aims: The first Gaia data release (Gaia DR1) provides 2191 ICRF2 sources with their positions in the auxiliary quasar solution and five astrometric parameters - positions, parallaxes, and proper motions - for stars in common between the Tycho-2 catalogue and Gaia in the joint Tycho-Gaia astrometric solution (TGAS). We aim to analyze the overall properties of Gaia DR1 reference frame. Methods: We compare quasar positions of the auxiliary quasar solution with ICRF2 sources using different samples and evaluate the influence on the Gaia DR1 reference frame owing to the Galactic aberration effect over the J2000.0-J2015.0 period. Then we estimate the global rotation between TGAS with Tycho-2 proper motion systems to investigate the property of the Gaia DR1 reference frame. Finally, the Galactic kinematics analysis using the K-M giant proper motions is performed to understand the property of Gaia DR1 reference frame. Results: The positional comparison between the auxiliary quasar solution and ICRF2 shows negligible orientation and validates the declination bias of -0.1mas in Gaia quasar positions with respect to ICRF2. Galactic aberration effect is thought to cause an offset 0.01mas of the Z axis direction of Gaia DR1 reference frame. The global rotation between TGAS and Tycho-2 proper motion systems, obtained by different samples, shows a much smaller value than the claimed value 0.24mas yr-1. For the Galactic kinematics analysis of the TGAS K-M giants, we find possible non-zero Galactic rotation components beyond the classical Oort constants: the rigid part ωYG = -0.38±0.15mas yr-1 and the differential part ω^primeYG = -0.29±0.19mas yr-1 around the YG axis of Galactic coordinates, which indicates possible residual rotation in Gaia DR1 reference frame or problems in the current Galactic kinematical model. Conclusions: The Gaia DR1 reference frame is well aligned to ICRF2, and the possible influence of the Galactic aberration effect should be taken into consideration for the future Gaia-ICRF link. The cause of the rather small global rotation between TGAS and Tycho-2 proper motion systems is unclear and needs further investigation. The possible residual rotation in Gaia DR1 reference frame inferred from the Galactic kinematic analysis should be noted and examined in future data release.

Initial experiments in thrusterless locomotion control of a free-flying robot

NASA Technical Reports Server (NTRS)

Jasper, W. J.; Cannon, R. H., Jr.

1990-01-01

A two-arm free-flying robot has been constructed to study thrusterless locomotion in space. This is accomplished by pushing off or landing on a large structure in a coordinated two-arm maneuver. A new control method, called system momentum control, allows the robot to follow desired momentum trajectories and thus leap or crawl from one structure to another. The robot floats on an air-cushion, simulating in two dimensions the drag-free zero-g environment of space. The control paradigm has been verified experimentally by commanding the robot to push off a bar with both arms, rotate 180 degrees, and catch itself on another bar.

Recent developments in rotary-wing aerodynamic theory

NASA Technical Reports Server (NTRS)

Johnson, W.

1986-01-01

Current progress in the computational analysis of rotary-wing flowfields is surveyed, and some typical results are presented in graphs. Topics examined include potential theory, rotating coordinate systems, lifting-surface theory (moving singularity, fixed wing, and rotary wing), panel methods (surface singularity representations, integral equations, and compressible flows), transonic theory (the small-disturbance equation), wake analysis (hovering rotor-wake models and transonic blade-vortex interaction), limitations on computational aerodynamics, and viscous-flow methods (dynamic-stall theories and lifting-line theory). It is suggested that the present algorithms and advanced computers make it possible to begin working toward the ultimate goal of turbulent Navier-Stokes calculations for an entire rotorcraft.

Computational study of the rovibrational spectrum of CO₂-CS₂.

PubMed

Brown, James; Wang, Xiao-Gang; Carrington, Tucker; Grubbs, G S; Dawes, Richard

2014-03-21

A new intermolecular potential energy surface, rovibrational transition frequencies, and line strengths are computed for CO2-CS2. The potential is made by fitting energies obtained from explicitly correlated coupled-cluster calculations using an interpolating moving least squares method. The rovibrational Schrödinger equation is solved with a symmetry-adapted Lanczos algorithm and an uncoupled product basis set. All four intermolecular coordinates are included in the calculation. In agreement with previous experiments, the global minimum of the potential energy surface (PES) is cross shaped. The PES also has slipped-parallel minima. Rovibrational wavefunctions are localized in the cross minima and the slipped-parallel minima. Vibrational parent analysis was used to assign vibrational labels to rovibrational states. Tunneling occurs between the two cross minima. Because more than one symmetry operation interconverts the two wells, the symmetry (-oo) of the upper component of the tunneling doublet is different from the symmetry (-ee) of the tunneling coordinate. This unusual situation is due to the multidimensional nature of the double well tunneling. For the cross ground vibrational state, calculated rotational constants differ from their experimental counterparts by less than 0.0001 cm(-1). Most rovibrational states were found to be incompatible with the standard effective rotational Hamiltonian often used to fit spectra. This appears to be due to coupling between internal and overall rotation of the dimer. A simple 2D model accounting for internal rotation was used for two cross-shaped fundamentals to obtain good fits.

Kinematic relationship between rotation of lumbar spine and hip joints during golf swing in professional golfers.

PubMed

Mun, Frederick; Suh, Seung Woo; Park, Hyun-Joon; Choi, Ahnryul

2015-05-14

Understanding the kinematics of the lumbar spine and hip joints during a golf swing is a basic step for identifying swing-specific factors associated with low back pain. The objective of this study was to examine the kinematic relationship between rotational movement of the lumbar spine and hip joints during a golf swing. Fifteen professional golfers participated in this study with employment of six infrared cameras to record their golf swings. Anatomical reference system of the upper torso, pelvis and thigh segments, and the location of each hip and knee joint were defined by the protocols of the kinematic model of previous studies. Lumbar spine and hip joint rotational angle was calculated utilizing the Euler angle method. Cross-correlation and angle-angle plot was used to examine the degree of kinematic relationship between joints. A fairly strong coupling relationship was shown between the lumbar spine and hip rotational movements with an average correlation of 0.81. Leading hip contribution to overall rotation was markedly high in the early stage of the downswing, while the lumbar spine contributed greater towards the end of the downswing; however, the relative contributions of the trailing hip and lumbar spine were nearly equal during the entire downswing. Most of the professional golfers participated in this study used a similar coordination strategy when moving their hips and lumbar spine during golf swings. The rotation of hips was observed to be more efficient in producing the overall rotation during the downswing when compared to the backswing. These results provide quantitative information to better understand the lumbar spine and hip joint kinematic characteristics of professional golfers. This study will have great potential to be used as a normal control data for the comparison with kinematic information among golfers with low back pain and for further investigation of golf swing-specific factors associated with injury.

In vivo kinematic study of the tarsal joints complex based on fluoroscopic 3D-2D registration technique.

PubMed

Chen Wang, M D; Geng, Xiang; Wang, Shaobai; Xin Ma, M D; Xu Wang, M D; Jiazhang Huang, M D; Chao Zhang, M D; Li Chen, M S; Yang, Junsheng; Wang, Kan

2016-09-01

The tarsal bones articulate with each other and demonstrate complicated kinematic characteristics. The in vivo motions of these tarsal joints during normal gait are still unclear. Seven healthy subjects were recruited and fourteen feet in total were tested in the current study. Three dimensional models of the tarsal bones were first created using CT scanning. Corresponding local 3D coordinate systems of each tarsal bone was subsequently established for 6DOF motion decompositions. The fluoroscopy system captured the lateral fluoroscopic images of the targeted tarsal region whilst the subject was walking. Seven key pose images during the stance phase were selected and 3D to 2D bone model registrations were performed on each image to determine joint positions. The 6DOF motions of each tarsal joint during gait were then obtained by connecting these positions together. The TNJ (talo-navicular joint) exhibited the largest ROMs (range of motion) on all rotational directions with 7.39±2.75°of dorsi/plantarflexion, 21.12±4.68°of inversion/eversion, and 16.11±4.44°of internal/external rotation. From heel strike to midstance, the TNJ, STJ (subtalar joint), and CCJ (calcaneao-cuboid joint) were associated with 5.97°, 5.04°, and 3.93°of dorsiflexion; 15.46°, 8.21°, and 5.82°of eversion; and 9.75°, 7.6°, and 4.99°of external rotation, respectively. Likewise, from midstance to heel off, the TNJ, STJ, and CCJ were associated with 6.39, 6.19°, and 4.47°of plantarflexion; 18.57°, 11.86°, and 6.32°of inversion and 13.95°, 9.66°, and 7.58°of internal rotation, respectively. In conclusion, among the tarsal joints, the TNJ exhibited the greatest rotational mobility. Synchronous and homodromous rotational motions were detected for TNJ, STJ, and CCJ during the stance phase. Copyright © 2016 Elsevier B.V. All rights reserved.

Non-orthogonal tool/flange and robot/world calibration.

PubMed

Ernst, Floris; Richter, Lars; Matthäus, Lars; Martens, Volker; Bruder, Ralf; Schlaefer, Alexander; Schweikard, Achim

2012-12-01

For many robot-assisted medical applications, it is necessary to accurately compute the relation between the robot's coordinate system and the coordinate system of a localisation or tracking device. Today, this is typically carried out using hand-eye calibration methods like those proposed by Tsai/Lenz or Daniilidis. We present a new method for simultaneous tool/flange and robot/world calibration by estimating a solution to the matrix equation AX = YB. It is computed using a least-squares approach. Because real robots and localisation are all afflicted by errors, our approach allows for non-orthogonal matrices, partially compensating for imperfect calibration of the robot or localisation device. We also introduce a new method where full robot/world and partial tool/flange calibration is possible by using localisation devices providing less than six degrees of freedom (DOFs). The methods are evaluated on simulation data and on real-world measurements from optical and magnetical tracking devices, volumetric ultrasound providing 3-DOF data, and a surface laser scanning device. We compare our methods with two classical approaches: the method by Tsai/Lenz and the method by Daniilidis. In all experiments, the new algorithms outperform the classical methods in terms of translational accuracy by up to 80% and perform similarly in terms of rotational accuracy. Additionally, the methods are shown to be stable: the number of calibration stations used has far less influence on calibration quality than for the classical methods. Our work shows that the new method can be used for estimating the relationship between the robot's and the localisation device's coordinate systems. The new method can also be used for deficient systems providing only 3-DOF data, and it can be employed in real-time scenarios because of its speed. Copyright © 2012 John Wiley & Sons, Ltd.

Iris recognition using possibilistic fuzzy matching on local features.

PubMed

Tsai, Chung-Chih; Lin, Heng-Yi; Taur, Jinshiuh; Tao, Chin-Wang

2012-02-01

In this paper, we propose a novel possibilistic fuzzy matching strategy with invariant properties, which can provide a robust and effective matching scheme for two sets of iris feature points. In addition, the nonlinear normalization model is adopted to provide more accurate position before matching. Moreover, an effective iris segmentation method is proposed to refine the detected inner and outer boundaries to smooth curves. For feature extraction, the Gabor filters are adopted to detect the local feature points from the segmented iris image in the Cartesian coordinate system and to generate a rotation-invariant descriptor for each detected point. After that, the proposed matching algorithm is used to compute a similarity score for two sets of feature points from a pair of iris images. The experimental results show that the performance of our system is better than those of the systems based on the local features and is comparable to those of the typical systems.

Development and modification of a device for three-dimensional measurement of orthodontic force system: The V-bend system re-visited.

PubMed

Lai, WeiJen; Midorikawa, Yoshiyuki; Kanno, Zuisei; Takemura, Hiroshi; Suga, Kazuhiro; Soga, Kohei; Ono, Takashi; Uo, Motohiro

2016-12-01

We developed a device to evaluate the orthodontic force applied by systems requiring high operability. A life-sized, two-tooth model was designed, and the measurements were performed using a custom-made jointed attachment, referred to as an "action stick", to allow clearance for the oversized six-axis sensors. This tooth-sensor apparatus was accurately calibrated, and the error was limited. Vector analysis and rotating coordinate transformation were required to derive the force and moment at the tooth from the sensor readings. The device was then used to obtain measurements of the force and moment generated by the V-bend system. Our device was effective, providing results that were consistent with those of previous studies. This measurement device can be manufactured with force sensors of any size, and it can also be expanded to models with any number of teeth.

Possible interpretation of the precession of comet 67P/Churyumov-Gerasimenko

NASA Astrophysics Data System (ADS)

Gutiérrez, P. J.; Jorda, L.; Gaskell, R. W.; Davidsson, B. J. R.; Capanna, C.; Hviid, S. F.; Keller, H. U.; Maquet, L.; Mottola, S.; Preusker, F.; Scholten, F.; Lara, L. M.; Moreno, F.; Rodrigo, R.; Sierks, H.; Barbieri, C.; Lamy, P.; Koschny, D.; Rickman, H.; Agarwal, J.; A'Hearn, M. F.; Auger, A. T.; Barucci, M. A.; Bertaux, J. L.; Bertini, I.; Cremonese, G.; Da Deppo, V.; Debei, S.; De Cecco, M.; El-Maarry, M. R.; Fornasier, S.; Fulle, M.; Groussin, O.; Gutiérrez-Marques, P.; Güttler, C.; Ip, W. H.; Knollenberg, J.; Kramm, J. R.; Kührt, E.; Küppers, M.; La Forgia, F.; Lazzarin, M.; López-Moreno, J. J.; Magrin, S.; Marchi, S.; Marzari, F.; Naletto, G.; Oklay, N.; Pajola, M.; Pommerol, A.; Sabau, D.; Thomas, N.; Toth, I.; Tubiana, C.; Vincent, J. B.

2016-05-01

Context. Data derived from the reconstruction of the nucleus shape of comet 67P/Churyumov-Gerasimenko (67P) from images of the OSIRIS camera onboard ROSETTA show evidence that the nucleus rotates in complex mode. First, the orientation of the spin axis is not fixed in an inertial reference frame, which suggests a precessing motion around the angular momentum vector with a periodicity of approximately 257 h ± 12 h.Second, periodograms of the right ascension and declination (RA/Dec) coordinates of the body-frame Z axis show a very significant (higher than 99.99%) periodicity at 276 h ± 12 h, different from the rotational period of 12.40 h as previously determined from light-curve analysis. Aims: The main goal is to interpret the data and associated periodicities of the spin axis orientation in space. Methods: We analyzed the spin axis orientation in space and associated periodicities and compared them with solutions of Euler equations under the assumption that the body rotates in torque-free conditions. Statistical tests comparing the observationally derived spin axis orientation with the outcome from simulations were applied to determine the most likely inertia moments, excitation level, and periods. Results: Under the assumption that the body is solid-rigid and rotates in torque-free conditions, the most likely interpretation is that 67P is spinning around the principal axis with the highest inertia moment with a period of about 13 h. At the same time, the comet precesses around the angular momentum vector with a period of about 6.35 h. While the rotating period of such a body would be about 12.4 h, RA/Dec coordinates of the spin axis would have a periodicity of about 270 h as a result of the combination of the two aforementioned motions. Conclusions: The most direct and simple interpretation of the complex rotation of 67P requires a ratio of inertia moments significantly higher than that of a homogeneous body.

Geocenter Coordinates from a Combined Processing of LEO and Ground-based GPS Observations

NASA Astrophysics Data System (ADS)

Männel, Benjamin; Rothacher, Markus

2017-04-01

The GPS observations provided by the global IGS (International GNSS Service) tracking network play an important role for the realization of a unique terrestrial reference frame that is accurate enough to allow the monitoring of the Earth's system. Combining these ground-based data with GPS observations tracked by high-quality dual-frequency receivers on-board Low Earth Orbiters (LEO) might help to further improve the realization of the terrestrial reference frame and the estimation of the geocenter coordinates, GPS satellite orbits and Earth rotation parameters (ERP). To assess the scope of improvement, we processed a network of 50 globally distributed and stable IGS-stations together with four LEOs (GRACE-A, GRACE-B, OSTM/Jason-2 and GOCE) over a time interval of three years (2010-2012). To ensure fully consistent solutions the zero-difference phase observations of the ground stations and LEOs were processed in a common least-square adjustment, estimating GPS orbits, LEO orbits, station coordinates, ERPs, site-specific tropospheric delays, satellite and receiver clocks and ambiguities. We present the significant impact of the individual LEOs and a combination of all four LEOs on geocenter coordinates derived by using a translational approach (also called network shift approach). In addition, we present geocenter coordinates derived from the same set of GPS observations by using a unified approach. This approach combines the translational and the degree-one approach by estimating translations and surface deformations simultaneously. Based on comparisons against each other and against geocenter time series derived by other techniques the effect of the selected approach is assessed.

The role of axis embedding on rigid rotor decomposition analysis of variational rovibrational wave functions.

PubMed

Szidarovszky, Tamás; Fábri, Csaba; Császár, Attila G

2012-05-07

Approximate rotational characterization of variational rovibrational wave functions via the rigid rotor decomposition (RRD) protocol is developed for Hamiltonians based on arbitrary sets of internal coordinates and axis embeddings. An efficient and general procedure is given that allows employing the Eckart embedding with arbitrary polyatomic Hamiltonians through a fully numerical approach. RRD tables formed by projecting rotational-vibrational wave functions into products of rigid-rotor basis functions and previously determined vibrational eigenstates yield rigid-rotor labels for rovibrational eigenstates by selecting the largest overlap. Embedding-dependent RRD analyses are performed, up to high energies and rotational excitations, for the H(2) (16)O isotopologue of the water molecule. Irrespective of the embedding chosen, the RRD procedure proves effective in providing unambiguous rotational assignments at low energies and J values. Rotational labeling of rovibrational states of H(2) (16)O proves to be increasingly difficult beyond about 10,000 cm(-1), close to the barrier to linearity of the water molecule. For medium energies and excitations the Eckart embedding yields the largest RRD coefficients, thus providing the largest number of unambiguous rotational labels.

Study of the solar coronal hole rotation

NASA Astrophysics Data System (ADS)

Oghrapishvili, N. B.; Bagashvili, S. R.; Maghradze, D. A.; Gachechiladze, T. Z.; Japaridze, D. R.; Shergelashvili, B. M.; Mdzinarishvili, T. G.; Chargeishvili, B. B.

2018-06-01

Rotation of coronal holes is studied using data from SDO/AIA for 2014 and 2015. A new approach to the treatment of data is applied. Instead of calculated average angular velocities of each coronal hole centroid and then grouping them in latitudinal bins for calculating average rotation rates of corresponding latitudes, we compiled instant rotation rates of centroids and their corresponding heliographic coordinates in one matrix for further processing. Even unfiltered data showed clear differential nature of rotation of coronal holes. We studied possible reasons for distortion of data by the limb effects to eliminate some discrepancies at high latitudes caused by the high order of scattering of data in that region. A study of the longitudinal distribution of angular velocities revealed the optimal longitudinal interval for the best result. We examined different methods of data filtering and realized that filtration using targeting on the local medians of data with a constant threshold is a more acceptable approach that is not biased towards a predefined notion of an expected result. The results showed a differential pattern of rotation of coronal holes.

Design of experiment for earth rotation and baseline parameter determination from very long baseline interferometry

NASA Technical Reports Server (NTRS)

Dermanis, A.

1977-01-01

The possibility of recovering earth rotation and network geometry (baseline) parameters are emphasized. The numerical simulated experiments performed are set up in an environment where station coordinates vary with respect to inertial space according to a simulated earth rotation model similar to the actual but unknown rotation of the earth. The basic technique of VLBI and its mathematical model are presented. The parametrization of earth rotation chosen is described and the resulting model is linearized. A simple analysis of the geometry of the observations leads to some useful hints on achieving maximum sensitivity of the observations with respect to the parameters considered. The basic philosophy for the simulation of data and their analysis through standard least squares adjustment techniques is presented. A number of characteristic network designs based on present and candidate station locations are chosen. The results of the simulations for each design are presented together with a summary of the conclusions.

Omega-X micromachining system

DOEpatents

Miller, Donald M.

1978-01-01

A micromachining tool system with X- and omega-axes is used to machine spherical, aspherical, and irregular surfaces with a maximum contour error of 100 nonometers (nm) and surface waviness of no more than 0.8 nm RMS. The omega axis, named for the angular measurement of the rotation of an eccentric mechanism supporting one end of a tool bar, enables the pulse increments of the tool toward the workpiece to be as little as 0 to 4.4 nm. A dedicated computer coordinates motion in the two axes to produce the workpiece contour. Inertia is reduced by reducing the mass pulsed toward the workpiece to about one-fifth of its former value. The tool system includes calibration instruments to calibrate the micromachining tool system. Backlash is reduced and flexing decreased by using a rotary table and servomotor to pulse the tool in the omega-axis instead of a ball screw mechanism. A thermally-stabilized spindle rotates the workpiece and is driven by a motor not mounted on the micromachining tool base through a torque-smoothing pulley and vibrationless rotary coupling. Abbe offset errors are almost eliminated by tool setting and calibration at spindle center height. Tool contour and workpiece contour are gaged on the machine; this enables the source of machining errors to be determined more readily, because the workpiece is gaged before its shape can be changed by removal from the machine.

Bound state potential energy surface construction: ab initio zero-point energies and vibrationally averaged rotational constants.

PubMed

Bettens, Ryan P A

2003-01-15

Collins' method of interpolating a potential energy surface (PES) from quantum chemical calculations for reactive systems (Jordan, M. J. T.; Thompson, K. C.; Collins, M. A. J. Chem. Phys. 1995, 102, 5647. Thompson, K. C.; Jordan, M. J. T.; Collins, M. A. J. Chem. Phys. 1998, 108, 8302. Bettens, R. P. A.; Collins, M. A. J. Chem. Phys. 1999, 111, 816) has been applied to a bound state problem. The interpolation method has been combined for the first time with quantum diffusion Monte Carlo calculations to obtain an accurate ground state zero-point energy, the vibrationally average rotational constants, and the vibrationally averaged internal coordinates. In particular, the system studied was fluoromethane using a composite method approximating the QCISD(T)/6-311++G(2df,2p) level of theory. The approach adopted in this work (a) is fully automated, (b) is fully ab initio, (c) includes all nine nuclear degrees of freedom, (d) requires no assumption of the functional form of the PES, (e) possesses the full symmetry of the system, (f) does not involve fitting any parameters of any kind, and (g) is generally applicable to any system amenable to quantum chemical calculations and Collins' interpolation method. The calculated zero-point energy agrees to within 0.2% of its current best estimate. A0 and B0 are within 0.9 and 0.3%, respectively, of experiment.

Numerical analysis and FORTRAN program for the computation of the turbulent wakes of turbomachinery rotor blades, isolated airfoils and cascade of airfoils. Final Report - Ph.D. Thesis Mar. 1980

NASA Technical Reports Server (NTRS)

Hah, C.; Lakshminarayana, B.

1982-01-01

Turbulent wakes of turbomachinery rotor blades, isolated airfoils, and a cascade of airfoils were investigated both numerically and experimentally. Low subsonic and incompressible wake flows were examined. A finite difference procedure was employed in the numerical analysis utilizing the continuity, momentum, and turbulence closure equations in the rotating, curvilinear, and nonorthogonal coordinate system. A nonorthogonal curvilinear coordinate system was developed to improve the accuracy and efficiency of the numerical calculation. Three turbulence models were employed to obtain closure of the governing equations. The first model was comprised to transport equations for the turbulent kinetic energy and the rate of energy dissipation, and the second and third models were comprised of equations for the rate of turbulent kinetic energy dissipation and Reynolds stresses, respectively. The second model handles the convection and diffusion terms in the Reynolds stress transport equation collectively, while the third model handles them individually. The numerical results demonstrate that the second and third models provide accurate predictions, but the computer time and memory storage can be considerably saved with the second model.

Sequential Bayesian Filters for Estimating Time Series of Wrapped and Unwrapped Angles with Hyperparameter Estimation

NASA Astrophysics Data System (ADS)

Umehara, Hiroaki; Okada, Masato; Naruse, Yasushi

2018-03-01

The estimation of angular time series data is a widespread issue relating to various situations involving rotational motion and moving objects. There are two kinds of problem settings: the estimation of wrapped angles, which are principal values in a circular coordinate system (e.g., the direction of an object), and the estimation of unwrapped angles in an unbounded coordinate system such as for the positioning and tracking of moving objects measured by the signal-wave phase. Wrapped angles have been estimated in previous studies by sequential Bayesian filtering; however, the hyperparameters that are to be solved and that control the properties of the estimation model were given a priori. The present study establishes a procedure of hyperparameter estimation from the observation data of angles only, using the framework of Bayesian inference completely as the maximum likelihood estimation. Moreover, the filter model is modified to estimate the unwrapped angles. It is proved that without noise our model reduces to the existing algorithm of Itoh's unwrapping transform. It is numerically confirmed that our model is an extension of unwrapping estimation from Itoh's unwrapping transform to the case with noise.

Formation flying for electric sails in displaced orbits. Part II: Distributed coordinated control

NASA Astrophysics Data System (ADS)

Wang, Wei; Mengali, Giovanni; Quarta, Alessandro A.; Yuan, Jianping

2017-09-01

We analyze a cooperative control framework for electric sail formation flying around a heliocentric displaced orbit, aiming at observing the polar region of a celestial body. The chief spacecraft is assumed to move along an elliptic displaced orbit, while each deputy spacecraft adjusts its thrust vector (that is, both its sail attitude and characteristic acceleration) in order to track a prescribed relative trajectory. The relative motion of the electric sail formation system is formulated in the chief rotating frame, where the control inputs of each deputy are the relative sail attitude angles and the relative lightness number with respect to those of the chief. The information exchange among the spacecraft, characterized by the communication topology, is represented by a weighted graph. Two typical cases, according to whether the communication graph is directed or undirected, are discussed. For each case, a distributed coordinated control law is designed in such a way that each deputy not only tracks the chief state, but also makes full use of information from its neighbors, thus increasing the redundancy and robustness of the formation system in case of failure among the communication links. Illustrative examples show the effectiveness of the proposed approach.

Flow in serpentine coolant passages with trip strips

NASA Technical Reports Server (NTRS)

Tse, D. G.-N.

1995-01-01

Under the subject contract, an effort is being conducted at Scientific Research Associates, Inc. (SRA) to obtain flow field measurements in the coolant passage of a rotating turbine blade with ribbed walls, both in the stationary and rotating frames. The data obtained will be used for validation of computational tools and assessment of turbine blade cooling strategies. The configuration of the turbine blade passage model is given, and the measuring plane locations are given. The model has a four-pass passage with three 180 turns. This geometry was chosen to allow analyses of the velocity measurements corresponding to the heat transfer results obtained by Wagner. Two passes of the passage have a rectangular cross-section of 1.0 in x 0.5 in. Another two passes have a square cross-section of 0.5 in x 0.5 in. Trips with a streamwise pitch to trip height (P/e) = 5 and trip height to coolant passage width (e/Z) = 0.1, were machined along the leading and trailing walls. These dimensions are typical of those used in turbine blade coolant passages. The trips on these walls are staggered by the half-pitch. The trips are skewed at +/- 45 deg, and this allows the effect of trip orientation to be examined. Experiments will be conducted with flow entering the model through the 1.0 in x 0.5 in rectangular passage (Configuration C) and the 0.5 in x 0. 5 in square passage (Configuration D) to examine the effect of passage aspect ratio. Velocity measurements were obtained with a Reynolds number (Re) of 25,000, based on the hydraulic diameter of and bulk mean velocity in the half inch square passage. The coordinate system used in presenting the results for configurations C and D, respectively, is shown. The first, second and third passes of the passage will be referred to as the first, second and third passages, respectively, in later discussion. Streamwise distance (x) from the entrance is normalized by the hydraulic diameter (D). Vertical (y) and tangential (z) distances are normalized by the half passage height (H) and width (Z), respectively. The x coordinate and U component are positive in the streamwise direction. The y coordinate and V component are positive against gravity. The z coordinate and W component are positive in the direction of rotation. The velocities are normalized by the bulk mean velocity (Ub) of 3.44 m/s based on the half-inch square passage. The contours of the 1.0 in x 0.5 in and 0.5 in x 0.5 in passages were evaluated from 11 x 30 and 9 x 30 measurement grids, respectively.

Minimizing Interpolation Bias and Precision Error in In Vivo μCT-based Measurements of Bone Structure and Dynamics

PubMed Central

de Bakker, Chantal M. J.; Altman, Allison R.; Li, Connie; Tribble, Mary Beth; Lott, Carina; Tseng, Wei-Ju; Liu, X. Sherry

2016-01-01

In vivo μCT imaging allows for high-resolution, longitudinal evaluation of bone properties. Based on this technology, several recent studies have developed in vivo dynamic bone histomorphometry techniques that utilize registered μCT images to identify regions of bone formation and resorption, allowing for longitudinal assessment of bone remodeling. However, this analysis requires a direct voxel-by-voxel subtraction between image pairs, necessitating rotation of the images into the same coordinate system, which introduces interpolation errors. We developed a novel image transformation scheme, matched-angle transformation (MAT), whereby the interpolation errors are minimized by equally rotating both the follow-up and baseline images instead of the standard of rotating one image while the other remains fixed. This new method greatly reduced interpolation biases caused by the standard transformation. Additionally, our study evaluated the reproducibility and precision of bone remodeling measurements made via in vivo dynamic bone histomorphometry. Although bone remodeling measurements showed moderate baseline noise, precision was adequate to measure physiologically relevant changes in bone remodeling, and measurements had relatively good reproducibility, with intra-class correlation coefficients of 0.75-0.95. This indicates that, when used in conjunction with MAT, in vivo dynamic histomorphometry provides a reliable assessment of bone remodeling. PMID:26786342

Minimizing Interpolation Bias and Precision Error in In Vivo µCT-Based Measurements of Bone Structure and Dynamics.

PubMed

de Bakker, Chantal M J; Altman, Allison R; Li, Connie; Tribble, Mary Beth; Lott, Carina; Tseng, Wei-Ju; Liu, X Sherry

2016-08-01

In vivo µCT imaging allows for high-resolution, longitudinal evaluation of bone properties. Based on this technology, several recent studies have developed in vivo dynamic bone histomorphometry techniques that utilize registered µCT images to identify regions of bone formation and resorption, allowing for longitudinal assessment of bone remodeling. However, this analysis requires a direct voxel-by-voxel subtraction between image pairs, necessitating rotation of the images into the same coordinate system, which introduces interpolation errors. We developed a novel image transformation scheme, matched-angle transformation (MAT), whereby the interpolation errors are minimized by equally rotating both the follow-up and baseline images instead of the standard of rotating one image while the other remains fixed. This new method greatly reduced interpolation biases caused by the standard transformation. Additionally, our study evaluated the reproducibility and precision of bone remodeling measurements made via in vivo dynamic bone histomorphometry. Although bone remodeling measurements showed moderate baseline noise, precision was adequate to measure physiologically relevant changes in bone remodeling, and measurements had relatively good reproducibility, with intra-class correlation coefficients of 0.75-0.95. This indicates that, when used in conjunction with MAT, in vivo dynamic histomorphometry provides a reliable assessment of bone remodeling.

Flocking and Turning: a New Model for Self-organized Collective Motion

NASA Astrophysics Data System (ADS)

Cavagna, Andrea; Del Castello, Lorenzo; Giardina, Irene; Grigera, Tomas; Jelic, Asja; Melillo, Stefania; Mora, Thierry; Parisi, Leonardo; Silvestri, Edmondo; Viale, Massimiliano; Walczak, Aleksandra M.

2015-02-01

Birds in a flock move in a correlated way, resulting in large polarization of velocities. A good understanding of this collective behavior exists for linear motion of the flock. Yet observing actual birds, the center of mass of the group often turns giving rise to more complicated dynamics, still keeping strong polarization of the flock. Here we propose novel dynamical equations for the collective motion of polarized animal groups that account for correlated turning including solely social forces. We exploit rotational symmetries and conservation laws of the problem to formulate a theory in terms of generalized coordinates of motion for the velocity directions akin to a Hamiltonian formulation for rotations. We explicitly derive the correspondence between this formulation and the dynamics of the individual velocities, thus obtaining a new model of collective motion. In the appropriate overdamped limit we recover the well-known Vicsek model, which dissipates rotational information and does not allow for polarized turns. Although the new model has its most vivid success in describing turning groups, its dynamics is intrinsically different from previous ones in a wide dynamical regime, while reducing to the hydrodynamic description of Toner and Tu at very large length-scales. The derived framework is therefore general and it may describe the collective motion of any strongly polarized active matter system.