Analysis and Experimental Kinematics of a Skid-Steering Wheeled Robot Based on a Laser Scanner Sensor

PubMed Central

Wang, Tianmiao; Wu, Yao; Liang, Jianhong; Han, Chenhao; Chen, Jiao; Zhao, Qiteng

2015-01-01

Skid-steering mobile robots are widely used because of their simple mechanism and robustness. However, due to the complex wheel-ground interactions and the kinematic constraints, it is a challenge to understand the kinematics and dynamics of such a robotic platform. In this paper, we develop an analysis and experimental kinematic scheme for a skid-steering wheeled vehicle based-on a laser scanner sensor. The kinematics model is established based on the boundedness of the instantaneous centers of rotation (ICR) of treads on the 2D motion plane. The kinematic parameters (the ICR coefficient χ, the path curvature variable λ and robot speed v), including the effect of vehicle dynamics, are introduced to describe the kinematics model. Then, an exact but costly dynamic model is used and the simulation of this model’s stationary response for the vehicle shows a qualitative relationship for the specified parameters χ and λ. Moreover, the parameters of the kinematic model are determined based-on a laser scanner localization experimental analysis method with a skid-steering robotic platform, Pioneer P3-AT. The relationship between the ICR coefficient χ and two physical factors is studied, i.e., the radius of the path curvature λ and the robot speed v. An empirical function-based relationship between the ICR coefficient of the robot and the path parameters is derived. To validate the obtained results, it is empirically demonstrated that the proposed kinematics model significantly improves the dead-reckoning performance of this skid–steering robot. PMID:25919370

A new approach to global control of redundant manipulators

NASA Technical Reports Server (NTRS)

Seraji, Homayoun

1989-01-01

A new and simple approach to configuration control of redundant manipulators is presented. In this approach, the redundancy is utilized to control the manipulator configuration directly in task space, where the task will be performed. A number of kinematic functions are defined to reflect the desirable configuration that will be achieved for a given end-effector position. The user-defined kinematic functions and the end-effector Cartesian coordinates are combined to form a set of task-related configuration variables as generalized coordinates for the manipulator. An adaptive scheme is then utilized to globally control the configuration variables so as to achieve tracking of some desired reference trajectories. This accomplishes the basic task of desired end-effector motion, while utilizing the redundancy to achieve any additional task through the desired time variation of the kinematic functions. The control law is simple and computationally very fast, and does not require the complex manipulator dynamic model.

A dynamical systems approach to actin-based motility in Listeria monocytogenes

NASA Astrophysics Data System (ADS)

Hotton, S.

2010-11-01

A simple kinematic model for the trajectories of Listeria monocytogenes is generalized to a dynamical system rich enough to exhibit the resonant Hopf bifurcation structure of excitable media and simple enough to be studied geometrically. It is shown how L. monocytogenes trajectories and meandering spiral waves are organized by the same type of attracting set.

Calculation of broadband time histories of ground motion, Part II: Kinematic and dynamic modeling using theoretical Green's functions and comparison with the 1994 northridge earthquake

USGS Publications Warehouse

Hartzell, S.; Guatteri, Mariagiovanna; Mai, P.M.; Liu, P.-C.; Fisk, M. R.

2005-01-01

In the evolution of methods for calculating synthetic time histories of ground motion for postulated earthquakes, kinematic source models have dominated to date because of their ease of application. Dynamic models, however, which incorporate a physical relationship between important faulting parameters of stress drop, slip, rupture velocity, and rise time, are becoming more accessible. This article compares a class of kinematic models based on the summation of a fractal distribution of subevent sizes with a dynamic model based on the slip-weakening friction law. Kinematic modeling is done for the frequency band 0.2 to 10.0. Hz, dynamic models are calculated from 0.2 to 2.0. Hz. The strong motion data set for the 1994 Northridge earthquake is used to evaluate and compare the synthetic time histories. Source models are propagated to the far field by convolution with 1D and 3D theoretical Green’s functions. In addition, the kinematic model is used to evaluate the importance of propagation path effects: velocity structure, scattering, and nonlinearity. At present, the kinematic model gives a better broadband fit to the Northridge ground motion than the simple slip-weakening dynamic model. In general, the dynamic model overpredicts rise times and produces insufficient shorter-period energy. Within the context of the slip-weakening model, the Northridge ground motion requires a short slip-weakening distance, on the order of 0.15 m or less. A more complex dynamic model including rate weakening or one that allows shorter rise times near the hypocenter may fit the data better.

Strain and vorticity analysis using small-scale faults and associated drag folds

NASA Astrophysics Data System (ADS)

Gomez-Rivas, Enrique; Bons, Paul D.; Griera, Albert; Carreras, Jordi; Druguet, Elena; Evans, Lynn

2007-12-01

Small-scale faults with associated drag folds in brittle-ductile rocks can retain detailed information on the kinematics and amount of deformation the host rock experienced. Measured fault orientation ( α), drag angle ( β) and the ratio of the thickness of deflected layers at the fault ( L) and further away ( T) can be compared with α, β and L/ T values that are calculated with a simple analytical model. Using graphs or a numerical best-fit routine, one can then determine the kinematic vorticity number and initial fault orientation that best fits the data. The proposed method was successfully tested on both analogue experiments and numerical simulations with BASIL. Using this method, a kinematic vorticity number of one (dextral simple shear) and a minimum finite strain of 2.5-3.8 was obtained for a population of antithetic faults with associated drag folds in a case study area at Mas Rabassers de Dalt on Cap de Creus in the Variscan of the easternmost Pyrenees, Spain.

Disambiguating seesaw models using invariant mass variables at hadron colliders

NASA Astrophysics Data System (ADS)

Dev, P. S. Bhupal; Kim, Doojin; Mohapatra, Rabindra N.

2016-01-01

We propose ways to distinguish between different mechanisms behind the collider signals of TeV-scale seesaw models for neutrino masses using kinematic endpoints of invariant mass variables. We particularly focus on two classes of such models widely discussed in literature: (i) Standard Model extended by the addition of singlet neutrinos and (ii) Left-Right Symmetric Models. Relevant scenarios involving the same "smoking-gun" collider signature of dilepton plus dijet with no missing transverse energy differ from one another by their event topology, resulting in distinctive relationships among the kinematic endpoints to be used for discerning them at hadron colliders. These kinematic endpoints are readily translated to the mass parameters of the on-shell particles through simple analytic expressions which can be used for measuring the masses of the new particles. A Monte Carlo simulation with detector effects is conducted to test the viability of the proposed strategy in a realistic environment. Finally, we discuss the future prospects of testing these scenarios at the √{s}=14 and 100 TeV hadron colliders.

Determination of Geometric and Kinematical Parameters of Coronal Mass Ejections Using STEREO Data

NASA Astrophysics Data System (ADS)

Fainshtein, V. G.; Tsivileva, D. M.; Kashapova, L. K.

2010-03-01

We present a new, relatively simple and fast method to determine true geometric and kinematical CME parameters from simultaneous STEREO A, B observations of CMEs. These parameters are the three-dimensional direction of CME propagation, velocity and acceleration of CME front, CME angular sizes and front position depending on time. The method is based on the assumption that CME shape may be described by a modification of so-called ice-cream cone models. The method has been tested for several CMEs.

Fully decentralized estimation and control for a modular wheeled mobile robot

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

Mutambara, A.G.O.; Durrant-Whyte, H.F.

2000-06-01

In this paper, the problem of fully decentralized data fusion and control for a modular wheeled mobile robot (WMR) is addressed. This is a vehicle system with nonlinear kinematics, distributed multiple sensors, and nonlinear sensor models. The problem is solved by applying fully decentralized estimation and control algorithms based on the extended information filter. This is achieved by deriving a modular, decentralized kinematic model by using plane motion kinematics to obtain the forward and inverse kinematics for a generalized simple wheeled vehicle. This model is then used in the decentralized estimation and control algorithms. WMR estimation and control is thusmore » obtained locally using reduced order models with reduced communication of information between nodes is carried out after every measurement (full rate communication), the estimates and control signals obtained at each node are equivalent to those obtained by a corresponding centralized system. Transputer architecture is used as the basis for hardware and software design as it supports the extensive communication and concurrency requirements that characterize modular and decentralized systems. The advantages of a modular WMR vehicle include scalability, application flexibility, low prototyping costs, and high reliability.« less

A method for matching the refractive index and kinematic viscosity of a blood analog for flow visualization in hydraulic cardiovascular models.

PubMed

Nguyen, T T; Biadillah, Y; Mongrain, R; Brunette, J; Tardif, J C; Bertrand, O F

2004-08-01

In this work, we propose a simple method to simultaneously match the refractive index and kinematic viscosity of a circulating blood analog in hydraulic models for optical flow measurement techniques (PIV, PMFV, LDA, and LIF). The method is based on the determination of the volumetric proportions and temperature at which two transparent miscible liquids should be mixed to reproduce the targeted fluid characteristics. The temperature dependence models are a linear relation for the refractive index and an Arrhenius relation for the dynamic viscosity of each liquid. Then the dynamic viscosity of the mixture is represented with a Grunberg-Nissan model of type 1. Experimental tests for acrylic and blood viscosity were found to be in very good agreement with the targeted values (measured refractive index of 1.486 and kinematic viscosity of 3.454 milli-m2/s with targeted values of 1.47 and 3.300 milli-m2/s).

Tracking of Maneuvering Complex Extended Object with Coupled Motion Kinematics and Extension Dynamics Using Range Extent Measurements

PubMed Central

Sun, Lifan; Ji, Baofeng; Lan, Jian; He, Zishu; Pu, Jiexin

2017-01-01

The key to successful maneuvering complex extended object tracking (MCEOT) using range extent measurements provided by high resolution sensors lies in accurate and effective modeling of both the extension dynamics and the centroid kinematics. During object maneuvers, the extension dynamics of an object with a complex shape is highly coupled with the centroid kinematics. However, this difficult but important problem is rarely considered and solved explicitly. In view of this, this paper proposes a general approach to modeling a maneuvering complex extended object based on Minkowski sum, so that the coupled turn maneuvers in both the centroid states and extensions can be described accurately. The new model has a concise and unified form, in which the complex extension dynamics can be simply and jointly characterized by multiple simple sub-objects’ extension dynamics based on Minkowski sum. The proposed maneuvering model fits range extent measurements very well due to its favorable properties. Based on this model, an MCEOT algorithm dealing with motion and extension maneuvers is also derived. Two different cases of the turn maneuvers with known/unknown turn rates are specifically considered. The proposed algorithm which jointly estimates the kinematic state and the object extension can also be easily implemented. Simulation results demonstrate the effectiveness of the proposed modeling and tracking approaches. PMID:28937629

Patterns of arm muscle activation involved in octopus reaching movements.

PubMed

Gutfreund, Y; Flash, T; Fiorito, G; Hochner, B

1998-08-01

The extreme flexibility of the octopus arm allows it to perform many different movements, yet octopuses reach toward a target in a stereotyped manner using a basic invariant motor structure: a bend traveling from the base of the arm toward the tip (Gutfreund et al., 1996a). To study the neuronal control of these movements, arm muscle activation [electromyogram (EMG)] was measured together with the kinematics of reaching movements. The traveling bend is associated with a propagating wave of muscle activation, with maximal muscle activation slightly preceding the traveling bend. Tonic activation was occasionally maintained afterward. Correlation of the EMG signals with the kinematic variables (velocities and accelerations) reveals that a significant part of the kinematic variability can be explained by the level of muscle activation. Furthermore, the EMG level measured during the initial stages of movement predicts the peak velocity attained toward the end of the reaching movement. These results suggest that feed-forward motor commands play an important role in the control of movement velocity and that simple adjustment of the excitation levels at the initial stages of the movement can set the velocity profile of the whole movement. A simple model of octopus arm extension is proposed in which the driving force is set initially and is then decreased in proportion to arm diameter at the bend. The model qualitatively reproduces the typical velocity profiles of octopus reaching movements, suggesting a simple control mechanism for bend propagation in the octopus arm.

Writing kinematics and pen forces in writer's cramp: effects of task and clinical subtype.

PubMed

Schneider, A S; Baur, B; Fürholzer, W; Jasper, I; Marquardt, C; Hermsdörfer, J

2010-11-01

Writer's Cramp (WC) is defined as a task-specific form of focal-hand-dystonia generating hypertonic muscle co-contractions resulting in impaired handwriting. Little is known about kinematic and dynamic characteristics in handwriting in the different subtypes of WC. In this study, kinematic and force analyses were used to compare handwriting capacity of 14 simple, 13 dystonic WC-patients and 14 healthy subjects. The effect of task-complexity was investigated using a simple repetitive writing-task, writing pairs of letters, a sentence and copying a text. In general, patients showed significant deficits in kinematic and force parameters during writing, but no consistent differences between the two subtypes of WC were found. The complexity of writing material modulated writing parameters in all groups, but less complex material did not ameliorate the patients' deficits relative to control subjects. The similarity of deficits in patients with simple and dystonic WC does not support the concept of a unitary progression of deficits causing a switch from simple to dystonic WC. Dystonic WC seems to be characterized by a spread of symptoms independent of severity. Obviously, the deficits concern elementary aspects of writing and are not modulated by more complex aspects. Quantification of writing deficits by simple and short phrases with kinematic and force parameters can substantially improve the characterization of WC. Copyright © 2010 International Federation of Clinical Neurophysiology. Published by Elsevier Ireland Ltd. All rights reserved.

Dynamic model of the octopus arm. II. Control of reaching movements.

PubMed

Yekutieli, Yoram; Sagiv-Zohar, Roni; Hochner, Binyamin; Flash, Tamar

2005-08-01

The dynamic model of the octopus arm described in the first paper of this 2-part series was used here to investigate the neural strategies used for controlling the reaching movements of the octopus arm. These are stereotypical extension movements used to reach toward an object. In the dynamic model, sending a simple propagating neural activation signal to contract all muscles along the arm produced an arm extension with kinematic properties similar to those of natural movements. Control of only 2 parameters fully specified the extension movement: the amplitude of the activation signal (leading to the generation of muscle force) and the activation traveling time (the time the activation wave takes to travel along the arm). We found that the same kinematics could be achieved by applying activation signals with different activation amplitudes all exceeding some minimal level. This suggests that the octopus arm could use minimal amplitudes of activation to generate the minimal muscle forces required for the production of the desired kinematics. Larger-amplitude signals would generate larger forces that increase the arm's stability against perturbations without changing the kinematic characteristics. The robustness of this phenomenon was demonstrated by examining activation signals with either a constant or a bell-shaped velocity profile. Our modeling suggests that the octopus arm biomechanics may allow independent control of kinematics and resistance to perturbation during arm extension movements.

Kinematic Model of Transient Shape-Induced Anisotropy in Dense Granular Flow

NASA Astrophysics Data System (ADS)

Nadler, B.; Guillard, F.; Einav, I.

2018-05-01

Nonspherical particles are ubiquitous in nature and industry, yet previous theoretical models of granular media are mostly limited to systems of spherical particles. The problem is that in systems of nonspherical anisotropic particles, dynamic particle alignment critically affects their mechanical response. To study the tendency of such particles to align, we propose a simple kinematic model that relates the flow to the evolution of particle alignment with respect to each other. The validity of the proposed model is supported by comparison with particle-based simulations for various particle shapes ranging from elongated rice-like (prolate) to flattened lentil-like (oblate) particles. The model shows good agreement with the simulations for both steady-state and transient responses, and advances the development of comprehensive constitutive models for shape-anisotropic particles.

New Kinematical Constraints on Cosmic Acceleration

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

Rapetti, David; Allen, Steve W.; Amin, Mustafa A.

2007-05-25

We present and employ a new kinematical approach to ''dark energy'' studies. We construct models in terms of the dimensionless second and third derivatives of the scale factor a(t) with respect to cosmic time t, namely the present-day value of the deceleration parameter q{sub 0} and the cosmic jerk parameter, j(t). An elegant feature of this parameterization is that all {Lambda}CDM models have j(t)=1 (constant), which facilitates simple tests for departures from the {Lambda}CDM paradigm. Applying our model to redshift-independent distance measurements, from type Ia supernovae and X-ray cluster gas mass fraction measurements, we obtain clear statistical evidence for amore » late time transition from a decelerating to an accelerating phase. For a flat model with constant jerk, j(t)=j, we measure q{sub 0}=-0.81 {+-} 0.14 and j=2.16 +0.81 -0.75, results that are consistent with {Lambda}CDM at about the 1{sigma} confidence level. In comparison to dynamical analyses, the kinematical approach uses a different model set and employs a minimum of prior information, being independent of any particular gravity theory. The results obtained with this new approach therefore provide important additional information and we argue that both kinematical and dynamical techniques should be employed in future dark energy studies, where possible.« less

Deviation of Long-Period Tides from Equilibrium: Kinematics and Geostrophy

NASA Technical Reports Server (NTRS)

Egbert, Gary D.; Ray, Richard D.

2003-01-01

New empirical estimates of the long-period fortnightly (Mf) tide obtained from TOPEX/Poseidon (T/P) altimeter data confirm significant basin-scale deviations from equilibrium. Elevations in the low-latitude Pacific have reduced amplitude and lag those in the Atlantic by 30 deg or more. These interbasin amplitude and phase variations are robust features that are reproduced by numerical solutions of the shallow-water equations, even for a constant-depth ocean with schematic interconnected rectangular basins. A simplified analytical model for cooscillating connected basins also reproduces the principal features observed in the empirical solutions. This simple model is largely kinematic. Zonally averaged elevations within a simple closed basin would be nearly in equilibrium with the gravitational potential, except for a constant offset required to conserve mass. With connected basins these offsets are mostly eliminated by interbasin mass flux. Because of rotation, this flux occurs mostly in a narrow boundary layer across the mouth and at the western edge of each basin, and geostrophic balance in this zone supports small residual offsets (and phase shifts) between basins. The simple model predicts that this effect should decrease roughly linearly with frequency, a result that is confirmed by numerical modeling and empirical T/P estimates of the monthly (Mm) tidal constituent. This model also explains some aspects of the anomalous nonisostatic response of the ocean to atmospheric pressure forcing at periods of around 5 days.

Determining inclinations of active galactic nuclei via their narrow-line region kinematics

NASA Astrophysics Data System (ADS)

Fischer, Travis Cody

Active Galactic Nuclei (AGN) are axisymmetric systems to first order; their observed properties are likely strong functions of inclination with respect to our line of sight. However, except for a few special cases, the specific inclinations of individual AGN are unknown. We have developed a promising technique for determining the inclinations of nearby AGN by mapping the kinematics of their narrow-line regions (NLRs), which are easily resolved with Hubble Space Telescope (HST) [O III] imaging and long-slit spectra from the Space Telescope Imaging Spectrograph (STIS). Our studies indicate that NLR kinematics dominated by radial outflow can be fit with simple biconical outflow models that can be used to determine the inclination of the bicone axis, and hence the obscuring torus, with respect to our line of sight. We present NLR analysis of 53 Seyfert galaxies and resultant inclinations from models of 17 individual AGN with clear signatures of biconical outflow. From these AGN, which we can for the first time assess the effect of inclination on other observable properties in radio-quiet AGN, including the discovery of a distinct correlation between AGN inclination and X-ray column density. INDEX WORDS: AGN, Seyfert galaxies, NLR, Outflows, Kinematics, Bicones, Unified Model Graduation.

Disambiguating seesaw models using invariant mass variables at hadron colliders

DOE PAGES

Dev, P. S. Bhupal; Kim, Doojin; Mohapatra, Rabindra N.

2016-01-19

Here, we propose ways to distinguish between different mechanisms behind the collider signals of TeV-scale seesaw models for neutrino masses using kinematic endpoints of invariant mass variables. We particularly focus on two classes of such models widely discussed in literature: (i) Standard Model extended by the addition of singlet neutrinos and (ii) Left-Right Symmetric Models. Relevant scenarios involving the same "smoking-gun" collider signature of dilepton plus dijet with no missing transverse energy differ from one another by their event topology, resulting in distinctive relationships among the kinematic endpoints to be used for discerning them at hadron colliders. Furthermore, these kinematic endpoints are readily translated to the mass parameters of the on-shell particles through simple analytic expressions which can be used for measuring the masses of the new particles. We also conducted a Monte Carlo simulation with detector effects in order to test the viability of the proposed strategy in a realistic environment. Finally, we discuss the future prospects of testing these scenarios at themore » $$\\sqrt{s}$$ = 14 and 100TeV hadron colliders.« less

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

PubMed Central

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

2009-01-01

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

A model for collisionally induced disturbed structure in disk galaxies

NASA Technical Reports Server (NTRS)

Gerber, Richard A.; Lamb, Susan A.

1994-01-01

We derive analytic expressions, using the impulse and epicycle approximations, which describe the kinematic response of a disk galaxy following a collision with a second spherical galaxy which collides perpendicular to, but not through the center of, the disk. This model can reporduce the morphologies found in n-body experiments in which distant encounters produce two-armed spiral patterns and more central collisions produce rings in the disk galaxy, thereby confirming that simple kinematics can be used to describe the early evolution of these systems. Application of this procedure provides a convenient method with which to conduct parameter studies of these collisions. Comparison of the kinematic description with a fully self-gravitating, three-dimensional n-body/gasdynamics computer model shows that the disk galaxy's response is initially well represented by the kinematic model but that the self-gravity of the disk becomes important at longer times after the collision. The flows of gas and stars decouple from one another where stellar orbits cross, leaving regions of elevated gas density behind as the stars move freely past each other. If star formation rates are enhanced in these regions of high gas density, active star formation could be taking place where there is no corresponding dense feature in the old stellar population.

The Kinematics of Plant Nutation Reveals a Simple Relation between Curvature and the Orientation of Differential Growth.

PubMed

Bastien, Renaud; Meroz, Yasmine

2016-12-01

Nutation is an oscillatory movement that plants display during their development. Despite its ubiquity among plants movements, the relation between the observed movement and the underlying biological mechanisms remains unclear. Here we show that the kinematics of the full organ in 3D give a simple picture of plant nutation, where the orientation of the curvature along the main axis of the organ aligns with the direction of maximal differential growth. Within this framework we reexamine the validity of widely used experimental measurements of the apical tip as markers of growth dynamics. We show that though this relation is correct under certain conditions, it does not generally hold, and is not sufficient to uncover the specific role of each mechanism. As an example we re-interpret previously measured experimental observations using our model.

Quasiclassical trajectory calculations to evaluate a kinematic constraint on internal energy in suprathreshold collision energy abstraction reactions

NASA Astrophysics Data System (ADS)

Shuman, Nicholas S.; Mihok, Morgan; Fistik, Margaret; Valentini, James J.

2005-08-01

Experimentally observed product quantum state distributions across a wide range of abstraction reactions at suprathreshold collision energies have shown a strong bias against product internal energy. Only a fraction, sometimes quite a small fraction, of the energetically accessible product quantum states are populated. Picconatto et al. [J. Chem. Phys. 114, 1663 (2001)] noted a simple mathematical relationship between the highest-energy rovibrational states observed and the kinematics of the reaction system. They proposed a reaction model based on reaction kinematics that quantitatively explains this behavior. The model is in excellent agreement with measured quantum state distributions. The assumptions of the model invoke detailed characteristics of reactive trajectories at suprathreshold collision energies. Here we test those assumptions using quasiclassical trajectory calculations for the abstraction reactions H +HCl→H2+Cl, D +HCl→HD+Cl, and H +DCl→HD+Cl. Trajectories were run on a potential-energy surface calculated with a London-Eyring-Polyani-Sato function with a localized 3-center term (LEPS-3C) previously shown to accurately reproduce experimentally observed product state distributions for the H +HCl abstraction reaction. The trajectories sample collision energies near threshold and also substantially above it. Although the trajectories demonstrate some aspects of the model, they show that it is not valid. However, the inadequacy of the proposed model does not invalidate the apparent kinematic basis of the observed energy constraint. The present results show that there must be some other molecular behavior rooted in the reaction kinematics that is the explanation and the source of the constraint.

Strategies for probing nonminimal dark sectors at colliders: The interplay between cuts and kinematic distributions

NASA Astrophysics Data System (ADS)

Dienes, Keith R.; Su, Shufang; Thomas, Brooks

2015-03-01

In this paper, we examine the strategies and prospects for distinguishing between traditional dark-matter models and models with nonminimal dark sectors—including models of Dynamical Dark Matter—at hadron colliders. For concreteness, we focus on events with two hadronic jets and large missing transverse energy at the Large Hadron Collider (LHC). As we discuss, simple "bump-hunting" searches are not sufficient; probing nonminimal dark sectors typically requires an analysis of the actual shapes of the distributions of relevant kinematic variables. We therefore begin by identifying those kinematic variables whose distributions are particularly suited to this task. However, as we demonstrate, this then leads to a number of additional subtleties, since cuts imposed on the data for the purpose of background reduction can at the same time have the unintended consequence of distorting these distributions in unexpected ways, thereby obscuring signals of new physics. We therefore proceed to study the correlations between several of the most popular relevant kinematic variables currently on the market, and investigate how imposing cuts on one or more of these variables can impact the distributions of others. Finally, we combine our results in order to assess the prospects for distinguishing nonminimal dark sectors in this channel at the upgraded LHC.

Boundary kinematic space

DOE PAGES

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

2017-08-10

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

Boundary kinematic space

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

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

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

A Kinematically Consistent Two-Point Correlation Function

NASA Technical Reports Server (NTRS)

Ristorcelli, J. R.

1998-01-01

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

Applying a general triclinic transpression model to highly partitioned brittle-ductile shear zones: A case study from the Torcal de Antequera massif, external Betics, southern Spain

NASA Astrophysics Data System (ADS)

Díaz-Azpiroz, M.; Barcos, L.; Balanyá, J. C.; Fernández, C.; Expósito, I.; Czeck, D. M.

2014-11-01

Oblique convergence and subsequent transpression kinematics can be considered as the general situation in most convergent and strike-slip tectonic boundaries. To better understand such settings, progressively more complex kinematic models have been proposed, which need to be tested against natural shear zones using standardized procedures that minimise subjectivism. In this work, a protocol to test a general triclinic transpression model is applied to the Torcal de Antequera massif (TAM), an essentially brittle shear zone. Our results, given as kinematic parameters of the transpressive flow (transpression obliquity, ϕ; extrusion obliquity, υ; and kinematic vorticity number, Wk), suggest that the bulk triclinic transpressive flow imposed on the TAM was partitioned into two different flow fields, following a general partitioning type. As such, one flow field produced narrow structural domains located at the limits of the TAM, where mainly dextral strike-slip simple-shear-dominated transpression took place (Outer domains, ODs). In contrast, the remaining part of the bulk flow produced pure-shear-dominated dextral triclinic transpression at the inner part of the TAM (Inner domain, ID). A graphical method relating internal (ϕ, Wk) to far-field (dip of the shear zone boundary, δ; angle of oblique convergence, α) transpression parameters is proposed to obtain the theoretical horizontal velocity vector (V→), which in the case of the TAM, ranges between 099 and 118. These results support the applicability of kinematic models of triclinic transpression to brittle-ductile shear zones and the potential utility of the proposed protocol.

The race for supersymmetry: Using m{sub T2} for discovery

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

Barr, Alan J.; Gwenlan, Claire

2009-10-01

We describe how one may employ a very simple event selection, using only the kinematic variable m{sub T2}, to search for new particles at the LHC. The method is useful when searching for evidence of models (such as R-parity conserving supersymmetry), which have a Z{sub 2} parity and a weakly interacting lightest parity-odd particle. We discuss the kinematic properties which make this variable an excellent discriminant against the great majority of standard model backgrounds. Monte Carlo simulations suggest that this approach could be used to discover supersymmetry with somewhat smaller integrated luminosities (or perhaps lower center-of-mass energies) than would bemore » required for other comparable analyses.« less

A bio-inspired kinematic controller for obstacle avoidance during reaching tasks with real robots.

PubMed

Srinivasa, Narayan; Bhattacharyya, Rajan; Sundareswara, Rashmi; Lee, Craig; Grossberg, Stephen

2012-11-01

This paper describes a redundant robot arm that is capable of learning to reach for targets in space in a self-organized fashion while avoiding obstacles. Self-generated movement commands that activate correlated visual, spatial and motor information are used to learn forward and inverse kinematic control models while moving in obstacle-free space using the Direction-to-Rotation Transform (DIRECT). Unlike prior DIRECT models, the learning process in this work was realized using an online Fuzzy ARTMAP learning algorithm. The DIRECT-based kinematic controller is fault tolerant and can handle a wide range of perturbations such as joint locking and the use of tools despite not having experienced them during learning. The DIRECT model was extended based on a novel reactive obstacle avoidance direction (DIRECT-ROAD) model to enable redundant robots to avoid obstacles in environments with simple obstacle configurations. However, certain configurations of obstacles in the environment prevented the robot from reaching the target with purely reactive obstacle avoidance. To address this complexity, a self-organized process of mental rehearsals of movements was modeled, inspired by human and animal experiments on reaching, to generate plans for movement execution using DIRECT-ROAD in complex environments. These mental rehearsals or plans are self-generated by using the Fuzzy ARTMAP algorithm to retrieve multiple solutions for reaching each target while accounting for all the obstacles in its environment. The key aspects of the proposed novel controller were illustrated first using simple examples. Experiments were then performed on real robot platforms to demonstrate successful obstacle avoidance during reaching tasks in real-world environments. Copyright © 2012 Elsevier Ltd. All rights reserved.

Mapping From an Instrumented Glove to a Robot Hand

NASA Technical Reports Server (NTRS)

Goza, Michael

2005-01-01

An algorithm has been developed to solve the problem of mapping from (1) a glove instrumented with joint-angle sensors to (2) an anthropomorphic robot hand. Such a mapping is needed to generate control signals to make the robot hand mimic the configuration of the hand of a human attempting to control the robot. The mapping problem is complicated by uncertainties in sensor locations caused by variations in sizes and shapes of hands and variations in the fit of the glove. The present mapping algorithm is robust in the face of these uncertainties, largely because it includes a calibration sub-algorithm that inherently adapts the mapping to the specific hand and glove, without need for measuring the hand and without regard for goodness of fit. The algorithm utilizes a forward-kinematics model of the glove derived from documentation provided by the manufacturer of the glove. In this case, forward-kinematics model signifies a mathematical model of the glove fingertip positions as functions of the sensor readings. More specifically, given the sensor readings, the forward-kinematics model calculates the glove fingertip positions in a Cartesian reference frame nominally attached to the palm. The algorithm also utilizes an inverse-kinematics model of the robot hand. In this case, inverse-kinematics model signifies a mathematical model of the robot finger-joint angles as functions of the robot fingertip positions. Again, more specifically, the inverse-kinematics model calculates the finger-joint commands needed to place the fingertips at specified positions in a Cartesian reference frame that is attached to the palm of the robot hand and that nominally corresponds to the Cartesian reference frame attached to the palm of the glove. Initially, because of the aforementioned uncertainties, the glove fingertip positions calculated by the forwardkinematics model in the glove Cartesian reference frame cannot be expected to match the robot fingertip positions in the robot-hand Cartesian reference frame. A calibration must be performed to make the glove and robot-hand fingertip positions correspond more precisely. The calibration procedure involves a few simple hand poses designed to provide well-defined fingertip positions. One of the poses is a fist. In each of the other poses, a finger touches the thumb. The calibration subalgorithm uses the sensor readings from these poses to modify the kinematical models to make the two sets of fingertip positions agree more closely.

Method and apparatus for configuration control of redundant robots

NASA Technical Reports Server (NTRS)

Seraji, Homayoun (Inventor)

1991-01-01

A method and apparatus to control a robot or manipulator configuration over the entire motion based on augmentation of the manipulator forward kinematics is disclosed. A set of kinematic functions is defined in Cartesian or joint space to reflect the desirable configuration that will be achieved in addition to the specified end-effector motion. The user-defined kinematic functions and the end-effector Cartesian coordinates are combined to form a set of task-related configuration variables as generalized coordinates for the manipulator. A task-based adaptive scheme is then utilized to directly control the configuration variables so as to achieve tracking of some desired reference trajectories throughout the robot motion. This accomplishes the basic task of desired end-effector motion, while utilizing the redundancy to achieve any additional task through the desired time variation of the kinematic functions. The present invention can also be used for optimization of any kinematic objective function, or for satisfaction of a set of kinematic inequality constraints, as in an obstacle avoidance problem. In contrast to pseudoinverse-based methods, the configuration control scheme ensures cyclic motion of the manipulator, which is an essential requirement for repetitive operations. The control law is simple and computationally very fast, and does not require either the complex manipulator dynamic model or the complicated inverse kinematic transformation. The configuration control scheme can alternatively be implemented in joint space.

Scale dependence of deuteron electrodisintegration

NASA Astrophysics Data System (ADS)

More, S. N.; Bogner, S. K.; Furnstahl, R. J.

2017-11-01

Background: Isolating nuclear structure properties from knock-out reactions in a process-independent manner requires a controlled factorization, which is always to some degree scale and scheme dependent. Understanding this dependence is important for robust extractions from experiment, to correctly use the structure information in other processes, and to understand the impact of approximations for both. Purpose: We seek insight into scale dependence by exploring a model calculation of deuteron electrodisintegration, which provides a simple and clean theoretical laboratory. Methods: By considering various kinematic regions of the longitudinal structure function, we can examine how the components—the initial deuteron wave function, the current operator, and the final-state interactions (FSIs)—combine at different scales. We use the similarity renormalization group to evolve each component. Results: When evolved to different resolutions, the ingredients are all modified, but how they combine depends strongly on the kinematic region. In some regions, for example, the FSIs are largely unaffected by evolution, while elsewhere FSIs are greatly reduced. For certain kinematics, the impulse approximation at a high renormalization group resolution gives an intuitive picture in terms of a one-body current breaking up a short-range correlated neutron-proton pair, although FSIs distort this simple picture. With evolution to low resolution, however, the cross section is unchanged but a very different and arguably simpler intuitive picture emerges, with the evolved current efficiently represented at low momentum through derivative expansions or low-rank singular value decompositions. Conclusions: The underlying physics of deuteron electrodisintegration is scale dependent and not just kinematics dependent. As a result, intuition about physics such as the role of short-range correlations or D -state mixing in particular kinematic regimes can be strongly scale dependent. Understanding this dependence is crucial in making use of extracted properties.

X-ray emission from reverse-shocked ejecta in supernova remnants

NASA Technical Reports Server (NTRS)

Cioffi, Denis F.; Mckee, Christopher F.

1990-01-01

A simple physical model of the dynamics of a young supernova remnant is used to derive a straightforward kinematical description of the reverse shock. With suitable approximations, formulae can then be developed to give the X-ray emission of the reverse-shocked ejecta. The results are found to agree favorably with observations of SN1006.

The Pendulum: A Paradigm for the Linear Oscillator

ERIC Educational Resources Information Center

Newburgh, Ronald

2004-01-01

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

Kinematics and hydrodynamics analysis of swimming anurans reveals striking inter-specific differences in the mechanism for producing thrust.

PubMed

Richards, Christopher T

2010-02-15

This study aimed to compare the swimming kinematics and hydrodynamics within and among aquatic and semi-aquatic/terrestrial frogs. High-speed video was used to obtain kinematics of the leg joints and feet as animals swam freely across their natural range of speeds. Blade element analysis was then used to model the hydrodynamic thrust as a function of foot kinematics. Two purely aquatic frogs, Xenopus laevis and Hymenochirus boettgeri, were compared with two semi-aquatic/terrestrial frogs, Rana pipiens and Bufo americanus. The four species performed similarly. Among swimming strokes, peak stroke velocity ranged from 3.3+/-1.1 to 20.9+/-2.5, from 6.8+/-2.1 to 28.6+/-3.7 and from 4.9+/-0.5 to 20.9+/-4.1 body lengths per second (BL s(-1)) in X. laevis, H. boettgeri and R. pipiens, respectively (means +/- s.d.; N=4 frogs for each). B. americanus swam much more slowly at 3.1+/-0.3 to 7.0+/-2.0 BL s(-1) (N=3 frogs). Time-varying joint kinematics patterns were superficially similar among species. Because foot kinematics result from the cumulative motion of joints proximal to the feet, small differences in time-varying joint kinematics among species resulted in species-specific foot kinematics (therefore hydrodynamics) patterns. To obtain a simple measure of the hydrodynamically useful motion of the foot, this study uses 'effective foot velocity' (EFV): a measure of the component of foot velocity along the axis of swimming. Resolving EFV into translational and rotational components allows predictions of species-specific propulsion strategies. Additionally, a novel kinematic analysis is presented here that enables the partitioning of translational and rotational foot velocity into velocity components contributed by extension at each individual limb joint. Data from the kinematics analysis show that R. pipiens and B. americanus translated their feet faster than their body moved forward, resulting in positive net translational EFV. Conversely, translational EFV was slower than the body velocity in H. boettgeri and X. laevis, resulting in negative net translational EFV. Consequently, the translational component of thrust (caused mostly by hip, knee and ankle extension) was twofold higher than rotational thrust in Rana pipiens. Likewise, rotational components of thrust were nearly twofold higher than translational components in H. boettgeri. X. laevis, however, was the most skewed species observed, generating nearly 100% of total thrust by foot rotation generated by hip, ankle and tmt extension. Thus, this study presents a simple kinematics analysis that is predictive of hydrodynamic differences among species. Such differences in kinematics reveal a continuum of different propulsive strategies ranging from mostly rotation-powered (X. laevis) to mostly translation-powered (R. pipiens) swimming.

Structural expression of a rolling hinge in the footwall of the Brenner Line normal fault, eastern Alps

NASA Astrophysics Data System (ADS)

Axen, Gary J.; Bartley, John M.; Selverstone, Jane

1995-12-01

The kinematic and temporal sequence of structures observed to overprint mylonites along the Brenner Line low-angle normal fault may record passage of the footwall through two rolling hinges, at the top and bottom of a ramp in the shear zone. The structures comprise west down brittle and brittle-ductile structures and east down brittle structures. PT conditions of formation (250° to >400°C and 2-23 km depth), obtained from analysis of oriented fluid inclusion planes, indicate that west down structures were formed at greater depths and temperatures, and therefore earlier, than the east down structures. These data suggest that the brittle structures formed under conditions that permit crystal-plastic deformation at long-term geologic strain rates and therefore probably reflect transient rapid strain rates and/or high fluid pressure. Structures inferred to have formed at a lower hinge are consistent with viscous flow models of rolling-hinge deformation and support the concept of a crustal asthenosphere. Such high temperatures at shallow crustal depth also suggest significant upward advection of heat by extensional unroofing of warm rocks, which may have reduced the flexural rigidity of the footwall and thus affected mechanical behavior at the upper rolling hinge. Exposed mylonitic foliation within a few hundred meters of the Brenner line and on top of the east-west trending anticlines in the footwall dips ˜15° west. Our data favor a ramp dip of ˜25° but permit a dip as great as 45°. Fluid inclusion data suggest that structures related to the hinge at the base of the ramp formed at depths of 12-25 km. If the average dip of the Brenner shear zone to those depths was 20°, intermediate between the favored ramp dip and the dip of exposed foliation, then the horizontal component of slip could be as high as 33-63 km. The two discrete sets of structures with opposite shear senses, formed in the temporal sequence indicated by PT data, are consistent with subvertical simple shear models of rolling-hinge strain. This kinematic pattern is not predicted by the flexural-failure model for rolling hinges. However, the predominance of normal slip at the upper hinge, which extends rather than shortens the mylonitic foliation, fails to match the subvertical simple shear model, which predicts shortening of the foliation there. One possible solution is that superposition of regional extension upon hinge-related stresses modified the rolling-hinge kinematics. Such a modified subvertical shear model can account for the observed small foliation-parallel extensional strains if the foliation was bent <5°-10° passing through the upper hinge. If more bending than that occurred, the data suggest rolling-hinge kinematics in which deformation is achieved by uniform-sense simple shear across the shear zone as in the subvertical simple shear model but in which material lines parallel to the shear-zone foliation and the detachment fault undergo very small length changes, presumably indicating that footwall rocks retained significant resistance to shear and underwent minimal permanent strain. The mechanics that would generate such a rolling hinge are uncertain but may incorporate aspects of both subvertical simple shear and flexural failure. An important kinematic consequence of such a rolling hinge is that all of the net slip across a normal fault, not only its horizontal component, is converted into horizontal extension. This implies a significantly larger magnitude of crustal extension across dipping normal faults whose footwalls passed through a rolling hinge than for those that did not develop along with a hinge.

Real time markerless motion tracking using linked kinematic chains

DOEpatents

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

2007-08-14

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

An MR-compatible gyroscope-based arm movement tracking system.

PubMed

Shirinbayan, S Iman; Rieger, Jochem W

2017-03-15

Functional magnetic resonance imaging is well suited to link neural population activation with movement parameters of complex natural arm movements. However, currently existing MR-compatible arm tracking devices are not constructed to measure arm joint movement parameters of unrestricted movements. Therefore, to date most research focuses on simple arm movements or includes very little knowledge about the actual movement kinematics. We developed a low cost gyroscope-based arm movement tracking system (GAMTS) that features MR-compatibility. The system consists of dual-axis analogue gyroscopes that measure rotations of upper and lower arm joints. After MR artifact reduction, the rotation angles of the individual arm joints are calculated and used to animate a realistic arm model that is implemented in the OpenSim platform. The OpenSim platform can then provide the kinematics of any point on the arm model. In order to demonstrate the capabilities of the system, we first assessed the quality of reconstructed wrist movements in a low-noise environment where typical MR-related problems are absent and finally, we validated the reconstruction in the MR environment. The system provides the kinematics of the whole arm when natural unrestricted arm movements are performed inside the MR-scanner. The GAMTS is reliably capable of reconstructing the kinematics of trajectories and the reconstruction error is small in comparison with the movement induced variation of speed, displacement, and rotation. Moreover, the system can be used to probe brain areas for their correlation with movement kinematics. Copyright © 2017 Elsevier B.V. All rights reserved.

The Unique Propulsive Wake Pattern of the Swimming Sea Slug Aplysia

NASA Astrophysics Data System (ADS)

Zhou, Zhuoyu; Mittal, Rajat

2017-11-01

The Aplysia, also sometimes referred to as the `Sea Hare,' is a sea slug that swims elegantly using large-amplitude flapping of its mantle. The Sea Hare has become a very valuable laboratory animal for investigation into nervous systems and brain behavior due to its simple neural system with large neurons and axons. Recently, attempts have also been made to develop biohybrid robots with both organic actuation and organic motor-pattern control inspired by the locomotion of Aplysia. While extensive works have been done to investigate this animal's neurobiology, relatively little is known about its propulsive mechanisms and swimming energetics. In this study, incompressible flow simulations with a simple kinematical model are used to gain insights into vortex dynamics, thrust generation and energetics of locomotion. The effect of mantle kinematics on the propulsive performance is examined, and simulations indicate a unique vortex wake pattern that is responsible for thrust generation. The research is supported by NSF Grant PLR-1246317 and NSF XSEDE Grant TG-CTS100002.

Evaluation of handwriting kinematics and pressure for differential diagnosis of Parkinson's disease.

PubMed

Drotár, Peter; Mekyska, Jiří; Rektorová, Irena; Masarová, Lucia; Smékal, Zdeněk; Faundez-Zanuy, Marcos

2016-02-01

We present the PaHaW Parkinson's disease handwriting database, consisting of handwriting samples from Parkinson's disease (PD) patients and healthy controls. Our goal is to show that kinematic features and pressure features in handwriting can be used for the differential diagnosis of PD. The database contains records from 37 PD patients and 38 healthy controls performing eight different handwriting tasks. The tasks include drawing an Archimedean spiral, repetitively writing orthographically simple syllables and words, and writing of a sentence. In addition to the conventional kinematic features related to the dynamics of handwriting, we investigated new pressure features based on the pressure exerted on the writing surface. To discriminate between PD patients and healthy subjects, three different classifiers were compared: K-nearest neighbors (K-NN), ensemble AdaBoost classifier, and support vector machines (SVM). For predicting PD based on kinematic and pressure features of handwriting, the best performing model was SVM with classification accuracy of Pacc=81.3% (sensitivity Psen=87.4% and specificity of Pspe=80.9%). When evaluated separately, pressure features proved to be relevant for PD diagnosis, yielding Pacc=82.5% compared to Pacc=75.4% using kinematic features. Experimental results showed that an analysis of kinematic and pressure features during handwriting can help assess subtle characteristics of handwriting and discriminate between PD patients and healthy controls. Copyright © 2016 Elsevier B.V. All rights reserved.

A sensitivity analysis method for the body segment inertial parameters based on ground reaction and joint moment regressor matrices.

PubMed

Futamure, Sumire; Bonnet, Vincent; Dumas, Raphael; Venture, Gentiane

2017-11-07

This paper presents a method allowing a simple and efficient sensitivity analysis of dynamics parameters of complex whole-body human model. The proposed method is based on the ground reaction and joint moment regressor matrices, developed initially in robotics system identification theory, and involved in the equations of motion of the human body. The regressor matrices are linear relatively to the segment inertial parameters allowing us to use simple sensitivity analysis methods. The sensitivity analysis method was applied over gait dynamics and kinematics data of nine subjects and with a 15 segments 3D model of the locomotor apparatus. According to the proposed sensitivity indices, 76 segments inertial parameters out the 150 of the mechanical model were considered as not influent for gait. The main findings were that the segment masses were influent and that, at the exception of the trunk, moment of inertia were not influent for the computation of the ground reaction forces and moments and the joint moments. The same method also shows numerically that at least 90% of the lower-limb joint moments during the stance phase can be estimated only from a force-plate and kinematics data without knowing any of the segment inertial parameters. Copyright © 2017 Elsevier Ltd. All rights reserved.

Changes in Purkinje cell simple spike encoding of reach kinematics during adaption to a mechanical perturbation.

PubMed

Hewitt, Angela L; Popa, Laurentiu S; Ebner, Timothy J

2015-01-21

The cerebellum is essential in motor learning. At the cellular level, changes occur in both the simple spike and complex spike firing of Purkinje cells. Because simple spike discharge reflects the main output of the cerebellar cortex, changes in simple spike firing likely reflect the contribution of the cerebellum to the adapted behavior. Therefore, we investigated in Rhesus monkeys how the representation of arm kinematics in Purkinje cell simple spike discharge changed during adaptation to mechanical perturbations of reach movements. Monkeys rapidly adapted to a novel assistive or resistive perturbation along the direction of the reach. Adaptation consisted of matching the amplitude and timing of the perturbation to minimize its effect on the reach. In a majority of Purkinje cells, simple spike firing recorded before and during adaptation demonstrated significant changes in position, velocity, and acceleration sensitivity. The timing of the simple spike representations change within individual cells, including shifts in predictive versus feedback signals. At the population level, feedback-based encoding of position increases early in learning and velocity decreases. Both timing changes reverse later in learning. The complex spike discharge was only weakly modulated by the perturbations, demonstrating that the changes in simple spike firing can be independent of climbing fiber input. In summary, we observed extensive alterations in individual Purkinje cell encoding of reach kinematics, although the movements were nearly identical in the baseline and adapted states. Therefore, adaption to mechanical perturbation of a reaching movement is accompanied by widespread modifications in the simple spike encoding. Copyright © 2015 the authors 0270-6474/15/351106-19$15.00/0.

Changes in Purkinje Cell Simple Spike Encoding of Reach Kinematics during Adaption to a Mechanical Perturbation

PubMed Central

Hewitt, Angela L.; Popa, Laurentiu S.

2015-01-01

The cerebellum is essential in motor learning. At the cellular level, changes occur in both the simple spike and complex spike firing of Purkinje cells. Because simple spike discharge reflects the main output of the cerebellar cortex, changes in simple spike firing likely reflect the contribution of the cerebellum to the adapted behavior. Therefore, we investigated in Rhesus monkeys how the representation of arm kinematics in Purkinje cell simple spike discharge changed during adaptation to mechanical perturbations of reach movements. Monkeys rapidly adapted to a novel assistive or resistive perturbation along the direction of the reach. Adaptation consisted of matching the amplitude and timing of the perturbation to minimize its effect on the reach. In a majority of Purkinje cells, simple spike firing recorded before and during adaptation demonstrated significant changes in position, velocity, and acceleration sensitivity. The timing of the simple spike representations change within individual cells, including shifts in predictive versus feedback signals. At the population level, feedback-based encoding of position increases early in learning and velocity decreases. Both timing changes reverse later in learning. The complex spike discharge was only weakly modulated by the perturbations, demonstrating that the changes in simple spike firing can be independent of climbing fiber input. In summary, we observed extensive alterations in individual Purkinje cell encoding of reach kinematics, although the movements were nearly identical in the baseline and adapted states. Therefore, adaption to mechanical perturbation of a reaching movement is accompanied by widespread modifications in the simple spike encoding. PMID:25609626

Probing the prodigious strain fringes from Lourdes

NASA Astrophysics Data System (ADS)

Aerden, Domingo G. A. M.; Sayab, Mohammad

2017-12-01

We investigate the kinematics of classic sigmoidal strain fringes from Lourdes (France) and review previous genetic models, strain methods and strain rates for these microstructures. Displacement controlled quartz and calcite fibers within the fringes yield an average strain of 195% with the technique of Ramsay and Huber (1983). This agrees well with strains measured from boudinaged pyrite layers and calcite veins in the same rocks, but conflicts with ca. ∼675% strain in previous analogue models for the studied strain fringes produced by progressive simple shear. We show that the detailed geometry and orientation of fiber patterns are insufficiently explained by simple shear but imply two successive, differently oriented strain fields. Although all strain fringes have the same overall asymmetry, considerable morphological variation resulted from different amounts of rotation of pyrite grains and fringes. Minor rotation led to sharply kinked fibers that record a ca. 70° rotation of the kinematic frame. Larger (up to 145°) rotations, accommodated by antithetic sliding on pyrite-fringe contacts, produced more strongly and smoothly curved fibers. Combined with published Rb-Sr ages for the studied microstructures, our new strain data indicate an average strain rate of 1.41 10-15 s-1 during ca. 37 Myr. continuous growth.

Lumped mass formulations for modeling flexible body systems

NASA Technical Reports Server (NTRS)

Rampalli, Rajiv

1989-01-01

The efforts of Mechanical Dynamics, Inc. in obtaining a general formulation for flexible bodies in a multibody setting are discussed. The efforts being supported by MDI, both in house and externally are summarized. The feasibility of using lumped mass approaches to modeling flexibility in a multibody dynamics context is examined. The kinematics and kinetics for a simple system consisting of two rigid bodies connected together by an elastic beam are developed in detail. Accuracy, efficiency and ease of use using this approach are some of the issues that are then looked at. The formulation is then generalized to a superelement containing several nodes and connecting several bodies. Superelement kinematics and kinetics equations are developed. The feasibility and effectiveness of the method is illustrated by the use of some examples illustrating phenomena common in the context of spacecraft motions.

Two phase modeling of the influence of plastic strain on the magnetic and magnetostrictive behaviors of ferromagnetic materials

NASA Astrophysics Data System (ADS)

Hubert, Olivier; Lazreg, Said

2017-02-01

A growing interest of automotive industry in the use of high performance steels is observed. These materials are obtained thanks to complex manufacturing processes whose parameters fluctuations lead to strong variations of microstructure and mechanical properties. The on-line magnetic non-destructive monitoring is a relevant response to this problem but it requires fast models sensitive to different parameters of the forming process. The plastic deformation is one of these important parameters. Indeed, ferromagnetic materials are known to be sensitive to stress application and especially to plastic strains. In this paper, a macroscopic approach using the kinematic hardening is proposed to model this behavior, considering a plastic strained material as a two phase system. Relationship between kinematic hardening and residual stress is defined in this framework. Since stress fields are multiaxial, an uniaxial equivalent stress is calculated and introduced inside the so-called magneto-mechanical multidomain modeling to represent the effect of plastic strain. The modeling approach is complemented by many experiments involving magnetic and magnetostrictive measurements. They are carried out with or without applied stress, using a dual-phase steel deformed at different levels. The main interest of this material is that the mechanically hard phase, soft phase and the kinematic hardening can be clearly identified thanks to simple experiments. It is shown how this model can be extended to single phase materials.

Measuring joint kinematics of treadmill walking and running: Comparison between an inertial sensor based system and a camera-based system.

PubMed

Nüesch, Corina; Roos, Elena; Pagenstert, Geert; Mündermann, Annegret

2017-05-24

Inertial sensor systems are becoming increasingly popular for gait analysis because their use is simple and time efficient. This study aimed to compare joint kinematics measured by the inertial sensor system RehaGait® with those of an optoelectronic system (Vicon®) for treadmill walking and running. Additionally, the test re-test repeatability of kinematic waveforms and discrete parameters for the RehaGait® was investigated. Twenty healthy runners participated in this study. Inertial sensors and reflective markers (PlugIn Gait) were attached according to respective guidelines. The two systems were started manually at the same time. Twenty consecutive strides for walking and running were recorded and each software calculated sagittal plane ankle, knee and hip kinematics. Measurements were repeated after 20min. Ensemble means were analyzed calculating coefficients of multiple correlation for waveforms and root mean square errors (RMSE) for waveforms and discrete parameters. After correcting the offset between waveforms, the two systems/models showed good agreement with coefficients of multiple correlation above 0.950 for walking and running. RMSE of the waveforms were below 5° for walking and below 8° for running. RMSE for ranges of motion were between 4° and 9° for walking and running. Repeatability analysis of waveforms showed very good to excellent coefficients of multiple correlation (>0.937) and RMSE of 3° for walking and 3-7° for running. These results indicate that in healthy subjects sagittal plane joint kinematics measured with the RehaGait® are comparable to those using a Vicon® system/model and that the measured kinematics have a good repeatability, especially for walking. Copyright © 2017 Elsevier Ltd. All rights reserved.

Cortical Decoding of Individual Finger and Wrist Kinematics for an Upper-Limb Neuroprosthesis

PubMed Central

Aggarwal, Vikram; Tenore, Francesco; Acharya, Soumyadipta; Schieber, Marc H.; Thakor, Nitish V.

2010-01-01

Previous research has shown that neuronal activity can be used to continuously decode the kinematics of gross movements involving arm and hand trajectory. However, decoding the kinematics of fine motor movements, such as the manipulation of individual fingers, has not been demonstrated. In this study, single unit activities were recorded from task-related neurons in M1 of two trained rhesus monkey as they performed individuated movements of the fingers and wrist. The primates’ hand was placed in a manipulandum, and strain gauges at the tips of each finger were used to track the digit’s position. Both linear and non-linear filters were designed to simultaneously predict kinematics of each digit and the wrist, and their performance compared using mean squared error and correlation coefficients. All models had high decoding accuracy, but the feedforward ANN (R=0.76–0.86, MSE=0.04–0.05) and Kalman filter (R=0.68–0.86, MSE=0.04–0.07) performed better than a simple linear regression filter (0.58–0.81, 0.05–0.07). These results suggest that individual finger and wrist kinematics can be decoded with high accuracy, and be used to control a multi-fingered prosthetic hand in real-time. PMID:19964645

Strain memory of 2D and 3D rigid inclusion populations in viscous flows - What is clast SPO telling us?

NASA Astrophysics Data System (ADS)

Stahr, Donald W.; Law, Richard D.

2014-11-01

We model the development of shape preferred orientation (SPO) of a large population of two- and three-dimensional (2D and 3D) rigid clasts suspended in a linear viscous matrix deformed by superposed steady and continuously non-steady plane strain flows to investigate the sensitivity of clasts to changing boundary conditions during a single or superposed deformation events. Resultant clast SPOs are compared to one developed by an identical initial population that experienced a steady flow history of constant kinematic vorticity and reached an identical finite strain state, allowing examination of SPO sensitivity to deformation path. Rotation paths of individual triaxial inclusions are complex, even for steady plane strain flow histories. It has been suggested that the 3D nature of the system renders predictions based on 2D models inadequate for applied clast-based kinematic vorticity gauges. We demonstrate that for a large population of clasts, simplification to a 2D model does provide a good approximation to the SPO predicted by full 3D analysis for steady and non-steady plane strain deformation paths. Predictions of shape fabric development from 2D models are not only qualitatively similar to the more complex 3D analysis, but they display the same limitations of techniques based on clast SPO commonly used as a quantitative kinematic vorticity gauge. Our model results from steady, superposed, and non-steady flow histories with a significant pure shearing component at a wide range of finite strain resemble predictions for an identical initial population that experienced a single steady simple shearing deformation. We conclude that individual 2D and 3D clasts respond instantaneously to changes in boundary conditions, however, in aggregate, the SPO of a population of rigid inclusions does not reflect the late-stage kinematics of deformation, nor is it an indicator of the unique 'mean' kinematic vorticity experienced by a deformed rock volume.

Attenuation Factors for B(E2) in the Microscopic Description of Multiphonon States ---A Simple Model Analysis---

NASA Astrophysics Data System (ADS)

Matsuyanagi, K.

1982-05-01

With an exactly solvable O(4) model of Piepenbring, Silvestre-Brac and Szymanski, we demonstrate that the attenuation factor for the B(E2) values, derived by the lowest-order approximation of the multiphonon method, takes excellent care of the kinematical anharmonicity effects, if multiphonon states are defined in the intrinsic subspace orthogonal to the pairing rotation. It is also shown that the other attenuation effect characterizing the interacting boson model is not a dominant effect in the model analysed here.

Two Growth Modes of Graphitic Carbon Nanofibers with Herring-Bone Structure

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

Merkulov, Igor A; Melechko, Anatoli Vasilievich; Wells, Jack C

2005-01-01

A simple mathematical model of the carbon nanofiber catalytic growth process is presented. Two major types of the fiber-catalyst interface shapes have been identified and described having qualitatively different structure in the center of a nanofiber. Presently, we discuss that the appearance of the irregular structure in the nanofiber central area is a result of curved-interface-growth kinematics. We suggest the method to determine the phenomenological parameters of the developed model from experimental data.

Two growth modes of graphitic carbon nanofibers with herring-bone structure

NASA Astrophysics Data System (ADS)

Merkulov, I. A.; Meleshko, A. V.; Wells, J. C.; Cui, H.; Merkulov, V. I.; Simpson, M. L.; Lowndes, D. H.

2005-07-01

A simple mathematical model of the carbon nanofiber catalytic growth process is presented. Two major types of the fiber-catalyst interface shapes have been identified and described having qualitatively different structure in the center of a nanofiber. Presently, we discuss that the appearance of the irregular structure in the nanofiber central area is a result of curved-interface-growth kinematics. We suggest the method to determine the phenomenological parameters of the developed model from experimental data.

A Novel Algorithm for the Generation of Distinct Kinematic Chain

NASA Astrophysics Data System (ADS)

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

2016-07-01

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

A Novel Algorithm for the Generation of Distinct Kinematic Chain

NASA Astrophysics Data System (ADS)

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

2018-06-01

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

A forced damped oscillation framework for undulatory swimming provides new insights into how propulsion arises in active and passive swimming.

PubMed

Bhalla, Amneet Pal Singh; Griffith, Boyce E; Patankar, Neelesh A

2013-01-01

A fundamental issue in locomotion is to understand how muscle forcing produces apparently complex deformation kinematics leading to movement of animals like undulatory swimmers. The question of whether complicated muscle forcing is required to create the observed deformation kinematics is central to the understanding of how animals control movement. In this work, a forced damped oscillation framework is applied to a chain-link model for undulatory swimming to understand how forcing leads to deformation and movement. A unified understanding of swimming, caused by muscle contractions ("active" swimming) or by forces imparted by the surrounding fluid ("passive" swimming), is obtained. We show that the forcing triggers the first few deformation modes of the body, which in turn cause the translational motion. We show that relatively simple forcing patterns can trigger seemingly complex deformation kinematics that lead to movement. For given muscle activation, the forcing frequency relative to the natural frequency of the damped oscillator is important for the emergent deformation characteristics of the body. The proposed approach also leads to a qualitative understanding of optimal deformation kinematics for fast swimming. These results, based on a chain-link model of swimming, are confirmed by fully resolved computational fluid dynamics (CFD) simulations. Prior results from the literature on the optimal value of stiffness for maximum speed are explained.

A Forced Damped Oscillation Framework for Undulatory Swimming Provides New Insights into How Propulsion Arises in Active and Passive Swimming

PubMed Central

Bhalla, Amneet Pal Singh; Griffith, Boyce E.; Patankar, Neelesh A.

2013-01-01

A fundamental issue in locomotion is to understand how muscle forcing produces apparently complex deformation kinematics leading to movement of animals like undulatory swimmers. The question of whether complicated muscle forcing is required to create the observed deformation kinematics is central to the understanding of how animals control movement. In this work, a forced damped oscillation framework is applied to a chain-link model for undulatory swimming to understand how forcing leads to deformation and movement. A unified understanding of swimming, caused by muscle contractions (“active” swimming) or by forces imparted by the surrounding fluid (“passive” swimming), is obtained. We show that the forcing triggers the first few deformation modes of the body, which in turn cause the translational motion. We show that relatively simple forcing patterns can trigger seemingly complex deformation kinematics that lead to movement. For given muscle activation, the forcing frequency relative to the natural frequency of the damped oscillator is important for the emergent deformation characteristics of the body. The proposed approach also leads to a qualitative understanding of optimal deformation kinematics for fast swimming. These results, based on a chain-link model of swimming, are confirmed by fully resolved computational fluid dynamics (CFD) simulations. Prior results from the literature on the optimal value of stiffness for maximum speed are explained. PMID:23785272

Running accuracy analysis of a 3-RRR parallel kinematic machine considering the deformations of the links

NASA Astrophysics Data System (ADS)

Wang, Liping; Jiang, Yao; Li, Tiemin

2014-09-01

Parallel kinematic machines have drawn considerable attention and have been widely used in some special fields. However, high precision is still one of the challenges when they are used for advanced machine tools. One of the main reasons is that the kinematic chains of parallel kinematic machines are composed of elongated links that can easily suffer deformations, especially at high speeds and under heavy loads. A 3-RRR parallel kinematic machine is taken as a study object for investigating its accuracy with the consideration of the deformations of its links during the motion process. Based on the dynamic model constructed by the Newton-Euler method, all the inertia loads and constraint forces of the links are computed and their deformations are derived. Then the kinematic errors of the machine are derived with the consideration of the deformations of the links. Through further derivation, the accuracy of the machine is given in a simple explicit expression, which will be helpful to increase the calculating speed. The accuracy of this machine when following a selected circle path is simulated. The influences of magnitude of the maximum acceleration and external loads on the running accuracy of the machine are investigated. The results show that the external loads will deteriorate the accuracy of the machine tremendously when their direction coincides with the direction of the worst stiffness of the machine. The proposed method provides a solution for predicting the running accuracy of the parallel kinematic machines and can also be used in their design optimization as well as selection of suitable running parameters.

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

PubMed

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

2015-12-01

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

Effects of Geometry and Kinematics on Animals Leaping Out of Water

NASA Astrophysics Data System (ADS)

Chang, Brian; Myeong, Jihye; Virot, Emmanuel; Kim, Ho-Young; Jung, Sunghwan

2017-11-01

Leaping out of water is a phenomenon exhibited by a variety of aquatic and semi-aquatic animals, such as frogs and whales. In this study, we aim to elucidate the effects of geometric and kinematic conditions on the propulsive and drag force required for an animal to jump through the water interface. A simple mechanism was designed to measure the propulsive thrust produced by a flapping appendage. In a separate experiment to measure the opposing drag, simplified models of animals are 3D printed and fitted with pressure sensors. The model is accelerated from rest and covers a range of Re from 103 to 105. Using a high-speed camera and pressure sensors, we observed a deformation of the free surface prior to water exit, and correlated this to the drag force. Finally, we discuss a scaling law to describe the general physics which allow animals to leap out of water. NSF EAPSI.

To Stop or Not to Stop--Kinematics and the Yellow Light.

ERIC Educational Resources Information Center

Watts, J. Fred

1981-01-01

Describes an exercise involving the use of kinematics to decide if one should stop or try and get through an intersection when the traffic light turns yellow. Gives students' experience in recording data, doing simple calculations and connecting classroom studies to real world experiences. (Author/SK)

Inverse kinematic-based robot control

NASA Technical Reports Server (NTRS)

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

1987-01-01

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

The growth of aspherical structure in the universe - Is the Local Supercluster an unusual system

NASA Technical Reports Server (NTRS)

White, S. D. M.; Silk, J.

1979-01-01

The growth and subsequent collapse of homogeneous ellipsoidal perturbations in a uniform expanding background is considered as a simple model for the formation of large-scale aspherical structures in the observed universe. Numerical calculations of the evolution of such perturbations turn out to be well described by an approximate analytic solution of the equations of motion, and simple relationships are found between the initial shape of a perturbation and its shape and kinematic properties at the time of collapse. Perturbations do not change their shape significantly until they reach a density contrast of order unity. As a result, structures with the kinematic properties of the Local Supercluster should form much more commonly in a low-density universe than in a flat universe. The homogeneity of the local Hubble flow, the motion of the Milky Way with respect to the microwave background, and the flattening of the Local Supercluster can be successfully accounted for by these models, provided that the initial perturbation is sufficiently flattened. Viable models are obtained only if the ratio of the lengths of the two smaller axes of the initial perturbation is at least 3:1 in an Einstein-de Sitter universe or at least 1.8:1 in a universe for which the density parameter (Omega) is of order 0.1, when the protocluster pancakes.

Kinematic analysis of the Migif area in the Eastern Desert of Egypt

NASA Astrophysics Data System (ADS)

Kassem, Osama M. K.

2014-11-01

The use of porphyroclasts rotating in a flowing matrix to estimate mean kinematic vorticity number (Wm) is important for quantifying the relative contributions of pure and simple shear in penetratively deformed rocks. The kinematic vorticity number determined for high temperature mylonitic gneisses in the Migif area in the Eastern Desert of Egypt range from ∼0.6 to 0.9. The results from vorticity and strain analyses indicate that deformation in the area deviated from simple shear. It is concluded that nappe stacking occurred early during the thrusting event, probably by brittle imbrications, and that ductile strain was superimposed on the nappe structure at high-pressure as shown by a penetrative subhorizontal foliation is developed subparallel to the tectonic contacts with the under- and overlying nappes. The accumulation of ductile strain during underplating was not by simple shear but involved a component of vertical shortening, which caused the subhorizontal foliation in the Migif area. In most cases, this foliation was formed during thrusting of the nappes onto each other, suggesting that nappe stacking was associated with vertical shortening.

Scattering forms and the positive geometry of kinematics, color and the worldsheet

NASA Astrophysics Data System (ADS)

Arkani-Hamed, Nima; Bai, Yuntao; He, Song; Yan, Gongwang

2018-05-01

The search for a theory of the S-Matrix over the past five decades has revealed surprising geometric structures underlying scattering amplitudes ranging from the string worldsheet to the amplituhedron, but these are all geometries in auxiliary spaces as opposed to the kinematical space where amplitudes actually live. Motivated by recent advances providing a reformulation of the amplituhedron and planar N = 4 SYM amplitudes directly in kinematic space, we propose a novel geometric understanding of amplitudes in more general theories. The key idea is to think of amplitudes not as functions, but rather as differential forms on kinematic space. We explore the resulting picture for a wide range of massless theories in general spacetime dimensions. For the bi-adjoint ϕ 3 scalar theory, we establish a direct connection between its "scattering form" and a classic polytope — the associahedron — known to mathematicians since the 1960's. We find an associahedron living naturally in kinematic space, and the tree level amplitude is simply the "canonical form" associated with this "positive geometry". Fundamental physical properties such as locality and unitarity, as well as novel "soft" limits, are fully determined by the combinatorial geometry of this polytope. Furthermore, the moduli space for the open string worldsheet has also long been recognized as an associahedron. We show that the scattering equations act as a diffeomorphism between the interior of this old "worldsheet associahedron" and the new "kinematic associahedron", providing a geometric interpretation and simple conceptual derivation of the bi-adjoint CHY formula. We also find "scattering forms" on kinematic space for Yang-Mills theory and the Non-linear Sigma Model, which are dual to the fully color-dressed amplitudes despite having no explicit color factors. This is possible due to a remarkable fact—"Color is Kinematics"— whereby kinematic wedge products in the scattering forms satisfy the same Jacobi relations as color factors. Finally, all our scattering forms are well-defined on the projectivized kinematic space, a property which can be seen to provide a geometric origin for color-kinematics duality.

A virtual model of the bench press exercise.

PubMed

Rahmani, Abderrahmane; Rambaud, Olivier; Bourdin, Muriel; Mariot, Jean-Pierre

2009-08-07

The objective of this study was to design and validate a three degrees of freedom model in the sagittal plane for the bench press exercise. The mechanical model was based on rigid segments connected by revolute and prismatic pairs, which enabled a kinematic approach and global force estimation. The method requires only three simple measurements: (i) horizontal position of the hand (x(0)); (ii) vertical displacement of the barbell (Z) and (iii) elbow angle (theta). Eight adult male throwers performed maximal concentric bench press exercises against different masses. The kinematic results showed that the vertical displacement of each segment and the global centre of mass followed the vertical displacement of the lifted mass. Consequently, the vertical velocity and acceleration of the combined centre of mass and the lifted mass were identical. Finally, for each lifted mass, there were no practical differences between forces calculated from the bench press model and those simultaneously measured with a force platform. The error was lower than 2.5%. The validity of the mechanical method was also highlighted by a standard error of the estimate (SEE) ranging from 2.0 to 6.6N in absolute terms, a coefficient of variation (CV) < or =0.8%, and a correlation between the two scores > or =0.99 for all the lifts (p<0.001). The method described here, which is based on three simple parameters, allows accurate evaluation of the force developed by the upper limb muscles during bench press exercises in both field and laboratory conditions.

Constraints on the rupture process of the 17 August 1999 Izmit earthquake

NASA Astrophysics Data System (ADS)

Bouin, M.-P.; Clévédé, E.; Bukchin, B.; Mostinski, A.; Patau, G.

2003-04-01

Kinematic and static models of the 17 August 1999 Izmit earthquake published in the literature are quite different from one to each other. In order to extract the characteristic features of this event, we determine the integral estimates of the geometry, source duration and rupture propagation of this event. Those estimates are given by the stress glut moments of total degree 2 inverting long period surface wave (LPSW) amplitude spectra (Bukchin, 1995). We draw comparisons with the integral estimates deduced from kinematic models obtained by inversion of strong motion data set and/or teleseismic body wave (Bouchon et al, 2002; Delouis et al., 2000; Yagi and Kukuchi, 2000; Sekiguchi and Iwata, 2002). While the equivalent rupture zone and the eastward directivity are consistent among all models, the LPSW solution displays a strong unilateral character of the rupture associated with a short rupture duration that is not compatible with the solutions deduced from the published models. Using a simple equivalent kinematic model, we reproduce the integral estimates of the rupture process by adjusting a few free parameters controlling the western and eastern parts of the rupture. We show that the LPSW solution strongly suggest that: - There was significant moment released on the eastern segment of the activated fault system during the Izmit earthquake; - The rupture velocity decreases on this segment. We will discuss how these results allow to enlighten the scattering of source process published for this earthquake.

Model of head-neck joint fast movements in the frontal plane.

PubMed

Pedrocchi, A; Ferrigno, G

2004-06-01

The objective of this work is to develop a model representing the physiological systems driving fast head movements in frontal plane. All the contributions occurring mechanically in the head movement are considered: damping, stiffness, physiological limit of range of motion, gravitational field, and muscular torques due to voluntary activation as well as to stretch reflex depending on fusal afferences. Model parameters are partly derived from the literature, when possible, whereas undetermined block parameters are determined by optimising the model output, fitting to real kinematics data acquired by a motion capture system in specific experimental set-ups. The optimisation for parameter identification is performed by genetic algorithms. Results show that the model represents very well fast head movements in the whole range of inclination in the frontal plane. Such a model could be proposed as a tool for transforming kinematics data on head movements in 'neural equivalent data', especially for assessing head control disease and properly planning the rehabilitation process. In addition, the use of genetic algorithms seems to fit well the problem of parameter identification, allowing for the use of a very simple experimental set-up and granting model robustness.

The mass-sheet degeneracy and time-delay cosmography: analysis of the strong lens RXJ1131-1231

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

Birrer, Simon; Amara, Adam; Refregier, Alexandre, E-mail: simon.birrer@phys.ethz.ch, E-mail: adam.amara@phys.ethz.ch, E-mail: alexandre.refregier@phys.ethz.ch

We present extended modelling of the strong lens system RXJ1131-1231 with archival data in two HST bands in combination with existing line-of-sight contribution and velocity dispersion estimates. Our focus is on source size and its influence on time-delay cosmography. We therefore examine the impact of mass-sheet degeneracy and especially the degeneracy pointed out by Schneider and Sluse (2013) [1] using the source reconstruction scale. We also extend on previous work by further exploring the effects of priors on the kinematics of the lens and the external convergence in the environment of the lensing system. Our results coming from RXJ1131-1231 aremore » given in a simple analytic form so that they can be easily combined with constraints coming from other cosmological probes. We find that the choice of priors on lens model parameters and source size are subdominant for the statistical errors for H {sub 0} measurements of this systems. The choice of prior for the source is sub-dominant at present (2% uncertainty on H {sub 0}) but may be relevant for future studies. More importantly, we find that the priors on the kinematic anisotropy of the lens galaxy have a significant impact on our cosmological inference. When incorporating all the above modeling uncertainties, we find H {sub 0} = 86.6{sup +6.8}{sub -6.9} km s{sup -1} Mpc{sup -1}, when using kinematic priors similar to other studies. When we use a different kinematic prior motivated by Barnabè et al. (2012) [2] but covering the same anisotropic range, we find H {sub 0} = 74.5{sup +8.0}{sub -7.8} km s{sup -1} Mpc{sup -1}. This means that the choice of kinematic modeling and priors have a significant impact on cosmographic inferences. The way forward is either to get better velocity dispersion measures which would down weight the impact of the priors or to construct physically motivated priors for the velocity dispersion model.« less

Tuning of Strouhal number for high propulsive efficiency accurately predicts how wingbeat frequency and stroke amplitude relate and scale with size and flight speed in birds.

PubMed Central

Nudds, Robert L.; Taylor, Graham K.; Thomas, Adrian L. R.

2004-01-01

The wing kinematics of birds vary systematically with body size, but we still, after several decades of research, lack a clear mechanistic understanding of the aerodynamic selection pressures that shape them. Swimming and flying animals have recently been shown to cruise at Strouhal numbers (St) corresponding to a regime of vortex growth and shedding in which the propulsive efficiency of flapping foils peaks (St approximately fA/U, where f is wingbeat frequency, U is cruising speed and A approximately bsin(theta/2) is stroke amplitude, in which b is wingspan and theta is stroke angle). We show that St is a simple and accurate predictor of wingbeat frequency in birds. The Strouhal numbers of cruising birds have converged on the lower end of the range 0.2 < St < 0.4 associated with high propulsive efficiency. Stroke angle scales as theta approximately 67b-0.24, so wingbeat frequency can be predicted as f approximately St.U/bsin(33.5b-0.24), with St0.21 and St0.25 for direct and intermittent fliers, respectively. This simple aerodynamic model predicts wingbeat frequency better than any other relationship proposed to date, explaining 90% of the observed variance in a sample of 60 bird species. Avian wing kinematics therefore appear to have been tuned by natural selection for high aerodynamic efficiency: physical and physiological constraints upon wing kinematics must be reconsidered in this light. PMID:15451698

Influence of the Mesh Geometry Evolution on Gearbox Dynamics during Its Maintenance

NASA Astrophysics Data System (ADS)

Dąbrowski, Z.; Dziurdź, J.; Klekot, G.

2017-12-01

Toothed gears constitute the necessary elements of power transmission systems. They are applied as stationary devices in drive systems of road vehicles, ships and crafts as well as airplanes and helicopters. One of the problems related to the toothed gears usage is the determination of their technical state or its evolutions. Assuming that the gear slippage velocity is attributed to vibrations and noises generated by cooperating toothed wheels, the application of a simple cooperation model of rolled wheels of skew teeth is proposed for the analysis of the mesh evolution influence on the gear dynamics. In addition, an example of utilising an ordinary coherence function for investigating evolutionary mesh changes related to the effects impossible to be described by means of the simple kinematic model is presented.

Kinematics and the implementation of an elephant's trunk manipulator and other continuum style robots.

PubMed

Hannan, Michael W; Walker, Ian D

2003-02-01

Traditionally, robot manipulators have been a simple arrangement of a small number of serially connected links and actuated joints. Though these manipulators prove to be very effective for many tasks, they are not without their limitations, due mainly to their lack of maneuverability or total degrees of freedom. Continuum style (i.e., continuous "back-bone") robots, on the other hand, exhibit a wide range of maneuverability, and can have a large number of degrees of freedom. The motion of continuum style robots is generated through the bending of the robot over a given section; unlike traditional robots where the motion occurs in discrete locations, i.e., joints. The motion of continuum manipulators is often compared to that of biological manipulators such as trunks and tentacles. These continuum style robots can achieve motions that could only be obtainable by a conventionally designed robot with many more degrees of freedom. In this paper we present a detailed formulation and explanation of a novel kinematic model for continuum style robots. The design, construction, and implementation of our continuum style robot called the elephant trunk manipulator is presented. Experimental results are then provided to verify the legitimacy of our model when applied to our physical manipulator. We also provide a set of obstacle avoidance experiments that help to exhibit the practical implementation of both our manipulator and our kinematic model. c2003 Wiley Periodicals, Inc.

Kinematics and the implementation of an elephant's trunk manipulator and other continuum style robots

NASA Technical Reports Server (NTRS)

Hannan, Michael W.; Walker, Ian D.

2003-01-01

Traditionally, robot manipulators have been a simple arrangement of a small number of serially connected links and actuated joints. Though these manipulators prove to be very effective for many tasks, they are not without their limitations, due mainly to their lack of maneuverability or total degrees of freedom. Continuum style (i.e., continuous "back-bone") robots, on the other hand, exhibit a wide range of maneuverability, and can have a large number of degrees of freedom. The motion of continuum style robots is generated through the bending of the robot over a given section; unlike traditional robots where the motion occurs in discrete locations, i.e., joints. The motion of continuum manipulators is often compared to that of biological manipulators such as trunks and tentacles. These continuum style robots can achieve motions that could only be obtainable by a conventionally designed robot with many more degrees of freedom. In this paper we present a detailed formulation and explanation of a novel kinematic model for continuum style robots. The design, construction, and implementation of our continuum style robot called the elephant trunk manipulator is presented. Experimental results are then provided to verify the legitimacy of our model when applied to our physical manipulator. We also provide a set of obstacle avoidance experiments that help to exhibit the practical implementation of both our manipulator and our kinematic model. c2003 Wiley Periodicals, Inc.

The dynamics of the Local Group as a probe of dark energy and modified gravity

NASA Astrophysics Data System (ADS)

Carlesi, Edoardo; Mota, David F.; Winther, Hans A.

2017-04-01

In this work, we study the dynamics of the Local Group (LG) within the context of cosmological models beyond General Relativity (GR). Using observable kinematic quantities to identify candidate pairs, we build up samples of simulated LG-like objects drawing from f(R), symmetron, Dvali, Gabadadze & Porrati and quintessence N-body simulations together with their Λ cold dark matter (ΛCDM) counterparts featuring the same initial random phase realizations. The variables and intervals used to define LG-like objects are referred to as LG model; different models are used throughout this work and adapted to study their dynamical and kinematic properties. The aim is to determine how well the observed LG dynamics can be reproduced within cosmological theories beyond GR, We compute kinematic properties of samples drawn from alternative theories and ΛCDM and compare them to actual observations of the LG mass, velocity and position. As a consequence of the additional pull, pairwise tangential and radial velocities are enhanced in modified gravity and coupled dark energy with respect to ΛCDM inducing significant changes to the total angular momentum and energy of the LG. For example, in models such as f(R) and the symmetron this increase can be as large as 60 per cent, peaking well outside of the 95 per cent confidence region allowed by the data. This shows how simple considerations about the LG dynamics can lead to clear small-scale observational signatures for alternative scenarios, without the need of expensive high-resolution simulations.

Two Back Stress Hardening Models in Rate Independent Rigid Plastic Deformation

NASA Astrophysics Data System (ADS)

Yun, Su-Jin

In the present work, the constitutive relations based on the combination of two back stresses are developed using the Armstrong-Frederick, Phillips and Ziegler’s type hardening rules. Various evolutions of the kinematic hardening parameter can be obtained by means of a simple combination of back stress rate using the rule of mixtures. Thus, a wide range of plastic deformation behavior can be depicted depending on the dominant back stress evolution. The ultimate back stress is also determined for the present combined kinematic hardening models. Since a kinematic hardening rule is assumed in the finite deformation regime, the stress rate is co-rotated with respect to the spin of substructure obtained by incorporating the plastic spin concept. A comparison of the various co-rotational rates is also included. Assuming rigid plasticity, the continuum body consists of the elastic deformation zone and the plastic deformation zone to form a hybrid finite element formulation. Then, the plastic deformation behavior is investigated under various loading conditions with an assumption of the J2 deformation theory. The plastic deformation localization turns out to be strongly dependent on the description of back stress evolution and its associated hardening parameters. The analysis for the shear deformation with fixed boundaries is carried out to examine the deformation localization behavior and the evolution of state variables.

Shotput kinematics made simple

NASA Astrophysics Data System (ADS)

Faella, O.; De Luca, R.

2013-11-01

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

A Nakanishi-based model illustrating the covariant extension of the pion GPD overlap representation and its ambiguities

NASA Astrophysics Data System (ADS)

Chouika, N.; Mezrag, C.; Moutarde, H.; Rodríguez-Quintero, J.

2018-05-01

A systematic approach for the model building of Generalized Parton Distributions (GPDs), based on their overlap representation within the DGLAP kinematic region and a further covariant extension to the ERBL one, is applied to the valence-quark pion's case, using light-front wave functions inspired by the Nakanishi representation of the pion Bethe-Salpeter amplitudes (BSA). This simple but fruitful pion GPD model illustrates the general model building technique and, in addition, allows for the ambiguities related to the covariant extension, grounded on the Double Distribution (DD) representation, to be constrained by requiring a soft-pion theorem to be properly observed.

Renewable fluid dynamic energy derived from aquatic animal locomotion.

PubMed

Dabiri, John O

2007-09-01

Aquatic animals swimming in isolation and in groups are known to extract energy from the vortices in environmental flows, significantly reducing muscle activity required for locomotion. A model for the vortex dynamics associated with this phenomenon is developed, showing that the energy extraction mechanism can be described by simple criteria governing the kinematics of the vortices relative to the body in the flow. In this way, we need not make direct appeal to the fluid dynamics, which can be more difficult to evaluate than the kinematics. Examples of these principles as exhibited in swimming fish and existing energy conversion devices are described. A benefit of the developed framework is that the potentially infinite-dimensional parameter space of the fluid-structure interaction is reduced to a maximum of eight combinations of three parameters. The model may potentially aid in the design and evaluation of unsteady aero- and hydrodynamic energy conversion systems that surpass the Betz efficiency limit of steady fluid dynamic energy conversion systems.

The effect of coherent stirring on the advection–condensation of water vapour

PubMed Central

Vanneste, Jacques

2017-01-01

Atmospheric water vapour is an essential ingredient of weather and climate. The key features of its distribution can be represented by kinematic models which treat it as a passive scalar advected by a prescribed flow and reacting through condensation. Condensation acts as a sink that maintains specific humidity below a prescribed, space-dependent saturation value. To investigate how the interplay between large-scale advection, small-scale turbulence and condensation controls moisture distribution, we develop simple kinematic models which combine a single circulating flow with a Brownian-motion representation of turbulence. We first study the drying mechanism of a water-vapour anomaly released inside a vortex at an initial time. Next, we consider a cellular flow with a moisture source at a boundary. The statistically steady state attained shows features reminiscent of the Hadley cell such as boundary layers, a region of intense precipitation and a relative humidity minimum. Explicit results provide a detailed characterization of these features in the limit of strong flow. PMID:28690417

The effect of coherent stirring on the advection-condensation of water vapour

NASA Astrophysics Data System (ADS)

Tsang, Yue-Kin; Vanneste, Jacques

2017-06-01

Atmospheric water vapour is an essential ingredient of weather and climate. The key features of its distribution can be represented by kinematic models which treat it as a passive scalar advected by a prescribed flow and reacting through condensation. Condensation acts as a sink that maintains specific humidity below a prescribed, space-dependent saturation value. To investigate how the interplay between large-scale advection, small-scale turbulence and condensation controls moisture distribution, we develop simple kinematic models which combine a single circulating flow with a Brownian-motion representation of turbulence. We first study the drying mechanism of a water-vapour anomaly released inside a vortex at an initial time. Next, we consider a cellular flow with a moisture source at a boundary. The statistically steady state attained shows features reminiscent of the Hadley cell such as boundary layers, a region of intense precipitation and a relative humidity minimum. Explicit results provide a detailed characterization of these features in the limit of strong flow.

The effect of coherent stirring on the advection-condensation of water vapour.

PubMed

Tsang, Yue-Kin; Vanneste, Jacques

2017-06-01

Atmospheric water vapour is an essential ingredient of weather and climate. The key features of its distribution can be represented by kinematic models which treat it as a passive scalar advected by a prescribed flow and reacting through condensation. Condensation acts as a sink that maintains specific humidity below a prescribed, space-dependent saturation value. To investigate how the interplay between large-scale advection, small-scale turbulence and condensation controls moisture distribution, we develop simple kinematic models which combine a single circulating flow with a Brownian-motion representation of turbulence. We first study the drying mechanism of a water-vapour anomaly released inside a vortex at an initial time. Next, we consider a cellular flow with a moisture source at a boundary. The statistically steady state attained shows features reminiscent of the Hadley cell such as boundary layers, a region of intense precipitation and a relative humidity minimum. Explicit results provide a detailed characterization of these features in the limit of strong flow.

The MUSE Hubble Ultra Deep Field Survey. V. Spatially resolved stellar kinematics of galaxies at redshift 0.2 ≲ z ≲ 0.8

NASA Astrophysics Data System (ADS)

Guérou, Adrien; Krajnović, Davor; Epinat, Benoit; Contini, Thierry; Emsellem, Eric; Bouché, Nicolas; Bacon, Roland; Michel-Dansac, Leo; Richard, Johan; Weilbacher, Peter M.; Schaye, Joop; Marino, Raffaella Anna; den Brok, Mark; Erroz-Ferrer, Santiago

2017-11-01

We present spatially resolved stellar kinematic maps, for the first time, for a sample of 17 intermediate redshift galaxies (0.2 ≲ z ≲ 0.8). We used deep MUSE/VLT integral field spectroscopic observations in the Hubble Deep Field South (HDFS) and Hubble Ultra Deep Field (HUDF), resulting from ≈30 h integration time per field, each covering 1' × 1' field of view, with ≈ 0.̋65 spatial resolution. We selected all galaxies brighter than 25 mag in the I band and for which the stellar continuum is detected over an area that is at least two times larger than the spatial resolution. The resulting sample contains mostly late-type disk, main-sequence star-forming galaxies with 108.5 M⊙ ≲ M∗ ≲ 1010.5 M⊙. Using a full-spectrum fitting technique, we derive two-dimensional maps of the stellar and gas kinematics, including the radial velocity V and velocity dispersion σ. We find that most galaxies in the sample are consistent with having rotating stellar disks with roughly constant velocity dispersions and that the second order velocity moments Vrms = √V2+σ2 of the gas and stars, a scaling proxy for the galaxy gravitational potential, compare well to each other. These spatially resolved observations of the stellar kinematics of intermediate redshift galaxies suggest that the regular stellar kinematics of disk galaxies that is observed in the local Universe was already in place 4-7 Gyr ago and that their gas kinematics traces the gravitational potential of the galaxy, thus is not dominated by shocks and turbulent motions. Finally, we build dynamical axisymmetric Jeans models constrained by the derived stellar kinematics for two specific galaxies and derive their dynamical masses. These are in good agreement (within 25%) with those derived from simple exponential disk models based on the gas kinematics. The obtained mass-to-light ratios hint towards dark matter dominated systems within a few effective radii. Based on observations made with ESO telescopes at the La Silla-Paranal Observatory under programmes 094.A-0289(B), 095.A-0010(A), 096.A-0045(A) and 096.A-0045(B).

Whole-body Motion Planning with Simple Dynamics and Full Kinematics

DTIC Science & Technology

2014-08-01

optimizations can take an excessively long time to run, and may also suffer from local minima. Thus, this approach can become intractable for complex robots...motions like jumping and climbing. Additionally, the point-mass model suggests that the centroidal angular momentum is zero, which is not valid for motions...use in the DARPA Robotics Challenge. A. Jumping Our first example is to command the robot to jump off the ground, as illustrated in Fig.4. We assign

Robot Control Based On Spatial-Operator Algebra

NASA Technical Reports Server (NTRS)

Rodriguez, Guillermo; Kreutz, Kenneth K.; Jain, Abhinandan

1992-01-01

Method for mathematical modeling and control of robotic manipulators based on spatial-operator algebra providing concise representation and simple, high-level theoretical frame-work for solution of kinematical and dynamical problems involving complicated temporal and spatial relationships. Recursive algorithms derived immediately from abstract spatial-operator expressions by inspection. Transition from abstract formulation through abstract solution to detailed implementation of specific algorithms to compute solution greatly simplified. Complicated dynamical problems like two cooperating robot arms solved more easily.

Robot geometry calibration

NASA Technical Reports Server (NTRS)

Hayati, Samad; Tso, Kam; Roston, Gerald

1988-01-01

Autonomous robot task execution requires that the end effector of the robot be positioned accurately relative to a reference world-coordinate frame. The authors present a complete formulation to identify the actual robot geometric parameters. The method applies to any serial link manipulator with arbitrary order and combination of revolute and prismatic joints. A method is also presented to solve the inverse kinematic of the actual robot model which usually is not a so-called simple robot. Experimental results performed by utilizing a PUMA 560 with simple measurement hardware are presented. As a result of this calibration a precision move command is designed and integrated into a robot language, RCCL, and used in the NASA Telerobot Testbed.

Predictive and Feedback Performance Errors are Signaled in the Simple Spike Discharge of Individual Purkinje Cells

PubMed Central

Popa, Laurentiu S.; Hewitt, Angela L.; Ebner, Timothy J.

2012-01-01

The cerebellum has been implicated in processing motor errors required for online control of movement and motor learning. The dominant view is that Purkinje cell complex spike discharge signals motor errors. This study investigated whether errors are encoded in the simple spike discharge of Purkinje cells in monkeys trained to manually track a pseudo-randomly moving target. Four task error signals were evaluated based on cursor movement relative to target movement. Linear regression analyses based on firing residuals ensured that the modulation with a specific error parameter was independent of the other error parameters and kinematics. The results demonstrate that simple spike firing in lobules IV–VI is significantly correlated with position, distance and directional errors. Independent of the error signals, the same Purkinje cells encode kinematics. The strongest error modulation occurs at feedback timing. However, in 72% of cells at least one of the R2 temporal profiles resulting from regressing firing with individual errors exhibit two peak R2 values. For these bimodal profiles, the first peak is at a negative τ (lead) and a second peak at a positive τ (lag), implying that Purkinje cells encode both prediction and feedback about an error. For the majority of the bimodal profiles, the signs of the regression coefficients or preferred directions reverse at the times of the peaks. The sign reversal results in opposing simple spike modulation for the predictive and feedback components. Dual error representations may provide the signals needed to generate sensory prediction errors used to update a forward internal model. PMID:23115173

Imaging spectrophotometry of ionized gas in NGC 1068. I - Kinematics of the narrow-line region

NASA Technical Reports Server (NTRS)

Cecil, Gerald; Bland, Jonathan; Tully, R. Brent

1990-01-01

The kinematics of collisionally excited forbidden N II 6548, 6583 across the inner 1 arcmin diameter of the nearby Seyfert galaxy NGC 1068 is mapped using an imaging Fabry-Perot interferometer and low-noise CCD. The stack of monochromatic images, which spatially resolved the high-velocity gas, was analyzed for kinematic and photometric content. Profiles agree well with previous long-slit work, and their complete spatial coverage makes it possible to constrain the gas volume distribution. It is found that the narrow-line region is distributed in a thick center-darkened, line-emitting cylinder that envelopes the collimated radio jet. Three distinct kinematic subsystems, of which the cylinder is composed, are discussed in detail. Detailed behavior of the emission-line profiles, at the few points in the NE quadrant with simple kinematics, argues that the ionized gas develops a significant component of motion perpendicular to the jet axis.

Model for Predicting Passage of Invasive Fish Species Through Culverts

NASA Astrophysics Data System (ADS)

Neary, V.

2010-12-01

Conservation efforts to promote or inhibit fish passage include the application of simple fish passage models to determine whether an open channel flow allows passage of a given fish species. Derivations of simple fish passage models for uniform and nonuniform flow conditions are presented. For uniform flow conditions, a model equation is developed that predicts the mean-current velocity threshold in a fishway, or velocity barrier, which causes exhaustion at a given maximum distance of ascent. The derivation of a simple expression for this exhaustion-threshold (ET) passage model is presented using kinematic principles coupled with fatigue curves for threatened and endangered fish species. Mean current velocities at or above the threshold predict failure to pass. Mean current velocities below the threshold predict successful passage. The model is therefore intuitive and easily applied to predict passage or exclusion. The ET model’s simplicity comes with limitations, however, including its application only to uniform flow, which is rarely found in the field. This limitation is addressed by deriving a model that accounts for nonuniform conditions, including backwater profiles and drawdown curves. Comparison of these models with experimental data from volitional swimming studies of fish indicates reasonable performance, but limitations are still present due to the difficulty in predicting fish behavior and passage strategies that can vary among individuals and different fish species.

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

PubMed

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

2016-06-14

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

Electron scattering from high-momentum neutrons in deuterium

NASA Astrophysics Data System (ADS)

Klimenko, A. V.; Kuhn, S. E.; Butuceanu, C.; Egiyan, K. S.; Griffioen, K. A.; Adams, G.; Ambrozewicz, P.; Anghinolfi, M.; Asryan, G.; Avakian, H.; Bagdasaryan, H.; Baillie, N.; Ball, J. P.; Baltzell, N. A.; Barrow, S.; Batourine, V.; Battaglieri, M.; Bedlinskiy, I.; Bektasoglu, M.; Bellis, M.; Benmouna, N.; Biselli, A. S.; Bouchigny, S.; Boiarinov, S.; Bradford, R.; Branford, D.; Brooks, W. K.; Bültmann, S.; Burkert, V. D.; Calarco, J. R.; Careccia, S. L.; Carman, D. S.; Cazes, A.; Chen, S.; Cole, P. L.; Coltharp, P.; Cords, D.; Corvisiero, P.; Crabb, D.; Cummings, J. P.; Dashyan, N. B.; Devita, R.; Sanctis, E. De; Degtyarenko, P. V.; Denizli, H.; Dennis, L.; Dharmawardane, K. V.; Djalali, C.; Dodge, G. E.; Donnelly, J.; Doughty, D.; Dugger, M.; Dytman, S.; Dzyubak, O. P.; Egiyan, H.; Elouadrhiri, L.; Eugenio, P.; Fatemi, R.; Fedotov, G.; Fersch, R. G.; Feuerbach, R. J.; Funsten, H.; Garçon, M.; Gavalian, G.; Gilfoyle, G. P.; Giovanetti, K. L.; Girod, F. X.; Goetz, J. T.; Gonenc, A.; Gordon, C. I. O.; Gothe, R. W.; Guidal, M.; Guillo, M.; Guler, N.; Guo, L.; Gyurjyan, V.; Hadjidakis, C.; Hakobyan, R. S.; Hardie, J.; Hersman, F. W.; Hicks, K.; Hleiqawi, I.; Holtrop, M.; Hyde-Wright, C. E.; Ilieva, Y.; Ireland, D. G.; Ishkhanov, B. S.; Ito, M. M.; Jenkins, D.; Jo, H. S.; Joo, K.; Juengst, H. G.; Kellie, J. D.; Khandaker, M.; Kim, W.; Klein, A.; Klein, F. J.; Kossov, M.; Kramer, L. H.; Kubarovsky, V.; Kuhn, J.; Kuleshov, S. V.; Lachniet, J.; Laget, J. M.; Langheinrich, J.; Lawrence, D.; Li, Ji; Livingston, K.; McAleer, S.; McKinnon, B.; McNabb, J. W. C.; Mecking, B. A.; Mehrabyan, S.; Melone, J. J.; Mestayer, M. D.; Meyer, C. A.; Mibe, T.; Mikhailov, K.; Minehart, R.; Mirazita, M.; Miskimen, R.; Mokeev, V.; Morand, L.; Morrow, S. A.; Mueller, J.; Mutchler, G. S.; Nadel-Turonski, P.; Napolitano, J.; Nasseripour, R.; Niccolai, S.; Niculescu, G.; Niculescu, I.; Niczyporuk, B. B.; Niyazov, R. A.; Nozar, M.; O'Rielly, G. V.; Osipenko, M.; Ostrovidov, A. I.; Park, K.; Pasyuk, E.; Paterson, C.; Pierce, J.; Pivnyuk, N.; Pocanic, D.; Pogorelko, O.; Pozdniakov, S.; Preedom, B. M.; Price, J. W.; Prok, Y.; Protopopescu, D.; Raue, B. A.; Riccardi, G.; Ricco, G.; Ripani, M.; Ritchie, B. G.; Ronchetti, F.; Rosner, G.; Rossi, P.; Sabatié, F.; Salgado, C.; Santoro, J. P.; Sapunenko, V.; Schumacher, R. A.; Serov, V. S.; Sharabian, Y. G.; Skabelin, A. V.; Smith, E. S.; Smith, L. C.; Sober, D. I.; Stavinsky, A.; Stepanyan, S. S.; Stepanyan, S.; Stokes, B. E.; Stoler, P.; Strauch, S.; Taiuti, M.; Tedeschi, D. J.; Thoma, U.; Tkabladze, A.; Tkachenko, S.; Todor, L.; Tur, C.; Ungaro, M.; Vineyard, M. F.; Vlassov, A. V.; Weinstein, L. B.; Weygand, D. P.; Williams, M.; Wolin, E.; Wood, M. H.; Yegneswaran, A.; Zana, L.; Zhang, J.; Zhao, B.

2006-03-01

We report results from an experiment measuring the semiinclusive reaction H2(e,e'ps) in which the proton ps is moving at a large angle relative to the momentum transfer. If we assume that the proton was a spectator to the reaction taking place on the neutron in deuterium, the initial state of that neutron can be inferred. This method, known as spectator tagging, can be used to study electron scattering from high-momentum (off-shell) neutrons in deuterium. The data were taken with a 5.765 GeV electron beam on a deuterium target in Jefferson Laboratory's Hall B, using the CEBAF large acceptance spectrometer. A reduced cross section was extracted for different values of final state missing mass W*, backward proton momentum p→s, and momentum transfer Q2. The data are compared to a simple plane wave impulse approximation (PWIA) spectator model. A strong enhancement in the data observed at transverse kinematics is not reproduced by the PWIA model. This enhancement can likely be associated with the contribution of final state interactions (FSI) that were not incorporated into the model. Within the framework of the simple spectator model, a “bound neutron structure function” F2neff was extracted as a function of W* and the scaling variable x* at extreme backward kinematics, where the effects of FSI appear to be smaller. For ps>0.4GeV/c, where the neutron is far off-shell, the model overestimates the value of F2neff in the region of x* between 0.25 and 0.6. A dependence of the bound neutron structure function on the neutron's “off-shell-ness” is one possible effect that can cause the observed deviation.

Some aspects of the analysis of geodetic strain observations in kinematic models

NASA Astrophysics Data System (ADS)

Welsch, W. M.

1986-11-01

Frequently, deformation processes are analyzed in static models. In many cases, this procedure is justified, in particular if the deformation occurring is a singular event. If. however, the deformation is a continuous process, as is the case, for instance, with recent crustal movements, the analysis in kinematic models is more commensurate with the problem because the factor "time" is considered an essential part of the model. Some specialities have to be considered when analyzing geodetic strain observations in kinematic models. They are dealt with in this paper. After a brief derivation of the basic kinematic model and the kinematic strain model, the following subjects are treated: the adjustment of the pointwise velocity field and the derivation of strain-rate parameters; the fixing of the kinematic reference system as part of the geodetic datum; statistical tests of models by testing linear hypotheses; the invariance of kinematic strain-rate parameters with respect to transformations of the coordinate-system and the geodetic datum; the interpolation of strain rates by finite-element methods. After the representation of some advanced models for the description of secular and episodic kinematic processes, the data analysis in dynamic models is regarded as a further generalization of deformation analysis.

The architecture of Newton, a general-purpose dynamics simulator

NASA Technical Reports Server (NTRS)

Cremer, James F.; Stewart, A. James

1989-01-01

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

Design and Performance Analysis of a new Rotary Hydraulic Joint

NASA Astrophysics Data System (ADS)

Feng, Yong; Yang, Junhong; Shang, Jianzhong; Wang, Zhuo; Fang, Delei

2017-07-01

To improve the driving torque of the robots joint, a wobble plate hydraulic joint is proposed, and the structure and working principle are described. Then mathematical models of kinematics and dynamics was established. On the basis of this, dynamic simulation and characteristic analysis are carried out. Results show that the motion curve of the joint is continuous and the impact is small. Moreover the output torque of the joint characterized by simple structure and easy processing is large and can be rotated continuously.

What Do Kinematic Models Imply About the Constitutive Properties of Rocks Deformed in Flat-Ramp-Flat Folds?

NASA Astrophysics Data System (ADS)

Cruz, L.; Nevitt, J. M.; Seixas, G.; Hilley, G. E.

2017-10-01

Kinematic theories of flat-ramp-flat folds relate fault angles to stratal dips in a way that allows prediction of structural geometries in areas of economic or scientific interest. However, these geometric descriptions imply constitutive properties of rocks that might be discordant with field and laboratory measurements. In this study, we compare deformation resulting from kinematic and mechanical models of flat-ramp-flat folds with identical geometries to determine the conditions over which kinematic models may be reasonably applied to folded rocks. Results show that most mechanical models do not conform to the geometries predicted by the kinematic models, and only low basal friction (μ ≤ 0.1) and shallow ramps (ramp angle ≤10°) produce geometries consistent with kinematic predictions. This implies that the kinematic models might be appropriate for a narrow set of geometric and basal fault friction parameters.

Can generic knee joint models improve the measurement of osteoarthritic knee kinematics during squatting activity?

PubMed

Clément, Julien; Dumas, Raphaël; Hagemeister, Nicola; de Guise, Jaques A

2017-01-01

Knee joint kinematics derived from multi-body optimisation (MBO) still requires evaluation. The objective of this study was to corroborate model-derived kinematics of osteoarthritic knees obtained using four generic knee joint models used in musculoskeletal modelling - spherical, hinge, degree-of-freedom coupling curves and parallel mechanism - against reference knee kinematics measured by stereo-radiography. Root mean square errors ranged from 0.7° to 23.4° for knee rotations and from 0.6 to 9.0 mm for knee displacements. Model-derived knee kinematics computed from generic knee joint models was inaccurate. Future developments and experiments should improve the reliability of osteoarthritic knee models in MBO and musculoskeletal modelling.

Constraining the geometry and kinematics of the quasar broad emission line region using gravitational microlensing. I. Models and simulations

NASA Astrophysics Data System (ADS)

Braibant, L.; Hutsemékers, D.; Sluse, D.; Goosmann, R.

2017-11-01

Recent studies have shown that line profile distortions are commonly observed in gravitationally lensed quasar spectra. Often attributed to microlensing differential magnification, line profile distortions can provide information on the geometry and kinematics of the broad emission line region (BLR) in quasars. We investigate the effect of gravitational microlensing on quasar broad emission line profiles and their underlying continuum, combining the emission from simple representative BLR models with generic microlensing magnification maps. Specifically, we considered Keplerian disk, polar, and equatorial wind BLR models of various sizes. The effect of microlensing has been quantified with four observables: μBLR, the total magnification of the broad emission line; μcont, the magnification of the underlying continuum; as well as red/blue, RBI and wings/core, WCI, indices that characterize the line profile distortions. The simulations showed that distortions of line profiles, such as those recently observed in lensed quasars, can indeed be reproduced and attributed to the differential effect of microlensing on spatially separated regions of the BLR. While the magnification of the emission line μBLR sets an upper limit on the BLR size and, similarly, the magnification of the continuum μcont sets an upper limit on the size of the continuum source, the line profile distortions mainly depend on the BLR geometry and kinematics. We thus built (WCI,RBI) diagrams that can serve as diagnostic diagrams to discriminate between the various BLR models on the basis of quantitative measurements. It appears that a strong microlensing effect puts important constraints on the size of the BLR and on its distance to the high-magnification caustic. In that case, BLR models with different geometries and kinematics are more prone to produce distinctive line profile distortions for a limited number of caustic configurations, which facilitates their discrimination. When the microlensing effect is weak, there is a larger overlap between the characteristics of the line profile distortions produced by the different models, and constraints can only be derived on a statistical basis.

Simultaneous measurements of jellyfish bell kinematics and flow fields using PTV and PIV

NASA Astrophysics Data System (ADS)

Xu, Nicole; Dabiri, John

2016-11-01

A better understanding of jellyfish swimming can potentially improve the energy efficiency of aquatic vehicles or create biomimetic robots for ocean monitoring. Aurelia aurita is a simple oblate invertebrate composed of a flexible bell and coronal muscle, which contracts to eject water from the subumbrellar volume. Jellyfish locomotion can be studied by obtaining body kinematics or by examining the resulting fluid velocity fields using particle image velocimetry (PIV). Typically, swim kinematics are obtained by semi-manually tracking points of interest (POI) along the bell in video post-processing; simultaneous measurements of kinematics and flows involve using this semi-manual tracking method on PIV videos. However, we show that both the kinematics and flow fields can be directly visualized in 3D space by embedding phosphorescent particles in animals free-swimming in seeded environments. Particle tracking velocimetry (PTV) can then be used to calculate bell kinematics, such as pulse frequency, bell deformation, swim trajectories, and propulsive efficiency. By simultaneously tracking POI within the bell and collecting PIV data, we can further study the jellyfish's natural locomotive control mechanisms in conjunction with flow measurements. NSF GRFP.

Analysis of hardening behavior of sheet metals by a new simple shear test method taking into account the Bauschinger effect

NASA Astrophysics Data System (ADS)

Bang, Sungsik; Rickhey, Felix; Kim, Minsoo; Lee, Hyungyil; Kim, Naksoo

2013-12-01

In this study we establish a process to predict hardening behavior considering the Bauschinger effect for zircaloy-4 sheets. When a metal is compressed after tension in forming, the yield strength decreases. For this reason, the Bauschinger effect should be considered in FE simulations of spring-back. We suggested a suitable specimen size and a method for determining the optimum tightening torque for simple shear tests. Shear stress-strain curves are obtained for five materials. We developed a method to convert the shear load-displacement curve to the effective stress-strain curve with FEA. We simulated the simple shear forward/reverse test using the combined isotropic/kinematic hardening model. We also investigated the change of the load-displacement curve by varying the hardening coefficients. We determined the hardening coefficients so that they follow the hardening behavior of zircaloy-4 in experiments.

A kinematic model of patchy slip at depth explains observed tremor waveforms on the San Andreas fault near Parkfield, California

NASA Astrophysics Data System (ADS)

Gottschaemmer, E.; Harrington, R. M.; Cochran, E. S.; Bohlen, T.

2011-12-01

Recent observations of both triggered and ambient tremor suggest that tremor results from simple shear-failure. Tremor episodes on the San Andreas fault near Parkfield are thought to be comprised of clusters of individual events with frequencies between 2-8 Hz. Such low frequency earthquakes (LFEs) occur at depths where the frictional properties of the fault surface are primarily slip-strengthening with imbedded patches of slip weakening material that slip seismically when the surrounding fault creeps in a slow-slip event. Here we show new tremor waveforms from a temporary deployment of 13 broadband seismometers spaced at a maximum on the order of 30 km near Cholame, California are consistent with a series of small seismically slipping patches surrounded by an aseismic region along a fault surface. We model individual seismic events kinematically as small shear failures (M ~ 1) at depths exceeding 15 km. We use stress drop values of 1 MPa, based on a slip to fault area ratio. We simulate tremor recorded at the surface by our temporary array centered near Cholame, for frequencies up to 8 Hz using a staggered-grid finite-difference scheme to solve the elastic equations of motion, and the 3D velocity and density model from Thurber et al. (2006). Our simulations indicate that multiple seismically slipping patches in an aseismic region successfully recreate tremor characteristics observed in multiple studies, including individual tremor bursts, individual events, and episodic behavior. The kinematic model presented here will help to constrain the distribution and amplitude of the seismically slipping patches at depth, which will then be used in a dynamic model with variable frictional properties.

Azimuthal Dependence of the Ground Motion Variability from Scenario Modeling of the 2014 Mw6.0 South Napa, California, Earthquake Using an Advanced Kinematic Source Model

NASA Astrophysics Data System (ADS)

Gallovič, F.

2017-09-01

Strong ground motion simulations require physically plausible earthquake source model. Here, I present the application of such a kinematic model introduced originally by Ruiz et al. (Geophys J Int 186:226-244, 2011). The model is constructed to inherently provide synthetics with the desired omega-squared spectral decay in the full frequency range. The source is composed of randomly distributed overlapping subsources with fractal number-size distribution. The position of the subsources can be constrained by prior knowledge of major asperities (stemming, e.g., from slip inversions), or can be completely random. From earthquake physics point of view, the model includes positive correlation between slip and rise time as found in dynamic source simulations. Rupture velocity and rise time follows local S-wave velocity profile, so that the rupture slows down and rise times increase close to the surface, avoiding unrealistically strong ground motions. Rupture velocity can also have random variations, which result in irregular rupture front while satisfying the causality principle. This advanced kinematic broadband source model is freely available and can be easily incorporated into any numerical wave propagation code, as the source is described by spatially distributed slip rate functions, not requiring any stochastic Green's functions. The source model has been previously validated against the observed data due to the very shallow unilateral 2014 Mw6 South Napa, California, earthquake; the model reproduces well the observed data including the near-fault directivity (Seism Res Lett 87:2-14, 2016). The performance of the source model is shown here on the scenario simulations for the same event. In particular, synthetics are compared with existing ground motion prediction equations (GMPEs), emphasizing the azimuthal dependence of the between-event ground motion variability. I propose a simple model reproducing the azimuthal variations of the between-event ground motion variability, providing an insight into possible refinement of GMPEs' functional forms.

Analogue modelling of inclined, brittle-ductile transpression: Testing analytical models through natural shear zones (external Betics)

NASA Astrophysics Data System (ADS)

Barcos, L.; Díaz-Azpiroz, M.; Balanyá, J. C.; Expósito, I.; Jiménez-Bonilla, A.; Faccenna, C.

2016-07-01

The combination of analytical and analogue models gives new opportunities to better understand the kinematic parameters controlling the evolution of transpression zones. In this work, we carried out a set of analogue models using the kinematic parameters of transpressional deformation obtained by applying a general triclinic transpression analytical model to a tabular-shaped shear zone in the external Betic Chain (Torcal de Antequera massif). According to the results of the analytical model, we used two oblique convergence angles to reproduce the main structural and kinematic features of structural domains observed within the Torcal de Antequera massif (α = 15° for the outer domains and α = 30° for the inner domain). Two parallel inclined backstops (one fixed and the other mobile) reproduce the geometry of the shear zone walls of the natural case. Additionally, we applied digital particle image velocimetry (PIV) method to calculate the velocity field of the incremental deformation. Our results suggest that the spatial distribution of the main structures observed in the Torcal de Antequera massif reflects different modes of strain partitioning and strain localization between two domain types, which are related to the variation in the oblique convergence angle and the presence of steep planar velocity - and rheological - discontinuities (the shear zone walls in the natural case). In the 15° model, strain partitioning is simple and strain localization is high: a single narrow shear zone is developed close and parallel to the fixed backstop, bounded by strike-slip faults and internally deformed by R and P shears. In the 30° model, strain partitioning is strong, generating regularly spaced oblique-to-the backstops thrusts and strike-slip faults. At final stages of the 30° experiment, deformation affects the entire model box. Our results show that the application of analytical modelling to natural transpressive zones related to upper crustal deformation facilitates to constrain the geometrical parameters of analogue models.

Study of Flapping Flight Using Discrete Vortex Method Based Simulations

NASA Astrophysics Data System (ADS)

Devranjan, S.; Jalikop, Shreyas V.; Sreenivas, K. R.

2013-12-01

In recent times, research in the area of flapping flight has attracted renewed interest with an endeavor to use this mechanism in Micro Air vehicles (MAVs). For a sustained and high-endurance flight, having larger payload carrying capacity we need to identify a simple and efficient flapping-kinematics. In this paper, we have used flow visualizations and Discrete Vortex Method (DVM) based simulations for the study of flapping flight. Our results highlight that simple flapping kinematics with down-stroke period (tD) shorter than the upstroke period (tU) would produce a sustained lift. We have identified optimal asymmetry ratio (Ar = tD/tU), for which flapping-wings will produce maximum lift and find that introducing optimal wing flexibility will further enhances the lift.

Role of large-scale velocity fluctuations in a two-vortex kinematic dynamo.

PubMed

Kaplan, E J; Brown, B P; Rahbarnia, K; Forest, C B

2012-06-01

This paper presents an analysis of the Dudley-James two-vortex flow, which inspired several laboratory-scale liquid-metal experiments, in order to better demonstrate its relation to astrophysical dynamos. A coordinate transformation splits the flow into components that are axisymmetric and nonaxisymmetric relative to the induced magnetic dipole moment. The reformulation gives the flow the same dynamo ingredients as are present in more complicated convection-driven dynamo simulations. These ingredients are currents driven by the mean flow and currents driven by correlations between fluctuations in the flow and fluctuations in the magnetic field. The simple model allows us to isolate the dynamics of the growing eigenvector and trace them back to individual three-wave couplings between the magnetic field and the flow. This simple model demonstrates the necessity of poloidal advection in sustaining the dynamo and points to the effect of large-scale flow fluctuations in exciting a dynamo magnetic field.

The cerebellum for jocks and nerds alike.

PubMed

Popa, Laurentiu S; Hewitt, Angela L; Ebner, Timothy J

2014-01-01

Historically the cerebellum has been implicated in the control of movement. However, the cerebellum's role in non-motor functions, including cognitive and emotional processes, has also received increasing attention. Starting from the premise that the uniform architecture of the cerebellum underlies a common mode of information processing, this review examines recent electrophysiological findings on the motor signals encoded in the cerebellar cortex and then relates these signals to observations in the non-motor domain. Simple spike firing of individual Purkinje cells encodes performance errors, both predicting upcoming errors as well as providing feedback about those errors. Further, this dual temporal encoding of prediction and feedback involves a change in the sign of the simple spike modulation. Therefore, Purkinje cell simple spike firing both predicts and responds to feedback about a specific parameter, consistent with computing sensory prediction errors in which the predictions about the consequences of a motor command are compared with the feedback resulting from the motor command execution. These new findings are in contrast with the historical view that complex spikes encode errors. Evaluation of the kinematic coding in the simple spike discharge shows the same dual temporal encoding, suggesting this is a common mode of signal processing in the cerebellar cortex. Decoding analyses show the considerable accuracy of the predictions provided by Purkinje cells across a range of times. Further, individual Purkinje cells encode linearly and independently a multitude of signals, both kinematic and performance errors. Therefore, the cerebellar cortex's capacity to make associations across different sensory, motor and non-motor signals is large. The results from studying how Purkinje cells encode movement signals suggest that the cerebellar cortex circuitry can support associative learning, sequencing, working memory, and forward internal models in non-motor domains.

The cerebellum for jocks and nerds alike

PubMed Central

Popa, Laurentiu S.; Hewitt, Angela L.; Ebner, Timothy J.

2014-01-01

Historically the cerebellum has been implicated in the control of movement. However, the cerebellum's role in non-motor functions, including cognitive and emotional processes, has also received increasing attention. Starting from the premise that the uniform architecture of the cerebellum underlies a common mode of information processing, this review examines recent electrophysiological findings on the motor signals encoded in the cerebellar cortex and then relates these signals to observations in the non-motor domain. Simple spike firing of individual Purkinje cells encodes performance errors, both predicting upcoming errors as well as providing feedback about those errors. Further, this dual temporal encoding of prediction and feedback involves a change in the sign of the simple spike modulation. Therefore, Purkinje cell simple spike firing both predicts and responds to feedback about a specific parameter, consistent with computing sensory prediction errors in which the predictions about the consequences of a motor command are compared with the feedback resulting from the motor command execution. These new findings are in contrast with the historical view that complex spikes encode errors. Evaluation of the kinematic coding in the simple spike discharge shows the same dual temporal encoding, suggesting this is a common mode of signal processing in the cerebellar cortex. Decoding analyses show the considerable accuracy of the predictions provided by Purkinje cells across a range of times. Further, individual Purkinje cells encode linearly and independently a multitude of signals, both kinematic and performance errors. Therefore, the cerebellar cortex's capacity to make associations across different sensory, motor and non-motor signals is large. The results from studying how Purkinje cells encode movement signals suggest that the cerebellar cortex circuitry can support associative learning, sequencing, working memory, and forward internal models in non-motor domains. PMID:24987338

Parametric analysis of a shape memory alloy actuated arm

NASA Astrophysics Data System (ADS)

Wright, Cody; Bilgen, Onur

2016-04-01

Using a pair of antagonistic Shape Memory Allow (SMA) wires, it may be possible to produce a mechanism that replicates human musculoskeletal movement. The movement of interest is the articulation of the elbow joint actuated by the biceps brachii muscle. In an effort to understand the bio-mechanics of the arm, a single degree of freedom crankslider mechanism is used to model the movement of the arm induced by the biceps brachii muscle. First, a purely kinematical analysis is performed on a rigid body crank-slider. Force analysis is also done modeling the muscle as a simple linear spring. Torque, rocking angle, and energy are calculated for a range of crank-slider geometries. The SMA wire characteristics are experimentally determined for the martensite detwinned and full austenite phases. Using the experimental data, an idealized actuator characteristic curve is produced for the SMA wire. Kinematic and force analyses are performed on the nonlinear wire characteristic curve and a linearized wire curve; both cases are applied to the crankslider mechanism. Performance metrics for both cases are compared, followed by discussion.

Series Pneumatic Artificial Muscles (sPAMs) and Application to a Soft Continuum Robot.

PubMed

Greer, Joseph D; Morimoto, Tania K; Okamura, Allison M; Hawkes, Elliot W

2017-01-01

We describe a new series pneumatic artificial muscle (sPAM) and its application as an actuator for a soft continuum robot. The robot consists of three sPAMs arranged radially round a tubular pneumatic backbone. Analogous to tendons, the sPAMs exert a tension force on the robot's pneumatic backbone, causing bending that is approximately constant curvature. Unlike a traditional tendon driven continuum robot, the robot is entirely soft and contains no hard components, making it safer for human interaction. Models of both the sPAM and soft continuum robot kinematics are presented and experimentally verified. We found a mean position accuracy of 5.5 cm for predicting the end-effector position of a 42 cm long robot with the kinematic model. Finally, closed-loop control is demonstrated using an eye-in-hand visual servo control law which provides a simple interface for operation by a human. The soft continuum robot with closed-loop control was found to have a step-response rise time and settling time of less than two seconds.

Novel design solutions for fishing reel mechanisms

NASA Astrophysics Data System (ADS)

Lovasz, Erwin-Christian; Modler, Karl-Heinz; Neumann, Rudolf; Gruescu, Corina Mihaela; Perju, Dan; Ciupe, Valentin; Maniu, Inocentiu

2015-07-01

Currently, there are various reels on the market regarding the type of mechanism, which achieves the winding and unwinding of the line. The designers have the purpose of obtaining a linear transmission function, by means of a simple and small-sized mechanism. However, the present solutions are not satisfactory because of large deviations from linearity of the transmission function and complexity of mechanical schema. A novel solution for the reel spool mechanism is proposed. Its kinematic schema and synthesis method are described. The kinematic schema of the chosen mechanism is based on a noncircular gear in series with a scotch-yoke mechanism. The yoke is driven by a stud fixed on the driving noncircular gear. The drawbacks of other models regarding the effects occurring at the ends of the spool are eliminated through achieving an appropriate transmission function of the spool. The linear function approximation with curved end-arches appropriately computed to ensure mathematical continuity is very good. The experimental results on the mechanism model validate the theoretical approach. The developed mechanism solution is recorded under a reel spool mechanism patent.

Series Pneumatic Artificial Muscles (sPAMs) and Application to a Soft Continuum Robot

PubMed Central

Greer, Joseph D.; Morimoto, Tania K.; Okamura, Allison M.; Hawkes, Elliot W.

2017-01-01

We describe a new series pneumatic artificial muscle (sPAM) and its application as an actuator for a soft continuum robot. The robot consists of three sPAMs arranged radially round a tubular pneumatic backbone. Analogous to tendons, the sPAMs exert a tension force on the robot’s pneumatic backbone, causing bending that is approximately constant curvature. Unlike a traditional tendon driven continuum robot, the robot is entirely soft and contains no hard components, making it safer for human interaction. Models of both the sPAM and soft continuum robot kinematics are presented and experimentally verified. We found a mean position accuracy of 5.5 cm for predicting the end-effector position of a 42 cm long robot with the kinematic model. Finally, closed-loop control is demonstrated using an eye-in-hand visual servo control law which provides a simple interface for operation by a human. The soft continuum robot with closed-loop control was found to have a step-response rise time and settling time of less than two seconds. PMID:29379672

The geometry of propagating rifts

NASA Astrophysics Data System (ADS)

McKenzie, Dan

1986-03-01

The kinematics of two different processes are investigated, both of which have been described as rift propagation. Courtillot uses this term to describe the change from distributed to localised extension which occurs during the early development of an ocean basin. The term localisation is instead used here to describe this process, to distinguish it from Hey's type of propagation. Localisation generally leads to rotation of the direction of magnetisation. To Hey propagation means the extension of a rift into the undeformed plate beyond a transform fault. Detail surveys of the Galapagos rift have shown that the propagating and failing rifts are not connected by a single transform fault, but by a zone which is undergoing shear. The principal deformation is simple shear, and the kinematics of this deformation are investigated in some detail. The strike of most of the lineations observed in the area can be produced by such deformation. The mode of extension on the propagating rift appears to be localised for some periods but to be distributed for others. Neither simple kinematic arguments nor stretching of the lithosphere with conservation of crust can account for the observed variations in water depth.

A granular flow model for dense planetary rings

NASA Technical Reports Server (NTRS)

Borderies, N.; Goldreich, P.; Tremaine, S.

1985-01-01

In the present study of the viscosity of a differentially rotating particle disk, in the limiting case where the particles are densely packed and their collective behavior resembles that of a liquid, the pressure tensor is derived from both the equations of hydrodynamics and a simple kinetic model of collisions due to Haff (1983). Density waves and narrow circular rings are unstable if the liquid approximation applies, and the consequent nonlinear perturbations may generate 'splashing' of the ring material in the vertical direction. These results are pertinent to the origin of the ellipticities of ringlets, the nonaxisymmetric features near the outer edge of the Saturn B ring, and unexplained residuals in kinematic models of the Saturn and Uranus rings.

Multibody dynamic analysis using a rotation-free shell element with corotational frame

NASA Astrophysics Data System (ADS)

Shi, Jiabei; Liu, Zhuyong; Hong, Jiazhen

2018-03-01

Rotation-free shell formulation is a simple and effective method to model a shell with large deformation. Moreover, it can be compatible with the existing theories of finite element method. However, a rotation-free shell is seldom employed in multibody systems. Using a derivative of rigid body motion, an efficient nonlinear shell model is proposed based on the rotation-free shell element and corotational frame. The bending and membrane strains of the shell have been simplified by isolating deformational displacements from the detailed description of rigid body motion. The consistent stiffness matrix can be obtained easily in this form of shell model. To model the multibody system consisting of the presented shells, joint kinematic constraints including translational and rotational constraints are deduced in the context of geometric nonlinear rotation-free element. A simple node-to-surface contact discretization and penalty method are adopted for contacts between shells. A series of analyses for multibody system dynamics are presented to validate the proposed formulation. Furthermore, the deployment of a large scaled solar array is presented to verify the comprehensive performance of the nonlinear shell model.

The fast kinematic magnetic dynamo and the dissipationless limit

NASA Technical Reports Server (NTRS)

Finn, John M.; Ott, Edward

1990-01-01

The evolution of the magnetic field in models that incorporate chaotic field line stretching, field cancellation, and finite magnetic Reynolds number is examined analytically and numerically. Although the models used here are highly idealized, it is claimed that they display and illustrate typical behavior relevant to fast magnetic dynamic behavior. It is shown, in particular, that consideration of magnetic flux through a finite fixed surface provides a simple and effective way of deducing fast dynamo behavior from the zero resistivity equation. Certain aspects of the fast dynamo problem can thus be reduced to a study of nonlinear dynamic properties of the underlying flow.

Model Identification and FE Simulations: Effect of Different Yield Loci and Hardening Laws in Sheet Forming

NASA Astrophysics Data System (ADS)

Flores, P.; Duchêne, L.; Lelotte, T.; Bouffioux, C.; El Houdaigui, F.; Van Bael, A.; He, S.; Duflou, J.; Habraken, A. M.

2005-08-01

The bi-axial experimental equipment developed by Flores enables to perform Baushinger shear tests and successive or simultaneous simple shear tests and plane-strain tests. Such experiments and classical tensile tests investigate the material behavior in order to identify the yield locus and the hardening models. With tests performed on two steel grades, the methods applied to identify classical yield surfaces such as Hill or Hosford ones as well as isotropic Swift type hardening or kinematic Armstrong-Frederick hardening models are explained. Comparison with the Taylor-Bishop-Hill yield locus is also provided. The effect of both yield locus and hardening model choice will be presented for two applications: Single Point Incremental Forming (SPIF) and a cup deep drawing.

Designing a Simple Apparatus for Measuring Kinematic Variables

ERIC Educational Resources Information Center

Temiz, Burak Kagan

2014-01-01

This study was conducted to develop a simple and inexpensive experimental apparatus that can measure the position of an object moving along a straight line at certain time intervals. For the construction of the apparatus, a battery-powered toy car, a fine-tipped paint brush, gouache (or watercolour) paint and paper tape were used. The working…

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

NASA Technical Reports Server (NTRS)

Mclauchlan, Robert A.

1989-01-01

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

A boundary integral approach in primitive variables for free surface flows

NASA Astrophysics Data System (ADS)

Casciola, C.; Piva, R.

The boundary integral formulation, very efficient for free surface potential flows, was considered for its possible extension to rotational flows either inviscid or viscous. We first analyze a general formulation for unsteady Navier-Stokes equations in primitive variables, which reduces to a representation for the Euler equations in the limiting case of Reynolds infinity. A first simplified model for rotational flows, obtained by decoupling kinematics and dynamics, reduces the integral equations to a known kinematical form whose mathematical and numerical properties have been studied. The dynamics equations to complete the model are obtained for the free surface and the wake. A simple and efficient scheme for the study of the non linear evolution of the wave system and its interaction with the body wake is presented. A steady state version for the calculation of the wave resistance is also reported. A second model was proposed for the simulation of rotational separated regions, by coupling the integral equations in velocity with an integral equation for the vorticity at the body boundary. The same procedure may be extended to include the diffusion of the vorticity in the flowfield. The vortex shedding from a cylindrical body in unsteady motion is discussed, as a first application of the model.

Effect of suspension kinematic on 14 DOF vehicle model

NASA Astrophysics Data System (ADS)

Wongpattananukul, T.; Chantharasenawong, C.

2017-12-01

Computer simulations play a major role in shaping modern science and engineering. They reduce time and resource consumption in new studies and designs. Vehicle simulations have been studied extensively to achieve a vehicle model used in minimum lap time solution. Simulation result accuracy depends on the abilities of these models to represent real phenomenon. Vehicles models with 7 degrees of freedom (DOF), 10 DOF and 14 DOF are normally used in optimal control to solve for minimum lap time. However, suspension kinematics are always neglected on these models. Suspension kinematics are defined as wheel movements with respect to the vehicle body. Tire forces are expressed as a function of wheel slip and wheel position. Therefore, the suspension kinematic relation is appended to the 14 DOF vehicle model to investigate its effects on the accuracy of simulate trajectory. Classical 14 DOF vehicle model is chosen as baseline model. Experiment data is collected from formula student style car test runs as baseline data for simulation and comparison between baseline model and model with suspension kinematic. Results show that in a single long turn there is an accumulated trajectory error in baseline model compared to model with suspension kinematic. While in short alternate turns, the trajectory error is much smaller. These results show that suspension kinematic had an effect on the trajectory simulation of vehicle. Which optimal control that use baseline model will result in inaccuracy control scheme.

Predicting muscle forces during the propulsion phase of single leg triple hop test.

PubMed

Alvim, Felipe Costa; Lucareli, Paulo Roberto Garcia; Menegaldo, Luciano Luporini

2018-01-01

Functional biomechanical tests allow the assessment of musculoskeletal system impairments in a simple way. Muscle force synergies associated with movement can provide additional information for diagnosis. However, such forces cannot be directly measured noninvasively. This study aims to estimate muscle activations and forces exerted during the preparation phase of the single leg triple hop test. Two different approaches were tested: static optimization (SO) and computed muscle control (CMC). As an indirect validation, model-estimated muscle activations were compared with surface electromyography (EMG) of selected hip and thigh muscles. Ten physically healthy active women performed a series of jumps, and ground reaction forces, kinematics and EMG data were recorded. An existing OpenSim model with 92 musculotendon actuators was used to estimate muscle forces. Reflective markers data were processed using the OpenSim Inverse Kinematics tool. Residual Reduction Algorithm (RRA) was applied recursively before running the SO and CMC. For both, the same adjusted kinematics were used as inputs. Both approaches presented similar residuals amplitudes. SO showed a closer agreement between the estimated activations and the EMGs of some muscles. Due to inherent EMG methodological limitations, the superiority of SO in relation to CMC can be only hypothesized. It should be confirmed by conducting further studies comparing joint contact forces. The workflow presented in this study can be used to estimate muscle forces during the preparation phase of the single leg triple hop test and allows investigating muscle activation and coordination. Copyright © 2017 Elsevier B.V. All rights reserved.

Analytical and multibody modeling for the power analysis of standing jumps.

PubMed

Palmieri, G; Callegari, M; Fioretti, S

2015-01-01

Two methods for the power analysis of standing jumps are proposed and compared in this article. The first method is based on a simple analytical formulation which requires as input the coordinates of the center of gravity in three specified instants of the jump. The second method is based on a multibody model that simulates the jumps processing the data obtained by a three-dimensional (3D) motion capture system and the dynamometric measurements obtained by the force platforms. The multibody model is developed with OpenSim, an open-source software which provides tools for the kinematic and dynamic analyses of 3D human body models. The study is focused on two of the typical tests used to evaluate the muscular activity of lower limbs, which are the counter movement jump and the standing long jump. The comparison between the results obtained by the two methods confirms that the proposed analytical formulation is correct and represents a simple tool suitable for a preliminary analysis of total mechanical work and the mean power exerted in standing jumps.

Adaptive Nonparametric Kinematic Modeling of Concentric Tube Robots.

PubMed

Fagogenis, Georgios; Bergeles, Christos; Dupont, Pierre E

2016-10-01

Concentric tube robots comprise telescopic precurved elastic tubes. The robot's tip and shape are controlled via relative tube motions, i.e. tube rotations and translations. Non-linear interactions between the tubes, e.g. friction and torsion, as well as uncertainty in the physical properties of the tubes themselves, e.g. the Young's modulus, curvature, or stiffness, hinder accurate kinematic modelling. In this paper, we present a machine-learning-based methodology for kinematic modelling of concentric tube robots and in situ model adaptation. Our approach is based on Locally Weighted Projection Regression (LWPR). The model comprises an ensemble of linear models, each of which locally approximates the original complex kinematic relation. LWPR can accommodate for model deviations by adjusting the respective local models at run-time, resulting in an adaptive kinematics framework. We evaluated our approach on data gathered from a three-tube robot, and report high accuracy across the robot's configuration space.

Substructure based modeling of nickel single crystals cycled at low plastic strain amplitudes

NASA Astrophysics Data System (ADS)

Zhou, Dong

In this dissertation a meso-scale, substructure-based, composite single crystal model is fully developed from the simple uniaxial model to the 3-D finite element method (FEM) model with explicit substructures and further with substructure evolution parameters, to simulate the completely reversed, strain controlled, low plastic strain amplitude cyclic deformation of nickel single crystals. Rate-dependent viscoplasticity and Armstrong-Frederick type kinematic hardening rules are applied to substructures on slip systems in the model to describe the kinematic hardening behavior of crystals. Three explicit substructure components are assumed in the composite single crystal model, namely "loop patches" and "channels" which are aligned in parallel in a "vein matrix," and persistent slip bands (PSBs) connected in series with the vein matrix. A magnetic domain rotation model is presented to describe the reverse magnetostriction of single crystal nickel. Kinematic hardening parameters are obtained by fitting responses to experimental data in the uniaxial model, and the validity of uniaxial assumption is verified in the 3-D FEM model with explicit substructures. With information gathered from experiments, all control parameters in the model including hardening parameters, volume fraction of loop patches and PSBs, and variation of Young's modulus etc. are correlated to cumulative plastic strain and/or plastic strain amplitude; and the whole cyclic deformation history of single crystal nickel at low plastic strain amplitudes is simulated in the uniaxial model. Then these parameters are implanted in the 3-D FEM model to simulate the formation of PSB bands. A resolved shear stress criterion is set to trigger the formation of PSBs, and stress perturbation in the specimen is obtained by several elements assigned with PSB material properties a priori. Displacement increment, plastic strain amplitude control and overall stress-strain monitor and output are carried out in the user subroutine DISP and URDFIL of ABAQUS, respectively, while constitutive formulations of the FEM model are coded and implemented in UMAT. The results of the simulations are compared to experiments. This model verified the validity of Winter's two-phase model and Taylor's uniform stress assumption, explored substructure evolution and "intrinsic" behavior in substructures and successfully simulated the process of PSB band formation and propagation.

Redundantly piezo-actuated XYθ z compliant mechanism for nano-positioning featuring simple kinematics, bi-directional motion and enlarged workspace

NASA Astrophysics Data System (ADS)

Zhu, Wu-Le; Zhu, Zhiwei; To, Suet; Liu, Qiang; Ju, Bing-Feng; Zhou, Xiaoqin

2016-12-01

This paper presents a novel redundantly piezo-actuated three-degree-of-freedom XYθ z compliant mechanism for nano-positioning, driven by four mirror-symmetrically configured piezoelectric actuators (PEAs). By means of differential motion principle, linearized kinematics and physically bi-directional motions in all the three directions are achieved. Meanwhile, the decoupled delivering of three-directional independent motions at the output end is accessible, and the essential parallel and mirror symmetric configuration guarantees large output stiffness, high natural frequencies, high accuracy as well as high structural compactness of the mechanism. Accurate kinematics analysis with consideration of input coupling indicates that the proposed redundantly actuated compliant mechanism can generate three-dimensional (3D) symmetric polyhedral workspace envelope with enlarged reachable workspace, as compared with the most common parallel XYθ z mechanism driven by three PEAs. Keeping a high consistence with both analytical and numerical models, the experimental results show the working ranges of ±6.21 μm and ±12.41 μm in X- and Y-directions, and that of ±873.2 μrad in θ z-direction with nano-positioning capability can be realized. The superior performances and easily achievable structure well facilitate practical applications of the proposed XYθ z compliant mechanism in nano-positioning systems.

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

PubMed Central

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

2016-01-01

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

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

PubMed

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

2016-01-01

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

Kinematics and dynamics of vortex rings in a tube

NASA Technical Reports Server (NTRS)

Brasseur, J. G.

1979-01-01

Kinematic theory and flow visualization experiments were combined to examine the dynamic processes which control the evolution of vortex rings from very low to very high Reynolds numbers, and to assess the effects of the wall as a vortex ring travels up a tube. The kinematic relationships among the size, shape, speed, and strength of vortex rings in a tube were computed from the theory. Relatively simple flow visualization measurements were used to calculate the total circulation of a vortex rings at a given time. Using this method, the strength was computated and plotted as a function of time for experimentally produced vortex rings. Reynolds number relationships are established and quantitative differences among the three Reynolds number groups are discussed.

Structural, micro-structural and kinematic analyses of channel flow in the Karmostaj salt diapir in the Zagros foreland folded belt, Fars province, Iran

NASA Astrophysics Data System (ADS)

Sarkarinejad, Khalil; Sarshar, Maryam Asadi; Adineh, Sadegh

2018-02-01

One of the main characteristic of the Zagros foreland fold-and-thrust belt and the Zagros foreland folded belt are wide distributions of surface extrusion from the Hormuz salt diapirs. This study examines the structure and kinematic of channel flow in the Karmostaj salt diapir in the southwestern part of the Zagros foreland folded belt. This diapir has reached the surface as a result of the channel flow mechanism and has extruded in the southern limb of the Kuh-Gach anticline which is an asymmetric décollement fold with convergence to the south. Structural and microstructural studies and quantitative finite strain (Rs) and kinematic vorticity number (Wk) analyses were carried out within this salt diapir and its namakier. This was in order to investigate the structural evolution in the salt diapiric system, the characteristics and mechanism of the salt flow and the distribution of flow regimes within the salt diapir and interaction of regional tectonics and salt diaprism. The extruded salt has developed a flow foliation sub-parallel to the remnant bedding recorded by different colors, a variety of internal folds including symmetrical and asymmetrical folds and interference fold patterns, shear zones, and boudins. These structures were used to analyze mechanisms and history of diapiric flow and extrusion. The microstructures, reveal various deformation mechanisms in various parts of salt diapir. The measurements of finite strain show that Rs values in the margin of salt diapir are higher than within its namakier which is consistent with the results of structural studies. Mean kinematic vorticity number (Wm) measured in steady state deformation of diapir and namakier is Wm = 0.45-0.48 ± 0.13. The estimated mean finite deformation (Wm) values indicate that 67.8% pure shear and 32.2% simple shear deformation were involved; the implications of which are discussed. The vorticity of flow indicates that in the early stage of growth, Poiseuille flow was the dominate mechanism, especially in the core of diapir with higher pure shear component relative to simple shear component, whilst a Couette flow at the margins of diapir is the dominate mechanism with higher simple shear component relative to pure shear component. The obtained kinematic vorticity number reflects spatial partitioning of dominantly Poiseuille flow in core and Couette flow along edges of diapir. These two mechanisms reflect a persistent flow governed by a simultaneous combination of pure shear and simple shear in a hybrid Poiseuille-Coutte Flow.

Growth rate degeneracies in kinematic dynamos

NASA Astrophysics Data System (ADS)

Favier, B.; Proctor, M. R. E.

2013-09-01

We consider the classical problem of kinematic dynamo action in simple steady flows. Due to the adjointness of the induction operator, we show that the growth rate of the dynamo will be exactly the same for two types of magnetic boundary conditions: the magnetic field can be normal (infinite magnetic permeability, also called pseudovacuum) or tangent (perfect electrical conductor) to the boundaries of the domain. These boundary conditions correspond to well-defined physical limits often used in numerical models and relevant to laboratory experiments. The only constraint is for the velocity field u to be reversible, meaning there exists a transformation changing u into -u. We illustrate this surprising property using S2T2 type of flows in spherical geometry inspired by [Dudley and James, Proc. R. Soc. London A1364-502110.1098/rspa.1989.0112 425, 407 (1989)]. Using both types of boundary conditions, it is shown that the growth rates of the dynamos are identical, although the corresponding magnetic eigenmodes are drastically different.

Quasars Probing Galaxies. I. Signatures of Gas Accretion at Redshift z ≈ 0.2

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

Ho, Stephanie H.; Martin, Crystal L.; Kacprzak, Glenn G.

2017-02-01

We describe the kinematics of circumgalactic gas near the galactic plane, combining new measurements of galaxy rotation curves and spectroscopy of background quasars. The sightlines pass within 19–93 kpc of the target galaxy and generally detect Mg ii absorption. The Mg ii Doppler shifts have the same sign as the galactic rotation, so the cold gas co-rotates with the galaxy. Because the absorption spans a broader velocity range than disk rotation can explain, we explore simple models for the circumgalactic kinematics. Gas spiraling inwards (near the disk plane) offers a successful description of the observations. An appendix describes the additionmore » of tangential and radial gas flows and illustrates how the sign of the disk inclination produces testable differences in the projected line-of-sight velocity range. This inflow interpretation implies that cold flow disks remain common down to redshift z ≈ 0.2 and prolong star formation by supplying gas to the disk.« less

A study of the kinematic dynamo equation with time-dependent coefficients

NASA Technical Reports Server (NTRS)

Ko, Chung-Ming

1990-01-01

During an active star formation epoch the interstellar medium of a galaxy is in a hyperactive state, and the average turbulent velocity is higher than in the long periods between star formation epochs. The galactic magnetic field generated by dynamo action depends strongly on the turbulent velocity, so that generation of magnetic field should vary with star formation activity. This paper is a preliminary study of the kinematic dynamo equation with time-dependent coefficients simulating the time dependence of the star formation activities. Ko and Parker argued in a simple model that the thickness of the dynamo region is the most sensitive dynamo parameter. The present work shows that the effect of inflating the galactic disk suddenly is to transform a stationary magnetic field into a growing field while keeping the profile more or less intact. Plane wave solutions for a dynamo with power-law time-dependent parameters show that the field may decay first and then grow, and vice versa, which is quite different from a constant parameter dynamo.

The Kinematic Learning Model using Video and Interfaces Analysis

NASA Astrophysics Data System (ADS)

Firdaus, T.; Setiawan, W.; Hamidah, I.

2017-09-01

An educator currently in demand to apply the learning to not be separated from the development of technology. Educators often experience difficulties when explaining kinematics material, this is because kinematics is one of the lessons that often relate the concept to real life. Kinematics is one of the courses of physics that explains the cause of motion of an object, Therefore it takes the thinking skills and analytical skills in understanding these symptoms. Technology is one that can bridge between conceptual relationship with real life. A framework of technology-based learning models has been developed using video and interfaces analysis on kinematics concept. By using this learning model, learners will be better able to understand the concept that is taught by the teacher. This learning model is able to improve the ability of creative thinking, analytical skills, and problem-solving skills on the concept of kinematics.

Mechanisms underlying rhythmic locomotion: body–fluid interaction in undulatory swimming

PubMed Central

Chen, J.; Friesen, W. O.; Iwasaki, T.

2011-01-01

Swimming of fish and other animals results from interactions of rhythmic body movements with the surrounding fluid. This paper develops a model for the body–fluid interaction in undulatory swimming of leeches, where the body is represented by a chain of rigid links and the hydrodynamic force model is based on resistive and reactive force theories. The drag and added-mass coefficients for the fluid force model were determined from experimental data of kinematic variables during intact swimming, measured through video recording and image processing. Parameter optimizations to minimize errors in simulated model behaviors revealed that the resistive force is dominant, and a simple static function of relative velocity captures the essence of hydrodynamic forces acting on the body. The model thus developed, together with the experimental kinematic data, allows us to investigate temporal and spatial (along the body) distributions of muscle actuation, body curvature, hydrodynamic thrust and drag, muscle power supply and energy dissipation into the fluid. We have found that: (1) thrust is generated continuously along the body with increasing magnitude toward the tail, (2) drag is nearly constant along the body, (3) muscle actuation waves travel two or three times faster than the body curvature waves and (4) energy for swimming is supplied primarily by the mid-body muscles, transmitted through the body in the form of elastic energy, and dissipated into the water near the tail. PMID:21270304

String and Sticky Tape Experiments.

ERIC Educational Resources Information Center

Edge, R. D., Ed.

1979-01-01

Explains how to demonstrate the fundamentals of one dimensional kinematics such as Newton's third law of motion, and collision between bodies, using simple materials of marbles, strings, sticky tape, drinking straws, and rubber bands. (GA)

The Rover Environmental Monitoring Station Ground Temperature Sensor: a pyrometer for measuring ground temperature on Mars.

PubMed

Sebastián, Eduardo; Armiens, Carlos; Gómez-Elvira, Javier; Zorzano, María P; Martinez-Frias, Jesus; Esteban, Blanca; Ramos, Miguel

2010-01-01

We describe the parameters that drive the design and modeling of the Rover Environmental Monitoring Station (REMS) Ground Temperature Sensor (GTS), an instrument aboard NASA's Mars Science Laboratory, and report preliminary test results. REMS GTS is a lightweight, low-power, and low cost pyrometer for measuring the Martian surface kinematic temperature. The sensor's main feature is its innovative design, based on a simple mechanical structure with no moving parts. It includes an in-flight calibration system that permits sensor recalibration when sensor sensitivity has been degraded by deposition of dust over the optics. This paper provides the first results of a GTS engineering model working in a Martian-like, extreme environment.

Determining residual reduction algorithm kinematic tracking weights for a sidestep cut via numerical optimization.

PubMed

Samaan, Michael A; Weinhandl, Joshua T; Bawab, Sebastian Y; Ringleb, Stacie I

2016-12-01

Musculoskeletal modeling allows for the determination of various parameters during dynamic maneuvers by using in vivo kinematic and ground reaction force (GRF) data as inputs. Differences between experimental and model marker data and inconsistencies in the GRFs applied to these musculoskeletal models may not produce accurate simulations. Therefore, residual forces and moments are applied to these models in order to reduce these differences. Numerical optimization techniques can be used to determine optimal tracking weights of each degree of freedom of a musculoskeletal model in order to reduce differences between the experimental and model marker data as well as residual forces and moments. In this study, the particle swarm optimization (PSO) and simplex simulated annealing (SIMPSA) algorithms were used to determine optimal tracking weights for the simulation of a sidestep cut. The PSO and SIMPSA algorithms were able to produce model kinematics that were within 1.4° of experimental kinematics with residual forces and moments of less than 10 N and 18 Nm, respectively. The PSO algorithm was able to replicate the experimental kinematic data more closely and produce more dynamically consistent kinematic data for a sidestep cut compared to the SIMPSA algorithm. Future studies should use external optimization routines to determine dynamically consistent kinematic data and report the differences between experimental and model data for these musculoskeletal simulations.

One- and multi-segment foot models lead to opposite results on ankle joint kinematics during gait: Implications for clinical assessment.

PubMed

Pothrat, Claude; Authier, Guillaume; Viehweger, Elke; Berton, Eric; Rao, Guillaume

2015-06-01

Biomechanical models representing the foot as a single rigid segment are commonly used in clinical or sport evaluations. However, neglecting internal foot movements could lead to significant inaccuracies on ankle joint kinematics. The present study proposed an assessment of 3D ankle kinematic outputs using two distinct biomechanical models and their application in the clinical flat foot case. Results of the Plug in Gait (one segment foot model) and the Oxford Foot Model (multisegment foot model) were compared for normal children (9 participants) and flat feet children (9 participants). Repeated measures of Analysis of Variance have been performed to assess the Foot model and Group effects on ankle joint kinematics. Significant differences were observed between the two models for each group all along the gait cycle. In particular for the flat feet group, opposite results between the Oxford Foot Model and the Plug in Gait were revealed at heelstrike, with the Plug in Gait showing a 4.7° ankle dorsal flexion and 2.7° varus where the Oxford Foot Model showed a 4.8° ankle plantar flexion and 1.6° valgus. Ankle joint kinematics of the flat feet group was more affected by foot modeling than normal group. Foot modeling appeared to have a strong influence on resulting ankle kinematics. Moreover, our findings showed that this influence could vary depending on the population. Studies involving ankle joint kinematic assessment should take foot modeling with caution. Copyright © 2015 Elsevier Ltd. All rights reserved.

The effect of resistance level and stability demands on recruitment patterns and internal loading of spine in dynamic flexion and extension using a simple trunk model.

PubMed

Zeinali-Davarani, Shahrokh; Shirazi-Adl, Aboulfazl; Dariush, Behzad; Hemami, Hooshang; Parnianpour, Mohamad

2011-07-01

The effects of external resistance on the recruitment of trunk muscles in sagittal movements and the coactivation mechanism to maintain spinal stability were investigated using a simple computational model of iso-resistive spine sagittal movements. Neural excitation of muscles was attained based on inverse dynamics approach along with a stability-based optimisation. The trunk flexion and extension movements between 60° flexion and the upright posture against various resistance levels were simulated. Incorporation of the stability constraint in the optimisation algorithm required higher antagonistic activities for all resistance levels mostly close to the upright position. Extension movements showed higher coactivation with higher resistance, whereas flexion movements demonstrated lower coactivation indicating a greater stability demand in backward extension movements against higher resistance at the neighbourhood of the upright posture. Optimal extension profiles based on minimum jerk, work and power had distinct kinematics profiles which led to recruitment patterns with different timing and amplitude of activation.

Exploring the neural bases of goal-directed motor behavior using fully resolved simulations

NASA Astrophysics Data System (ADS)

Patel, Namu; Patankar, Neelesh A.

2016-11-01

Undulatory swimming is an ideal problem for understanding the neural architecture for motor control and movement; a vertebrate's robust morphology and adaptive locomotive gait allows the swimmer to navigate complex environments. Simple mathematical models for neurally activated muscle contractions have been incorporated into a swimmer immersed in fluid. Muscle contractions produce bending moments which determine the swimming kinematics. The neurobiology of goal-directed locomotion is explored using fast, efficient, and fully resolved constraint-based immersed boundary simulations. Hierarchical control systems tune the strength, frequency, and duty cycle for neural activation waves to produce multifarious swimming gaits or synergies. Simulation results are used to investigate why the basal ganglia and other control systems may command a particular neural pattern to accomplish a task. Using simple neural models, the effect of proprioceptive feedback on refining the body motion is demonstrated. Lastly, the ability for a learned swimmer to successfully navigate a complex environment is tested. This work is supported by NSF CBET 1066575 and NSF CMMI 0941674.

An inverse dynamics approach to face animation.

PubMed

Pitermann, M; Munhall, K G

2001-09-01

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

Dynamic analysis of forces in the lumbar spine during bag carrying.

PubMed

Gómez, Lessby; Díaz, Carlos A; Orozco, Gustavo A; García, José J

2017-09-07

The intervertebral disc supports axial and shear forces generated during tasks such as lifting and carrying weights. The objective of this study was to determine the forces in the lumbar spine of workers carrying a bag on the head, on the shoulder and on the anterior part of the trunk. Kinematic measurements were recorded for 10 subjects carrying bags of 10, 20 and 25 kg on each of the three aforementioned positions. A simple dynamic model implemented in a custom program was then developed to determine the lumbar forces using the accelerations and positions obtained from the kinematic analysis. The analyses yielded a maximum compressive force of 2338.4 ± 422 N when a 25-kg bag was carried on the anterior part of the trunk. Carrying bags on the anterior part of the trunk generated higher lumbar forces compared to those developed by carrying the bag on the head or on the shoulder. Force levels suggest that this activity represents a moderate risk for the subjects. However, future biomechanical models should be developed to analyze the cumulative effect in the discs when longer periods of time are spent in this activity.

Slithering on sand: kinematics and controls for success on granular media

NASA Astrophysics Data System (ADS)

Schiebel, Perrin E.; Zhang, Tingnan; Dai, Jin; Gong, Chaohui; Yu, Miao; Astley, Henry C.; Travers, Matthew; Choset, Howie; Goldman, Daniel I.

Previously, we studied the subsurfacelocomotion of undulatory sand-swimming snakes and lizards; using empirical drag response of GM to subsurface intrusion of simple objects allowed us to develop a granular resistive force theory (RFT) to model the locomotion and predict optimal movement patterns. However, our knowledge of the physics of GM at the surface is limited; this makes it impossible to determine how the desert-dwelling snake C. occipitalis moves effectively (0.45 +/-0.04 bodylengths/sec) on the surface of sand .We combine organism biomechanics studies, GM drag experiments, RFT calculations and tests of a physical model (a snake-like robot), to reveal how multiple factors acting together contribute to slithering on sandy surfaces. These include the kinematics--targeting an ideal waveform which maximizes speed while minimizing joint-level torque, the ability to modulate ground interactions by lifting body segments, and the properties of the GM. Based on the sensitive nature of the relationship between these factors, we hypothesize that having an element of force-based control, where the waveform is modulated in response to the forces acting between the body and the environment, is necessary for successful locomotion on yielding substrates.

Effect of the mandible on mouthguard measurements of head kinematics.

PubMed

Kuo, Calvin; Wu, Lyndia C; Hammoor, Brad T; Luck, Jason F; Cutcliffe, Hattie C; Lynall, Robert C; Kait, Jason R; Campbell, Kody R; Mihalik, Jason P; Bass, Cameron R; Camarillo, David B

2016-06-14

Wearable sensors are becoming increasingly popular for measuring head motions and detecting head impacts. Many sensors are worn on the skin or in headgear and can suffer from motion artifacts introduced by the compliance of soft tissue or decoupling of headgear from the skull. The instrumented mouthguard is designed to couple directly to the upper dentition, which is made of hard enamel and anchored in a bony socket by stiff ligaments. This gives the mouthguard superior coupling to the skull compared with other systems. However, multiple validation studies have yielded conflicting results with respect to the mouthguard׳s head kinematics measurement accuracy. Here, we demonstrate that imposing different constraints on the mandible (lower jaw) can alter mouthguard kinematic accuracy in dummy headform testing. In addition, post mortem human surrogate tests utilizing the worst-case unconstrained mandible condition yield 40% and 80% normalized root mean square error in angular velocity and angular acceleration respectively. These errors can be modeled using a simple spring-mass system in which the soft mouthguard material near the sensors acts as a spring and the mandible as a mass. However, the mouthguard can be designed to mitigate these disturbances by isolating sensors from mandible loads, improving accuracy to below 15% normalized root mean square error in all kinematic measures. Thus, while current mouthguards would suffer from measurement errors in the worst-case unconstrained mandible condition, future mouthguards should be designed to account for these disturbances and future validation testing should include unconstrained mandibles to ensure proper accuracy. Copyright © 2016 Elsevier Ltd. All rights reserved.

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

PubMed

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

2018-03-01

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

Comparative Validation of Realtime Solar Wind Forecasting Using the UCSD Heliospheric Tomography Model

NASA Technical Reports Server (NTRS)

MacNeice, Peter; Taktakishvili, Alexandra; Jackson, Bernard; Clover, John; Bisi, Mario; Odstrcil, Dusan

2011-01-01

The University of California, San Diego 3D Heliospheric Tomography Model reconstructs the evolution of heliospheric structures, and can make forecasts of solar wind density and velocity up to 72 hours in the future. The latest model version, installed and running in realtime at the Community Coordinated Modeling Center(CCMC), analyzes scintillations of meter wavelength radio point sources recorded by the Solar-Terrestrial Environment Laboratory(STELab) together with realtime measurements of solar wind speed and density recorded by the Advanced Composition Explorer(ACE) Solar Wind Electron Proton Alpha Monitor(SWEPAM).The solution is reconstructed using tomographic techniques and a simple kinematic wind model. Since installation, the CCMC has been recording the model forecasts and comparing them with ACE measurements, and with forecasts made using other heliospheric models hosted by the CCMC. We report the preliminary results of this validation work and comparison with alternative models.

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

PubMed

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

2004-11-01

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

The Kinematics of Multiple-peaked Lyα Emission in Star-forming Galaxies at z ~ 2-3

NASA Astrophysics Data System (ADS)

Kulas, Kristin R.; Shapley, Alice E.; Kollmeier, Juna A.; Zheng, Zheng; Steidel, Charles C.; Hainline, Kevin N.

2012-01-01

We present new results on the Lyα emission-line kinematics of 18 z ~ 2-3 star-forming galaxies with multiple-peaked Lyα profiles. With our large spectroscopic database of UV-selected star-forming galaxies at these redshifts, we have determined that ~30% of such objects with detectable Lyα emission display multiple-peaked emission profiles. These profiles provide additional constraints on the escape of Lyα photons due to the rich velocity structure in the emergent line. Despite recent advances in modeling the escape of Lyα from star-forming galaxies at high redshifts, comparisons between models and data are often missing crucial observational information. Using Keck II NIRSPEC spectra of Hα (z ~ 2) and [O III]λ5007 (z ~ 3), we have measured accurate systemic redshifts, rest-frame optical nebular velocity dispersions, and emission-line fluxes for the objects in the sample. In addition, rest-frame UV luminosities and colors provide estimates of star formation rates and the degree of dust extinction. In concert with the profile sub-structure, these measurements provide critical constraints on the geometry and kinematics of interstellar gas in high-redshift galaxies. Accurate systemic redshifts allow us to translate the multiple-peaked Lyα profiles into velocity space, revealing that the majority (11/18) display double-peaked emission straddling the velocity-field zero point with stronger red-side emission. Interstellar absorption-line kinematics suggest the presence of large-scale outflows for the majority of objects in our sample, with an average measured interstellar absorption velocity offset of langΔv absrang = -230 km s-1. A comparison of the interstellar absorption kinematics for objects with multiple- and single-peaked Lyα profiles indicate that the multiple-peaked objects are characterized by significantly narrower absorption line widths. We compare our data with the predictions of simple models for outflowing and infalling gas distributions around high-redshift galaxies. While popular "shell" models provide a qualitative match with many of the observations of Lyα emission, we find that in detail there are important discrepancies between the models and data, as well as problems with applying the framework of an expanding thin shell of gas to explain high-redshift galaxy spectra. Our data highlight these inconsistencies, as well as illuminating critical elements for success in future models of outflow and infall in high-redshift galaxies. Based, in part, on data obtained at the W. M. Keck Observatory, which is operated as a scientific partnership among the California Institute of Technology, the University of California, and NASA, and was made possible by the generous financial support of the W. M. Keck Foundation.

Focusing on Concepts by Covering Them Simultaneously

NASA Astrophysics Data System (ADS)

Schwartz, Pete

2017-05-01

"Parallel" pedagogy covers the four mechanics concepts of momentum, energy, forces, and kinematics simultaneously instead of building each concept on an understanding of the previous one. Course content is delivered through interactive videos, allowing class time for group work and student-centered activities. We start with simple examples, building complexity throughout the course with the introduction of springs, two dimensions, vectors, energy diagrams, universal gravitation, and rotation. Success means that students ponder underlying physics concepts rather than hunt for formulas. Surveys indicate that students accept this learning model well and have considerable improvement in applied conceptual understanding.

Prediction of In Vivo Knee Joint Kinematics Using a Combined Dual Fluoroscopy Imaging and Statistical Shape Modeling Technique

PubMed Central

Li, Jing-Sheng; Tsai, Tsung-Yuan; Wang, Shaobai; Li, Pingyue; Kwon, Young-Min; Freiberg, Andrew; Rubash, Harry E.; Li, Guoan

2014-01-01

Using computed tomography (CT) or magnetic resonance (MR) images to construct 3D knee models has been widely used in biomedical engineering research. Statistical shape modeling (SSM) method is an alternative way to provide a fast, cost-efficient, and subject-specific knee modeling technique. This study was aimed to evaluate the feasibility of using a combined dual-fluoroscopic imaging system (DFIS) and SSM method to investigate in vivo knee kinematics. Three subjects were studied during a treadmill walking. The data were compared with the kinematics obtained using a CT-based modeling technique. Geometric root-mean-square (RMS) errors between the knee models constructed using the SSM and CT-based modeling techniques were 1.16 mm and 1.40 mm for the femur and tibia, respectively. For the kinematics of the knee during the treadmill gait, the SSM model can predict the knee kinematics with RMS errors within 3.3 deg for rotation and within 2.4 mm for translation throughout the stance phase of the gait cycle compared with those obtained using the CT-based knee models. The data indicated that the combined DFIS and SSM technique could be used for quick evaluation of knee joint kinematics. PMID:25320846

Performance variation due to stiffness in a tuna-inspired flexible foil model.

PubMed

Rosic, Mariel-Luisa N; Thornycroft, Patrick J M; Feilich, Kara L; Lucas, Kelsey N; Lauder, George V

2017-01-17

Tuna are fast, economical swimmers in part due to their stiff, high aspect ratio caudal fins and streamlined bodies. Previous studies using passive caudal fin models have suggested that while high aspect ratio tail shapes such as a tuna's generally perform well, tail performance cannot be determined from shape alone. In this study, we analyzed the swimming performance of tuna-tail-shaped hydrofoils of a wide range of stiffnesses, heave amplitudes, and frequencies to determine how stiffness and kinematics affect multiple swimming performance parameters for a single foil shape. We then compared the foil models' kinematics with published data from a live swimming tuna to determine how well the hydrofoil models could mimic fish kinematics. Foil kinematics over a wide range of motion programs generally showed a minimum lateral displacement at the narrowest part of the foil, and, immediately anterior to that, a local area of large lateral body displacement. These two kinematic patterns may enhance thrust in foils of intermediate stiffness. Stiffness and kinematics exhibited subtle interacting effects on hydrodynamic efficiency, with no one stiffness maximizing both thrust and efficiency. Foils of intermediate stiffnesses typically had the greatest coefficients of thrust at the highest heave amplitudes and frequencies. The comparison of foil kinematics with tuna kinematics showed that tuna motion is better approximated by a zero angle of attack foil motion program than by programs that do not incorporate pitch. These results indicate that open questions in biomechanics may be well served by foil models, given appropriate choice of model characteristics and control programs. Accurate replication of biological movements will require refinement of motion control programs and physical models, including the creation of models of variable stiffness.

All two-loop maximally helicity-violating amplitudes in multi-Regge kinematics from applied symbology

NASA Astrophysics Data System (ADS)

Prygarin, Alexander; Spradlin, Marcus; Vergu, Cristian; Volovich, Anastasia

2012-04-01

Recent progress on scattering amplitudes has benefited from the mathematical technology of symbols for efficiently handling the types of polylogarithm functions which frequently appear in multiloop computations. The symbol for all two-loop maximally helicity violating amplitudes in planar supersymmetric Yang-Mills theory is known, but explicit analytic formulas for the amplitudes are hard to come by except in special limits where things simplify, such as multi-Regge kinematics. By applying symbology we obtain a formula for the leading behavior of the imaginary part (the Mandelstam cut contribution) of this amplitude in multi-Regge kinematics for any number of gluons. Our result predicts a simple recursive structure which agrees with a direct Balitsky-Fadin-Kuraev-Lipatov computation carried out in a parallel publication.

A simple model for studying rotation errors of gimbal mount axes in laser tracking system based on spherical mirror as a reflection unit

NASA Astrophysics Data System (ADS)

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

2018-01-01

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

A real-time computational model for estimating kinematics of ankle ligaments.

PubMed

Zhang, Mingming; Davies, T Claire; Zhang, Yanxin; Xie, Sheng Quan

2016-01-01

An accurate assessment of ankle ligament kinematics is crucial in understanding the injury mechanisms and can help to improve the treatment of an injured ankle, especially when used in conjunction with robot-assisted therapy. A number of computational models have been developed and validated for assessing the kinematics of ankle ligaments. However, few of them can do real-time assessment to allow for an input into robotic rehabilitation programs. An ankle computational model was proposed and validated to quantify the kinematics of ankle ligaments as the foot moves in real-time. This model consists of three bone segments with three rotational degrees of freedom (DOFs) and 12 ankle ligaments. This model uses inputs for three position variables that can be measured from sensors in many ankle robotic devices that detect postures within the foot-ankle environment and outputs the kinematics of ankle ligaments. Validation of this model in terms of ligament length and strain was conducted by comparing it with published data on cadaver anatomy and magnetic resonance imaging. The model based on ligament lengths and strains is in concurrence with those from the published studies but is sensitive to ligament attachment positions. This ankle computational model has the potential to be used in robot-assisted therapy for real-time assessment of ligament kinematics. The results provide information regarding the quantification of kinematics associated with ankle ligaments related to the disability level and can be used for optimizing the robotic training trajectory.

Kinematical analysis of the ejecta created after a catastrophic collision

NASA Astrophysics Data System (ADS)

Dell'Oro, A.; Cellino, A.; Paolicchi, P.; Tanga, P.

2014-07-01

The creation of an asteroid dynamical family as the outcome of a high-energy collision is essentially a two-step process: (1) the hydrodynamical phase, when the colliding system (projectile+target) is partially or completely shattered and the fragments are ejected (with several side effects, such as the creation of a plasma cloud, usually not relevant for the final observable properties); (2) the ballistic phase, when the ejecta collide or are reaccumulated due to the mutual gravity. At the end of this phase, the asteroid family is established, and its observable properties, also after a long time interval of dynamical evolution (including Yarkovsky-driven acceleration of the small members), have significant footprints of this original structure. In turn, this structure depends on the overall properties (mass and velocity distributions) in the beginning of the ballistic phase (D'Abramo et al. 1999, Michel et al. 2004). According to the results of hydrodynamical simulations, most of the ejecta entering the ballistic phase are small (their size is essentially limited by the resolution of the code). A kinematical analysis of their properties may be helpful to clarify several points: 1) How can these small fragments reaccumulate into larger bodies, to create an observable family? If one starts from an expanding field and a set of small fragments, it is not easy to obtain a significant reaccumulation into many bodies; simple kinematical models, such as spherical expansion, but also the less symmetrical geometries defined from the semiempirical models of the 90's, allow essentially a more or less massive reaccumulation into very few bodies (sometimes only the largest remnant). What are the general properties of an ejection field causing a process of reaccumulation able to produce the observational evidence? 2) May some significant results be resolution-dependent? 3) Is it possible to define a general qualitative pattern of the ejecta field, allowing, in principle, to avoid huge computations, whenever one is interested in the general properties of the process, and not in the details? In this preliminary analysis, we have studied a pair of ejecta fields produced by old SPH computations (Michel et al., 2001). The most surprising and significant indication is that, at least in these cases, about 20 % of the original ejecta appear to have initially crossing trajectories forcing them to have necessarily mutual impacts, without any role played by the mutual gravity. This property marks a significant difference with respect to the ''simple'' models, usually allowing collisions only as a consequence of the gravity, and might be important to shape the reaccumulation properties. It has to be noted that this property is not resolution-independent (in principle, for a given total volume of the ejecta, a larger number of smaller ejecta with similar kinematical properties should entail a larger collision probability). We also discuss the possibility of identifying in these ejection fields an analogue of the ''irradiation point'' usually defined in the semiempirical models.

Geometric and Kinematic Structure of the Outflow/Envelope System of L1527 Revealed by Subarcsecond-resolution Observation of CS

NASA Astrophysics Data System (ADS)

Oya, Yoko; Sakai, Nami; Lefloch, Bertrand; López-Sepulcre, Ana; Watanabe, Yoshimasa; Ceccarelli, Cecilia; Yamamoto, Satoshi

2015-10-01

Subarcsecond-resolution images of the rotational line emissions of CS and c-C3H2 obtained toward the low-mass protostar IRAS 04368+2557 in L1527 with the Atacama Large Millimeter/submillimeter Array are investigated to constrain the orientation of the outflow/envelope system. The distribution of CS consists of an envelope component extending from north to south and a faint butterfly shaped outflow component. The kinematic structure of the envelope is well reproduced by a simple ballistic model of an infalling rotating envelope. Although the envelope has a nearly edge-on configuration, we find that the western side of the envelope faces the observer. This configuration is opposite to the direction of the large-scale (˜104 AU) outflow suggested previously from the 12CO (J = 3-2) observation, and to the morphology of infrared reflection near the protostar (˜200 AU). The latter discrepancy could originate from high extinction by the outflow cavity of the western side, or may indicate that the outflow axis is not parallel to the rotation axis of the envelope. Position-velocity diagrams show the accelerated outflow cavity wall, and its kinematic structure in the 2000 AU scale is explained by a standard parabolic model with the inclination angle derived from the analysis of the envelope. The different orientation of the outflow between the small and large scale implies a possibility of precession of the outflow axis. The shape and the velocity of the outflow in the vicinity of the protostar are compared with those of other protostars.

A multiple fault rupture model of the November 13 2016, M 7.8 Kaikoura earthquake, New Zealand

NASA Astrophysics Data System (ADS)

Benites, R. A.; Francois-Holden, C.; Langridge, R. M.; Kaneko, Y.; Fry, B.; Kaiser, A. E.; Caldwell, T. G.

2017-12-01

The rupture-history of the November 13 2016 MW7.8 Kaikoura earthquake recorded by near- and intermediate-field strong-motion seismometers and 2 high-rate GPS stations reveals a complex cascade of multiple crustal fault rupture. In spite of such complexity, we show that the rupture history of each fault is well approximated by simple kinematic model with uniform slip and rupture velocity. Using 9 faults embedded in a crustal layer 19 km thick, each with a prescribed slip vector and rupture velocity, this model accurately reproduces the displacement waveforms recorded at the near-field strong-motion and GPS stations. This model includes the `Papatea Fault' with a mixed thrust and strike-slip mechanism based on in-situ geological observations with up to 8 m of uplift observed. Although the kinematic model fits the ground-motion at the nearest strong station, it doesn not reproduce the one sided nature of the static deformation field observed geodetically. This suggests a dislocation based approach does not completely capture the mechanical response of the Papatea Fault. The fault system as a whole extends for approximately 150 km along the eastern side of the Marlborough fault system in the South Island of New Zealand. The total duration of the rupture was 74 seconds. The timing and location of each fault's rupture suggests fault interaction and triggering resulting in a northward cascade crustal ruptures. Our model does not require rupture of the underlying subduction interface to explain the data.

A Discrete Fracture Network Model with Stress-Driven Nucleation and Growth

NASA Astrophysics Data System (ADS)

Lavoine, E.; Darcel, C.; Munier, R.; Davy, P.

2017-12-01

The realism of Discrete Fracture Network (DFN) models, beyond the bulk statistical properties, relies on the spatial organization of fractures, which is not issued by purely stochastic DFN models. The realism can be improved by injecting prior information in DFN from a better knowledge of the geological fracturing processes. We first develop a model using simple kinematic rules for mimicking the growth of fractures from nucleation to arrest, in order to evaluate the consequences of the DFN structure on the network connectivity and flow properties. The model generates fracture networks with power-law scaling distributions and a percentage of T-intersections that are consistent with field observations. Nevertheless, a larger complexity relying on the spatial variability of natural fractures positions cannot be explained by the random nucleation process. We propose to introduce a stress-driven nucleation in the timewise process of this kinematic model to study the correlations between nucleation, growth and existing fracture patterns. The method uses the stress field generated by existing fractures and remote stress as an input for a Monte-Carlo sampling of nuclei centers at each time step. Networks so generated are found to have correlations over a large range of scales, with a correlation dimension that varies with time and with the function that relates the nucleation probability to stress. A sensibility analysis of input parameters has been performed in 3D to quantify the influence of fractures and remote stress field orientations.

Efficient Jacobian inversion for the control of simple robot manipulators

NASA Technical Reports Server (NTRS)

Fijany, Amir; Bejczy, Antal K.

1988-01-01

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

Zero-Inertial Recession for a Kinematic Wave Model

USDA-ARS?s Scientific Manuscript database

Kinematic-wave models of surface irrigation assume a fixed relationship between depth and discharge (typically, normal depth). When surface irrigation inflow is cut off, the calculated upstream flow depth goes to zero, since the discharge is zero. For short time steps, use of the Kinematic Wave mode...

Measuring the Coefficient of Restitution and More: A Simple Experiment to Promote Students' Critical Thinking and Autonomous Work

ERIC Educational Resources Information Center

González, Manuel Á.; González, Miguel Á.; Vegas, Jesús; Llamas, César

2017-01-01

A simple experiment on the determination of the coefficient of restitution of different materials is taken as the basis of an extendable work that can be done by students in an autonomous way. On the whole, the work described in this paper would involve concepts of kinematics, materials science, air drag and buoyancy, and would help students to…

Light dark matter through assisted annihilation

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

Dey, Ujjal Kumar; Maity, Tarak Nath; Ray, Tirtha Sankar, E-mail: ujjal@cts.iitkgp.ernet.in, E-mail: tarak.maity.physics@gmail.com, E-mail: tirthasankar.ray@gmail.com

2017-03-01

In this paper we investigate light dark matter scenarios where annihilation to Standard Model particles at tree-level is kinematically forbidden. In such cases annihilation can be aided by massive Standard Model-like species, called assisters , in the initial state that enhances the available phase space opening up novel tree-level processes. We investigate the feasibility of such non-standard assisted annihilation processes to reproduce the observed relic density of dark matter. We present a simple scalar dark matter-scalar assister model where this is realised. We find that if the dark matter and assister are relatively degenerate the required relic density can bemore » achieved for a keV-MeV scale dark matter. We briefly discuss the cosmological constraints on such dark matter scenarios.« less

Kinematics of fault-related folding derived from a sandbox experiment

NASA Astrophysics Data System (ADS)

Bernard, Sylvain; Avouac, Jean-Philippe; Dominguez, StéPhane; Simoes, Martine

2007-03-01

We analyze the kinematics of fault tip folding at the front of a fold-and-thrust wedge using a sandbox experiment. The analog model consists of sand layers intercalated with low-friction glass bead layers, deposited in a glass-sided experimental device and with a total thickness h = 4.8 cm. A computerized mobile backstop induces progressive horizontal shortening of the sand layers and therefore thrust fault propagation. Active deformation at the tip of the forward propagating basal décollement is monitored along the cross section with a high-resolution CCD camera, and the displacement field between pairs of images is measured from the optical flow technique. In the early stage, when cumulative shortening is less than about h/10, slip along the décollement tapers gradually to zero and the displacement gradient is absorbed by distributed deformation of the overlying medium. In this stage of detachment tip folding, horizontal displacements decrease linearly with distance toward the foreland. Vertical displacements reflect a nearly symmetrical mode of folding, with displacements varying linearly between relatively well defined axial surfaces. When the cumulative slip on the décollement exceeds about h/10, deformation tends to localize on a few discrete shear bands at the front of the system, until shortening exceeds h/8 and deformation gets fully localized on a single emergent frontal ramp. The fault geometry subsequently evolves to a sigmoid shape and the hanging wall deforms by simple shear as it overthrusts the flat ramp system. As long as strain localization is not fully established, the sand layers experience a combination of thickening and horizontal shortening, which induces gradual limb rotation. The observed kinematics can be reduced to simple analytical expressions that can be used to restore fault tip folds, relate finite deformation to incremental folding, and derive shortening rates from deformed geomorphic markers or growth strata.

An upper limb robot model of children limb for cerebral palsy neurorehabilitation.

PubMed

Pathak, Yagna; Johnson, Michelle

2012-01-01

Robot therapy has emerged in the last few decades as a tool to help patients with neurological injuries relearn motor tasks and improve their quality of life. The main goal of this study was to develop a simple model of the human arm for children affected with cerebral palsy (CP). The Simulink based model presented here shows a comparison for children with and without disabilities (ages 6-15) with normal and reduced range of motion in the upper limb. The model incorporates kinematic and dynamic considerations required for activities of daily living. The simulation was conducted using Matlab/Simulink and will eventually be integrated with a robotic counterpart to develop a physical robot that will provide assistance in activities of daily life (ADLs) to children with CP while also aiming to improve motor recovery.

Statefinder diagnostic for modified Chaplygin gas cosmology in f(R,T) gravity with particle creation

NASA Astrophysics Data System (ADS)

Singh, J. K.; Nagpal, Ritika; Pacif, S. K. J.

In this paper, we have studied flat Friedmann-Lemaître-Robertson-Walker (FLRW) model with modified Chaplygin gas (MCG) having equation of state pm = Aρ ‑ B ργ, where 0 ≤ A ≤ 1, 0 ≤ γ ≤ 1 and B is any positive constant in f(R,T) gravity with particle creation. We have considered a simple parametrization of the Hubble parameter H in order to solve the field equations and discussed the time evolution of different cosmological parameters for some obtained models showing unique behavior of scale factor. We have also discussed the statefinder diagnostic pair {r,s} that characterizes the evolution of obtained models and explore their stability. The physical consequences of the models and their kinematic behaviors have also been scrutinized here in some detail.

Fish Pectoral Fin Hydrodynamics; Part III: Low Dimensional Models via POD Analysis

NASA Astrophysics Data System (ADS)

Bozkurttas, M.; Madden, P.

2005-11-01

The highly complex kinematics of the pectoral fin and the resulting hydrodynamics does not lend itself easily to analysis based on simple notions of pitching/heaving/paddling kinematics or lift/drag based propulsive mechanisms. A more inventive approach is needed to dissect the fin gait and gain insight into the hydrodynamic performance of the pectoral fin. The focus of the current work is on the hydrodynamics of the pectoral fin of a bluegill sunfish in steady forward motion. The 3D, time-dependent fin kinematics is obtained via a stereo-videographic technique. We employ proper orthogonal decomposition to extract the essential features of the fin gait and then use CFD to examine the hydrodynamics of simplified gaits synthesized from the POD modes. The POD spectrum shows that the first two, three and five POD modes capture 55%, 67%, and 80% of the motion respectively. The first three modes are in particular highly distinct: Mode-1 is a ``cupping'' motion where the fin cups forward as it is abducted; Mode-2 is an ``expansion'' motion where the fin expands to present a larger area during adduction and finally Mode-3 involves a ``spanwise flick'' of the dorsal edge of the fin. Numerical simulation of flow past fin gaits synthesized from these modes lead to insights into the mechanisms of thrust production; these are discussed in detail.

The Projectile Inside the Loop

ERIC Educational Resources Information Center

Varieschi, Gabriele U.

2006-01-01

The loop-the-loop demonstration can be easily adapted to study the kinematics of projectile motion, when the moving body falls inside the apparatus. Video capturing software can be used to reveal peculiar geometrical effects of this simple but educational experiment.

Modeling of Continuum Manipulators Using Pythagorean Hodograph Curves.

PubMed

Singh, Inderjeet; Amara, Yacine; Melingui, Achille; Mani Pathak, Pushparaj; Merzouki, Rochdi

2018-05-10

Research on continuum manipulators is increasingly developing in the context of bionic robotics because of their many advantages over conventional rigid manipulators. Due to their soft structure, they have inherent flexibility, which makes it a huge challenge to control them with high performances. Before elaborating a control strategy of such robots, it is essential to reconstruct first the behavior of the robot through development of an approximate behavioral model. This can be kinematic or dynamic depending on the conditions of operation of the robot itself. Kinematically, two types of modeling methods exist to describe the robot behavior; quantitative methods describe a model-based method, and qualitative methods describe a learning-based method. In kinematic modeling of continuum manipulator, the assumption of constant curvature is often considered to simplify the model formulation. In this work, a quantitative modeling method is proposed, based on the Pythagorean hodograph (PH) curves. The aim is to obtain a three-dimensional reconstruction of the shape of the continuum manipulator with variable curvature, allowing the calculation of its inverse kinematic model (IKM). It is noticed that the performances of the PH-based kinematic modeling of continuum manipulators are considerable regarding position accuracy, shape reconstruction, and time/cost of the model calculation, than other kinematic modeling methods, for two cases: free load manipulation and variable load manipulation. This modeling method is applied to the compact bionic handling assistant (CBHA) manipulator for validation. The results are compared with other IKMs developed in case of CBHA manipulator.

The Glasgow-Maastricht foot model, evaluation of a 26 segment kinematic model of the foot.

PubMed

Oosterwaal, Michiel; Carbes, Sylvain; Telfer, Scott; Woodburn, James; Tørholm, Søren; Al-Munajjed, Amir A; van Rhijn, Lodewijk; Meijer, Kenneth

2016-01-01

Accurately measuring of intrinsic foot kinematics using skin mounted markers is difficult, limited in part by the physical dimensions of the foot. Existing kinematic foot models solve this problem by combining multiple bones into idealized rigid segments. This study presents a novel foot model that allows the motion of the 26 bones to be individually estimated via a combination of partial joint constraints and coupling the motion of separate joints using kinematic rhythms. Segmented CT data from one healthy subject was used to create a template Glasgow-Maastricht foot model (GM-model). Following this, the template was scaled to produce subject-specific models for five additional healthy participants using a surface scan of the foot and ankle. Forty-three skin mounted markers, mainly positioned around the foot and ankle, were used to capture the stance phase of the right foot of the six healthy participants during walking. The GM-model was then applied to calculate the intrinsic foot kinematics. Distinct motion patterns where found for all joints. The variability in outcome depended on the location of the joint, with reasonable results for sagittal plane motions and poor results for transverse plane motions. The results of the GM-model were comparable with existing literature, including bone pin studies, with respect to the range of motion, motion pattern and timing of the motion in the studied joints. This novel model is the most complete kinematic model to date. Further evaluation of the model is warranted.

Application of kinematic vorticity techniques for mylonitized Rocks in Al Amar suture, eastern Arabian Shield, Saudi Arabia

NASA Astrophysics Data System (ADS)

Hamimi, Z.; Kassem, O. M. K.; El-Sabrouty, M. N.

2015-09-01

The rotation of rigid objects within a flowing viscous medium is a function of several factors including the degree of non-coaxiality. The relationship between the orientation of such objects and their aspect ratio can be used in vorticity analyses in a variety of geological settings. Method for estimation of vorticity analysis to quantitative of kinematic vorticity number (Wm) has been applied using rotated rigid objects, such as quartz and feldspar objects. The kinematic vorticity number determined for high temperature mylonitic Abt schist in Al Amar area, extreme eastern Arabian Shield, ranges from ˜0.8 to 0.9. Obtained results from vorticity and strain analyses indicate that deformation in the area deviated from simple shear. It is concluded that nappe stacking occurred early during an earlier thrusting event, probably by brittle imbrications. Ductile strain was superimposed on the nappe structure at high-pressure as revealed by a penetrative subhorizontal foliation that is developed subparallel to tectonic contacts versus the underlying and overlying nappes. Accumulation of ductile strain during underplating was not by simple shear but involved a component of vertical shortening, which caused the subhorizontal foliation in the Al Amar area. In most cases, this foliation was formed concurrently with thrust sheets imbrications, indicating that nappe stacking was associated with vertical shortening.

Regular Mechanical Transformation of Rotations Into Translations: Part 1. Kinematic Analysis and Definition of the Basic Characteristics

NASA Astrophysics Data System (ADS)

Abadjieva, Emilia; Abadjiev, Valentin

2017-06-01

The science that study the processes of motions transformation upon a preliminary defined law between non-coplanar axes (in general case) axes of rotations or axis of rotation and direction of rectilinear translation by three-link mechanisms, equipped with high kinematic joints, can be treated as an independent branch of Applied Mechanics. It deals with mechanical behaviour of these multibody systems in relation to the kinematic and geometric characteristics of the elements of the high kinematic joints, which form them. The object of study here is the process of regular transformation of rotation into translation. The developed mathematical model is subjected to the defined task for studying the sliding velocity vector function at the contact point from the surfaces elements of arbitrary high kinematic joints. The main kinematic characteristics of the studied type motions transformation (kinematic cylinders on level, kinematic relative helices (helical conoids) and kinematic pitch configurations) are defined on the bases of the realized analysis. These features expand the theoretical knowledge, which is the objective of the gearing theory. They also complement the system of kinematic and geometric primitives, that form the mathematical model for synthesis of spatial rack mechanisms.

Possible microplate generation at RRR triple junctions due to the non-circular finite motion of plates relative to each other

NASA Astrophysics Data System (ADS)

Cronin, V. S.

2012-12-01

First generation ideas of the kinematic stability of triple junctions lead to the common belief that the geometry of ridge-ridge-ridge (RRR) triple junctions remains constant over time under conditions of symmetric spreading. Given constant relative motion between each plate pair -- that is, the pole of plate relative motion is fixed to both plates in each pair during finite motion, as assumed in many accounts of plate kinematics -- there would be no boundary mismatch at the triple junction and no apparent kinematic reason why a microplate might develop there. But if, in a given RRR triple junction, the finite motion of one plate as observed from the other plate is not circular (as is generally the case, given the three-plate problem of plate kinematics), the geometry of the ridges and the triple junction will vary with time (Cronin, 1992, Tectonophys 207, 287-301). To explore the possible consequences of non-circular finite motion between plates at an RRR triple junction, a simple model was coded based on the cycloid finite-motion model (e.g., Cronin, 1987, Geology 15, 1006-1009) using NNR-MORVEL56 velocities for individual plates (Argus et al., 2011, G3 12, doi: 10.1029/2011GC003751). Initial assumptions include a spherical Earth, symmetric spreading, and constant angular velocities during the modeled finite time interval. The assumed-constant angular velocity vectors constitute a reference frame for observing finite plate motion. Typical results are [1] that the triple junction migrates relative to a coordinate system fixed to the angular-velocity vectors, [2] ridge axes rotates relative to each other, and [3] a boundary mismatch develops at the synthetic triple junction that might result in microplate nucleation. In a model simulating the Galapagos triple junction between the Cocos, Nazca and Pacific plates whose initial state did not include the Galapagos microplate, the mismatch gap was as much as ~3.4 km during 3 Myr of model displacement (see figure). The centroid of the synthetic triple junction translates ~81 km toward azimuth ~352° in 3 Myr. Of course, the details will vary as different angular velocity vectors are used; however, modeling indicates that non-circular finite relative motion between adjacent plates generally results in boundary mismatches and rotation of ridge segments relative to each other at RRR triple junctions. Left: synthetic Galapagos triple junction at initial model time, without a microplate. Right: synthetic triple junction after 3 Myr displacement, illustrating the resulting boundary mismatch (gap) and rotated ridge axes.

MAGNETOHYDRODYNAMIC SIMULATION-DRIVEN KINEMATIC MEAN FIELD MODEL OF THE SOLAR CYCLE

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

Simard, Corinne; Charbonneau, Paul; Bouchat, Amelie, E-mail: corinne@astro.umontreal.ca, E-mail: paulchar@astro.umontreal.ca, E-mail: amelie.bouchat@mail.mcgill.ca

We construct a series of kinematic axisymmetric mean-field dynamo models operating in the {alpha}{Omega}, {alpha}{sup 2}{Omega} and {alpha}{sup 2} regimes, all using the full {alpha}-tensor extracted from a global magnetohydrodynamical simulation of solar convection producing large-scale magnetic fields undergoing solar-like cyclic polarity reversals. We also include an internal differential rotation profile produced in a purely hydrodynamical parent simulation of solar convection, and a simple meridional flow profile described by a single cell per meridional quadrant. An {alpha}{sup 2}{Omega} mean-field model, presumably closest to the mode of dynamo action characterizing the MHD simulation, produces a spatiotemporal evolution of magnetic fields thatmore » share some striking similarities with the zonally-averaged toroidal component extracted from the simulation. Comparison with {alpha}{sup 2} and {alpha}{Omega} mean-field models operating in the same parameter regimes indicates that much of the complexity observed in the spatiotemporal evolution of the large-scale magnetic field in the simulation can be traced to the turbulent electromotive force. Oscillating {alpha}{sup 2} solutions are readily produced, and show some similarities with the observed solar cycle, including a deep-seated toroidal component concentrated at low latitudes and migrating equatorward in the course of the solar cycle. Various numerical experiments performed using the mean-field models reveal that turbulent pumping plays an important role in setting the global characteristics of the magnetic cycles.« less

The Rover Environmental Monitoring Station Ground Temperature Sensor: A Pyrometer for Measuring Ground Temperature on Mars

PubMed Central

Sebastián, Eduardo; Armiens, Carlos; Gómez-Elvira, Javier; Zorzano, María P.; Martinez-Frias, Jesus; Esteban, Blanca; Ramos, Miguel

2010-01-01

We describe the parameters that drive the design and modeling of the Rover Environmental Monitoring Station (REMS) Ground Temperature Sensor (GTS), an instrument aboard NASA’s Mars Science Laboratory, and report preliminary test results. REMS GTS is a lightweight, low-power, and low cost pyrometer for measuring the Martian surface kinematic temperature. The sensor’s main feature is its innovative design, based on a simple mechanical structure with no moving parts. It includes an in-flight calibration system that permits sensor recalibration when sensor sensitivity has been degraded by deposition of dust over the optics. This paper provides the first results of a GTS engineering model working in a Martian-like, extreme environment. PMID:22163405

A kinematic model to assess spinal motion during walking.

PubMed

Konz, Regina J; Fatone, Stefania; Stine, Rebecca L; Ganju, Aruna; Gard, Steven A; Ondra, Stephen L

2006-11-15

A 3-dimensional multi-segment kinematic spine model was developed for noninvasive analysis of spinal motion during walking. Preliminary data from able-bodied ambulators were collected and analyzed using the model. Neither the spine's role during walking nor the effect of surgical spinal stabilization on gait is fully understood. Typically, gait analysis models disregard the spine entirely or regard it as a single rigid structure. Data on regional spinal movements, in conjunction with lower limb data, associated with walking are scarce. KinTrak software (Motion Analysis Corp., Santa Rosa, CA) was used to create a biomechanical model for analysis of 3-dimensional regional spinal movements. Measuring known angles from a mechanical model and comparing them to the calculated angles validated the kinematic model. Spine motion data were collected from 10 able-bodied adults walking at 5 self-selected speeds. These results were compared to data reported in the literature. The uniaxial angles measured on the mechanical model were within 5 degrees of the calculated kinematic model angles, and the coupled angles were within 2 degrees. Regional spine kinematics from able-bodied subjects calculated with this model compared well to data reported by other authors. A multi-segment kinematic spine model has been developed and validated for analysis of spinal motion during walking. By understanding the spine's role during ambulation and the cause-and-effect relationship between spine motion and lower limb motion, preoperative planning may be augmented to restore normal alignment and balance with minimal negative effects on walking.

Ductile bookshelf faulting: A new kinematic model for Cenozoic deformation in northern Tibet

NASA Astrophysics Data System (ADS)

Zuza, A. V.; Yin, A.

2013-12-01

It has been long recognized that the most dominant features on the northern Tibetan Plateau are the >1000 km left-slip strike-slip faults (e.g., the Atyn Tagh, Kunlun, and Haiyuan faults). Early workers used the presence of these faults, especially the Kunlun and Haiyuan faults, as evidence for eastward lateral extrusion of the plateau, but their low documented offsets--100s of km or less--can not account for the 2500 km of convergence between India and Asia. Instead, these faults may result from north-south right-lateral simple shear due to the northward indentation of India, which leads to the clockwise rotation of the strike-slip faults and left-lateral slip (i.e., bookshelf faulting). With this idea, deformation is still localized on discrete fault planes, and 'microplates' or blocks rotate and/or translate with little internal deformation. As significant internal deformation occurs across northern Tibet within strike-slip-bounded domains, there is need for a coherent model to describe all of the deformational features. We also note the following: (1) geologic offsets and Quaternary slip rates of both the Kunlun and Haiyuan faults vary along strike and appear to diminish to the east, (2) the faults appear to kinematically link with thrust belts (e.g., Qilian Shan, Liupan Shan, Longmen Shan, and Qimen Tagh) and extensional zones (e.g., Shanxi, Yinchuan, and Qinling grabens), and (3) temporal relationships between the major deformation zones and the strike-slip faults (e.g., simultaneous enhanced deformation and offset in the Qilian Shan and Liupan Shan, and the Haiyuan fault, at 8 Ma). We propose a new kinematic model to describe the active deformation in northern Tibet: a ductile-bookshelf-faulting model. With this model, right-lateral simple shear leads to clockwise vertical axis rotation of the Qaidam and Qilian blocks, and left-slip faulting. This motion creates regions of compression and extension, dependent on the local boundary conditions (e.g., rigid Tarim vs. eastern China moving eastward relative to Eurasia), which results in the development of thrust and extensional belts. These zones heterogeneously deform the wall-rock of the major strike-slip faults, causing the faults to stretch (an idea described by W.D. Means 1989 GEOLOGY). This effect is further enhanced by differential fault rotation, leading to more slip in the west, where the effect of India's indentation is more pronounced, than in the east. To investigate the feasibility of this model, we have examined geologic offsets, Quaternary fault slip rates, and GPS velocities, both from existing literature and our own observations. We compare offsets with the estimated shortening and extensional strain in the wall-rocks of the strike-slip faults. For example, if this model is valid, the slip on the eastern segment of the Haiyuan fault (i.e., ~25 km) should be compatible with shortening in the Liupan Shan and extension in the Yinchuan graben. We also present simple analogue model experiments to document the strain accumulated in bookshelf fault systems under different initial and boundary conditions (e.g., rigid vs. free vs. moving boundaries, heterogeneous or homogenous materials, variable strain rates). Comparing these experimentally derived strain distributions with those observed within the plateau can help elucidate which factors dominantly control regional deformation.

Measuring the coefficient of restitution and more: a simple experiment to promote students’ critical thinking and autonomous work

NASA Astrophysics Data System (ADS)

González, Manuel Á.; González, Miguel Á.; Vegas, Jesús; Llamas, César

2017-09-01

A simple experiment on the determination of the coefficient of restitution of different materials is taken as the basis of an extendable work that can be done by students in an autonomous way. On the whole, the work described in this paper would involve concepts of kinematics, materials science, air drag and buoyancy, and would help students to think of physics as a whole subject instead of a set of, more or less, isolated parts. The experiment can be done either in teaching laboratories or as an autonomous work by students at home. Students’ smartphones and cheap balls of different materials are the only experimental materials required to do the experiment. The proposed work also permits the students to analyse the limitations of a physical model used in the experiment by analysing the approximations considered in it, and then enhancing their critical thinking.

Kinematic analysis of a posterior-stabilized knee prosthesis.

PubMed

Zhao, Zhi-Xin; Wen, Liang; Qu, Tie-Bing; Hou, Li-Li; Xiang, Dong; Bin, Jia

2015-01-20

The goal of total knee arthroplasty (TKA) is to restore knee kinematics. Knee prosthesis design plays a very important role in successful restoration. Here, kinematics models of normal and prosthetic knees were created and validated using previously published data. Computed tomography and magnetic resonance imaging scans of a healthy, anticorrosive female cadaver were used to establish a model of the entire lower limbs, including the femur, tibia, patella, fibula, distal femur cartilage, and medial and lateral menisci, as well as the anterior cruciate, posterior cruciate, medial collateral, and lateral collateral ligaments. The data from the three-dimensional models of the normal knee joint and a posterior-stabilized (PS) knee prosthesis were imported into finite element analysis software to create the final kinematic model of the TKA prosthesis, which was then validated by comparison with a previous study. The displacement of the medial/lateral femur and the internal rotation angle of the tibia were analyzed during 0-135° flexion. Both the output data trends and the measured values derived from the normal knee's kinematics model were very close to the results reported in a previous in vivo study, suggesting that this model can be used for further analyses. The PS knee prosthesis underwent an abnormal forward displacement compared with the normal knee and has insufficient, or insufficiently aggressive, "rollback" compared with the lateral femur of the normal knee. In addition, a certain degree of reverse rotation occurs during flexion of the PS knee prosthesis. There were still several differences between the kinematics of the PS knee prosthesis and a normal knee, suggesting room for improving the design of the PS knee prosthesis. The abnormal kinematics during early flexion shows that the design of the articular surface played a vital role in improving the kinematics of the PS knee prosthesis.

Verification of predicted specimen-specific natural and implanted patellofemoral kinematics during simulated deep knee bend.

PubMed

Baldwin, Mark A; Clary, Chadd; Maletsky, Lorin P; Rullkoetter, Paul J

2009-10-16

Verified computational models represent an efficient method for studying the relationship between articular geometry, soft-tissue constraint, and patellofemoral (PF) mechanics. The current study was performed to evaluate an explicit finite element (FE) modeling approach for predicting PF kinematics in the natural and implanted knee. Experimental three-dimensional kinematic data were collected on four healthy cadaver specimens in their natural state and after total knee replacement in the Kansas knee simulator during a simulated deep knee bend activity. Specimen-specific FE models were created from medical images and CAD implant geometry, and included soft-tissue structures representing medial-lateral PF ligaments and the quadriceps tendon. Measured quadriceps loads and prescribed tibiofemoral kinematics were used to predict dynamic kinematics of an isolated PF joint between 10 degrees and 110 degrees femoral flexion. Model sensitivity analyses were performed to determine the effect of rigid or deformable patellar representations and perturbed PF ligament mechanical properties (pre-tension and stiffness) on model predictions and computational efficiency. Predicted PF kinematics from the deformable analyses showed average root mean square (RMS) differences for the natural and implanted states of less than 3.1 degrees and 1.7 mm for all rotations and translations. Kinematic predictions with rigid bodies increased average RMS values slightly to 3.7 degrees and 1.9 mm with a five-fold decrease in computational time. Two-fold increases and decreases in PF ligament initial strain and linear stiffness were found to most adversely affect kinematic predictions for flexion, internal-external tilt and inferior-superior translation in both natural and implanted states. The verified models could be used to further investigate the effects of component alignment or soft-tissue variability on natural and implant PF mechanics.

Gait kinematics of subjects with ankle instability using a multisegmented foot model.

PubMed

De Ridder, Roel; Willems, Tine; Vanrenterghem, Jos; Robinson, Mark; Pataky, Todd; Roosen, Philip

2013-11-01

Many patients who sustain an acute lateral ankle sprain develop chronic ankle instability (CAI). Altered ankle kinematics have been reported to play a role in the underlying mechanisms of CAI. In previous studies, however, the foot was modeled as one rigid segment, ignoring the complexity of the ankle and foot anatomy and kinematics. The purpose of this study was to evaluate stance phase kinematics of subjects with CAI, copers, and controls during walking and running using both a rigid and a multisegmented foot model. Foot and ankle kinematics of 77 subjects (29 subjects with self-reported CAI, 24 copers, and 24 controls) were measured during barefoot walking and running using a rigid foot model and a six-segment Ghent Foot Model. Data were collected on a 20-m-long instrumented runway embedded with a force plate and a six-camera optoelectronic system. Groups were compared using statistical parametric mapping. Both the CAI and the coper group showed similar differences during midstance and late stance compared with the control group (P < 0.05). The rigid foot segment showed a more everted position during walking compared with the control group. Based on the Ghent Foot Model, the rear foot also showed a more everted position during running. The medial forefoot showed a more inverted position for both running and walking compared with the control group. Our study revealed significant midstance and late stance differences in rigid foot, rear foot, and medial forefoot kinematics The multisegmented foot model demonstrated intricate behavior of the foot that is not detectable with rigid foot modeling. Further research using these models is necessary to expand knowledge of foot kinematics in subjects with CAI.

Joint kinematics estimation using a multi-body kinematics optimisation and an extended Kalman filter, and embedding a soft tissue artefact model.

PubMed

Bonnet, Vincent; Richard, Vincent; Camomilla, Valentina; Venture, Gentiane; Cappozzo, Aurelio; Dumas, Raphaël

2017-09-06

To reduce the impact of the soft tissue artefact (STA) on the estimate of skeletal movement using stereophotogrammetric and skin-marker data, multi-body kinematics optimisation (MKO) and extended Kalman filters (EKF) have been proposed. This paper assessed the feasibility and efficiency of these methods when they embed a mathematical model of the STA and simultaneously estimate the ankle, knee and hip joint kinematics and the model parameters. A STA model was used that provides an estimate of the STA affecting the marker-cluster located on a body segment as a function of the kinematics of the adjacent joints. The MKO and the EKF were implemented with and without the STA model. To assess these methods, intra-cortical pin and skin markers located on the thigh, shank, and foot of three subjects and tracked during the stance phase of running were used. Embedding the STA model in MKO and EKF reduced the average RMS of marker tracking from 12.6 to 1.6mm and from 4.3 to 1.9mm, respectively, showing that a STA model trial-specific calibration is feasible. Nevertheless, with the STA model embedded in MKO, the RMS difference between the estimated and the reference joint kinematics determined from the pin markers slightly increased (from 2.0 to 2.1deg) On the contrary, when the STA model was embedded in the EKF, this RMS difference was slightly reduced (from 2.0 to 1.7deg) thus showing a better potentiality of this method to attenuate STA effects and improve the accuracy of joint kinematics estimate. Copyright © 2017 Elsevier Ltd. All rights reserved.

A novel look at energy equipartition in globular clusters

NASA Astrophysics Data System (ADS)

Bianchini, P.; van de Ven, G.; Norris, M. A.; Schinnerer, E.; Varri, A. L.

2016-06-01

Two-body interactions play a major role in shaping the structural and dynamical properties of globular clusters (GCs) over their long-term evolution. In particular, GCs evolve towards a state of partial energy equipartition that induces a mass dependence in their kinematics. By using a set of Monte Carlo cluster simulations evolved in quasi-isolation, we show that the stellar mass dependence of the velocity dispersion σ(m) can be described by an exponential function σ2 ∝ exp (-m/meq), with the parameter meq quantifying the degree of partial energy equipartition of the systems. This simple parametrization successfully captures the behaviour of the velocity dispersion at lower as well as higher stellar masses, that is, the regime where the system is expected to approach full equipartition. We find a tight correlation between the degree of equipartition reached by a GC and its dynamical state, indicating that clusters that are more than about 20 core relaxation times old, have reached a maximum degree of equipartition. This equipartition-dynamical state relation can be used as a tool to characterize the relaxation condition of a cluster with a kinematic measure of the meq parameter. Vice versa, the mass dependence of the kinematics can be predicted knowing the relaxation time solely on the basis of photometric measurements. Moreover, any deviations from this tight relation could be used as a probe of a peculiar dynamical history of a cluster. Finally, our novel approach is important for the interpretation of state-of-the-art Hubble Space Telescope proper motion data, for which the mass dependence of kinematics can now be measured, and for the application of modelling techniques which take into consideration multimass components and mass segregation.

Kinematic variables and water transport control the formation and location of arc volcanoes.

PubMed

Grove, T L; Till, C B; Lev, E; Chatterjee, N; Médard, E

2009-06-04

The processes that give rise to arc magmas at convergent plate margins have long been a subject of scientific research and debate. A consensus has developed that the mantle wedge overlying the subducting slab and fluids and/or melts from the subducting slab itself are involved in the melting process. However, the role of kinematic variables such as slab dip and convergence rate in the formation of arc magmas is still unclear. The depth to the top of the subducting slab beneath volcanic arcs, usually approximately 110 +/- 20 km, was previously thought to be constant among arcs. Recent studies revealed that the depth of intermediate-depth earthquakes underneath volcanic arcs, presumably marking the slab-wedge interface, varies systematically between approximately 60 and 173 km and correlates with slab dip and convergence rate. Water-rich magmas (over 4-6 wt% H(2)O) are found in subduction zones with very different subduction parameters, including those with a shallow-dipping slab (north Japan), or steeply dipping slab (Marianas). Here we propose a simple model to address how kinematic parameters of plate subduction relate to the location of mantle melting at subduction zones. We demonstrate that the location of arc volcanoes is controlled by a combination of conditions: melting in the wedge is induced at the overlap of regions in the wedge that are hotter than the melting curve (solidus) of vapour-saturated peridotite and regions where hydrous minerals both in the wedge and in the subducting slab break down. These two limits for melt generation, when combined with the kinematic parameters of slab dip and convergence rate, provide independent constraints on the thermal structure of the wedge and accurately predict the location of mantle wedge melting and the position of arc volcanoes.

Gas distribution in the central region of the galaxy. I. Atomic hydrogen

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

Burton, W.B.; Liszt, H.S.

A simple model of the distribution and kinematics of gas within 1.5 pc of the galactic center is described, the model refers to all such gas, whether at apparently permitted or anomalous velocities. The inner-Galaxy material is confined in a layer of scale height 0.1 kpc to a disk of 3 kpc diameter, tilted 22/sup 0/ with respect to the plane b = 0/sup 0/ and 78/sup 0/ with respect to the plane of the sky. Within this disk the kinematics involve rotation and expansion of approx. 170 km s/sup -1/. Detailed specification of the model parameters arises from comparisonmore » of synthetic 21-cm emission profiles with a new set of high-sensitivity H I data. The resultant model accounts in a coherent way for many observed spectral features which were previously studied separately and variously identified with bars, spiral arms, or isolated ejecta. In particular, the model subsumes the individual features E, J2, J4, J5, VII, X, and XII, which were previously considered as evidence of recurring, collimated ejections from the galactic nucleus. The model accounts for the rotating nuclear disk feature, the principal source of the inner-Galaxy gravitational field, and subsumes several other extended spectral features (such as III, the connecting arm) at velocities which are permitted by pure rotation. The H I mass of the disk is 1 x 10/sup 7/ M sub solar, and the expansion flux across its outer boundary is 4 M sub solar yr/sup -1/. No evidence is seen of important density enhancements or kinematic perturbations associated with particular observed spectral features, nor of anisotropic ejection from the nucleus. The complete axial symmetry shared by all parameters of the synthesis suggests that a steady state prevails. The large-scale consequences of the fundamental inner-Galaxy distribution depend on the total mass. With no dynamical foundation, the principal use of the phenomenological model is the constraint of other interpretations of the inner-Galaxy gas. 11 figures, 2 tables.« less

A kinematic wave model in Lagrangian coordinates incorporating capacity drop: Application to homogeneous road stretches and discontinuities

NASA Astrophysics Data System (ADS)

Yuan, Kai; Knoop, Victor L.; Hoogendoorn, Serge P.

2017-01-01

On freeways, congestion always leads to capacity drop. This means the queue discharge rate is lower than the pre-queue capacity. Our recent research findings indicate that the queue discharge rate increases with the speed in congestion, that is the capacity drop is strongly correlated with the congestion state. Incorporating this varying capacity drop into a kinematic wave model is essential for assessing consequences of control strategies. However, to the best of authors' knowledge, no such a model exists. This paper fills the research gap by presenting a Lagrangian kinematic wave model. "Lagrangian" denotes that the new model is solved in Lagrangian coordinates. The new model can give capacity drops accompanying both of stop-and-go waves (on homogeneous freeway section) and standing queues (at nodes) in a network. The new model can be applied in a network operation. In this Lagrangian kinematic wave model, the queue discharge rate (or the capacity drop) is a function of vehicular speed in traffic jams. Four case studies on links as well as at lane-drop and on-ramp nodes show that the Lagrangian kinematic wave model can give capacity drops well, consistent with empirical observations.

Scaling and kinematics optimisation of the scapula and thorax in upper limb musculoskeletal models

PubMed Central

Prinold, Joe A.I.; Bull, Anthony M.J.

2014-01-01

Accurate representation of individual scapula kinematics and subject geometries is vital in musculoskeletal models applied to upper limb pathology and performance. In applying individual kinematics to a model׳s cadaveric geometry, model constraints are commonly prescriptive. These rely on thorax scaling to effectively define the scapula׳s path but do not consider the area underneath the scapula in scaling, and assume a fixed conoid ligament length. These constraints may not allow continuous solutions or close agreement with directly measured kinematics. A novel method is presented to scale the thorax based on palpated scapula landmarks. The scapula and clavicle kinematics are optimised with the constraint that the scapula medial border does not penetrate the thorax. Conoid ligament length is not used as a constraint. This method is simulated in the UK National Shoulder Model and compared to four other methods, including the standard technique, during three pull-up techniques (n=11). These are high-performance activities covering a large range of motion. Model solutions without substantial jumps in the joint kinematics data were improved from 23% of trials with the standard method, to 100% of trials with the new method. Agreement with measured kinematics was significantly improved (more than 10° closer at p<0.001) when compared to standard methods. The removal of the conoid ligament constraint and the novel thorax scaling correction factor were shown to be key. Separation of the medial border of the scapula from the thorax was large, although this may be physiologically correct due to the high loads and high arm elevation angles. PMID:25011621

First Accelerator Test of the Kinematic Lightweight Energy Meter (KLEM) Prototype

NASA Technical Reports Server (NTRS)

Bashindzhagyan, G.; Adams, J. H.; Bashindzhagyan, P.; Chilingarian, A.; Donnelly, J.; Drury, L.; Egorov, N.; Golubkov, S.; Grebenyuk, V.; Kalinin, A.;

A Kinematic Link Between Boxy Bulges, Stellar Bars, and Nuclear Activity in NGC 3079 and NGC 4388

NASA Technical Reports Server (NTRS)

Veilleux, S.; Bland-Hawthrorn, J.; Cecil, Gerald

1999-01-01

We present direct kinematic evidence for bar streaming in two active galaxies with boxy stellar bulges. The Hawaii Imaging Fabry-Perot Interferometer was used on the Canada-France-Hawaii 3.6-m telescope and the University of Hawaii 2.2-m telescope to derive the two-dimensional velocity field of the line-emitting gas in the disks of the Sc galaxy NGC 3079 and the Sb galaxy NGC 4388. In contrast to previous work based on long-slit data, the detection of the bar potential from the Fabry-Perot data does not rely on the existence of inner Lindblad resonances or strong bar-induced shocks. Simple kinematic models which approximate the intrinsic gas orbits as nonintersecting, inclined elliptical annuli that conserve angular momentum characterize the observed velocity fields. In NGC 3079, bar streaming motions with moderately eccentric orbits (e = b/a approx. 0.7) aligned along PA = 130 deg. intrinsic to the disk (PA = 97 deg. on the sky) are detected out to R(sub b) = 3.6 kpc. The orbits become increasingly circular beyond that radius (e = 1 at R(sub d) approx. = 6 kpc). The best model for NGC 4388 includes highly eccentric orbits (e approx. 0.3) for R(sub) less than or equal to 1.5 kpc which are aligned along PA = 135 deg. intrinsic to the disk (PA = 100 deg. on the sky). The observed "spiral arms" are produced by having the orbits become increasingly circular from the ends of the bar to the edge of the disk (R(sub d) approx. = 5 kpc), and the intrinsic bar PA shifting from 135 deg. to 90 deg.. Box-shaped bulges in both NGC 3079 and NGC 4388 are confirmed using new near-infrared images to reduce dust obscuration. Morphological analysis of starlight in these galaxies is combined with the gas kinematics derived from the Fabry-Perot spectra to test evolutionary models of stellar bars that involve transitory boxy bulges, and to quantify the importance of such bars in fueling active nuclei. Our data support the evolutionary bar models, but fail to prove convincingly that the stellar bars in NGC 3079 and NGC 4388 directly trigger or sustain the nuclear activity.

Effect of Second-Order and Fully Nonlinear Wave Kinematics on a Tension-Leg-Platform Wind Turbine in Extreme Wave Conditions: Preprint

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

Robertson, Amy N; Jonkman, Jason; Pegalajar-Jurado, Antonio

In this study, we assess the impact of different wave kinematics models on the dynamic response of a tension-leg-platform wind turbine. Aero-hydro-elastic simulations of the floating wind turbine are carried out employing linear, second-order, and fully nonlinear kinematics using the Morison equation for the hydrodynamic forcing. The wave kinematics are computed from either theoretical or measured signals of free-surface elevation. The numerical results from each model are compared to results from wave basin tests on a scaled prototype. The comparison shows that sub and superharmonic responses can be introduced by second-order and fully nonlinear wave kinematics. The response at themore » wave frequency range is better reproduced when kinematics are generated from the measured surface elevation. In the future, the numerical response may be further improved by replacing the global, constant damping coefficients in the model by a more detailed, customizable definition of the user-defined numerical damping.« less

Effect of Second-Order and Fully Nonlinear Wave Kinematics on a Tension-Leg-Platform Wind Turbine in Extreme Wave Conditions

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

Robertson, Amy N; Jonkman, Jason; Pegalajar-Jurado, Antonio

In this study, we assess the impact of different wave kinematics models on the dynamic response of a tension-leg-platform wind turbine. Aero-hydro-elastic simulations of the floating wind turbine are carried out employing linear, second-order, and fully nonlinear kinematics using the Morison equation for the hydrodynamic forcing. The wave kinematics are computed from either theoretical or measured signals of free-surface elevation. The numerical results from each model are compared to results from wave basin tests on a scaled prototype. The comparison shows that sub and superharmonic responses can be introduced by second-order and fully nonlinear wave kinematics. The response at themore » wave frequency range is better reproduced when kinematics are generated from the measured surface elevation. In the future, the numerical response may be further improved by replacing the global, constant damping coefficients in the model by a more detailed, customizable definition of the user-defined numerical damping.« less

Comparison of three-dimensional multi-segmental foot models used in clinical gait laboratories.

PubMed

Nicholson, Kristen; Church, Chris; Takata, Colton; Niiler, Tim; Chen, Brian Po-Jung; Lennon, Nancy; Sees, Julie P; Henley, John; Miller, Freeman

2018-05-16

Many skin-mounted three-dimensional multi-segmented foot models are currently in use for gait analysis. Evidence regarding the repeatability of models, including between trial and between assessors, is mixed, and there are no between model comparisons of kinematic results. This study explores differences in kinematics and repeatability between five three-dimensional multi-segmented foot models. The five models include duPont, Heidelberg, Oxford Child, Leardini, and Utah. Hind foot, forefoot, and hallux angles were calculated with each model for ten individuals. Two physical therapists applied markers three times to each individual to assess within and between therapist variability. Standard deviations were used to evaluate marker placement variability. Locally weighted regression smoothing with alpha-adjusted serial T tests analysis was used to assess kinematic similarities. All five models had similar variability, however, the Leardini model showed high standard deviations in plantarflexion/dorsiflexion angles. P-value curves for the gait cycle were used to assess kinematic similarities. The duPont and Oxford models had the most similar kinematics. All models demonstrated similar marker placement variability. Lower variability was noted in the sagittal and coronal planes compared to rotation in the transverse plane, suggesting a higher minimal detectable change when clinically considering rotation and a need for additional research. Between the five models, the duPont and Oxford shared the most kinematic similarities. While patterns of movement were very similar between all models, offsets were often present and need to be considered when evaluating published data. Copyright © 2018 Elsevier B.V. All rights reserved.

Kinematic geometry of osteotomies.

PubMed

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

2005-01-01

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

Quasars Probing Galaxies. I. Signatures of Gas Accretion at Redshift Approximately 0.2

NASA Astrophysics Data System (ADS)

Ho, Stephanie H.; Martin, Crystal L.; Kacprzak, Glenn G.; Churchill, Christopher W.

2017-02-01

We describe the kinematics of circumgalactic gas near the galactic plane, combining new measurements of galaxy rotation curves and spectroscopy of background quasars. The sightlines pass within 19-93 kpc of the target galaxy and generally detect Mg II absorption. The Mg II Doppler shifts have the same sign as the galactic rotation, so the cold gas co-rotates with the galaxy. Because the absorption spans a broader velocity range than disk rotation can explain, we explore simple models for the circumgalactic kinematics. Gas spiraling inwards (near the disk plane) offers a successful description of the observations. An appendix describes the addition of tangential and radial gas flows and illustrates how the sign of the disk inclination produces testable differences in the projected line-of-sight velocity range. This inflow interpretation implies that cold flow disks remain common down to redshift z ≈ 0.2 and prolong star formation by supplying gas to the disk. Some of the observations were obtained with the Apache Point Observatory 3.5 meter telescope, which is owned and operated by the Astrophysical Research Consortium.

Study on stress-strain response of multi-phase TRIP steel under cyclic loading

NASA Astrophysics Data System (ADS)

Dan, W. J.; Hu, Z. G.; Zhang, W. G.; Li, S. H.; Lin, Z. Q.

2013-12-01

The stress-strain response of multi-phase TRIP590 sheet steel is studied in cyclic loading condition at room temperature based on a cyclic phase transformation model and a multi-phase mixed kinematic hardening model. The cyclic martensite transformation model is proposed based on the shear-band intersection, where the repeat number, strain amplitude and cyclic frequency are used to control the phase transformation process. The multi-phase mixed kinematic hardening model is developed based on the non-linear kinematic hardening rule of per-phase. The parameters of transformation model are identified with the relationship between the austenite volume fraction and the repeat number. The parameters in Kinematic hardening model are confirmed by the experimental hysteresis loops in different strain amplitude conditions. The responses of hysteresis loop and stress amplitude are evaluated by tension-compression data.

A novel JEAnS analysis of the Fornax dwarf using evolutionary algorithms: mass follows light with signs of an off-centre merger

NASA Astrophysics Data System (ADS)

Diakogiannis, Foivos I.; Lewis, Geraint F.; Ibata, Rodrigo A.; Guglielmo, Magda; Kafle, Prajwal R.; Wilkinson, Mark I.; Power, Chris

2017-09-01

Dwarf galaxies, among the most dark matter dominated structures of our Universe, are excellent test-beds for dark matter theories. Unfortunately, mass modelling of these systems suffers from the well-documented mass-velocity anisotropy degeneracy. For the case of spherically symmetric systems, we describe a method for non-parametric modelling of the radial and tangential velocity moments. The method is a numerical velocity anisotropy 'inversion', with parametric mass models, where the radial velocity dispersion profile, σrr2, is modelled as a B-spline, and the optimization is a three-step process that consists of (I) an evolutionary modelling to determine the mass model form and the best B-spline basis to represent σrr2; (II) an optimization of the smoothing parameters and (III) a Markov chain Monte Carlo analysis to determine the physical parameters. The mass-anisotropy degeneracy is reduced into mass model inference, irrespective of kinematics. We test our method using synthetic data. Our algorithm constructs the best kinematic profile and discriminates between competing dark matter models. We apply our method to the Fornax dwarf spheroidal galaxy. Using a King brightness profile and testing various dark matter mass models, our model inference favours a simple mass-follows-light system. We find that the anisotropy profile of Fornax is tangential (β(r) < 0) and we estimate a total mass of M_{tot} = 1.613^{+0.050}_{-0.075} × 10^8 M_{⊙}, and a mass-to-light ratio of Υ_V = 8.93 ^{+0.32}_{-0.47} (M_{⊙}/L_{⊙}). The algorithm we present is a robust and computationally inexpensive method for non-parametric modelling of spherical clusters independent of the mass-anisotropy degeneracy.

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

PubMed

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

2017-01-25

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

Freeform correction polishing for optics with semi-kinematic mounting

NASA Astrophysics Data System (ADS)

Huang, Chien-Yao; Kuo, Ching-Hsiang; Peng, Wei-Jei; Yu, Zong-Ru; Ho, Cheng-Fang; Hsu, Ming-Ying; Hsu, Wei-Yao

2015-10-01

Several mounting configurations could be applied to opto-mechanical design for achieving high precise optical system. The retaining ring mounting is simple and cost effective. However, it would deform the optics due to its unpredictable over-constraint forces. The retaining ring can be modified to three small contact areas becoming a semi-kinematic mounting. The semi-kinematic mounting can give a fully constrained in lens assembly and avoid the unpredictable surface deformation. However, there would be still a deformation due to self-weight in large optics especially in vertical setup applications. The self-weight deformation with a semi-kinematic mounting is a stable, repeatable and predictable combination of power and trefoil aberrations. This predictable deformation can be pre-compensated onto the design surface and be corrected by using CNC polisher. Thus it is a freeform surface before mounting to the lens cell. In this study, the freeform correction polishing is demonstrated in a Φ150 lens with semi-kinematic mounting. The clear aperture of the lens is Φ143 mm. We utilize ANSYS simulation software to analyze the lens deformation due to selfweight deformation with semi-kinematic mounting. The simulation results of the self-weight deformation are compared with the measurement results of the assembled lens cell using QED aspheric stitching interferometer (ASI). Then, a freeform surface of a lens with semi-kinematic mounting due to self-weight deformation is verified. This deformation would be corrected by using QED Magnetorheological Finishing (MRF® ) Q-flex 300 polishing machine. The final surface form error of the assembled lens cell after MRF figuring is 0.042 λ in peak to valley (PV).

Musculoskeletal multibody dynamics simulation of the contact mechanics and kinematics of a natural knee joint during a walking cycle.

PubMed

Hu, Jiayu; Chen, Zhenxian; Xin, Hua; Zhang, Qida; Jin, Zhongmin

2018-05-01

Detailed knowledge of the in vivo loading and kinematics in the knee joint is essential to understand its normal functions and the aetiology of osteoarthritis. Computer models provide a viable non-invasive solution for estimating joint loading and kinematics during different physiological activities. However, the joint loading and kinematics of the tibiofemoral and patellofemoral joints during a gait cycle were not typically investigated concurrently in previous computational simulations. In this study, a natural knee architecture was incorporated into a lower extremity musculoskeletal multibody dynamics model based on a force-dependent kinematics approach to investigate the contact mechanics and kinematics of a natural knee joint during a walking cycle. Specifically, the contact forces between the femoral/tibial articular cartilages and menisci and between the femoral and tibial/patellar articular cartilages were quantified. The contact forces and kinematics of the tibiofemoral and patellofemoral joints and the muscle activations and ligament forces were predicted simultaneously with a reasonable level of accuracy. The developed musculoskeletal multibody dynamics model with a natural knee architecture can serve as a potential platform for assisting clinical decision-making and postoperative rehabilitation planning.

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

NASA Technical Reports Server (NTRS)

Gretz, Bruce; Tilley, Scott W.

1989-01-01

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

A Direct and Non-Singular UKF Approach Using Euler Angle Kinematics for Integrated Navigation Systems

PubMed Central

Ran, Changyan; Cheng, Xianghong

2016-01-01

This paper presents a direct and non-singular approach based on an unscented Kalman filter (UKF) for the integration of strapdown inertial navigation systems (SINSs) with the aid of velocity. The state vector includes velocity and Euler angles, and the system model contains Euler angle kinematics equations. The measured velocity in the body frame is used as the filter measurement. The quaternion nonlinear equality constraint is eliminated, and the cross-noise problem is overcome. The filter model is simple and easy to apply without linearization. Data fusion is performed by an UKF, which directly estimates and outputs the navigation information. There is no need to process navigation computation and error correction separately because the navigation computation is completed synchronously during the filter time updating. In addition, the singularities are avoided with the help of the dual-Euler method. The performance of the proposed approach is verified by road test data from a land vehicle equipped with an odometer aided SINS, and a singularity turntable test is conducted using three-axis turntable test data. The results show that the proposed approach can achieve higher navigation accuracy than the commonly-used indirect approach, and the singularities can be efficiently removed as the result of dual-Euler method. PMID:27598169

Design of a Two-Step Calibration Method of Kinematic Parameters for Serial Robots

NASA Astrophysics Data System (ADS)

WANG, Wei; WANG, Lei; YUN, Chao

2017-03-01

Serial robots are used to handle workpieces with large dimensions, and calibrating kinematic parameters is one of the most efficient ways to upgrade their accuracy. Many models are set up to investigate how many kinematic parameters can be identified to meet the minimal principle, but the base frame and the kinematic parameter are indistinctly calibrated in a one-step way. A two-step method of calibrating kinematic parameters is proposed to improve the accuracy of the robot's base frame and kinematic parameters. The forward kinematics described with respect to the measuring coordinate frame are established based on the product-of-exponential (POE) formula. In the first step the robot's base coordinate frame is calibrated by the unit quaternion form. The errors of both the robot's reference configuration and the base coordinate frame's pose are equivalently transformed to the zero-position errors of the robot's joints. The simplified model of the robot's positioning error is established in second-power explicit expressions. Then the identification model is finished by the least square method, requiring measuring position coordinates only. The complete subtasks of calibrating the robot's 39 kinematic parameters are finished in the second step. It's proved by a group of calibration experiments that by the proposed two-step calibration method the average absolute accuracy of industrial robots is updated to 0.23 mm. This paper presents that the robot's base frame should be calibrated before its kinematic parameters in order to upgrade its absolute positioning accuracy.

A crawling robot driven by multi-stable origami

NASA Astrophysics Data System (ADS)

Pagano, Alexander; Yan, Tongxi; Chien, Brian; Wissa, A.; Tawfick, S.

2017-09-01

Using origami folding to construct and actuate mechanisms and machines offers attractive opportunities from small, scalable, and cheap robots to deployable adaptive structures. This paper presents the design of a bio-inspired origami crawling robot constructed by folding sheets of paper. The origami building block structure is based on the Kresling crease pattern (CP), a chiral tower with a polygonal base, which expands and contracts through coupled longitudinal and rotational motion similar to a screw. We design the origami to have multi-stable structural equilibria which can be tuned by changing the folding CP. Kinematic analysis of these structures based on rigid-plates and hinges at fold lines precludes the shape transformation associated with the bistability of the physical models. To capture the kinematics of the bi-stable origami, the panels’ deformation behavior is modeled utilizing principles of virtual folds. Virtual folds approximate material bending by hinged, rigid panels, which facilitates the development of a kinematic solution via rigid-plate rotation analysis. As such, the kinetics and stability of folded structures are investigated by assigning suitable torsional spring constants to the fold lines. The results presented demonstrate the effect of fold-pattern geometries on the snapping behavior of the bi-stable origami structure based on the Kresling pattern. The crawling robot is presented as a case study for the use of this origami structure to mimic crawling locomotion. The robot is comprised of two origami towers nested inside a paper bellow, and connected by 3D printed end plates. DC motors are used to actuate the expansion and contraction of the internal origami structures to achieve forward locomotion and steering. Beyond locomotion, this simple design can find applications in manipulators, booms, and active structures.

Paleomagnetic constraints on the Cenozoic kinematic evolution of the Pamir plateau from the Western Kunlun Shan foreland

NASA Astrophysics Data System (ADS)

Li, Zhenyu; Ding, Lin; Lippert, Peter C.; Wei, Honghong

2013-09-01

Thick Cenozoic marine and terrestrial sediments are widely distributed along the perimeter of the Pamir plateau and provide valuable information on the kinematic evolution of the region. Here, we report new biostratigraphic and paleomagnetic results from the piedmont of the Western Kunlun Shan to constrain the magnitude and timing of vertical-axis rotations along the eastern margin of the Pamir. Sampling sites were selected by rock formations and ages, which are based on previous field mapping and on litholostratigraphic and biostratigraphic work presented here. Thermomagnetic analysis, step-wise thermal demagnetization behavior, and positive field tests all suggest that the characteristic remanent magnetization (ChRM) directions most probably have a primary detrital and chemical origin. Our results indicate variable, minor, but in some intervals significant vertical axis rotations with respect to a stable Asian reference frame. This pattern of rotations is similar to paleomagnetic data reported in previously published studies from the Eastern Pamir foreland. In contrast, published paleomagnetic data from the Western Pamir foreland consistently indicate significant CCW rotations within that region. Collectively, these results challenge simple oroclinal bending models for the origin of the Pamir salient, and instead are more consistent with an asymmetric "half-orocline" kinematic model in which the curvature of the Western Pamir is the product of a combination of lithospheric bending of an originally quasi-linear mountain belt and radial thrusting, and the subdued curvature of the eastern edge of the plateau is the result of lateral translation of the Pamir plateau northward past Tibet and Tarim along the Kashgar-Yecheng transfer system. Our results are consistent with activity on the Kashgar-Yecheng transfer system in the Early Miocene.

Knee stability before and after total and unicondylar knee replacement: in vivo kinematic evaluation utilizing navigation.

PubMed

Casino, Daniela; Martelli, Sandra; Zaffagnini, Stefano; Lopomo, Nicola; Iacono, Francesco; Bignozzi, Simone; Visani, Andrea; Marcacci, Maurilio

2009-02-01

Surgical navigation systems are currently used to guide the surgeon in the correct alignment of the implant. The aim of this study was to expand the use of navigation systems by proposing a surgical protocol for intraoperative kinematics evaluations during knee arthroplasty. The protocol was evaluated on 20 patients, half undergoing unicondylar knee arthroplasty (UKA) and half undergoing posterior-substituting, rotating-platform total knee arthroplasty (TKA). The protocol includes a simple acquisition procedure and an original elaboration methodology. Kinematic tests were performed before and after surgery and included varus/valgus stress at 0 and 30 degrees and passive range of motion. Both UKA and TKA improved varus/valgus stability in extension and preserved the total magnitude of screw-home motion during flexion. Moreover, compared to preoperative conditions, values assumed by tibial axial rotation during flexion in TKA knees were more similar to the rotating patterns of UKA knees. The analysis of the anteroposterior displacement of the knee compartments confirmed that the two prostheses did not produce medial pivoting, but achieved a postoperative normal behavior. These results demonstrated that proposed intraoperative kinematics evaluations by a navigation system provided new information on the functional outcome of the reconstruction useful to restore knee kinematics during surgery.

Neural correlates of individual differences in manual imitation fidelity

PubMed Central

Braadbaart, Lieke; Waiter, Gordon D.; Williams, Justin H. G.

2012-01-01

Imitation is crucial for social learning, and so it is important to identify what determines between-subject variability in imitation fidelity. This might help explain what makes some people, like those with social difficulties such as in autism spectrum disorder (ASD), significantly worse at performance on these tasks than others. A novel paradigm was developed to provide objective measures of imitation fidelity in which participants used a touchscreen to imitate videos of a model drawing different shapes. Comparisons between model and participants' kinematic data provided three measures of imitative fidelity. We hypothesized that imitative ability would predict variation in BOLD signal whilst performing a simple imitation task in the MRI-scanner. In particular, an overall measure of accuracy (correlation between model and imitator) would predict activity in the overarching imitation system, whereas bias would be subject to more general aspects of motor control. Participants lying in the MRI-scanner were instructed to imitate different grips on a handle, or to watch someone or a circle moving the handle. Our hypothesis was partly confirmed as correlation between model and imitator was mediated by somatosensory cortex but also ventromedial prefrontal cortex, and bias was mediated mainly by cerebellum but also by the medial frontal and parietal cortices and insula. We suggest that this variance differentially reflects cognitive functions such as feedback-sensitivity and reward-dependent learning, contributing significantly to variability in individuals' imitative abilities as characterized by objective kinematic measures. PMID:23087625

An analogue of the Berry phase for simple harmonic oscillators

NASA Astrophysics Data System (ADS)

Suslov, S. K.

2013-03-01

We evaluate a variant of Berry's phase for a ‘missing’ family of the square integrable wavefunctions for the linear harmonic oscillator, which cannot be derived by the separation of variables (in a natural way). Instead, it is obtained by the action of the maximal kinematical invariance group on the standard solutions. A simple closed formula for the phase (in terms of elementary functions) is found here by integration with the help of a computer algebra system.

Analysing simple motions using the Doppler effect—‘seeing’ sound

NASA Astrophysics Data System (ADS)

Stonawski, Tamás; Gálik, Tamás

2017-01-01

The Doppler effect has seen widespread use in the past hundred years. It is used for medical imaging, for measuring speed, temperature, direction, etc, and it makes the spatial relations of motion easy to map. The Doppler effect also allows GPS receivers to measure the speed of a vehicle significantly more accurately than dashboard speedometers. Its diverse applications have prompted us to revisit the simple motions from kinematics with the help of everyday objects in our experiments.

Assessment of the Structural Conditions of the San Clemente a Vomano Abbey

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

Benedettini, Francesco; Alaggio, Rocco; Fusco, Felice

2008-07-08

The simultaneous use of a Finite Element (FE) accurate modeling, dynamical tests, model updating and nonlinear analysis are used to describe the integrated approach used by the authors to assess the structural conditions and the seismic vulnerability of an historical masonry structure: the Abbey Church of San Clemente al Vomano, situated in the Notaresco territory (TE, Italy) commissioned by Ermengarda, daughter of the Emperor Ludovico II, and built at the end of IX century together with a monastery to host a monastic community. Dynamical tests 'in operational conditions' and modal identification have been used to perform the FE model validation.more » Both a simple and direct method as the kinematic analysis applied on meaningful sub-structures and a nonlinear 3D dynamic analysis conducted by using the FE model have been used to forecast the seismic performance of the Church.« less

Mandibular kinematics represented by a non-orthogonal floating axis joint coordinate system.

PubMed

Leader, Joseph K; Boston, J Robert; Debski, Richard E; Rudy, Thomas E

2003-02-01

There are many methods used to represent joint kinematics (e.g., roll, pitch, and yaw angles; instantaneous center of rotation; kinematic center; helical axis). Often in biomechanics internal landmarks are inferred from external landmarks. This study represents mandibular kinematics using a non-orthogonal floating axis joint coordinate system based on 3-D geometric models with parameters that are "clinician friendly" and mathematically rigorous. Kinematics data for two controls were acquired from passive fiducial markers attached to a custom dental clutch. The geometric models were constructed from MRI data. The superior point along the arc of the long axis of the condyle was used to define the coordinate axes. The kinematic data and geometric models were registered through fiducial markers visible during both protocols. The mean absolute maxima across the subjects for sagittal rotation, coronal rotation, axial rotation, medial-lateral translation, anterior-posterior translation, and inferior-superior translation were 34.10 degrees, 1.82 degrees, 1.14 degrees, 2.31, 21.07, and 6.95 mm, respectively. All the parameters, except for one subject's axial rotation, were reproducible across two motion recording sessions. There was a linear correlation between sagittal rotation and translation, the dominant motion plane, with approximately 1.5 degrees of rotation per millimeter of translation. The novel approach of combining the floating axis system with geometric models succinctly described mandibular kinematics with reproducible and clinician friendly parameters.

Kinematics of the SgrB2(N-LMH) Molecular Core

NASA Technical Reports Server (NTRS)

Hollis, J. M.; Pedelty, J. A.; Boboltz, D. A.; Liu, S.-Y.; Snyder, L. E.; Palmer, Patrick; Lovas, F. J.; Jewell, P. R.

2003-01-01

Ethyl cyanide (CH3CH2CN) emission and absorption have been imaged with the Very Large Array (VLA) toward SgrB2(N-LMH) by means of the 5(sub 15)-4(sub 14) rotational transition at 43.5 GHz (lambda approx. 7 mm). The 1.5" x 1.4" VLA beam shows two principal sources of ethyl cyanide emission: an unresolved source approx. 5" north of the LMH that is kinematically consistent with simple expansion, contraction, or small-scale turbulence, and the resolved LMH core source itself that shows kinematics indicating an edge-on rotating disk that extends 23" (approx. 0.1 pc) in the approximate east-west direction. A search for the 7(sub 07)-6(sub 06) rotational transition of the amino acid glycine (NH2CH2COOH) at 43.7 GHz toward SgrB2(N-LMH) gave negative results.

A kinematic/kinetic hybrid airplane simulator model : draft.

DOT National Transportation Integrated Search

2008-01-01

A kinematics-based flight model, for normal flight : regimes, currently uses precise flight data to achieve a high : level of aircraft realism. However, it was desired to further : increase the models accuracy, without a substantial increase in : ...

A kinematic/kinetic hybrid airplane simulator model.

DOT National Transportation Integrated Search

2008-01-01

A kinematics-based flight model, for normal flight : regimes, currently uses precise flight data to achieve a high : level of aircraft realism. However, it was desired to further : increase the models accuracy, without a substantial increase in : ...

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

Pitarka, Arben

GEN_SRF_4 is a computer program for generation kinematic earthquake rupture models for use in ground motion modeling and simulations of earthquakes. The output is an ascii SRF formatted file containing kinematic rupture parameters.

A generic analytical foot rollover model for predicting translational ankle kinematics in gait simulation studies.

PubMed

Ren, Lei; Howard, David; Ren, Luquan; Nester, Chris; Tian, Limei

2010-01-19

The objective of this paper is to develop an analytical framework to representing the ankle-foot kinematics by modelling the foot as a rollover rocker, which cannot only be used as a generic tool for general gait simulation but also allows for case-specific modelling if required. Previously, the rollover models used in gait simulation have often been based on specific functions that have usually been of a simple form. In contrast, the analytical model described here is in a general form that the effective foot rollover shape can be represented by any polar function rho=rho(phi). Furthermore, a normalized generic foot rollover model has been established based on a normative foot rollover shape dataset of 12 normal healthy subjects. To evaluate model accuracy, the predicted ankle motions and the centre of pressure (CoP) were compared with measurement data for both subject-specific and general cases. The results demonstrated that the ankle joint motions in both vertical and horizontal directions (relative RMSE approximately 10%) and CoP (relative RMSE approximately 15% for most of the subjects) are accurately predicted over most of the stance phase (from 10% to 90% of stance). However, we found that the foot cannot be very accurately represented by a rollover model just after heel strike (HS) and just before toe off (TO), probably due to shear deformation of foot plantar tissues (ankle motion can occur without any foot rotation). The proposed foot rollover model can be used in both inverse and forward dynamics gait simulation studies and may also find applications in rehabilitation engineering. Copyright 2009 Elsevier Ltd. All rights reserved.

Effect of shoulder model complexity in upper-body kinematics analysis of the golf swing.

PubMed

Bourgain, M; Hybois, S; Thoreux, P; Rouillon, O; Rouch, P; Sauret, C

2018-06-25

The golf swing is a complex full body movement during which the spine and shoulders are highly involved. In order to determine shoulder kinematics during this movement, multibody kinematics optimization (MKO) can be recommended to limit the effect of the soft tissue artifact and to avoid joint dislocations or bone penetration in reconstructed kinematics. Classically, in golf biomechanics research, the shoulder is represented by a 3 degrees-of-freedom model representing the glenohumeral joint. More complex and physiological models are already provided in the scientific literature. Particularly, the model used in this study was a full body model and also described motions of clavicles and scapulae. This study aimed at quantifying the effect of utilizing a more complex and physiological shoulder model when studying the golf swing. Results obtained on 20 golfers showed that a more complex and physiologically-accurate model can more efficiently track experimental markers, which resulted in differences in joint kinematics. Hence, the model with 3 degrees-of-freedom between the humerus and the thorax may be inadequate when combined with MKO and a more physiological model would be beneficial. Finally, results would also be improved through a subject-specific approach for the determination of the segment lengths. Copyright © 2018 Elsevier Ltd. All rights reserved.

A Standard Kinematic Model for Flight Simulation at NASA Ames

NASA Technical Reports Server (NTRS)

Mcfarland, R. E.

1975-01-01

A standard kinematic model for aircraft simulation exists at NASA-Ames on a variety of computer systems, one of which is used to control the flight simulator for advanced aircraft (FSAA). The derivation of the kinematic model is given and various mathematical relationships are presented as a guide. These include descriptions of standardized simulation subsystems such as the atmospheric turbulence model and the generalized six-degrees-of-freedom trim routine, as well as an introduction to the emulative batch-processing system which enables this facility to optimize its real-time environment.

Adaptive control of an exoskeleton robot with uncertainties on kinematics and dynamics.

PubMed

Brahmi, Brahim; Saad, Maarouf; Ochoa-Luna, Cristobal; Rahman, Mohammad H

2017-07-01

In this paper, we propose a new adaptive control technique based on nonlinear sliding mode control (JSTDE) taking into account kinematics and dynamics uncertainties. This approach is applied to an exoskeleton robot with uncertain kinematics and dynamics. The adaptation design is based on Time Delay Estimation (TDE). The proposed strategy does not necessitate the well-defined dynamic and kinematic models of the system robot. The updated laws are designed using Lyapunov-function to solve the adaptation problem systematically, proving the close loop stability and ensuring the convergence asymptotically of the outputs tracking errors. Experiments results show the effectiveness and feasibility of JSTDE technique to deal with the variation of the unknown nonlinear dynamics and kinematics of the exoskeleton model.

Application of kinematic vorticity and gold mineralization for the wall rock alterations of shear zone at Dungash gold mining, Central Eastern Desert, Egypt

NASA Astrophysics Data System (ADS)

Kassem, Osama M. K.; Abd El Rahim, Said H.; El Nashar, EL Said R.; AL Kahtany, Kaled M.

2016-11-01

The use of porphyroclasts rotating in a flowing matrix to estimate mean kinematic vorticity number (Wm) is important for quantifying the relative contributions of pure and simple shear in wall rocks alterations of shear zone at Dungash gold mine. Furthermore, it shows the relationship between the gold mineralization and deformation and also detects the orientation of rigid objects during progressive deformation. The Dungash gold mine area is situated in an EW-trending quartz vein along a shear zone in metavolcanic and metasedimentary host rocks in the Eastern Desert of Egypt. These rocks are associated with the major geologic structures which are attributed to various deformational stages of the Neoproterozoic basement rocks. We conclude that finite strain in the deformed rocks is of the same order of magnitude for all units of metavolcano-sedimentary rocks. The kinematic vorticity number for the metavolcanic and metasedimentary samples in the Dungash area range from 0.80 to 0.92, and together with the strain data suggest deviations from simple shear. It is concluded that nappe stacking occurred early during the underthrusting event probably by brittle imbrication and that ductile strain was superimposed on the nappe structure during thrusting. Furthermore, we conclude that disseminated mineralization, chloritization, carbonatization and silicification of the wall rocks are associated with fluids migrating along shearing, fracturing and foliation of the metamorphosed wall rocks.

Uncertainty modelling of real-time observation of a moving object: photogrammetric measurements

NASA Astrophysics Data System (ADS)

Ulrich, Thomas

2015-04-01

Photogrametric systems are widely used in the field of industrial metrology to measure kinematic tasks such as tracking robot movements. In order to assess spatiotemporal deviations of a kinematic movement, it is crucial to have a reliable uncertainty of the kinematic measurements. Common methods to evaluate the uncertainty in kinematic measurements include approximations specified by the manufactures, various analytical adjustment methods and Kalman filters. Here a hybrid system estimator in conjunction with a kinematic measurement model is applied. This method can be applied to processes which include various types of kinematic behaviour, constant velocity, variable acceleration or variable turn rates. Additionally, it has been shown that the approach is in accordance with GUM (Guide to the Expression of Uncertainty in Measurement). The approach is compared to the Kalman filter using simulated data to achieve an overall error calculation. Furthermore, the new approach is used for the analysis of a rotating system as this system has both a constant and a variable turn rate. As the new approach reduces overshoots it is more appropriate for analysing kinematic processes than the Kalman filter. In comparison with the manufacturer’s approximations, the new approach takes account of kinematic behaviour, with an improved description of the real measurement process. Therefore, this approach is well-suited to the analysis of kinematic processes with unknown changes in kinematic behaviour.

Kinematic Analysis of a Posterior-stabilized Knee Prosthesis

PubMed Central

Zhao, Zhi-Xin; Wen, Liang; Qu, Tie-Bing; Hou, Li-Li; Xiang, Dong; Bin, Jia

2015-01-01

Background: The goal of total knee arthroplasty (TKA) is to restore knee kinematics. Knee prosthesis design plays a very important role in successful restoration. Here, kinematics models of normal and prosthetic knees were created and validated using previously published data. Methods: Computed tomography and magnetic resonance imaging scans of a healthy, anticorrosive female cadaver were used to establish a model of the entire lower limbs, including the femur, tibia, patella, fibula, distal femur cartilage, and medial and lateral menisci, as well as the anterior cruciate, posterior cruciate, medial collateral, and lateral collateral ligaments. The data from the three-dimensional models of the normal knee joint and a posterior-stabilized (PS) knee prosthesis were imported into finite element analysis software to create the final kinematic model of the TKA prosthesis, which was then validated by comparison with a previous study. The displacement of the medial/lateral femur and the internal rotation angle of the tibia were analyzed during 0–135° flexion. Results: Both the output data trends and the measured values derived from the normal knee's kinematics model were very close to the results reported in a previous in vivo study, suggesting that this model can be used for further analyses. The PS knee prosthesis underwent an abnormal forward displacement compared with the normal knee and has insufficient, or insufficiently aggressive, “rollback” compared with the lateral femur of the normal knee. In addition, a certain degree of reverse rotation occurs during flexion of the PS knee prosthesis. Conclusions: There were still several differences between the kinematics of the PS knee prosthesis and a normal knee, suggesting room for improving the design of the PS knee prosthesis. The abnormal kinematics during early flexion shows that the design of the articular surface played a vital role in improving the kinematics of the PS knee prosthesis. PMID:25591565

Atypical biological motion kinematics are represented by complementary lower-level and top-down processes during imitation learning.

PubMed

Hayes, Spencer J; Dutoy, Chris A; Elliott, Digby; Gowen, Emma; Bennett, Simon J

2016-01-01

Learning a novel movement requires a new set of kinematics to be represented by the sensorimotor system. This is often accomplished through imitation learning where lower-level sensorimotor processes are suggested to represent the biological motion kinematics associated with an observed movement. Top-down factors have the potential to influence this process based on the social context, attention and salience, and the goal of the movement. In order to further examine the potential interaction between lower-level and top-down processes in imitation learning, the aim of this study was to systematically control the mediating effects during an imitation of biological motion protocol. In this protocol, we used non-human agent models that displayed different novel atypical biological motion kinematics, as well as a control model that displayed constant velocity. Importantly the three models had the same movement amplitude and movement time. Also, the motion kinematics were displayed in the presence, or absence, of end-state-targets. Kinematic analyses showed atypical biological motion kinematics were imitated, and that this performance was different from the constant velocity control condition. Although the imitation of atypical biological motion kinematics was not modulated by the end-state-targets, movement time was more accurate in the absence, compared to the presence, of an end-state-target. The fact that end-state targets modulated movement time accuracy, but not biological motion kinematics, indicates imitation learning involves top-down attentional, and lower-level sensorimotor systems, which operate as complementary processes mediated by the environmental context. Copyright © 2015 Elsevier B.V. All rights reserved.

Kinematic Structural Modelling in Bayesian Networks

NASA Astrophysics Data System (ADS)

Schaaf, Alexander; de la Varga, Miguel; Florian Wellmann, J.

2017-04-01

We commonly capture our knowledge about the spatial distribution of distinct geological lithologies in the form of 3-D geological models. Several methods exist to create these models, each with its own strengths and limitations. We present here an approach to combine the functionalities of two modeling approaches - implicit interpolation and kinematic modelling methods - into one framework, while explicitly considering parameter uncertainties and thus model uncertainty. In recent work, we proposed an approach to implement implicit modelling algorithms into Bayesian networks. This was done to address the issues of input data uncertainty and integration of geological information from varying sources in the form of geological likelihood functions. However, one general shortcoming of implicit methods is that they usually do not take any physical constraints into consideration, which can result in unrealistic model outcomes and artifacts. On the other hand, kinematic structural modelling intends to reconstruct the history of a geological system based on physically driven kinematic events. This type of modelling incorporates simplified, physical laws into the model, at the cost of a substantial increment of usable uncertain parameters. In the work presented here, we show an integration of these two different modelling methodologies, taking advantage of the strengths of both of them. First, we treat the two types of models separately, capturing the information contained in the kinematic models and their specific parameters in the form of likelihood functions, in order to use them in the implicit modelling scheme. We then go further and combine the two modelling approaches into one single Bayesian network. This enables the direct flow of information between the parameters of the kinematic modelling step and the implicit modelling step and links the exclusive input data and likelihoods of the two different modelling algorithms into one probabilistic inference framework. In addition, we use the capabilities of Noddy to analyze the topology of structural models to demonstrate how topological information, such as the connectivity of two layers across an unconformity, can be used as a likelihood function. In an application to a synthetic case study, we show that our approach leads to a successful combination of the two different modelling concepts. Specifically, we show that we derive ensemble realizations of implicit models that now incorporate the knowledge of the kinematic aspects, representing an important step forward in the integration of knowledge and a corresponding estimation of uncertainties in structural geological models.

A musculoskeletal model of the elbow joint complex

NASA Technical Reports Server (NTRS)

Gonzalez, Roger V.; Barr, Ronald E.; Abraham, Lawrence D.

1993-01-01

This paper describes a musculoskeletal model that represents human elbow flexion-extension and forearm pronation-supination. Musculotendon parameters and the skeletal geometry were determined for the musculoskeletal model in the analysis of ballistic elbow joint complex movements. The key objective was to develop a computational model, guided by optimal control, to investigate the relationship among patterns of muscle excitation, individual muscle forces, and movement kinematics. The model was verified using experimental kinematic, torque, and electromyographic data from volunteer subjects performing both isometric and ballistic elbow joint complex movements. In general, the model predicted kinematic and muscle excitation patterns similar to what was experimentally measured.

Gaussian memory in kinematic matrix theory for self-propellers.

PubMed

Nourhani, Amir; Crespi, Vincent H; Lammert, Paul E

2014-12-01

We extend the kinematic matrix ("kinematrix") formalism [Phys. Rev. E 89, 062304 (2014)], which via simple matrix algebra accesses ensemble properties of self-propellers influenced by uncorrelated noise, to treat Gaussian correlated noises. This extension brings into reach many real-world biological and biomimetic self-propellers for which inertia is significant. Applying the formalism, we analyze in detail ensemble behaviors of a 2D self-propeller with velocity fluctuations and orientation evolution driven by an Ornstein-Uhlenbeck process. On the basis of exact results, a variety of dynamical regimes determined by the inertial, speed-fluctuation, orientational diffusion, and emergent disorientation time scales are delineated and discussed.

Dynamic Modelling Of A SCARA Robot

NASA Astrophysics Data System (ADS)

Turiel, J. Perez; Calleja, R. Grossi; Diez, V. Gutierrez

1987-10-01

This paper describes a method for modelling industrial robots that considers dynamic approach to manipulation systems motion generation, obtaining the complete dynamic model for the mechanic part of the robot and taking into account the dynamic effect of actuators acting at the joints. For a four degree of freedom SCARA robot we obtain the dynamic model for the basic (minimal) configuration, that is, the three degrees of freedom that allow us to place the robot end effector in a desired point, using the Lagrange Method to obtain the dynamic equations in matrix form. The manipulator is considered to be a set of rigid bodies inter-connected by joints in the form of simple kinematic pairs. Then, the state space model is obtained for the actuators that move the robot joints, uniting the models of the single actuators, that is, two DC permanent magnet servomotors and an electrohydraulic actuator. Finally, using a computer simulation program written in FORTRAN language, we can compute the matrices of the complete model.

Neotectonic deformation model of the Northern Algeria from Paleomagnetic data

NASA Astrophysics Data System (ADS)

Derder, M. E. M.; Henry, B.; Maouche, S.; Amenna, M.; Bayou, B.; Djellit, H.; Ymel, H.; Gharbi, S.; Abtout, A.; Ayache, M.

2012-04-01

The seismic activity of the Western Mediterranean area is partly concentrated in northern Africa, particularly in northern Algeria, as it is shown by the strongest recent earthquakes of "Zemmouri" 21 May 2003 Mw=6.9 and the "El Asnam" 10 October 1980 Ms= 7.3. This seismicity is due to the tectonic activity related to the convergence between Africa and Eurasia plates since at least the Oligocene. The deformation is mostly compressional with associated folds, strike-slip faults and thrusts, and a direction of shortening between N-S and NNW-SSE. This convergence involves a tectonic transpression which is expressed by active deformation along the plate boundary. In northern Algeria, the seismicity is concentrated in a coastal E-W thin band zone (the Tell Atlas). Active structures define there NE-SW trending folds and NE-SW sinistral transpressive faults, which affect the intermountain and coastal Neogene to Quaternary sedimentary basins (e.g. " Cheliff "basin, " Mitidja "basin, …). These reverse faults are associated with NW-SE to E-W strike-slips deep faults. The active tectonics could be explained by a simple blocks rotation kinematics model. In order to test the validity of this kinematic model, three different paleomagnetic studies have been conducted. The first one concerned the "Cheliff" basin where sedimentary Neogene formations were extensively sampled (66 sites). The second study was carried out on Miocene andesite and dacite rocks cropping out along the northern coastal zone of the "Cheliff" basin ("Beni Haoua" area, 19 sites). The third study has been carried out on the Miocene magmatic rocks (rhyolites and basalts) cropping out north-eastern part of the "Mitidja" basin ("Cap Djinet" - "Boumerdes" area, 23 sites). The obtained results show existence of paleomagnetic clockwise rotations in all the studied areas and then validates the kinematics block rotation model. Accordingly, the deformation related to the convergence between the Africa and Eurasia plates, is partly accommodated in northern Algeria by blocks rotation movements. It seems that the Tellian Atlas (northern Algeria) domain is organized as tectonic blocks with relative clockwise blocks rotation movement as in a "bookshelf" model.

Modeling down-scattered neutron images from cryogenic fuel implosions at the National Ignition Facility

NASA Astrophysics Data System (ADS)

Raman, Kumar; Casey, Dan; Callahan, Debra; Clark, Dan; Fittinghoff, David; Grim, Gary; Hatchett, Steve; Hinkel, Denise; Jones, Ogden; Kritcher, Andrea; Seek, Scott; Suter, Larry; Merrill, Frank; Wilson, Doug

2016-10-01

In experiments with cryogenic deuterium-tritium (DT) fuel layers at the National Ignition Facility (NIF), an important technique for visualizing the stagnated fuel assembly is to image the 6-12 MeV neutrons created by scatters of the 14 MeV hotspot neutrons in the surrounding cold fuel. However, such down-scattered neutron images are difficult to interpret without a model of the fuel assembly, because of the nontrivial neutron kinematics involved in forming the images. For example, the dominant scattering modes are at angles other than forward scattering and the 14 MeV neutron fluence is not uniform. Therefore, the intensity patterns in these images usually do not correspond in a simple way to patterns in the fuel distribution, even for simple fuel distributions. We describe our efforts to model synthetic images from ICF design simulations with data from the National Ignition Campaign and after. We discuss the insight this gives, both to understand how well the models are predicting fuel asymmetries and to inform how to optimize the diagnostic for the types of fuel distributions being predicted. This work was performed under the auspices of the U.S. Department of Energy by Lawrence Livermore National Laboratory under Contract DE-AC52-07NA27344.

Predictors for traumatic brain injuries evaluated through accident reconstructions.

PubMed

Kleiven, Svein

2007-10-01

The aim of this study is to evaluate all the 58 available NFL cases and compare various predictors for mild traumatic brain injuries using a detailed and extensively validated finite element model of the human head. Global injury measures such as magnitude in angular and translational acceleration, change in angular velocity, head impact power (HIP) and HIC were also investigated with regard to their ability to predict the intracranial pressure and strains associated with injury. The brain material properties were modeled using a hyperelastic and viscoelastic constitutive law. Also, three different stiffness parameters, encompassing a range of published brain tissue properties, were tested. 8 tissue injury predictors were evaluated for 6 different regions, covering the entire cerebrum, as well as for the whole brain. In addition, 10 head kinematics based predictors were evaluated both for correlation with injury as well as with strain and pressure. When evaluating the results, a statistical correlation between strain, strain rate, product of strain and strain rate, Cumulative Strain Damage Measure (CSDM), strain energy density, maximum pressure, magnitude of minimum pressure, as well as von Mises effective stress, with injury was found when looking into specific regions of the brain. However, the maximal pressure in the gray matter showed a higher correlation with injury than other evaluated measures. On the other hand, it was possible, through the reconstruction of a motocross accident, to re-create the injury pattern in the brain of the injured rider using maximal principal strain. It was also found that a simple linear combination of peak change in rotational velocity and HIC showed a high correlation (R=0.98) with the maximum principal strain in the brain, in addition to being a significant predictor of injury. When applying the rotational and translational kinematics separately for one of the cases, it was found that the translational kinematics contribute very little to the intracranial distortional strains while the rotational kinematics contributes insignificantly to the pressure response. This study underlines that the strain based brain tissue injury predictors are very sensitive to the choice of stiffness for the brain tissue.

Purkinje cells signal hand shape and grasp force during reach-to-grasp in the monkey.

PubMed

Mason, Carolyn R; Hendrix, Claudia M; Ebner, Timothy J

2006-01-01

The cerebellar cortex and nuclei play important roles in the learning, planning, and execution of reach-to-grasp and prehensile movements. However, few studies have investigated the signals carried by cerebellar neurons during reach-to-grasp, particularly signals relating to target object properties, hand shape, and grasp force. In this study, the simple spike discharge of 77 Purkinje cells was recorded as two rhesus monkeys reached and grasped 16 objects. The objects varied systematically in volume, shape, and orientation and each was grasped at five different force levels. Linear multiple regression analyses showed the simple spike discharge was significantly modulated in relation to objects and force levels. Object related modulation occurred preferentially during reach or early in the grasp and was linearly related to grasp aperture. The simple spike discharge was positively correlated with grasp force during both the reach and the grasp. There was no significant interaction between object and grasp force modulation, supporting previous kinematic findings that grasp kinematics and force are signaled independently. Singular value decomposition (SVD) was used to quantify the temporal patterns in the simple spike discharge. Most cells had a predominant discharge pattern that remained relatively constant across object grasp dimensions and force levels. A single predominant simple spike discharge pattern that spans reach and grasp and accounts for most of the variation (>60%) is consistent with the concept that the cerebellum is involved with synergies underlying prehension. Therefore Purkinje cells are involved with the signaling of prehension, providing independent signals for hand shaping and grasp force.

Comparative assessment of knee joint models used in multi-body kinematics optimisation for soft tissue artefact compensation.

PubMed

Richard, Vincent; Cappozzo, Aurelio; Dumas, Raphaël

2017-09-06

Estimating joint kinematics from skin-marker trajectories recorded using stereophotogrammetry is complicated by soft tissue artefact (STA), an inexorable source of error. One solution is to use a bone pose estimator based on multi-body kinematics optimisation (MKO) embedding joint constraints to compensate for STA. However, there is some debate over the effectiveness of this method. The present study aimed to quantitatively assess the degree of agreement between reference (i.e., artefact-free) knee joint kinematics and the same kinematics estimated using MKO embedding six different knee joint models. The following motor tasks were assessed: level walking, hopping, cutting, running, sit-to-stand, and step-up. Reference knee kinematics was taken from pin-marker or biplane fluoroscopic data acquired concurrently with skin-marker data, made available by the respective authors. For each motor task, Bland-Altman analysis revealed that the performance of MKO varied according to the joint model used, with a wide discrepancy in results across degrees of freedom (DoFs), models and motor tasks (with a bias between -10.2° and 13.2° and between -10.2mm and 7.2mm, and with a confidence interval up to ±14.8° and ±11.1mm, for rotation and displacement, respectively). It can be concluded that, while MKO might occasionally improve kinematics estimation, as implemented to date it does not represent a reliable solution to the STA issue. Copyright © 2017 Elsevier Ltd. All rights reserved.

Relation of Structural and Vibratory Kinematics of the Vocal Folds to Two Acoustic Measures of Breathy Voice Based on Computational Modeling

ERIC Educational Resources Information Center

Samlan, Robin A.; Story, Brad H.

2011-01-01

Purpose: To relate vocal fold structure and kinematics to 2 acoustic measures: cepstral peak prominence (CPP) and the amplitude of the first harmonic relative to the second (H1-H2). Method: The authors used a computational, kinematic model of the medial surfaces of the vocal folds to specify features of vocal fold structure and vibration in a…

Is the posterior cruciate ligament necessary for medial pivot knee prostheses with regard to postoperative kinematics?

PubMed

Fang, Chao-Hua; Chang, Chia-Ming; Lai, Yu-Shu; Chen, Wen-Chuan; Song, Da-Yong; McClean, Colin J; Kao, Hao-Yuan; Qu, Tie-Bing; Cheng, Cheng-Kung

2015-11-01

Excellent clinical and kinematical performance is commonly reported after medial pivot knee arthroplasty. However, there is conflicting evidence as to whether the posterior cruciate ligament should be retained. This study simulated how the posterior cruciate ligament, post-cam mechanism and medial tibial insert morphology may affect postoperative kinematics. After the computational intact knee model was validated according to the motion of a normal knee, four TKA models were built based on a medial pivot prosthesis; PS type, modified PS type, CR type with PCL retained and CR type with PCL sacrificed. Anteroposterior translation and axial rotation of femoral condyles on the tibia during 0°-135° knee flexion were analyzed. There was no significant difference in kinematics between the intact knee model and reported data for a normal knee. In all TKA models, normal motion was almost fully restored, except for the CR type with PCL sacrificed. Sacrificing the PCL produced paradoxical anterior femoral translation and tibial external rotation during full flexion. Either the posterior cruciate ligament or post-cam mechanism is necessary for medial pivot prostheses to regain normal kinematics after total knee arthroplasty. The morphology of medial tibial insert was also shown to produce a small but noticeable effect on knee kinematics. V.

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

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

Unseren, M.A.

1993-04-01

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

A stochastic approach to uncertainty in the equations of MHD kinematics

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

Phillips, Edward G., E-mail: egphillips@math.umd.edu; Elman, Howard C., E-mail: elman@cs.umd.edu

2015-03-01

The magnetohydrodynamic (MHD) kinematics model describes the electromagnetic behavior of an electrically conducting fluid when its hydrodynamic properties are assumed to be known. In particular, the MHD kinematics equations can be used to simulate the magnetic field induced by a given velocity field. While prescribing the velocity field leads to a simpler model than the fully coupled MHD system, this may introduce some epistemic uncertainty into the model. If the velocity of a physical system is not known with certainty, the magnetic field obtained from the model may not be reflective of the magnetic field seen in experiments. Additionally, uncertaintymore » in physical parameters such as the magnetic resistivity may affect the reliability of predictions obtained from this model. By modeling the velocity and the resistivity as random variables in the MHD kinematics model, we seek to quantify the effects of uncertainty in these fields on the induced magnetic field. We develop stochastic expressions for these quantities and investigate their impact within a finite element discretization of the kinematics equations. We obtain mean and variance data through Monte Carlo simulation for several test problems. Toward this end, we develop and test an efficient block preconditioner for the linear systems arising from the discretized equations.« less

Kinematic models of the upper limb joints for multibody kinematics optimisation: An overview.

PubMed

Duprey, Sonia; Naaim, Alexandre; Moissenet, Florent; Begon, Mickaël; Chèze, Laurence

2017-09-06

Soft tissue artefact (STA), i.e. the motion of the skin, fat and muscles gliding on the underlying bone, may lead to a marker position error reaching up to 8.7cm for the particular case of the scapula. Multibody kinematics optimisation (MKO) is one of the most efficient approaches used to reduce STA. It consists in minimising the distance between the positions of experimental markers on a subject skin and the simulated positions of the same markers embedded on a kinematic model. However, the efficiency of MKO directly relies on the chosen kinematic model. This paper proposes an overview of the different upper limb models available in the literature and a discussion about their applicability to MKO. The advantages of each joint model with respect to its biofidelity to functional anatomy are detailed both for the shoulder and the forearm areas. Models capabilities of personalisation and of adaptation to pathological cases are also discussed. Concerning model efficiency in terms of STA reduction in MKO algorithms, a lack of quantitative assessment in the literature is noted. In priority, future studies should concern the evaluation and quantification of STA reduction depending on upper limb joint constraints. Copyright © 2016 Elsevier Ltd. All rights reserved.

Modeling initial contact dynamics during ambulation with dynamic simulation.

PubMed

Meyer, Andrew R; Wang, Mei; Smith, Peter A; Harris, Gerald F

2007-04-01

Ankle-foot orthoses are frequently used interventions to correct pathological gait. Their effects on the kinematics and kinetics of the proximal joints are of great interest when prescribing ankle-foot orthoses to specific patient groups. Mathematical Dynamic Model (MADYMO) is developed to simulate motor vehicle crash situations and analyze tissue injuries of the occupants based multibody dynamic theories. Joint kinetics output from an inverse model were perturbed and input to the forward model to examine the effects of changes in the internal sagittal ankle moment on knee and hip kinematics following heel strike. Increasing the internal ankle moment (augmentation, equivalent to gastroc-soleus contraction) produced less pronounced changes in kinematic results at the hip, knee and ankle than decreasing the moment (attenuation, equivalent to gastroc-soleus relaxation). Altering the internal ankle moment produced two distinctly different kinematic curve morphologies at the hip. Decreased internal ankle moments increased hip flexion, peaking at roughly 8% of the gait cycle. Increasing internal ankle moments decreased hip flexion to a lesser degree, and approached normal at the same point in the gait cycle. Increasing the internal ankle moment produced relatively small, well-behaved extension-biased kinematic results at the knee. Decreasing the internal ankle moment produced more substantial changes in knee kinematics towards flexion that increased with perturbation magnitude. Curve morphologies were similar to those at the hip. Immediately following heel strike, kinematic results at the ankle showed movement in the direction of the internal moment perturbation. Increased internal moments resulted in kinematic patterns that rapidly approach normal after initial differences. When the internal ankle moment was decreased, differences from normal were much greater and did not rapidly decrease. This study shows that MADYMO can be successfully applied to accomplish forward dynamic simulations, given kinetic inputs. Future applications include predicting muscle forces and decomposing external kinetics.

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

PubMed Central

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

2013-01-01

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

Input relegation control for gross motion of a kinematically redundant manipulator

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

Unseren, M.A.

1992-10-01

This report proposes a method for resolving the kinematic redundancy of a serial link manipulator moving in a three-dimensional workspace. The underspecified problem of solving for the joint velocities based on the classical kinematic velocity model is transformed into a well-specified problem. This is accomplished by augmenting the original model with additional equations which relate a new vector variable quantifying the redundant degrees of freedom (DOF) to the joint velocities. The resulting augmented system yields a well specified solution for the joint velocities. Methods for selecting the redundant DOF quantifying variable and the transformation matrix relating it to the jointmore » velocities are presented so as to obtain a minimum Euclidean norm solution for the joint velocities. The approach is also applied to the problem of resolving the kinematic redundancy at the acceleration level. Upon resolving the kinematic redundancy, a rigid body dynamical model governing the gross motion of the manipulator is derived. A control architecture is suggested which according to the model, decouples the Cartesian space DOF and the redundant DOF.« less

Low-angle detachment origin for the Red Sea Rift System?

NASA Astrophysics Data System (ADS)

Voggenreiter, W.; Hötzl, H.; Mechie, J.

1988-07-01

The tectonic and magmatic history of the Jizan coastal plain (Tihama Asir, southwest Arabia) suggests a two-stage evolution. A first stage of extension began during the Oligocene and ended with uplift of the Arabian graben shoulder which began about 14 Ma ago. It was followed by a period of approximately 10 Ma characterized by magmatic and tectonic quiescence. A second stage of extension began roughly contemporaneously with the onset of seafloor spreading in the southern Red Sea some 4-5 Ma ago and is still active today. The geometry of faulting in the Jizan area supports a Wernicke model of simple shear for the development of the southern Red Sea. Regional asymmetries of the Red Sea area, such as the distribution of volcanism, the marginal topography and asymmetries in the geophysical signatures are consistent with such a model. Available seismic profiles allow a rough estimate for β-values of the Arabian Red Sea margin and were used to simulate subsidence history and heat flow of the Red Sea for "classical" two-layer stretching models. Neither finite uniform nor finite non-uniform stretching models can account for observed subsidence and heat flow data. Thus, two model scenarios of whole-lithosphere normal simple-shear are presented for the geological history of the southwestern Arabian margin of the Red Sea. These models are limited because of the Serravallian rearrangement in the kinematics of the Red Sea.

Effective Simulation of Delamination in Aeronautical Structures Using Shells and Cohesive Elements

NASA Technical Reports Server (NTRS)

Davila, Carlos G.; Camanho, Pedro P.; Turon, Albert

2007-01-01

A cohesive element for shell analysis is presented. The element can be used to simulate the initiation and growth of delaminations between stacked, non-coincident layers of shell elements. The procedure to construct the element accounts for the thickness offset by applying the kinematic relations of shell deformation to transform the stiffness and internal force of a zero-thickness cohesive element such that interfacial continuity between the layers is enforced. The procedure is demonstrated by simulating the response and failure of the Mixed Mode Bending test and a skin-stiffener debond specimen. In addition, it is shown that stacks of shell elements can be used to create effective models to predict the inplane and delamination failure modes of thick components. The results indicate that simple shell models can retain many of the necessary predictive attributes of much more complex 3D models while providing the computational efficiency that is necessary for design.

Cohesive Elements for Shells

NASA Technical Reports Server (NTRS)

Davila, Carlos G.; Camanho, Pedro P.; Turon, Albert

2007-01-01

A cohesive element for shell analysis is presented. The element can be used to simulate the initiation and growth of delaminations between stacked, non-coincident layers of shell elements. The procedure to construct the element accounts for the thickness offset by applying the kinematic relations of shell deformation to transform the stiffness and internal force of a zero-thickness cohesive element such that interfacial continuity between the layers is enforced. The procedure is demonstrated by simulating the response and failure of the Mixed Mode Bending test and a skin-stiffener debond specimen. In addition, it is shown that stacks of shell elements can be used to create effective models to predict the inplane and delamination failure modes of thick components. The results indicate that simple shell models can retain many of the necessary predictive attributes of much more complex 3D models while providing the computational efficiency that is necessary for design.

A micro-kinematic framework for vorticity analysis in polyphase shear zones using integrated field, microstructural and crystallographic orientation-dispersion methods

NASA Astrophysics Data System (ADS)

Kruckenberg, S. C.; Michels, Z. D.; Parsons, M. M.

2017-12-01

We present results from integrated field, microstructural and textural analysis in the Burlington mylonite zone (BMZ) of eastern Massachusetts to establish a unified micro-kinematic framework for vorticity analysis in polyphase shear zones. Specifically, we define the vorticity-normal surface based on lattice-scale rotation axes calculated from electron backscatter diffraction data using orientation statistics. In doing so, we objectively identify a suitable reference frame for rigid grain methods of vorticity analysis that can be used in concert with textural studies to constrain field- to plate-scale deformation geometries without assumptions that may bias tectonic interpretations, such as relationships between kinematic axes and fabric forming elements or the nature of the deforming zone (e.g., monoclinic vs. triclinic shear zones). Rocks within the BMZ comprise a heterogeneous mix of quartzofeldspathic ± hornblende-bearing mylonitic gneisses and quartzites. Vorticity axes inferred from lattice rotations lie within the plane of mylonitic foliation perpendicular to lineation - a pattern consistent with monoclinic deformation geometries involving simple shear and/or wrench-dominated transpression. The kinematic vorticity number (Wk) is calculated using Rigid Grain Net analysis and ranges from 0.25-0.55, indicating dominant general shear. Using the calculated Wk values and the dominant geographic fabric orientation, we constrain the angle of paleotectonic convergence between the Nashoba and Avalon terranes to 56-75º with the convergence vector trending 142-160° and plunging 3-10°. Application of the quartz recrystallized grain size piezometer suggests differential stresses in the BMZ mylonites ranging from 44 to 92 MPa; quartz CPO patterns are consistent with deformation at greenschist- to amphibolite-facies conditions. We conclude that crustal strain localization in the BMZ involved a combination of pure and simple shear in a sinistral reverse transpressional shear zone formed at or near the brittle-ductile transition under relatively high stress conditions. Moreover, we demonstrate the utility of combined crystallographic and rigid grain methods of vorticity analysis for deducing deformation geometries, kinematics, and tectonic histories in polyphase shear zones.

Modeling of control forces for kinematical constraints in the dynamics of multibody systems: A new approach

NASA Technical Reports Server (NTRS)

Ider, Sitki Kemal

1989-01-01

Conventionally kinematical constraints in multibody systems are treated similar to geometrical constraints and are modeled by constraint reaction forces which are perpendicular to constraint surfaces. However, in reality, one may want to achieve the desired kinematical conditions by control forces having different directions in relation to the constraint surfaces. The conventional equations of motion for multibody systems subject to kinematical constraints are generalized by introducing general direction control forces. Conditions for the selections of the control force directions are also discussed. A redundant robotic system subject to prescribed end-effector motion is analyzed to illustrate the methods proposed.

Human-centric predictive model of task difficulty for human-in-the-loop control tasks

PubMed Central

Majewicz Fey, Ann

2018-01-01

Quantitatively measuring the difficulty of a manipulation task in human-in-the-loop control systems is ill-defined. Currently, systems are typically evaluated through task-specific performance measures and post-experiment user surveys; however, these methods do not capture the real-time experience of human users. In this study, we propose to analyze and predict the difficulty of a bivariate pointing task, with a haptic device interface, using human-centric measurement data in terms of cognition, physical effort, and motion kinematics. Noninvasive sensors were used to record the multimodal response of human user for 14 subjects performing the task. A data-driven approach for predicting task difficulty was implemented based on several task-independent metrics. We compare four possible models for predicting task difficulty to evaluated the roles of the various types of metrics, including: (I) a movement time model, (II) a fusion model using both physiological and kinematic metrics, (III) a model only with kinematic metrics, and (IV) a model only with physiological metrics. The results show significant correlation between task difficulty and the user sensorimotor response. The fusion model, integrating user physiology and motion kinematics, provided the best estimate of task difficulty (R2 = 0.927), followed by a model using only kinematic metrics (R2 = 0.921). Both models were better predictors of task difficulty than the movement time model (R2 = 0.847), derived from Fitt’s law, a well studied difficulty model for human psychomotor control. PMID:29621301

Surgical gesture segmentation and recognition.

PubMed

Tao, Lingling; Zappella, Luca; Hager, Gregory D; Vidal, René

2013-01-01

Automatic surgical gesture segmentation and recognition can provide useful feedback for surgical training in robotic surgery. Most prior work in this field relies on the robot's kinematic data. Although recent work [1,2] shows that the robot's video data can be equally effective for surgical gesture recognition, the segmentation of the video into gestures is assumed to be known. In this paper, we propose a framework for joint segmentation and recognition of surgical gestures from kinematic and video data. Unlike prior work that relies on either frame-level kinematic cues, or segment-level kinematic or video cues, our approach exploits both cues by using a combined Markov/semi-Markov conditional random field (MsM-CRF) model. Our experiments show that the proposed model improves over a Markov or semi-Markov CRF when using video data alone, gives results that are comparable to state-of-the-art methods on kinematic data alone, and improves over state-of-the-art methods when combining kinematic and video data.

Kinematic model for the space-variant image motion of star sensors under dynamical conditions

NASA Astrophysics Data System (ADS)

Liu, Chao-Shan; Hu, Lai-Hong; Liu, Guang-Bin; Yang, Bo; Li, Ai-Jun

2015-06-01

A kinematic description of a star spot in the focal plane is presented for star sensors under dynamical conditions, which involves all necessary parameters such as the image motion, velocity, and attitude parameters of the vehicle. Stars at different locations of the focal plane correspond to the slightly different orientation and extent of motion blur, which characterize the space-variant point spread function. Finally, the image motion, the energy distribution, and centroid extraction are numerically investigated using the kinematic model under dynamic conditions. A centroid error of eight successive iterations <0.002 pixel is used as the termination criterion for the Richardson-Lucy deconvolution algorithm. The kinematic model of a star sensor is useful for evaluating the compensation algorithms of motion-blurred images.

Integrating flood modelling in a hydrological catchment model: flow approximations and spatial resolution.

NASA Astrophysics Data System (ADS)

van den Bout, Bastian; Jetten, Victor

2017-04-01

Within hydrological models, flow approximations are commonly used to reduce computation time. The validity of these approximations is strongly determined by flow height, flow velocity, the spatial resolution of the model, and by the manner in which flow routing is implemented. The assumptions of these approximations can furthermore limit emergent behavior, and influence flow behavior under space-time scaling. In this presentation, the validity and performance of the kinematic, diffusive and dynamic flow approximations are investigated for use in a catchment-based flood model. Particularly, the validity during flood events and for varying spatial resolutions is investigated. The OpenLISEM hydrological model is extended to implement these flow approximations and channel flooding based on dynamic flow. The kinematic routing uses a predefined converging flow network, the diffusive and dynamic routing uses a 2D flow solution over a DEM. The channel flow in all cases is a 1D kinematic wave approximation. The flow approximations are used to recreate measured discharge in three catchments of different size in China, Spain and Italy, among which is the hydrograph of the 2003 flood event in the Fella river basin (Italy). Furthermore, spatial resolutions are varied for the flood simulation in order to investigate the influence of spatial resolution on these flow approximations. Results show that the kinematic, diffusive and dynamic flow approximation provide least to highest accuracy, respectively, in recreating measured temporal variation of the discharge. Kinematic flow, which is commonly used in hydrological modelling, substantially over-estimates hydrological connectivity in the simulations with a spatial resolution of below 30 meters. Since spatial resolutions of models have strongly increased over the past decades, usage of routed kinematic flow should be reconsidered. In the case of flood events, spatial modelling of kinematic flow substantially over-estimates hydrological connectivity and flow concentration, leading to significant errors. The combination of diffusive or dynamic overland flow and dynamic channel flooding provides high accuracy in recreating the 2003 Fella river flood event. Finally, flow approximations substantially influenced the predictive potential of the (flash) flood model.

Reliable sagittal plane kinematic gait assessments are feasible using low-cost webcam technology.

PubMed

Saner, Robert J; Washabaugh, Edward P; Krishnan, Chandramouli

2017-07-01

Three-dimensional (3-D) motion capture systems are commonly used for gait analysis because they provide reliable and accurate measurements. However, the downside of this approach is that it is expensive and requires technical expertise; thus making it less feasible in the clinic. To address this limitation, we recently developed and validated (using a high-precision walking robot) a low-cost, two-dimensional (2-D) real-time motion tracking approach using a simple webcam and LabVIEW Vision Assistant. The purpose of this study was to establish the repeatability and minimal detectable change values of hip and knee sagittal plane gait kinematics recorded using this system. Twenty-one healthy subjects underwent two kinematic assessments while walking on a treadmill at a range of gait velocities. Intraclass correlation coefficients (ICC) and minimal detectable change (MDC) values were calculated for commonly used hip and knee kinematic parameters to demonstrate the reliability of the system. Additionally, Bland-Altman plots were generated to examine the agreement between the measurements recorded on two different days. The system demonstrated good to excellent reliability (ICC>0.75) for all the gait parameters tested on this study. The MDC values were typically low (<5°) for most of the parameters. The Bland-Altman plots indicated that there was no systematic error or bias in kinematic measurements and showed good agreement between measurements obtained on two different days. These results indicate that kinematic gait assessments using webcam technology can be reliably used for clinical and research purposes. Copyright © 2017 Elsevier B.V. All rights reserved.

Essential Kinematics for Autonomous Vehicles

DTIC Science & Technology

1994-05-02

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

New constraints on the rupture process of the 1999 August 17 Izmit earthquake deduced from estimates of stress glut rate moments

NASA Astrophysics Data System (ADS)

Clévédé, E.; Bouin, M.-P.; Bukchin, B.; Mostinskiy, A.; Patau, G.

2004-12-01

This paper illustrates the use of integral estimates given by the stress glut rate moments of total degree 2 for constraining the rupture scenario of a large earthquake in the particular case of the 1999 Izmit mainshock. We determine the integral estimates of the geometry, source duration and rupture propagation given by the stress glut rate moments of total degree 2 by inverting long-period surface wave (LPSW) amplitude spectra. Kinematic and static models of the Izmit earthquake published in the literature are quite different from one another. In order to extract the characteristic features of this event, we calculate the same integral estimates directly from those models and compare them with those deduced from our inversion. While the equivalent rupture zone and the eastward directivity are consistent among all models, the LPSW solution displays a strong unilateral character of the rupture associated with a short rupture duration that is not compatible with the solutions deduced from the published models. With the aim of understand this discrepancy, we use simple equivalent kinematic models to reproduce the integral estimates of the considered rupture processes (including ours) by adjusting a few free parameters controlling the western and eastern parts of the rupture. We show that the joint analysis of the LPSW solution and source tomographies allows us to elucidate the scattering of source processes published for this earthquake and to discriminate between the models. Our results strongly suggest that (1) there was significant moment released on the eastern segment of the activated fault system during the Izmit earthquake; (2) the apparent rupture velocity decreases on this segment.

True 3D kinematic analysis for slope instability assessment in the Siq of Petra (Jordan), from high resolution TLS

NASA Astrophysics Data System (ADS)

Gigli, Giovanni; Margottini, Claudio; Spizzichino, Daniele; Ruther, Heinz; Casagli, Nicola

2016-04-01

Most classifications of mass movements in rock slopes use relatively simple, idealized geometries for the basal sliding surface, like planar sliding, wedge sliding, toppling or columnar failures. For small volumes, the real sliding surface can be often well described by such simple geometries. Extended and complex rock surfaces, however, can exhibit a large number of mass movements, also showing various kind of kinematisms. As a consequence, the real situation in large rock surfaces with a complicate geometry is generally very complex and a site depending analysis, such as fieldwork and compass, cannot be comprehensive of the real situation. Since the outstanding development of terrestrial laser scanner (TLS) in recent years, rock slopes can now be investigated and mapped through high resolution point clouds, reaching the resolution of few mm's and accuracy less than a cm in most advanced instruments, even from remote surveying. The availability of slope surface digital data can offer a unique chance to determine potential kinematisms in a wide distributed area for all the investigated geomorphological processes. More in detail the proposed method is based on the definition of least squares fitting planes on clusters of points extracted by moving a sampling cube on the point cloud. If the associated standard deviation is below a defined threshold, the cluster is considered valid. By applying geometric criteria it is possible to join all the clusters lying on the same surface; in this way discontinuity planes can be reconstructed, rock mass geometrical properties are calculated and, finally, potential kinematisms established. The Siq of Petra (Jordan), is a 1.2 km naturally formed gorge, with an irregular horizontal shape and a complex vertical slope, that represents the main entrance to Nabatean archaeological site. In the Siq, discontinuities of various type (bedding, joints, faults), mainly related to geomorphological evolution of the slope, lateral stress released, stratigraphic setting and tectonic activity can be recognized. As a consequence, rock-falls have been occurring, even recently, with unstable rock mass volumes ranging from 0.1 m3 up to over some hundreds m3. Slope instability, acceleration of crack deformation and consequent increasing of rock-fall hazard conditions, could threaten the safety of tourist as well as the integrity of the heritage. 3D surface model coming from Terrestrial Laser Scanner acquisitions was developed almost all over the site of Petra, including the Siq. Comprehensively, a point cloud of five billion points was generated making the site of Petra likely the largest scanned archaeological site in the word. As far as the Siq, the scanner was positioned on the path floor at intervals of not more than 10 meters from each station. The total number of scans in the Siq was 220 with an average point cloud interval of approximately 3 cm. Subsequently, for the definition of the main rockfall source areas, a spatial kinematic analysis for the whole Siq has been performed, by using discontinuity orientation data extracted from the point cloud by means of the software Diana. Orientation, number of sets, spacing/frequency, persistence, block size and scale dependent roughness was obtained combining fieldwork and automatic analysis. This kind of analysis is able to establish where a particular instability mechanism is kinematically feasible, given the geometry of the slope, the orientation of discontinuities and shear strength of the rock. The final outcome of this project was a detail landslide kinematic index map, reporting main potential instability mechanisms for a given area. The kinematic index was finally calibrated for each instability mechanism (plane failure; wedge failure; block toppling; flexural toppling) surveyed in the site. The latter is including the collapse occurred in May 2015, likely not producing any victim, in a sector clearly identified by the susceptibility maps produced by the analysis.

The EDGE-CALIFA survey: validating stellar dynamical mass models with CO kinematics

NASA Astrophysics Data System (ADS)

Leung, Gigi Y. C.; Leaman, Ryan; van de Ven, Glenn; Lyubenova, Mariya; Zhu, Ling; Bolatto, Alberto D.; Falcón-Barroso, Jesus; Blitz, Leo; Dannerbauer, Helmut; Fisher, David B.; Levy, Rebecca C.; Sanchez, Sebastian F.; Utomo, Dyas; Vogel, Stuart; Wong, Tony; Ziegler, Bodo

2018-06-01

Deriving circular velocities of galaxies from stellar kinematics can provide an estimate of their total dynamical mass, provided a contribution from the velocity dispersion of the stars is taken into account. Molecular gas (e.g. CO), on the other hand, is a dynamically cold tracer and hence acts as an independent circular velocity estimate without needing such a correction. In this paper, we test the underlying assumptions of three commonly used dynamical models, deriving circular velocities from stellar kinematics of 54 galaxies (S0-Sd) that have observations of both stellar kinematics from the Calar Alto Legacy Integral Field Area (CALIFA) survey, and CO kinematics from the Extragalactic Database for Galaxy Evolution (EDGE) survey. We test the asymmetric drift correction (ADC) method, as well as Jeans, and Schwarzschild models. The three methods each reproduce the CO circular velocity at 1Re to within 10 per cent. All three methods show larger scatter (up to 20 per cent) in the inner regions (R < 0.4Re) that may be due to an increasingly spherical mass distribution (which is not captured by the thin disc assumption in ADC), or non-constant stellar M/L ratios (for both the JAM and Schwarzschild models). This homogeneous analysis of stellar and gaseous kinematics validates that all three models can recover Mdyn at 1Re to better than 20 per cent, but users should be mindful of scatter in the inner regions where some assumptions may break down.

The varieties of symmetric stellar rings and radial caustics in galaxy disks

NASA Technical Reports Server (NTRS)

Struck-Marcell, Curtis; Lotan, Pnina

1990-01-01

Numerical, restricted three-body and analytic calculations are used to study the formation and propagation of cylindrically symmetric stellar ring waves in galaxy disks. It is shown that such waves can evolve in a variety of ways, depending on the amplitude of the perturbation and the potential of the target galaxy. Rings can thicken as they propagate outward, remain at a nearly constant width, or be pinched off at large radii. Multiple, closely spaced rings can result from a low-amplitude collision, while an outer ring can appear well-separated from overlapping inner rings or an apparent lens structure in halo-dominated potentials. All the single-encounter rings consist of paired fold caustics. The simple, impulsive, kinematic oscillation equations appear to provide a remarkably accurate model of the numerical simulations. Simple analytic approximations to these equations permit very good estimates of oscillation periods and amplitudes, the evolution of ring widths, and ring birth and propagation characteristics.

H I versus H α - comparing the kinematic tracers in modelling the initial conditions of the Mice

NASA Astrophysics Data System (ADS)

Mortazavi, S. Alireza; Lotz, Jennifer M.; Barnes, Joshua E.; Privon, George C.; Snyder, Gregory F.

2018-03-01

We explore the effect of using different kinematic tracers (H I and H α) on reconstructing the encounter parameters of the Mice major galaxy merger (NGC 4676A/B). We observed the Mice using the SparsePak Integral Field Unit (IFU) on the WIYN telescope, and compared the H α velocity map with VLA H I observations. The relatively high spectral resolution of our data (R ≈ 5000) allows us to resolve more than one kinematic component in the emission lines of some fibres. We separate the H α-[N II] emission of the star-forming regions from shocks using their [N II]/H α line ratio and velocity dispersion. We show that the velocity of star-forming regions agree with that of the cold gas (H I), particularly, in the tidal tails of the system. We reconstruct the morphology and kinematics of these tidal tails utilizing an automated modelling method based on the IDENTIKIT software package. We quantify the goodness of fit and the uncertainties of the derived encounter parameters. Most of the initial conditions reconstructed using H α and H I are consistent with each other, and qualitatively agree with the results of previous works. For example, we find 210± ^{50}_{40} Myr, and 180± ^{50}_{40} Myr for the time since pericentre, when modelling H α and H I kinematics, respectively. This confirms that in some cases, H α kinematics can be used instead of H I kinematics for reconstructing the initial conditions of galaxy mergers, and our automated modelling method is applicable to some merging systems.

Prediction of plastic instabilities under thermo-mechanical loadings in tension and simple shear

NASA Astrophysics Data System (ADS)

Manach, P. Y.; Mansouri, L. F.; Thuillier, S.

2016-08-01

Plastic instabilities like Portevin-Le Châtelier were quite thoroughly investigated experimentally in tension, under a large range of strain rates and temperatures. Such instabilities are characterized both by a jerky flow and a localization of the strain in bands. Similar phenomena were also recorded for example in simple shear [1]. Modelling of this phenomenon is mainly performed at room temperature, taking into account the strain rate sensitivity, though an extension of the classical Estrin-Kubin-McCormick was proposed in the literature, by making some of the material parameters dependent on temperature. A similar approach is considered in this study, furthermore extended for anisotropic plasticity with Hill's 1948 yield criterion. Material parameters are identified at 4 different temperatures, ranging from room temperature up to 250°C. The identification procedure is split in 3 steps, related to the elasticity, the average stress level and the magnitude of the stress drops. The anisotropy is considered constant in this temperature range, as evidenced by experimental results [2]. The model is then used to investigate the temperature dependence of the critical strain, as well as its capability to represent the propagation of the bands. Numerical predictions of the instabilities in tension and simple shear at room temperature and up to 250°C are compared with experimental results [3]. In the case of simple shear, a monotonic loading followed by unloading and reloading in the reverse direction (“Bauschinger-type” test) is also considered, showing that (i) kinematic hardening should be taken into account to fully describe the transition at re-yielding (ii) the modelling of the critical strain has to be improved.

Investigating the Wave Nature of the Outer Envelope of Halo Coronal Mass Ejections

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

Kwon, Ryun-Young; Vourlidas, Angelos, E-mail: rkwon@gmu.edu

We investigate the nature of the outer envelope of halo coronal mass ejections (H-CMEs) using multi-viewpoint observations from the Solar Terrestrial Relations Observatory-A , -B , and SOlar and Heliospheric Observatory coronagraphs. The 3D structure and kinematics of the halo envelopes and the driving CMEs are derived separately using a forward modeling method. We analyze three H-CMEs with peak speeds from 1355 to 2157 km s{sup −1}; sufficiently fast to drive shocks in the corona. We find that the angular widths of the halos range from 192° to 252°, while those of the flux ropes range between only 58° andmore » 91°, indicating that the halos are waves propagating away from the CMEs. The halo widths are in agreement with widths of Extreme Ultraviolet (EUV) waves in the low corona further demonstrating the common origin of these structures. To further investigate the wave nature of the halos, we model their 3D kinematic properties with a linear fast magnetosonic wave model. The model is able to reproduce the position of the halo flanks with realistic coronal medium assumptions but fails closer to the CME nose. The CME halo envelope seems to arise from a driven wave (or shock) close to the CME nose, but it is gradually becoming a freely propagating fast magnetosonic wave at the flanks. This interpretation provides a simple unifying picture for CME halos, EUV waves, and the large longitudinal spread of solar energetic particles.« less

Tectonics and kinematics of a foreland folded belt influenced by salt, arctic Canada

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

Harrison, J.C.

1996-12-31

The Ordovician (upper Arenig-Llanvirn) Bay Fiord Formation is one of three widespread evaporite units known to have profoundly influenced the style of contractional tectonics within the Innuitian orogen of Arctic Canada. In the western Arctic Islands, the salt-bearing Bay Fiord Formation has accommodated buckling and mostly subsurface thrusting in the west-trending Parry Islands foldbelt. A characteristic feature of this belt is a stratigraphic succession more than 10 km thick featuring three rigid and widespread sedimentary layers and two intervening ductile layers (lower salt and upper shale). The ductile strata have migrated to anticlinal welts during buckling. Other features of themore » foldbelt include (1) an extreme length of individual upright folds (up to 330 km), (2) extreme foldbelt width (up to 11%), (5) a shallow dipping salt decollement system (0.1{degrees}-0.6{degrees}) that has also been folded in the hinterland and later extended, and (6) a complete absence of halokinetic piercing diapirs. The progression from simple thrust-fold structure on the foldbelt periphery to complex in the interior provides a viable kinematic model for this and other contractional salt provinces. One feature of this model is a single massive triangle zone structure (passive roof duplex) that may envelop the entire 200-km width of the foldbelt and underlie an area exceeding 52,000 km{sup 2}.« less

The relationships between spatial ability, logical thinking, mathematics performance and kinematics graph interpretation skills of 12th grade physics students

NASA Astrophysics Data System (ADS)

Bektasli, Behzat

Graphs have a broad use in science classrooms, especially in physics. In physics, kinematics is probably the topic for which graphs are most widely used. The participants in this study were from two different grade-12 physics classrooms, advanced placement and calculus-based physics. The main purpose of this study was to search for the relationships between student spatial ability, logical thinking, mathematical achievement, and kinematics graphs interpretation skills. The Purdue Spatial Visualization Test, the Middle Grades Integrated Process Skills Test (MIPT), and the Test of Understanding Graphs in Kinematics (TUG-K) were used for quantitative data collection. Classroom observations were made to acquire ideas about classroom environment and instructional techniques. Factor analysis, simple linear correlation, multiple linear regression, and descriptive statistics were used to analyze the quantitative data. Each instrument has two principal components. The selection and calculation of the slope and of the area were the two principal components of TUG-K. MIPT was composed of a component based upon processing text and a second component based upon processing symbolic information. The Purdue Spatial Visualization Test was composed of a component based upon one-step processing and a second component based upon two-step processing of information. Student ability to determine the slope in a kinematics graph was significantly correlated with spatial ability, logical thinking, and mathematics aptitude and achievement. However, student ability to determine the area in a kinematics graph was only significantly correlated with student pre-calculus semester 2 grades. Male students performed significantly better than female students on the slope items of TUG-K. Also, male students performed significantly better than female students on the PSAT mathematics assessment and spatial ability. This study found that students have different levels of spatial ability, logical thinking, and mathematics aptitude and achievement levels. These different levels were related to student learning of kinematics and they need to be considered when kinematics is being taught. It might be easier for students to understand the kinematics graphs if curriculum developers include more activities related to spatial ability and logical thinking.

Evaluation of Inelastic Constitutive Models for Nonlinear Structural Analysis

NASA Technical Reports Server (NTRS)

Kaufman, A.

1983-01-01

The influence of inelastic material models on computed stress-strain states, and therefore predicted lives, was studied for thermomechanically loaded structures. Nonlinear structural analyses were performed on a fatigue specimen which was subjected to thermal cycling in fluidized beds and on a mechanically load cycled benchmark notch specimen. Four incremental plasticity creep models (isotropic, kinematic, combined isotropic-kinematic, combined plus transient creep) were exercised. Of the plasticity models, kinematic hardening gave results most consistent with experimental observations. Life predictions using the computed strain histories at the critical location with a Strainrange Partitioning approach considerably overpredicted the crack initiation life of the thermal fatigue specimen.

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

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

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

2013-05-01

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

A Comparison of Moment Rates for the Eastern Mediterranean Region from Competitive Kinematic Models

NASA Astrophysics Data System (ADS)

Klein, E. C.; Ozeren, M. S.; Shen-Tu, B.; Galgana, G. A.

2017-12-01

Relatively continuous, complex, and long-lived episodes of tectonic deformation gradually shaped the lithosphere of the eastern Mediterranean region into its present state. This large geodynamically interconnected and seismically active region absorbs, accumulates and transmits strains arising from stresses associated with: (1) steady northward convergence of the Arabian and African plates; (2) differences in lithospheric gravitational potential energy; and (3) basal tractions exerted by subduction along the Hellenic and Cyprus Arcs. Over the last twenty years, numerous kinematic models have been built using a variety of assumptions to take advantage of the extensive and dense GPS observations made across the entire region resulting in a far better characterization of the neotectonic deformation field than ever previously achieved. In this study, three separate horizontal strain rate field solutions obtained from three, region-wide, GPS only based kinematic models (i.e., a regional block model, a regional continuum model, and global continuum model) are utilized to estimate the distribution and uncertainty of geodetic moment rates within the eastern Mediterranean region. The geodetic moment rates from each model are also compared with seismic moment release rates gleaned from historic earthquake data. Moreover, kinematic styles of deformation derived from each of the modeled horizontal strain rate fields are examined for their degree of correlation with earthquake rupture styles defined by proximal centroid moment tensor solutions. This study suggests that significant differences in geodetically obtained moment rates from competitive kinematic models may introduce unforeseen bias into regularly updated, geodetically constrained, regional seismic hazard assessments.

Experimental determination of frequency response function estimates for flexible joint industrial manipulators with serial kinematics

NASA Astrophysics Data System (ADS)

Saupe, Florian; Knoblach, Andreas

2015-02-01

Two different approaches for the determination of frequency response functions (FRFs) are used for the non-parametric closed loop identification of a flexible joint industrial manipulator with serial kinematics. The two applied experiment designs are based on low power multisine and high power chirp excitations. The main challenge is to eliminate disturbances of the FRF estimates caused by the numerous nonlinearities of the robot. For the experiment design based on chirp excitations, a simple iterative procedure is proposed which allows exploiting the good crest factor of chirp signals in a closed loop setup. An interesting synergy of the two approaches, beyond validation purposes, is pointed out.

Particle-based solid for nonsmooth multidomain dynamics

NASA Astrophysics Data System (ADS)

Nordberg, John; Servin, Martin

2018-04-01

A method for simulation of elastoplastic solids in multibody systems with nonsmooth and multidomain dynamics is developed. The solid is discretised into pseudo-particles using the meshfree moving least squares method for computing the strain tensor. The particle's strain and stress tensor variables are mapped to a compliant deformation constraint. The discretised solid model thus fit a unified framework for nonsmooth multidomain dynamics simulations including rigid multibodies with complex kinematic constraints such as articulation joints, unilateral contacts with dry friction, drivelines, and hydraulics. The nonsmooth formulation allows for impact impulses to propagate instantly between the rigid multibody and the solid. Plasticity is introduced through an associative perfectly plastic modified Drucker-Prager model. The elastic and plastic dynamics are verified for simple test systems, and the capability of simulating tracked terrain vehicles driving on a deformable terrain is demonstrated.

Black hole binary inspiral: Analysis of the plunge

NASA Astrophysics Data System (ADS)

Price, Richard H.; Nampalliwar, Sourabh; Khanna, Gaurav

2016-02-01

Binary black hole coalescence has its peak of gravitational-wave generation during the "plunge," the transition from quasicircular early motion to late quasinormal ringing (QNR). Although advances in numerical relativity have provided plunge waveforms, there is still no intuitive or phenomenological understanding of plunge comparable to that of the early and late stages. Here we make progress in developing such understanding by relying on insights of the linear mathematics of the particle perturbation model for the extreme mass limit. Our analysis, based on the Fourier-domain Green function, and a simple initial model, point to the crucial role played by the kinematics near the "light ring" (the circular photon orbit) in determining the plunge radiation and the excitation of QNR. That insight is then shown to successfully explain results obtained for particle motion in a Schwarzschild background.

The reliability, accuracy and minimal detectable difference of a multi-segment kinematic model of the foot-shoe complex.

PubMed

Bishop, Chris; Paul, Gunther; Thewlis, Dominic

2013-04-01

Kinematic models are commonly used to quantify foot and ankle kinematics, yet no marker sets or models have been proven reliable or accurate when wearing shoes. Further, the minimal detectable difference of a developed model is often not reported. We present a kinematic model that is reliable, accurate and sensitive to describe the kinematics of the foot-shoe complex and lower leg during walking gait. In order to achieve this, a new marker set was established, consisting of 25 markers applied on the shoe and skin surface, which informed a four segment kinematic model of the foot-shoe complex and lower leg. Three independent experiments were conducted to determine the reliability, accuracy and minimal detectable difference of the marker set and model. Inter-rater reliability of marker placement on the shoe was proven to be good to excellent (ICC=0.75-0.98) indicating that markers could be applied reliably between raters. Intra-rater reliability was better for the experienced rater (ICC=0.68-0.99) than the inexperienced rater (ICC=0.38-0.97). The accuracy of marker placement along each axis was <6.7 mm for all markers studied. Minimal detectable difference (MDD90) thresholds were defined for each joint; tibiocalcaneal joint--MDD90=2.17-9.36°, tarsometatarsal joint--MDD90=1.03-9.29° and the metatarsophalangeal joint--MDD90=1.75-9.12°. These thresholds proposed are specific for the description of shod motion, and can be used in future research designed at comparing between different footwear. Copyright © 2012 Elsevier B.V. All rights reserved.

Kinematic segmentation of accretive wedges based on scaled sandbox experiments and their application to nature

NASA Astrophysics Data System (ADS)

Lohrmann, J.; Kukowski, N.; Oncken, O.

2003-04-01

Recording the incremental displacement field of scaled analogue simulations provides detailed data on wedge kinematics and timing of internal deformation. This is a very efficient tool to develop kinematic concepts and test mechanical theories, e.g. the critical-taper theory. Such models could not be validated until now by the available geological and geophysical data, since there was no information about the incremental displacement field. Recent GPS measurements and seismological investigations at convergent margins provide well-constrained strain-rates and kinematics of short-termed processes. These data allow the kinematic models that are based on analogue simulations to be tested against field observations. We investigate convergent accretive sand wedges in scaled analogue simulations. We define three kinematic segments based on distinctive wedge taper, displacement field and timing of deformation (recorded at a slow sampling rate, which represents the geological scale). Only one of these segments is in a critical state of stress, whereas the other segments are either in a sub-critical or stable state of stress. Such a kinematic segmentation is not predicted for ideally homogeneous wedge-shaped bodies by the critical-taper theory, but can be explained by the formation of localised weak shear zones, which preferentially accommodate deformation. These weak zones are formed in granular analogue materials, and also in natural rocks, since these materials show a strain-softening phase prior to the achievement of stable mechanical conditions. Therefore we suggest that the kinematic segmentation of convergent sand wedges should also be observed in natural settings, such as accretionary wedges, foreland fold-and-thrust belts and even entire orogens. To validate this hypothesis we compare strain rates from GPS measurements and kinematics deduced from focal mechanisms with the respective data from sandbox experiments. We present a strategy to compare strain rates and kinematics recorded in nature with kinematic models based on sandbox experiments. In the sandbox experiments we use a fast sampling rate in accordance with GPS measurements. We investigate whether strain rates obtained from the GPS measurements can test mechanical concepts of long-termed geodynamic processes.

Predicting power-optimal kinematics of avian wings

PubMed Central

Parslew, Ben

2015-01-01

A theoretical model of avian flight is developed which simulates wing motion through a class of methods known as predictive simulation. This approach uses numerical optimization to predict power-optimal kinematics of avian wings in hover, cruise, climb and descent. The wing dynamics capture both aerodynamic and inertial loads. The model is used to simulate the flight of the pigeon, Columba livia, and the results are compared with previous experimental measurements. In cruise, the model unearths a vast range of kinematic modes that are capable of generating the required forces for flight. The most efficient mode uses a near-vertical stroke–plane and a flexed-wing upstroke, similar to kinematics recorded experimentally. In hover, the model predicts that the power-optimal mode uses an extended-wing upstroke, similar to hummingbirds. In flexing their wings, pigeons are predicted to consume 20% more power than if they kept their wings full extended, implying that the typical kinematics used by pigeons in hover are suboptimal. Predictions of climbing flight suggest that the most energy-efficient way to reach a given altitude is to climb as steeply as possible, subjected to the availability of power. PMID:25392398

3D Multi-segment foot kinematics in children: A developmental study in typically developing boys.

PubMed

Deschamps, Kevin; Staes, Filip; Peerlinck, Kathelijne; Van Geet, Christel; Hermans, Cedric; Matricali, Giovanni Arnoldo; Lobet, Sebastien

2017-02-01

The relationship between age and 3D rotations objectivized with multisegment foot models has not been quantified until now. The purpose of this study was therefore to investigate the relationship between age and multi-segment foot kinematics in a cross-sectional database. Barefoot multi-segment foot kinematics of thirty two typically developing boys, aged 6-20 years, were captured with the Rizzoli Multi-segment Foot Model. One-dimensional statistical parametric mapping linear regression was used to examine the relationship between age and 3D inter-segment rotations of the dominant leg during the full gait cycle. Age was significantly correlated with sagittal plane kinematics of the midfoot and the calcaneus-metatarsus inter-segment angle (p<0.0125). Age was also correlated with the transverse plane kinematics of the calcaneus-metatarsus angle (p<0.0001). Gait labs should consider age related differences and variability if optimal decision making is pursued. It remains unclear if this is of interest for all foot models, however, the current study highlights that this is of particular relevance for foot models which incorporate a separate midfoot segment. Copyright © 2016 Elsevier B.V. All rights reserved.

Kinematic compensation for wing loss in flying damselflies.

PubMed

Kassner, Ziv; Dafni, Eyal; Ribak, Gal

2016-02-01

Flying insects can tolerate substantial wing wear before their ability to fly is entirely compromised. In order to keep flying with damaged wings, the entire flight apparatus needs to adjust its action to compensate for the reduced aerodynamic force and to balance the asymmetries in area and shape of the damaged wings. While several studies have shown that damaged wings change their flapping kinematics in response to partial loss of wing area, it is unclear how, in insects with four separate wings, the remaining three wings compensate for the loss of a fourth wing. We used high-speed video of flying blue-tailed damselflies (Ischnura elegans) to identify the wingbeat kinematics of the two wing pairs and compared it to the flapping kinematics after one of the hindwings was artificially removed. The insects remained capable of flying and precise maneuvering using only three wings. To compensate for the reduction in lift, they increased flapping frequency by 18±15.4% on average. To achieve steady straight flight, the remaining intact hindwing reduced its flapping amplitude while the forewings changed their stroke plane angle so that the forewing of the manipulated side flapped at a shallower stroke plane angle. In addition, the angular position of the stroke reversal points became asymmetrical. When the wingbeat amplitude and frequency of the three wings were used as input in a simple aerodynamic model, the estimation of total aerodynamic force was not significantly different (paired t-test, p=0.73) from the force produced by the four wings during normal flight. Thus, the removal of one wing resulted in adjustments of the motions of the remaining three wings, exemplifying the precision and plasticity of coordination between the operational wings. Such coordination is vital for precise maneuvering during normal flight but it also provides the means to maintain flight when some of the wings are severely damaged. Copyright © 2015 Elsevier Ltd. All rights reserved.

THE BOLOCAM GALACTIC PLANE SURVEY. VIII. A MID-INFRARED KINEMATIC DISTANCE DISCRIMINATION METHOD

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

Ellsworth-Bowers, Timothy P.; Glenn, Jason; Battersby, Cara

2013-06-10

We present a new distance estimation method for dust-continuum-identified molecular cloud clumps. Recent (sub-)millimeter Galactic plane surveys have cataloged tens of thousands of these objects, plausible precursors to stellar clusters, but detailed study of their physical properties requires robust distance determinations. We derive Bayesian distance probability density functions (DPDFs) for 770 objects from the Bolocam Galactic Plane Survey in the Galactic longitude range 7. Degree-Sign 5 {<=} l {<=} 65 Degree-Sign . The DPDF formalism is based on kinematic distances, and uses any number of external data sets to place prior distance probabilities to resolve the kinematic distance ambiguity (KDA)more » for objects in the inner Galaxy. We present here priors related to the mid-infrared absorption of dust in dense molecular regions and the distribution of molecular gas in the Galactic disk. By assuming a numerical model of Galactic mid-infrared emission and simple radiative transfer, we match the morphology of (sub-)millimeter thermal dust emission with mid-infrared absorption to compute a prior DPDF for distance discrimination. Selecting objects first from (sub-)millimeter source catalogs avoids a bias towards the darkest infrared dark clouds (IRDCs) and extends the range of heliocentric distance probed by mid-infrared extinction and includes lower-contrast sources. We derive well-constrained KDA resolutions for 618 molecular cloud clumps, with approximately 15% placed at or beyond the tangent distance. Objects with mid-infrared contrast sufficient to be cataloged as IRDCs are generally placed at the near kinematic distance. Distance comparisons with Galactic Ring Survey KDA resolutions yield a 92% agreement. A face-on view of the Milky Way using resolved distances reveals sections of the Sagittarius and Scutum-Centaurus Arms. This KDA-resolution method for large catalogs of sources through the combination of (sub-)millimeter and mid-infrared observations of molecular cloud clumps is generally applicable to other dust-continuum Galactic plane surveys.« less

Extraction of the proton radius from electron-proton scattering data

DOE PAGES

Lee, Gabriel; Arrington, John R.; Hill, Richard J.

2015-07-27

We perform a new analysis of electron-proton scattering data to determine the proton electric and magnetic radii, enforcing model-independent constraints from form factor analyticity. A wide-ranging study of possible systematic effects is performed. An improved analysis is developed that rebins data taken at identical kinematic settings and avoids a scaling assumption of systematic errors with statistical errors. Employing standard models for radiative corrections, our improved analysis of the 2010 Mainz A1 Collaboration data yields a proton electric radius r E = 0.895(20) fm and magnetic radius r M = 0.776(38) fm. A similar analysis applied to world data (excluding Mainzmore » data) implies r E = 0.916(24) fm and r M = 0.914(35) fm. The Mainz and world values of the charge radius are consistent, and a simple combination yields a value r E = 0.904(15) fm that is 4σ larger than the CREMA Collaboration muonic hydrogen determination. The Mainz and world values of the magnetic radius differ by 2.7σ, and a simple average yields r M = 0.851(26) fm. As a result, the circumstances under which published muonic hydrogen and electron scattering data could be reconciled are discussed, including a possible deficiency in the standard radiative correction model which requires further analysis.« less

Inertial Navigation: A Bridge between Kinematics and Calculus

ERIC Educational Resources Information Center

Sadler, Philip M.; Garfield, Eliza N.; Tremblay, Alex; Sadler, Daniel J.

2012-01-01

Those who come to Cambridge soon learn that the fastest route between Harvard and MIT is by the subway. For many students, this short ride is a quick and easy way to link physics and calculus. A simple, homemade accelerometer provides all the instrumentation necessary to produce accurate graphs of acceleration, velocity, and displacement position…

Variations in Articulatory Movement with Changes in Speech Task.

ERIC Educational Resources Information Center

Tasko, Stephen M.; McClean, Michael D.

2004-01-01

Studies of normal and disordered articulatory movement often rely on the use of short, simple speech tasks. However, the severity of speech disorders can be observed to vary markedly with task. Understanding task-related variations in articulatory kinematic behavior may allow for an improved understanding of normal and disordered speech motor…

Selected Gravity Models in Terms of the fit to the GOCE Kinematic Orbit in the Dynamic Orbit Determination Process

NASA Astrophysics Data System (ADS)

Bobojć, Andrzej; Drożyner, Andrzej; Rzepecka, Zofia

2017-04-01

The work includes the comparison of performance of selected geopotential models in the dynamic orbit estimation of the satellite of the Gravity Field and Steady-State Ocean Circulation Explorer (GOCE) mission. This was realized by fitting estimated orbital arcs to the official centimeter-accuracy GOCE kinematic orbit which is provided by the European Space Agency. The Cartesian coordinates of kinematic orbit were treated as observations in the orbit estimation. The initial satellite state vector components were corrected in an iterative process with respect to the J2000.0 inertial reference frame using the given geopotential model, the models describing the remaining gravitational perturbations and the solar radiation pressure. Taking the obtained solutions into account, the RMS values of orbital residuals were computed. These residuals result from the difference between the determined orbit and the reference one - the GOCE kinematic orbit. The performance of selected gravity models was also determined using various orbital arc lengths. Additionally, the RMS fit values were obtained for some gravity models truncated at given degree and order of spherical harmonic coefficients. The advantage of using the kinematic orbit is its independence from any a priori dynamical models. For the research such GOCE-independent gravity models as HUST-Grace2016s, ITU_GRACE16, ITSG-Grace2014s, ITSG-Grace2014k, GGM05S, Tongji-GRACE01, ULUX_CHAMP2013S, ITG-GRACE2010S, EIGEN-51C, EIGEN5S, EGM2008 and EGM96 were adopted.

Strain analysis in the Sanandaj-Sirjan HP-LT Metamorphic Belt, SW Iran: Insights from small-scale faults and associated drag folds

NASA Astrophysics Data System (ADS)

Sarkarinejad, Khalil; Keshavarz, Saeede; Faghih, Ali

2015-05-01

This study is aimed at quantifying the kinematics of deformation using a population of drag fold structures associated with small-scale faults in deformed quartzites from Seh-Ghalatoun area within the HP-LT Sanandaj-Sirjan Metamorphic Belt, SW Iran. A total 30 small-scale faults in the quartzite layers were examined to determine the deformation characteristics. Obtained data revealed α0 (initial fault angle) and ω (angle between flow apophyses) are equal to 83° and 32°, respectively. These data yield mean kinematic vorticity number (Wm) equal to 0.79 and mean finite strain (Rs) of 2.32. These results confirm the relative contribution of ∼43% pure shear and ∼57% simple shear components, respectively. The strain partitioning inferred from this quantitative analysis is consistent with a sub-simple or general shear deformation pattern associated with a transpressional flow regime in the study area as a part of the Zagros Orogen. This type of deformation resulted from oblique convergence between the Afro-Arabian and Central-Iranian plates.

A Simple Method to Improve Autonomous GPS Positioning for Tractors

PubMed Central

Gomez-Gil, Jaime; Alonso-Garcia, Sergio; Gómez-Gil, Francisco Javier; Stombaugh, Tim

2011-01-01

Error is always present in the GPS guidance of a tractor along a desired trajectory. One way to reduce GPS guidance error is by improving the tractor positioning. The most commonly used ways to do this are either by employing more precise GPS receivers and differential corrections or by employing GPS together with some other local positioning systems such as electronic compasses or Inertial Navigation Systems (INS). However, both are complex and expensive solutions. In contrast, this article presents a simple and low cost method to improve tractor positioning when only a GPS receiver is used as the positioning sensor. The method is based on placing the GPS receiver ahead of the tractor, and on applying kinematic laws of tractor movement, or a geometric approximation, to obtain the midpoint position and orientation of the tractor rear axle more precisely. This precision improvement is produced by the fusion of the GPS data with tractor kinematic control laws. Our results reveal that the proposed method effectively reduces the guidance GPS error along a straight trajectory. PMID:22163917

Geometry and Kinematics of Fault-Propagation Folds with Variable Interlimb Angles

NASA Astrophysics Data System (ADS)

Dhont, D.; Jabbour, M.; Hervouet, Y.; Deroin, J.

2009-12-01

Fault-propagation folds are common features in foreland basins and fold-and-thrust belts. Several conceptual models have been proposed to account for their geometry and kinematics. It is generally accepted that the shape of fault-propagation folds depends directly from both the amount of displacement along the basal decollement level and the dip angle of the ramp. Among these, the variable interlimb angle model proposed by Mitra (1990) is based on a folding kinematics that is able to explain open and close natural folds. However, the application of this model is limited because the geometric evolution and thickness variation of the fold directly depend on imposed parameters such as the maximal value of the ramp height. Here, we use the ramp and the interlimb angles as input data to develop a forward fold modelling accounting for thickness variations in the forelimb. The relationship between the fold amplitude and fold wavelength are subsequently applied to build balanced geologic cross-sections from surface parameters only, and to propose a kinematic restoration of the folding through time. We considered three natural examples to validate the variable interlimb angle model. Observed thickness variations in the forelimb of the Turner Valley anticline in the Alberta foothills of Canada precisely correspond to the theoretical values proposed by our model. Deep reconstruction of the Alima anticline in the southern Tunisian Atlas implies that the decollement level is localized in the Triassic-Liassic series, as highlighted by seismic imaging. Our kinematic reconstruction of the Ucero anticline in the Spanish Castilian mountains is also in agreement with the anticline geometry derived from two cross-sections. The variable interlimb angle model implies that the fault-propagation fold can be symmetric, normal asymmetric (with a greater dip value in the forelimb than in the backlimb), or reversely asymmetric (with greater dip in the backlimb) depending on the shortening amount. This model allows also: (i) to easily explain folds with wide variety of geometries; (ii) to understand the deep architecture of anticlines; and (iii) to deduce the kinematic evolution of folding with time. Mitra, S., 1990, Fault-propagation folds: geometry, kinematic evolution, and hydrocarbon traps. AAPG Bulletin, v. 74, no. 6, p. 921-945.

Consistent three-equation model for thin films

NASA Astrophysics Data System (ADS)

Richard, Gael; Gisclon, Marguerite; Ruyer-Quil, Christian; Vila, Jean-Paul

2017-11-01

Numerical simulations of thin films of newtonian fluids down an inclined plane use reduced models for computational cost reasons. These models are usually derived by averaging over the fluid depth the physical equations of fluid mechanics with an asymptotic method in the long-wave limit. Two-equation models are based on the mass conservation equation and either on the momentum balance equation or on the work-energy theorem. We show that there is no two-equation model that is both consistent and theoretically coherent and that a third variable and a three-equation model are required to solve all theoretical contradictions. The linear and nonlinear properties of two and three-equation models are tested on various practical problems. We present a new consistent three-equation model with a simple mathematical structure which allows an easy and reliable numerical resolution. The numerical calculations agree fairly well with experimental measurements or with direct numerical resolutions for neutral stability curves, speed of kinematic waves and of solitary waves and depth profiles of wavy films. The model can also predict the flow reversal at the first capillary trough ahead of the main wave hump.

Chaotic Lagrangian models for turbulent relative dispersion.

PubMed

Lacorata, Guglielmo; Vulpiani, Angelo

2017-04-01

A deterministic multiscale dynamical system is introduced and discussed as a prototype model for relative dispersion in stationary, homogeneous, and isotropic turbulence. Unlike stochastic diffusion models, here trajectory transport and mixing properties are entirely controlled by Lagrangian chaos. The anomalous "sweeping effect," a known drawback common to kinematic simulations, is removed through the use of quasi-Lagrangian coordinates. Lagrangian dispersion statistics of the model are accurately analyzed by computing the finite-scale Lyapunov exponent (FSLE), which is the optimal measure of the scaling properties of dispersion. FSLE scaling exponents provide a severe test to decide whether model simulations are in agreement with theoretical expectations and/or observation. The results of our numerical experiments cover a wide range of "Reynolds numbers" and show that chaotic deterministic flows can be very efficient, and numerically low-cost, models of turbulent trajectories in stationary, homogeneous, and isotropic conditions. The mathematics of the model is relatively simple, and, in a geophysical context, potential applications may regard small-scale parametrization issues in general circulation models, mixed layer, and/or boundary layer turbulence models as well as Lagrangian predictability studies.

Chaotic Lagrangian models for turbulent relative dispersion

NASA Astrophysics Data System (ADS)

Lacorata, Guglielmo; Vulpiani, Angelo

2017-04-01

A deterministic multiscale dynamical system is introduced and discussed as a prototype model for relative dispersion in stationary, homogeneous, and isotropic turbulence. Unlike stochastic diffusion models, here trajectory transport and mixing properties are entirely controlled by Lagrangian chaos. The anomalous "sweeping effect," a known drawback common to kinematic simulations, is removed through the use of quasi-Lagrangian coordinates. Lagrangian dispersion statistics of the model are accurately analyzed by computing the finite-scale Lyapunov exponent (FSLE), which is the optimal measure of the scaling properties of dispersion. FSLE scaling exponents provide a severe test to decide whether model simulations are in agreement with theoretical expectations and/or observation. The results of our numerical experiments cover a wide range of "Reynolds numbers" and show that chaotic deterministic flows can be very efficient, and numerically low-cost, models of turbulent trajectories in stationary, homogeneous, and isotropic conditions. The mathematics of the model is relatively simple, and, in a geophysical context, potential applications may regard small-scale parametrization issues in general circulation models, mixed layer, and/or boundary layer turbulence models as well as Lagrangian predictability studies.

Velocity-based planning of rapid elbow movements expands the control scheme of the equilibrium point hypothesis.

PubMed

Suzuki, Masataka; Yamazaki, Yoshihiko

2005-01-01

According to the equilibrium point hypothesis of voluntary motor control, control action of muscles is not explicitly computed, but rather arises as a consequence of interaction between moving equilibrium position, current kinematics and stiffness of the joint. This approach is attractive as it obviates the need to explicitly specify the forces controlling limb movements. However, many debatable aspects of this hypothesis remain in the manner of specification of the equilibrium point trajectory and muscle activation (or its stiffness), which elicits a restoring force toward the planned equilibrium trajectory. In this study, we expanded the framework of this hypothesis by assuming that the control system uses the velocity measure as the origin of subordinate variables scaling descending commands. The velocity command is translated into muscle control inputs by second order pattern generators, which yield reciprocal command and coactivation commands, and create alternating activation of the antagonistic muscles during movement and coactivation in the post-movement phase, respectively. The velocity command is also integrated to give a position command specifying a moving equilibrium point. This model is purely kinematics-dependent, since the descending commands needed to modulate the visco-elasticity of muscles are implicitly given by simple parametric specifications of the velocity command alone. The simulated movements of fast elbow single-joint movements corresponded well with measured data performed over a wide range of movement distances, in terms of both muscle excitations and kinematics. Our proposal on a synthesis for the equilibrium point approach and velocity command, may offer some insights into the control scheme of the single-joint arm movements.

Reevaluating the age of the Walden Creek Group and the kinematic evolution of the western Blue Ridge, southern Appalachians

USGS Publications Warehouse

Thigpen, J. Ryan; Hatcher, Robert D.; Kah, Linda C.; Repetski, John E.

2016-01-01

An integrated synthesis of existing datasets (detailed geologic mapping, geochronologic, paleontologic, geophysical) with new paleontologic and geochemical investigations of rocks previously interpreted as part of the Neoproterozoic Walden Creek Group in southeastern Tennessee suggest a necessary reevaluation of the kinematics and structural architecture of the Blue Ridge Foothills. The western Blue Ridge of Tennessee, North Carolina, and Georgia is composed of numerous northwest-directed early and late Paleozoic thrust sheets, which record pronounced variation in stratigraphic/structural architecture and timing of metamorphism. The detailed spatial, temporal, and kinematic relationships of these rocks have remained controversial. Two fault blocks that are structurally isolated between the Great Smoky and Miller Cove-Greenbrier thrust sheets, here designated the Maggies Mill and Citico thrust sheets, contain Late Ordovician-Devonian conodonts and stable isotope chemostratigraphic signatures consistent with a mid-Paleozoic age. Geochemical and paleontological analyses of Walden Creek Group rocks northwest and southeast of these two thrust sheets, however, are more consistent with a Late Neoproterozoic (550–545 Ma) depositional age. Consequently, the structural juxtaposition of mid-Paleozoic rocks within a demonstrably Neoproterozoic-Cambrian succession between the Great Smoky and Miller Cove-Greenbrier thrust sheets suggests that a simple foreland-propagating thrust sequence model is not applicable in the Blue Ridge Foothills. We propose that these younger rocks were deposited landward of the Ocoee Supergroup, and were subsequently plucked from the Great Smoky fault footwall as a horse, and breached through the Great Smoky thrust sheet during Alleghanian emplacement of that structure.

SCREENING MODEL FOR NONAQUEOUS PHASE-LIQUID TRANSPORT IN THE VADOSE ZONE USING GREEN-AMPT AND KINEMATIC WAVE THEORY

EPA Science Inventory

In this paper, a screening model for flow of a nonaqueous phase liquid (NAPL) and associated chemical transport in the vadose zone is developed. he model is based on kinematic approximation of the governing equations for both the NAPL and a partitionable chemical constituent. he ...

A Modified Kinematic Model of Neutral and Ionized Gas in Galactic Center

NASA Astrophysics Data System (ADS)

Krishnarao, Dhanesh; Benjamin, Robert A.; Haffner, L. Matthew

2018-01-01

Gas near the center of the Milky Way is very complex across all phases (cold, warm, neutral, ionized, atomic, molecular, etc.) and shows strong observational evidence for warping, lopsided orientations and strongly non-circular kinematics. Historically, the kinematic complexities were modeled with many discrete features involved with expulsive phenomena near Galactic Center. However, much of the observed emission can be explained with a single unified and smooth density structure when geometrical and perspective effects are accounted for. Here we present a new model for a tilted, elliptical disk of gas within the inner 2 kpc of Galactic center based on the series of models following Burton & Liszt (1978 - 1992, Papers I- V). Machine learning techniques such as the Histogram of Oriented Gradients image correlation statistic are used to optimize the geometry and kinematics of neutral and ionized gas in 3D observational space (position,position, velocity). The model successfully predicts emission from neutral gas as seen by HI (Hi4Pi) and explains anomalous ionized gas features in H-Alpha emission (Wisconsin H-Alpha Mapper) and UV absorption lines (Hubble Space Telescope - Space Telescope Imaging Spectrograph). The modeled distribution of this tilted gas disk along with its kinematics of elliptical x1 orbits can reveal new insight about the Galactic Bar, star formation, and high-velocity gas near Galactic Center and its relation with the Fermi Bubble.

The Effect of Temperature Dependent Rheology on a Kinematic Model of Continental Breakup and Rifted Continental Margin Formation

NASA Astrophysics Data System (ADS)

Tymms, V. J.; Kusznir, N. J.

2004-12-01

The effect of temperature dependent rheology has been examined for a model of continental lithosphere thinning by an upwelling divergent flow field within continental lithosphere and asthenosphere leading to continental breakup and rifted continental margin formation. The model uses a coupled FE fluid flow and thermal solution and is kinematically driven using a half divergence rate Vx and upwelling velocity Vz. Viscosity structure is modified by the evolving temperature field of the model through the temperature dependent Newtonian rheology. Continental lithosphere and asthenosphere material are advected by the fluid-flow field in order to predict crustal and mantle lithosphere thinning leading to rifted continental margin formation. The results of the temperature dependent rheology model are compared with those of a simple isoviscous model. The temperature dependent rheology model predicts continental lithosphere thinning and depth dependent stretching, similar to that predicted by the uniform viscosity model. However compared with the uniform viscosity model the temperature dependent rheology predicts greater amounts of thinning of the continental crust and lithospheric mantle than the isoviscous solutions. An important parameter within the kinematic model of continental lithosphere breakup and rifted continental margin development is the velocity ratio Vz/Vx. For non-volcanic margins, Vz/Vx is thought to be around unity. Applying a velocity ratio Vz/Vx of unity gives a diffuse ocean-continent transition and exhumation of continental lithospheric mantle. For volcanic margins, Vz/Vx is of order 10, falling to unity with a half-life of order 10 Ma, leading to a more sharply defined ocean-continent transition. While Vx during continental breakup may be estimated, Vz can only be inferred. FE fluid flow solutions, in which Vz is not imposed and without an initial buoyancy driven flow component, predict a velocity ratio Vz/Vx of around unity for both temperature dependent rheology and isovisous fluid-flow solutions. The effect of incorporating a lithology dependent continental lithosphere rheology (quartz-feldspar crust, olivine mantle) with temperature dependence is also being investigated. The work forms part of the Integrated Seismic Imaging and Modelling of Margins (iSIMM*) project. This work forms part of the NERC Margins iSIMM project. iSIMM investigators are from Liverpool and Cambridge Universities, Schlumberger Cambridge Research & Badley Geoscience, supported by the NERC, the DTI, Agip UK, BP, Amerada Hess Ltd, Anadarko, Conoco-Phillips, Shell, Statoil and WesternGeco. The iSIMM team comprises NJ Kusznir, RS White, AM Roberts, PAF Christie, R Spitzer, N Hurst, ZC Lunnon, CJ Parkin, AW Roberts, LK Smith, V Tymms & D. Healy.

An instrumented spatial linkage for measuring knee joint kinematics.

PubMed

Rosvold, Joshua M; Atarod, Mohammad; Frank, Cyril B; Shrive, Nigel G

2016-01-01

In this study, the design and development of a highly accurate instrumented spatial linkage (ISL) for kinematic analysis of the ovine stifle joint is described. The ovine knee is a promising biomechanical model of the human knee joint. The ISL consists of six digital rotational encoders providing six degrees of freedom (6-DOF) to its motion. The ISL makes use of the complete and parametrically continuous (CPC) kinematic modeling method to describe the kinematic relationship between encoder readings and the relative positions and orientation of its two ends. The CPC method is useful when calibrating the ISL, because a small change in parameters corresponds to a small change in calculated positions and orientations and thus a smaller optimization error, compared to other kinematic models. The ISL is attached rigidly to the femur and the tibia for motion capture, and the CPC kinematic model is then employed to transform the angle sensor readings to relative motion of the two ends of the linkage, and thereby, the stifle joint motion. The positional accuracy for ISL after calibration and optimization was 0.3±0.2mm (mean +/- standard deviation). The ISL was also evaluated dynamically to ensure that accurate results were maintained, and achieved an accuracy of 0.1mm. Compared to the traditional motion capture methods, this system provides increased accuracy, reduced processing time, and ease of use. Future work will be on the application of the ISL to the ovine gait and determination of in vivo joint motions and tissue loads. Accurate measurement of knee joint kinematics is essential in understanding injury mechanisms and development of potential preventive or treatment strategies. Copyright © 2015 Elsevier B.V. All rights reserved.

A model-based approach for estimation of changes in lumbar segmental kinematics associated with alterations in trunk muscle forces.

PubMed

Shojaei, Iman; Arjmand, Navid; Meakin, Judith R; Bazrgari, Babak

2018-03-21

The kinematics information from imaging, if combined with optimization-based biomechanical models, may provide a unique platform for personalized assessment of trunk muscle forces (TMFs). Such a method, however, is feasible only if differences in lumbar spine kinematics due to differences in TMFs can be captured by the current imaging techniques. A finite element model of the spine within an optimization procedure was used to estimate segmental kinematics of lumbar spine associated with five different sets of TMFs. Each set of TMFs was associated with a hypothetical trunk neuromuscular strategy that optimized one aspect of lower back biomechanics. For each set of TMFs, the segmental kinematics of lumbar spine was estimated for a single static trunk flexed posture involving, respectively, 40° and 10° of thoracic and pelvic rotations. Minimum changes in the angular and translational deformations of a motion segment with alterations in TMFs ranged from 0° to 0.7° and 0 mm to 0.04 mm, respectively. Maximum changes in the angular and translational deformations of a motion segment with alterations in TMFs ranged from 2.4° to 7.6° and 0.11 mm to 0.39 mm, respectively. The differences in kinematics of lumbar segments between each combination of two sets of TMFs in 97% of cases for angular deformation and 55% of cases for translational deformation were within the reported accuracy of current imaging techniques. Therefore, it might be possible to use image-based kinematics of lumbar segments along with computational modeling for personalized assessment of TMFs. Copyright © 2017 Elsevier Ltd. All rights reserved.

Evaluation of a Kinematically-Driven Finite Element Footstrike Model.

PubMed

Hannah, Iain; Harland, Andy; Price, Dan; Schlarb, Heiko; Lucas, Tim

2016-06-01

A dynamic finite element model of a shod running footstrike was developed and driven with 6 degree of freedom foot segment kinematics determined from a motion capture running trial. Quadratic tetrahedral elements were used to mesh the footwear components with material models determined from appropriate mechanical tests. Model outputs were compared with experimental high-speed video (HSV) footage, vertical ground reaction force (GRF), and center of pressure (COP) excursion to determine whether such an approach is appropriate for the development of athletic footwear. Although unquantified, good visual agreement to the HSV footage was observed but significant discrepancies were found between the model and experimental GRF and COP readings (9% and 61% of model readings outside of the mean experimental reading ± 2 standard deviations, respectively). Model output was also found to be highly sensitive to input kinematics with a 120% increase in maximum GRF observed when translating the force platform 2 mm vertically. While representing an alternative approach to existing dynamic finite element footstrike models, loading highly representative of an experimental trial was not found to be achievable when employing exclusively kinematic boundary conditions. This significantly limits the usefulness of employing such an approach in the footwear development process.

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

PubMed

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

2018-01-01

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

A kinematic model for the late Cenozoic development of southern California crust and upper mantle

NASA Technical Reports Server (NTRS)

Humphreys, Eugene D.; Hager, Bradford H.

1990-01-01

A model is developed for the young and ongoing kinematic deformation of the southern California crust and upper mantle. The kinematic model qualitatively explains both the overall seismic structure of the upper mantle and much of the known geological history of the late Cenozoic as consequences of ongoing convection beneath southern California. In this model, the high-velocity upper-mantle anomaly of the Transverse ranges is created through the convergence and sinking of the entire thickness of subcrustal lihtosphere, and the low-velocity upper-mantle anomaly beneath the Salton Trough region is attributed to high temperatures and 1-4 percent partial melt related to adiabatic decompression during mantle upwelling.

Modeling along-axis variations in fault architecture in the Main Ethiopian Rift: implications for Nubia-Somalia kinematics

NASA Astrophysics Data System (ADS)

Erbello, Asfaw; Corti, Giacomo; Sani, Federico; Kidane, Tesfaye

2016-04-01

The Main Ethiopian Rift (MER), at the northern termination of the East African Rift, is an ideal locale where to get insights into the long-term motion between Nubia and Somalia. The rift is indeed one of the few places along the plate boundary where the deformation is narrow: its evolution is thus strictly related to the kinematics of the two major plates, whereas south of the Turkana depression a two-plate model for the EARS is too simplistic as extension occurs both along the Western and Eastern branches and different microplates are present between the two major plates. Despite its importance, the kinematics responsible for development and evolution of the MER is still a matter of debate: indeed, whereas the Quaternary-present kinematics of rifting is rather well constrained, the plate kinematics driving the initial, Mio-Pliocene stages of extension is still not clear, and different hypothesis have been put forward, including: polyphase rifting, with a change in direction of extension from NW-SE extension to E-W extension; constant Miocene-recent NW-SE extension; constant Miocene-recent NE-SW extension; constant, post-11 Ma extension consistent with the GPS-derived kinematics (i.e., roughly E-W to ESE-WNW). To shed additional light on this controversy and to test these different hypothesis, in this contribution we use new crustal-scale analogue models to analyze the along-strike variations in fault architecture in the MER and their relations with the rift trend, plate motion and the resulting Miocene-recent kinematics of rifting. The extension direction is indeed one of the most important parameters controlling the architecture of continental rifts and the relative abundance and orientation of different fault sets that develop during oblique rifting is typically a function of the angle between the extension direction and the orthogonal to the rift trend (i.e., the obliquity angle). Since the trend of the MER varies along strike, and consequently it is characterized by a variable obliquity angle (i.e., kinematics) along its length, the analysis of fault architecture and its variations are able to provide significant insights into the plate kinematics responsible for rift development and evolution. Our models thus reproduce the overall geometry of the ~600km-long MER with its along-strike variation in orientation to test the above-described hypothesis of rift evolution. Analysis of model results in terms of statistics of fault length and orientation, and deformation architecture and its comparison with the MER suggests that rift has likely developed under a constant, post-11 Ma extension oriented roughly E-W (N97.5°E), consistent with recent plate kinematics models.

A morpho-kinematic and spectroscopic study of the bipolar nebulae: M 2-9, Mz 3, and Hen 2-104

NASA Astrophysics Data System (ADS)

Clyne, N.; Akras, S.; Steffen, W.; Redman, M. P.; Gonçalves, D. R.; Harvey, E.

2015-10-01

Context. Complex bipolar shapes can be generated either as a planetary nebula or a symbiotic system. The origin of the material ionised by the white dwarf is very different in these two scenarios, and it complicates the understanding of the morphologies of planetary nebulae. Aims: The physical properties, structure, and dynamics of the bipolar nebulae, M 2-9, Mz 3, and Hen 2-104, are investigated in detail with the aim of understanding their nature, shaping mechanisms, and evolutionary history. Both a morpho-kinematic study and a spectroscopic analysis, can be used to more accurately determine the kinematics and nature of each nebula. Methods: Long-slit optical echelle spectra are used to investigate the morpho-kinematics of M 2-9, Mz 3, and Hen 2-104. The morpho-kinematic modelling software SHAPE is used to constrain both the morphology and kinematics of each nebula by means of detailed 3D models. Near-infrared (NIR) data, as well as optical, spectra are used to separate Galactic symbiotic-type nebulae from genuine planetary nebulae by means of a 2MASS J-H/H-Ks diagram and a λ4363/Hγ vs. λ5007/Hβ diagnostic diagram, respectively. Results: The best-fitted 3D models for M 2-9, Mz 3, and Hen 2-104 provide invaluable kinematical information on the expansion velocity of its nebular components by means of synthetic spectra. The observed spectra match up very well with the synthetic spectra for each model, thus showing that each model is tightly constrained both morphologically and kinematically. Kinematical ages of the different structures of M 2-9 and Mz 3 have also been determined. Both diagnostic diagrams show M 2-9 and Hen 2-104 to fall well within the category of having a symbiotic source, whereas Mz 3 borders the region of symbiotic and young planetary nebulae in the optical diagram but is located firmly in the symbiotic region of the NIR colour-colour diagram. The optical diagnostic diagram is shown to successfully separate the two types of nebulae, however, the NIR colour-colour diagram is not as accurate in separating these objects. Conclusions: The morphology, kinematics, and evolutionary history of M 2-9, Mz 3, and Hen 2-104 are better understood using the interactive 3D modelling tool shape. The expansion velocities of the components for each nebula are better constrained and fitted with a vector field to reveal their direction of motion. The optical and NIR diagnostic diagrams used are important techniques for separating Galactic symbiotic-type nebulae from genuine planetary nebulae.

Investigating Disk-halo Flows and Accretion: A Kinematic and Morphological Analysis of Extraplanar H I in NGC 3044 and NGC 4302

NASA Astrophysics Data System (ADS)

Zschaechner, Laura K.; Rand, Richard J.; Walterbos, Rene

2015-01-01

To further understand the origins of and physical processes operating in extra-planar gas, we present observations and kinematic models of H I in the two nearby, edge-on spiral galaxies NGC 3044 and NGC 4302. We model NGC 3044 as a single, thick disk. Substantial amounts of extra-planar H I are also detected. We detect a decrease in rotation speed with height (a lag) that shallows radially, reaching zero at approximately R 25. The large-scale kinematic asymmetry of the approaching and receding halves suggests a recent disturbance. The kinematics and morphology of NGC 4302, a Virgo Cluster member, are greatly disturbed. We model NGC 4302 as a combination of a thin disk and a second, thicker disk, the latter having a hole near the center. We detect lagging extra-planar gas, with indications of shallowing in the receding half, although its characteristics are difficult to constrain. A bridge is detected between NGC 4302 and its companion, NGC 4298. We explore trends involving the extra-planar H I kinematics of these galaxies, as well as galaxies throughout the literature, as well as possible connections between lag properties with star formation and environment. Measured lags are found to be significantly steeper than those modeled by purely ballistic effects, indicating additional factors. Radial shallowing of extra-planar lags is typical and occurs between 0.5R 25 and R 25, suggesting internal processes are important in dictating extra-planar kinematics.

Listener perception of the effect of abdominal kinematic directives on respiratory behavior in female classical singing.

PubMed

Collyer, Sally; Kenny, Dianna T; Archer, Michaele

2011-01-01

Breath management training in classical singing is becoming increasingly physiologically focused, despite evidence that directives focusing on chest-wall kinematic (ribcage and abdominal) behavior effect minimal change in acoustical measures of singing. A direct and proportionate relationship between breathing behavior and vocal quality is important in singing training because singing teachers rely primarily on changes in sound quality to assess the efficacy of breath management modification. Pedagogical opinion is also strongly divided over whether the strategy of retarding the reduction in abdominal dimension during singing has a negative effect on vocal quality. This study investigated whether changes in abdominal kinematic strategy were perceptible and whether listeners preferred a particular strategy. Fourteen experienced singing teachers and vocal coaches assessed audio samples of five female classical singers whose respiratory kinematic patterns during singing had been recorded habitually and under two simple, dichotomous directives: Gradually drawing the abdomen inward and gradually expanding the abdomen, during each phrase. Listeners rated the singers on standard of singing and of breath management. Ratings analysis took into consideration changes in kinematic behavior under each directive determined from the respiratory recordings. Listener ratings for two singers were unaffected by directive. For three singers, ratings were lower when the directive opposed habitual kinematic behavior. The results did not support the pedagogical assumption of a direct and proportional link between respiratory behavior and standard of singing or that the abdomen-outward strategy was deleterious to vocal quality. The findings demonstrate the importance of considering habitual breathing behavior in both research and pedagogical contexts. Copyright © 2011 The Voice Foundation. Published by Mosby, Inc. All rights reserved.

Preservation of kinematics with posterior cruciate-, bicruciate- and patient-specific bicruciate-retaining prostheses in total knee arthroplasty by using computational simulation with normal knee model

PubMed Central

Koh, Y-G.; Son, J.; Kwon, S-K.; Kim, H-J.; Kang, K-T.

2017-01-01

Objectives Preservation of both anterior and posterior cruciate ligaments in total knee arthroplasty (TKA) can lead to near-normal post-operative joint mechanics and improved knee function. We hypothesised that a patient-specific bicruciate-retaining prosthesis preserves near-normal kinematics better than standard off-the-shelf posterior cruciate-retaining and bicruciate-retaining prostheses in TKA. Methods We developed the validated models to evaluate the post-operative kinematics in patient-specific bicruciate-retaining, standard off-the-shelf bicruciate-retaining and posterior cruciate-retaining TKA under gait and deep knee bend loading conditions using numerical simulation. Results Tibial posterior translation and internal rotation in patient-specific bicruciate-retaining prostheses preserved near-normal kinematics better than other standard off-the-shelf prostheses under gait loading conditions. Differences from normal kinematics were minimised for femoral rollback and internal-external rotation in patient-specific bicruciate-retaining, followed by standard off-the-shelf bicruciate-retaining and posterior cruciate-retaining TKA under deep knee bend loading conditions. Moreover, the standard off-the-shelf posterior cruciate-retaining TKA in this study showed the most abnormal performance in kinematics under gait and deep knee bend loading conditions, whereas patient-specific bicruciate-retaining TKA led to near-normal kinematics. Conclusion This study showed that restoration of the normal geometry of the knee joint in patient-specific bicruciate-retaining TKA and preservation of the anterior cruciate ligament can lead to improvement in kinematics compared with the standard off-the-shelf posterior cruciate-retaining and bicruciate-retaining TKA. Cite this article: Y-G. Koh, J. Son, S-K. Kwon, H-J. Kim, O-R. Kwon, K-T. Kang. Preservation of kinematics with posterior cruciate-, bicruciate- and patient-specific bicruciate-retaining prostheses in total knee arthroplasty by using computational simulation with normal knee model. Bone Joint Res 2017;6:557–565. DOI: 10.1302/2046-3758.69.BJR-2016-0250.R1. PMID:28947604

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

NASA Astrophysics Data System (ADS)

Singh, Inderjeet; Lakhal, Othman; Merzouki, Rochdi

2017-01-01

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

Extension of D-H parameter method to hybrid manipulators used in robot-assisted surgery.

PubMed

Singh, Amanpreet; Singla, Ashish; Soni, Sanjeev

2015-10-01

The main focus of this work is to extend the applicability of D-H parameter method to develop a kinematic model of a hybrid manipulator. A hybrid manipulator is a combination of open- and closed-loop chains and contains planar and spatial links. It has been found in the literature that D-H parameter method leads to ambiguities, when dealing with closed-loop chains. In this work, it has been observed that the D-H parameter method, when applied to a hybrid manipulator, results in an orientational inconsistency, because of which the method cannot be used to develop the kinematic model. In this article, the concept of dummy frames is proposed to resolve the orientational inconsistency and to develop the kinematic model of a hybrid manipulator. Moreover, the prototype of 7-degree-of-freedom hybrid manipulator, known as a surgeon-side manipulator to assist the surgeon during a medical surgery, is also developed to validate the kinematic model derived in this work. © IMechE 2015.

Calibration of the ARID robot

NASA Technical Reports Server (NTRS)

Doty, Keith L

1992-01-01

The author has formulated a new, general model for specifying the kinematic properties of serial manipulators. The new model kinematic parameters do not suffer discontinuities when nominally parallel adjacent axes deviate from exact parallelism. From this new theory the author develops a first-order, lumped-parameter, calibration-model for the ARID manipulator. Next, the author develops a calibration methodology for the ARID based on visual and acoustic sensing. A sensor platform, consisting of a camera and four sonars attached to the ARID end frame, performs calibration measurements. A calibration measurement consists of processing one visual frame of an accurately placed calibration image and recording four acoustic range measurements. A minimum of two measurement protocols determine the kinematics calibration-model of the ARID for a particular region: assuming the joint displacements are accurately measured, the calibration surface is planar, and the kinematic parameters do not vary rapidly in the region. No theoretical or practical limitations appear to contra-indicate the feasibility of the calibration method developed here.

Of cilium and flagellum kinematics

NASA Astrophysics Data System (ADS)

Bandyopadhyay, Promode R.; Hansen, Joshua C.

2009-11-01

The kinematics of propulsion of small animals such as paramecium and spermatozoa is considered. Larger scale models of the cilium and flagellum have been built and a four-motor apparatus has been constructed to reproduce their known periodic motions. The cilium model has transverse deformational ability in one plane only, while the flagellum model has such ability in two planes. When the flagellum model is given a push-pull in one diametral plane, instead of transverse deflection in one plane, it forms a coil. Berg & Anderson's postulation (Nature 245 1973) that a flagellum rotates, is recalled. The kinematics of cilia of paramecium, of the whipping motion of the spermatozoa flagella, and of the flapping motion (rolling and pitching) of the pectoral fins of much larger animals such penguins, have been reproduced in the same basic paramecium apparatus. The results suggest that each of the tiny individual paramecium propulsors have the intrinsic dormant kinematic and structural building blocks to optimize into higher Reynolds number propulsors. A synthetic hypothesis on how small might have become large is animated.

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

Unseren, M.A.

This report proposes a method for resolving the kinematic redundancy of a serial link manipulator moving in a three-dimensional workspace. The underspecified problem of solving for the joint velocities based on the classical kinematic velocity model is transformed into a well-specified problem. This is accomplished by augmenting the original model with additional equations which relate a new vector variable quantifying the redundant degrees of freedom (DOF) to the joint velocities. The resulting augmented system yields a well specified solution for the joint velocities. Methods for selecting the redundant DOF quantifying variable and the transformation matrix relating it to the jointmore » velocities are presented so as to obtain a minimum Euclidean norm solution for the joint velocities. The approach is also applied to the problem of resolving the kinematic redundancy at the acceleration level. Upon resolving the kinematic redundancy, a rigid body dynamical model governing the gross motion of the manipulator is derived. A control architecture is suggested which according to the model, decouples the Cartesian space DOF and the redundant DOF.« less

Dual gait generative models for human motion estimation from a single camera.

PubMed

Zhang, Xin; Fan, Guoliang

2010-08-01

This paper presents a general gait representation framework for video-based human motion estimation. Specifically, we want to estimate the kinematics of an unknown gait from image sequences taken by a single camera. This approach involves two generative models, called the kinematic gait generative model (KGGM) and the visual gait generative model (VGGM), which represent the kinematics and appearances of a gait by a few latent variables, respectively. The concept of gait manifold is proposed to capture the gait variability among different individuals by which KGGM and VGGM can be integrated together, so that a new gait with unknown kinematics can be inferred from gait appearances via KGGM and VGGM. Moreover, a new particle-filtering algorithm is proposed for dynamic gait estimation, which is embedded with a segmental jump-diffusion Markov Chain Monte Carlo scheme to accommodate the gait variability in a long observed sequence. The proposed algorithm is trained from the Carnegie Mellon University (CMU) Mocap data and tested on the Brown University HumanEva data with promising results.

Kinematics of Deformation in West-Central Walker Lane; Paleomagnetic Testing of Fault-Block Rotation and Doming Models, Eastern California and Western Nevada

NASA Astrophysics Data System (ADS)

Fredrickson, S. M.; Pluhar, C. J.; Carlson, C. W.

2013-12-01

Walker Lane is a broad (~100-200 km) zone of dextral shear located between the Sierra Nevada microplate and the Basin and Range Province. We consider Bodie Hills a part of the greater Walker Lane because it has experienced clockwise, vertical-axis rotation of crustal blocks due to dextral shear accommodation. This strain is variable, resulting in rotations ranging from ~10°-70° depending on location. The Miocene Eureka Valley Tuff (EVT) is an ideal strain marker, because it is a geologically instantaneous and laterally extensive unit. We use paleomagnetic analysis of ignimbrites to improve the resolution of strain domain boundaries as well as test for doming in Bodie Hills. EVT site mean directions were compared to reference directions of the Tollhouse Flat and By Day Members collected from the stable Sierra Nevada to determine magnitudes of vertical-axis rotation. Three new sites and three previously sampled sites define a high-rotation domain including Bridgeport Valley and the East Walker River Canyon with an average clockwise rotation of ~50°-60°. We define the eastern boundary of this high-rotation domain as coinciding with a mapped fault exhibiting 11.7°×7.9° rotation of the presumed footwall. Our data corroborates and improves on Carlson's (2012) kinematic model in which the greater Bodie Hills has rotated clockwise ~30° since EVT emplacement. Eutaxitic textures, dipping up to 90°, are gross indicators of true tilt, but are also influenced by original dips in some localities, complicating interpretations. John et al. (2012) describe a simple doming model of Bodie Hills since EVT emplacement, supported by the high elevation of outflow channels compared to source areas. Our paleomagnetic data does not support simple doming, suggesting that there is either no doming of Bodie Hills, or that vertical crustal displacements have occurred without large-scale folding. John et al. (2012) dated undifferentiated EVT in Bodie Hills at ~9.4 Ma; using paleomagnetism, we show the dated outcrops to be Tollhouse Flat Member, substantially improving age constraints on EVT.

Symmetrical kinematics does not imply symmetrical kinetics in people with transtibial amputation using cycling model.

PubMed

Childers, W Lee; Kogler, Géza F

2014-01-01

People with amputation move asymmetrically with regard to kinematics (joint angles) and kinetics (joint forces and moments). Clinicians have traditionally sought to minimize kinematic asymmetries, assuming kinetic asymmetries would also be minimized. A cycling model evaluated locomotor asymmetries. Eight individuals with unilateral transtibial amputation pedaled with 172 mm-length crank arms on both sides (control condition) and with the crank arm length shortened to 162 mm on the amputated side (CRANK condition). Pedaling kinetics and limb kinematics were recorded. Joint kinetics, joint angles (mean and range of motion [ROM]), and pedaling asymmetries were calculated from force pedals and with a motion capture system. A one-way analysis of variance with tukey post hoc compared kinetics and kinematics across limbs. Statistical significance was set to p

The Relationship Between Relative Fundamental Frequency and a Kinematic Estimate of Laryngeal Stiffness in Healthy Adults

PubMed Central

Heller Murray, Elizabeth S.; Lien, Yu-An S.; Stepp, Cara E.

2016-01-01

Purpose This study examined the relationship between the acoustic measure relative fundamental frequency (RFF) and a kinematic estimate of laryngeal stiffness. Method Twelve healthy adults (mean age = 22.7 years, SD = 4.4; 10 women, 2 men) produced repetitions of /ifi/ while varying their vocal effort during simultaneous acoustic and video nasendoscopic recordings. RFF was determined from the last 10 voicing cycles before the voiceless obstruent (RFF offset) and the first 10 cycles of revoicing (RFF onset). A kinematic stiffness ratio was calculated for the vocal fold adductory gesture during revoicing by normalizing the maximum angular velocity by the maximum glottic angle during the voiceless obstruent. Results A linear mixed effect model indicated that RFF offset and onset were significant predictors of the kinematic stiffness ratios. The model accounted for 52% of the variance in the kinematic data. Individual relationships between RFF and kinematic stiffness ratios varied across participants, with at least moderate negative correlations in 83% of participants for RFF offset but only 40% of participants for RFF onset. Conclusions RFF significantly predicted kinematic estimates of laryngeal stiffness in healthy speakers and has the potential to be a useful clinical indicator of laryngeal tension. Further research is needed in individuals with voice disorders. PMID:27936279

SCREENING MODEL FOR NONAQUEOUS PHASE LIQUID TRANS- PORT IN THE VADOSE ZONE USING GREEN-AMPT AND KINEMATIC WAVE THEORY

EPA Science Inventory

In this paper, a screening model for flow of a nonaqueous phase liquid (NAPL) and associated chemical transport in the vadose zone is developed. The model is based on kinematic approximation of the governing equations for both the NAPL and a partitionable chemical constituent. Th...

3D kinematics of mobile-bearing total knee arthroplasty using X-ray fluoroscopy.

PubMed

Yamazaki, Takaharu; Futai, Kazuma; Tomita, Tetsuya; Sato, Yoshinobu; Yoshikawa, Hideki; Tamura, Shinichi; Sugamoto, Kazuomi

2015-04-01

Total knee arthroplasty (TKA) 3D kinematic analysis requires 2D/3D image registration of X-ray fluoroscopic images and a computer-aided design (CAD) model of the knee implant. However, these techniques cannot provide information on the radiolucent polyethylene insert, since the insert silhouette does not appear clearly in X-ray images. Therefore, it is difficult to obtain the 3D kinematics of the polyethylene insert, particularly the mobile-bearing insert. A technique for 3D kinematic analysis of a mobile-bearing insert used in TKA was developed using X-ray fluoroscopy. The method was tested and a clinical application was evaluated. Tantalum beads and a CAD model of the mobile-bearing TKA insert are used for 3D pose estimation of the mobile-bearing insert used in TKA using X-ray fluoroscopy. The insert model was created using four identical tantalum beads precisely located at known positions in a polyethylene insert using a specially designed insertion device. Finally, the 3D pose of the insert model was estimated using a feature-based 2D/3D registration technique, using the silhouette of beads in fluoroscopic images and the corresponding CAD insert model. In vitro testing for the repeatability of the positioning of the tantalum beads and computer simulations for 3D pose estimation of the mobile-bearing insert were performed. The pose estimation accuracy achieved was sufficient for analyzing mobile-bearing TKA kinematics (RMS error: within 1.0 mm and 1.0°, except for medial-lateral translation). In a clinical application, nine patients with mobile-bearing TKA were investigated and analyzed with respect to a deep knee bending motion. A 3D kinematic analysis technique was developed that enables accurate quantitative evaluation of mobile-bearing TKA kinematics. This method may be useful for improving implant design and optimizing TKA surgical techniques.

Kinematic capability in the SVDS

NASA Technical Reports Server (NTRS)

Flanders, H. A.

1977-01-01

The details of the Remote Manipulator System kinematic model implemented into the Space Vehicle Dynamics Simulation are given. Detailed engineering flow diagrams and definitions of terms are included.

Brain dopamine and kinematics of graphomotor functions.

PubMed

Lange, Klaus W; Mecklinger, Lara; Walitza, Susanne; Becker, Georg; Gerlach, Manfred; Naumann, Markus; Tucha, Oliver

2006-10-01

Three experiments were performed in an attempt to achieve a better understanding of the effect of dopamine on handwriting. In the first experiment, kinematic aspects of handwriting movements were compared between healthy participants and patients with Parkinson's disease (PD) on their usual dopaminergic treatment and following withdrawal of dopaminergic medication. In the second experiment, the writing performance of healthy participants with a hyperechogenicity of the substantia nigra as detected by transcranial sonography (TCS) was compared with the performance of healthy participants with low echogenicity of the substantia nigra. The third experiment examined the effect of central dopamine reduction on kinematic aspects of handwriting movements in healthy adults using acute phenylalanine and tyrosine depletion (APTD). A digitising tablet was used for the assessment of handwriting movements. Participants were asked to perform a simple writing task. Movement time, distance, velocity, acceleration and measures of fluency of handwriting movements were measured. The kinematic analysis of handwriting movements revealed that alterations of central dopaminergic neurotransmission adversely affect movement execution during handwriting. In comparison to the automatic processing of handwriting movements displayed by control participants, participants with an altered dopaminergic neurotransmission shifted from an automatic to a controlled processing of movement execution. Central dopamine appears to be of particular importance with regard to the automatic execution of well-learned movements.

The valuable use of Microsoft Kinect™ sensor 3D kinematic in the rehabilitation process in basketball

NASA Astrophysics Data System (ADS)

Braidot, Ariel; Favaretto, Guillermo; Frisoli, Melisa; Gemignani, Diego; Gumpel, Gustavo; Massuh, Roberto; Rayan, Josefina; Turin, Matías

2016-04-01

Subjects who practice sports either as professionals or amateurs, have a high incidence of knee injuries. There are a few publications that show studies from a kinematic point of view of lateral-structure-knee injuries, including meniscal (meniscal tears or chondral injury), without anterior cruciate ligament rupture. The use of standard motion capture systems for measuring outdoors sport is hard to implement due to many operative reasons. Recently released, the Microsoft Kinect™ is a sensor that was developed to track movements for gaming purposes and has seen an increased use in clinical applications. The fact that this device is a simple and portable tool allows the acquisition of data of sport common movements in the field. The development and testing of a set of protocols for 3D kinematic measurement using the Microsoft Kinect™ system is presented in this paper. The 3D kinematic evaluation algorithms were developed from information available and with the use of Microsoft’s Software Development Kit 1.8 (SDK). Along with this, an algorithm for calculating the lower limb joints angles was implemented. Thirty healthy adult volunteers were measured, using five different recording protocols for sport characteristic gestures which involve high knee injury risk in athletes.

Simulation of kinematics of SS 433 radio jets that interact with the ambient medium

NASA Astrophysics Data System (ADS)

Panferov, A.

2014-02-01

Context. The mildly relativistic jets of SS 433 are believed to inflate the surrounding supernova remnant W 50, possibly depositing more than 99% of their kinetic energy in the remnant expansion. Where and how this transformation of the energy occurs is as yet unknown. We can learn from this that the jets decelerate and that this deceleration is non-dissipative. Aims: We uncover the deviation of the arcsecond-scale precessing radio jets of SS 433 from the ballistic locus described by the kinematic model as a signature of the dynamics issuing from the interaction of the jets with the ambient medium. Methods: To do this, we simulated the kinematics of these jets, taking into account the ram pressure on the jets, which we estimated from the profile of brightness of synchrotron radiation along the radio jets, assuming pressure balance in the jets. Results: We found that to fit an observable locus in all scales the radio jets need to be decelerated and twisted in addition to the precession torsion, mostly within the first one-fifth of the precession period, and subsequently they extend in a way that imitates ballistic jets. This jet kinematics implies a smaller distance to SS 433 than the currently accepted 5.5 kpc. The physical parameters of the jet model, which links jets dynamics with radiation, are physically reliable and characteristic for the SS 433 jets. The model proposes that beyond the radio-brightening zone, the jet clouds expand because they are in pressure balance with the intercloud medium, and heat up with distance according to the law T = 2 × 104(r/1015 cm)1.5 K. Conclusions: This model naturally explains and agrees with, the observed properties of the radio jets: a) the shock-pressed morphology; b) the brightness profile; c) the ~10% deflections of the jet kinematics from the standard kinematic model - a magnitude of the jet speed decrement in our simulation; d) the precession-phase deviations from the standard kinematic model predictions; e) the dichotomy of the distances to the object, 4.8 kpc vs. 5.5 kpc, which are determined on the basis of the jet kinematics on scales of sub-arcsecond and several arcseconds, respectively; and f) the reheating on arcsecond scales.

Kinematic signature of a rotating bar near a resonance

NASA Technical Reports Server (NTRS)

Weinberg, Martin D.

1994-01-01

Recent work based on H I, star count and emission data suggests that the Milky Way has rotating bar-like features. In this paper, I show that such features cause distinctive stellar kinematic signatures near Outer Lindblad Resonance (OLR) and Inner Lindblad Resonance (ILR). The effect of these resonances may be observable far from the peak density of the pattern and relatively nearby the solar position. The details of the kinematic signatures depend on the evolutionary history of the 'bar' and therefore velocity data, both systematic and velocity dispersion, may be used to probe the evolutionary history as well as the present state of Galaxy. Kinematic models for a variety of sample scenarios are presented. Models with evolving pattern speeds show significantly stronger dispersion signatures than those with static pattern speeds, suggesting that useful observational constraints are possible. The models are applied to the proposed rotating spheroid and bar models; we find (1) none of these models chosen to represent the proposed large-scale rotating spheroid are consistent with the stellar kinematics and (2) a Galactic bar with semimajor axis of 3 kpc will cause a large increase in velocity dispersion in the vicinity of OLR (approximately 5 kpc) with little change in the net radial motion and such a signature is suggested by K-giant velocity data. Potential future observations and analyses are discussed.

A mechanism for decoupling within the oceanic lithosphere revealed in the Troodos ophiolite

USGS Publications Warehouse

Agar, Susan M.; Klitgord, Kim D.

1995-01-01

Contrasting kinematic histories recorded in the sheeted dykes and underlying plutonic rocks of the Troodos ophiolite provide a new perspective on the mechanical evolution of oceanic spreading centres. The kinematic framework of the decoupling zone that partitions deformation between the sheeted dykes and plutonics contrasts with low-angle detachment models for slow-spreading ridges based on continental-rift analogues. A model for the generation of multiple, horizontal decoupling horizons, linked by planar normal faults, demonstrates new possibilities for the kinematic and rheological significance of seismic reflectors in oceanic lithosphere.

Relativistic kinematics for motion faster than light

NASA Technical Reports Server (NTRS)

Jones, R. T.

1982-01-01

The use of conformal coordinates in relativistic kinematics is illustrated and a simple extension of the theory of motions faster than light is provided. An object traveling at a speed greater than light discloses its presence by appearing suddenly at a point, splitting into two apparent objects which then recede from each other at sublight velocities. According to the present theory motion at speeds faster than light would not benefit a space traveler, since the twin paradox becomes inverted at such speeds. In Einstein's theory travel at the velocity of light in an intertial system is equivalent to infinite velocity for the traveler. In the present theory the converse is also true; travel at infinite velocity is equivalent to the velocity of light for the traveler.

Main Ethiopian Rift Kinematic analogue modeling: Implications for Nubian-Somalian plate motion.

NASA Astrophysics Data System (ADS)

Erbello, A.; Corti, G.; Sani, F.; Agostini, A.; Buccianti, A.; Kidane, T. B.

2016-12-01

In this contribution, analogue modeling is used to provide new insights into the kinematics of the Nubia and Somalia plates responsible for development and evolution of the Main Ethiopian Rift (MER), at the northern termination of the East African Rift. In particular, we performed new crustal-scale, brittle models to analyze the along-strike variations in fault architecture in the MER and their relations with the rift trend, plate motion and the resulting Miocene-recent kinematics of rifting. The models reproduced the overall geometry of the 600km-long MER with its along-strike variation in orientation to test different hypothesis proposed to explain rift evolution. Analysis of model results in terms of statistics of fault length and orientation, as well as deformation architecture, and its comparison with the MER suggests that models of two-phase rifting (with a first phase of NW-SE extension followed by E-W rifting) or constant NW-SE extension, as well as models of constant ENE-WSW rifting are not able to reproduce the fault architecture observed in nature. Model results suggest instead that the rift has likely developed under a constant, post-11 Ma extension oriented roughly ESE-WNW (N97.5°E), consistent with recent plate kinematics models.

Modeling along-axis variations in fault architecture in the Main Ethiopian Rift: Implications for Nubia-Somalia kinematics

NASA Astrophysics Data System (ADS)

Erbello, Asfaw; Corti, Giacomo; Agostini, Andrea; Sani, Federico; Kidane, Tesfaye; Buccianti, Antonella

2016-12-01

In this contribution, analogue modeling is used to provide new insights into the Nubia-Somalia kinematics responsible for development and evolution of the Main Ethiopian Rift (MER), at the northern termination of the East African Rift system. In particular, we performed new crustal-scale, brittle models to analyze the along-strike variations in fault architecture in the MER and their relations with the rift trend, plate motion and the resulting Miocene-recent kinematics of rifting. The models reproduced the overall geometry of the ∼600 km-long MER with its along-strike variation in orientation to test different hypothesis proposed to explain rift evolution. Analysis of model results in terms of statistics of fault length and orientation, as well as deformation architecture, and its comparison with the MER suggest that models of two-phase rifting (with a first phase of NW-SE extension followed by E-W rifting) or constant NW-SE extension, as well as models of constant ENE-WSW rifting are not able to reproduce the fault architecture observed in nature. Model results suggest instead that the rift has likely developed under a constant, post-11 Ma extension oriented roughly ESE-WNW (N97.5°E), consistent with recent plate kinematics models.

Direction-dependent arm kinematics reveal optimal integration of gravity cues.

PubMed

Gaveau, Jeremie; Berret, Bastien; Angelaki, Dora E; Papaxanthis, Charalambos

2016-11-02

The brain has evolved an internal model of gravity to cope with life in the Earth's gravitational environment. How this internal model benefits the implementation of skilled movement has remained unsolved. One prevailing theory has assumed that this internal model is used to compensate for gravity's mechanical effects on the body, such as to maintain invariant motor trajectories. Alternatively, gravity force could be used purposely and efficiently for the planning and execution of voluntary movements, thereby resulting in direction-depending kinematics. Here we experimentally interrogate these two hypotheses by measuring arm kinematics while varying movement direction in normal and zero-G gravity conditions. By comparing experimental results with model predictions, we show that the brain uses the internal model to implement control policies that take advantage of gravity to minimize movement effort.

Quality of motion considerations in numerical analysis of motion restoring implants of the spine.

PubMed

Bowden, Anton E; Guerin, Heather L; Villarraga, Marta L; Patwardhan, Avinash G; Ochoa, Jorge A

2008-06-01

Motion restoring implants function in a dynamic environment that encompasses the full range of spinal kinematics. Accurate assessment of the in situ performance of these devices using numerical techniques requires model verification and validation against the well-established nonlinear quality of motion of the spine, as opposed to the previous norm of matching kinematic endpoint metrics such as range of motion and intervertebral disc pressure measurements at a single kinematic reference point. Experimental data was obtained during cadaveric testing of nine three-functional spinal unit (L3-S1) lumbar spine segments. Each specimen was tested from 8 Nm of applied flexion moment to 6 Nm of applied extension moment with an applied 400 N compressive follower preload. A nonlinear kinematic curve representing the spinal quality of motion (applied moment versus angular rotation) for the index finite element model was constructed and compared to the kinematic responses of the experimental specimens. The effect of spinal soft tissue structure mechanical behaviors on the fidelity of the model's quality of motion to experimental data was assessed by iteratively modifying the material representations of annulus fibrosus, nucleus pulposus, and ligaments. The present work demonstrated that for this model, the annulus fibrosus played a small role in the nonlinear quality of motion of the model, whereas changes in ligament representations had a large effect, as validated against the full kinematic range of motion. An anisotropic continuum representation of the annulus fibrosus was used, along with nonlinear fabric representations of the ligaments and a hyperelastic representation of the nucleus pulposus. Our results suggest that improvements in current methodologies broadly used in numerical simulations of the lumbar spine are needed to fully describe the highly nonlinear motion of the spine.

[S IV] in the NGC 5253 Supernebula: Ionized Gas Kinematics at High Resolution

NASA Astrophysics Data System (ADS)

Beck, Sara C.; Lacy, John H.; Turner, Jean L.; Kruger, Andrew; Richter, Matt; Crosthwaite, Lucian P.

2012-08-01

The nearby dwarf starburst galaxy NGC 5253 hosts a deeply embedded radio-infrared supernebula excited by thousands of O stars. We have observed this source in the 10.5 μm line of S +3 at 3.8 km s-1 spectral and 1farcs4 spatial resolution, using the high-resolution spectrometer TEXES on the IRTF. The line profile cannot be fit well by a single Gaussian. The best simple fit describes the gas with two Gaussians, one near the galactic velocity with FWHM 33.6 km s-1 and another of similar strength and FWHM 94 km s-1 centered ~20 km s-1 to the blue. This suggests a model for the supernebula in which gas flows toward us out of the molecular cloud, as in a "blister" or "champagne flow" or in the H II regions modelled by Zhu.

Fitting of Hadron Mass Spectra and Contributions to Perturbation Theory of Conformal Quantum Field Theory

NASA Astrophysics Data System (ADS)

Luna Acosta, German Aurelio

The masses of observed hadrons are fitted according to the kinematic predictions of Conformal Relativity. The hypothesis gives a remarkably good fit. The isospin SU(2) gauge invariant Lagrangian L(,(pi)NN)(x,(lamda)) is used in the calculation of d(sigma)/d(OMEGA) to 2nd-order Feynman graphs for simplified models of (pi)N(--->)(pi)N. The resulting infinite mass sums over the nucleon (Conformal) families are done via the Generalized-Sommerfeld-Watson Transform Theorem. Even though the models are too simple to be realistic, they indicate that if (DELTA)-internal lines were to be included, 2nd-order Feynman graphs may reproduce the experimental data qualitatively. The energy -dependence of the propagator and couplings in Conformal QFT is different from that of ordinary QFT. Suggestions for further work are made in the areas of ultra-violet divergences and OPEC calculations.

Decoupling kinematics and mechanics reveals coding properties of trigeminal ganglion neurons in the rat vibrissal system

PubMed Central

Bush, Nicholas E; Schroeder, Christopher L; Hobbs, Jennifer A; Yang, Anne ET; Huet, Lucie A; Solla, Sara A; Hartmann, Mitra JZ

2016-01-01

Tactile information available to the rat vibrissal system begins as external forces that cause whisker deformations, which in turn excite mechanoreceptors in the follicle. Despite the fundamental mechanical origin of tactile information, primary sensory neurons in the trigeminal ganglion (Vg) have often been described as encoding the kinematics (geometry) of object contact. Here we aimed to determine the extent to which Vg neurons encode the kinematics vs. mechanics of contact. We used models of whisker bending to quantify mechanical signals (forces and moments) at the whisker base while simultaneously monitoring whisker kinematics and recording single Vg units in both anesthetized rats and awake, body restrained rats. We employed a novel manual stimulation technique to deflect whiskers in a way that decouples kinematics from mechanics, and used Generalized Linear Models (GLMs) to show that Vg neurons more directly encode mechanical signals when the whisker is deflected in this decoupled stimulus space. DOI: http://dx.doi.org/10.7554/eLife.13969.001 PMID:27348221

Quantitative Analysis of Transnasal Anterior Skull Base Approach: Report of Technology for Intraoperative Assessment of Instrument Motion.

PubMed

Berens, Angelique M; Harbison, Richard Alex; Li, Yangming; Bly, Randall A; Aghdasi, Nava; Ferreira, Manuel; Hannaford, Blake; Moe, Kris S

2017-08-01

To develop a method to measure intraoperative surgical instrument motion. This model will be applicable to the study of surgical instrument kinematics including surgical training, skill verification, and the development of surgical warning systems that detect aberrant instrument motion that may result in patient injury. We developed an algorithm to automate derivation of surgical instrument kinematics in an endoscopic endonasal skull base surgery model. Surgical instrument motion was recorded during a cadaveric endoscopic transnasal approach to the pituitary using a navigation system modified to record intraoperative time-stamped Euclidian coordinates and Euler angles. Microdebrider tip coordinates and angles were referenced to the cadaver's preoperative computed tomography scan allowing us to assess surgical instrument kinematics over time. A representative cadaveric endoscopic endonasal approach to the pituitary was performed to demonstrate feasibility of our algorithm for deriving surgical instrument kinematics. Technical feasibility of automatically measuring intraoperative surgical instrument motion and deriving kinematics measurements was demonstrated using standard navigation equipment.

Kinematic modelling of disc galaxies using graphics processing units

NASA Astrophysics Data System (ADS)

Bekiaris, G.; Glazebrook, K.; Fluke, C. J.; Abraham, R.

2016-01-01

With large-scale integral field spectroscopy (IFS) surveys of thousands of galaxies currently under-way or planned, the astronomical community is in need of methods, techniques and tools that will allow the analysis of huge amounts of data. We focus on the kinematic modelling of disc galaxies and investigate the potential use of massively parallel architectures, such as the graphics processing unit (GPU), as an accelerator for the computationally expensive model-fitting procedure. We review the algorithms involved in model-fitting and evaluate their suitability for GPU implementation. We employ different optimization techniques, including the Levenberg-Marquardt and nested sampling algorithms, but also a naive brute-force approach based on nested grids. We find that the GPU can accelerate the model-fitting procedure up to a factor of ˜100 when compared to a single-threaded CPU, and up to a factor of ˜10 when compared to a multithreaded dual CPU configuration. Our method's accuracy, precision and robustness are assessed by successfully recovering the kinematic properties of simulated data, and also by verifying the kinematic modelling results of galaxies from the GHASP and DYNAMO surveys as found in the literature. The resulting GBKFIT code is available for download from: http://supercomputing.swin.edu.au/gbkfit.

Finite element analysis of plantar fascia during walking: a quasi-static simulation.

PubMed

Chen, Yen-Nien; Chang, Chih-Wei; Li, Chun-Ting; Chang, Chih-Han; Lin, Cheng-Feng

2015-01-01

The plantar fascia is a primary arch supporting structure of the foot and is often stressed with high tension during ambulation. When the loading on the plantar fascia exceeds its capacity, the inflammatory reaction known as plantar fasciitis may occur. Mechanical overload has been identified as the primary causative factor of plantar fasciitis. However, a knowledge gap exists between how the internal mechanical responses of the plantar fascia react to simple daily activities. Therefore, this study investigated the biomechanical responses of the plantar fascia during loaded stance phase by use of the finite element (FE) modeling. A 3-dimensional (3-D) FE foot model comprising bones, cartilage, ligaments, and a complex-shaped plantar fascia was constructed. During the stance phase, the kinematics of the foot movement was reproduced and Achilles tendon force was applied to the insertion site on the calcaneus. All the calculations were made on a single healthy subject. The results indicated that the plantar fascia underwent peak tension at preswing (83.3% of the stance phase) at approximately 493 N (0.7 body weight). Stress concentrated near the medial calcaneal tubercle. The peak von Mises stress of the fascia increased 2.3 times between the midstance and preswing. The fascia tension increased 66% because of the windlass mechanism. Because of the membrane element used in the ligament tissue, this FE model was able to simulate the mechanical structure of the foot. After prescribing kinematics of the distal tibia, the proposed model indicated the internal fascia was stressed in response to the loaded stance phase. Based on the findings of this study, adjustment of gait pattern to reduce heel rise and Achilles tendon force may lower the fascia loading and may further reduce pain in patients with plantar fasciitis. © The Author(s) 2014.

Identification of a constitutive law for trabecular bone samples under remodeling in the framework of irreversible thermodynamics

NASA Astrophysics Data System (ADS)

Louna, Zineeddine; Goda, Ibrahim; Ganghoffer, Jean-François

2018-01-01

We construct in the present paper constitutive models for bone remodeling based on micromechanical analyses at the scale of a representative unit cell (RUC) including a porous trabecular microstructure. The time evolution of the microstructure is simulated as a surface remodeling process by relating the surface growth remodeling velocity to a surface driving force incorporating a (surface) Eshelby tensor. Adopting the framework of irreversible thermodynamics, a 2D constitutive model based on the setting up of the free energy density and a dissipation potential is identified from FE simulations performed over a unit cell representative of the trabecular architecture obtained from real bone microstructures. The static and evolutive effective properties of bone at the scale of the RUC are obtained by combining a methodology for the evaluation of the average kinematic and static variables over a prototype unit cell and numerical simulations with controlled imposed first gradient rates. The formulated effective growth constitutive law at the scale of the homogenized set of trabeculae within the RUC is of viscoplastic type and relates the average growth strain rate to the homogenized stress tensor. The postulated model includes a power law function of an effective stress chosen to depend on the first and second stress invariants. The model coefficients are calibrated from a set of virtual testing performed over the RUC subjected to a sequence of loadings. Numerical simulations show that overall bone growth does not show any growth kinematic hardening. The obtained results quantify the strength and importance of different types of external loads (uniaxial tension, simple shear, and biaxial loading) on the overall remodeling process and the development of elastic deformations within the RUC.

Kinematic and Dynamic Source Rupture Scenario for Potential Megathrust Event along the Southernmost Ryukyu Trench

NASA Astrophysics Data System (ADS)

Lin, T. C.; Hu, F.; Chen, X.; Lee, S. J.; Hung, S. H.

2017-12-01

Kinematic source model is widely used for the simulation of an earthquake, because of its simplicity and ease of application. On the other hand, dynamic source model is a more complex but important tool that can help us to understand the physics of earthquake initiation, propagation, and healing. In this study, we focus on the southernmost Ryukyu Trench which is extremely close to northern Taiwan. Interseismic GPS data in northeast Taiwan shows a pattern of strain accumulation, which suggests the maximum magnitude of a potential future earthquake in this area is probably about magnitude 8.7. We develop dynamic rupture models for the hazard estimation of the potential megathrust event based on the kinematic rupture scenarios which are inverted using the interseismic GPS data. Besides, several kinematic source rupture scenarios with different characterized slip patterns are also considered to constrain the dynamic rupture process better. The initial stresses and friction properties are tested using the trial-and-error method, together with the plate coupling and tectonic features. An analysis of the dynamic stress field associated with the slip prescribed in the kinematic models can indicate possible inconsistencies with physics of faulting. Furthermore, the dynamic and kinematic rupture models are considered to simulate the ground shaking from based on 3-D spectral-element method. We analyze ShakeMap and ShakeMovie from the simulation results to evaluate the influence over the island between different source models. A dispersive tsunami-propagation simulation is also carried out to evaluate the maximum tsunami wave height along the coastal areas of Taiwan due to coseismic seafloor deformation of different source models. The results of this numerical simulation study can provide a physically-based information of megathrust earthquake scenario for the emergency response agency to take the appropriate action before the really big one happens.

Software Validation via Model Animation

NASA Technical Reports Server (NTRS)

Dutle, Aaron M.; Munoz, Cesar A.; Narkawicz, Anthony J.; Butler, Ricky W.

2015-01-01

This paper explores a new approach to validating software implementations that have been produced from formally-verified algorithms. Although visual inspection gives some confidence that the implementations faithfully reflect the formal models, it does not provide complete assurance that the software is correct. The proposed approach, which is based on animation of formal specifications, compares the outputs computed by the software implementations on a given suite of input values to the outputs computed by the formal models on the same inputs, and determines if they are equal up to a given tolerance. The approach is illustrated on a prototype air traffic management system that computes simple kinematic trajectories for aircraft. Proofs for the mathematical models of the system's algorithms are carried out in the Prototype Verification System (PVS). The animation tool PVSio is used to evaluate the formal models on a set of randomly generated test cases. Output values computed by PVSio are compared against output values computed by the actual software. This comparison improves the assurance that the translation from formal models to code is faithful and that, for example, floating point errors do not greatly affect correctness and safety properties.

Development of biomechanical models for human factors evaluations

NASA Technical Reports Server (NTRS)

Woolford, Barbara; Pandya, Abhilash; Maida, James

1991-01-01

Previewing human capabilities in a computer-aided engineering mode has assisted greatly in planning well-designed systems without the cost and time involved in mockups and engineering models. To date, the computer models have focused on such variables as field of view, accessibility and fit, and reach envelopes. Program outputs have matured from simple static pictures to animations viewable from any eyepoint. However, while kinematics models are available, there are few biomechanical models available for estimating strength and motion patterns. Those, such as Crew Chief, that are available are based on strength measurements taken in specific positions. Johnson Space Center is pursuing a biomechanical model which will use strength data collected on single joints at two or three velocities to attempt to predict compound motions of several joint simultaneously and the resulting force at the end effector. Two lines of research are coming together to produce this result. One is an attempt to use optimal control theory to predict joint motion in complex motions, and another is the development of graphical representation of human capabilities. The progress to date in this research is described.

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

NASA Technical Reports Server (NTRS)

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

2008-01-01

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

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

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

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

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

Testing Pixel Translation Digital Elevation Models to Reconstruct Slip Histories: An Example from the Agua Blanca Fault, Baja California, Mexico

NASA Astrophysics Data System (ADS)

Wilson, J.; Wetmore, P. H.; Malservisi, R.; Ferwerda, B. P.; Teran, O.

2012-12-01

We use recently collected slip vector and total offset data from the Agua Blanca fault (ABF) to constrain a pixel translation digital elevation model (DEM) to reconstruct the slip history of this fault. This model was constructed using a Perl script that reads a DEM file (Easting, Northing, Elevation) and a configuration file with coordinates that define the boundary of each fault segment. A pixel translation vector is defined as a magnitude of lateral offset in an azimuthal direction. The program translates pixels north of the fault and prints their pre-faulting position to a new DEM file that can be gridded and displayed. This analysis, where multiple DEMs are created with different translation vectors, allows us to identify areas of transtension or transpression while seeing the topographic expression in these areas. The benefit of this technique, in contrast to a simple block model, is that the DEM gives us a valuable graphic which can be used to pose new research questions. We have found that many topographic features correlate across the fault, i.e. valleys and ridges, which likely have implications for the age of the ABF, long term landscape evolution rates, and potentially provide conformation for total slip assessments The ABF of northern Baja California, Mexico is an active, dextral strike slip fault that transfers Pacific-North American plate boundary strain out of the Gulf of California and around the "Big Bend" of the San Andreas Fault. Total displacement on the ABF in the central and eastern parts of the fault is 10 +/- 2 km based on offset Early-Cretaceous features such as terrane boundaries and intrusive bodies (plutons and dike swarms). Where the fault bifurcates to the west, the northern strand (northern Agua Blanca fault or NABF) is constrained to 7 +/- 1 km. We have not yet identified piercing points on the southern strand, the Santo Tomas fault (STF), but displacement is inferred to be ~4 km assuming that the sum of slip on the NABF and STF is approximately equal to that to the east. The ABF has varying kinematics along strike due to changes in trend of the fault with respect to the nearly east-trending displacement vector of the Ensenada Block to the north of the fault relative to a stable Baja Microplate to the south. These kinematics include nearly pure strike slip in the central portion of the ABF where the fault trends nearly E-W, and minor components of normal dip-slip motion on the NABF and eastern sections of the fault where the trends become more northerly. A pixel translation vector parallel to the trend of the ABF in the central segment (290 deg, 10.5 km) produces kinematics consistent with those described above. The block between the NABF and STF has a pixel translation vector parallel the STF (291 deg, 3.5 km). We find these vectors are consistent with the kinematic variability of the fault system and realign several major drainages and ridges across the fault. This suggests these features formed prior to faulting, and they yield preferred values of offset: 10.5 km on the ABF, 7 km on the NABF and 3.5 km on the STF. This model is consistent with the kinematic model proposed by Hamilton (1971) in which the ABF is a transform fault, linking extensional regions of Valle San Felipe and the Continental Borderlands.

The validity of flow approximations when simulating catchment-integrated flash floods

NASA Astrophysics Data System (ADS)

Bout, B.; Jetten, V. G.

2018-01-01

Within hydrological models, flow approximations are commonly used to reduce computation time. The validity of these approximations is strongly determined by flow height, flow velocity and the spatial resolution of the model. In this presentation, the validity and performance of the kinematic, diffusive and dynamic flow approximations are investigated for use in a catchment-based flood model. Particularly, the validity during flood events and for varying spatial resolutions is investigated. The OpenLISEM hydrological model is extended to implement both these flow approximations and channel flooding based on dynamic flow. The flow approximations are used to recreate measured discharge in three catchments, among which is the hydrograph of the 2003 flood event in the Fella river basin. Furthermore, spatial resolutions are varied for the flood simulation in order to investigate the influence of spatial resolution on these flow approximations. Results show that the kinematic, diffusive and dynamic flow approximation provide least to highest accuracy, respectively, in recreating measured discharge. Kinematic flow, which is commonly used in hydrological modelling, substantially over-estimates hydrological connectivity in the simulations with a spatial resolution of below 30 m. Since spatial resolutions of models have strongly increased over the past decades, usage of routed kinematic flow should be reconsidered. The combination of diffusive or dynamic overland flow and dynamic channel flooding provides high accuracy in recreating the 2003 Fella river flood event. Finally, in the case of flood events, spatial modelling of kinematic flow substantially over-estimates hydrological connectivity and flow concentration since pressure forces are removed, leading to significant errors.

Polymer Fluid Dynamics: Continuum and Molecular Approaches.

PubMed

Bird, R B; Giacomin, A J

2016-06-07

To solve problems in polymer fluid dynamics, one needs the equations of continuity, motion, and energy. The last two equations contain the stress tensor and the heat-flux vector for the material. There are two ways to formulate the stress tensor: (a) One can write a continuum expression for the stress tensor in terms of kinematic tensors, or (b) one can select a molecular model that represents the polymer molecule and then develop an expression for the stress tensor from kinetic theory. The advantage of the kinetic theory approach is that one gets information about the relation between the molecular structure of the polymers and the rheological properties. We restrict the discussion primarily to the simplest stress tensor expressions or constitutive equations containing from two to four adjustable parameters, although we do indicate how these formulations may be extended to give more complicated expressions. We also explore how these simplest expressions are recovered as special cases of a more general framework, the Oldroyd 8-constant model. Studying the simplest models allows us to discover which types of empiricisms or molecular models seem to be worth investigating further. We also explore equivalences between continuum and molecular approaches. We restrict the discussion to several types of simple flows, such as shearing flows and extensional flows, which are of greatest importance in industrial operations. Furthermore, if these simple flows cannot be well described by continuum or molecular models, then it is not necessary to lavish time and energy to apply them to more complex flow problems.

Towards quantifying dynamic human-human physical interactions for robot assisted stroke therapy.

PubMed

Mohan, Mayumi; Mendonca, Rochelle; Johnson, Michelle J

2017-07-01

Human-Robot Interaction is a prominent field of robotics today. Knowledge of human-human physical interaction can prove vital in creating dynamic physical interactions between human and robots. Most of the current work in studying this interaction has been from a haptic perspective. Through this paper, we present metrics that can be used to identify if a physical interaction occurred between two people using kinematics. We present a simple Activity of Daily Living (ADL) task which involves a simple interaction. We show that we can use these metrics to successfully identify interactions.

A new high-resolution kinematic model for the southern North Atlantic region: the Iberian plate kinematics since the Late Cretaceous

NASA Astrophysics Data System (ADS)

Macchiavelli, Chiara; Vergés, Jaume; Schettino, Antonio; Fernández, Manel; Turco, Eugenio; Torné, Montserrat; Casciello, Emilio

2017-04-01

We present the first high-resolution kinematic model for the southern North Atlantic since the late Cretaceous, in order to constrain the Iberian kinematics during the last 83 Myr. Assessing the detailed movements of the Iberian plate is crucial to constrain the kinematics of the Western Mediterranean region and to better understand the Pyrenees and Betic - Rif orogenic systems evolution. The new plate motions model for the Iberia - North America plate pair is accompanied by a high-resolution isochron map for the southern North Atlantic region, resulting from a re-examination of 400 ship tracks and 3 aeromagnetic tracks in the NGDC data base for the area between the Azores triple junction and 46° N. We derive a well-constrained kinematic solution for the relative motion between an independent Iberia and North America from seafloor spreading data despite the short length of the magnetic lineations and the scarcity of large-offset transform faults and fracture zones. Accurate finite reconstruction poles for the Iberia - North America conjugate plate pair between the Late Cretaceous (Chron 34, 83.5 Ma) and the present day (Chron 2A, 2.58 Ma) are calculated on the basis of a set of 100 magnetic profiles through an iterative method. Euler poles and associated angles of rotation are computed as follow. An initial rotation pole is calculated using only magnetic anomaly crossings. The initial large uncertainty associated with the first determination is reduced by generating a set of synthetic fracture zones associated with the initial pole and using points sampled along these structures in conjunction with magnetic anomaly crossings to calculate a new Euler pole and associated confidence ellipse. This procedure is repeated n times, generating a sequence of improving approximate solutions and stopped when the solution become stable excluding solutions that were inconsistent with geological constraints. We used these results to build a comprehensive kinematic model for the North America - Iberia - Europe - Africa - Morocco plate system. A set of plate reconstructions illustrates the Iberian plate kinematics and show plate boundaries and velocity fields since the Late Cretaceous attempting to reconcile the geology of Pyrenees and Betic - Rif chain and the kinematic of the southern North Atlantic Ocean. This research is supported by project ALPIMED (PIE-CSIC-201530E082)

General Rotorcraft Aeromechanical Stability Program (GRASP): Theory manual

NASA Technical Reports Server (NTRS)

Hodges, Dewey H.; Hopkins, A. Stewart; Kunz, Donald L.; Hinnant, Howard E.

1990-01-01

The general rotorcraft aeromechanical stability program (GRASP) was developed to calculate aeroelastic stability for rotorcraft in hovering flight, vertical flight, and ground contact conditions. GRASP is described in terms of its capabilities and its philosophy of modeling. The equations of motion that govern the physical system are described, as well as the analytical approximations used to derive them. The equations include the kinematical equation, the element equations, and the constraint equations. In addition, the solution procedures used by GRASP are described. GRASP is capable of treating the nonlinear static and linearized dynamic behavior of structures represented by arbitrary collections of rigid-body and beam elements. These elements may be connected in an arbitrary fashion, and are permitted to have large relative motions. The main limitation of this analysis is that periodic coefficient effects are not treated, restricting rotorcraft flight conditions to hover, axial flight, and ground contact. Instead of following the methods employed in other rotorcraft programs. GRASP is designed to be a hybrid of the finite-element method and the multibody methods used in spacecraft analysis. GRASP differs from traditional finite-element programs by allowing multiple levels of substructure in which the substructures can move and/or rotate relative to others with no small-angle approximations. This capability facilitates the modeling of rotorcraft structures, including the rotating/nonrotating interface and the details of the blade/root kinematics for various types. GRASP differs from traditional multibody programs by considering aeroelastic effects, including inflow dynamics (simple unsteady aerodynamics) and nonlinear aerodynamic coefficients.

Reconciling opposite strike-slip kinematics in the transpressional belt of the Sierras Pampeanas (Argentina)

NASA Astrophysics Data System (ADS)

Zampieri, D.; Gutierrez, A. A.; Massironi, M.; Mon, R.

2012-04-01

In northwest Argentina, the Sierras Pampeanas consists of a basement-involved thrust system resulting from the Andean-phase shortening active since the Miocene in relation with an episode of shallow subduction of the Nazca plate under the South-American one (Jordan et al., 1983, Episodes). The thrust belt is characterized by N-S trending ranges of Precambrian-Early Paleozoic crystalline basement rocks separated by broad depressions infilled by thick Cenozoic sedimentary deposits. Various Paleozoic granitoids intruded within metamorphic schists and gneisses constitute hard cores around which deformation has been continuously focussed. The kinematics of the N-S faults bounding the ranges has been object of hot scientific debates, since both dextral and sinistral strike-slip activity has been found throughout central Andes. Most previous works relate this opposite strike-slip component to the evolution of the relative motions between plates. However, several evidences suggest a coeval opposite kinematics along different faults with the same trend, explained by alternating kinematic excursions during the late Cenozoic reorganization of relative plate motions (Marrett and Strecker, 2000, Tectonics). In this work we present new findings of Miocene-Present opposite transcurrence along faults enclosing a N-S elongated intrusive body (Achala batholith) in the Córdoba Range. In particular, to the west of the batholith a 6 km-wide sigmoidal basin, infilled by Pliocene to Quaternary deformed deposits, point to a sinistral shear along a major N-S fault with a prominent left bend. On the contrary, on the east side a similar pull-apart basin infilled by Pliocene deposits is consistent with a right lateral strike-slip component along a N-S fault showing a dextral bend. This suggests a moderate northwards escape of the granitoid block enveloped by a basement characterized by a penetrative and steeply dipping foliation, N-S oriented. Hence, we propose a partitioning of the deformation in which simple shear is dominant at the batholith boundaries and within the foliated basement, whereas pure shear is mainly accommodated by the rigid granitoid block, which is also forced to laterally escape. This model may explain coeval opposite strike-slip kinematics observed in transpressional belts with a strong shortening component affecting tectonic units with highly contrasting rheological properties.

Multiple scale dynamo

PubMed Central

Le Mouël, Jean-Louis; Allègre, Claude J.; Narteau, Clément

1997-01-01

A scaling law approach is used to simulate the dynamo process of the Earth’s core. The model is made of embedded turbulent domains of increasing dimensions, until the largest whose size is comparable with the site of the core, pervaded by large-scale magnetic fields. Left-handed or right-handed cyclones appear at the lowest scale, the scale of the elementary domains of the hierarchical model, and disappear. These elementary domains then behave like electromotor generators with opposite polarities depending on whether they contain a left-handed or a right-handed cyclone. To transfer the behavior of the elementary domains to larger ones, a dynamic renormalization approach is used. A simple rule is adopted to determine whether a domain of scale l is a generator—and what its polarity is—in function of the state of the (l − 1) domains it is made of. This mechanism is used as the main ingredient of a kinematic dynamo model, which displays polarity intervals, excursions, and reversals of the geomagnetic field. PMID:11038547

Kinematic Measures of Imitation Fidelity in Primary School Children

ERIC Educational Resources Information Center

Williams, Justin H. G.; Casey, Jackie M.; Braadbaart, Lieke; Culmer, Peter R.; Mon-Williams, Mark

2014-01-01

We sought to develop a method for measuring imitation accuracy objectively in primary school children. Children imitated a model drawing shapes on the same computer-tablet interface they saw used in video clips, allowing kinematics of model and observers' actions to be directly compared. Imitation accuracy was reported as a correlation reflecting…

Coordination of multiple appendages in drag-based swimming.

PubMed

Alben, Silas; Spears, Kevin; Garth, Stephen; Murphy, David; Yen, Jeannette

2010-11-06

Krill are aquatic crustaceans that engage in long distance migrations, either vertically in the water column or horizontally for 10 km (over 200,000 body lengths) per day. Hence efficient locomotory performance is crucial for their survival. We study the swimming kinematics of krill using a combination of experiment and analysis. We quantify the propulsor kinematics for tethered and freely swimming krill in experiments, and find kinematics that are very nearly metachronal. We then formulate a drag coefficient model which compares metachronal, synchronous and intermediate motions for a freely swimming body with two legs. With fixed leg velocity amplitude, metachronal kinematics give the highest average body speed for both linear and quadratic drag laws. The same result holds for five legs with the quadratic drag law. When metachronal kinematics is perturbed towards synchronous kinematics, an analysis shows that the velocity increase on the power stroke is outweighed by the velocity decrease on the recovery stroke. With fixed time-averaged work done by the legs, metachronal kinematics again gives the highest average body speed, although the advantage over synchronous kinematics is reduced.

Ballistic representation for kinematic access

NASA Astrophysics Data System (ADS)

Alfano, Salvatore

2011-01-01

This work uses simple two-body orbital dynamics to initially determine the kinematic access for a ballistic vehicle. Primarily this analysis was developed to assess when a rocket body might conjunct with an orbiting satellite platform. A family of access opportunities can be represented as a volume for a specific rocket relative to its launch platform. Alternately, the opportunities can be represented as a geographical footprint relative to aircraft or satellite position that encompasses all possible launcher locations for a specific rocket. A thrusting rocket is treated as a ballistic vehicle that receives all its energy at launch and follows a coasting trajectory. To do so, the rocket's burnout energy is used to find its equivalent initial velocity for a given launcher's altitude. Three kinematic access solutions are then found that account for spherical Earth rotation. One solution finds the maximum range for an ascent-only trajectory while another solution accommodates a descending trajectory. In addition, the ascent engagement for the descending trajectory is used to depict a rapid access scenario. These preliminary solutions are formulated to address ground-, sea-, or air-launched vehicles.

Complete N-point superstring disk amplitude II. Amplitude and hypergeometric function structure

NASA Astrophysics Data System (ADS)

Mafra, Carlos R.; Schlotterer, Oliver; Stieberger, Stephan

2013-08-01

Using the pure spinor formalism in part I (Mafra et al., preprint [1]) we compute the complete tree-level amplitude of N massless open strings and find a striking simple and compact form in terms of minimal building blocks: the full N-point amplitude is expressed by a sum over (N-3)! Yang-Mills partial subamplitudes each multiplying a multiple Gaussian hypergeometric function. While the former capture the space-time kinematics of the amplitude the latter encode the string effects. This result disguises a lot of structure linking aspects of gauge amplitudes as color and kinematics with properties of generalized Euler integrals. In this part II the structure of the multiple hypergeometric functions is analyzed in detail: their relations to monodromy equations, their minimal basis structure, and methods to determine their poles and transcendentality properties are proposed. Finally, a Gröbner basis analysis provides independent sets of rational functions in the Euler integrals. In contrast to [1] here we use momenta redefined by a factor of i. As a consequence the signs of the kinematic invariants are flipped, e.g. |→|.

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

PubMed

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

2018-03-22

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

Functional differentiation of macaque visual temporal cortical neurons using a parametric action space.

PubMed

Vangeneugden, Joris; Pollick, Frank; Vogels, Rufin

2009-03-01

Neurons in the rostral superior temporal sulcus (STS) are responsive to displays of body movements. We employed a parametric action space to determine how similarities among actions are represented by visual temporal neurons and how form and motion information contributes to their responses. The stimulus space consisted of a stick-plus-point-light figure performing arm actions and their blends. Multidimensional scaling showed that the responses of temporal neurons represented the ordinal similarity between these actions. Further tests distinguished neurons responding equally strongly to static presentations and to actions ("snapshot" neurons), from those responding much less strongly to static presentations, but responding well when motion was present ("motion" neurons). The "motion" neurons were predominantly found in the upper bank/fundus of the STS, and "snapshot" neurons in the lower bank of the STS and inferior temporal convexity. Most "motion" neurons showed strong response modulation during the course of an action, thus responding to action kinematics. "Motion" neurons displayed a greater average selectivity for these simple arm actions than did "snapshot" neurons. We suggest that the "motion" neurons code for visual kinematics, whereas the "snapshot" neurons code for form/posture, and that both can contribute to action recognition, in agreement with computation models of action recognition.

Application of δ recycling to electron automated diffraction tomography data from inorganic crystalline nanovolumes.

PubMed

Rius, Jordi; Mugnaioli, Enrico; Vallcorba, Oriol; Kolb, Ute

2013-07-01

δ Recycling is a simple procedure for directly extracting phase information from Patterson-type functions [Rius (2012). Acta Cryst. A68, 399-400]. This new phasing method has a clear theoretical basis and was developed with ideal single-crystal X-ray diffraction data. On the other hand, introduction of the automated diffraction tomography (ADT) technique has represented a significant advance in electron diffraction data collection [Kolb et al. (2007). Ultramicroscopy, 107, 507-513]. When combined with precession electron diffraction, it delivers quasi-kinematical intensity data even for complex inorganic compounds, so that single-crystal diffraction data of nanometric volumes are now available for structure determination by direct methods. To check the tolerance of δ recycling to missing data-collection corrections and to deviations from kinematical behaviour of ADT intensities, δ recycling has been applied to differently shaped nanocrystals of various inorganic materials. The results confirm that it can phase ADT data very efficiently. In some cases even more complete structure models than those derived from conventional direct methods and least-squares refinement have been found. During this study it has been demonstrated that the Wilson-plot scaling procedure is largely insensitive to sample thickness variations and missing absorption corrections affecting electron ADT intensities.

Prediction of elbow joint contact mechanics in the multibody framework.

PubMed

Rahman, Munsur; Cil, Akin; Stylianou, Antonis P

2016-03-01

Computational multibody musculoskeletal models of the elbow joint that are capable of simultaneous and accurate predictions of muscle and ligament forces, along with cartilage contact mechanics can be immensely useful in clinical practice. As a step towards producing a musculoskeletal model that includes the interaction between cartilage and muscle loading, the goal of this study was to develop subject-specific multibody models of the elbow joint with discretized humerus cartilage representation interacting with the radius and ulna cartilages through deformable contacts. The contact parameters for the compliant contact law were derived using simplified elastic foundation contact theory. The models were then validated by placing the model in a virtual mechanical tester for flexion-extension motion similar to a cadaver experiment, and the resulting kinematics were compared. Two cadaveric upper limbs were used in this study. The humeral heads were subjected to axial motion in a mechanical tester and the resulting kinematics from three bones were recorded for model validation. The maximum RMS error between the predicted and measured kinematics during the complete testing cycle was 2.7 mm medial-lateral translation and 9.7° varus-valgus rotation of radius relative to humerus (for elbow 2). After model validation, a lateral ulnar collateral ligament (LUCL) deficient condition was simulated and, contact pressures and kinematics were compared to the intact elbow model. A noticeable difference in kinematics, contact area, and contact pressure were observed for LUCL deficient condition. LUCL deficiency induced higher internal rotations for both the radius and ulna during flexion and an associated medial shift of the articular contact area. Copyright © 2016 IPEM. Published by Elsevier Ltd. All rights reserved.

Kinematic sensitivity of robot manipulators

NASA Technical Reports Server (NTRS)

Vuskovic, Marko I.

1989-01-01

Kinematic sensitivity vectors and matrices for open-loop, n degrees-of-freedom manipulators are derived. First-order sensitivity vectors are defined as partial derivatives of the manipulator's position and orientation with respect to its geometrical parameters. The four-parameter kinematic model is considered, as well as the five-parameter model in case of nominally parallel joint axes. Sensitivity vectors are expressed in terms of coordinate axes of manipulator frames. Second-order sensitivity vectors, the partial derivatives of first-order sensitivity vectors, are also considered. It is shown that second-order sensitivity vectors can be expressed as vector products of the first-order sensitivity vectors.

Kinematic Methods of Designing Free Form Shells

NASA Astrophysics Data System (ADS)

Korotkiy, V. A.; Khmarova, L. I.

2017-11-01

The geometrical shell model is formed in light of the set requirements expressed through surface parameters. The shell is modelled using the kinematic method according to which the shell is formed as a continuous one-parameter set of curves. The authors offer a kinematic method based on the use of second-order curves with a variable eccentricity as a form-making element. Additional guiding ruled surfaces are used to control the designed surface form. The authors made a software application enabling to plot a second-order curve specified by a random set of five coplanar points and tangents.

Biomechanics of a convergently derived prey-processing mechanism in fishes: evidence from comparative tongue bite apparatus morphology and raking kinematics.

PubMed

Konow, Nicolai; Sanford, Christopher P J

2008-11-01

A tongue-bite apparatus (TBA) governs raking behaviors in two major and unrelated teleost lineages, the osteoglossomorph and salmoniform fishes. We present data on comparative morphology and kinematics from two representative species, the rainbow trout (Oncorhynchus mykiss) and the Australian arowana (Scleropages jardinii), which suggest that both the TBA and raking are convergently derived in these lineages. Similar TBA morphologies were present, except for differences in TBA dentition and shape of the novel cleithrobranchial ligament (CBL), which is arc-shaped in O. mykiss and straight in S. jardinii. Eight kinematic variables were used to quantify motion magnitude and maximum-timing in the kinematic input mechanisms of the TBA. Five variables differed inter-specifically (pectoral girdle retraction magnitude and timing, cranial and hyoid elevation and gape-distance timing), yet an incomplete taxon separation across multivariate kinematic space demonstrated an overall similarity in raking behavior. An outgroup analysis using bowfin (Amia calva) and pickerel (Esox americanus) to compare kinematics of raking with chewing and prey-capture provided robust quantitative evidence of raking being a convergently derived behavior. Support was also found for the notion that raking more likely evolved from the strike, a functionally distinct behavior, than from chewing, an alternative prey-processing behavior. Based on raking kinematic and muscle-activity data, we propose biomechanical models of the three input mechanisms that govern kinematics of the basihyal output mechanism during the raking power stroke: (1) cranial elevation protracts the upper TBA jaw from the lower (basihyal) TBA jaw; (2) basihyal retraction is caused directly by contraction of the sternohyoideus (SH); (3) hypaxial shortening, relayed via the pectoral girdle and SH-CBL complex, is an indirect basihyal retraction mechanism modeled as a four-bar linkage. These models will aid future analyses mapping structural and functional traits to the evolution of behaviors.

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

PubMed

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

2016-05-19

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

Kinematics of a Young Low-mass Star-forming Core: Understanding the Evolutionary State of the First-core Candidate L1451-mm

NASA Astrophysics Data System (ADS)

Maureira, María José; Arce, Héctor G.; Dunham, Michael M.; Pineda, Jaime E.; Fernández-López, Manuel; Chen, Xuepeng; Mardones, Diego

2017-03-01

We use 3 mm multiline and continuum CARMA observations toward the first hydrostatic core (FHSC) candidate L1451-mm to characterize the envelope kinematics at 1000 au scales and investigate its evolutionary state. We detect evidence of infall and rotation in the NH2D(11,1-10,1), N2H+(1-0), and HCN(1-0) molecular lines. We compare the position-velocity diagram of the NH2D(11,1-10,1) line with a simple kinematic model and find that it is consistent with an envelope that is both infalling and rotating while conserving angular momentum around a central mass of about 0.06 M ⊙. The N2H+(1-0) LTE mass of the envelope along with the inferred infall velocity leads to a mass infall rate of approximately 6 × 10-6 M ⊙ yr-1, implying a young age of 104 years for this FHSC candidate. Assuming that the accretion onto the central object is the same as the infall rate, we obtain a minimum source size of 1.5-5 au, consistent with the size expected for a first core. We do not see any evidence of outflow motions or signs of outflow-envelope interaction at scales ≳2000 au. This is consistent with previous observations that revealed a very compact outflow (≲500 au). We conclude that L1451-mm is indeed at a very early stage of evolution, either a first core or an extremely young Class 0 protostar. Our results provide strong evidence that L1451-mm is the best candidate for being a bona fide first core.

Very metal-poor galaxies: ionized gas kinematics in nine objects

NASA Astrophysics Data System (ADS)

Moiseev, A. V.; Pustilnik, S. A.; Kniazev, A. Y.

2010-07-01

The study of ionized gas morphology and kinematics in nine extremely metal-deficient (XMD) galaxies with the scanning Fabry-Perot interferometer on the Special Astrophysical Observatory (SAO) 6-m telescope is presented. Some of these very rare objects (with currently known range of O/H of 7.12 < 12 + log(O/H) < 7.65, or ) are believed to be the best proxies of `young' low-mass galaxies in the high-redshift Universe. One of the main goals of this study is to look for possible evidence of star formation (SF) activity induced by external perturbations. Recent results from HI mapping of a small subsample of XMD star-forming galaxies provided confident evidence for the important role of interaction-induced SF. Our observations provide complementary or new information that the great majority of the studied XMD dwarfs have strongly disturbed gas morphology and kinematics or the presence of detached components. We approximate the observed velocity fields by simple models of a rotating tilted thin disc, which allows us the robust detection of non-circular gas motions. These data, in turn, indicate the important role of current/recent interactions and mergers in the observed enhanced SF. As a by-product of our observations, we obtained data for two Low Surface Brightness (LSB) dwarf galaxies: Anon J012544+075957 that is a companion of the merger system UGC 993, and SAO 0822+3545 which shows off-centre, asymmetric, low star formation rate star-forming regions, likely induced by the interaction with the companion XMD dwarf HS 0822+3542. Based on observations obtained with the Special Astrophysical Observatory RAS 6-m telescope. E-mail: moisav@gmail.com (AVM); sap@sao.ru (SAP); akniazev@saao.ac.za (AYK)

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

PubMed

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

2018-06-01

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

The Differences in Source Dynamics Between Intermediate-Depth and Deep EARTHQUAKES:A Comparative Study Between the 2014 Rat Islands Intermediate-Depth Earthquake and the 2015 Bonin Islands Deep Earthquake

NASA Astrophysics Data System (ADS)

Twardzik, C.; Ji, C.

2015-12-01

It has been proposed that the mechanisms for intermediate-depth and deep earthquakes might be different. While previous extensive seismological studies suggested that such potential differences do not significantly affect the scaling relationships of earthquake parameters, there has been only a few investigations regarding their dynamic characteristics, especially for fracture energy. In this work, the 2014 Mw7.9 Rat Islands intermediate-depth (105 km) earthquake and the 2015 Mw7.8 Bonin Islands deep (680 km) earthquake are studied from two different perspectives. First, their kinematic rupture models are constrained using teleseismic body waves. Our analysis reveals that the Rat Islands earthquake breaks the entire cold core of the subducting slab defined as the depth of the 650oC isotherm. The inverted stress drop is 4 MPa, compatible to that of intra-plate earthquakes at shallow depths. On the other hand, the kinematic rupture model of the Bonin Islands earthquake, which occurred in a region lacking of seismicity for the past forty years, according to the GCMT catalog, exhibits an energetic rupture within a 35 km by 30 km slip patch and a high stress drop of 24 MPa. It is of interest to note that although complex rupture patterns are allowed to match the observations, the inverted slip distributions of these two earthquakes are simple enough to be approximated as the summation of a few circular/elliptical slip patches. Thus, we investigate subsequently their dynamic rupture models. We use a simple modelling approach in which we assume that the dynamic rupture propagation obeys a slip-weakening friction law, and we describe the distribution of stress and friction on the fault as a set of elliptical patches. We will constrain the three dynamic parameters that are yield stress, background stress prior to the rupture and slip weakening distance, as well as the shape of the elliptical patches directly from teleseismic body waves observations. The study would help us getting a better understanding of the dynamic conditions that control the rupture behaviour of these two types of earthquakes, and subsequently improving our knowledge of the dynamics of subducting slabs.

Development of esMOCA Biomechanic, Motion Capture Instrumentation for Biomechanics Analysis

NASA Astrophysics Data System (ADS)

Arendra, A.; Akhmad, S.

2018-01-01

This study aims to build motion capture instruments using inertial measurement unit sensors to assist in the analysis of biomechanics. Sensors used are accelerometer and gyroscope. Estimation of orientation sensors is done by digital motion processing in each sensor nodes. There are nine sensor nodes attached to the upper limbs. This sensor is connected to the pc via a wireless sensor network. The development of kinematics and inverse dynamamic models of the upper limb is done in simulink simmechanic. The kinematic model receives streaming data of sensor nodes mounted on the limbs. The output of the kinematic model is the pose of each limbs and visualized on display. The dynamic inverse model outputs the reaction force and reaction moment of each joint based on the limb motion input. Model validation in simulink with mathematical model of mechanical analysis showed results that did not differ significantly

Kinematic cross-correlation induces sensory integration across separate objects.

PubMed

Debats, Nienke B; Ernst, Marc O; Heuer, Herbert

2017-12-01

In a basic cursor-control task, the perceived positions of the hand and the cursor are biased towards each other. We recently found that this phenomenon conforms to the reliability-based weighting mechanism of optimal multisensory integration. This indicates that optimal integration is not restricted to sensory signals originating from a single source, as is the prevailing view, but that it also applies to separate objects that are connected by a kinematic relation (i.e. hand and cursor). In the current study, we examined which aspects of the kinematic relation are crucial for eliciting the sensory integration: (i) the cross-correlation between kinematic variables of the hand and cursor trajectories, and/or (ii) an internal model of the hand-cursor kinematic transformation. Participants made out-and-back movements from the centre of a semicircular workspace to its boundary, after which they judged the position where either their hand or the cursor hit the boundary. We analysed the position biases and found that the integration was strong in a condition with high kinematic correlations (a straight hand trajectory was mapped to a straight cursor trajectory), that it was significantly reduced for reduced kinematic correlations (a straight hand trajectory was transformed into a curved cursor trajectory) and that it was not affected by the inability to acquire an internal model of the kinematic transformation (i.e. by the trial-to-trial variability of the cursor curvature). These findings support the idea that correlations play a crucial role in multisensory integration irrespective of the number of sensory sources involved. © 2017 Federation of European Neuroscience Societies and John Wiley & Sons Ltd.

Kinematic foot types in youth with equinovarus secondary to hemiplegia.

PubMed

Krzak, Joseph J; Corcos, Daniel M; Damiano, Diane L; Graf, Adam; Hedeker, Donald; Smith, Peter A; Harris, Gerald F

2015-02-01

Elevated kinematic variability of the foot and ankle segments exists during gait among individuals with equinovarus secondary to hemiplegic cerebral palsy (CP). Clinicians have previously addressed such variability by developing classification schemes to identify subgroups of individuals based on their kinematics. To identify kinematic subgroups among youth with equinovarus secondary to CP using 3-dimensional multi-segment foot and ankle kinematics during locomotion as inputs for principal component analysis (PCA), and K-means cluster analysis. In a single assessment session, multi-segment foot and ankle kinematics using the Milwaukee Foot Model (MFM) were collected in 24 children/adolescents with equinovarus and 20 typically developing children/adolescents. PCA was used as a data reduction technique on 40 variables. K-means cluster analysis was performed on the first six principal components (PCs) which accounted for 92% of the variance of the dataset. The PCs described the location and plane of involvement in the foot and ankle. Five distinct kinematic subgroups were identified using K-means clustering. Participants with equinovarus presented with variable involvement ranging from primary hindfoot or forefoot deviations to deformtiy that included both segments in multiple planes. This study provides further evidence of the variability in foot characteristics associated with equinovarus secondary to hemiplegic CP. These findings would not have been detected using a single segment foot model. The identification of multiple kinematic subgroups with unique foot and ankle characteristics has the potential to improve treatment since similar patients within a subgroup are likely to benefit from the same intervention(s). Copyright © 2014 Elsevier B.V. All rights reserved.

Kinematic foot types in youth with equinovarus secondary to hemiplegia

PubMed Central

Krzak, Joseph J.; Corcos, Daniel M.; Damiano, Diane L.; Graf, Adam; Hedeker, Donald; Smith, Peter A.; Harris, Gerald F.

2015-01-01

Background Elevated kinematic variability of the foot and ankle segments exists during gait among individuals with equinovarus secondary to hemiplegic cerebral palsy (CP). Clinicians have previously addressed such variability by developing classification schemes to identify subgroups of individuals based on their kinematics. Objective To identify kinematic subgroups among youth with equinovarus secondary to CP using 3-dimensional multi-segment foot and ankle kinematics during locomotion as inputs for principal component analysis (PCA), and K-means cluster analysis. Methods In a single assessment session, multi-segment foot and ankle kinematics using the Milwaukee Foot Model (MFM) were collected in 24 children/adolescents with equinovarus and 20 typically developing children/adolescents. Results PCA was used as a data reduction technique on 40 variables. K-means cluster analysis was performed on the first six principal components (PCs) which accounted for 92% of the variance of the dataset. The PCs described the location and plane of involvement in the foot and ankle. Five distinct kinematic subgroups were identified using K-means clustering. Participants with equinovarus presented with variable involvement ranging from primary hindfoot or forefoot deviations to deformtiy that included both segments in multiple planes. Conclusion This study provides further evidence of the variability in foot characteristics associated with equinovarus secondary to hemiplegic CP. These findings would not have been detected using a single segment foot model. The identification of multiple kinematic subgroups with unique foot and ankle characteristics has the potential to improve treatment since similar patients within a subgroup are likely to benefit from the same intervention(s). PMID:25467429

Kinematics of the New Madrid seismic zone, central United States, based on stepover models

USGS Publications Warehouse

Pratt, Thomas L.

2012-01-01

Seismicity in the New Madrid seismic zone (NMSZ) of the central United States is generally attributed to a stepover structure in which the Reelfoot thrust fault transfers slip between parallel strike-slip faults. However, some arms of the seismic zone do not fit this simple model. Comparison of the NMSZ with an analog sandbox model of a restraining stepover structure explains all of the arms of seismicity as only part of the extensive pattern of faults that characterizes stepover structures. Computer models show that the stepover structure may form because differences in the trends of lower crustal shearing and inherited upper crustal faults make a step between en echelon fault segments the easiest path for slip in the upper crust. The models predict that the modern seismicity occurs only on a subset of the faults in the New Madrid stepover structure, that only the southern part of the stepover structure ruptured in the A.D. 1811–1812 earthquakes, and that the stepover formed because the trends of older faults are not the same as the current direction of shearing.

Using a Computer Microphone Port to Study Circular Motion: Proposal of a Secondary School Experiment

ERIC Educational Resources Information Center

Soares, A. A.; Borcsik, F. S.

2016-01-01

In this work we present an inexpensive experiment proposal to study the kinematics of uniform circular motion in a secondary school. We used a PC sound card to connect a homemade simple sensor to a computer and used the free sound analysis software "Audacity" to record experimental data. We obtained quite good results even in comparison…

A functional-anatomical approach to the spine-pelvis mechanism: interaction between the biceps femoris muscle and the sacrotuberous ligament.

PubMed

van Wingerden, J P; Vleeming, A; Snijders, C J; Stoeckart, R

1993-10-01

Summary. Sacroiliac joint dysfunction is often overlooked as a possible cause of low back pain. This is due to the use of reductionistic anatomical models. From a kinematic point of view, topographic anatomical models are generally inadequate since they categorize pelvis, lower vertebral column and legs as distinct entities. This functional-anatomical study focuses on the question whether anatomical connections between the biceps femoris muscle and the sacrotuberous ligament are kinematically useful. Forces applied to the tendon of the biceps femoris muscle, simulating biceps femoris muscle force, were shown to influence sacrotuberous ligament tension. Since sacrotuberous ligament tension influences sacroiliac joint kinematics, hamstring training could influence the sacroiliac joint and thus low back kinematics. The clinical implications with respect to 'short' hamstrings, pelvic instability and walking are discussed.

Self-consistent Bulge/Disk/Halo Galaxy Dynamical Modeling Using Integral Field Kinematics

NASA Astrophysics Data System (ADS)

Taranu, D. S.; Obreschkow, D.; Dubinski, J. J.; Fogarty, L. M. R.; van de Sande, J.; Catinella, B.; Cortese, L.; Moffett, A.; Robotham, A. S. G.; Allen, J. T.; Bland-Hawthorn, J.; Bryant, J. J.; Colless, M.; Croom, S. M.; D'Eugenio, F.; Davies, R. L.; Drinkwater, M. J.; Driver, S. P.; Goodwin, M.; Konstantopoulos, I. S.; Lawrence, J. S.; López-Sánchez, Á. R.; Lorente, N. P. F.; Medling, A. M.; Mould, J. R.; Owers, M. S.; Power, C.; Richards, S. N.; Tonini, C.

2017-11-01

We introduce a method for modeling disk galaxies designed to take full advantage of data from integral field spectroscopy (IFS). The method fits equilibrium models to simultaneously reproduce the surface brightness, rotation, and velocity dispersion profiles of a galaxy. The models are fully self-consistent 6D distribution functions for a galaxy with a Sérsic profile stellar bulge, exponential disk, and parametric dark-matter halo, generated by an updated version of GalactICS. By creating realistic flux-weighted maps of the kinematic moments (flux, mean velocity, and dispersion), we simultaneously fit photometric and spectroscopic data using both maximum-likelihood and Bayesian (MCMC) techniques. We apply the method to a GAMA spiral galaxy (G79635) with kinematics from the SAMI Galaxy Survey and deep g- and r-band photometry from the VST-KiDS survey, comparing parameter constraints with those from traditional 2D bulge-disk decomposition. Our method returns broadly consistent results for shared parameters while constraining the mass-to-light ratios of stellar components and reproducing the H I-inferred circular velocity well beyond the limits of the SAMI data. Although the method is tailored for fitting integral field kinematic data, it can use other dynamical constraints like central fiber dispersions and H I circular velocities, and is well-suited for modeling galaxies with a combination of deep imaging and H I and/or optical spectra (resolved or otherwise). Our implementation (MagRite) is computationally efficient and can generate well-resolved models and kinematic maps in under a minute on modern processors.

Development of a subject-specific model to predict the forces in the knee ligaments at high flexion angles.

PubMed

Yang, Zhaochun; Wickwire, Alexis C; Debski, Richard E

2010-11-01

Recent clinical evidence has suggested that tasks performed in kneeling or squatting postures place the knee at a higher risk for injury because loads across the knee might overload the ligaments. The objective of this study was to develop a subject-specific model of the knee that is kinematically driven to predict the forces in the major ligaments at high flexion angles. The geometry of the femur, tibia, and fibula and the load-elongation curves representing the structural properties of the ACL, PCL, LCL, and MCL served as inputs to the model, which represented each ligament as a nonlinear elastic spring. To drive the model, kinematic data was obtained while loads were applied to the same cadaveric knee at four flexion angles. The force in each ligament during the recorded kinematic data allowed an optimization procedure to determine the location of the ligament attachment sites on each bone and their reference lengths. The optimization procedure could successfully minimize the differences between the experimental and predicted forces only when the kinematics at 90°, 120°, and 140° of flexion were utilized. This finding suggests that the ligaments at the knee function differently at high-flexion angles compared to low flexion angles and separate models must be used to examine each range of motion. In the future, the novel experimental and computational methodology will be used to construct additional models and additional knee kinematics will be input to help elucidate mechanisms of injury during tasks performed in kneeling or squatting postures.

Differential Kinematics Of Contemporary Industrial Robots

NASA Astrophysics Data System (ADS)

Szkodny, T.

2014-08-01

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

Kinematic matrix theory and universalities in self-propellers and active swimmers.

PubMed

Nourhani, Amir; Lammert, Paul E; Borhan, Ali; Crespi, Vincent H

2014-06-01

We describe an efficient and parsimonious matrix-based theory for studying the ensemble behavior of self-propellers and active swimmers, such as nanomotors or motile bacteria, that are typically studied by differential-equation-based Langevin or Fokker-Planck formalisms. The kinematic effects for elementary processes of motion are incorporated into a matrix, called the "kinematrix," from which we immediately obtain correlators and the mean and variance of angular and position variables (and thus effective diffusivity) by simple matrix algebra. The kinematrix formalism enables us recast the behaviors of a diverse range of self-propellers into a unified form, revealing universalities in their ensemble behavior in terms of new emergent time scales. Active fluctuations and hydrodynamic interactions can be expressed as an additive composition of separate self-propellers.

The Evolution of the Observed Hubble Sequence over the past 6Gyr

NASA Astrophysics Data System (ADS)

Delgado-Serrano, R.; Hammer, F.; Yang, Y. B.; Puech, M.; Flores, H.; Rodrigues, M.

2011-10-01

During the past years we have confronted serious problems of methodology concerning the morphological and kinematic classification of distant galaxies. This has forced us to create a new simple and effective morphological classification methodology, in order to guarantee a morpho-kinematic correlation, make the reproducibility easier and restrict the classification subjectivity. Giving the characteristic of our morphological classification, we have thus been able to apply the same methodology, using equivalent observations, to representative samples of local and distant galaxies. It has allowed us to derive, for the first time, the distant Hubble sequence (~6 Gyr ago), and determine a morphological evolution of galaxies over the past 6 Gyr. Our results strongly suggest that more than half of the present-day spirals had peculiar morphologies, 6 Gyr ago.

Development of a Pressure-Dependent Constitutive Model with Combined Multilinear Kinematic and Isotropic Hardening

NASA Technical Reports Server (NTRS)

Allen Phillip A.; Wilson, Christopher D.

2003-01-01

The development of a pressure-dependent constitutive model with combined multilinear kinematic and isotropic hardening is presented. The constitutive model is developed using the ABAQUS user material subroutine (UMAT). First the pressure-dependent plasticity model is derived. Following this, the combined bilinear and combined multilinear hardening equations are developed for von Mises plasticity theory. The hardening rule equations are then modified to include pressure dependency. The method for implementing the new constitutive model into ABAQUS is given.

A Three-Dimensional Kinematic and Kinetic Study of the College-Level Female Softball Swing

PubMed Central

Milanovich, Monica; Nesbit, Steven M.

2014-01-01

This paper quantifies and discusses the three-dimensional kinematic and kinetic characteristics of the female softball swing as performed by fourteen female collegiate amateur subjects. The analyses were performed using a three-dimensional computer model. The model was driven kinematically from subject swings data that were recorded with a multi-camera motion analysis system. Each subject used two distinct bats with significantly different inertial properties. Model output included bat trajectories, subject/bat interaction forces and torques, work, and power. These data formed the basis for a detailed analysis and description of fundamental swing kinematic and kinetic quantities. The analyses revealed that the softball swing is a highly coordinated and individual three-dimensional motion and subject-to-subject variations were significant in all kinematic and kinetic quantities. In addition, the potential effects of bat properties on swing mechanics are discussed. The paths of the hands and the centre-of-curvature of the bat relative to the horizontal plane appear to be important trajectory characteristics of the swing. Descriptions of the swing mechanics and practical implications are offered based upon these findings. Key Points The female softball swing is a highly coordinated and individual three-dimensional motion and subject-to-subject variations were significant in all kinematic and kinetic quantities. The paths of the grip point, bat centre-of-curvature, CG, and COP are complex yet reveal consistent patterns among subjects indicating that these patterns are fundamental components of the swing. The most important mechanical quantity relative to generating bat speed is the total work applied to the bat from the batter. Computer modeling of the softball swing is a viable means for study of the fundamental mechanics of the swing motion, the interactions between the batter and the bat, and the energy transfers between the two. PMID:24570623

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

NASA Astrophysics Data System (ADS)

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

2014-05-01

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

A three-dimensional kinematic and kinetic study of the college-level female softball swing.

PubMed

Milanovich, Monica; Nesbit, Steven M

2014-01-01

This paper quantifies and discusses the three-dimensional kinematic and kinetic characteristics of the female softball swing as performed by fourteen female collegiate amateur subjects. The analyses were performed using a three-dimensional computer model. The model was driven kinematically from subject swings data that were recorded with a multi-camera motion analysis system. Each subject used two distinct bats with significantly different inertial properties. Model output included bat trajectories, subject/bat interaction forces and torques, work, and power. These data formed the basis for a detailed analysis and description of fundamental swing kinematic and kinetic quantities. The analyses revealed that the softball swing is a highly coordinated and individual three-dimensional motion and subject-to-subject variations were significant in all kinematic and kinetic quantities. In addition, the potential effects of bat properties on swing mechanics are discussed. The paths of the hands and the centre-of-curvature of the bat relative to the horizontal plane appear to be important trajectory characteristics of the swing. Descriptions of the swing mechanics and practical implications are offered based upon these findings. Key PointsThe female softball swing is a highly coordinated and individual three-dimensional motion and subject-to-subject variations were significant in all kinematic and kinetic quantities.The paths of the grip point, bat centre-of-curvature, CG, and COP are complex yet reveal consistent patterns among subjects indicating that these patterns are fundamental components of the swing.The most important mechanical quantity relative to generating bat speed is the total work applied to the bat from the batter.Computer modeling of the softball swing is a viable means for study of the fundamental mechanics of the swing motion, the interactions between the batter and the bat, and the energy transfers between the two.

Importance of upper-limb inertia in calculating concentric bench press force.

PubMed

Rambaud, Olivier; Rahmani, Abderrahmane; Moyen, Bernard; Bourdin, Muriel

2008-03-01

The purpose of this study was to investigate the influence of upper-limb inertia on the force-velocity relationship and maximal power during concentric bench press exercise. Reference peak force values (Fpeakp) measured with a force plate positioned below the bench were compared to those measured simultaneously with a kinematic device fixed on the barbell by taking (Fpeakt) or not taking (Fpeakb) upper-limb inertia into account. Thirteen men (27.8 +/- 4.1 years, 184.6 +/- 5.5 cm, 99.5 +/- 18.6 kg) performed all-out concentric bench press exercise against 8 loads ranging between 7 and 74 kg. The results showed that for each load, Fpeakb was significantly less than Fpeakp (P < 0.0001), whereas no significant difference was found between Fpeakp and Fpeakt. The values of maximal force (F0), maximal velocity (V0), optimal velocity (Vopt), and maximal power (Pmax), extrapolated from the force- and power-velocity relationships determined with the kinematic device, were significantly underestimated when upper-limb inertia was ignored. The results underline the importance of taking account of the total inertia of the moving system to ensure precise evaluation of upper-limb muscular characteristics in all-out concentric bench press exercise with a kinematic device. A major application of this study would be to develop precise upper-limb muscular characteristic evaluation in laboratory and field conditions by using a simple and cheap kinematic device.

Analysis of the kinematics of different hip simulators used to study wear of candidate materials for the articulation of total hip arthroplasties.

PubMed

Ramamurti, B S; Estok, D M; Jasty, M; Harris, W H

1998-05-01

We developed an analytical technique to determine the paths traced by specific points on the femoral head against the acetabulum in the human hip joint during gait. The purpose of the study was to apply this technique to the mechanical hip simulators chosen to conduct wear tests on polymeric acetabular liners used in total hip replacements. These simulators differ from one another in the type of motion produced, apart from other variables such as type of lubricant and head position. Due to the variation in the kinematics between the machines, the paths traced by the points on the femoral head against the acetabular liner ranged from simple linear traces to figure-8 loops and quasi-elliptical paths during a single simulator cycle. The distances traveled by these points during the same period also varied appreciably among the different hip simulator designs. These results are important when combined with other studies that have shown that kinematics can play an important role in the outcome of in vitro wear experiments. The kinematic differences quantified in this study can partially explain the substantial differences in wear data reported from different simulator designs and also underscore the usefulness of the technique described in this study in judging the results from different hip simulator experiments.

Kinematic evolution of the Mbakop Pan-African granitoids (western Cameroon domain): An integrated AMS and EBSD approach

NASA Astrophysics Data System (ADS)

Bella Nké, B. E.; Njanko, T.; Mamtani, M. A.; Njonfang, E.; Rochette, P.

2018-06-01

This study integrates anisotropy of magnetic susceptibility, microstructural and crystallographic preferred orientation (CPO) data from the Mbakop granitic pluton (MGP; Pan-African age) in order to decipher its kinematic evolution. The MGP lies close to NE-SW branch of Central Cameroon Shear Zone (CCSZ) and is emplaced in gneissic basement. High mean magnetic susceptibility and presence of multi-domain magnetite are recorded. Quartz CPO measured using Electron Backscatter diffraction reveals dominance of rhomb , prism and prism slip in different samples, which is consistent with microstructures developed under upper greenschist/amphibolite facies conditions. Quartz CPO along with other kinematic indicators (feldspar porphyroclasts/mineral fish) indicate non-coaxial deformation was important during tectonic evolution of the MGP. Contrasting sense of shear is recorded implying multi-stage mylonitization in the Western Cameroon Domain. Top-towards-south sense of shear is related to regional D2 deformation (613-585 Ma), while top-towards-north is related to D3 (585-540 Ma). The magnetic fabric in MGP records D3. The obliquity between mean orientation of magnetic foliation (N12°E) and the NE-SW CCSZ branch (N48°E) gives kinematic vorticity number of 0.95. This indicates dominantly simple shear with a minor pure shear component. It is concluded that regional transpression was important during MGP emplacement.

A comparison of kinematic algorithms to estimate gait events during overground running.

PubMed

Smith, Laura; Preece, Stephen; Mason, Duncan; Bramah, Christopher

2015-01-01

The gait cycle is frequently divided into two distinct phases, stance and swing, which can be accurately determined from ground reaction force data. In the absence of such data, kinematic algorithms can be used to estimate footstrike and toe-off. The performance of previously published algorithms is not consistent between studies. Furthermore, previous algorithms have not been tested at higher running speeds nor used to estimate ground contact times. Therefore the purpose of this study was to both develop a new, custom-designed, event detection algorithm and compare its performance with four previously tested algorithms at higher running speeds. Kinematic and force data were collected on twenty runners during overground running at 5.6m/s. The five algorithms were then implemented and estimated times for footstrike, toe-off and contact time were compared to ground reaction force data. There were large differences in the performance of each algorithm. The custom-designed algorithm provided the most accurate estimation of footstrike (True Error 1.2 ± 17.1 ms) and contact time (True Error 3.5 ± 18.2 ms). Compared to the other tested algorithms, the custom-designed algorithm provided an accurate estimation of footstrike and toe-off across different footstrike patterns. The custom-designed algorithm provides a simple but effective method to accurately estimate footstrike, toe-off and contact time from kinematic data. Copyright © 2014 Elsevier B.V. All rights reserved.

Soft tissue artifact compensation in knee kinematics by multi-body optimization: Performance of subject-specific knee joint models.

PubMed

Clément, Julien; Dumas, Raphaël; Hagemeister, Nicola; de Guise, Jaques A

2015-11-05

Soft tissue artifact (STA) distort marker-based knee kinematics measures and make them difficult to use in clinical practice. None of the current methods designed to compensate for STA is suitable, but multi-body optimization (MBO) has demonstrated encouraging results and can be improved. The goal of this study was to develop and validate the performance of knee joint models, with anatomical and subject-specific kinematic constraints, used in MBO to reduce STA errors. Twenty subjects were recruited: 10 healthy and 10 osteoarthritis (OA) subjects. Subject-specific knee joint models were evaluated by comparing dynamic knee kinematics recorded by a motion capture system (KneeKG™) and optimized with MBO to quasi-static knee kinematics measured by a low-dose, upright, biplanar radiographic imaging system (EOS(®)). Errors due to STA ranged from 1.6° to 22.4° for knee rotations and from 0.8 mm to 14.9 mm for knee displacements in healthy and OA subjects. Subject-specific knee joint models were most effective in compensating for STA in terms of abduction-adduction, inter-external rotation and antero-posterior displacement. Root mean square errors with subject-specific knee joint models ranged from 2.2±1.2° to 6.0±3.9° for knee rotations and from 2.4±1.1 mm to 4.3±2.4 mm for knee displacements in healthy and OA subjects, respectively. Our study shows that MBO can be improved with subject-specific knee joint models, and that the quality of the motion capture calibration is critical. Future investigations should focus on more refined knee joint models to reproduce specific OA knee geometry and physiology. Copyright © 2015 Elsevier Ltd. All rights reserved.

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

PubMed

Borbély, Bence J; Szolgay, Péter

2017-01-17

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

Uplift rates of marine terraces as a constraint on fault-propagation fold kinematics: Examples from the Hawkswood and Kate anticlines, North Canterbury, New Zealand

NASA Astrophysics Data System (ADS)

Oakley, David O. S.; Fisher, Donald M.; Gardner, Thomas W.; Stewart, Mary Kate

2018-01-01

Marine terraces on growing fault-propagation folds provide valuable insight into the relationship between fold kinematics and uplift rates, providing a means to distinguish among otherwise non-unique kinematic model solutions. Here, we investigate this relationship at two locations in North Canterbury, New Zealand: the Kate anticline and Haumuri Bluff, at the northern end of the Hawkswood anticline. At both locations, we calculate uplift rates of previously dated marine terraces, using DGPS surveys to estimate terrace inner edge elevations. We then use Markov chain Monte Carlo methods to fit fault-propagation fold kinematic models to structural geologic data, and we incorporate marine terrace uplift into the models as an additional constraint. At Haumuri Bluff, we find that marine terraces, when restored to originally horizontal surfaces, can help to eliminate certain trishear models that would fit the geologic data alone. At Kate anticline, we compare uplift rates at different structural positions and find that the spatial pattern of uplift rates is more consistent with trishear than with a parallel-fault propagation fold kink-band model. Finally, we use our model results to compute new estimates for fault slip rates ( 1-2 m/ka at Kate anticline and 1-4 m/ka at Haumuri Bluff) and ages of the folds ( 1 Ma), which are consistent with previous estimates for the onset of folding in this region. These results are consistent with previous work on the age of onset of folding in this region, provide revised estimates of fault slip rates necessary to understand the seismic hazard posed by these faults, and demonstrate the value of incorporating marine terraces in inverse fold kinematic models as a means to distinguish among non-unique solutions.

An adaptive inverse kinematics algorithm for robot manipulators

NASA Technical Reports Server (NTRS)

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

1990-01-01

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

Pions as gluons in higher dimensions

NASA Astrophysics Data System (ADS)

Cheung, Clifford; Remmen, Grant N.; Shen, Chia-Hsien; Wen, Congkao

2018-04-01

We derive the nonlinear sigma model as a peculiar dimensional reduction of Yang-Mills theory. In this framework, pions are reformulated as higher-dimensional gluons arranged in a kinematic configuration that only probes cubic interactions. This procedure yields a purely cubic action for the nonlinear sigma model that exhibits a symmetry enforcing color-kinematics duality. Remarkably, the associated kinematic algebra originates directly from the Poincaré algebra in higher dimensions. Applying the same construction to gravity yields a new quartic action for Born-Infeld theory and, applied once more, a cubic action for the special Galileon theory. Since the nonlinear sigma model and special Galileon are subtly encoded in the cubic sectors of Yang-Mills theory and gravity, respectively, their double copy relationship is automatic.

Studying aerodynamic drag for modeling the kinematical behavior of CMEs

NASA Astrophysics Data System (ADS)

Temmer, M.; Vrsnak, B.; Moestl, C.; Zic, T.; Veronig, A. M.; Rollett, T.

2013-12-01

With the SECCHI instrument suite aboard STEREO, coronal mass ejections (CMEs) can be observed from multiple vantage points during their entire propagation all the way from the Sun to 1 AU. The propagation behavior of CMEs in interplanetary space is mainly influenced by the ambient solar wind flow. CMEs that are faster than the ambient solar wind get decelerated, whereas slower ones are accelerated until the CME speed is finally adjusted to the solar wind speed. On a statistical basis, empirical models taking into account the drag force acting on CMEs, are able to describe the observed kinematical behaviors. For several well observed CME events we derive the kinematical evolution by combining remote sensing and in situ data. The observed kinematical behavior is compared to results from current empirical and numerical propagation models. For this we mainly use the drag based model DBM as well as the MHD model ENLIL. We aim to obtain the distance regime at which the solar wind drag force is dominating the CME propagation and quantify differences between different model results. This work has received funding from the FWF: V195-N16, and the European Commission FP7 Projects eHEROES (284461, www.eheroes.eu) and COMESEP (263252, www.comesep.eu).

Kinematics and abundances of K giants in the nuclear bulge of the Galaxy

NASA Astrophysics Data System (ADS)

Rich, R. Michael

1990-10-01

Radial velocities have been determined for 53 K giants in Baade's window, which belong to the nuclear bulge population and have abundances derived from low resolution spectra. Additional radial velocities for an overlapping sample of 71 bulge K giants show the same dependence of velocity dispersion on abundance; in both samples, the lower velocity dispersion of the metal-rich giants is found to be significant at a level above 90 percent. Extant data support the hypothesis that both M giants and IRAS bulge sources follow steep density laws similar to that which has been predicted for the metal-rick K giants. The abundance distribution of 88 K giants in Baade's window is noted to be notably well fitted by the simple, 'closed box' model of chemical evolution.

Inelastic behavior of structural components

NASA Technical Reports Server (NTRS)

Hussain, N.; Khozeimeh, K.; Toridis, T. G.

1980-01-01

A more accurate procedure was developed for the determination of the inelastic behavior of structural components. The actual stress-strain curve for the mathematical of the structure was utilized to generate the force-deformation relationships for the structural elements, rather than using simplified models such as elastic-plastic, bilinear and trilinear approximations. relationships were generated for beam elements with various types of cross sections. In the generational of these curves, stress or load reversals, kinematic hardening and hysteretic behavior were taken into account. Intersections between loading and unloading branches were determined through an iterative process. Using the inelastic properties obtained, the plastic static response of some simple structural systems composed of beam elements was computed. Results were compared with known solutions, indicating a considerable improvement over response predictions obtained by means of simplified approximations used in previous investigations.

Simulated observations of young gravitationally unstable protoplanetary discs

NASA Astrophysics Data System (ADS)

Douglas, T. A.; Caselli, P.; Ilee, J. D.; Boley, A. C.; Hartquist, T. W.; Durisen, R. H.; Rawlings, J. M. C.

2013-08-01

The formation and earliest stages of protoplanetary discs remain poorly constrained by observations. Atacama Large Millimetre/sub-millimetre Array (ALMA) will soon revolutionise this field. Therefore, it is important to provide predictions which will be valuable for the interpretation of future high sensitivity and high angular resolution observations. Here, we present simulated ALMA observations based on radiative transfer modelling of a relatively massive (0.39 M⊙) self-gravitating disc embedded in a 10 M⊙ dense core, with structure similar to the pre-stellar core L1544. We focus on simple species and conclude that C17O 3→2, HCO+ 3→2, OCS 26→25 and H2CO 404→303 lines can be used to probe the disc structure and kinematics at all scales.

Reconstructing particle masses in events with displaced vertices

NASA Astrophysics Data System (ADS)

Cottin, Giovanna

2018-03-01

We propose a simple way to extract particle masses given a displaced vertex signature in event topologies where two long-lived mother particles decay to visible particles and an invisible daughter. The mother could be either charged or neutral and the neutral daughter could correspond to a dark matter particle in different models. The method allows to extract the parent and daughter masses by using on-shell conditions and energy-momentum conservation, in addition to the displaced decay positions of the parents, which allows to solve the kinematic equations fully on an event-by-event basis. We show the validity of the method by means of simulations including detector effects. If displaced events are seen in discovery searches at the Large Hadron Collider (LHC), this technique can be applied.

Swimming performance and unique wake topology of the sea hare (Aplysia)

NASA Astrophysics Data System (ADS)

Zhou, Zhuoyu; Mittal, Rajat

2018-03-01

The Aplysia, commonly referred to as the "sea hare," is a marine mollusc that swims using large-amplitude flapping of its wide, winglike parapodia. In this study, flow simulations with a relatively simple kinematical model are used to gain insights into the vortex dynamics, thrust generation, and energetics of locomotion for this animal. A unique vortex pattern characterized by three distinct trains of vortex ringlike structures is observed in the wake of this animal. These vortex rings are associated with a positive momentum flux in the wake that counteracts the drag generated by the body. Simulations indicate propulsive efficiencies of up to 24% and terminal swimming speeds of about 0.9 body length per cycle. Swimming speeds are found to increase with increasing parapodial flapping amplitude as well as wavelength of undulation.

Integrating dynamic stereo-radiography and surface-based motion data for subject-specific musculoskeletal dynamic modeling.

PubMed

Zheng, Liying; Li, Kang; Shetye, Snehal; Zhang, Xudong

2014-09-22

This manuscript presents a new subject-specific musculoskeletal dynamic modeling approach that integrates high-accuracy dynamic stereo-radiography (DSX) joint kinematics and surface-based full-body motion data. We illustrate this approach by building a model in OpenSim for a patient who participated in a meniscus transplantation efficacy study, incorporating DSX data of the tibiofemoral joint kinematics. We compared this DSX-incorporated (DSXI) model to a default OpenSim model built using surface-measured data alone. The architectures and parameters of the two models were identical, while the differences in (time-averaged) tibiofemoral kinematics were of the order of magnitude of 10° in rotation and 10mm in translation. Model-predicted tibiofemoral compressive forces and knee muscle activations were compared against literature data acquired from instrumented total knee replacement components (Fregly et al., 2012) and the patient's EMG recording. The comparison demonstrated that the incorporation of DSX data improves the veracity of musculoskeletal dynamic modeling. Copyright © 2014 Elsevier Ltd. All rights reserved.

Integrating dynamic stereo-radiography and surface-based motion data for subject-specific musculoskeletal dynamic modeling

PubMed Central

Zheng, Liying; Li, Kang; Shetye, Snehal; Zhang, Xudong

2014-01-01

This paper presents a new subject-specific musculoskeletal dynamic modeling approach that integrates high-accuracy dynamic stereo-radiography (DSX) joint kinematics and surface-based full-body motion data. We illustrate this approach by building a model in OpenSim for a patient who participated in a meniscus transplantation efficacy study, incorporating DSX data of the tibiofemoral joint kinematics. We compared this DSX-incorporated (DSXI) model to a default OpenSim model built using surface-measured data alone. The architectures and parameters of the two models were identical, while the differences in (time-averaged) tibiofemoral kinematics were of the order of magnitude of 10° in rotation and 10 mm in translation. Model-predicted tibiofemoral compressive forces and knee muscle activations were compared against literature data acquired from instrumented total knee replacement components (Fregly et al., 2012) and the patient's EMG recording. The comparison demonstrated that the incorporation of DSX data improves the veracity of musculoskeletal dynamic modeling. PMID:25169658

The effect of age and speed on foot and ankle kinematics assessed using a 4-segment foot model.

PubMed

van Hoeve, Sander; Leenstra, Bernard; Willems, Paul; Poeze, Martijn; Meijer, Kenneth

2017-09-01

The effects of age and speed on foot and ankle kinematics in gait studies using foot models are not fully understood, whereas this can have significant influence. We analyzed these variables with the 4-segment Oxford foot model. Twenty-one healthy subjects (aged 20-65 years) were recruited for gait analysis. The effect of speed on foot and ankle kinematics was assessed by comparing results during slow walking and fast walking. To assess the effect of age, a group of 13 healthy young adults (aged 20-24 years) were compared with a group of 8 older adults (aged 53-65 years). Also, the interaction between age and speed was analyzed. Regarding speed, there was a significant difference between forefoot/hindfoot motion in the sagittal plane (flexion/extension) during both loading- and push-off phase (P = .004, P < .001). Between hindfoot/tibia, there was a significant difference for all parameters except for motion in the sagittal plane (flexion/extension) during push-off phase (P = .5). Age did not significantly influence kinematics. There was no interaction between age and speed. Our analysis found that speed significantly influenced the kinematic outcome parameters. This was more pronounced in the ankle joint. In contrast, no significant differences were found between younger and older healthy subjects.

Validation of a computational knee joint model using an alignment method for the knee laxity test and computed tomography.

PubMed

Kang, Kyoung-Tak; Kim, Sung-Hwan; Son, Juhyun; Lee, Young Han; Koh, Yong-Gon

2017-01-01

Computational models have been identified as efficient techniques in the clinical decision-making process. However, computational model was validated using published data in most previous studies, and the kinematic validation of such models still remains a challenge. Recently, studies using medical imaging have provided a more accurate visualization of knee joint kinematics. The purpose of the present study was to perform kinematic validation for the subject-specific computational knee joint model by comparison with subject's medical imaging under identical laxity condition. The laxity test was applied to the anterior-posterior drawer under 90° flexion and the varus-valgus under 20° flexion with a series of stress radiographs, a Telos device, and computed tomography. The loading condition in the computational subject-specific knee joint model was identical to the laxity test condition in the medical image. Our computational model showed knee laxity kinematic trends that were consistent with the computed tomography images, except for negligible differences because of the indirect application of the subject's in vivo material properties. Medical imaging based on computed tomography with the laxity test allowed us to measure not only the precise translation but also the rotation of the knee joint. This methodology will be beneficial in the validation of laxity tests for subject- or patient-specific computational models.

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

NASA Astrophysics Data System (ADS)

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

2015-04-01

The widespread extensional deformation that took place during Jurassic to Cretaceous times in the Western Europe and north-Atlantic realm resulted in the formation of several rift systems. Some of the basins associated to these rifts show broad syncline-shapes filled by thick sedimentary successions deposited overlying a hyperextended crust (i.e., Parentis, Cameros, Organyà or Columbrets basins in Iberia). The development of these syncline basins has been associated to the slip of low-angle lithospheric-scale extensional faults with ramp/flat geometries. The shape and kinematics of such faults have been usually established using the architecture of syn-kinematic layers and assuming a complete coupling of the hangingwall rocks and a layer parallel flexural slip deformation mechanism. However almost all these basins include pre-kinematic Upper Triassic salt layers which undubtoufully acted as an effective detachment decoupling the structure of sub- and suprasalt units. The presence of this salt is denoted by the growth of salt structures as diapirs or salt walls at the edges of these basins where the overburden was thinner. During latest Cretaceous and Cenozoic these basins were partially inverted and often incorporated into thrust-and-fold belts as the Pyrenees . Contractional deformation resulted in the reactivation of major extensional faults and, above the salt, the squeezing of pre-existent salt structures. The pre-kinematic salt clearly acted again as as a major detachment decoupling the contractional deformation. Using an experimental approach (scaled sand-box models) the aim of our research is threefold: 1) to determine the geometrical features of the hangingwall above a convex upwards ramp of a low angle extensional fault with and without pre-kinematic salt, and consequently; 2) to decipher the role played by a pre-kinematic viscous layer, such as salt, in the development of these syncline basins; and 3) to characterize the contractional deformation that took place in them during a later contractional inversion. To achieve this goal an experimental program including seven different sand-box models has been carried out. The experimental results show that fault shape controls the geometry and the kinematic evolution of the ramp synclines formed on the hangingwall during extension and subsequent inversion. Regarding this, the experiments also demonstrate that the presence of a viscous layer changed significantly the kinematic of the basin developing two clearly different structural styles above and below the polymer. The kinematic of this basin during extension change dramatically when the silicone layer was depleted with the formation of primary welds. Since this moment model's kinematic becomes similar to the models without silicone. During the inversion, models show that low shortening produced the contractional reactivation of the major fault arched and uplifted the basin. In this scenario, if salt is rather continuous, took place an incipient reactivation of the silicone layer as a contractional detachment. By contrast, high shortening produces the total inversion of the detachment faults and the pop-up of the extensional basin. Finally, models are compared with different natural analogues from Iberia validating previous published interpretations or proposing new interpretations inferring the geometry of the major fault, specially if the presence of a salt interlayer in the deformed rocks is known or suspected.

Determination of early diastolic LV vortex formation time (T*) via the PDF formalism: a kinematic model of filling.

PubMed

Ghosh, Erina; Shmuylovich, Leonid; Kovacs, Sandor J

2009-01-01

The filling (diastolic) function of the human left ventricle is most commonly assessed by echocardiography, a non-invasive imaging modality. To quantify diastolic function (DF) empiric indices are obtained from the features (height, duration, area) of transmitral flow velocity contour, obtained by echocardiography. The parameterized diastolic filling (PDF) formalism is a kinematic model developed by Kovács et. al. which incorporates the suction pump attribute of the left ventricle and facilitates DF quantitation by analysis of echocardiographic transmitral flow velocity contours in terms of stiffness (k), relaxation (c) and load (x(0)). A complementary approach developed by Gharib et. al., uses fluid mechanics and characterizes DF in terms of vortex formation time (T*) derived from streamline features formed by the jet of blood aspirated into the ventricle. Both of these methods characterize DF using a causality-based approach. In this paper, we derive T*'s kinematic analogue T*(kinematic) in terms of k, c and x(0). A comparison between T*(kinematic) and T*(fluid) (mechanic) obtained from averaged transmitral velocity and mitral annulus diameter, is presented. We found that T* calculated by the two methods were comparable and T*(kinematic) correlated with the peak LV recoil driving force kx(0).

Direction-dependent arm kinematics reveal optimal integration of gravity cues

PubMed Central

Gaveau, Jeremie; Berret, Bastien; Angelaki, Dora E; Papaxanthis, Charalambos

2016-01-01

The brain has evolved an internal model of gravity to cope with life in the Earth's gravitational environment. How this internal model benefits the implementation of skilled movement has remained unsolved. One prevailing theory has assumed that this internal model is used to compensate for gravity's mechanical effects on the body, such as to maintain invariant motor trajectories. Alternatively, gravity force could be used purposely and efficiently for the planning and execution of voluntary movements, thereby resulting in direction-depending kinematics. Here we experimentally interrogate these two hypotheses by measuring arm kinematics while varying movement direction in normal and zero-G gravity conditions. By comparing experimental results with model predictions, we show that the brain uses the internal model to implement control policies that take advantage of gravity to minimize movement effort. DOI: http://dx.doi.org/10.7554/eLife.16394.001 PMID:27805566

Reliability of four models for clinical gait analysis.

PubMed

Kainz, Hans; Graham, David; Edwards, Julie; Walsh, Henry P J; Maine, Sheanna; Boyd, Roslyn N; Lloyd, David G; Modenese, Luca; Carty, Christopher P

2017-05-01

Three-dimensional gait analysis (3DGA) has become a common clinical tool for treatment planning in children with cerebral palsy (CP). Many clinical gait laboratories use the conventional gait analysis model (e.g. Plug-in-Gait model), which uses Direct Kinematics (DK) for joint kinematic calculations, whereas, musculoskeletal models, mainly used for research, use Inverse Kinematics (IK). Musculoskeletal IK models have the advantage of enabling additional analyses which might improve the clinical decision-making in children with CP. Before any new model can be used in a clinical setting, its reliability has to be evaluated and compared to a commonly used clinical gait model (e.g. Plug-in-Gait model) which was the purpose of this study. Two testers performed 3DGA in eleven CP and seven typically developing participants on two occasions. Intra- and inter-tester standard deviations (SD) and standard error of measurement (SEM) were used to compare the reliability of two DK models (Plug-in-Gait and a six degrees-of-freedom model solved using Vicon software) and two IK models (two modifications of 'gait2392' solved using OpenSim). All models showed good reliability (mean SEM of 3.0° over all analysed models and joint angles). Variations in joint kinetics were less in typically developed than in CP participants. The modified 'gait2392' model which included all the joint rotations commonly reported in clinical 3DGA, showed reasonable reliable joint kinematic and kinetic estimates, and allows additional musculoskeletal analysis on surgically adjustable parameters, e.g. muscle-tendon lengths, and, therefore, is a suitable model for clinical gait analysis. Copyright © 2017. Published by Elsevier B.V.

An Overview of Kinematic and Calibration Models Using Internal/External Sensors or Constraints to Improve the Behavior of Spatial Parallel Mechanisms

PubMed Central

Majarena, Ana C.; Santolaria, Jorge; Samper, David; Aguilar, Juan J.

2010-01-01

This paper presents an overview of the literature on kinematic and calibration models of parallel mechanisms, the influence of sensors in the mechanism accuracy and parallel mechanisms used as sensors. The most relevant classifications to obtain and solve kinematic models and to identify geometric and non-geometric parameters in the calibration of parallel robots are discussed, examining the advantages and disadvantages of each method, presenting new trends and identifying unsolved problems. This overview tries to answer and show the solutions developed by the most up-to-date research to some of the most frequent questions that appear in the modelling of a parallel mechanism, such as how to measure, the number of sensors and necessary configurations, the type and influence of errors or the number of necessary parameters. PMID:22163469

Modelling and Simulation Based on Matlab/Simulink: A Press Mechanism

NASA Astrophysics Data System (ADS)

Halicioglu, R.; Dulger, L. C.; Bozdana, A. T.

2014-03-01

In this study, design and kinematic analysis of a crank-slider mechanism for a crank press is studied. The crank-slider mechanism is the commonly applied one as direct and indirect drive alternatives in practice. Since inexpensiveness, flexibility and controllability are getting more and more important in many industrial applications especially in automotive industry, a crank press with servo actuator (servo crank press) is taken as an application. Design and kinematic analysis of representative mechanism is presented with geometrical analysis for the inverse kinematic of the mechanism by using desired motion concept of slider. The mechanism is modelled in MATLAB/Simulink platform. The simulation results are presented herein.

The Hungtsaiping landslide:A kinematic model based on morphology

NASA Astrophysics Data System (ADS)

Huang, W.-K.; Chu, H.-K.; Lo, C.-M.; Lin, M.-L.

2012-04-01

A large and deep-seated landslide at Hungtsaiping was triggered by the 7.3 magnitude 1999 Chi-Chi earthquake. Extensive site investigations of the landslide were conducted including field reconnaissance, geophysical exploration, borehole logs, and laboratory experiments. Thick colluvium was found around the landslide area and indicated the occurrence of a large ancient landslide. This study presents the catastrophic landslide event which occurred during the Chi-Chi earthquake. The mechanism of the 1999 landslide which cannot be revealed by the underground exploration data alone, is clarified. This research include investigations of the landslide kinematic process and the deposition geometry. A 3D discrete element method (program), PFC3D, was used to model the kinematic process that led to the landslide. The proposed procedure enables a rational and efficient way to simulate the landslide dynamic process. Key word: Hungtsaiping catastrophic landslide, kinematic process, deposition geometry, discrete element method

A novel design for application of pure moments in-vitro: application to the kinematic analysis of the cervical spine.

PubMed

Caravaggi, Paolo; Chaudary, Saad; Uko, Linda; Chen, Linda; Khamsi, Babak; Vives, Michael

2013-04-05

The simple and cost-effective cable-pulley apparatus proposed by Crawford et al. (1995) has been long and widely used to assess the kinematics and biomechanics of the spine in-vitro. A major limitation of that fixed-ring system relies on the manual readjustment of the cable guides, which is required to maintain parallelism of the tension-cables during spine rotations. While several solutions have since been suggested to improve this loading approach, their implementation may be challenging for research groups with limited resources. In this study we propose an upgrade to the traditional fixed-ring design which aims to improve its usability while retaining the simplicity. The main novelty of this setup is the coupling of a through-hole along the diameter of the pulley with a rod fixated to the top of the spine. The coupling allows relative translation of the pulley along the rod's axis, thus permitting readjustment of the tension-cables' orientation with minimal manual intervention. The effectiveness of the system was demonstrated by measuring intervertebral kinematics in three 7-vertebra cervical spines. During sagittal and frontal-plane rotations, tension-cables parallelism could be easily and quickly restored by pushing the pulley along the rod's axis. The measured intervertebral rotations were consistent with data from the literature. The interspecimen standard deviation of the total range of motion ranged between 2.1° and 9.6° across all loading configurations. The simple and light mobile-pulley fixture presented in this study has shown to be easy to use and its application may represent a viable alternative to the original fixed-ring design. Copyright © 2013 Elsevier Ltd. All rights reserved.

Untangling Slab Dynamics Using 3-D Numerical and Analytical Models

NASA Astrophysics Data System (ADS)

Holt, A. F.; Royden, L.; Becker, T. W.

2016-12-01

Increasingly sophisticated numerical models have enabled us to make significant strides in identifying the key controls on how subducting slabs deform. For example, 3-D models have demonstrated that subducting plate width, and the related strength of toroidal flow around the plate edge, exerts a strong control on both the curvature and the rate of migration of the trench. However, the results of numerical subduction models can be difficult to interpret, and many first order dynamics issues remain at least partially unresolved. Such issues include the dominant controls on trench migration, the interdependence of asthenospheric pressure and slab dynamics, and how nearby slabs influence each other's dynamics. We augment 3-D, dynamically evolving finite element models with simple, analytical force-balance models to distill the physics associated with subduction into more manageable parts. We demonstrate that for single, isolated subducting slabs much of the complexity of our fully numerical models can be encapsulated by simple analytical expressions. Rates of subduction and slab dip correlate strongly with the asthenospheric pressure difference across the subducting slab. For double subduction, an additional slab gives rise to more complex mantle pressure and flow fields, and significantly extends the range of plate kinematics (e.g., convergence rate, trench migration rate) beyond those present in single slab models. Despite these additional complexities, we show that much of the dynamics of such multi-slab systems can be understood using the physics illuminated by our single slab study, and that a force-balance method can be used to relate intra-plate stress to viscous pressure in the asthenosphere and coupling forces at plate boundaries. This method has promise for rapid modeling of large systems of subduction zones on a global scale.

Climbing fibers predict movement kinematics and performance errors.

PubMed

Streng, Martha L; Popa, Laurentiu S; Ebner, Timothy J

2017-09-01

Requisite for understanding cerebellar function is a complete characterization of the signals provided by complex spike (CS) discharge of Purkinje cells, the output neurons of the cerebellar cortex. Numerous studies have provided insights into CS function, with the most predominant view being that they are evoked by error events. However, several reports suggest that CSs encode other aspects of movements and do not always respond to errors or unexpected perturbations. Here, we evaluated CS firing during a pseudo-random manual tracking task in the monkey ( Macaca mulatta ). This task provides extensive coverage of the work space and relative independence of movement parameters, delivering a robust data set to assess the signals that activate climbing fibers. Using reverse correlation, we determined feedforward and feedback CSs firing probability maps with position, velocity, and acceleration, as well as position error, a measure of tracking performance. The direction and magnitude of the CS modulation were quantified using linear regression analysis. The major findings are that CSs significantly encode all three kinematic parameters and position error, with acceleration modulation particularly common. The modulation is not related to "events," either for position error or kinematics. Instead, CSs are spatially tuned and provide a linear representation of each parameter evaluated. The CS modulation is largely predictive. Similar analyses show that the simple spike firing is modulated by the same parameters as the CSs. Therefore, CSs carry a broader array of signals than previously described and argue for climbing fiber input having a prominent role in online motor control. NEW & NOTEWORTHY This article demonstrates that complex spike (CS) discharge of cerebellar Purkinje cells encodes multiple parameters of movement, including motor errors and kinematics. The CS firing is not driven by error or kinematic events; instead it provides a linear representation of each parameter. In contrast with the view that CSs carry feedback signals, the CSs are predominantly predictive of upcoming position errors and kinematics. Therefore, climbing fibers carry multiple and predictive signals for online motor control. Copyright © 2017 the American Physiological Society.

Effects of Dynamical Evolution on Globular Clusters’ Internal Kinematics

NASA Astrophysics Data System (ADS)

Tiongco, Maria; Vesperini, Enrico; Varri, Anna Lisa

2018-01-01

The synergy between recent photometric, spectroscopic, and astrometric studies is revealing that globular clusters deviate from the traditional picture of dynamically simple and single stellar population systems. Complex kinematical features such as velocity anisotropy and rotation, and the existence of multiple stellar populations are some of the key observational findings. My thesis work has aimed to build a theoretical framework to interpret these new observational results and to understand their link with a globular cluster’s dynamical history.I have focused on the study of the evolution of globular clusters' internal kinematics, as driven by two-body relaxation, and the interplay between internal angular momentum and the external Galactic tidal field. With a specifically-designed, large survey of direct N-body simulations, I have explored the three-dimensional structure of the velocity space of tidally-perturbed clusters, by characterizing their degree of anisotropy and their rotational properties. These studies have proved that a cluster's kinematical properties contain a distinct imprints of the cluster’s initial structural properties, dynamical history, and tidal environment. By relaxing a number of simplifying assumptions that are traditionally imposed, I have also showed how the interplay between a cluster's internal evolution and the interaction with the host galaxy can produce complex morphological and kinematical properties, such as a counter-rotating core and a twisting of the projected isodensity contours.Building on this fundamental understanding, I have then studied the dynamics of multiple stellar populations in globular clusters, with attention to the largely unexplored role of angular momentum. I have analyzed the evolution of clusters with stellar populations characterized by different initial structural and kinematical properties to determine how long these differences are preserved, and in what cases they could still be observable in present-day systems.This body of results provides essential guidance for a meaningful interpretation of the emerging dynamical complexity of globular clusters in the era of Gaia and other upcoming large spectroscopic surveys.

The probability of false positives in zero-dimensional analyses of one-dimensional kinematic, force and EMG trajectories.

PubMed

Pataky, Todd C; Vanrenterghem, Jos; Robinson, Mark A

2016-06-14

A false positive is the mistake of inferring an effect when none exists, and although α controls the false positive (Type I error) rate in classical hypothesis testing, a given α value is accurate only if the underlying model of randomness appropriately reflects experimentally observed variance. Hypotheses pertaining to one-dimensional (1D) (e.g. time-varying) biomechanical trajectories are most often tested using a traditional zero-dimensional (0D) Gaussian model of randomness, but variance in these datasets is clearly 1D. The purpose of this study was to determine the likelihood that analyzing smooth 1D data with a 0D model of variance will produce false positives. We first used random field theory (RFT) to predict the probability of false positives in 0D analyses. We then validated RFT predictions via numerical simulations of smooth Gaussian 1D trajectories. Results showed that, across a range of public kinematic, force/moment and EMG datasets, the median false positive rate was 0.382 and not the assumed α=0.05, even for a simple two-sample t test involving N=10 trajectories per group. The median false positive rate for experiments involving three-component vector trajectories was p=0.764. This rate increased to p=0.945 for two three-component vector trajectories, and to p=0.999 for six three-component vectors. This implies that experiments involving vector trajectories have a high probability of yielding 0D statistical significance when there is, in fact, no 1D effect. Either (a) explicit a priori identification of 0D variables or (b) adoption of 1D methods can more tightly control α. Copyright © 2016 Elsevier Ltd. All rights reserved.

On the forces that drive and resist deformation of the south-central Mediterranean: a mechanical model study

NASA Astrophysics Data System (ADS)

Nijholt, Nicolai; Govers, Rob; Wortel, Rinus

2018-04-01

The geodynamics of the Mediterranean comprises a transitional setting in which slab rollback and plate convergence compete to shape the region. In the central Mediterranean, where the balance of driving and resisting forces changes continuously and rapidly since the Miocene, both kinematic and seismo-tectonic observations display a strong variation in deformation style and, therefore possibly, lithospheric forces. We aim to understand the current kinematics in southern Italy and Sicily in terms of lithospheric forces that cause them. The strong regional variation of geodetic velocities appears to prohibit such simple explanation. We use mechanical models to quantify the deformation resulting from large-scale Africa-Eurasia convergence, ESE retreat of the Calabrian subduction zone, pull by the Aegean slab, and regional variations in gravitational potential energy (topography). A key model element is the resistance to slip on major regional fault zones. We show that geodetic velocities, seismicity and sense of slip on regional faults can be understood to result from lithospheric forces. Our most important new finding is that regional variations in resistive tractions are required to fit the observations, with notably very low tractions on the Calabrian subduction contact, and a buildup towards a significant earthquake in the Calabrian fore-arc. We also find that the Calabrian net slab pull force is strongly reduced (compared to the value possible in view of the slab's dimensions) and that trench suction tractions are negligible. Such very small contributions to the present-day force balance in the south-central Mediterranean suggest that the Calabrian arc is now further transitioning towards a setting dominated by Africa-Eurasia plate convergence, whereas during the past 30 Myrs slab retreat continually was the dominant factor.

The January 2001, El Salvador event: a multi-data analysis

NASA Astrophysics Data System (ADS)

Vallee, M.; Bouchon, M.; Schwartz, S. Y.

2001-12-01

On January 13, 2001, a large normal event (Mw=7.6) occured 100 kilometers away from the Salvadorian coast (Central America) with a centroid depth of about 50km. The size of this event is surprising according to the classical idea that such events have to be much weaker than thrust events in subduction zones. We analysed this earthquake with different types of data: because teleseismic waves are the only data which offer a good azimuthal coverage, we first built a kinematic source model with P and SH waves provided by the IRIS-GEOSCOPE networks. The ambiguity between the 30o plane (plunging toward Pacific Ocean) and the 60o degree plane (plunging toward Central America) leaded us to do a parallel analysis of the two possible planes. We used a simple point-source modelling in order to define the main characteristics of the event and then used an extended source to retrieve the kinematic features of the rupture. For the 2 possible planes, this analysis reveals a downdip and northwest rupture propagation but the difference of fit remains subtle even when using the extended source. In a second part we confronted our models for the two planes with other seismological data, which are (1) regional data, (2) surface wave data through an Empirical Green Function given by a similar but much weaker earthquake which occured in July 1996 and lastly (3) nearfield data provided by Universidad Centroamericana (UCA) and Centro de Investigationes Geotecnicas (CIG). Regional data do not allow to discriminate the 2 planes neither but surface waves and especially near field data confirm that the fault plane is the steepest one plunging toward Central America. Moreover, the slight directivity toward North is confirmed by surface waves.

A model for the flux-r.m.s. correlation in blazar variability or the minijets-in-a-jet statistical model

NASA Astrophysics Data System (ADS)

Biteau, J.; Giebels, B.

2012-12-01

Very high energy gamma-ray variability of blazar emission remains of puzzling origin. Fast flux variations down to the minute time scale, as observed with H.E.S.S. during flares of the blazar PKS 2155-304, suggests that variability originates from the jet, where Doppler boosting can be invoked to relax causal constraints on the size of the emission region. The observation of log-normality in the flux distributions should rule out additive processes, such as those resulting from uncorrelated multiple-zone emission models, and favour an origin of the variability from multiplicative processes not unlike those observed in a broad class of accreting systems. We show, using a simple kinematic model, that Doppler boosting of randomly oriented emitting regions generates flux distributions following a Pareto law, that the linear flux-r.m.s. relation found for a single zone holds for a large number of emitting regions, and that the skewed distribution of the total flux is close to a log-normal, despite arising from an additive process.

Radiographic-directed local coordinate systems critical in kinematic analysis of walking in diabetes-related medial column foot deformity.

PubMed

Hastings, Mary K; Woodburn, James; Mueller, Michael J; Strube, Michael J; Johnson, Jeffrey E; Beckert, Krista S; Stein, Michelle L; Sinacore, David R

2014-01-01

Diabetic foot deformity onset and progression maybe associated with abnormal foot and ankle motion. The modified Oxford multi-segmental foot model allows kinematic assessment of inter-segmental foot motion. However, there are insufficient anatomical landmarks to accurately representation the alignment of the hindfoot and forefoot segments during model construction. This is most notable for the sagittal plane which is referenced parallel to the floor, allowing comparison of inter-segmental excursion but not capturing important sagittal hind-to-forefoot deformity associated with diabetic foot disease and can potentially underestimate true kinematic differences. The purpose of the study was to compare walking kinematics using local coordinate systems derived from the modified Oxford model and the radiographic directed model which incorporated individual calcaneal and 1st metatarsal declination pitch angles for the hindfoot and forefoot. We studied twelve participants in each of the following groups: (1) diabetes mellitus, peripheral neuropathy and medial column foot deformity (DMPN+), (2) DMPN without medial column deformity (DMPN-) and (3) age- and weight-match controls. The modified Oxford model coordinate system did not identify differences between groups in the initial, peak, final, or excursion hindfoot relative to shank or forefoot relative to hindfoot dorsiflexion/plantarflexion during walking. The radiographic coordinate system identified the DMPN+ group to have an initial, peak and final position of the forefoot relative to hindfoot that was more dorsiflexed (lower arch phenotype) than the DMPN- group (p<.05). Use of radiographic alignment in kinematic modeling of those with foot deformity reveals segmental motion occurring upon alignment indicative of a lower arch. Copyright © 2014 Elsevier B.V. All rights reserved.

Kinematic Characterization of Left Ventricular Chamber Stiffness and Relaxation

NASA Astrophysics Data System (ADS)

Mossahebi, Sina

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

Virtual Manufacturing (la Fabrication virtuelle)

DTIC Science & Technology

1998-05-01

with moving parts and subassemblies, • verification of product subcomponents and systems operations through kinematics studies, and • realism ...dimensions, parts moved in mechanism based directions, and realism of interaction is increased through use of sound, touch and other parameters. For the...direct converters from CAD systems. A simple cinematic package is also high on the requirement to be able to simulate motions as well as an interface to

Landslide Kinematical Analysis through Inverse Numerical Modelling and Differential SAR Interferometry

NASA Astrophysics Data System (ADS)

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

2015-11-01

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

Obtaining short-fiber orientation model parameters using non-lubricated squeeze flow

NASA Astrophysics Data System (ADS)

Lambert, Gregory; Wapperom, Peter; Baird, Donald

2017-12-01

Accurate models of fiber orientation dynamics during the processing of polymer-fiber composites are needed for the design work behind important automobile parts. All of the existing models utilize empirical parameters, but a standard method for obtaining them independent of processing does not exist. This study considers non-lubricated squeeze flow through a rectangular channel as a solution. A two-dimensional finite element method simulation of the kinematics and fiber orientation evolution along the centerline of a sample is developed as a first step toward a fully three-dimensional simulation. The model is used to fit to orientation data in a short-fiber-reinforced polymer composite after squeezing. Fiber orientation model parameters obtained in this study do not agree well with those obtained for the same material during startup of simple shear. This is attributed to the vastly different rates at which fibers orient during shearing and extensional flows. A stress model is also used to try to fit to experimental closure force data. Although the model can be tuned to the correct magnitude of the closure force, it does not fully recreate the transient behavior, which is attributed to the lack of any consideration for fiber-fiber interactions.

INTEGRAL-FIELD STELLAR AND IONIZED GAS KINEMATICS OF PECULIAR VIRGO CLUSTER SPIRAL GALAXIES

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

Cortés, Juan R.; Hardy, Eduardo; Kenney, Jeffrey D. P., E-mail: jcortes@alma.cl, E-mail: ehardy@nrao.cl, E-mail: jeff.kenney@yale.edu

2015-01-01

We present the stellar and ionized gas kinematics of 13 bright peculiar Virgo cluster galaxies observed with the DensePak Integral Field Unit at the WIYN 3.5 m telescope in order to look for kinematic evidence that these galaxies have experienced gravitational interactions or gas stripping. Two-dimensional maps of the stellar velocity V, stellar velocity dispersion σ, and the ionized gas velocity (Hβ and/or [O III]) are presented for the galaxies in the sample. The stellar rotation curves and velocity dispersion profiles are determined for 13 galaxies, and the ionized gas rotation curves are determined for 6 galaxies. Misalignments between themore » optical and kinematical major axes are found in several galaxies. While in some cases this is due to a bar, in other cases it seems to be associated with gravitational interaction or ongoing ram pressure stripping. Non-circular gas motions are found in nine galaxies, with various causes including bars, nuclear outflows, or gravitational disturbances. Several galaxies have signatures of kinematically distinct stellar components, which are likely signatures of accretion or mergers. For all of our galaxies, we compute the angular momentum parameter λ {sub R}. An evaluation of the galaxies in the λ {sub R} ellipticity plane shows that all but two of the galaxies have significant support from random stellar motions, and have likely experienced gravitational interactions. This includes some galaxies with very small bulges and truncated/compact Hα morphologies, indicating that such galaxies cannot be fully explained by simple ram pressure stripping, but must have had significant gravitational encounters. Most of the sample galaxies show evidence for ICM-ISM stripping as well as gravitational interactions, indicating that the evolution of a significant fraction of cluster galaxies is likely strongly impacted by both effects.« less

Structure design of lower limb exoskeletons for gait training

NASA Astrophysics Data System (ADS)

Li, Jianfeng; Zhang, Ziqiang; Tao, Chunjing; Ji, Run

2015-09-01

Due to the close physical interaction between human and machine in process of gait training, lower limb exoskeletons should be safe, comfortable and able to smoothly transfer desired driving force/moments to the patients. Correlatively, in kinematics the exoskeletons are required to be compatible with human lower limbs and thereby to avoid the uncontrollable interactional loads at the human-machine interfaces. Such requirement makes the structure design of exoskeletons very difficult because the human-machine closed chains are complicated. In addition, both the axis misalignments and the kinematic character difference between the exoskeleton and human joints should be taken into account. By analyzing the DOF(degree of freedom) of the whole human-machine closed chain, the human-machine kinematic incompatibility of lower limb exoskeletons is studied. An effective method for the structure design of lower limb exoskeletons, which are kinematically compatible with human lower limb, is proposed. Applying this method, the structure synthesis of the lower limb exoskeletons containing only one-DOF revolute and prismatic joints is investigated; the feasible basic structures of exoskeletons are developed and classified into three different categories. With the consideration of quasi-anthropopathic feature, structural simplicity and wearable comfort of lower limb exoskeletons, a joint replacement and structure comparison based approach to select the ideal structures of lower limb exoskeletons is proposed, by which three optimal exoskeleton structures are obtained. This paper indicates that the human-machine closed chain formed by the exoskeleton and human lower limb should be an even-constrained kinematic system in order to avoid the uncontrollable human-machine interactional loads. The presented method for the structure design of lower limb exoskeletons is universal and simple, and hence can be applied to other kinds of wearable exoskeletons.

Kinematics and wing shape across flight speed in the bat, Leptonycteris yerbabuenae

PubMed Central

Von Busse, Rhea; Hedenström, Anders; Winter, York; Johansson, L. Christoffer

2012-01-01

Summary The morphology and kinematics of a flying animal determines the resulting aerodynamic lift through the regulation of the speed of the air moving across the wing, the wing area and the lift coefficient. We studied the detailed three-dimensional wingbeat kinematics of the bat, Leptonycteris yerbabuenae, flying in a wind tunnel over a range of flight speeds (0–7 m/s), to determine how factors affecting the lift production vary across flight speed and within wingbeats. We found that the wing area, the angle of attack and the camber, which are determinants of the lift production, decreased with increasing speed. The camber is controlled by multiple mechanisms along the span, including the deflection of the leg relative to the body, the bending of the fifth digit, the deflection of the leading edge flap and the upward bending of the wing tip. All these measures vary throughout the wing beat suggesting active or aeroelastic control. The downstroke Strouhal number, Std, is kept relatively constant, suggesting that favorable flow characteristics are maintained during the downstroke, across the range of speeds studied. The Std is kept constant through changes in the stroke plane, from a strongly inclined stroke plane at low speeds to a more vertical stroke plane at high speeds. The mean angular velocity of the wing correlates with the aerodynamic performance and shows a minimum at the speed of maximum lift to drag ratio, suggesting a simple way to determine the optimal speed from kinematics alone. Taken together our results show the high degree of adjustments that the bats employ to fine tune the aerodynamics of the wings and the correlation between kinematics and aerodynamic performance. PMID:23259057

A first step to compare geodynamical models and seismic observations of the inner core

NASA Astrophysics Data System (ADS)

Lasbleis, M.; Waszek, L.; Day, E. A.

2016-12-01

Seismic observations have revealed a complex inner core, with lateral and radial heterogeneities at all observable scales. The dominant feature is the east-west hemispherical dichotomy in seismic velocity and attenuation. Several geodynamical models have been proposed to explain the observed structure: convective instabilities, external forces, crystallisation processes or influence of outer core convection. However, interpreting such geodynamical models in terms of the seismic observations is difficult, and has been performed only for very specific models (Geballe 2013, Lincot 2014, 2016). Here, we propose a common framework to make such comparisons. We have developed a Python code that propagates seismic ray paths through kinematic geodynamical models for the inner core, computing a synthetic seismic data set that can be compared to seismic observations. Following the method of Geballe 2013, we start with the simple model of translation. For this, the seismic velocity is proposed to be function of the age or initial growth rate of the material (since there is no deformation included in our models); the assumption is reasonable when considering translation, growth and super rotation of the inner core. Using both artificial (random) seismic ray data sets and a real inner core data set (from Waszek et al. 2011), we compare these different models. Our goal is to determine the model which best matches the seismic observations. Preliminary results show that super rotation successfully creates an eastward shift in properties with depth, as has been observed seismically. Neither the growth rate of inner core material nor the relationship between crystal size and seismic velocity are well constrained. Consequently our method does not directly compute the seismic travel times. Instead, here we use age, growth rate and other parameters as proxies for the seismic properties, which represent a good first step to compare geodynamical and seismic observations.Ultimately we aim to release our codes to broader scientific community, allowing researchers from all disciplines to test their models of inner core growth against seismic observations or create a kinematic model for the evolution of the inner core which matches new geophysical observations.

Development of a parametric kinematic model of the human hand and a novel robotic exoskeleton.

PubMed

Burton, T M W; Vaidyanathan, R; Burgess, S C; Turton, A J; Melhuish, C

2011-01-01

This paper reports the integration of a kinematic model of the human hand during cylindrical grasping, with specific focus on the accurate mapping of thumb movement during grasping motions, and a novel, multi-degree-of-freedom assistive exoskeleton mechanism based on this model. The model includes thumb maximum hyper-extension for grasping large objects (~> 50 mm). The exoskeleton includes a novel four-bar mechanism designed to reproduce natural thumb opposition and a novel synchro-motion pulley mechanism for coordinated finger motion. A computer aided design environment is used to allow the exoskeleton to be rapidly customized to the hand dimensions of a specific patient. Trials comparing the kinematic model to observed data of hand movement show the model to be capable of mapping thumb and finger joint flexion angles during grasping motions. Simulations show the exoskeleton to be capable of reproducing the complex motion of the thumb to oppose the fingers during cylindrical and pinch grip motions. © 2011 IEEE

Encoding of Both Reaching and Grasping Kinematics in Dorsal and Ventral Premotor Cortices

PubMed Central

Best, Matthew D.

2017-01-01

Classically, it has been hypothesized that reach-to-grasp movements arise from two discrete parietofrontal cortical networks. As part of these networks, the dorsal premotor cortex (PMd) has been implicated in the control of reaching movements of the arm, whereas the ventral premotor cortex (PMv) has been associated with the control of grasping movements of the hand. Recent studies have shown that such a strict delineation of function along anatomical boundaries is unlikely, partly because reaching to different locations can alter distal hand kinematics and grasping different objects can affect kinematics of the proximal arm. Here, we used chronically implanted multielectrode arrays to record unit-spiking activity in both PMd and PMv simultaneously while rhesus macaques engaged in a reach-to-grasp task. Generalized linear models were used to predict the spiking activity of cells in both areas as a function of different kinematic parameters, as well as spike history. To account for the influence of reaching on hand kinematics and vice versa, we applied demixed principal components analysis to define kinematics synergies that maximized variance across either different object locations or grip types. We found that single cells in both PMd and PMv encode the kinematics of both reaching and grasping synergies, suggesting that this classical division of reach and grasp in PMd and PMv, respectively, does not accurately reflect the encoding preferences of cells in those areas. SIGNIFICANCE STATEMENT For reach-to-grasp movements, the dorsal premotor cortex (PMd) has been implicated in the control of reaching movements of the arm, whereas the ventral premotor cortex (PMv) has been associated with the control of grasping movements of the hand. We recorded unit-spiking activity in PMd and PMv simultaneously while macaques performed a reach-to-grasp task. We modeled the spiking activity of neurons as a function of kinematic parameters and spike history. We applied demixed principal components analysis to define kinematics synergies. We found that single units in both PMd and PMv encode the kinematics of both reaching and grasping synergies, suggesting that the division of reach and grasp in PMd and PMv, respectively, cannot be made based on their encoding properties. PMID:28077725

High effective inverse dynamics modelling for dual-arm robot

NASA Astrophysics Data System (ADS)

Shen, Haoyu; Liu, Yanli; Wu, Hongtao

2018-05-01

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

Superior-inferior position of patellar component affects patellofemoral kinematics and contact forces in computer simulation.

PubMed

Nakamura, Shinichiro; Tanaka, Yoshihisa; Kuriyama, Shinichi; Nishitani, Kohei; Ito, Hiromu; Furu, Moritoshi; Matsuda, Shuichi

2017-06-01

Anterior knee pain has been reported as a major postoperative complication after total knee arthroplasty, which may lead to patient dissatisfaction. Rotational alignment and the medial-lateral position correlate with patellar maltracking, which can cause knee pain postoperatively. However, the superior-inferior position of the patellar component has not been investigated. The purpose of the current study was to investigate the effects of the patellar superior-inferior position on patellofemoral kinematics and kinetics. Superior, central, and inferior models with a dome patellar component were constructed. In the superior and inferior models, the position of the patellar component translated superiorly and inferiorly, respectively, by 3mm, relative to the center model. Kinematics of the patellar component, quadriceps force, and patellofemoral contact force were calculated using a computer simulation during a squatting activity in a weight-bearing deep knee bend. In the inferior model, the flexion angle, relative to the tibial component, was the greatest among all models. The inferior model showed an 18.0%, 36.5%, and 22.7% increase in the maximum quadriceps force, the maximum medial patellofemoral force, and the maximum lateral patellofemoral force, respectively, compared with the superior model. Superior-inferior positions affected patellofemoral kinematic and kinetics. Surgeons should avoid the inferior position of the patellar component, because the inferior positioned model showed greater quadriceps and patellofemoral force, resulting in a potential risk for anterior knee pain and component loosening. Copyright © 2017. Published by Elsevier Ltd.

A nonlinear kinematic and dynamic modeling of Macpherson suspension systems with a magneto-rheological damper

NASA Astrophysics Data System (ADS)

Dutta, Saikat; Choi, Seung-Bok

2016-03-01

It is well known that Macpherson strut suspension systems are widely used in light and medium weight vehicles. The performance of these suspension systems can be enriched by incorporating magneto-rheological (MR) dampers and an appropriate dynamic model is required in order to find out the ride comfort and other performances properly in the sense of practical environment conditions. Therefore, in this work the kinematic and dynamic modeling of Macpherson strut suspension system with MR damper is presented and its responses are evaluated. The governing equations are formulated using the kinematic properties of the suspension system and adopting Lagrange’s equation. In the formulation of the model, both the rotation of the wheel assembly and the lateral stiffness of the tire are considered to represent the nonlinear characteristic of Macpherson type suspension system. The formulated mathematical model is then compared with equivalent conventional quarter car suspension model and the different dynamic responses such as the displacement of the sprung mass are compared to emphasize the effectiveness of the proposed model. Additionally, in this work the important kinematic properties of suspension system such as camber angle, king-pin angle and track width alteration, which cannot be obtained from conventional quarter car suspension model, are evaluated in time and frequency domains. Finally, vibration control responses of the proposed suspension system are presented in time and frequency domains which are achieved from the semi-active sky-hook controller.

Study of a Terrain-Based Motion Estimation Model to Predict the Position of a Moving Target to Enhance Weapon Probability of Kill

DTIC Science & Technology

2017-09-01

target is modeled based on the kinematic constraints for the type of vehicle and the type of path on which it is traveling . The discrete- time position...is modeled based on the kinematic constraints for the type of vehicle and the type of path on which it is traveling . The discrete- time position...49 A. TRAVELING TIME COMPUTATION ............................................. 49 B. CONVERSION TO

Development of automation and robotics for space via computer graphic simulation methods

NASA Technical Reports Server (NTRS)

Fernandez, Ken

1988-01-01

A robot simulation system, has been developed to perform automation and robotics system design studies. The system uses a procedure-oriented solid modeling language to produce a model of the robotic mechanism. The simulator generates the kinematics, inverse kinematics, dynamics, control, and real-time graphic simulations needed to evaluate the performance of the model. Simulation examples are presented, including simulation of the Space Station and the design of telerobotics for the Orbital Maneuvering Vehicle.

Initial proposition of kinematics model for selected karate actions analysis

NASA Astrophysics Data System (ADS)

Hachaj, Tomasz; Koptyra, Katarzyna; Ogiela, Marek R.

2017-03-01

The motivation for this paper is to initially propose and evaluate two new kinematics models that were developed to describe motion capture (MoCap) data of karate techniques. We decided to develop this novel proposition to create the model that is capable to handle actions description both from multimedia and professional MoCap hardware. For the evaluation purpose we have used 25-joints data with karate techniques recordings acquired with Kinect version 2. It is consisted of MoCap recordings of two professional sport (black belt) instructors and masters of Oyama Karate. We have selected following actions for initial analysis: left-handed furi-uchi punch, right leg hiza-geri kick, right leg yoko-geri kick and left-handed jodan-uke block. Basing on evaluation we made we can conclude that both proposed kinematics models seems to be convenient method for karate actions description. From two proposed variables models it seems that global might be more useful for further usage. We think that because in case of considered punches variables seems to be less correlated and they might also be easier to interpret because of single reference coordinate system. Also principal components analysis proved to be reliable way to examine the quality of kinematics models and with the plot of the variable in principal components space we can nicely present the dependences between variables.

Uncertainty estimation and multi sensor fusion for kinematic laser tracker measurements

NASA Astrophysics Data System (ADS)

Ulrich, Thomas

2013-08-01

Laser trackers are widely used to measure kinematic tasks such as tracking robot movements. Common methods to evaluate the uncertainty in the kinematic measurement include approximations specified by the manufacturers, various analytical adjustment methods and the Kalman filter. In this paper a new, real-time technique is proposed, which estimates the 4D-path (3D-position + time) uncertainty of an arbitrary path in space. Here a hybrid system estimator is applied in conjunction with the kinematic measurement model. This method can be applied to processes, which include various types of kinematic behaviour, constant velocity, variable acceleration or variable turn rates. The new approach is compared with the Kalman filter and a manufacturer's approximations. The comparison was made using data obtained by tracking an industrial robot's tool centre point with a Leica laser tracker AT901 and a Leica laser tracker LTD500. It shows that the new approach is more appropriate to analysing kinematic processes than the Kalman filter, as it reduces overshoots and decreases the estimated variance. In comparison with the manufacturer's approximations, the new approach takes account of kinematic behaviour with an improved description of the real measurement process and a reduction in estimated variance. This approach is therefore well suited to the analysis of kinematic processes with unknown changes in kinematic behaviour as well as the fusion among laser trackers.

Kinematic analysis of crank -cam mechanism of process equipment

NASA Astrophysics Data System (ADS)

Podgornyj, Yu I.; Skeeba, V. Yu; Martynova, T. G.; Pechorkina, N. S.; Skeeba, P. Yu

2018-03-01

This article discusses how to define the kinematic parameters of a crank-cam mechanism. Using the mechanism design, the authors have developed a calculation model and a calculation algorithm that allowed the definition of kinematic parameters of the mechanism, including crank displacements, angular velocities and acceleration, as well as driven link (rocker arm) angular speeds and acceleration. All calculations were performed using the Mathcad mathematical package. The results of the calculations are reported as numerical values.

Hydrodynamic Performance of the Flippers of Large-bodied Cetaceans in Relation to Locomotor Ecology

DTIC Science & Technology

2014-04-01

flow velocity (m/s) m Kinematic viscosity (m2/s) Table 2. Morphometrics of cetaceans and flippers. Fin whale Balaenoptera physalus Killer whale Orcinus...chord (m), and m is the kinematic viscosity (m2/s). Fluid kinematic similarity was obtained by ensuring both geometric and dynamic similarity between...the model and the flipper. Equation (2) was used to determine appropriate water tunnel testing speeds given the geometric parameters and water

The effect of age and speed on foot and ankle kinematics assessed using a 4-segment foot model

PubMed Central

van Hoeve, Sander; Leenstra, Bernard; Willems, Paul; Poeze, Martijn; Meijer, Kenneth

2017-01-01

Abstract Background: The effects of age and speed on foot and ankle kinematics in gait studies using foot models are not fully understood, whereas this can have significant influence. We analyzed these variables with the 4-segment Oxford foot model. Methods: Twenty-one healthy subjects (aged 20–65 years) were recruited for gait analysis. The effect of speed on foot and ankle kinematics was assessed by comparing results during slow walking and fast walking. To assess the effect of age, a group of 13 healthy young adults (aged 20–24 years) were compared with a group of 8 older adults (aged 53–65 years). Also, the interaction between age and speed was analyzed. Results: Regarding speed, there was a significant difference between forefoot/hindfoot motion in the sagittal plane (flexion/extension) during both loading- and push-off phase (P = .004, P < .001). Between hindfoot/tibia, there was a significant difference for all parameters except for motion in the sagittal plane (flexion/extension) during push-off phase (P = .5). Age did not significantly influence kinematics. There was no interaction between age and speed. Conclusion: Our analysis found that speed significantly influenced the kinematic outcome parameters. This was more pronounced in the ankle joint. In contrast, no significant differences were found between younger and older healthy subjects. PMID:28858109

The inaccuracy of surface-measured model-derived tibiofemoral kinematics

PubMed Central

Li, Kang; Zheng, Liying; Tashman, Scott; Zhang, Xudong

2014-01-01

This study assessed the accuracy of surface-measured OpenSim-derived tibiofemoral kinematics in functional activities. Ten subjects with unilateral, isolated grade II PCL deficiency performed level running and stair ascent. A dynamic stereo radiography (DSX) system and a Vicon motion capture system simultaneously measured their knee or lower extremity movement. Surface marker motion data from the Vicon system were used to create subject-specific models in OpenSim and derive the tibiofemoral kinematics. The surface-measured model-derived tibiofemoral kinematics in all 6 degrees of freedom (DOFs) were then compared with those measured by the DSX as the benchmarks. The differences between surface- and DSX-measured tibiofemoral kinematics were found to be substantial: the overall mean (±SD) RMS differences during running were 9.1±3.2°, 2.0 ± 1.2°, 6.4 ± 4.5° for the flexion-extension, abduction-adduction, and internal-external rotations, and 7.1± 3.2mm, 8.8± 3.7mm, and 1.9± 1.2mm for anterior-posterior, proximal-distal, and medial-lateral translations. The differences were more pronounced in the relatively higher speed running than in stair ascent. It was also found that surface-based measures significantly underestimated the mean as well as inter-subject variability of the differences between PCL-injured and intact knees in abduction-adduction, internal-external rotation, and anterior-posterior translation. PMID:22964018

Relation of structural and vibratory kinematics of the vocal folds to two acoustic measures of breathy voice based on computational modeling

PubMed Central

Samlan, Robin A.; Story, Brad H.

2011-01-01

Purpose To relate vocal fold structure and kinematics to two acoustic measures: cepstral peak prominence (CPP) and the amplitude of the first harmonic relative to the second (H1-H2). Method A computational, kinematic model of the medial surfaces of the vocal folds was used to specify features of vocal fold structure and vibration in a manner consistent with breathy voice. Four model parameters were altered: degree of vocal fold adduction, surface bulging, vibratory nodal point, and supraglottal constriction. CPP and H1-H2 were measured from simulated glottal area, glottal flow and acoustic waveforms and related to the underlying vocal fold kinematics. Results CPP decreased with increased separation of the vocal processes, whereas the nodal point location had little effect. H1-H2 increased as a function of separation of the vocal processes in the range of 1–1.5 mm and decreased with separation > 1.5 mm. Conclusions CPP is generally a function of vocal process separation. H1*-H2* will increase or decrease with vocal process separation based on vocal fold shape, pivot point for the rotational mode, and supraglottal vocal tract shape, limiting its utility as an indicator of breathy voice. Future work will relate the perception of breathiness to vocal fold kinematics and acoustic measures. PMID:21498582

Wing-pitch modulation in maneuvering fruit flies is explained by an interplay between aerodynamics and a torsional spring.

PubMed

Beatus, Tsevi; Cohen, Itai

2015-08-01

While the wing kinematics of many flapping insects have been well characterized, understanding the underlying sensory, neural, and physiological mechanisms that determine these kinematics is still a challenge. Two main difficulties in understanding the physiological mechanisms arise from the complexity of the interaction between a flapping wing and its own unsteady flow, as well as the intricate mechanics of the insect wing hinge, which is among the most complicated joints in the animal kingdom. These difficulties call for the application of reduced-order approaches. Here this strategy is used to model the torques exerted by the wing hinge along the wing-pitch axis of maneuvering fruit flies as a damped torsional spring with elastic and damping coefficients as well as a rest angle. Furthermore, we model the air flows using simplified quasistatic aerodynamics. Our findings suggest that flies take advantage of the passive coupling between aerodynamics and the damped torsional spring to indirectly control their wing-pitch kinematics by modulating the spring parameters. The damped torsional-spring model explains the changes measured in wing-pitch kinematics during roll correction maneuvers through modulation of the spring damping and elastic coefficients. These results, in conjunction with the previous literature, indicate that flies can accurately control their wing-pitch kinematics on a sub-wing-beat time scale by modulating all three effective spring parameters on longer time scales.

Wing-pitch modulation in maneuvering fruit flies is explained by an interplay between aerodynamics and a torsional spring

NASA Astrophysics Data System (ADS)

Beatus, Tsevi; Cohen, Itai

2015-08-01

While the wing kinematics of many flapping insects have been well characterized, understanding the underlying sensory, neural, and physiological mechanisms that determine these kinematics is still a challenge. Two main difficulties in understanding the physiological mechanisms arise from the complexity of the interaction between a flapping wing and its own unsteady flow, as well as the intricate mechanics of the insect wing hinge, which is among the most complicated joints in the animal kingdom. These difficulties call for the application of reduced-order approaches. Here this strategy is used to model the torques exerted by the wing hinge along the wing-pitch axis of maneuvering fruit flies as a damped torsional spring with elastic and damping coefficients as well as a rest angle. Furthermore, we model the air flows using simplified quasistatic aerodynamics. Our findings suggest that flies take advantage of the passive coupling between aerodynamics and the damped torsional spring to indirectly control their wing-pitch kinematics by modulating the spring parameters. The damped torsional-spring model explains the changes measured in wing-pitch kinematics during roll correction maneuvers through modulation of the spring damping and elastic coefficients. These results, in conjunction with the previous literature, indicate that flies can accurately control their wing-pitch kinematics on a sub-wing-beat time scale by modulating all three effective spring parameters on longer time scales.

Non-invasive 3D geometry extraction and robotic modeling of a Sea lion foreflipper

NASA Astrophysics Data System (ADS)

Patel, R. K.; Leftwich, M. C.; Friedman, C.

2016-02-01

California Sea Lions are very agile swimmers and unlike many marine animals, they use their fore flipper rather than their hind flipper undulations to generate high thrust values. To date there exist limited amount of qualitative studies for sea lions swimming that show the flippers are used for thrust, stability, and control during swimming motions. Quantitative studies mainly measured drag used for cost of transport, and analyzed banked turn performance. Recently, the kinematics of a California sea lion flipper during the thrust phase was extracted using video tracking in two dimensions. This work extends the tracking ability to three dimensions using a non-invasive Direct Linear Transformation (DLT) technique employed on non-research sea lions at the Smithsonian National Zoological Park. The flippers are therefore marker-less and tracking is carried out manually in post processing after capturing complete dorsal-ventral flipper motions. Two cameras are used (3840 × 2160 pixels resolution) and calibrated in space using a calibration target inserted into the sea lion habitat. They are synchronized in time using a simple light flash. The fluid flow and forces generated by a sea lion clap is also being explored. Recently, a sea lion flipper from a deceased subject was externally scanned in high detail for fluid dynamics research. The flipper's geometry is being used in this work to design and build an articulate flipper model that is approximately 60% of the full size span. The model is actuated by servo motors and is designed to mimic a sea lion flipper clap motion based on the previously extracted kinematics from above. The model incorporates three axles, simulating the movements of the sea lion's elbow, wrist, and knuckles. The flipper tip speed is designed to match typical Reynolds numbers for the full-scale flipper for an acceleration from rest maneuver. The model will be tested in a water flume to obtain the forces during the thrust production phase of the flipper motion.

Measurements of the Double-Spin Asymmetry A 1 on Helium-3: Toward a Precise Measurement of the Neutron A 1

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

Parno, Diana Seymour

2011-04-01

The spin structure of protons and neutrons has been an open question for nearly twenty-five years, after surprising experimental results disproved the simple model in which valence quarks were responsible for nearly 100% of the nucleon spin. Diverse theoretical approaches have been brought to bear on the problem, but a shortage of precise data - especially on neutron spin structure - has prevented a thorough understanding. Experiment E06-014, conducted in Hall A of Jefferson Laboratory in 2009, presented an opportunity to add to the world data set for the neutron in the poorly covered valence-quark region. Jefferson Laboratory's highly polarizedmore » electron beam, combined with Hall A's facilities for a high-density, highly polarized 3He target, allowed a high-luminosity double-polarized experiment, while the large acceptance of the BigBite spectrometer gave coverage over a wide kinematic range: 0.15 < x < 0.95. In this work, we present the analysis of a portion of the E06-014 data, measured with an incident beam energy of 4.74 GeV and spanning 1.5 < Q 2 < 5.5 (GeV/c) 2. From these data, we extract the longitudinal asymmetry in virtual photon-nucleon scattering, A 1, on the 3He nucleus. Combined with the remaining E06-014 data, this will form the basis of a measurement of the neutron asymmetry A η 1 that will extend the kinematic range of the data available to test models of spin-dependent parton distributions in the nucleon.« less

The mechanics of fault-bend folding and tear-fault systems in the Niger Delta

NASA Astrophysics Data System (ADS)

Benesh, Nathan Philip

This dissertation investigates the mechanics of fault-bend folding using the discrete element method (DEM) and explores the nature of tear-fault systems in the deep-water Niger Delta fold-and-thrust belt. In Chapter 1, we employ the DEM to investigate the development of growth structures in anticlinal fault-bend folds. This work was inspired by observations that growth strata in active folds show a pronounced upward decrease in bed dip, in contrast to traditional kinematic fault-bend fold models. Our analysis shows that the modeled folds grow largely by parallel folding as specified by the kinematic theory; however, the process of folding over a broad axial surface zone yields a component of fold growth by limb rotation that is consistent with the patterns observed in natural folds. This result has important implications for how growth structures can he used to constrain slip and paleo-earthquake ages on active blind-thrust faults. In Chapter 2, we expand our DEM study to investigate the development of a wider range of fault-bend folds. We examine the influence of mechanical stratigraphy and quantitatively compare our models with the relationships between fold and fault shape prescribed by the kinematic theory. While the synclinal fault-bend models closely match the kinematic theory, the modeled anticlinal fault-bend folds show robust behavior that is distinct from the kinematic theory. Specifically, we observe that modeled structures maintain a linear relationship between fold shape (gamma) and fault-horizon cutoff angle (theta), rather than expressing the non-linear relationship with two distinct modes of anticlinal folding that is prescribed by the kinematic theory. These observations lead to a revised quantitative relationship for fault-bend folds that can serve as a useful interpretation tool. Finally, in Chapter 3, we examine the 3D relationships of tear- and thrust-fault systems in the western, deep-water Niger Delta. Using 3D seismic reflection data and new map-based structural restoration techniques, we find that the tear faults have distinct displacement patterns that distinguish them from conventional strike-slip faults and reflect their roles in accommodating displacement gradients within the fold-and-thrust belt.

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

NASA Astrophysics Data System (ADS)

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

2017-07-01

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

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

PubMed Central

Modenese, L.; Lloyd, D.G.

2017-01-01

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

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

PubMed

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

2017-03-01

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

Kinematics of the symbiotic system R Aqr

NASA Astrophysics Data System (ADS)

Navarro, S.; Corral, L. J.; Steffen, W.

2014-04-01

We present the results of the kinematical analysis of the symbiotic system R Aqr. We obtained high dispersion spectra with the MES spectrograph at the 2.1 m telescope of San Pedro Mártir (MEZCAL). The used filter were Ha + [NII], (λc = 6575Å, Δλ = 90Å). We analyse the [NII] λλ6583 line. When the observations are compared with previous ones by Solf (1992) we detected an important change in the projected velocities of the observed knots, supporting the idea of a precessing jet. We are working also in a 3-D kinematic model for the object using the measured velocities and the state of the model is presented.

Low Fidelity Imitation of Atypical Biological Kinematics in Autism Spectrum Disorders Is Modulated by Self-Generated Selective Attention.

PubMed

Hayes, Spencer J; Andrew, Matthew; Elliott, Digby; Gowen, Emma; Bennett, Simon J

2016-02-01

We examined whether adults with autism had difficulty imitating atypical biological kinematics. To reduce the impact that higher-order processes have on imitation we used a non-human agent model to control social attention, and removed end-state target goals in half of the trials to minimise goal-directed attention. Findings showed that only neurotypical adults imitated atypical biological kinematics. Adults with autism did, however, become significantly more accurate at imitating movement time. This confirmed they engaged in the task, and that sensorimotor adaptation was self-regulated. The attentional bias to movement time suggests the attenuation in imitating kinematics might be a compensatory strategy due to deficits in lower-level visuomotor processes associated with self-other mapping, or selective attention modulated the processes that represent biological kinematics.

Smartphones as Integrated Kinematic and Dynamic Sensors for Amusement Park Physics Applications

NASA Astrophysics Data System (ADS)

Peterson, Stephanie; Dennison, J. R.

2010-10-01

USU has hosted Physics Day at Lagoon and has attracted more than 120,000 secondary educators and students over 21 years. During this educational day, students explore basic physics concepts and apply their classroom content outdoors, in real world applications. As part of the event, USU's Physics Department provides curriculum to be used at Lagoon, in similar outside venues, and in the classroom. One such educational instrument, which is a primary focus of this work, is student workbooks filled with activities ranging from very simple to more advanced topics. Workbooks cover the properties of waves, relative velocity, and acceleration, topics which have historically challenged students and future topics include kinematics, energy, and forces. The topics were selected based on requests from teachers throughout the Intermountain Region and identified deficiencies in student performance on core curriculum assessments. An innovative approach is to identify physical application of iPhone and Android smartphone software technologies, which make use of dynamic and kinematic sensors. These technologies will allow students to realize their ability to do quantitative physics calculations anywhere, anytime; a smart device which is highly salable to today's teenage learners. This also provides an exciting approach to more fully engage students in learning physics concepts.

Low-dimensional organization of angular momentum during walking on a narrow beam.

PubMed

Chiovetto, Enrico; Huber, Meghan E; Sternad, Dagmar; Giese, Martin A

2018-01-08

Walking on a beam is a challenging motor skill that requires the regulation of upright balance and stability. The difficulty in beam walking results from the reduced base of support compared to that afforded by flat ground. One strategy to maintain stability and hence avoid falling off the beam is to rotate the limb segments to control the body's angular momentum. The aim of this study was to examine the coordination of the angular momentum variations during beam walking. We recorded movement kinematics of participants walking on a narrow beam and computed the angular momentum contributions of the body segments with respect to three different axes. Results showed that, despite considerable variability in the movement kinematics, the angular momentum was characterized by a low-dimensional organization based on a small number of segmental coordination patterns. When the angular momentum was computed with respect to the beam axis, the largest fraction of its variation was accounted for by the trunk segment. This simple organization was robust and invariant across all participants. These findings support the hypothesis that control strategies for complex balancing tasks might be easier to understand by investigating angular momentum instead of the segmental kinematics.

Electromagnetic articulography assessment of articulatory function in adults with dysarthria following traumatic brain injury.

PubMed

Kuruvilla, Mili; Murdoch, Bruce; Goozèe, Justine

2007-06-01

To explore articulatory kinematic differences between normal and dysarthric speakers post-traumatic brain injury (TBI) during syllable and sentence productions. A comparison between the control, mild (MTBI) and severe TBI groups for all measured kinematic parameters was carried out using the Kruskal Wallis test. Ten participants with a severe TBI and six post-MTBI formed the experimental group. The control group consisted of 14 age and sex matched non-neurologically impaired speakers. Articulatory kinematic profiles for the three groups were obtained using the Electromagnetic Articulograph (EMA) while repeating sentence and syllable embedded /t/ and /k/ productions at a habitual rate and loudness level. Significant differences between the severe TBI and control group were identified only for the release phase of the /t/ sentence productions wherein an increase in mean maximum acceleration was observed for the severe TBI group. While a simple syllable repetition task at a moderate rate was unable to differentiate the three groups, a complex sentence production task precipitated an increase in mean maximum acceleration which may be indicative of increased articulatory effort and impaired speech motor control even at a convenient rate for the severe group.

A CFD-informed quasi-steady model of flapping wing aerodynamics.

PubMed

Nakata, Toshiyuki; Liu, Hao; Bomphrey, Richard J

2015-11-01

Aerodynamic performance and agility during flapping flight are determined by the combination of wing shape and kinematics. The degree of morphological and kinematic optimisation is unknown and depends upon a large parameter space. Aimed at providing an accurate and computationally inexpensive modelling tool for flapping-wing aerodynamics, we propose a novel CFD (computational fluid dynamics)-informed quasi-steady model (CIQSM), which assumes that the aerodynamic forces on a flapping wing can be decomposed into the quasi-steady forces and parameterised based on CFD results. Using least-squares fitting, we determine a set of proportional coefficients for the quasi-steady model relating wing kinematics to instantaneous aerodynamic force and torque; we calculate power with the product of quasi-steady torques and angular velocity. With the quasi-steady model fully and independently parameterised on the basis of high-fidelity CFD modelling, it is capable of predicting flapping-wing aerodynamic forces and power more accurately than the conventional blade element model (BEM) does. The improvement can be attributed to, for instance, taking into account the effects of the induced downwash and the wing tip vortex on the force generation and power consumption. Our model is validated by comparing the aerodynamics of a CFD model and the present quasi-steady model using the example case of a hovering hawkmoth. It demonstrates that the CIQSM outperforms the conventional BEM while remaining computationally cheap, and hence can be an effective tool for revealing the mechanisms of optimization and control of kinematics and morphology in flapping-wing flight for both bio-flyers and unmanned air systems.

A CFD-informed quasi-steady model of flapping wing aerodynamics

PubMed Central

Nakata, Toshiyuki; Liu, Hao; Bomphrey, Richard J.

2016-01-01

Aerodynamic performance and agility during flapping flight are determined by the combination of wing shape and kinematics. The degree of morphological and kinematic optimisation is unknown and depends upon a large parameter space. Aimed at providing an accurate and computationally inexpensive modelling tool for flapping-wing aerodynamics, we propose a novel CFD (computational fluid dynamics)-informed quasi-steady model (CIQSM), which assumes that the aerodynamic forces on a flapping wing can be decomposed into the quasi-steady forces and parameterised based on CFD results. Using least-squares fitting, we determine a set of proportional coefficients for the quasi-steady model relating wing kinematics to instantaneous aerodynamic force and torque; we calculate power with the product of quasi-steady torques and angular velocity. With the quasi-steady model fully and independently parameterised on the basis of high-fidelity CFD modelling, it is capable of predicting flapping-wing aerodynamic forces and power more accurately than the conventional blade element model (BEM) does. The improvement can be attributed to, for instance, taking into account the effects of the induced downwash and the wing tip vortex on the force generation and power consumption. Our model is validated by comparing the aerodynamics of a CFD model and the present quasi-steady model using the example case of a hovering hawkmoth. It demonstrates that the CIQSM outperforms the conventional BEM while remaining computationally cheap, and hence can be an effective tool for revealing the mechanisms of optimization and control of kinematics and morphology in flapping-wing flight for both bio-flyers and unmanned air systems. PMID:27346891

One Bird, Several Stones: Investigating Massive Galaxies via Stellar Kinematics, Environment, and Quasar Demographics

NASA Astrophysics Data System (ADS)

Veale, Melanie R.

2017-05-01

Massive galaxies are the end product of a long evolutionary history, impacted by many complex processes. A coupling between quasars and their host galaxies is thought to be an important factor in quenching star formation in these galaxies, although a single unified picture of this process has yet to emerge. The first and smaller portion of this work compares several simple models for quasar demographics, tuning the model parameters to match observations at redshifts from z = 1 to z = 6. A key feature of the models is the enforcement of self-consistent mass growth across time. A variety of models fit the observed luminosity functions, but physical arguments and comparison to additional observations can distinguish among the models. The second and larger portion of this work focuses on two-dimensional stellar kinematics for the most massive local galaxies. The MASSIVE survey is a volume-limited sample of 116 galaxies with absolute magnitude M K < -25.3 mag, corresponding to stellar mass above approximately 1011.8 M., within a distance of D < 108 Mpc in the northern hemisphere, with observations from the Mitchell Integral Field Spectrograph (IFS) for each galaxy a main component of the survey. The line-of-sight velocity distribution (LOSVD) is extracted from optical spectra over a 107″ square field of view, with a Gauss- Hermite parameteriztion up to order 6. After characterizng the statistics of the velocity V , dispersion sigma, and higher moments h3, h 4, h5, and h6 for the most massive 41 galaxies of the sample, the first two moments (rotation velocity V and dispersion sigma) are studied in more detail as a function of galaxy environment. Several measures of environment are calculated, and particular attention is paid to untangling the joint correlations among kinematic properties, galaxy mass, and galaxy environment. The properties of the MASSIVE sample suggest that merger histories and galaxy environment impact galaxy mass and angular momentum in tandem, with no independent correlation between angular momentum and environment once mass is controlled for. The shape of radial velocity dispersion profiles, however, depends on both galaxy mass and environment, with the correlation between dispersion profiles and environment persisting even when mass is controlled for (and vice versa). We include discussion of the kurtosis h4 to distinguish qualitatively between the influence of the total mass profiles and velocity anisotropy on the line-of-sight dispersion profile, and argue that variations from isothermal total mass profiles are very likely in our sample.

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

PubMed

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

2017-09-06

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

Testing the effects of topography, geometry, and kinematics on modeled thermochronometer cooling ages in the eastern Bhutan Himalaya

NASA Astrophysics Data System (ADS)

Gilmore, Michelle E.; McQuarrie, Nadine; Eizenhöfer, Paul R.; Ehlers, Todd A.

2018-05-01

In this study, reconstructions of a balanced geologic cross section in the Himalayan fold-thrust belt of eastern Bhutan are used in flexural-kinematic and thermokinematic models to understand the sensitivity of predicted cooling ages to changes in fault kinematics, geometry, topography, and radiogenic heat production. The kinematics for each scenario are created by sequentially deforming the cross section with ˜ 10 km deformation steps while applying flexural loading and erosional unloading at each step to develop a high-resolution evolution of deformation, erosion, and burial over time. By assigning ages to each increment of displacement, we create a suite of modeled scenarios that are input into a 2-D thermokinematic model to predict cooling ages. Comparison of model-predicted cooling ages to published thermochronometer data reveals that cooling ages are most sensitive to (1) the location and size of fault ramps, (2) the variable shortening rates between 68 and 6.4 mm yr-1, and (3) the timing and magnitude of out-of-sequence faulting. The predicted ages are less sensitive to (4) radiogenic heat production and (5) estimates of topographic evolution. We used the observed misfit of predicted to measured cooling ages to revise the cross section geometry and separate one large ramp previously proposed for the modern décollement into two smaller ramps. The revised geometry results in an improved fit to observed ages, particularly young AFT ages (2-6 Ma) located north of the Main Central Thrust. This study presents a successful approach for using thermochronometer data to test the viability of a proposed cross section geometry and kinematics and describes a viable approach to estimating the first-order topographic evolution of a compressional orogen.

INTERNAL STELLAR KINEMATICS OF M32 FROM THE SPLASH SURVEY: DARK HALO CONSTRAINTS

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

Howley, K. M.; Guhathakurta, P.; Van der Marel, R.

2013-03-01

As part of the SPLASH survey of the Andromeda (M31) system, we have obtained Keck/DEIMOS spectra of the compact elliptical (cE) satellite M32. This is the first resolved-star kinematical study of any cE galaxy. In contrast to most previous kinematical studies that extended out to r {approx}< 30'' {approx} 1 r {sup eff} {sub I} {approx} 100 pc, we measure the rotation curve and velocity dispersion profile out to r {approx} 250'' and higher order Gauss-Hermite moments out to r {approx} 70''. We achieve this by combining integrated-light spectroscopy at small radii (where crowding/blending are severe) with resolved stellar spectroscopymore » at larger radii, using spatial and kinematical information to account statistically for M31 contamination. The rotation curve and velocity dispersion profile extend well beyond the radius (r {approx} 150'') where the isophotes are distorted. Unlike NGC 205, another close dwarf companion of M31, M32's kinematics appear regular and symmetric and do not show obvious sharp gradients across the region of isophotal elongation and twists. We interpret M31's kinematics using three-integral axisymmetric dynamical equilibrium models constructed using Schwarzschild's orbit superposition technique. Models with a constant mass-to-light ratio can fit the data remarkably well. However, since such a model requires an increasing tangential anisotropy with radius, invoking the presence of an extended dark halo may be more plausible. Such an extended dark halo is definitely required to bind a half-dozen fast-moving stars observed at the largest radii, but these stars may not be an equilibrium component of M32.« less

The Envelope of Physiological Motion of the First Carpometacarpal Joint

PubMed Central

Crisco, Joseph J.; Patel, Tarpit; Halilaj, Eni; Moore, Douglas C.

2015-01-01

Much of the hand's functional capacity is due to the versatility of the motions at the thumb carpometacarpal (CMC) joint, which are presently incompletely defined. The aim of this study was to develop a mathematical model to completely describe the envelope of physiological motion of the thumb CMC joint and then to examine if there were differences in the kinematic envelope between women and men. In vivo kinematics of the first metacarpal with respect to the trapezium were computed from computed tomography (CT) volume images of 44 subjects (20M, 24F, 40.3 ± 17.7 yr) with no signs of CMC joint pathology. Kinematics of the first metacarpal were described with respect to the trapezium using helical axis of motion (HAM) variables and then modeled with discrete Fourier analysis. Each HAM variable was fit in a cyclic domain as a function of screw axis orientation in the trapezial articular plane; the RMSE of the fits was 14.5 deg, 1.4 mm, and 0.8 mm for the elevation, location, and translation, respectively. After normalizing for the larger bone size in men, no differences in the kinematic variables between sexes could be identified. Analysis of the kinematic data also revealed notable coupling of the primary rotations of the thumb with translation and internal and external rotations. This study advances our basic understanding of thumb CMC joint function and provides a complete description of the CMC joint for incorporation into future models of hand function. From a clinical perspective, our findings provide a basis for evaluating CMC pathology, especially the mechanically mediated aspects of osteoarthritis (OA), and should be used to inform artificial joint design, where accurate replication of kinematics is essential for long-term success. PMID:26201612

Development of the Symbolic Manipulator Laboratory modeling package for the kinematic design and optimization of the Future Armor Rearm System robot. Ammunition Logistics Program

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

March-Leuba, S.; Jansen, J.F.; Kress, R.L.

1992-08-01

A new program package, Symbolic Manipulator Laboratory (SML), for the automatic generation of both kinematic and static manipulator models in symbolic form is presented. Critical design parameters may be identified and optimized using symbolic models as shown in the sample application presented for the Future Armor Rearm System (FARS) arm. The computer-aided development of the symbolic models yields equations with reduced numerical complexity. Important considerations have been placed on the closed form solutions simplification and on the user friendly operation. The main emphasis of this research is the development of a methodology which is implemented in a computer program capablemore » of generating symbolic kinematic and static forces models of manipulators. The fact that the models are obtained trigonometrically reduced is among the most significant results of this work and the most difficult to implement. Mathematica, a commercial program that allows symbolic manipulation, is used to implement the program package. SML is written such that the user can change any of the subroutines or create new ones easily. To assist the user, an on-line help has been written to make of SML a user friendly package. Some sample applications are presented. The design and optimization of the 5-degrees-of-freedom (DOF) FARS manipulator using SML is discussed. Finally, the kinematic and static models of two different 7-DOF manipulators are calculated symbolically.« less

Modelling the gas kinematics of an atypical Ly α emitting compact dwarf galaxy

NASA Astrophysics Data System (ADS)

Forero-Romero, Jaime E.; Gronke, Max; Remolina-Gutiérrez, Maria Camila; Garavito-Camargo, Nicolás; Dijkstra, Mark

2018-02-01

Star-forming compact dwarf galaxies (CDGs) resemble the expected pristine conditions of the first galaxies in the Universe and are the best systems to test models on primordial galaxy formation and evolution. Here, we report on one of such CDGs, Tololo 1214-277, which presents a broad, single peaked, highly symmetric Ly α emission line that had evaded theoretical interpretation so far. In this paper, we reproduce for the first time these line features with two different physically motivated kinematic models: an interstellar medium composed by outflowing clumps with random motions and an homogeneous gaseous sphere undergoing solid body rotation. The multiphase model requires a clump velocity dispersion of 54.3 ± 0.6 km s-1 with outflows of 54.3 ± 5.1 km s-1 , while the bulk rotation velocity is constrained to be 348^{+75}_{-48} km s-1. We argue that the results from the multiphase model provide a correct interpretation of the data. In that case, the clump velocity dispersion implies a dynamical mass of 2 × 109 M⊙, 10 times its baryonic mass. If future kinematic maps of Tololo 1214-277 confirm the velocities suggested by the multiphase model, it would provide additional support to expect such kinematic state in primordial galaxies, opening the opportunity to use the models and methods presented in this paper to constrain the physics of star formation and feedback in the early generation of Ly α -emitting galaxies.

Origami acoustics: using principles of folding structural acoustics for simple and large focusing of sound energy

NASA Astrophysics Data System (ADS)

Harne, Ryan L.; Lynd, Danielle T.

2016-08-01

Fixed in spatial distribution, arrays of planar, electromechanical acoustic transducers cannot adapt their wave energy focusing abilities unless each transducer is externally controlled, creating challenges for the implementation and portability of such beamforming systems. Recently, planar, origami-based structural tessellations are found to facilitate great versatility in system function and properties through kinematic folding. In this research we bridge the physics of acoustics and origami-based design to discover that the simple topological reconfigurations of a Miura-ori-based acoustic array yield many orders of magnitude worth of reversible change in wave energy focusing: a potential for acoustic field morphing easily obtained through deployable, tessellated architectures. Our experimental and theoretical studies directly translate the roles of folding the tessellated array to the adaptations in spectral and spatial wave propagation sensitivities for far field energy transmission. It is shown that kinematic folding rules and flat-foldable tessellated arrays collectively provide novel solutions to the long-standing challenges of conventional, electronically-steered acoustic beamformers. While our examples consider sound radiation from the foldable array in air, linear acoustic reciprocity dictates that the findings may inspire new innovations for acoustic receivers, e.g. adaptive sound absorbers and microphone arrays, as well as concepts that include water-borne waves.

Kinematics, partitioning and the relationship between velocity and strain in shear zones

NASA Astrophysics Data System (ADS)

Murphy, Justin James

Granite Point, southeast Washington State, captures older distributed deformation deflected by younger localized deformation. This history agrees with mathematical modeling completed by Watkinson and Patton (2005; 2007 in prep). This model suggests that distributed strain occurs at a lower energy threshold than localized strain and predicts deformation histories similar to Granite Point. Ductile shear zones at Granite Point define a zone of deformation where strain is partitioned and localized into at least ten sub parallel shear zones with sinistral, west side down shear sense. Can the relative movement of the boundaries of this partitioned system be reconstructed? Can partitioning be resolved from a distributed style of deformation? The state of strain and kinematics of actively deforming zones was studied by relating the velocity field to strain. The Aleutian Arc, Alaska and central Walker Lane, Nevada were chosen because they have a wealth of geologic data and are recognized examples of obliquely deforming zones. The graphical construction developed by Declan De Paor is ideally suited for this application because it provides a spatially referenced visualization of the relationship between velocity and strain. The construction of De Paor reproduces the observed orientation of strain in the Aleutian Arc, however, the spatial distribution of GPS stations suggest a component of partitioning. Partitioning does not provide a unique solution and cannot be differentiated from a combination of partitioning and distributed strain. In the central Walker Lane, strain trajectories can be reproduced at the domain scale. Furthermore, the effect of anisotropy from Paleozoic through Cenozoic crustal structure, which breaks the regional strain field into pure shear and simple shear dominated transtension can be detected. Without GPS velocities to document strictly coaxial strain, the strain orientation should not be taken as the velocity orientation. The strain recorded at Granite Point should not be used to reconstruct the relative movement of the boundaries because the strain direction may not be parallel to the velocity orientation. Kinematic reconstructions of obliquely deforming zones that assume a palaeo-velocity orientation equal to the measured orientation of finite strain may not accurately reflect the deviation between velocity and strain.

The flow across a street canyon of variable width—Part 2:. Scalar dispersion from a street level line source

NASA Astrophysics Data System (ADS)

Simoëns, Serge; Wallace, James M.

As described in Part 1 [Simoëns et al., 2007. The flow across a street canyon of variable width—Part 1: kinematic description. Atmospheric Environment 41, 9002-9017] measurements have been made of the velocity field around and within the canyon formed by two obstacles placed on the wall of a turbulent boundary layer. Here in Part 2 measurements of the scalar dispersion of smoke released from a two-dimensional slot in the wall perpendicular to the mean flow and located parallel to and midway between these two square obstacles are presented. The Reynolds number of the boundary layer at the slot location without the obstacles in place was Rθ≈980. Statistical properties of the concentration field and the scalar fluxes in the streamwise plane are reported here for canyon openings that have been chosen based on characteristics of the kinematic description. These opening widths, expressed as multiples of the obstacle height, are 1 h, 4 h and 8 h. The mean concentration field revealed that the much of the scalar is trapped on the leeward side of the upstream obstacle before some of it escapes the canyon and is entrained on the roof of the upstream obstacle. It then is spread downstream by the turbulence in the wake of this obstacle. Surprisingly, the root mean square (rms) concentration field reveals that high concentration fluctuations exist in a zone where velocity field turbulence is very low. Measured streamwise scalar fluxes were found to be negative above the obstacles, whereas they are mainly positive between the obstacles. The measured wall normal scalar fluxes have an inverse behavior. Within the canyon, the scalar fluxes are greatest in the region between the large primary vortex, evident in the kinematic field, and the secondary vortex located in the corner of the leeward side of the upstream obstacle. In the flow above the obstacle roofs the wake of the upstream obstacle seems to dominate the scalar transport. Between the obstacles in and above the canyon, the existence of intermittent and intense events appear to prevent the modelling of these fluxes with a simple mean concentration gradient model.

Main-Sequence CMEs as Magnetic Explosions: Compatibility with Observed Kinematics

NASA Technical Reports Server (NTRS)

Moore, Ron; Falconer, David; Sterling, Alphonse

2004-01-01

We examine the kinematics of 26 CMEs of the morphological main sequence of CMEs, those having the classic three-part bubble structure of (1) a bright front eveloping (2) a dark cavity within which rides (3) a bright blob/filamentary feature. Each CME is observed in Yohkoh/SXT images to originate from near the limb (> or equal to 0.7 R(sub Sun) from disk center). The basic data (from the SOHO LASCO CME Catalog) for the kinematics of each CME are the sequence of LASCO images of the CME, the time of each image, the measured radial distance of the front edge of the CME in each image, and the measured angular extent of the CME. About half of our CMEs (12) occur with a flare, and the rest (14) occur without a flare. While the average linear-fit speed of the flare CMEs (1000 km/s) is twice that of the non-flare CMEs (510 km/s), the flare CMEs and the non-flare CMEs are similar in that some have nearly flat velocity-height (radial extent) profiles (little acceleration), some have noticeably falling velocity profiles (noticeable deceleration), and the rest have velocity profiles that rise considerably through the outer corona (blatant acceleration). This suggests that in addition to sharing similar morphology, main-sequence CMEs all have basically the same driving mechanism. The observed radial progression of each of our 26 CMEs is fit by a simple model magnetic plasmoid that is in pressure balance with the radial magnetic field in the outer corona and that propels itself outward by magnetic expansion, doing no net work on its surroundings. On average over the 26 CMEs, this model fits the observations as well as the assumption of constant acceleration. This is compatible with main-sequence CMEs being magnetically driven, basically magnetic explosions, with the velocity profile in the outer corona being largely dictated by the initial Alfien speed in the CME (when the front is at approx. 3 (sub Sun), analogous to the mass of a main-sequence star dictating the luminosity.

Modeling human perception and estimation of kinematic responses during aircraft landing

NASA Technical Reports Server (NTRS)

Schmidt, David K.; Silk, Anthony B.

1988-01-01

The thrust of this research is to determine estimation accuracy of aircraft responses based on observed cues. By developing the geometric relationships between the outside visual scene and the kinematics during landing, visual and kinesthetic cues available to the pilot were modeled. Both fovial and peripheral vision was examined. The objective was to first determine estimation accuracy in a variety of flight conditions, and second to ascertain which parameters are most important and lead to the best achievable accuracy in estimating the actual vehicle response. It was found that altitude estimation was very sensitive to the FOV. For this model the motion cue of perceived vertical acceleration was shown to be less important than the visual cues. The inclusion of runway geometry in the visual scene increased estimation accuracy in most cases. Finally, it was shown that for this model if the pilot has an incorrect internal model of the system kinematics the choice of observations thought to be 'optimal' may in fact be suboptimal.

Computational Modelling of Patella Femoral Kinematics During Gait Cycle and Experimental Validation

NASA Astrophysics Data System (ADS)

Maiti, Raman

2016-06-01

The effect of loading and boundary conditions on patellar mechanics is significant due to the complications arising in patella femoral joints during total knee replacements. To understand the patellar mechanics with respect to loading and motion, a computational model representing the patella femoral joint was developed and validated against experimental results. The computational model was created in IDEAS NX and simulated in MSC ADAMS/VIEW software. The results obtained in the form of internal external rotations and anterior posterior displacements for a new and experimentally simulated specimen for patella femoral joint under standard gait condition were compared with experimental measurements performed on the Leeds ProSim knee simulator. A good overall agreement between the computational prediction and the experimental data was obtained for patella femoral kinematics. Good agreement between the model and the past studies was observed when the ligament load was removed and the medial lateral displacement was constrained. The model is sensitive to ±5 % change in kinematics, frictional, force and stiffness coefficients and insensitive to time step.

Computational Modelling of Patella Femoral Kinematics During Gait Cycle and Experimental Validation

NASA Astrophysics Data System (ADS)

Maiti, Raman

2018-06-01

The effect of loading and boundary conditions on patellar mechanics is significant due to the complications arising in patella femoral joints during total knee replacements. To understand the patellar mechanics with respect to loading and motion, a computational model representing the patella femoral joint was developed and validated against experimental results. The computational model was created in IDEAS NX and simulated in MSC ADAMS/VIEW software. The results obtained in the form of internal external rotations and anterior posterior displacements for a new and experimentally simulated specimen for patella femoral joint under standard gait condition were compared with experimental measurements performed on the Leeds ProSim knee simulator. A good overall agreement between the computational prediction and the experimental data was obtained for patella femoral kinematics. Good agreement between the model and the past studies was observed when the ligament load was removed and the medial lateral displacement was constrained. The model is sensitive to ±5 % change in kinematics, frictional, force and stiffness coefficients and insensitive to time step.

Note: Model-based identification method of a cable-driven wearable device for arm rehabilitation

NASA Astrophysics Data System (ADS)

Cui, Xiang; Chen, Weihai; Zhang, Jianbin; Wang, Jianhua

2015-09-01

Cable-driven exoskeletons have used active cables to actuate the system and are worn on subjects to provide motion assistance. However, this kind of wearable devices usually contains uncertain kinematic parameters. In this paper, a model-based identification method has been proposed for a cable-driven arm exoskeleton to estimate its uncertainties. The identification method is based on the linearized error model derived from the kinematics of the exoskeleton. Experiment has been conducted to demonstrate the feasibility of the proposed model-based method in practical application.

D2 Delta Robot Structural Design and Kinematics Analysis

NASA Astrophysics Data System (ADS)

Yang, Xudong; wang, Song; Dong, Yu; Yang, Hai

2017-12-01

In this paper, a new type of Delta robot with only two degrees of freedom is proposed on the basis of multi - degree - of - freedom delta robot. In order to meet our application requirements, we have carried out structural design and analysis of the robot. Through SolidWorks modeling, combined with 3D printing technology to determine the final robot structure. In order to achieve the precise control of the robot, the kinematics analysis of the robot was carried out. The SimMechanics toolbox of MATLAB is used to establish the mechanism model, and the kinematics mathematical model is used to simulate the robot motion control in Matlab environment. Finally, according to the design mechanism, the working space of the robot is drawn by the graphic method, which lays the foundation for the motion control of the subsequent robot.

Inter-segment foot motion in girls using a three-dimensional multi-segment foot model.

PubMed

Jang, Woo Young; Lee, Dong Yeon; Jung, Hae Woon; Lee, Doo Jae; Yoo, Won Joon; Choi, In Ho

2018-05-06

Several multi-segment foot models (MFMs) have been introduced for in vivo analyses of dynamic foot kinematics. However, the normal gait patterns of healthy children and adolescents remain uncharacterized. We sought to determine normal foot kinematics according to age in clinically normal female children and adolescents using a Foot 3D model. Fifty-eight girls (age 7-17 years) with normal function and without radiographic abnormalities were tested. Three representative strides from five separate trials were analyzed. Kinematic data of foot segment motion were tracked and evaluated using an MFM with a 15-marker set (Foot 3D model). As controls, 50 symptom-free female adults (20-35 years old) were analyzed. In the hindfoot kinematic analysis, plantar flexion motion in the pre-swing phase was significantly greater in girls aged 11 years or older than in girls aged <11 years, thereby resulting in a larger sagittal range of motion. Coronal plane hindfoot motion exhibited pronation, whereas transverse plane hindfoot motion exhibited increased internal rotation in girls aged <11 years. Hallux valgus angles increased significantly in girls aged 11 years or older. The foot progression angle showed mildly increased internal rotation in the loading response phase and the swing phase in girls aged <11 years old. The patterns of inter-segment foot motion in girls aged 11 years or older showed low-arch kinematic characteristics, whereas those in girls aged 11 years or older were more similar to the patterns in young adult women. Copyright © 2018 Elsevier B.V. All rights reserved.

A learning-based markerless approach for full-body kinematics estimation in-natura from a single image.

PubMed

Drory, Ami; Li, Hongdong; Hartley, Richard

2017-04-11

We present a supervised machine learning approach for markerless estimation of human full-body kinematics for a cyclist from an unconstrained colour image. This approach is motivated by the limitations of existing marker-based approaches restricted by infrastructure, environmental conditions, and obtrusive markers. By using a discriminatively learned mixture-of-parts model, we construct a probabilistic tree representation to model the configuration and appearance of human body joints. During the learning stage, a Structured Support Vector Machine (SSVM) learns body parts appearance and spatial relations. In the testing stage, the learned models are employed to recover body pose via searching in a test image over a pyramid structure. We focus on the movement modality of cycling to demonstrate the efficacy of our approach. In natura estimation of cycling kinematics using images is challenging because of human interaction with a bicycle causing frequent occlusions. We make no assumptions in relation to the kinematic constraints of the model, nor the appearance of the scene. Our technique finds multiple quality hypotheses for the pose. We evaluate the precision of our method on two new datasets using loss functions. Our method achieves a score of 91.1 and 69.3 on mean Probability of Correct Keypoint (PCK) measure and 88.7 and 66.1 on the Average Precision of Keypoints (APK) measure for the frontal and sagittal datasets respectively. We conclude that our method opens new vistas to robust user-interaction free estimation of full body kinematics, a prerequisite to motion analysis. Copyright © 2017 Elsevier Ltd. All rights reserved.

The key kinematic determinants of undulatory underwater swimming at maximal velocity.

PubMed

Connaboy, Chris; Naemi, Roozbeh; Brown, Susan; Psycharakis, Stelios; McCabe, Carla; Coleman, Simon; Sanders, Ross

2016-01-01

The optimisation of undulatory underwater swimming is highly important in competitive swimming performance. Nineteen kinematic variables were identified from previous research undertaken to assess undulatory underwater swimming performance. The purpose of the present study was to determine which kinematic variables were key to the production of maximal undulatory underwater swimming velocity. Kinematic data at maximal undulatory underwater swimming velocity were collected from 17 skilled swimmers. A series of separate backward-elimination analysis of covariance models was produced with cycle frequency and cycle length as dependent variables (DVs) and participant as a fixed factor, as including cycle frequency and cycle length would explain 100% of the maximal swimming velocity variance. The covariates identified in the cycle-frequency and cycle-length models were used to form the saturated model for maximal swimming velocity. The final parsimonious model identified three covariates (maximal knee joint angular velocity, maximal ankle angular velocity and knee range of movement) as determinants of the variance in maximal swimming velocity (adjusted-r2 = 0.929). However, when participant was removed as a fixed factor there was a large reduction in explained variance (adjusted r2 = 0.397) and only maximal knee joint angular velocity continued to contribute significantly, highlighting its importance to the production of maximal swimming velocity. The reduction in explained variance suggests an emphasis on inter-individual differences in undulatory underwater swimming technique and/or anthropometry. Future research should examine the efficacy of other anthropometric, kinematic and coordination variables to better understand the production of maximal swimming velocity and consider the importance of individual undulatory underwater swimming techniques when interpreting the data.

Wave-front propagation in a discrete model of excitable media

NASA Astrophysics Data System (ADS)

Feldman, A. B.; Chernyak, Y. B.; Cohen, R. J.

1998-06-01

We generalize our recent discrete cellular automata (CA) model of excitable media [Y. B. Chernyak, A. B. Feldman, and R. J. Cohen, Phys. Rev. E 55, 3215 (1997)] to incorporate the effects of inhibitory processes on the propagation of the excitation wave front. In the common two variable reaction-diffusion (RD) models of excitable media, the inhibitory process is described by the v ``controller'' variable responsible for the restoration of the equilibrium state following excitation. In myocardial tissue, the inhibitory effects are mainly due to the inactivation of the fast sodium current. We represent inhibition using a physical model in which the ``source'' contribution of excited elements to the excitation of their neighbors decreases with time as a simple function with a single adjustable parameter (a rate constant). We sought specific solutions of the CA state transition equations and obtained (both analytically and numerically) the dependence of the wave-front speed c on the four model parameters and the wave-front curvature κ. By requiring that the major characteristics of c(κ) in our CA model coincide with those obtained from solutions of a specific RD model, we find a unique set of CA parameter values for a given excitable medium. The basic structure of our CA solutions is remarkably similar to that found in typical RD systems (similar behavior is observed when the analogous model parameters are varied). Most notably, the ``turn-on'' of the inhibitory process is accompanied by the appearance of a solution branch of slow speed, unstable waves. Additionally, when κ is small, we obtain a family of ``eikonal'' relations c(κ) that are suitable for the kinematic analysis of traveling waves in the CA medium. We compared the solutions of the CA equations to CA simulations for the case of plane waves and circular (target) waves and found excellent agreement. We then studied a spiral wave using the CA model adjusted to a specific RD system and found good correspondence between the shapes of the RD and CA spiral arms in the region away from the tip where kinematic theory applies. Our analysis suggests that only four physical parameters control the behavior of wave fronts in excitable media.

Inferences about Supernova Physics from Gravitational-Wave Measurements: GW151226 Spin Misalignment as an Indicator of Strong Black-Hole Natal Kicks

NASA Astrophysics Data System (ADS)

O'Shaughnessy, Richard; Gerosa, Davide; Wysocki, Daniel

2017-07-01

The inferred parameters of the binary black hole GW151226 are consistent with nonzero spin for the most massive black hole, misaligned from the binary's orbital angular momentum. If the black holes formed through isolated binary evolution from an initially aligned binary star, this misalignment would then arise from a natal kick imparted to the first-born black hole at its birth during stellar collapse. We use simple kinematic arguments to constrain the characteristic magnitude of this kick, and find that a natal kick vk≳50 km /s must be imparted to the black hole at birth to produce misalignments consistent with GW151226. Such large natal kicks exceed those adopted by default in most of the current supernova and binary evolution models.

Macroscopic model of scanning force microscope

DOEpatents

Guerra-Vela, Claudio; Zypman, Fredy R.

2004-10-05

A macroscopic version of the Scanning Force Microscope is described. It consists of a cantilever under the influence of external forces, which mimic the tip-sample interactions. The use of this piece of equipment is threefold. First, it serves as direct way to understand the parts and functions of the Scanning Force Microscope, and thus it is effectively used as an instructional tool. Second, due to its large size, it allows for simple measurements of applied forces and parameters that define the state of motion of the system. This information, in turn, serves to compare the interaction forces with the reconstructed ones, which cannot be done directly with the standard microscopic set up. Third, it provides a kinematics method to non-destructively measure elastic constants of materials, such as Young's and shear modules, with special application for brittle materials.

A Brief Introduction to the Theory of Friction Stir Welding

NASA Technical Reports Server (NTRS)

Nunes, Arthur C., Jr.

2008-01-01

Friction stir welding (FSW) is a solid state welding process invented in 1991 at The Welding Institute in the United Kingdom. A weld is made in the FSW process by translating a rotating pin along a weld seam so as to stir the sides of the seam together. FSW avoids deleterious effects inherent in melting and is already an important welding process for the aerospace industry, where welds of optimal quality are demanded. The structure of welds determines weld properties. The structure of friction stir welds is determined by the flow field in the weld metal in the vicinity of the weld tool. A simple kinematic model of the FSW flow field developed at Marshall Space Flight Center, which enables the basic features of FSW microstructure to be understood and related to weld process parameters and tool design, is explained.

Bacterial accumulation in viscosity gradients

NASA Astrophysics Data System (ADS)

Waisbord, Nicolas; Guasto, Jeffrey

2016-11-01

Cell motility is greatly modified by fluid rheology. In particular, the physical environments in which cells function, are often characterized by gradients of viscous biopolymers, such as mucus and extracellular matrix, which impact processes ranging from reproduction to digestion to biofilm formation. To understand how spatial heterogeneity of fluid rheology affects the motility and transport of swimming cells, we use hydrogel microfluidic devices to generate viscosity gradients in a simple, polymeric, Newtonian fluid. Using video microscopy, we characterize the random walk motility patterns of model bacteria (Bacillus subtilis), showing that both wild-type ('run-and-tumble') cells and smooth-swimming mutants accumulate in the viscous region of the fluid. Through statistical analysis of individual cell trajectories and body kinematics in both homogeneous and heterogeneous viscous environments, we discriminate passive, physical effects from active sensing processes to explain the observed cell accumulation at the ensemble level.

Inferences about Supernova Physics from Gravitational-Wave Measurements: GW151226 Spin Misalignment as an Indicator of Strong Black-Hole Natal Kicks.

PubMed

O'Shaughnessy, Richard; Gerosa, Davide; Wysocki, Daniel

2017-07-07

The inferred parameters of the binary black hole GW151226 are consistent with nonzero spin for the most massive black hole, misaligned from the binary's orbital angular momentum. If the black holes formed through isolated binary evolution from an initially aligned binary star, this misalignment would then arise from a natal kick imparted to the first-born black hole at its birth during stellar collapse. We use simple kinematic arguments to constrain the characteristic magnitude of this kick, and find that a natal kick v_{k}≳50  km/s must be imparted to the black hole at birth to produce misalignments consistent with GW151226. Such large natal kicks exceed those adopted by default in most of the current supernova and binary evolution models.

Structural analysis of the Lombard thrust sheet and adjacent areas in the Helena salient, southwest Montana, USA

NASA Astrophysics Data System (ADS)

Whisner, Stephen C.; Schmidt, Christopher J.; Whisner, Jennifer B.

2014-12-01

The Helena salient is a prominent craton-convex curve in the Cordillera thrust belt of Montana, USA. The Lombard thrust sheet is the primary sheet in the salient. Structural analysis of fold trends, cleavage attitudes, and movement on minor faults is used to better understand both the geometry of the Lombard thrust and the kinematic development of the salient. Early W-E to WNW-ENE shortening directions in the Lombard sheet are indicated by fold trends in the center of the thrust sheet. The same narrow range of shortening directions is inferred from kinematic analysis of movement on minor faults and the orientations of unrotated cleavage planes along the southern lateral ramp boundary of the salient. As the salient developed, the amount and direction of shortening were locally modified as listric detachment faults rotated some tight folds to the NW, and as right-lateral simple shear, caused by lock-up and folding of the Jefferson Canyon fault above the lateral ramp, rotated other folds northeastward. Where the lateral ramp and frontal-oblique ramp intersect, folds were rotated back to the NW. Our interpretation of dominant W-E to WNW-ESE shortening in the Lombard sheet, later altered by local rotations, supports a model of salient formation by primary parallel transport modified by interactions with a lateral ramp.

Rate determination from vector observations

NASA Technical Reports Server (NTRS)

Weiss, Jerold L.

1993-01-01

Vector observations are a common class of attitude data provided by a wide variety of attitude sensors. Attitude determination from vector observations is a well-understood process and numerous algorithms such as the TRIAD algorithm exist. These algorithms require measurement of the line of site (LOS) vector to reference objects and knowledge of the LOS directions in some predetermined reference frame. Once attitude is determined, it is a simple matter to synthesize vehicle rate using some form of lead-lag filter, and then, use it for vehicle stabilization. Many situations arise, however, in which rate knowledge is required but knowledge of the nominal LOS directions are not available. This paper presents two methods for determining spacecraft angular rates from vector observations without a priori knowledge of the vector directions. The first approach uses an extended Kalman filter with a spacecraft dynamic model and a kinematic model representing the motion of the observed LOS vectors. The second approach uses a 'differential' TRIAD algorithm to compute the incremental direction cosine matrix, from which vehicle rate is then derived.

Ratios of N15/C12 and He4/C12 inclusive electroproduction cross sections in the nucleon resonance region

NASA Astrophysics Data System (ADS)

Bosted, P. E.; Fersch, R.; Adams, G.; Amarian, M.; Anefalos, S.; Anghinolfi, M.; Asryan, G.; Avakian, H.; Bagdasaryan, H.; Baillie, N.; Ball, J. P.; Baltzell, N. A.; Barrow, S.; Batourine, V.; Battaglieri, M.; Beard, K.; Bedlinskiy, I.; Bektasoglu, M.; Bellis, M.; Benmouna, N.; Biselli, A. S.; Bonner, B. E.; Bouchigny, S.; Boiarinov, S.; Bradford, R.; Branford, D.; Brooks, W. K.; Bültmann, S.; Burkert, V. D.; Butuceanu, C.; Calarco, J. R.; Careccia, S. L.; Carman, D. S.; Carnahan, B.; Cazes, A.; Chen, S.; Cole, P. L.; Collins, P.; Coltharp, P.; Cords, D.; Corvisiero, P.; Crabb, D.; Crannell, H.; Crede, V.; Cummings, J. P.; de Masi, R.; de Vita, R.; de Sanctis, E.; Degtyarenko, P. V.; Denizli, H.; Dennis, L.; Deur, A.; Djalali, C.; Dodge, G. E.; Donnelly, J.; Doughty, D.; Dragovitsch, P.; Dugger, M.; Dharmawardane, K. V.; Dytman, S.; Dzyubak, O. P.; Egiyan, H.; Egiyan, K. S.; Elouadrhiri, L.; Eugenio, P.; Fatemi, R.; Fedotov, G.; Feuerbach, R. J.; Forest, T. A.; Fradi, A.; Funsten, H.; Garçon, M.; Gavalian, G.; Gilfoyle, G. P.; Giovanetti, K. L.; Girod, F. X.; Goetz, J. T.; Golovatch, E.; Gothe, R. W.; Griffioen, K. A.; Guidal, M.; Guillo, M.; Guler, N.; Guo, L.; Gyurjyan, V.; Hadjidakis, C.; Hafidi, K.; Hakobyan, R. S.; Hardie, J.; Heddle, D.; Hersman, F. W.; Hicks, K.; Hleiqawi, I.; Holtrop, M.; Huertas, M.; Hyde-Wright, C. E.; Ilieva, Y.; Ireland, D. G.; Ishkhanov, B. S.; Isupov, E. L.; Ito, M. M.; Jenkins, D.; Jo, H. S.; Joo, K.; Juengst, H. G.; Kalantarians, N.; Keith, C.; Kellie, J. D.; Khandaker, M.; Kim, K. Y.; Kim, K.; Kim, W.; Klein, A.; Klein, F. J.; Klusman, M.; Kossov, M.; Kramer, L. H.; Kubarovsky, V.; Kuhn, J.; Kuhn, S. E.; Kuleshov, S. V.; Lachniet, J.; Laget, J. M.; Langheinrich, J.; Lawrence, D.; Li, Ji; Lima, A. C. S.; Livingston, K.; Lu, H.; Lukashin, K.; MacCormick, M.; Markov, N.; McAleer, S.; McKinnon, B.; McNabb, J. W. C.; Mecking, B. A.; Mestayer, M. D.; Meyer, C. A.; Mibe, T.; Mikhailov, K.; Minehart, R.; Mirazita, M.; Miskimen, R.; Mokeev, V.; Morand, L.; Morrow, S. A.; Moteabbed, M.; Mueller, J.; Mutchler, G. S.; Nadel-Turonski, P.; Nasseripour, R.; Niccolai, S.; Niculescu, G.; Niculescu, I.; Niczyporuk, B. B.; Niroula, M. R.; Niyazov, R. A.; Nozar, M.; O'Rielly, G. V.; Osipenko, M.; Ostrovidov, A. I.; Park, K.; Pasyuk, E.; Paterson, C.; Philips, S. A.; Pierce, J.; Pivnyuk, N.; Pocanic, D.; Pogorelko, O.; Polli, E.; Pozdniakov, S.; Preedom, B. M.; Price, J. W.; Prok, Y.; Protopopescu, D.; Qin, L. M.; Raue, B. A.; Riccardi, G.; Ricco, G.; Ripani, M.; Rosner, G.; Rossi, P.; Rowntree, D.; Rubin, P. D.; Sabatié, F.; Salgado, C.; Santoro, J. P.; Sapunenko, V.; Schumacher, R. A.; Serov, V. S.; Sharabian, Y. G.; Shaw, J.; Shvedunov, N. V.; Skabelin, A. V.; Smith, E. S.; Smith, L. C.; Sober, D. I.; Stavinsky, A.; Stepanyan, S. S.; Stepanyan, S.; Stokes, B. E.; Stoler, P.; Strauch, S.; Suleiman, R.; Taiuti, M.; Taylor, S.; Tedeschi, D. J.; Thoma, U.; Tkabladze, A.; Tkachenko, S.; Todor, L.; Ungaro, M.; Vineyard, M. F.; Vlassov, A. V.; Weinstein, L. B.; Weygand, D. P.; Williams, M.; Wolin, E.; Wood, M. H.; Yegneswaran, A.; Yun, J.; Zana, L.; Zhang, J.; Zhao, B.; Zhao, Z.

2008-07-01

The (W,Q2) dependence of the ratio of inclusive electron scattering cross sections for N15/C12 was determined in the kinematic ranges 0.8

Hydroelastic analysis of ice shelves under long wave excitation

NASA Astrophysics Data System (ADS)

Papathanasiou, T. K.; Karperaki, A. E.; Theotokoglou, E. E.; Belibassakis, K. A.

2015-05-01

The transient hydroelastic response of an ice shelf under long wave excitation is analysed by means of the finite element method. The simple model, presented in this work, is used for the simulation of the generated kinematic and stress fields in an ice shelf, when the latter interacts with a tsunami wave. The ice shelf, being of large length compared to its thickness, is modelled as an elastic Euler-Bernoulli beam, constrained at the grounding line. The hydrodynamic field is represented by the linearised shallow water equations. The numerical solution is based on the development of a special hydroelastic finite element for the system of governing of equations. Motivated by the 2011 Sulzberger Ice Shelf (SIS) calving event and its correlation with the Honshu Tsunami, the SIS stable configuration is studied. The extreme values of the bending moment distribution in both space and time are examined. Finally, the location of these extrema is investigated for different values of ice shelf thickness and tsunami wave length.

Hydroelastic analysis of ice shelves under long wave excitation

NASA Astrophysics Data System (ADS)

Papathanasiou, T. K.; Karperaki, A. E.; Theotokoglou, E. E.; Belibassakis, K. A.

2015-08-01

The transient hydroelastic response of an ice shelf under long wave excitation is analysed by means of the finite element method. The simple model, presented in this work, is used for the simulation of the generated kinematic and stress fields in an ice shelf, when the latter interacts with a tsunami wave. The ice shelf, being of large length compared to its thickness, is modelled as an elastic Euler-Bernoulli beam, constrained at the grounding line. The hydrodynamic field is represented by the linearised shallow water equations. The numerical solution is based on the development of a special hydroelastic finite element for the system of governing of equations. Motivated by the 2011 Sulzberger Ice Shelf (SIS) calving event and its correlation with the Honshu Tsunami, the SIS stable configuration is studied. The extreme values of the bending moment distribution in both space and time are examined. Finally, the location of these extrema is investigated for different values of ice shelf thickness and tsunami wave length.

Prediction of primary somatosensory neuron activity during active tactile exploration

PubMed Central

Campagner, Dario; Evans, Mathew Hywel; Bale, Michael Ross; Erskine, Andrew; Petersen, Rasmus Strange

2016-01-01

Primary sensory neurons form the interface between world and brain. Their function is well-understood during passive stimulation but, under natural behaving conditions, sense organs are under active, motor control. In an attempt to predict primary neuron firing under natural conditions of sensorimotor integration, we recorded from primary mechanosensory neurons of awake, head-fixed mice as they explored a pole with their whiskers, and simultaneously measured both whisker motion and forces with high-speed videography. Using Generalised Linear Models, we found that primary neuron responses were poorly predicted by whisker angle, but well-predicted by rotational forces acting on the whisker: both during touch and free-air whisker motion. These results are in apparent contrast to previous studies of passive stimulation, but could be reconciled by differences in the kinematics-force relationship between active and passive conditions. Thus, simple statistical models can predict rich neural activity elicited by natural, exploratory behaviour involving active movement of sense organs. DOI: http://dx.doi.org/10.7554/eLife.10696.001 PMID:26880559

Modeling neutrino-induced charged pion production on water at T2K kinematics

NASA Astrophysics Data System (ADS)

Nikolakopoulos, A.; González-Jiménez, R.; Niewczas, K.; Sobczyk, J.; Jachowicz, N.

2018-05-01

Pion production is a significant component of the signal in accelerator-based neutrino experiments. Over the last years, the MiniBooNE, T2K, and MINERvA collaborations have reported a substantial amount of data on (anti)neutrino-induced pion production on the nucleus. However, a comprehensive and consistent description of the whole data set is still missing. We aim at improving the current understanding of neutrino-induced pion production on the nucleus. To this end, the comparison of experimental data with theoretical predictions, preferably based on microscopic models, is essential to disentangle the different reaction mechanisms involved in the process. To describe single-pion production, we use a hybrid model that combines low- and a high-energy approaches. The low-energy model contains resonances and background terms. At high invariant masses, a high-energy model based on a Regge approach is employed. The model is implemented in the nucleus using the relativistic plane wave impulse approximation (RPWIA). We present a comparison of the hybrid-RPWIA and low-energy model with the recent neutrino-induced charged-current 1 π+ -production cross section on water reported by T2K. In order to judge the impact of final-state interactions (FSI), we confront our results with those of the nuwro Monte Carlo generator. The hybrid-RPWIA model and nuwro results compare favorably to the data, albeit that FSI are not included in the former. The need of a high-energy model at T2K kinematics is made clear. These results complement our previous work [Phys. Rev. D 97, 013004 (2018), 10.1103/PhysRevD.97.013004], in which we compared the models to the MINERvA and MiniBooNE 1 π+ data. The hybrid-RPWIA model tends to overpredict both the T2K and MINERvA data in kinematic regions where the largest suppression due to FSI is expected and agrees remarkably well with the data in other kinematic regions. On the contrary, the MiniBooNE data are underpredicted over the whole kinematic range.

Aerodynamic forces and flow structures of the leading edge vortex on a flapping wing considering ground effect.

PubMed

Van Truong, Tien; Byun, Doyoung; Kim, Min Jun; Yoon, Kwang Joon; Park, Hoon Cheol

2013-09-01

The aim of this work is to provide an insight into the aerodynamic performance of the beetle during takeoff, which has been estimated in previous investigations. We employed a scaled-up electromechanical model flapping wing to measure the aerodynamic forces and the three-dimensional flow structures on the flapping wing. The ground effect on the unsteady forces and flow structures were also characterized. The dynamically scaled wing model could replicate the general stroke pattern of the beetle's hind wing kinematics during takeoff flight. Two wing kinematic models have been studied to examine the influences of wing kinematics on unsteady aerodynamic forces. In the first model, the angle of attack is asymmetric and varies during the translational motion, which is the flapping motion of the beetle's hind wing. In the second model, the angle of attack is constant during the translational motion. The instantaneous aerodynamic forces were measured for four strokes during the beetle's takeoff by the force sensor attached at the wing base. Flow visualization provided a general picture of the evolution of the three-dimensional leading edge vortex (LEV) on the beetle hind wing model. The LEV is stable during each stroke, and increases radically from the root to the tip, forming a leading-edge spiral vortex. The force measurement results show that the vertical force generated by the hind wing is large enough to lift the beetle. For the beetle hind wing kinematics, the total vertical force production increases 18.4% and 8.6% for the first and second strokes, respectively, due to the ground effect. However, for the model with a constant angle of attack during translation, the vertical force is reduced during the first stroke. During the third and fourth strokes, the ground effect is negligible for both wing kinematic patterns. This finding suggests that the beetle's flapping mechanism induces a ground effect that can efficiently lift its body from the ground during takeoff.

The kinematic dipole in galaxy redshift surveys

NASA Astrophysics Data System (ADS)

Maartens, Roy; Clarkson, Chris; Chen, Song

2018-01-01

In the concordance model of the Universe, the matter distribution—as observed in galaxy number counts or the intensity of line emission (such as the 21cm line of neutral hydrogen) —should have a kinematic dipole due to the Sun's motion relative to the CMB rest-frame. This dipole should be aligned with the kinematic dipole in the CMB temperature. Accurate measurement of the direction of the matter dipole will become possible with future galaxy surveys, and this will be a critical test of the foundations of the concordance model. The amplitude of the matter dipole is also a potential cosmological probe. We derive formulas for the amplitude of the kinematic dipole in galaxy redshift and intensity mapping surveys, taking into account the Doppler, aberration and other relativistic effects. The amplitude of the matter dipole can be significantly larger than that of the CMB dipole. Its redshift dependence encodes information on the evolution of the Universe and on the tracers, and we discuss possible ways to determine the amplitude.

Estimation of continuous multi-DOF finger joint kinematics from surface EMG using a multi-output Gaussian Process.

PubMed

Ngeo, Jimson; Tamei, Tomoya; Shibata, Tomohiro

2014-01-01

Surface electromyographic (EMG) signals have often been used in estimating upper and lower limb dynamics and kinematics for the purpose of controlling robotic devices such as robot prosthesis and finger exoskeletons. However, in estimating multiple and a high number of degrees-of-freedom (DOF) kinematics from EMG, output DOFs are usually estimated independently. In this study, we estimate finger joint kinematics from EMG signals using a multi-output convolved Gaussian Process (Multi-output Full GP) that considers dependencies between outputs. We show that estimation of finger joints from muscle activation inputs can be improved by using a regression model that considers inherent coupling or correlation within the hand and finger joints. We also provide a comparison of estimation performance between different regression methods, such as Artificial Neural Networks (ANN) which is used by many of the related studies. We show that using a multi-output GP gives improved estimation compared to multi-output ANN and even dedicated or independent regression models.

DISCOVERY OF COLLIMATED BIPOLAR OUTFLOWS IN THE PLANETARY NEBULA TH 2-A

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

Danehkar, A., E-mail: ashkbiz.danehkar@cfa.harvard.edu

We present a comprehensive set of spatially resolved, integral field spectroscopic mapping of the Wolf–Rayet planetary nebula Th 2-A, obtained using the Wide Field Spectrograph on the Australian National University 2.3-m telescope. Velocity-resolved Hα channel maps with a resolution of 20 km s{sup −1} allow us to identify different kinematic components within the nebula. This information is used to develop a three-dimensional morpho-kinematic model of the nebula using the interactive kinematic modeling tool shape. These results suggest that Th 2-A has a thick toroidal shell with an expansion velocity of 40 ± 10 km s{sup −1}, and a thin prolate ellipsoid withmore » collimated bipolar outflows toward its axis reaching velocities in the range of 70–110 km s{sup −1}, with respect to the central star. The relationship between its morpho-kinematic structure and peculiar [WO]-type stellar characteristics deserves further investigation.« less

Single and double spin asymmetries for deeply virtual Compton scattering measured with CLAS and a longitudinally polarized proton target

NASA Astrophysics Data System (ADS)

Pisano, S.; Biselli, A.; Niccolai, S.; Seder, E.; Guidal, M.; Mirazita, M.; Adhikari, K. P.; Adikaram, D.; Amaryan, M. J.; Anderson, M. D.; Anefalos Pereira, S.; Avakian, H.; Ball, J.; Battaglieri, M.; Batourine, V.; Bedlinskiy, I.; Bosted, P.; Briscoe, B.; Brock, J.; Brooks, W. K.; Burkert, V. D.; Carlin, C.; Carman, D. S.; Celentano, A.; Chandavar, S.; Charles, G.; Colaneri, L.; Cole, P. L.; Compton, N.; Contalbrigo, M.; Cortes, O.; Crabb, D. G.; Crede, V.; D'Angelo, A.; De Vita, R.; De Sanctis, E.; Deur, A.; Djalali, C.; Dupre, R.; Egiyan, H.; El Alaoui, A.; El Fassi, L.; Elouadrhiri, L.; Eugenio, P.; Fedotov, G.; Fegan, S.; Fersch, R.; Filippi, A.; Fleming, J. A.; Fradi, A.; Garillon, B.; Garçon, M.; Ghandilyan, Y.; Gilfoyle, G. P.; Giovanetti, K. L.; Girod, F. X.; Goetz, J. T.; Gohn, W.; Golovatch, E.; Gothe, R. W.; Griffioen, K. A.; Guo, L.; Hafidi, K.; Hanretty, C.; Hattawy, M.; Hicks, K.; Holtrop, M.; Hughes, S. M.; Ilieva, Y.; Ireland, D. G.; Ishkhanov, B. S.; Jenkins, D.; Jiang, X.; Jo, H. S.; Joo, K.; Joosten, S.; Keith, C. D.; Keller, D.; Kim, A.; Kim, W.; Klein, F. J.; Kubarovsky, V.; Kuhn, S. E.; Lenisa, P.; Livingston, K.; Lu, H. Y.; MacCormick, M.; MacGregor, I. J. D.; Mayer, M.; McKinnon, B.; Meekins, D. G.; Meyer, C. A.; Mokeev, V.; Montgomery, R. A.; Moody, C. I.; Munoz Camacho, C.; Nadel-Turonski, P.; Osipenko, M.; Ostrovidov, A. I.; Park, K.; Phelps, W.; Phillips, J. J.; Pogorelko, O.; Price, J. W.; Procureur, S.; Prok, Y.; Puckett, A. J. R.; Ripani, M.; Rizzo, A.; Rosner, G.; Rossi, P.; Roy, P.; Sabatié, F.; Salgado, C.; Schott, D.; Schumacher, R. A.; Skorodumina, I.; Smith, G. D.; Sober, D. I.; Sokhan, D.; Sparveris, N.; Stepanyan, S.; Stoler, P.; Strauch, S.; Sytnik, V.; Tian, Ye; Tkachenko, S.; Turisini, M.; Ungaro, M.; Voutier, E.; Walford, N. K.; Watts, D. P.; Wei, X.; Weinstein, L. B.; Wood, M. H.; Zachariou, N.; Zana, L.; Zhang, J.; Zhao, Z. W.; Zonta, I.; CLAS Collaboration

2015-03-01

Single-beam, single-target, and double spin asymmetries for hard exclusive electroproduction of a photon on the proton e →p →→e'p'γ are presented. The data were taken at Jefferson Lab using the CEBAF large acceptance spectrometer and a longitudinally polarized NH3 14 target. The three asymmetries were measured in 165 four-dimensional kinematic bins, covering the widest kinematic range ever explored simultaneously for beam and target-polarization observables in the valence quark region. The kinematic dependences of the obtained asymmetries are discussed and compared to the predictions of models of generalized parton distributions. The measurement of three DVCS spin observables at the same kinematic points allows a quasi-model-independent extraction of the imaginary parts of the H and H ˜ Compton form factors, which give insight into the electric and axial charge distributions of valence quarks in the proton.

Friction Stir Welding

NASA Technical Reports Server (NTRS)

Nunes, Arthur C., Jr.

2008-01-01

Friction stir welding (FSW) is a solid state welding process invented in 1991 at The Welding Institute in the United Kingdom. A weld is made in the FSW process by translating a rotating pin along a weld seam so as to stir the sides of the seam together. FSW avoids deleterious effects inherent in melting and promises to be an important welding process for any industries where welds of optimal quality are demanded. This article provides an introduction to the FSW process. The chief concern is the physical effect of the tool on the weld metal: how weld seam bonding takes place, what kind of weld structure is generated, potential problems, possible defects for example, and implications for process parameters and tool design. Weld properties are determined by structure, and the structure of friction stir welds is determined by the weld metal flow field in the vicinity of the weld tool. Metal flow in the vicinity of the weld tool is explained through a simple kinematic flow model that decomposes the flow field into three basic component flows: a uniform translation, a rotating solid cylinder, and a ring vortex encircling the tool. The flow components, superposed to construct the flow model, can be related to particular aspects of weld process parameters and tool design; they provide a bridge to an understanding of a complex-at-first-glance weld structure. Torques and forces are also discussed. Some simple mathematical models of structural aspects, torques, and forces are included.

Determination of the microenvironment-pH and charge and size characteristics of amino acids through their electrophoretic mobilities determined by CZE.

PubMed

Piaggio, Maria V; Peirotti, Marta B; Deiber, Julio A

2007-10-01

Effective electrophoretic mobility data of 20 amino acids reported in the literature are analyzed and interpreted through simple physicochemical models, which are able to provide estimates of coupled quantities like hydrodynamic shape factor, equivalent hydrodynamic radius (size), net charge, actual pK values of ionizing groups, partial charges of ionizing groups, hydration number, and pH near molecule (microenvironment-pH of the BGE). It is concluded that the modeling of the electrophoretic mobility of these analytes requires a careful consideration of hydrodynamic shape coupled to hydration. In the low range of pH studied here, distinctive hydrodynamic behaviors of amino acids are found. For instance, amino acids with basic polar and ionizing side chain remain with prolate shape for pH values varying from 1.99 to 3.2. It is evident that as the pH increases from low values, amino acids get higher hydrations as a consequence each analyte total charge also increases. This result is consistent with the monotonic increase of the hydrodynamic radius, which accounts for both the analyte and the quite immobilized water molecules defining the electrophoretic kinematical unit. It is also found that the actual or effective pK value of the alpha-carboxylic ionizing group of amino acids increases when the pH is changed from 1.99 to 3.2. Several limitations concerning the simple modeling of the electrophoretic mobility of amino acids are presented for further research.

New constraints on the active tectonic deformation of the Aegean

USGS Publications Warehouse

Nyst, M.; Thatcher, W.

2004-01-01

Site velocities from six separate Global Positioning System (GPS) networks comprising 374 stations have been referred to a single common Eurasia-fixed reference frame to map the velocity distribution over the entire Aegean. We use the GPS velocity field to identify deforming regions, rigid elements, and potential microplate boundaries, and build upon previous work by others to initially specify rigid elements in central Greece, the South Aegean, Anatolia, and the Sea of Marmara. We apply an iterative approach, tentatively defining microplate boundaries, determining best fit rigid rotations, examining misfit patterns, and revising the boundaries to achieve a better match between model and data. Short-term seismic cycle effects are minor contaminants of the data that we remove when necessary to isolate the long-term kinematics. We find that present day Aegean deformation is due to the relative motions of four microplates and straining in several isolated zones internal to them. The RMS misfit of model to data is about 2-sigma, very good when compared to the typical match between coseismic fault models and GPS data. The simplicity of the microplate description of the deformation and its good fit to the GPS data are surprising and were not anticipated by previous work, which had suggested either many rigid elements or broad deforming zones that comprise much of the Aegean region. The isolated deforming zones are also unexpected and cannot be explained by the kinematics of the microplate motions. Strain rates within internally deforming zones are extensional and range from 30 to 50 nanostrain/year (nstrain/year, 10-9/year), 1 to 2 orders of magnitude lower than rates observed across the major microplate boundaries. Lower strain rates may exist elsewhere withi the microplates but are only resolved in Anatolia, where extension of 13 ?? 4 nstrain/ year is required by the data. Our results suggest that despite the detailed complexity of active continental deformation revealed by seismicity, active faulting, fault geomorphology, and earthquake fault plane solutions, continental tectonics, at least in the Aegean, is to first order very similar to global plate tectonics and obeys the same simple kinematic rules. Although the widespread distribution of Aegean seismicity and active faulting might suggest a rather spatially homogeneous seismic hazard, the focusing of deformation near microplate boundaries implies the highest hazard is comparably localized.

A Morpho-kinematic and Spectroscopic study of Bipolar Planetary Nebulae

NASA Astrophysics Data System (ADS)

Clyne, Niall

2015-09-01

In this thesis, studies of the kinematic properties for a sample of Galactic bipolar planetary nebulae, based on optical and infrared observations, were performed using a morpho-kinematic code, optical and NIR diagnostic diagrams, and techniques using data analyses. The mechanisms that form complex bipolar planetary nebulae remain unclear, and their shapes can be generated either as a planetary or symbiotic nebula. The origin of the material ionised by the white dwarf is very different in these two scenarios, and it complicates the understanding of the morphologies of planetary nebulae. The physical properties, structure, and dynamics of the bipolar nebulae, MyCn 18, M 2-9, Mz 3, Hen 2-104, and Abell 14, are each investigated in detail with the aim of understanding their nature, shaping mechanisms, and evolutionary history. For MyCn 18, VLT infrared images, VLT ISAAC infrared spectra, and long-slit optical echelle spectra are used to investigate the inner and outer regions of the nebula. The morpho-kinematic modelling tool shape was used to firmly constrain the structure and kinematics of the source. A timescale analysis was used to help determine the kinematical age of the nebula and its main components. A spectroscopic study of MyCn 18's central region reveals the detailed make-up of its nebular composition. Molecular hydrogen, atomic helium, and Brackett gamma emission are detected in the central regions. ISAAC spectra from a slit position along the narrow waist of the nebula demonstrate that the ionised gas resides closer to the centre of the nebula than the molecular emission. A final reconstructed 3-D model of MyCn 18 was generated, providing kinematical information on the expansion velocity of its nebular components by means of position-velocity arrays (or observed long-slit spectra). A kinematical age of the nebula and its components were obtained using the position-velocity arrays and timescale analysis. For M 2-9, Mz 3, and Hen 2-104, long-slit optical echelle spectra were used to investigate their morpho-kinematics using shape. Near-infrared data, as well as optical spectra, were used to separate Galactic symbiotic-type nebulae from genuine planetary nebulae, which included M 2-9, Mz 3, Hen 2-104, and MyCn 18, by means of a 2MASS J-H/H-Ks diagram and a λ4363/Hγ vs. λ5007/Hβ diagnostic diagram, respectively. The best-fitted 3-D models M 2-9, Mz 3, and Hen 2-104, provide invaluable kinematical information on the expansion velocity of their nebular components by means of synthetic spectra (or synthetic position-velocity arrays). The observed spectra match up very well with the synthetic spectra for each model, thus showing that each model is tightly constrained both morphologically and kinematically. Kinematical ages of the different structures of M 2-9 and Mz 3 have also been determined. For Abell 14, a detailed study of its 3-D morphology and kinematics were performed using shape. Its morphology, which is bipolar in nature, shows an ellipsoidal-like shell that is expanding faster along its minor-axis than that to its major (symmetry) axis. The modelled inclination angle along the east-west direction is 22° ± 4° with respect to the plane of the sky. Two ring-like structures, with a radius of ∼11.5 arcsec, are found to the east and west regions of the nebula, and expanding with a de-projected velocity V = 17 ± 4 kms-1, whereas the eastern and western parts of the nebula itself are expanding with a de-projected velocity of V = 25 ± 4 kms-1. The overall conclusion is that, for each object, the kinematics, morphology, nebular evolution, and their nature, are better understood by means of morpho-kinematic and spectroscopic analyses. In the case of MyCn 18, the offset of its central star, its asymmetry, and its collimated knots, all point to a binary system. The engulfment and destruction of an exoplanet during the asymptotic giant branch phase may have been a key event in shaping MyCn 18 and generating of its hypersonic knotty outflow. As for M 2-9, Mz 3, and Hen 2-104, the expansion rates of their individual components are better constrained and fitted with a vector field to reveal their direction of motion. Both diagnostic diagrams show M 2-9 and Hen 2-104 to fall well within the category of having a symbiotic source, whereas Mz 3 borders the region of symbiotic and young planetary nebulae in the optical diagram but is located firmly in the symbiotic region of the NIR colour-colour diagram. With regards to Abell 14, it has been shown to be a highly-evolved bipolar nebula with a kinematical age of 19,400 ± 3480 yr for a distance of 4 kpc, and is a nebula with a very-low density, which further implies its evolved state.

Duplex development and abandonment during evolution of the Lewis thrust system, southern Glacier National Park, Montana

NASA Astrophysics Data System (ADS)

Yin, An; Kelty, Thomas K.; Davis, Gregory A.

1989-09-01

Geologic mapping in southern Glacier National Park, Montana, reveals the presence of two duplexes sharing the same floor thrust fault, the Lewis thrust. The westernmost duplex (Brave Dog Mountain) includes the low-angle Brave Dog roof fault and Elk Mountain imbricate system, and the easternmost (Rising Wolf Mountain) duplex includes the low-angle Rockwell roof fault and Mt. Henry imbricate system. The geometry of these duplexes suggests that they differ from previously described geometric-kinematic models for duplex development. Their low-angle roof faults were preexisting structures that were locally utilized as roof faults during the formation of the imbricate systems. Crosscutting of the Brave Dog fault by the Mt. Henry imbricate system indicates that the two duplexes formed at different times. The younger Rockwell-Mt. Henry duplex developed 20 km east of the older Brave Dog-Elk Mountain duplex; the roof fault of the former is at a higher structural level. Field relations confirm that the low-angle Rockwell fault existed across the southern Glacier Park area prior to localized formation of the Mt. Henry imbricate thrusts beneath it. These thrusts kinematically link the Rockwell and Lewis faults and may be analogous to P shears that form between two synchronously active faults bounding a simple shear system. The abandonment of one duplex and its replacement by another with a new and higher roof fault may have been caused by (1) warping of the older and lower Brave Dog roof fault during the formation of the imbricate system (Elk Mountain) beneath it, (2) an upward shifting of the highest level of a simple shear system in the Lewis plate to a new decollement level in subhorizontal belt strata (= the Rockwell fault) that lay above inclined strata within the first duplex, and (3) a reinitiation of P-shear development (= Mt. Henry imbricate faults) between the Lewis thrust and the subparallel, synkinematic Rockwell fault.