Key frame extraction based on spatiotemporal motion trajectory

NASA Astrophysics Data System (ADS)

Zhang, Yunzuo; Tao, Ran; Zhang, Feng

2015-05-01

Spatiotemporal motion trajectory can accurately reflect the changes of motion state. Motivated by this observation, this letter proposes a method for key frame extraction based on motion trajectory on the spatiotemporal slice. Different from the well-known motion related methods, the proposed method utilizes the inflexions of the motion trajectory on the spatiotemporal slice of all the moving objects. Experimental results show that although a similar performance is achieved in the single-objective screen, by comparing the proposed method to that achieved with the state-of-the-art methods based on motion energy or acceleration, the proposed method shows a better performance in a multiobjective video.

Spatio-Temporal Constrained Human Trajectory Generation from the PIR Motion Detector Sensor Network Data: A Geometric Algebra Approach

PubMed Central

Yu, Zhaoyuan; Yuan, Linwang; Luo, Wen; Feng, Linyao; Lv, Guonian

2015-01-01

Passive infrared (PIR) motion detectors, which can support long-term continuous observation, are widely used for human motion analysis. Extracting all possible trajectories from the PIR sensor networks is important. Because the PIR sensor does not log location and individual information, none of the existing methods can generate all possible human motion trajectories that satisfy various spatio-temporal constraints from the sensor activation log data. In this paper, a geometric algebra (GA)-based approach is developed to generate all possible human trajectories from the PIR sensor network data. Firstly, the representation of the geographical network, sensor activation response sequences and the human motion are represented as algebraic elements using GA. The human motion status of each sensor activation are labeled using the GA-based trajectory tracking. Then, a matrix multiplication approach is developed to dynamically generate the human trajectories according to the sensor activation log and the spatio-temporal constraints. The method is tested with the MERL motion database. Experiments show that our method can flexibly extract the major statistical pattern of the human motion. Compared with direct statistical analysis and tracklet graph method, our method can effectively extract all possible trajectories of the human motion, which makes it more accurate. Our method is also likely to provides a new way to filter other passive sensor log data in sensor networks. PMID:26729123

Spatio-Temporal Constrained Human Trajectory Generation from the PIR Motion Detector Sensor Network Data: A Geometric Algebra Approach.

PubMed

Yu, Zhaoyuan; Yuan, Linwang; Luo, Wen; Feng, Linyao; Lv, Guonian

2015-12-30

Passive infrared (PIR) motion detectors, which can support long-term continuous observation, are widely used for human motion analysis. Extracting all possible trajectories from the PIR sensor networks is important. Because the PIR sensor does not log location and individual information, none of the existing methods can generate all possible human motion trajectories that satisfy various spatio-temporal constraints from the sensor activation log data. In this paper, a geometric algebra (GA)-based approach is developed to generate all possible human trajectories from the PIR sensor network data. Firstly, the representation of the geographical network, sensor activation response sequences and the human motion are represented as algebraic elements using GA. The human motion status of each sensor activation are labeled using the GA-based trajectory tracking. Then, a matrix multiplication approach is developed to dynamically generate the human trajectories according to the sensor activation log and the spatio-temporal constraints. The method is tested with the MERL motion database. Experiments show that our method can flexibly extract the major statistical pattern of the human motion. Compared with direct statistical analysis and tracklet graph method, our method can effectively extract all possible trajectories of the human motion, which makes it more accurate. Our method is also likely to provides a new way to filter other passive sensor log data in sensor networks.

Optimal lunar soft landing trajectories using taboo evolutionary programming

NASA Astrophysics Data System (ADS)

Mutyalarao, M.; Raj, M. Xavier James

A safe lunar landing is a key factor to undertake an effective lunar exploration. Lunar lander consists of four phases such as launch phase, the earth-moon transfer phase, circumlunar phase and landing phase. The landing phase can be either hard landing or soft landing. Hard landing means the vehicle lands under the influence of gravity without any deceleration measures. However, soft landing reduces the vertical velocity of the vehicle before landing. Therefore, for the safety of the astronauts as well as the vehicle lunar soft landing with an acceptable velocity is very much essential. So it is important to design the optimal lunar soft landing trajectory with minimum fuel consumption. Optimization of Lunar Soft landing is a complex optimal control problem. In this paper, an analysis related to lunar soft landing from a parking orbit around Moon has been carried out. A two-dimensional trajectory optimization problem is attempted. The problem is complex due to the presence of system constraints. To solve the time-history of control parameters, the problem is converted into two point boundary value problem by using the maximum principle of Pontrygen. Taboo Evolutionary Programming (TEP) technique is a stochastic method developed in recent years and successfully implemented in several fields of research. It combines the features of taboo search and single-point mutation evolutionary programming. Identifying the best unknown parameters of the problem under consideration is the central idea for many space trajectory optimization problems. The TEP technique is used in the present methodology for the best estimation of initial unknown parameters by minimizing objective function interms of fuel requirements. The optimal estimation subsequently results into an optimal trajectory design of a module for soft landing on the Moon from a lunar parking orbit. Numerical simulations demonstrate that the proposed approach is highly efficient and it reduces the minimum fuel consumption. The results are compared with the available results in literature shows that the solution of present algorithm is better than some of the existing algorithms. Keywords: soft landing, trajectory optimization, evolutionary programming, control parameters, Pontrygen principle.

Entropic Movement Complexity Reflects Subjective Creativity Rankings of Visualized Hand Motion Trajectories

PubMed Central

Peng, Zhen; Braun, Daniel A.

2015-01-01

In a previous study we have shown that human motion trajectories can be characterized by translating continuous trajectories into symbol sequences with well-defined complexity measures. Here we test the hypothesis that the motion complexity individuals generate in their movements might be correlated to the degree of creativity assigned by a human observer to the visualized motion trajectories. We asked participants to generate 55 novel hand movement patterns in virtual reality, where each pattern had to be repeated 10 times in a row to ensure reproducibility. This allowed us to estimate a probability distribution over trajectories for each pattern. We assessed motion complexity not only by the previously proposed complexity measures on symbolic sequences, but we also propose two novel complexity measures that can be directly applied to the distributions over trajectories based on the frameworks of Gaussian Processes and Probabilistic Movement Primitives. In contrast to previous studies, these new methods allow computing complexities of individual motion patterns from very few sample trajectories. We compared the different complexity measures to how a group of independent jurors rank ordered the recorded motion trajectories according to their personal creativity judgment. We found three entropic complexity measures that correlate significantly with human creativity judgment and discuss differences between the measures. We also test whether these complexity measures correlate with individual creativity in divergent thinking tasks, but do not find any consistent correlation. Our results suggest that entropic complexity measures of hand motion may reveal domain-specific individual differences in kinesthetic creativity. PMID:26733896

Discrimination of curvature from motion during smooth pursuit eye movements and fixation.

PubMed

Ross, Nicholas M; Goettker, Alexander; Schütz, Alexander C; Braun, Doris I; Gegenfurtner, Karl R

2017-09-01

Smooth pursuit and motion perception have mainly been investigated with stimuli moving along linear trajectories. Here we studied the quality of pursuit movements to curved motion trajectories in human observers and examined whether the pursuit responses would be sensitive enough to discriminate various degrees of curvature. In a two-interval forced-choice task subjects pursued a Gaussian blob moving along a curved trajectory and then indicated in which interval the curve was flatter. We also measured discrimination thresholds for the same curvatures during fixation. Motion curvature had some specific effects on smooth pursuit properties: trajectories with larger amounts of curvature elicited lower open-loop acceleration, lower pursuit gain, and larger catch-up saccades compared with less curved trajectories. Initially, target motion curvatures were underestimated; however, ∼300 ms after pursuit onset pursuit responses closely matched the actual curved trajectory. We calculated perceptual thresholds for curvature discrimination, which were on the order of 1.5 degrees of visual angle (°) for a 7.9° curvature standard. Oculometric sensitivity to curvature discrimination based on the whole pursuit trajectory was quite similar to perceptual performance. Oculometric thresholds based on smaller time windows were higher. Thus smooth pursuit can quite accurately follow moving targets with curved trajectories, but temporal integration over longer periods is necessary to reach perceptual thresholds for curvature discrimination. NEW & NOTEWORTHY Even though motion trajectories in the real world are frequently curved, most studies of smooth pursuit and motion perception have investigated linear motion. We show that pursuit initially underestimates the curvature of target motion and is able to reproduce the target curvature ∼300 ms after pursuit onset. Temporal integration of target motion over longer periods is necessary for pursuit to reach the level of precision found in perceptual discrimination of curvature. Copyright © 2017 the American Physiological Society.

Flash trajectory imaging of target 3D motion

NASA Astrophysics Data System (ADS)

Wang, Xinwei; Zhou, Yan; Fan, Songtao; He, Jun; Liu, Yuliang

2011-03-01

We present a flash trajectory imaging technique which can directly obtain target trajectory and realize non-contact measurement of motion parameters by range-gated imaging and time delay integration. Range-gated imaging gives the range of targets and realizes silhouette detection which can directly extract targets from complex background and decrease the complexity of moving target image processing. Time delay integration increases information of one single frame of image so that one can directly gain the moving trajectory. In this paper, we have studied the algorithm about flash trajectory imaging and performed initial experiments which successfully obtained the trajectory of a falling badminton. Our research demonstrates that flash trajectory imaging is an effective approach to imaging target trajectory and can give motion parameters of moving targets.

Note on the displacement of a trajectory of hyperbolic motion in curved space-time

NASA Astrophysics Data System (ADS)

Krikorian, R. A.

2012-04-01

The object of this note is to present a physical application of the theory of the infinitesimal deformations or displacements of curves developed by Yano using the concept of Lie derivative. It is shown that an infinitesimal point transformation which carries a given trajectory of hyperbolic motion into a trajectory of the same type, and preserves the affine parametrization of the trajectory, defines a homothetic motion.

Motion control of the rabbit ankle joint with a flat interface nerve electrode.

PubMed

Park, Hyun-Joo; Durand, Dominique M

2015-12-01

A flat interface nerve electrode (FINE) has been shown to improve fascicular and subfascicular selectivity. A recently developed novel control algorithm for FINE was applied to motion control of the rabbit ankle. A 14-contact FINE was placed on the rabbit sciatic nerve (n = 8), and ankle joint motion was controlled for sinusoidal trajectories and filtered random trajectories. To this end, a real-time controller was implemented with a multiple-channel current stimulus isolator. The performance test results showed good tracking performance of rabbit ankle joint motion for filtered random trajectories and sinusoidal trajectories (0.5 Hz and 1.0 Hz) with <10% average root-mean-square (RMS) tracking error, whereas the average range of ankle joint motion was between -20.0 ± 9.3° and 18.1 ± 8.8°. The proposed control algorithm enables the use of a multiple-contact nerve electrode for motion trajectory tracking control of musculoskeletal systems. © 2015 Wiley Periodicals, Inc.

The Effect of Soft and Rigid Cervical Collars on Head and Neck Immobilization in Healthy Subjects.

PubMed

Barati, Kourosh; Arazpour, Mokhtar; Vameghi, Roshanak; Abdoli, Ali; Farmani, Farzad

2017-06-01

Whiplash injury is a prevalent and often destructive injury of the cervical column, which can lead to serious neck pain. Many approaches have been suggested for the treatment of whiplash injury, including anti-inflammatory drugs, manipulation, supervised exercise, and cervical collars. Cervical collars are generally divided into two groups: soft and rigid collars. The present study aimed to compare the effect of soft and rigid cervical collars on immobilizing head and neck motion. Many studies have investigated the effect of collars on neck motion. Rigid collars have been shown to provide more immobilization in the sagittal and transverse planes compared with soft collars. However, according to some studies, soft and rigid collars provide the same range of motion in the frontal plane. Twenty-nine healthy subjects aged 18-26 participated in this study. Data were collected using a three-dimensional motion analysis system and six infrared cameras. Eight markers, weighing 4.4 g and thickened 2 cm 2 were used to record kinematic data. According to the normality of the data, a paired t -test was used for statistical analyses. The level of significance was set at α=0.01. All motion significantly decreased when subjects used soft collars ( p <0.01). According to the obtained data, flexion and lateral rotation experienced the maximum (39%) and minimum (11%) immobilization in all six motions using soft collars. Rigid collars caused maximum immobilization in flexion (59%) and minimum immobilization in the lateral rotation (18%) and limited all motion much more than the soft collar. This study showed that different cervical collars have different effects on neck motion. Rigid and soft cervical collars used in the present study limited the neck motion in both directions. Rigid collars contributed to significantly more immobilization in all directions.

Processing Motion Signals in Complex Environments

NASA Technical Reports Server (NTRS)

Verghese, Preeti

2000-01-01

Motion information is critical for human locomotion and scene segmentation. Currently we have excellent neurophysiological models that are able to predict human detection and discrimination of local signals. Local motion signals are insufficient by themselves to guide human locomotion and to provide information about depth, object boundaries and surface structure. My research is aimed at understanding the mechanisms underlying the combination of motion signals across space and time. A target moving on an extended trajectory amidst noise dots in Brownian motion is much more detectable than the sum of signals generated by independent motion energy units responding to the trajectory segments. This result suggests that facilitation occurs between motion units tuned to similar directions, lying along the trajectory path. We investigated whether the interaction between local motion units along the motion direction is mediated by contrast. One possibility is that contrast-driven signals from motion units early in the trajectory sequence are added to signals in subsequent units. If this were the case, then units later in the sequence would have a larger signal than those earlier in the sequence. To test this possibility, we compared contrast discrimination thresholds for the first and third patches of a triplet of sequentially presented Gabor patches, aligned along the motion direction. According to this simple additive model, contrast increment thresholds for the third patch should be higher than thresholds for the first patch.The lack of a measurable effect on contrast thresholds for these various manipulations suggests that the pooling of signals along a trajectory is not mediated by contrast-driven signals. Instead, these results are consistent with models that propose that the facilitation of trajectory signals is achieved by a second-level network that chooses the strongest local motion signals and combines them if they occur in a spatio-temporal sequence consistent with a trajectory. These results parallel the lack of increased apparent contrast along a static contour made up of similarly oriented elements.

Autonomous optimal trajectory design employing convex optimization for powered descent on an asteroid

NASA Astrophysics Data System (ADS)

Pinson, Robin Marie

Mission proposals that land spacecraft on asteroids are becoming increasingly popular. However, in order to have a successful mission the spacecraft must reliably and softly land at the intended landing site with pinpoint precision. The problem under investigation is how to design a propellant (fuel) optimal powered descent trajectory that can be quickly computed onboard the spacecraft, without interaction from ground control. The goal is to autonomously design the optimal powered descent trajectory onboard the spacecraft immediately prior to the descent burn for use during the burn. Compared to a planetary powered landing problem, the challenges that arise from designing an asteroid powered descent trajectory include complicated nonlinear gravity fields, small rotating bodies, and low thrust vehicles. The nonlinear gravity fields cannot be represented by a constant gravity model nor a Newtonian model. The trajectory design algorithm needs to be robust and efficient to guarantee a designed trajectory and complete the calculations in a reasonable time frame. This research investigates the following questions: Can convex optimization be used to design the minimum propellant powered descent trajectory for a soft landing on an asteroid? Is this method robust and reliable to allow autonomy onboard the spacecraft without interaction from ground control? This research designed a convex optimization based method that rapidly generates the propellant optimal asteroid powered descent trajectory. The solution to the convex optimization problem is the thrust magnitude and direction, which designs and determines the trajectory. The propellant optimal problem was formulated as a second order cone program, a subset of convex optimization, through relaxation techniques by including a slack variable, change of variables, and incorporation of the successive solution method. Convex optimization solvers, especially second order cone programs, are robust, reliable, and are guaranteed to find the global minimum provided one exists. In addition, an outer optimization loop using Brent's method determines the optimal flight time corresponding to the minimum propellant usage over all flight times. Inclusion of additional trajectory constraints, solely vertical motion near the landing site and glide slope, were evaluated. Through a theoretical proof involving the Minimum Principle from Optimal Control Theory and the Karush-Kuhn-Tucker conditions it was shown that the relaxed problem is identical to the original problem at the minimum point. Therefore, the optimal solution of the relaxed problem is an optimal solution of the original problem, referred to as lossless convexification. A key finding is that this holds for all levels of gravity model fidelity. The designed thrust magnitude profiles were the bang-bang predicted by Optimal Control Theory. The first high fidelity gravity model employed was the 2x2 spherical harmonics model assuming a perfect triaxial ellipsoid and placement of the coordinate frame at the asteroid's center of mass and aligned with the semi-major axes. The spherical harmonics model is not valid inside the Brillouin sphere and this becomes relevant for irregularly shaped asteroids. Then, a higher fidelity model was implemented combining the 4x4 spherical harmonics gravity model with the interior spherical Bessel gravity model. All gravitational terms in the equations of motion are evaluated with the position vector from the previous iteration, creating the successive solution method. Methodology success was shown by applying the algorithm to three triaxial ellipsoidal asteroids with four different rotation speeds using the 2x2 gravity model. Finally, the algorithm was tested using the irregularly shaped asteroid, Castalia.

Attraction of posture and motion-trajectory elements of conspecific biological motion in medaka fish.

PubMed

Shibai, Atsushi; Arimoto, Tsunehiro; Yoshinaga, Tsukasa; Tsuchizawa, Yuta; Khureltulga, Dashdavaa; Brown, Zuben P; Kakizuka, Taishi; Hosoda, Kazufumi

2018-06-05

Visual recognition of conspecifics is necessary for a wide range of social behaviours in many animals. Medaka (Japanese rice fish), a commonly used model organism, are known to be attracted by the biological motion of conspecifics. However, biological motion is a composite of both body-shape motion and entire-field motion trajectory (i.e., posture or motion-trajectory elements, respectively), and it has not been revealed which element mediates the attractiveness. Here, we show that either posture or motion-trajectory elements alone can attract medaka. We decomposed biological motion of the medaka into the two elements and synthesized visual stimuli that contain both, either, or none of the two elements. We found that medaka were attracted by visual stimuli that contain at least one of the two elements. In the context of other known static visual information regarding the medaka, the potential multiplicity of information regarding conspecific recognition has further accumulated. Our strategy of decomposing biological motion into these partial elements is applicable to other animals, and further studies using this technique will enhance the basic understanding of visual recognition of conspecifics.

Dual Sticky Hierarchical Dirichlet Process Hidden Markov Model and Its Application to Natural Language Description of Motions.

PubMed

Hu, Weiming; Tian, Guodong; Kang, Yongxin; Yuan, Chunfeng; Maybank, Stephen

2017-09-25

In this paper, a new nonparametric Bayesian model called the dual sticky hierarchical Dirichlet process hidden Markov model (HDP-HMM) is proposed for mining activities from a collection of time series data such as trajectories. All the time series data are clustered. Each cluster of time series data, corresponding to a motion pattern, is modeled by an HMM. Our model postulates a set of HMMs that share a common set of states (topics in an analogy with topic models for document processing), but have unique transition distributions. For the application to motion trajectory modeling, topics correspond to motion activities. The learnt topics are clustered into atomic activities which are assigned predicates. We propose a Bayesian inference method to decompose a given trajectory into a sequence of atomic activities. On combining the learnt sources and sinks, semantic motion regions, and the learnt sequence of atomic activities, the action represented by the trajectory can be described in natural language in as automatic a way as possible. The effectiveness of our dual sticky HDP-HMM is validated on several trajectory datasets. The effectiveness of the natural language descriptions for motions is demonstrated on the vehicle trajectories extracted from a traffic scene.

An optimal control strategy for two-dimensional motion camouflage with non-holonimic constraints.

PubMed

Rañó, Iñaki

2012-07-01

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

WE-G-BRD-02: Characterizing Information Loss in a Sparse-Sampling-Based Dynamic MRI Sequence (k-T BLAST) for Lung Motion Monitoring

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

Arai, T; Nofiele, J; Sawant, A

2015-06-15

Purpose: Rapid MRI is an attractive, non-ionizing tool for soft-tissue-based monitoring of respiratory motion in thoracic and abdominal radiotherapy. One big challenge is to achieve high temporal resolution while maintaining adequate spatial resolution. K-t BLAST, sparse-sampling and reconstruction sequence based on a-priori information represents a potential solution. In this work, we investigated how much “true” motion information is lost as a-priori information is progressively added for faster imaging. Methods: Lung tumor motions in superior-inferior direction obtained from ten individuals were replayed into an in-house, MRI-compatible, programmable motion platform (50Hz refresh and 100microns precision). Six water-filled 1.5ml tubes were placed onmore » it as fiducial markers. Dynamic marker motion within a coronal slice (FOV: 32×32cm{sup 2}, resolution: 0.67×0.67mm{sup 2}, slice-thickness: 5mm) was collected on 3.0T body scanner (Ingenia, Philips). Balanced-FFE (TE/TR: 1.3ms/2.5ms, flip-angle: 40degrees) was used in conjunction with k-t BLAST. Each motion was repeated four times as four k-t acceleration factors 1, 2, 5, and 16 (corresponding frame rates were 2.5, 4.7, 9.8, and 19.1Hz, respectively) were compared. For each image set, one average motion trajectory was computed from six marker displacements. Root mean square error (RMS) was used as a metric of spatial accuracy where measured trajectories were compared to original data. Results: Tumor motion was approximately 10mm. The mean(standard deviation) of respiratory rates over ten patients was 0.28(0.06)Hz. Cumulative distributions of tumor motion frequency spectra (0–25Hz) obtained from the patients showed that 90% of motion fell on 3.88Hz or less. Therefore, the frame rate must be a double or higher for accurate monitoring. The RMS errors over patients for k-t factors of 1, 2, 5, and 16 were.10(.04),.17(.04), .21(.06) and.26(.06)mm, respectively. Conclusions: K-t factor of 5 or higher can cover the high frequency component of tumor respiratory motion, while the estimated error of spatial accuracy was approximately.2mm.« less

Different motion cues are used to estimate time-to-arrival for frontoparallel and looming trajectories

PubMed Central

Calabro, Finnegan J.; Beardsley, Scott A.; Vaina, Lucia M.

2012-01-01

Estimation of time-to-arrival for moving objects is critical to obstacle interception and avoidance, as well as to timing actions such as reaching and grasping moving objects. The source of motion information that conveys arrival time varies with the trajectory of the object raising the question of whether multiple context-dependent mechanisms are involved in this computation. To address this question we conducted a series of psychophysical studies to measure observers’ performance on time-to-arrival estimation when object trajectory was specified by angular motion (“gap closure” trajectories in the frontoparallel plane), looming (colliding trajectories, TTC) or both (passage courses, TTP). We measured performance of time-to-arrival judgments in the presence of irrelevant motion, in which a perpendicular motion vector was added to the object trajectory. Data were compared to models of expected performance based on the use of different components of optical information. Our results demonstrate that for gap closure, performance depended only on the angular motion, whereas for TTC and TTP, both angular and looming motion affected performance. This dissociation of inputs suggests that gap closures are mediated by a separate mechanism than that used for the detection of time-to-collision and time-to-passage. We show that existing models of TTC and TTP estimation make systematic errors in predicting subject performance, and suggest that a model which weights motion cues by their relative time-to-arrival provides a better account of performance. PMID:22056519

The Mechanism for Processing Random-Dot Motion at Various Speeds in Early Visual Cortices

PubMed Central

An, Xu; Gong, Hongliang; McLoughlin, Niall; Yang, Yupeng; Wang, Wei

2014-01-01

All moving objects generate sequential retinotopic activations representing a series of discrete locations in space and time (motion trajectory). How direction-selective neurons in mammalian early visual cortices process motion trajectory remains to be clarified. Using single-cell recording and optical imaging of intrinsic signals along with mathematical simulation, we studied response properties of cat visual areas 17 and 18 to random dots moving at various speeds. We found that, the motion trajectory at low speed was encoded primarily as a direction signal by groups of neurons preferring that motion direction. Above certain transition speeds, the motion trajectory is perceived as a spatial orientation representing the motion axis of the moving dots. In both areas studied, above these speeds, other groups of direction-selective neurons with perpendicular direction preferences were activated to encode the motion trajectory as motion-axis information. This applied to both simple and complex neurons. The average transition speed for switching between encoding motion direction and axis was about 31°/s in area 18 and 15°/s in area 17. A spatio-temporal energy model predicted the transition speeds accurately in both areas, but not the direction-selective indexes to random-dot stimuli in area 18. In addition, above transition speeds, the change of direction preferences of population responses recorded by optical imaging can be revealed using vector maximum but not vector summation method. Together, this combined processing of motion direction and axis by neurons with orthogonal direction preferences associated with speed may serve as a common principle of early visual motion processing. PMID:24682033

A unified motion planning approach for redundant and non-redundant manipulators with actuator constraints. Ph.D. Thesis Final Report

NASA Technical Reports Server (NTRS)

Chung, Ching-Luan

1990-01-01

The term trajectory planning has been used to refer to the process of determining the time history of joint trajectory of each joint variable corresponding to a specified trajectory of the end effector. The trajectory planning problem was solved as a purely kinematic problem. The drawback is that there is no guarantee that the actuators can deliver the effort necessary to track the planned trajectory. To overcome this limitation, a motion planning approach which addresses the kinematics, dynamics, and feedback control of a manipulator in a unified framework was developed. Actuator constraints are taken into account explicitly and a priori in the synthesis of the feedback control law. Therefore the result of applying the motion planning approach described is not only the determination of the entire set of joint trajectories but also a complete specification of the feedback control strategy which would yield these joint trajectories without violating actuator constraints. The effectiveness of the unified motion planning approach is demonstrated on two problems which are of practical interest in manipulator robotics.

Bayesian Decision Tree for the Classification of the Mode of Motion in Single-Molecule Trajectories

PubMed Central

Türkcan, Silvan; Masson, Jean-Baptiste

2013-01-01

Membrane proteins move in heterogeneous environments with spatially (sometimes temporally) varying friction and with biochemical interactions with various partners. It is important to reliably distinguish different modes of motion to improve our knowledge of the membrane architecture and to understand the nature of interactions between membrane proteins and their environments. Here, we present an analysis technique for single molecule tracking (SMT) trajectories that can determine the preferred model of motion that best matches observed trajectories. The method is based on Bayesian inference to calculate the posteriori probability of an observed trajectory according to a certain model. Information theory criteria, such as the Bayesian information criterion (BIC), the Akaike information criterion (AIC), and modified AIC (AICc), are used to select the preferred model. The considered group of models includes free Brownian motion, and confined motion in 2nd or 4th order potentials. We determine the best information criteria for classifying trajectories. We tested its limits through simulations matching large sets of experimental conditions and we built a decision tree. This decision tree first uses the BIC to distinguish between free Brownian motion and confined motion. In a second step, it classifies the confining potential further using the AIC. We apply the method to experimental Clostridium Perfingens -toxin (CPT) receptor trajectories to show that these receptors are confined by a spring-like potential. An adaptation of this technique was applied on a sliding window in the temporal dimension along the trajectory. We applied this adaptation to experimental CPT trajectories that lose confinement due to disaggregation of confining domains. This new technique adds another dimension to the discussion of SMT data. The mode of motion of a receptor might hold more biologically relevant information than the diffusion coefficient or domain size and may be a better tool to classify and compare different SMT experiments. PMID:24376584

Four-Dimensional Magnetic Resonance Imaging With 3-Dimensional Radial Sampling and Self-Gating–Based K-Space Sorting: Early Clinical Experience on Pancreatic Cancer Patients

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

Yang, Wensha, E-mail: wensha.yang@cshs.org; Fan, Zhaoyang; Tuli, Richard

2015-12-01

Purpose: To apply a novel self-gating k-space sorted 4-dimensional MRI (SG-KS-4D-MRI) method to overcome limitations due to anisotropic resolution and rebinning artifacts and to monitor pancreatic tumor motion. Methods and Materials: Ten patients were imaged using 4D-CT, cine 2-dimensional MRI (2D-MRI), and the SG-KS-4D-MRI, which is a spoiled gradient recalled echo sequence with 3-dimensional radial-sampling k-space projections and 1-dimensional projection-based self-gating. Tumor volumes were defined on all phases in both 4D-MRI and 4D-CT and then compared. Results: An isotropic resolution of 1.56 mm was achieved in the SG-KS-4D-MRI images, which showed superior soft-tissue contrast to 4D-CT and appeared to be free of stitchingmore » artifacts. The tumor motion trajectory cross-correlations (mean ± SD) between SG-KS-4D-MRI and cine 2D-MRI in superior–inferior, anterior–posterior, and medial–lateral directions were 0.93 ± 0.03, 0.83 ± 0.10, and 0.74 ± 0.18, respectively. The tumor motion trajectories cross-correlations between SG-KS-4D-MRI and 4D-CT in superior–inferior, anterior–posterior, and medial–lateral directions were 0.91 ± 0.06, 0.72 ± 0.16, and 0.44 ± 0.24, respectively. The average standard deviation of gross tumor volume calculated from the 10 breathing phases was 0.81 cm{sup 3} and 1.02 cm{sup 3} for SG-KS-4D-MRI and 4D-CT, respectively (P=.012). Conclusions: A novel SG-KS-4D-MRI acquisition method capable of reconstructing rebinning artifact–free, high-resolution 4D-MRI images was used to quantify pancreas tumor motion. The resultant pancreatic tumor motion trajectories agreed well with 2D-cine-MRI and 4D-CT. The pancreatic tumor volumes shown in the different phases for the SG-KS-4D-MRI were statistically significantly more consistent than those in the 4D-CT.« less

Representing and selecting vibrational angular momentum states for quasiclassical trajectory chemical dynamics simulations.

PubMed

Lourderaj, Upakarasamy; Martínez-Núñez, Emilio; Hase, William L

2007-10-18

Linear molecules with degenerate bending modes have states, which may be represented by the quantum numbers N and L. The former gives the total energy for these modes and the latter identifies their vibrational angular momentum jz. In this work, the classical mechanical analog of the N,L-quantum states is reviewed, and an algorithm is presented for selecting initial conditions for these states in quasiclassical trajectory chemical dynamics simulations. The algorithm is illustrated by choosing initial conditions for the N = 3 and L = 3 and 1 states of CO2. Applications of this algorithm are considered for initial conditions without and with zero-point energy (zpe) included in the vibrational angular momentum states and the C-O stretching modes. The O-atom motions in the x,y-plane are determined for these states from classical trajectories in Cartesian coordinates and are compared with the motion predicted by the normal-mode model. They are only in agreement for the N = L = 3 state without vibrational angular momentum zpe. For the remaining states, the Cartesian O-atom motions are considerably different from the elliptical motion predicted by the normal-mode model. This arises from bend-stretch coupling, including centrifugal distortion, in the Cartesian trajectories, which results in tubular instead of elliptical motion. Including zpe in the C-O stretch modes introduces considerable complexity into the O-atom motions for the vibrational angular momentum states. The short-time O-atom motions for these trajectories are highly irregular and do not appear to have any identifiable characteristics. However, the O-atom motions for trajectories integrated for substantially longer period of times acquire unique properties. With C-O stretch zpe included, the long-time O-atom motion becomes tubular for trajectories integrated to approximately 14 ps for the L = 3 states and to approximately 44 ps for the L = 1 states.

Sample-Based Motion Planning in High-Dimensional and Differentially-Constrained Systems

DTIC Science & Technology

2010-02-01

Reachable Set . . . 88 6-1 LittleDog Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94 6-2 Dog bounding up stairs ...planning algorithm implemented on LittleDog, a quadruped robot . The motion planning algorithm successfully planned bounding trajectories over extremely...a motion planning algorithm implemented on LittleDog, a quadruped robot . The motion planning algorithm successfully planned bounding trajectories

Statistical learning of movement.

PubMed

Ongchoco, Joan Danielle Khonghun; Uddenberg, Stefan; Chun, Marvin M

2016-12-01

The environment is dynamic, but objects move in predictable and characteristic ways, whether they are a dancer in motion, or a bee buzzing around in flight. Sequences of movement are comprised of simpler motion trajectory elements chained together. But how do we know where one trajectory element ends and another begins, much like we parse words from continuous streams of speech? As a novel test of statistical learning, we explored the ability to parse continuous movement sequences into simpler element trajectories. Across four experiments, we showed that people can robustly parse such sequences from a continuous stream of trajectories under increasingly stringent tests of segmentation ability and statistical learning. Observers viewed a single dot as it moved along simple sequences of paths, and were later able to discriminate these sequences from novel and partial ones shown at test. Observers demonstrated this ability when there were potentially helpful trajectory-segmentation cues such as a common origin for all movements (Experiment 1); when the dot's motions were entirely continuous and unconstrained (Experiment 2); when sequences were tested against partial sequences as a more stringent test of statistical learning (Experiment 3); and finally, even when the element trajectories were in fact pairs of trajectories, so that abrupt directional changes in the dot's motion could no longer signal inter-trajectory boundaries (Experiment 4). These results suggest that observers can automatically extract regularities in movement - an ability that may underpin our capacity to learn more complex biological motions, as in sport or dance.

Analytical evaluation of the trajectories of hypersonic projectiles launched into space

NASA Astrophysics Data System (ADS)

Stutz, John David

An equation of motion has been derived that may be solved using simple analytic functions which describes the motion of a projectile launched from the surface of the Earth into space accounting for both Newtonian gravity and aerodynamic drag. The equation of motion is based upon the Kepler equation of motion differential and variable transformations with the inclusion of a decaying angular momentum driving function and appropriate simplifying assumptions. The new equation of motion is first compared to various numerical and analytical trajectory approximations in a non-rotating Earth reference frame. The Modified Kepler solution is then corrected to include Earth rotation and compared to a rotating Earth simulation. Finally, the modified equation of motion is used to predict the apogee and trajectory of projectiles launched into space by the High Altitude Research Project from 1961 to 1967. The new equation of motion allows for the rapid equalization of projectile trajectories and intercept solutions that may be used to calculate firing solutions to enable ground launched projectiles to intercept or rendezvous with targets in low Earth orbit such as ballistic missiles.

A Study of Shuttlecock's Trajectory in Badminton.

PubMed

Chen, Lung-Ming; Pan, Yi-Hsiang; Chen, Yung-Jen

2009-01-01

The main purpose of this study was to construct and validate a motion equation for the flight of the badminton and to find the relationship between the air resistance force and a shuttlecock's speed. This research method was based on motion laws of aerodynamics. It applied aerodynamic theories to construct motion equation of a shuttlecock's flying trajectory under the effects of gravitational force and air resistance force. The result showed that the motion equation of a shuttlecock's flight trajectory could be constructed by determining the terminal velocity. The predicted shuttlecock trajectory fitted the measured data fairly well. The results also revealed that the drag force was proportional to the square of a shuttlecock velocity. Furthermore, the angle and strength of a stroke could influence trajectory. Finally, this study suggested that we could use a scientific approach to measure a shuttlecock's velocity objectively when testing the quality of shuttlecocks. And could be used to replace the traditional subjective method of the Badminton World Federation based on players' striking shuttlecocks, as well as applying research findings to improve professional knowledge of badminton player training. Key pointsThe motion equation of a shuttlecock's flying trajectory could be constructed by determining the terminal velocity in aerodynamics.Air drag force is proportional to the square of a shuttlecock velocity. Furthermore, the angle and strength of a stroke could influence trajectory.

Optimal trajectories for the aeroassisted flight experiment, 1988-89

NASA Technical Reports Server (NTRS)

Miele, A.

1989-01-01

Research is summarized on optimal trajectories for the aeroassisted flight experiment, performed by the Aero-Astronautics Group of Rice University during the period 1988 through 1989. This research includes the following topics: (1) equations of motion in an Earth-fixed system; (2) equations of motion in an inertial system; (3) formultion of the optimal trajectory problem; (4) results on the optimal trajectory problem; and (5) guidance implications.

Projectile Motion on an Inclined Misty Surface: I. Capturing and Analysing the Trajectory

ERIC Educational Resources Information Center

Ho, S. Y.; Foong, S. K.; Lim, C. H.; Lim, C. C.; Lin, K.; Kuppan, L.

2009-01-01

Projectile motion is usually the first non-uniform two-dimensional motion that students will encounter in a pre-university physics course. In this article, we introduce a novel technique for capturing the trajectory of projectile motion on an inclined Perspex plane. This is achieved by coating the Perspex with a thin layer of fine water droplets…

Nonrigid Autofocus Motion Correction for Coronary MR Angiography with a 3D Cones Trajectory

PubMed Central

Ingle, R. Reeve; Wu, Holden H.; Addy, Nii Okai; Cheng, Joseph Y.; Yang, Phillip C.; Hu, Bob S.; Nishimura, Dwight G.

2014-01-01

Purpose: To implement a nonrigid autofocus motion correction technique to improve respiratory motion correction of free-breathing whole-heart coronary magnetic resonance angiography (CMRA) acquisitions using an image-navigated 3D cones sequence. Methods: 2D image navigators acquired every heartbeat are used to measure superior-inferior, anterior-posterior, and right-left translation of the heart during a free-breathing CMRA scan using a 3D cones readout trajectory. Various tidal respiratory motion patterns are modeled by independently scaling the three measured displacement trajectories. These scaled motion trajectories are used for 3D translational compensation of the acquired data, and a bank of motion-compensated images is reconstructed. From this bank, a gradient entropy focusing metric is used to generate a nonrigid motion-corrected image on a pixel-by-pixel basis. The performance of the autofocus motion correction technique is compared with rigid-body translational correction and no correction in phantom, volunteer, and patient studies. Results: Nonrigid autofocus motion correction yields improved image quality compared to rigid-body-corrected images and uncorrected images. Quantitative vessel sharpness measurements indicate superiority of the proposed technique in 14 out of 15 coronary segments from three patient and two volunteer studies. Conclusion: The proposed technique corrects nonrigid motion artifacts in free-breathing 3D cones acquisitions, improving image quality compared to rigid-body motion correction. PMID:24006292

Collective Dynamics of Periplasmic Glutamine Binding Protein upon Domain Closure

PubMed Central

Loeffler, Hannes H.; Kitao, Akio

2009-01-01

The glutamine binding protein is a vital component of the associated ATP binding cassette transport systems responsible for the uptake of glutamine into the cell. We have investigated the global movements of this protein by molecular dynamics simulations and principal component analysis (PCA). We confirm that the most dominant mode corresponds to the biological function of the protein, i.e., a hinge-type motion upon ligand binding. The closure itself was directly observed from two independent trajectories whereby PCA was used to elucidate the nature of this closing reaction. Two intermediary states are identified and described in detail. The ligand binding induces the structural change of the hinge regions from a discontinuous β-sheet to a continuous one, which also enhances softness of the hinge and modifies the direction of hinge motion to enable closing. We also investigated the convergence behavior of PCA modes, which were found to converge rather quickly when the associated magnitudes of the eigenvalues are well separated. PMID:19883597

An externally and internally deformable, programmable lung motion phantom

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

Cheung, Yam; Sawant, Amit, E-mail: amit.sawant@utsouthwestern.edu

Purpose: Most clinically deployed strategies for respiratory motion management in lung radiotherapy (e.g., gating and tracking) use external markers that serve as surrogates for tumor motion. However, typical lung phantoms used to validate these strategies are based on a rigid exterior and a rigid or a deformable-interior. Such designs do not adequately represent respiration because the thoracic anatomy deforms internally as well as externally. In order to create a closer approximation of respiratory motion, the authors describe the construction and experimental testing of an externally as well as internally deformable, programmable lung phantom. Methods: The outer shell of a commerciallymore » available lung phantom (RS-1500, RSD, Inc.) was used. The shell consists of a chest cavity with a flexible anterior surface, and embedded vertebrae, rib-cage and sternum. A custom-made insert was designed using a piece of natural latex foam block. A motion platform was programmed with sinusoidal and ten patient-recorded lung tumor trajectories. The platform was used to drive a rigid foam “diaphragm” that compressed/decompressed the phantom interior. Experimental characterization comprised of determining the reproducibility and the external–internal correlation of external and internal marker trajectories extracted from kV x-ray fluoroscopy. Experiments were conducted to illustrate three example applications of the phantom—(i) validating the geometric accuracy of the VisionRT surface photogrammetry system; (ii) validating an image registration tool, NiftyReg; and (iii) quantifying the geometric error due to irregular motion in four-dimensional computed tomography (4DCT). Results: The phantom correctly reproduced sinusoidal and patient-derived motion, as well as realistic respiratory motion-related effects such as hysteresis. The reproducibility of marker trajectories over multiple runs for sinusoidal as well as patient traces, as characterized by fluoroscopy, was within 0.25 mm RMS error. The motion trajectories of internal and external radio-opaque markers as measured by fluoroscopy were found to be highly correlated (R > 0.95). Using the phantom, it was demonstrated that the motion trajectories of regions-of-interest on the surface as measured by VisionRT are highly consistent with corresponding fluoroscopically acquired surface marker trajectories, with RMS errors within 0.26 mm. Furthermore, it was shown that the trajectories of external and internal marker trajectories derived from NiftyReg deformation vector fields were within 1 mm root mean square errors comparing to trajectories obtained by segmenting markers from individual fluoro frames. Finally, it was shown that while 4DCT can be used to localize internal markers for sinusoidal motion with reasonable accuracy, the localization error increases significantly (by a factor of ∼2) in the presence of cycle-to-cycle variations that are observed in patient-derived respiratory motion. Conclusions: The authors have developed a realistic externally and internally deformable, programmable lung phantom that will serve as a valuable tool for clinical and investigational motion management studies in thoracic and abdominal radiation therapies.« less

Nonholonomic Closed-loop Velocity Control of a Soft-tethered Magnetic Capsule Endoscope.

PubMed

Taddese, Addisu Z; Slawinski, Piotr R; Obstein, Keith L; Valdastri, Pietro

2016-10-01

In this paper, we demonstrate velocity-level closed-loop control of a tethered magnetic capsule endoscope that is actuated via serial manipulator with a permanent magnet at its end-effector. Closed-loop control (2 degrees-of-freedom in position, and 2 in orientation) is made possible with the use of a real-time magnetic localization algorithm that utilizes the actuating magnetic field and thus does not require additional hardware. Velocity control is implemented to create smooth motion that is clinically necessary for colorectal cancer diagnostics. Our control algorithm generates a spline that passes through a set of input points that roughly defines the shape of the desired trajectory. The velocity controller acts in the tangential direction to the path, while a secondary position controller enforces a nonholonomic constraint on capsule motion. A soft nonholonomic constraint is naturally imposed by the lumen while we enforce a strict constraint for both more accurate estimation of tether disturbance and hypothesized intuitiveness for a clinician's teleoperation. An integrating disturbance force estimation control term is introduced to predict the disturbance of the tether. This paper presents the theoretical formulations and experimental validation of our methodology. Results show the system's ability to achieve a repeatable velocity step response with low steady-state error as well as ability of the tethered capsule to maneuver around a bend.

Motion of a carrier with a mobile load along a rough inclined plane

NASA Astrophysics Data System (ADS)

Bilchenko, G. G.

2018-03-01

The mechanical system consisting of a carrier and a load is considered. The load can move respectively the carrier according to the preset given motion law. The carrier motion from rest caused the load motion is investigated. The carrier can move translationally along rectilinear trajectory along rough inclined plane. The trajectory is the line of the greatest descent. The axis of rectilinear channel along which the load moves is situated in vertical plane containing the carrier trajectory. The Coulomb model is taken to describe the friction forces on sloped plane. Differential equations of motion of carrier with load are obtained. The sufficient condition of the carrier motion without detachment from inclined plane is given. For two special cases of the channel installation angle and the plane inclination angle combination the motion types are described. The computation experiments results are presented: the carrier motions in the special cases are illustrated, the phase portraits for some types of motions are constructed.

Swim stress, motion, and deformation of active matter: effect of an external field.

PubMed

Takatori, Sho C; Brady, John F

2014-12-21

We analyze the stress, dispersion, and average swimming speed of self-propelled particles subjected to an external field that affects their orientation and speed. The swimming trajectory is governed by a competition between the orienting influence (i.e., taxis) associated with the external (e.g., magnetic, gravitational, thermal, nutrient concentration) field versus the effects that randomize the particle orientations (e.g., rotary Brownian motion and/or an intrinsic tumbling mechanism like the flagella of bacteria). The swimmers' motion is characterized by a mean drift velocity and an effective translational diffusivity that becomes anisotropic in the presence of the orienting field. Since the diffusivity yields information about the micromechanical stress, the anisotropy generated by the external field creates a normal stress difference in the recently developed "swim stress" tensor [Takatori, Yan, and Brady, Phys. Rev. Lett., 2014]. This property can be exploited in the design of soft, compressible materials in which their size, shape, and motion can be manipulated and tuned by loading the material with active swimmers. Since the swimmers exert different normal stresses in different directions, the material can compress/expand, elongate, and translate depending on the external field strength. Such an active system can be used as nano/micromechanical devices and motors. Analytical solutions are corroborated by Brownian dynamics simulations.

A Computationally Inexpensive Optimal Guidance via Radial-Basis-Function Neural Network for Autonomous Soft Landing on Asteroids

PubMed Central

Zhang, Peng; Liu, Keping; Zhao, Bo; Li, Yuanchun

2015-01-01

Optimal guidance is essential for the soft landing task. However, due to its high computational complexities, it is hardly applied to the autonomous guidance. In this paper, a computationally inexpensive optimal guidance algorithm based on the radial basis function neural network (RBFNN) is proposed. The optimization problem of the trajectory for soft landing on asteroids is formulated and transformed into a two-point boundary value problem (TPBVP). Combining the database of initial states with the relative initial co-states, an RBFNN is trained offline. The optimal trajectory of the soft landing is determined rapidly by applying the trained network in the online guidance. The Monte Carlo simulations of soft landing on the Eros433 are performed to demonstrate the effectiveness of the proposed guidance algorithm. PMID:26367382

Smart Braid Feedback for the Closed-Loop Control of Soft Robotic Systems.

PubMed

Felt, Wyatt; Chin, Khai Yi; Remy, C David

2017-09-01

This article experimentally investigates the potential of using flexible, inductance-based contraction sensors in the closed-loop motion control of soft robots. Accurate motion control remains a highly challenging task for soft robotic systems. Precise models of the actuation dynamics and environmental interactions are often unavailable. This renders open-loop control impossible, while closed-loop control suffers from a lack of suitable feedback. Conventional motion sensors, such as linear or rotary encoders, are difficult to adapt to robots that lack discrete mechanical joints. The rigid nature of these sensors runs contrary to the aspirational benefits of soft systems. As truly soft sensor solutions are still in their infancy, motion control of soft robots has so far relied on laboratory-based sensing systems such as motion capture, electromagnetic (EM) tracking, or Fiber Bragg Gratings. In this article, we used embedded flexible sensors known as Smart Braids to sense the contraction of McKibben muscles through changes in inductance. We evaluated closed-loop control on two systems: a revolute joint and a planar, one degree of freedom continuum manipulator. In the revolute joint, our proposed controller compensated for elasticity in the actuator connections. The Smart Braid feedback allowed motion control with a steady-state root-mean-square (RMS) error of [1.5]°. In the continuum manipulator, Smart Braid feedback enabled tracking of the desired tip angle with a steady-state RMS error of [1.25]°. This work demonstrates that Smart Braid sensors can provide accurate position feedback in closed-loop motion control suitable for field applications of soft robotic systems.

On the road to somewhere: Brain potentials reflect language effects on motion event perception.

PubMed

Flecken, Monique; Athanasopoulos, Panos; Kuipers, Jan Rouke; Thierry, Guillaume

2015-08-01

Recent studies have identified neural correlates of language effects on perception in static domains of experience such as colour and objects. The generalization of such effects to dynamic domains like motion events remains elusive. Here, we focus on grammatical differences between languages relevant for the description of motion events and their impact on visual scene perception. Two groups of native speakers of German or English were presented with animated videos featuring a dot travelling along a trajectory towards a geometrical shape (endpoint). English is a language with grammatical aspect in which attention is drawn to trajectory and endpoint of motion events equally. German, in contrast, is a non-aspect language which highlights endpoints. We tested the comparative perceptual saliency of trajectory and endpoint of motion events by presenting motion event animations (primes) followed by a picture symbolising the event (target): In 75% of trials, the animation was followed by a mismatching picture (both trajectory and endpoint were different); in 10% of trials, only the trajectory depicted in the picture matched the prime; in 10% of trials, only the endpoint matched the prime; and in 5% of trials both trajectory and endpoint were matching, which was the condition requiring a response from the participant. In Experiment 1 we recorded event-related brain potentials elicited by the picture in native speakers of German and native speakers of English. German participants exhibited a larger P3 wave in the endpoint match than the trajectory match condition, whereas English speakers showed no P3 amplitude difference between conditions. In Experiment 2 participants performed a behavioural motion matching task using the same stimuli as those used in Experiment 1. German and English participants did not differ in response times showing that motion event verbalisation cannot readily account for the difference in P3 amplitude found in the first experiment. We argue that, even in a non-verbal context, the grammatical properties of the native language and associated sentence-level patterns of event encoding influence motion event perception, such that attention is automatically drawn towards aspects highlighted by the grammar. Copyright © 2015 The Authors. Published by Elsevier B.V. All rights reserved.

Dynamic boundary layer based neural network quasi-sliding mode control for soft touching down on asteroid

NASA Astrophysics Data System (ADS)

Liu, Xiaosong; Shan, Zebiao; Li, Yuanchun

2017-04-01

Pinpoint landing is a critical step in some asteroid exploring missions. This paper is concerned with the descent trajectory control for soft touching down on a small irregularly-shaped asteroid. A dynamic boundary layer based neural network quasi-sliding mode control law is proposed to track a desired descending path. The asteroid's gravitational acceleration acting on the spacecraft is described by the polyhedron method. Considering the presence of input constraint and unmodeled acceleration, the dynamic equation of relative motion is presented first. The desired descending path is planned using cubic polynomial method, and a collision detection algorithm is designed. To perform trajectory tracking, a neural network sliding mode control law is given first, where the sliding mode control is used to ensure the convergence of system states. Two radial basis function neural networks (RBFNNs) are respectively used as an approximator for the unmodeled term and a compensator for the difference between the actual control input with magnitude constraint and nominal control. To improve the chattering induced by the traditional sliding mode control and guarantee the reachability of the system, a specific saturation function with dynamic boundary layer is proposed to replace the sign function in the preceding control law. Through the Lyapunov approach, the reachability condition of the control system is given. The improved control law can guarantee the system state move within a gradually shrinking quasi-sliding mode band. Numerical simulation results demonstrate the effectiveness of the proposed control strategy.

Classification and Segmentation of Nanoparticle Diffusion Trajectories in Cellular Micro Environments

PubMed Central

Kroll, Alexandra; Haramagatti, Chandrashekara R.; Lipinski, Hans-Gerd; Wiemann, Martin

2017-01-01

Darkfield and confocal laser scanning microscopy both allow for a simultaneous observation of live cells and single nanoparticles. Accordingly, a characterization of nanoparticle uptake and intracellular mobility appears possible within living cells. Single particle tracking allows to measure the size of a diffusing particle close to a cell. However, within the more complex system of a cell’s cytoplasm normal, confined or anomalous diffusion together with directed motion may occur. In this work we present a method to automatically classify and segment single trajectories into their respective motion types. Single trajectories were found to contain more than one motion type. We have trained a random forest with 9 different features. The average error over all motion types for synthetic trajectories was 7.2%. The software was successfully applied to trajectories of positive controls for normal- and constrained diffusion. Trajectories captured by nanoparticle tracking analysis served as positive control for normal diffusion. Nanoparticles inserted into a diblock copolymer membrane was used to generate constrained diffusion. Finally we segmented trajectories of diffusing (nano-)particles in V79 cells captured with both darkfield- and confocal laser scanning microscopy. The software called “TraJClassifier” is freely available as ImageJ/Fiji plugin via https://git.io/v6uz2. PMID:28107406

HP-9825A HFRMP trajectory processor (#TRAJ), detailed description. [relative motion of the space shuttle orbiter and a free-flying payload

NASA Technical Reports Server (NTRS)

Kindall, S. M.

1980-01-01

The computer code for the trajectory processor (#TRAJ) of the high fidelity relative motion program is described. The #TRAJ processor is a 12-degrees-of-freedom trajectory integrator (6 degrees of freedom for each of two vehicles) which can be used to generate digital and graphical data describing the relative motion of the Space Shuttle Orbiter and a free-flying cylindrical payload. A listing of the code, coding standards and conventions, detailed flow charts, and discussions of the computational logic are included.

CPG-inspired workspace trajectory generation and adaptive locomotion control for quadruped robots.

PubMed

Liu, Chengju; Chen, Qijun; Wang, Danwei

2011-06-01

This paper deals with the locomotion control of quadruped robots inspired by the biological concept of central pattern generator (CPG). A control architecture is proposed with a 3-D workspace trajectory generator and a motion engine. The workspace trajectory generator generates adaptive workspace trajectories based on CPGs, and the motion engine realizes joint motion imputes. The proposed architecture is able to generate adaptive workspace trajectories online by tuning the parameters of the CPG network to adapt to various terrains. With feedback information, a quadruped robot can walk through various terrains with adaptive joint control signals. A quadruped platform AIBO is used to validate the proposed locomotion control system. The experimental results confirm the effectiveness of the proposed control architecture. A comparison by experiments shows the superiority of the proposed method against the traditional CPG-joint-space control method.

Quantitative underwater 3D motion analysis using submerged video cameras: accuracy analysis and trajectory reconstruction.

PubMed

Silvatti, Amanda P; Cerveri, Pietro; Telles, Thiago; Dias, Fábio A S; Baroni, Guido; Barros, Ricardo M L

2013-01-01

In this study we aim at investigating the applicability of underwater 3D motion capture based on submerged video cameras in terms of 3D accuracy analysis and trajectory reconstruction. Static points with classical direct linear transform (DLT) solution, a moving wand with bundle adjustment and a moving 2D plate with Zhang's method were considered for camera calibration. As an example of the final application, we reconstructed the hand motion trajectories in different swimming styles and qualitatively compared this with Maglischo's model. Four highly trained male swimmers performed butterfly, breaststroke and freestyle tasks. The middle fingertip trajectories of both hands in the underwater phase were considered. The accuracy (mean absolute error) of the two calibration approaches (wand: 0.96 mm - 2D plate: 0.73 mm) was comparable to out of water results and highly superior to the classical DLT results (9.74 mm). Among all the swimmers, the hands' trajectories of the expert swimmer in the style were almost symmetric and in good agreement with Maglischo's model. The kinematic results highlight symmetry or asymmetry between the two hand sides, intra- and inter-subject variability in terms of the motion patterns and agreement or disagreement with the model. The two outcomes, calibration results and trajectory reconstruction, both move towards the quantitative 3D underwater motion analysis.

Mean first-passage times of non-Markovian random walkers in confinement.

PubMed

Guérin, T; Levernier, N; Bénichou, O; Voituriez, R

2016-06-16

The first-passage time, defined as the time a random walker takes to reach a target point in a confining domain, is a key quantity in the theory of stochastic processes. Its importance comes from its crucial role in quantifying the efficiency of processes as varied as diffusion-limited reactions, target search processes or the spread of diseases. Most methods of determining the properties of first-passage time in confined domains have been limited to Markovian (memoryless) processes. However, as soon as the random walker interacts with its environment, memory effects cannot be neglected: that is, the future motion of the random walker does not depend only on its current position, but also on its past trajectory. Examples of non-Markovian dynamics include single-file diffusion in narrow channels, or the motion of a tracer particle either attached to a polymeric chain or diffusing in simple or complex fluids such as nematics, dense soft colloids or viscoelastic solutions. Here we introduce an analytical approach to calculate, in the limit of a large confining volume, the mean first-passage time of a Gaussian non-Markovian random walker to a target. The non-Markovian features of the dynamics are encompassed by determining the statistical properties of the fictitious trajectory that the random walker would follow after the first-passage event takes place, which are shown to govern the first-passage time kinetics. This analysis is applicable to a broad range of stochastic processes, which may be correlated at long times. Our theoretical predictions are confirmed by numerical simulations for several examples of non-Markovian processes, including the case of fractional Brownian motion in one and higher dimensions. These results reveal, on the basis of Gaussian processes, the importance of memory effects in first-passage statistics of non-Markovian random walkers in confinement.

Mean first-passage times of non-Markovian random walkers in confinement

NASA Astrophysics Data System (ADS)

Guérin, T.; Levernier, N.; Bénichou, O.; Voituriez, R.

2016-06-01

The first-passage time, defined as the time a random walker takes to reach a target point in a confining domain, is a key quantity in the theory of stochastic processes. Its importance comes from its crucial role in quantifying the efficiency of processes as varied as diffusion-limited reactions, target search processes or the spread of diseases. Most methods of determining the properties of first-passage time in confined domains have been limited to Markovian (memoryless) processes. However, as soon as the random walker interacts with its environment, memory effects cannot be neglected: that is, the future motion of the random walker does not depend only on its current position, but also on its past trajectory. Examples of non-Markovian dynamics include single-file diffusion in narrow channels, or the motion of a tracer particle either attached to a polymeric chain or diffusing in simple or complex fluids such as nematics, dense soft colloids or viscoelastic solutions. Here we introduce an analytical approach to calculate, in the limit of a large confining volume, the mean first-passage time of a Gaussian non-Markovian random walker to a target. The non-Markovian features of the dynamics are encompassed by determining the statistical properties of the fictitious trajectory that the random walker would follow after the first-passage event takes place, which are shown to govern the first-passage time kinetics. This analysis is applicable to a broad range of stochastic processes, which may be correlated at long times. Our theoretical predictions are confirmed by numerical simulations for several examples of non-Markovian processes, including the case of fractional Brownian motion in one and higher dimensions. These results reveal, on the basis of Gaussian processes, the importance of memory effects in first-passage statistics of non-Markovian random walkers in confinement.

Gesture Recognition Based on the Probability Distribution of Arm Trajectories

NASA Astrophysics Data System (ADS)

Wan, Khairunizam; Sawada, Hideyuki

The use of human motions for the interaction between humans and computers is becoming an attractive alternative to verbal media, especially through the visual interpretation of the human body motion. In particular, hand gestures are used as non-verbal media for the humans to communicate with machines that pertain to the use of the human gestures to interact with them. This paper introduces a 3D motion measurement of the human upper body for the purpose of the gesture recognition, which is based on the probability distribution of arm trajectories. In this study, by examining the characteristics of the arm trajectories given by a signer, motion features are selected and classified by using a fuzzy technique. Experimental results show that the use of the features extracted from arm trajectories effectively works on the recognition of dynamic gestures of a human, and gives a good performance to classify various gesture patterns.

Developmental changes in children's understanding of horizontal projectile motion.

PubMed

Mou, Yi; Zhu, Liqi; Chen, Zhe

2015-08-01

This study investigated 5- to 13-year-old children's performance in solving horizontal projectile motion problems, in which they predicted the trajectory of a carried object released from a carrier in three different contexts. The results revealed that 5- and 8-year-olds' trajectory predictions were easily distracted by salient contextual features (e.g. the relative spatial locations between objects), whereas a proportion of 11- and 13-year-olds' performance suggested the engagement of the impetus concept in trajectory prediction. The impetus concept is a typical misconception of inertial motion that assumes that motion is caused by force. Children's performance across ages suggested that their naïve knowledge of projectile motion was neither well-developed and coherent nor completely fragmented. Instead, this study presented the dynamic process in which children with age gradually overcame the influences of contextual features and consistently used the impetus concept across motion problems. © 2014 International Union of Psychological Science.

A Soft Sensor-Based Three-Dimensional (3-D) Finger Motion Measurement System

PubMed Central

Park, Wookeun; Ro, Kyongkwan; Kim, Suin; Bae, Joonbum

2017-01-01

In this study, a soft sensor-based three-dimensional (3-D) finger motion measurement system is proposed. The sensors, made of the soft material Ecoflex, comprise embedded microchannels filled with a conductive liquid metal (EGaln). The superior elasticity, light weight, and sensitivity of soft sensors allows them to be embedded in environments in which conventional sensors cannot. Complicated finger joints, such as the carpometacarpal (CMC) joint of the thumb are modeled to specify the location of the sensors. Algorithms to decouple the signals from soft sensors are proposed to extract the pure flexion, extension, abduction, and adduction joint angles. The performance of the proposed system and algorithms are verified by comparison with a camera-based motion capture system. PMID:28241414

Essential dynamics/factor analysis for the interpretation of molecular dynamics trajectories

NASA Astrophysics Data System (ADS)

Kaźmierkiewicz, R.; Czaplewski, C.; Lammek, B.; Ciarkowski, J.

1999-01-01

Subject of this work is the analysis of molecular dynamics (MD) trajectories of neurophysins I (NPI) and II (NPII) and their complexes with the neurophyseal nonapeptide hormones oxytocin (OT) and vasopresssin (VP), respectively, simulated in water. NPs serve in the neurosecretory granules as carrier proteins for the hormones before their release to the blood. The starting data consisted of two pairs of different trajectories for each of the (NPII/VP)2 and (NPI/OT)2 heterotetramers and two more trajectories for the NPII2 and NPI2 homodimers (six trajectories in total). Using essential dynamics which, to our judgement, is equivalent to factor analysis, we found that only about 10 degrees of freedom per trajectory are necessary and sufficient to describe in full the motions relevant for the function of the protein. This is consistent with these motions to explain about 90% of the total variance of the system. These principal degrees of freedom represent slow anharmonic motional modes, clearly pointing at distinguished mobility of the atoms involved in the protein's functionality.

A study on a wheel-based stair-climbing robot with a hopping mechanism

NASA Astrophysics Data System (ADS)

Kikuchi, Koki; Sakaguchi, Keisuke; Sudo, Takayuki; Bushida, Naoki; Chiba, Yasuhiro; Asai, Yuji

2008-08-01

In this study, we propose a simple hopping mechanism using the vibration of a two-degree-of-freedom system for a wheel-based stair-climbing robot. The robot, consisting of two bodies connected by springs and a wire, hops by releasing energy stored in the springs and quickly travels using wheels mounted in its lower body. The trajectories of the bodies during hopping change in accordance with the design parameters, such as the reduced mass of the two bodies, the mass ratio between the upper and lower bodies, the spring constant, the control parameters such as the initial contraction of the spring and the wire tension. This property allows the robot to quickly and economically climb up and down stairs, leap over obstacles, and landing softly without complex control. In this paper, the characteristics of hopping motion for the design and control parameters are clarified by both numerical simulations and experiments. Furthermore, using the robot design based on the results the abilities to hop up and down a step, leap over a cable, and land softly are demonstrated.

A practical six-degree of freedom solar sail dynamics model for optimizing solar sail trajectories with torque constraints

NASA Technical Reports Server (NTRS)

Lisano, Michael E.

2004-01-01

Controlled flight of a solar sail-propelled spacecraft ('sailcraft') is a six-degree-of-freedom dynamics problem. Current state-of-the-art tools that simulate and optimize the trajectories flown by sailcraft do not treat the full kinetic (i.e. force and torque-constrained) motion, instead treating a discrete history of commanded sail attitudes, and either neglecting the sail attitude motion over an integration timestep, or treating the attitude evolution kinematically with a spline or similar treatment. The present paper discusses an aspect of developing a next generation sailcraf trajectory designing optimization tool JPL, for NASA's Solar Sail Spaceflight Simulation Software (SS). The aspect discussed in an experimental approach to modeling full six-degree-of-freedom kinetic motion of a solar sail in a trajectory propagator. Early results from implementing this approach in a new trajectory propagation tool are given.

Development and clinical evaluation of a simple optical method to detect and measure patient external motion.

PubMed

Barbés, Benigno; Azcona, Juan Diego; Prieto, Elena; de Foronda, José Manuel; García, Marina; Burguete, Javier

2015-09-08

A simple and independent system to detect and measure the position of a number of points in space was devised and implemented. Its application aimed to detect patient motion during radiotherapy treatments, alert of out-of-tolerances motion, and record the trajectories for subsequent studies. The system obtains the 3D position of points in space, through its projections in 2D images recorded by two cameras. It tracks black dots on a white sticker placed on the surface of the moving object. The system was tested with linear displacements of a phantom, circular trajectories of a rotating disk, oscillations of an in-house phantom, and oscillations of a 4D phantom. It was also used to track 461 trajectories of points on the surface of patients during their radiotherapy treatments. Trajectories of several points were reproduced with accuracy better than 0.3 mm in the three spatial directions. The system was able to follow periodic motion with amplitudes lower than 0.5 mm, to follow trajectories of rotating points at speeds up to 11.5 cm/s, and to track accurately the motion of a respiratory phantom. The technique has been used to track the motion of patients during radiotherapy and to analyze that motion. The method is flexible. Its installation and calibration are simple and quick. It is easy to use and can be implemented at a very affordable price. Data collection does not involve any discomfort to the patient and does not delay the treatment, so the system can be used routinely in all treatments. It has an accuracy similar to that of other, more sophisticated, commercially available systems. It is suitable to implement a gating system or any other application requiring motion detection, such as 4D CT, MRI or PET.

A Variational Approach to Video Registration with Subspace Constraints.

PubMed

Garg, Ravi; Roussos, Anastasios; Agapito, Lourdes

2013-01-01

This paper addresses the problem of non-rigid video registration, or the computation of optical flow from a reference frame to each of the subsequent images in a sequence, when the camera views deformable objects. We exploit the high correlation between 2D trajectories of different points on the same non-rigid surface by assuming that the displacement of any point throughout the sequence can be expressed in a compact way as a linear combination of a low-rank motion basis. This subspace constraint effectively acts as a trajectory regularization term leading to temporally consistent optical flow. We formulate it as a robust soft constraint within a variational framework by penalizing flow fields that lie outside the low-rank manifold. The resulting energy functional can be decoupled into the optimization of the brightness constancy and spatial regularization terms, leading to an efficient optimization scheme. Additionally, we propose a novel optimization scheme for the case of vector valued images, based on the dualization of the data term. This allows us to extend our approach to deal with colour images which results in significant improvements on the registration results. Finally, we provide a new benchmark dataset, based on motion capture data of a flag waving in the wind, with dense ground truth optical flow for evaluation of multi-frame optical flow algorithms for non-rigid surfaces. Our experiments show that our proposed approach outperforms state of the art optical flow and dense non-rigid registration algorithms.

Nonlinear gyrotropic motion of skyrmion in a magnetic nanodisk

NASA Astrophysics Data System (ADS)

Chen, Yi-fu; Li, Zhi-xiong; Zhou, Zhen-wei; Xia, Qing-lin; Nie, Yao-zhuang; Guo, Guang-hua

2018-07-01

We study the nonlinear gyrotropic motion of a magnetic skyrmion in a nanodisk by means of micromagnetic simulations. The skyrmion is driven by a linearly polarized harmonic field with the frequency of counterclockwise gyrotropic mode. It is found that the motion of the skyrmion displays different patterns with increasing field amplitude. In the linear regime of weak driving field, the skyrmion performs a single counterclockwise gyrotropic motion. The guiding center of the skyrmion moves along a helical line from the centre of the nanodisk to a stable circular orbit. The stable orbital radius increases linearly with the field amplitude. When the driving field is larger than a critical value, the skyrmion exhibits complex nonlinear motion. With the advance of time, the motion trajectory of the skyrmion goes through a series of evolution process, from a single circular motion to a bird nest-like and a flower-like trajectory and finally, to a gear-like steady-state motion. The frequency spectra show that except the counterclockwise gyrotropic mode, the clockwise gyrotropic mode is also nonlinearly excited and its amplitude increases with time. The complex motion trajectory of the skyrmion is the result of superposition of the two gyrotropic motions with changing amplitude. Both the linear and nonlinear gyrotropic motions of the skyrmion can be well described by a generalized Thiele's equation of motion.

Modelling the Projectile Motion of a Cricket Ball.

ERIC Educational Resources Information Center

Coutis, Peter

1998-01-01

Presents the equations of motion governing the trajectory of a cricket ball subject to a linear drag force. Uses a perturbation expansion technique to solve the resulting trajectory equation for the range of a cricket ball struck into the outfield. (Author/ASK)

Design and Validation of Exoskeleton Actuated by Soft Modules toward Neurorehabilitation-Vision-Based Control for Precise Reaching Motion of Upper Limb.

PubMed

Oguntosin, Victoria W; Mori, Yoshiki; Kim, Hyejong; Nasuto, Slawomir J; Kawamura, Sadao; Hayashi, Yoshikatsu

2017-01-01

We demonstrated the design, production, and functional properties of the Exoskeleton Actuated by the Soft Modules (EAsoftM). Integrating the 3D printed exoskeleton with passive joints to compensate gravity and with active joints to rotate the shoulder and elbow joints resulted in ultra-light system that could assist planar reaching motion by using the vision-based control law. The EAsoftM can support the reaching motion with compliance realized by the soft materials and pneumatic actuation. In addition, the vision-based control law has been proposed for the precise control over the target reaching motion within the millimeter scale. Aiming at rehabilitation exercise for individuals, typically soft actuators have been developed for relatively small motions, such as grasping motion, and one of the challenges has been to extend their use for a wider range reaching motion. The proposed EAsoftM presented one possible solution for this challenge by transmitting the torque effectively along the anatomically aligned with a human body exoskeleton. The proposed integrated systems will be an ideal solution for neurorehabilitation where affordable, wearable, and portable systems are required to be customized for individuals with specific motor impairments.

Design and Validation of Exoskeleton Actuated by Soft Modules toward Neurorehabilitation—Vision-Based Control for Precise Reaching Motion of Upper Limb

PubMed Central

Oguntosin, Victoria W.; Mori, Yoshiki; Kim, Hyejong; Nasuto, Slawomir J.; Kawamura, Sadao; Hayashi, Yoshikatsu

2017-01-01

We demonstrated the design, production, and functional properties of the Exoskeleton Actuated by the Soft Modules (EAsoftM). Integrating the 3D printed exoskeleton with passive joints to compensate gravity and with active joints to rotate the shoulder and elbow joints resulted in ultra-light system that could assist planar reaching motion by using the vision-based control law. The EAsoftM can support the reaching motion with compliance realized by the soft materials and pneumatic actuation. In addition, the vision-based control law has been proposed for the precise control over the target reaching motion within the millimeter scale. Aiming at rehabilitation exercise for individuals, typically soft actuators have been developed for relatively small motions, such as grasping motion, and one of the challenges has been to extend their use for a wider range reaching motion. The proposed EAsoftM presented one possible solution for this challenge by transmitting the torque effectively along the anatomically aligned with a human body exoskeleton. The proposed integrated systems will be an ideal solution for neurorehabilitation where affordable, wearable, and portable systems are required to be customized for individuals with specific motor impairments. PMID:28736514

A path planning method for robot end effector motion using the curvature theory of the ruled surfaces

NASA Astrophysics Data System (ADS)

Güler, Fatma; Kasap, Emin

Using the curvature theory for the ruled surfaces a technique for robot trajectory planning is presented. This technique ensures the calculation of robot’s next path. The positional variation of the Tool Center Point (TCP), linear velocity, angular velocity are required in the work area of the robot. In some circumstances, it may not be physically achievable and a re-computation of the robot trajectory might be necessary. This technique is suitable for re-computation of the robot trajectory. We obtain different robot trajectories which change depending on the darboux angle function and define trajectory ruled surface family with a common trajectory curve with the rotation trihedron. Also, the motion of robot end effector is illustrated with examples.

Dynamical systems model and discrete element simulations of a tapped granular column

NASA Astrophysics Data System (ADS)

Rosato, A. D.; Blackmore, D.; Tricoche, X. M.; Urban, K.; Zuo, L.

2013-06-01

We present an approximate dynamical systems model for the mass center trajectory of a tapped column of N uniform, inelastic, spheres (diameter d), in which collisional energy loss is governed by the Walton-Braun linear loading-unloading soft interaction. Rigorous analysis of the model, akin to the equations for the motion of a single bouncing ball on a vibrating plate, reveals a parameter γ≔2aω2(1+e)/g that gauges the dynamical regimes and their transitions. In particular, we find bifurcations from periodic to chaotic dynamics that depend on frequency ω, amplitude a/d of the tap. Dynamics predicted by the model are also qualitatively observed in discrete element simulations carried out over a broad range of the tap parameters.

Spectral CT of the extremities with a silicon strip photon counting detector

NASA Astrophysics Data System (ADS)

Sisniega, A.; Zbijewski, W.; Stayman, J. W.; Xu, J.; Taguchi, K.; Siewerdsen, J. H.

2015-03-01

Purpose: Photon counting x-ray detectors (PCXDs) are an important emerging technology for spectral imaging and material differentiation with numerous potential applications in diagnostic imaging. We report development of a Si-strip PCXD system originally developed for mammography with potential application to spectral CT of musculoskeletal extremities, including challenges associated with sparse sampling, spectral calibration, and optimization for higher energy x-ray beams. Methods: A bench-top CT system was developed incorporating a Si-strip PCXD, fixed anode x-ray source, and rotational and translational motions to execute complex acquisition trajectories. Trajectories involving rotation and translation combined with iterative reconstruction were investigated, including single and multiple axial scans and longitudinal helical scans. The system was calibrated to provide accurate spectral separation in dual-energy three-material decomposition of soft-tissue, bone, and iodine. Image quality and decomposition accuracy were assessed in experiments using a phantom with pairs of bone and iodine inserts (3, 5, 15 and 20 mm) and an anthropomorphic wrist. Results: The designed trajectories improved the sampling distribution from 56% minimum sampling of voxels to 75%. Use of iterative reconstruction (viz., penalized likelihood with edge preserving regularization) in combination with such trajectories resulted in a very low level of artifacts in images of the wrist. For large bone or iodine inserts (>5 mm diameter), the error in the estimated material concentration was <16% for (50 mg/mL) bone and <8% for (5 mg/mL) iodine with strong regularization. For smaller inserts, errors of 20-40% were observed and motivate improved methods for spectral calibration and optimization of the edge-preserving regularizer. Conclusion: Use of PCXDs for three-material decomposition in joint imaging proved feasible through a combination of rotation-translation acquisition trajectories and iterative reconstruction with optimized regularization.

Motion generation of robotic surgical tasks: learning from expert demonstrations.

PubMed

Reiley, Carol E; Plaku, Erion; Hager, Gregory D

2010-01-01

Robotic surgical assistants offer the possibility of automating portions of a task that are time consuming and tedious in order to reduce the cognitive workload of a surgeon. This paper proposes using programming by demonstration to build generative models and generate smooth trajectories that capture the underlying structure of the motion data recorded from expert demonstrations. Specifically, motion data from Intuitive Surgical's da Vinci Surgical System of a panel of expert surgeons performing three surgical tasks are recorded. The trials are decomposed into subtasks or surgemes, which are then temporally aligned through dynamic time warping. Next, a Gaussian Mixture Model (GMM) encodes the experts' underlying motion structure. Gaussian Mixture Regression (GMR) is then used to extract a smooth reference trajectory to reproduce a trajectory of the task. The approach is evaluated through an automated skill assessment measurement. Results suggest that this paper presents a means to (i) extract important features of the task, (ii) create a metric to evaluate robot imitative performance (iii) generate smoother trajectories for reproduction of three common medical tasks.

Motion-based prediction explains the role of tracking in motion extrapolation.

PubMed

Khoei, Mina A; Masson, Guillaume S; Perrinet, Laurent U

2013-11-01

During normal viewing, the continuous stream of visual input is regularly interrupted, for instance by blinks of the eye. Despite these frequents blanks (that is the transient absence of a raw sensory source), the visual system is most often able to maintain a continuous representation of motion. For instance, it maintains the movement of the eye such as to stabilize the image of an object. This ability suggests the existence of a generic neural mechanism of motion extrapolation to deal with fragmented inputs. In this paper, we have modeled how the visual system may extrapolate the trajectory of an object during a blank using motion-based prediction. This implies that using a prior on the coherency of motion, the system may integrate previous motion information even in the absence of a stimulus. In order to compare with experimental results, we simulated tracking velocity responses. We found that the response of the motion integration process to a blanked trajectory pauses at the onset of the blank, but that it quickly recovers the information on the trajectory after reappearance. This is compatible with behavioral and neural observations on motion extrapolation. To understand these mechanisms, we have recorded the response of the model to a noisy stimulus. Crucially, we found that motion-based prediction acted at the global level as a gain control mechanism and that we could switch from a smooth regime to a binary tracking behavior where the dot is tracked or lost. Our results imply that a local prior implementing motion-based prediction is sufficient to explain a large range of neural and behavioral results at a more global level. We show that the tracking behavior deteriorates for sensory noise levels higher than a certain value, where motion coherency and predictability fail to hold longer. In particular, we found that motion-based prediction leads to the emergence of a tracking behavior only when enough information from the trajectory has been accumulated. Then, during tracking, trajectory estimation is robust to blanks even in the presence of relatively high levels of noise. Moreover, we found that tracking is necessary for motion extrapolation, this calls for further experimental work exploring the role of noise in motion extrapolation. Copyright © 2013 Elsevier Ltd. All rights reserved.

Motion Tree Delineates Hierarchical Structure of Protein Dynamics Observed in Molecular Dynamics Simulation

PubMed Central

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

2015-01-01

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

Catching What We Can't See: Manual Interception of Occluded Fly-Ball Trajectories

PubMed Central

Bosco, Gianfranco; Delle Monache, Sergio; Lacquaniti, Francesco

2012-01-01

Control of interceptive actions may involve fine interplay between feedback-based and predictive mechanisms. These processes rely heavily on target motion information available when the target is visible. However, short-term visual memory signals as well as implicit knowledge about the environment may also contribute to elaborate a predictive representation of the target trajectory, especially when visual feedback is partially unavailable because other objects occlude the visual target. To determine how different processes and information sources are integrated in the control of the interceptive action, we manipulated a computer-generated visual environment representing a baseball game. Twenty-four subjects intercepted fly-ball trajectories by moving a mouse cursor and by indicating the interception with a button press. In two separate sessions, fly-ball trajectories were either fully visible or occluded for 750, 1000 or 1250 ms before ball landing. Natural ball motion was perturbed during the descending trajectory with effects of either weightlessness (0 g) or increased gravity (2 g) at times such that, for occluded trajectories, 500 ms of perturbed motion were visible before ball disappearance. To examine the contribution of previous visual experience with the perturbed trajectories to the interception of invisible targets, the order of visible and occluded sessions was permuted among subjects. Under these experimental conditions, we showed that, with fully visible targets, subjects combined servo-control and predictive strategies. Instead, when intercepting occluded targets, subjects relied mostly on predictive mechanisms based, however, on different type of information depending on previous visual experience. In fact, subjects without prior experience of the perturbed trajectories showed interceptive errors consistent with predictive estimates of the ball trajectory based on a-priori knowledge of gravity. Conversely, the interceptive responses of subjects previously exposed to fully visible trajectories were compatible with the fact that implicit knowledge of the perturbed motion was also taken into account for the extrapolation of occluded trajectories. PMID:23166653

Catching what we can't see: manual interception of occluded fly-ball trajectories.

PubMed

Bosco, Gianfranco; Delle Monache, Sergio; Lacquaniti, Francesco

2012-01-01

Control of interceptive actions may involve fine interplay between feedback-based and predictive mechanisms. These processes rely heavily on target motion information available when the target is visible. However, short-term visual memory signals as well as implicit knowledge about the environment may also contribute to elaborate a predictive representation of the target trajectory, especially when visual feedback is partially unavailable because other objects occlude the visual target. To determine how different processes and information sources are integrated in the control of the interceptive action, we manipulated a computer-generated visual environment representing a baseball game. Twenty-four subjects intercepted fly-ball trajectories by moving a mouse cursor and by indicating the interception with a button press. In two separate sessions, fly-ball trajectories were either fully visible or occluded for 750, 1000 or 1250 ms before ball landing. Natural ball motion was perturbed during the descending trajectory with effects of either weightlessness (0 g) or increased gravity (2 g) at times such that, for occluded trajectories, 500 ms of perturbed motion were visible before ball disappearance. To examine the contribution of previous visual experience with the perturbed trajectories to the interception of invisible targets, the order of visible and occluded sessions was permuted among subjects. Under these experimental conditions, we showed that, with fully visible targets, subjects combined servo-control and predictive strategies. Instead, when intercepting occluded targets, subjects relied mostly on predictive mechanisms based, however, on different type of information depending on previous visual experience. In fact, subjects without prior experience of the perturbed trajectories showed interceptive errors consistent with predictive estimates of the ball trajectory based on a-priori knowledge of gravity. Conversely, the interceptive responses of subjects previously exposed to fully visible trajectories were compatible with the fact that implicit knowledge of the perturbed motion was also taken into account for the extrapolation of occluded trajectories.

Detailed description of the HP-9825A HFRMP trajectory processor (TRAJ)

NASA Technical Reports Server (NTRS)

Kindall, S. M.; Wilson, S. W.

1979-01-01

The computer code for the trajectory processor of the HP-9825A High Fidelity Relative Motion Program is described in detail. The processor is a 12-degrees-of-freedom trajectory integrator which can be used to generate digital and graphical data describing the relative motion of the Space Shuttle Orbiter and a free-flying cylindrical payload. Coding standards and flow charts are given and the computational logic is discussed.

The Improvement of Efficiency in the Numerical Computation of Orbit Trajectories

NASA Technical Reports Server (NTRS)

Dyer, J.; Danchick, R.; Pierce, S.; Haney, R.

1972-01-01

An analysis, system design, programming, and evaluation of results are described for numerical computation of orbit trajectories. Evaluation of generalized methods, interaction of different formulations for satellite motion, transformation of equations of motion and integrator loads, and development of efficient integrators are also considered.

Swimming Back and Forth Using Planar Flagellar Propulsion at Low Reynolds Numbers.

PubMed

Khalil, Islam S M; Tabak, Ahmet Fatih; Hamed, Youssef; Mitwally, Mohamed E; Tawakol, Mohamed; Klingner, Anke; Sitti, Metin

2018-02-01

Peritrichously flagellated Escherichia coli swim back and forth by wrapping their flagella together in a helical bundle. However, other monotrichous bacteria cannot swim back and forth with a single flagellum and planar wave propagation. Quantifying this observation, a magnetically driven soft two-tailed microrobot capable of reversing its swimming direction without making a U-turn trajectory or actively modifying the direction of wave propagation is designed and developed. The microrobot contains magnetic microparticles within the polymer matrix of its head and consists of two collinear, unequal, and opposite ultrathin tails. It is driven and steered using a uniform magnetic field along the direction of motion with a sinusoidally varying orthogonal component. Distinct reversal frequencies that enable selective and independent excitation of the first or the second tail of the microrobot based on their tail length ratio are found. While the first tail provides a propulsive force below one of the reversal frequencies, the second is almost passive, and the net propulsive force achieves flagellated motion along one direction. On the other hand, the second tail achieves flagellated propulsion along the opposite direction above the reversal frequency.

Task Decomposition Module For Telerobot Trajectory Generation

NASA Astrophysics Data System (ADS)

Wavering, Albert J.; Lumia, Ron

1988-10-01

A major consideration in the design of trajectory generation software for a Flight Telerobotic Servicer (FTS) is that the FTS will be called upon to perform tasks which require a diverse range of manipulator behaviors and capabilities. In a hierarchical control system where tasks are decomposed into simpler and simpler subtasks, the task decomposition module which performs trajectory planning and execution should therefore be able to accommodate a wide range of algorithms. In some cases, it will be desirable to plan a trajectory for an entire motion before manipulator motion commences, as when optimizing over the entire trajectory. Many FTS motions, however, will be highly sensory-interactive, such as moving to attain a desired position relative to a non-stationary object whose position is periodically updated by a vision system. In this case, the time-varying nature of the trajectory may be handled either by frequent replanning using updated sensor information, or by using an algorithm which creates a less specific state-dependent plan that determines the manipulator path as the trajectory is executed (rather than a priori). This paper discusses a number of trajectory generation techniques from these categories and how they may be implemented in a task decompo-sition module of a hierarchical control system. The structure, function, and interfaces of the proposed trajectory gener-ation module are briefly described, followed by several examples of how different algorithms may be performed by the module. The proposed task decomposition module provides a logical structure for trajectory planning and execution, and supports a large number of published trajectory generation techniques.

Misperceptions in the Trajectories of Objects undergoing Curvilinear Motion

PubMed Central

Yilmaz, Ozgur; Tripathy, Srimant P.; Ogmen, Haluk

2012-01-01

Trajectory perception is crucial in scene understanding and action. A variety of trajectory misperceptions have been reported in the literature. In this study, we quantify earlier observations that reported distortions in the perceived shape of bilinear trajectories and in the perceived positions of their deviation. Our results show that bilinear trajectories with deviation angles smaller than 90 deg are perceived smoothed while those with deviation angles larger than 90 degrees are perceived sharpened. The sharpening effect is weaker in magnitude than the smoothing effect. We also found a correlation between the distortion of perceived trajectories and the perceived shift of their deviation point. Finally, using a dual-task paradigm, we found that reducing attentional resources allocated to the moving target causes an increase in the perceived shift of the deviation point of the trajectory. We interpret these results in the context of interactions between motion and position systems. PMID:22615775

Bayesian approach to MSD-based analysis of particle motion in live cells.

PubMed

Monnier, Nilah; Guo, Syuan-Ming; Mori, Masashi; He, Jun; Lénárt, Péter; Bathe, Mark

2012-08-08

Quantitative tracking of particle motion using live-cell imaging is a powerful approach to understanding the mechanism of transport of biological molecules, organelles, and cells. However, inferring complex stochastic motion models from single-particle trajectories in an objective manner is nontrivial due to noise from sampling limitations and biological heterogeneity. Here, we present a systematic Bayesian approach to multiple-hypothesis testing of a general set of competing motion models based on particle mean-square displacements that automatically classifies particle motion, properly accounting for sampling limitations and correlated noise while appropriately penalizing model complexity according to Occam's Razor to avoid over-fitting. We test the procedure rigorously using simulated trajectories for which the underlying physical process is known, demonstrating that it chooses the simplest physical model that explains the observed data. Further, we show that computed model probabilities provide a reliability test for the downstream biological interpretation of associated parameter values. We subsequently illustrate the broad utility of the approach by applying it to disparate biological systems including experimental particle trajectories from chromosomes, kinetochores, and membrane receptors undergoing a variety of complex motions. This automated and objective Bayesian framework easily scales to large numbers of particle trajectories, making it ideal for classifying the complex motion of large numbers of single molecules and cells from high-throughput screens, as well as single-cell-, tissue-, and organism-level studies. Copyright © 2012 Biophysical Society. Published by Elsevier Inc. All rights reserved.

Characterization of a 0.35T MR system for phantom image quality stability and in vivo assessment of motion quantification

PubMed Central

Saenz, Daniel L.; Yan, Yue; Christensen, Neil; Henzler, Margaret A.; Forrest, Lisa J.; Bayouth, John E.

2015-01-01

ViewRay is a novel MR‐guided radiotherapy system capable of imaging in near real‐time at four frames per second during treatment using 0.35T field strength. It allows for improved gating techniques and adaptive radiotherapy. Three cobalt‐60 sources (∼15,000 Curies) permit multiple‐beam, intensity‐modulated radiation therapy. The primary aim of this study is to assess the imaging stability, accuracy, and automatic segmentation algorithm capability to track motion in simulated and in vivo targets. Magnetic resonance imaging (MRI) characteristics of the system were assessed using the American College of Radiology (ACR)‐recommended phantom and accreditation protocol. Images of the ACR phantom were acquired using a head coil following the ACR scanning instructions. ACR recommended T1‐ and T2‐weighted sequences were evaluated. Nine measurements were performed over a period of seven months, on just over a monthly basis, to establish consistency. A silicon dielectric gel target was attached to the motor via a rod. 40 mm total amplitude was used with cycles of 3 to 9 s in length in a sinusoidal trajectory. Trajectories of six moving clinical targets in four canine patients were quantified and tracked. ACR phantom images were analyzed, and the results were compared with the ACR acceptance levels. Measured slice thickness accuracies were within the acceptance limits. In the 0.35 T system, the image intensity uniformity was also within the ACR acceptance limit. Over the range of cycle lengths, representing a wide range of breathing rates in patients imaged at four frames/s, excellent agreement was observed between the expected and measured target trajectories. In vivo canine targets, including the gross target volume (GTV), as well as other abdominal soft tissue structures, were visualized with inherent MR contrast, allowing for preliminary results of target tracking. PACS number: 87.61.Tg PMID:26699552

Characterization of a 0.35T MR system for phantom image quality stability and in vivo assessment of motion quantification.

PubMed

Saenz, Daniel L; Yan, Yue; Christensen, Neil; Henzler, Margaret A; Forrest, Lisa J; Bayouth, John E; Paliwal, Bhudatt R

2015-11-08

ViewRay is a novel MR-guided radiotherapy system capable of imaging in near real-time at four frames per second during treatment using 0.35T field strength. It allows for improved gating techniques and adaptive radiotherapy. Three cobalt-60 sources (~ 15,000 Curies) permit multiple-beam, intensity-modulated radiation therapy. The primary aim of this study is to assess the imaging stability, accuracy, and automatic segmentation algorithm capability to track motion in simulated and in vivo targets. Magnetic resonance imaging (MRI) characteristics of the system were assessed using the American College of Radiology (ACR)-recommended phantom and accreditation protocol. Images of the ACR phantom were acquired using a head coil following the ACR scanning instructions. ACR recommended T1- and T2-weighted sequences were evaluated. Nine measurements were performed over a period of seven months, on just over a monthly basis, to establish consistency. A silicon dielectric gel target was attached to the motor via a rod. 40 mm total amplitude was used with cycles of 3 to 9 s in length in a sinusoidal trajectory. Trajectories of six moving clinical targets in four canine patients were quantified and tracked. ACR phantom images were analyzed, and the results were compared with the ACR acceptance levels. Measured slice thickness accuracies were within the acceptance limits. In the 0.35 T system, the image intensity uniformity was also within the ACR acceptance limit. Over the range of cycle lengths, representing a wide range of breathing rates in patients imaged at four frames/s, excellent agreement was observed between the expected and measured target trajectories. In vivo canine targets, including the gross target volume (GTV), as well as other abdominal soft tissue structures, were visualized with inherent MR contrast, allowing for preliminary results of target tracking.

Autonomous Soft Robotic Fish Capable of Escape Maneuvers Using Fluidic Elastomer Actuators.

PubMed

Marchese, Andrew D; Onal, Cagdas D; Rus, Daniela

2014-03-01

In this work we describe an autonomous soft-bodied robot that is both self-contained and capable of rapid, continuum-body motion. We detail the design, modeling, fabrication, and control of the soft fish, focusing on enabling the robot to perform rapid escape responses. The robot employs a compliant body with embedded actuators emulating the slender anatomical form of a fish. In addition, the robot has a novel fluidic actuation system that drives body motion and has all the subsystems of a traditional robot onboard: power, actuation, processing, and control. At the core of the fish's soft body is an array of fluidic elastomer actuators. We design the fish to emulate escape responses in addition to forward swimming because such maneuvers require rapid body accelerations and continuum-body motion. These maneuvers showcase the performance capabilities of this self-contained robot. The kinematics and controllability of the robot during simulated escape response maneuvers are analyzed and compared with studies on biological fish. We show that during escape responses, the soft-bodied robot has similar input-output relationships to those observed in biological fish. The major implication of this work is that we show soft robots can be both self-contained and capable of rapid body motion.

Experimental validation of the van Herk margin formula for lung radiation therapy

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

Ecclestone, Gillian; Heath, Emily; Bissonnette, Jean-Pierre

2013-11-15

Purpose: To validate the van Herk margin formula for lung radiation therapy using realistic dose calculation algorithms and respiratory motion modeling. The robustness of the margin formula against variations in lesion size, peak-to-peak motion amplitude, tissue density, treatment technique, and plan conformity was assessed, along with the margin formula assumption of a homogeneous dose distribution with perfect plan conformity.Methods: 3DCRT and IMRT lung treatment plans were generated within the ORBIT treatment planning platform (RaySearch Laboratories, Sweden) on 4DCT datasets of virtual phantoms. Random and systematic respiratory motion induced errors were simulated using deformable registration and dose accumulation tools available withinmore » ORBIT for simulated cases of varying lesion sizes, peak-to-peak motion amplitudes, tissue densities, and plan conformities. A detailed comparison between the margin formula dose profile model, the planned dose profiles, and penumbra widths was also conducted to test the assumptions of the margin formula. Finally, a correction to account for imperfect plan conformity was tested as well as a novel application of the margin formula that accounts for the patient-specific motion trajectory.Results: The van Herk margin formula ensured full clinical target volume coverage for all 3DCRT and IMRT plans of all conformities with the exception of small lesions in soft tissue. No dosimetric trends with respect to plan technique or lesion size were observed for the systematic and random error simulations. However, accumulated plans showed that plan conformity decreased with increasing tumor motion amplitude. When comparing dose profiles assumed in the margin formula model to the treatment plans, discrepancies in the low dose regions were observed for the random and systematic error simulations. However, the margin formula respected, in all experiments, the 95% dose coverage required for planning target volume (PTV) margin derivation, as defined by the ICRU; thus, suitable PTV margins were estimated. The penumbra widths calculated in lung tissue for each plan were found to be very similar to the 6.4 mm value assumed by the margin formula model. The plan conformity correction yielded inconsistent results which were largely affected by image and dose grid resolution while the trajectory modified PTV plans yielded a dosimetric benefit over the standard internal target volumes approach with up to a 5% decrease in the V20 value.Conclusions: The margin formula showed to be robust against variations in tumor size and motion, treatment technique, plan conformity, as well as low tissue density. This was validated by maintaining coverage of all of the derived PTVs by 95% dose level, as required by the formal definition of the PTV. However, the assumption of perfect plan conformity in the margin formula derivation yields conservative margin estimation. Future modifications to the margin formula will require a correction for plan conformity. Plan conformity can also be improved by using the proposed trajectory modified PTV planning approach. This proves especially beneficial for tumors with a large anterior–posterior component of respiratory motion.« less

Design and analysis of a 3D Elliptical Micro-Displacement Motion Stage

NASA Astrophysics Data System (ADS)

Lin, Jieqiong; Zhao, Dongpo; Lu, Mingming; Zhou, Jiakang

2017-12-01

Micro-displacement motion stage driven by piezoelectric actuator has a significant demand in the field of ultra-precision machining in recent years, while the design of micro-displacement motion stage plays an important role to realize a large displacement output and high precision control. Thus, a 3D elliptical micro-displacement motion stage driven by three PZT actuators has been developed. Firstly, the 3D elliptical trajectory of this motion stage could be adjusted through the form of the PZT actuators input signal. Then, the desired trajectory was obtained by adjusting the micro displacement of the motion stage in 3D elliptical space. Finally, the trajectory simulation and the finite element simulation were applied in this motion stage. The experimental results shown that, the output displacement of the three directions under the input force of the 1600N were 14μm, 16μm and 74μm, respectively. And the first three modes were 1471.6Hz, 2698.4Hz and 2803.4Hz, respectively. Analysis and experiments were carried out to verify the performance, result proved that a large output displacement and high precision control could be obtained.

Motion Estimation Using the Firefly Algorithm in Ultrasonic Image Sequence of Soft Tissue

PubMed Central

Chao, Chih-Feng; Horng, Ming-Huwi; Chen, Yu-Chan

2015-01-01

Ultrasonic image sequence of the soft tissue is widely used in disease diagnosis; however, the speckle noises usually influenced the image quality. These images usually have a low signal-to-noise ratio presentation. The phenomenon gives rise to traditional motion estimation algorithms that are not suitable to measure the motion vectors. In this paper, a new motion estimation algorithm is developed for assessing the velocity field of soft tissue in a sequence of ultrasonic B-mode images. The proposed iterative firefly algorithm (IFA) searches for few candidate points to obtain the optimal motion vector, and then compares it to the traditional iterative full search algorithm (IFSA) via a series of experiments of in vivo ultrasonic image sequences. The experimental results show that the IFA can assess the vector with better efficiency and almost equal estimation quality compared to the traditional IFSA method. PMID:25873987

Motion estimation using the firefly algorithm in ultrasonic image sequence of soft tissue.

PubMed

Chao, Chih-Feng; Horng, Ming-Huwi; Chen, Yu-Chan

2015-01-01

Ultrasonic image sequence of the soft tissue is widely used in disease diagnosis; however, the speckle noises usually influenced the image quality. These images usually have a low signal-to-noise ratio presentation. The phenomenon gives rise to traditional motion estimation algorithms that are not suitable to measure the motion vectors. In this paper, a new motion estimation algorithm is developed for assessing the velocity field of soft tissue in a sequence of ultrasonic B-mode images. The proposed iterative firefly algorithm (IFA) searches for few candidate points to obtain the optimal motion vector, and then compares it to the traditional iterative full search algorithm (IFSA) via a series of experiments of in vivo ultrasonic image sequences. The experimental results show that the IFA can assess the vector with better efficiency and almost equal estimation quality compared to the traditional IFSA method.

Effect of a Near Fault on the Seismic Response of a Base-Isolated Structure with a Soft Storey

NASA Astrophysics Data System (ADS)

Athamnia, B.; Ounis, A.; Abdeddaim, M.

2017-12-01

This study focuses on the soft-storey behavior of RC structures with lead core rubber bearing (LRB) isolation systems under near and far-fault motions. Under near-fault ground motions, seismic isolation devices might perform poorly because of large isolator displacements caused by large velocity and displacement pulses associated with such strong motions. In this study, four different structural models have been designed to study the effect of soft-storey behavior under near-fault and far-fault motions. The seismic analysis for isolated reinforced concrete buildings is carried out using a nonlinear time history analysis method. Inter-story drifts, absolute acceleration, displacement, base shear forces, hysteretic loops and the distribution of plastic hinges are examined as a result of the analysis. These results show that the performance of a base isolated RC structure is more affected by increasing the height of a story under nearfault motion than under far-fault motion.

The lucky image-motion prediction for simple scene observation based soft-sensor technology

NASA Astrophysics Data System (ADS)

Li, Yan; Su, Yun; Hu, Bin

2015-08-01

High resolution is important to earth remote sensors, while the vibration of the platforms of the remote sensors is a major factor restricting high resolution imaging. The image-motion prediction and real-time compensation are key technologies to solve this problem. For the reason that the traditional autocorrelation image algorithm cannot meet the demand for the simple scene image stabilization, this paper proposes to utilize soft-sensor technology in image-motion prediction, and focus on the research of algorithm optimization in imaging image-motion prediction. Simulations results indicate that the improving lucky image-motion stabilization algorithm combining the Back Propagation Network (BP NN) and support vector machine (SVM) is the most suitable for the simple scene image stabilization. The relative error of the image-motion prediction based the soft-sensor technology is below 5%, the training computing speed of the mathematical predication model is as fast as the real-time image stabilization in aerial photography.

Nonparametric Online Learning Control for Soft Continuum Robot: An Enabling Technique for Effective Endoscopic Navigation

PubMed Central

Lee, Kit-Hang; Fu, Denny K.C.; Leong, Martin C.W.; Chow, Marco; Fu, Hing-Choi; Althoefer, Kaspar; Sze, Kam Yim; Yeung, Chung-Kwong

2017-01-01

Abstract Bioinspired robotic structures comprising soft actuation units have attracted increasing research interest. Taking advantage of its inherent compliance, soft robots can assure safe interaction with external environments, provided that precise and effective manipulation could be achieved. Endoscopy is a typical application. However, previous model-based control approaches often require simplified geometric assumptions on the soft manipulator, but which could be very inaccurate in the presence of unmodeled external interaction forces. In this study, we propose a generic control framework based on nonparametric and online, as well as local, training to learn the inverse model directly, without prior knowledge of the robot's structural parameters. Detailed experimental evaluation was conducted on a soft robot prototype with control redundancy, performing trajectory tracking in dynamically constrained environments. Advanced element formulation of finite element analysis is employed to initialize the control policy, hence eliminating the need for random exploration in the robot's workspace. The proposed control framework enabled a soft fluid-driven continuum robot to follow a 3D trajectory precisely, even under dynamic external disturbance. Such enhanced control accuracy and adaptability would facilitate effective endoscopic navigation in complex and changing environments. PMID:29251567

Nonparametric Online Learning Control for Soft Continuum Robot: An Enabling Technique for Effective Endoscopic Navigation.

PubMed

Lee, Kit-Hang; Fu, Denny K C; Leong, Martin C W; Chow, Marco; Fu, Hing-Choi; Althoefer, Kaspar; Sze, Kam Yim; Yeung, Chung-Kwong; Kwok, Ka-Wai

2017-12-01

Bioinspired robotic structures comprising soft actuation units have attracted increasing research interest. Taking advantage of its inherent compliance, soft robots can assure safe interaction with external environments, provided that precise and effective manipulation could be achieved. Endoscopy is a typical application. However, previous model-based control approaches often require simplified geometric assumptions on the soft manipulator, but which could be very inaccurate in the presence of unmodeled external interaction forces. In this study, we propose a generic control framework based on nonparametric and online, as well as local, training to learn the inverse model directly, without prior knowledge of the robot's structural parameters. Detailed experimental evaluation was conducted on a soft robot prototype with control redundancy, performing trajectory tracking in dynamically constrained environments. Advanced element formulation of finite element analysis is employed to initialize the control policy, hence eliminating the need for random exploration in the robot's workspace. The proposed control framework enabled a soft fluid-driven continuum robot to follow a 3D trajectory precisely, even under dynamic external disturbance. Such enhanced control accuracy and adaptability would facilitate effective endoscopic navigation in complex and changing environments.

Uniform circular motion in general relativity: existence and extendibility of the trajectories

NASA Astrophysics Data System (ADS)

de la Fuente, Daniel; Romero, Alfonso; Torres, Pedro J.

2017-06-01

The concept of uniform circular motion in a general spacetime is introduced as a particular case of a planar motion. The initial value problem of the corresponding differential equation is analysed in detail. Geometrically, an observer that obeys a uniform circular motion is characterized as a Lorentzian helix. The completeness of inextensible trajectories is studied in generalized Robertson-Walker spacetimes and in a relevant family of pp-wave spacetimes. Under reasonable assumptions, the physical interpretation of such results is that a uniform circular observer lives forever, providing the absence of the singularities defined by these timelike curves.

Precharged Pneumatic Soft Actuators and Their Applications to Untethered Soft Robots.

PubMed

Li, Yunquan; Chen, Yonghua; Ren, Tao; Li, Yingtian; Choi, Shiu Hong

2018-06-20

The past decade has witnessed tremendous progress in soft robotics. Unlike most pneumatic-based methods, we present a new approach to soft robot design based on precharged pneumatics (PCP). We propose a PCP soft bending actuator, which is actuated by precharged air pressure and retracted by inextensible tendons. By pulling or releasing the tendons, the air pressure in the soft actuator is modulated, and hence, its bending angle. The tendons serve in a way similar to pressure-regulating valves that are used in typical pneumatic systems. The linear motion of tendons is transduced into complex motion via the prepressurized bent soft actuator. Furthermore, since a PCP actuator does not need any gas supply, complicated pneumatic control systems used in traditional soft robotics are eliminated. This facilitates the development of compact untethered autonomous soft robots for various applications. Both theoretical modeling and experimental validation have been conducted on a sample PCP soft actuator design. A fully untethered autonomous quadrupedal soft robot and a soft gripper have been developed to demonstrate the superiority of the proposed approach over traditional pneumatic-driven soft robots.

Assessing randomness and complexity in human motion trajectories through analysis of symbolic sequences

PubMed Central

Peng, Zhen; Genewein, Tim; Braun, Daniel A.

2014-01-01

Complexity is a hallmark of intelligent behavior consisting both of regular patterns and random variation. To quantitatively assess the complexity and randomness of human motion, we designed a motor task in which we translated subjects' motion trajectories into strings of symbol sequences. In the first part of the experiment participants were asked to perform self-paced movements to create repetitive patterns, copy pre-specified letter sequences, and generate random movements. To investigate whether the degree of randomness can be manipulated, in the second part of the experiment participants were asked to perform unpredictable movements in the context of a pursuit game, where they received feedback from an online Bayesian predictor guessing their next move. We analyzed symbol sequences representing subjects' motion trajectories with five common complexity measures: predictability, compressibility, approximate entropy, Lempel-Ziv complexity, as well as effective measure complexity. We found that subjects' self-created patterns were the most complex, followed by drawing movements of letters and self-paced random motion. We also found that participants could change the randomness of their behavior depending on context and feedback. Our results suggest that humans can adjust both complexity and regularity in different movement types and contexts and that this can be assessed with information-theoretic measures of the symbolic sequences generated from movement trajectories. PMID:24744716

Measurement of three-dimensional posture and trajectory of lower body during standing long jumping utilizing body-mounted sensors.

PubMed

Ibata, Yuki; Kitamura, Seiji; Motoi, Kosuke; Sagawa, Koichi

2013-01-01

The measurement method of three-dimensional posture and flying trajectory of lower body during jumping motion using body-mounted wireless inertial measurement units (WIMU) is introduced. The WIMU is composed of three-dimensional (3D) accelerometer and gyroscope of two kinds with different dynamic range and one 3D geomagnetic sensor to adapt to quick movement. Three WIMUs are mounted under the chest, right thigh and right shank. Thin film pressure sensors are connected to the shank WIMU and are installed under right heel and tiptoe to distinguish the state of the body motion between grounding and jumping. Initial and final postures of trunk, thigh and shank at standing-still are obtained using gravitational acceleration and geomagnetism. The posture of body is determined using the 3D direction of each segment updated by the numerical integration of angular velocity. Flying motion is detected from pressure sensors and 3D flying trajectory is derived by the double integration of trunk acceleration applying the 3D velocity of trunk at takeoff. Standing long jump experiments are performed and experimental results show that the joint angle and flying trajectory agree with the actual motion measured by the optical motion capture system.

REVIEWS OF TOPICAL PROBLEMS: Motion of particles and photons in the gravitational field of a rotating body (In memory of Vladimir Afanas'evich Ruban)

NASA Astrophysics Data System (ADS)

Dymnikova, I. G.

1986-03-01

A study is made of the trajectories of free motion of test particles and photons in the Kerr metric, which describes the gravitational field of a rotating massive body. The trajectories are classified on the basis of the integrals of the motion, which have a clear physical meaning. The cases of a strong gravitational field in the neighborhood of a rotating black hole as well as the weak-field approximation describing the motion of particles in the gravitational field of a rotating star or galaxy are considered. The review includes bound states (orbits) in the field of a rotating mass, scattering and gravitational capture of particles and photons by a rotating black hole, trajectories of falling into a black hole, and the bending of light rays and the gravitational time delay of signals in the gravitational field of a rotating body.

SU-C-BRF-05: Design and Geometric Validation of An Externally and Internally Deformable, Programmable Lung Motion Phantom

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

Cheung, Y; Sawant, A

Purpose: Most clinically-deployed strategies for respiratory motion management in lung radiotherapy (e.g., gating, tracking) use external markers that serve as surrogates for tumor motion. However, typical lung phantoms used to validate these strategies are rigid-exterior+rigid-interior or rigid-exterior+deformable-interior. Neither class adequately represents the human anatomy, which is deformable internally as well as externally. We describe the construction and experimental validation of a more realistic, externally- and internally-deformable, programmable lung phantom. Methods: The outer shell of a commercially-available lung phantom (RS- 1500, RSD Inc.) was used. The shell consists of a chest cavity with a flexible anterior surface, and embedded vertebrae, rib-cagemore » and sternum. A 3-axis platform was programmed with sinusoidal and six patient-recorded lung tumor trajectories. The platform was used to drive a rigid foam ‘diaphragm’ that compressed/decompressed the phantom interior. Experimental characterization comprised of mapping the superior-inferior (SI) and anterior-posterior (AP) trajectories of external and internal radioopaque markers with kV x-ray fluoroscopy and correlating these with optical surface monitoring using the in-room VisionRT system. Results: The phantom correctly reproduced the programmed motion as well as realistic effects such as hysteresis. The reproducibility of marker trajectories over multiple runs for sinusoidal as well as patient traces, as characterized by fluoroscopy, was within 0.4 mm RMS error for internal as well as external markers. The motion trajectories of internal and external markers as measured by fluoroscopy were found to be highly correlated (R=0.97). Furthermore, motion trajectories of arbitrary points on the deforming phantom surface, as recorded by the VisionRT system also showed a high correlation with respect to the fluoroscopically-measured trajectories of internal markers (R=0.92). Conclusion: We have developed a realistic externally- and internally-deformable lung phantom that will serve as a valuable tool for clinical QA and motion management research. This work was supported through funding from the NIH and VisionRT Ltd. Amit Sawant has research funding from Varian Medical Systems, VisionRT and Elekta.« less

Flexible robotic actuators

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

Morin, Stephen A.; Shepherd, Robert F.; Stokes, Adam

Systems and methods for providing flexible robotic actuators are disclosed. Some embodiments of the disclosed subject matter include a soft robot capable of providing a radial deflection motions; a soft tentacle actuator capable of providing a variety of motions and providing transportation means for various types of materials; and a hybrid robotic system that retains desirable characteristics of both soft robots and hard robots. Some embodiments of the disclosed subject matter also include methods for operating the disclosed robotic systems.

Synergy-Based Bilateral Port: A Universal Control Module for Tele-Manipulation Frameworks Using Asymmetric Master–Slave Systems

PubMed Central

Brygo, Anais; Sarakoglou, Ioannis; Grioli, Giorgio; Tsagarakis, Nikos

2017-01-01

Endowing tele-manipulation frameworks with the capability to accommodate a variety of robotic hands is key to achieving high performances through permitting to flexibly interchange the end-effector according to the task considered. This requires the development of control policies that not only cope with asymmetric master–slave systems but also whose high-level components are designed in a unified space in abstraction from the devices specifics. To address this dual challenge, a novel synergy port is developed that resolves the kinematic, sensing, and actuation asymmetries of the considered system through generating motion and force feedback references in the hardware-independent hand postural synergy space. It builds upon the concept of the Cartesian-based synergy matrix, which is introduced as a tool mapping the fingertips Cartesian space to the directions oriented along the grasp principal components. To assess the effectiveness of the proposed approach, the synergy port has been integrated into the control system of a highly asymmetric tele-manipulation framework, in which the 3-finger hand exoskeleton HEXOTRAC is used as a master device to control the SoftHand, a robotic hand whose transmission system relies on a single motor to drive all joints along a soft synergistic path. The platform is further enriched with the vision-based motion capture system Optitrack to monitor the 6D trajectory of the user’s wrist, which is used to control the robotic arm on which the SoftHand is mounted. Experiments have been conducted with the humanoid robot COMAN and the KUKA LWR robotic manipulator. Results indicate that this bilateral interface is highly intuitive and allows users with no prior experience to reach, grasp, and transport a variety of objects exhibiting very different shapes and impedances. In addition, the hardware and control solutions proved capable of accommodating users with different hand kinematics. Finally, the proposed control framework offers a universal, flexible, and intuitive interface allowing for the performance of effective tele-manipulations. PMID:28421179

Synergy-Based Bilateral Port: A Universal Control Module for Tele-Manipulation Frameworks Using Asymmetric Master-Slave Systems.

PubMed

Brygo, Anais; Sarakoglou, Ioannis; Grioli, Giorgio; Tsagarakis, Nikos

2017-01-01

Endowing tele-manipulation frameworks with the capability to accommodate a variety of robotic hands is key to achieving high performances through permitting to flexibly interchange the end-effector according to the task considered. This requires the development of control policies that not only cope with asymmetric master-slave systems but also whose high-level components are designed in a unified space in abstraction from the devices specifics. To address this dual challenge, a novel synergy port is developed that resolves the kinematic, sensing, and actuation asymmetries of the considered system through generating motion and force feedback references in the hardware-independent hand postural synergy space. It builds upon the concept of the Cartesian-based synergy matrix, which is introduced as a tool mapping the fingertips Cartesian space to the directions oriented along the grasp principal components. To assess the effectiveness of the proposed approach, the synergy port has been integrated into the control system of a highly asymmetric tele-manipulation framework, in which the 3-finger hand exoskeleton HEXOTRAC is used as a master device to control the SoftHand, a robotic hand whose transmission system relies on a single motor to drive all joints along a soft synergistic path. The platform is further enriched with the vision-based motion capture system Optitrack to monitor the 6D trajectory of the user's wrist, which is used to control the robotic arm on which the SoftHand is mounted. Experiments have been conducted with the humanoid robot COMAN and the KUKA LWR robotic manipulator. Results indicate that this bilateral interface is highly intuitive and allows users with no prior experience to reach, grasp, and transport a variety of objects exhibiting very different shapes and impedances. In addition, the hardware and control solutions proved capable of accommodating users with different hand kinematics. Finally, the proposed control framework offers a universal, flexible, and intuitive interface allowing for the performance of effective tele-manipulations.

Projectile Motion with a Drag Force: Were the Medievals Right After All?

ERIC Educational Resources Information Center

La Rocca, Paola; Riggi, Francesco

2009-01-01

An educational and historical study of the projectile motion with drag forces dependent on speed shows, by simple results, that trajectories quite similar to those depicted before the Galilean era may be obtained with a realistic choice of quantities involved. Numerical simulations of the trajectory in space and velocity coordinates help us to…

Solution to Projectile Motion with Quadratic Drag and Graphing the Trajectory in Spreadsheets

ERIC Educational Resources Information Center

Benacka, Jan

2010-01-01

This note gives the analytical solution to projectile motion with quadratic drag by decomposing the velocity vector to "x," "y" coordinate directions. The solution is given by definite integrals. First, the impact angle is estimated from above, then the projectile coordinates are computed, and the trajectory is graphed at various launch angles and…

Optimal control of the ballistic motion of Airy beams.

PubMed

Hu, Yi; Zhang, Peng; Lou, Cibo; Huang, Simon; Xu, Jingjun; Chen, Zhigang

2010-07-01

We demonstrate the projectile motion of two-dimensional truncated Airy beams in a general ballistic trajectory with controllable range and height. We show that the peak beam intensity can be delivered to any desired location along the trajectory as well as repositioned to a given target after displacement due to propagation through disordered or turbulent media.

Collision-free motion of two robot arms in a common workspace

NASA Technical Reports Server (NTRS)

Basta, Robert A.; Mehrotra, Rajiv; Varanasi, Murali R.

1987-01-01

Collision-free motion of two robot arms in a common workspace is investigated. A collision-free motion is obtained by detecting collisions along the preplanned trajectories using a sphere model for the wrist of each robot and then modifying the paths and/or trajectories of one or both robots to avoid the collision. Detecting and avoiding collisions are based on the premise that: preplanned trajectories of the robots follow a straight line; collisions are restricted to between the wrists of the two robots (which corresponds to the upper three links of PUMA manipulators); and collisions never occur between the beginning points or end points on the straight line paths. The collision detection algorithm is described and some approaches to collision avoidance are discussed.

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

PubMed

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

2010-01-01

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

Hand interception of occluded motion in humans: a test of model-based vs. on-line control

PubMed Central

Zago, Myrka; Lacquaniti, Francesco

2015-01-01

Two control schemes have been hypothesized for the manual interception of fast visual targets. In the model-free on-line control, extrapolation of target motion is based on continuous visual information, without resorting to physical models. In the model-based control, instead, a prior model of target motion predicts the future spatiotemporal trajectory. To distinguish between the two hypotheses in the case of projectile motion, we asked participants to hit a ball that rolled down an incline at 0.2 g and then fell in air at 1 g along a parabola. By varying starting position, ball velocity and trajectory differed between trials. Motion on the incline was always visible, whereas parabolic motion was either visible or occluded. We found that participants were equally successful at hitting the falling ball in both visible and occluded conditions. Moreover, in different trials the intersection points were distributed along the parabolic trajectories of the ball, indicating that subjects were able to extrapolate an extended segment of the target trajectory. Remarkably, this trend was observed even at the very first repetition of movements. These results are consistent with the hypothesis of model-based control, but not with on-line control. Indeed, ball path and speed during the occlusion could not be extrapolated solely from the kinematic information obtained during the preceding visible phase. The only way to extrapolate ball motion correctly during the occlusion was to assume that the ball would fall under gravity and air drag when hidden from view. Such an assumption had to be derived from prior experience. PMID:26133803

Trajectory of coronary motion and its significance in robotic motion cancellation.

PubMed

Cattin, Philippe; Dave, Hitendu; Grünenfelder, Jürg; Szekely, Gabor; Turina, Marko; Zünd, Gregor

2004-05-01

To characterize remaining coronary artery motion of beating pig hearts after stabilization with an 'Octopus' using an optical remote analysis technique. Three pigs (40, 60 and 65 kg) underwent full sternotomy after receiving general anesthesia. An 8-bit high speed black and white video camera (50 frames/s) coupled with a laser sensor (60 microm resolution) were used to capture heart wall motion in all three dimensions. Dopamine infusion was used to deliberately modulate cardiac contractility. Synchronized ECG, blood pressure, airway pressure and video data of the region around the first branching point of the left anterior descending (LAD) coronary artery after Octopus stabilization were captured for stretches of 8 s each. Several sequences of the same region were captured over a period of several minutes. Computerized off-line analysis allowed us to perform minute characterization of the heart wall motion. The movement of the points of interest on the LAD ranged from 0.22 to 0.81 mm in the lateral plane (x/y-axis) and 0.5-2.6 mm out of the plane (z-axis). Fast excursions (>50 microm/s in the lateral plane) occurred corresponding to the QRS complex and the T wave; while slow excursion phases (<50 microm/s in the lateral plane) were observed during the P wave and the ST segment. The trajectories of the points of interest during consecutive cardiac cycles as well as during cardiac cycles minutes apart remained comparable (the differences were negligible), provided the hemodynamics remained stable. Inotrope-induced changes in cardiac contractility influenced not only the maximum excursion, but also the shape of the trajectory. Normal positive pressure ventilation displacing the heart in the thoracic cage was evident by the displacement of the reference point of the trajectory. The movement of the coronary artery after stabilization appears to be still significant. Minute characterization of the trajectory of motion could provide the substrate for achieving motion cancellation for existing robotic systems. Velocity plots could also help improve gated cardiac imaging.

SU-D-207A-06: Pediatric Abdominal Organ Motion Quantified Via a Novel 4D MRI Method

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

Uh, J; Krasin, MJ; Lucas, JT

Purpose: To develop a 4D MRI method for assessing respiration-induced abdominal organ motion in children receiving radiation therapy. Methods: A 4D MRI using internal image-based respiratory surrogate has been developed and implemented on a clinical scanner (1.5T Siemens Avanto). Ten patients (younger group: N=6, 2–5 years, anesthetized; older group: N=4, 11–15 years) with neuroblastoma, Wilm’s tumor rhabdomyosarcoma, or desmoplastic small round cell tumor received free breathing 4D MRI scans for treatment planning. Coronal image slices of the entire abdomen were retrospectively constructed in 10 respiratory phases. A B-spline deformable registration (Metz et al. 2011) was performed on 4D datasets tomore » automatically derive motion trajectories of selected anatomical landmarks, including the dome and the center of the liver, and the superior edges of kidneys and spleen. The extents of the motion in three dimensions (anteroposterior, AP; mediolateral, ML; superoinferior, SI) and the correlations between organ motion trajectories were quantified. Results: The 4D MRI scans were successfully performed in <20 minutes for all patients without the use of any external device. Organ motion extents were larger in adolescents (kidneys: 3–13 mm SI, liver and spleen: 6–18 mm SI) than in younger children (kidneys:<3mm in all directions; liver and spleen: 1–8 mm SI, 1–5 mm ML and AP). The magnitude of respiratory motion in some adolescents may warrant special motion management. Motion trajectories were not synchronized across selected anatomical landmarks, particularly in the ML and AP directions, indicating inter- and intra-organ variations of the respiratory-induced motion. Conclusion: The developed 4D MRI acquisition and motion analysis methods provide a non-ionizing, non-invasive approach to automatically measure the organ motion trajectory in the pediatric abdomen. It is useful for defining ITV and PRV, monitoring changes in target motion patterns during the treatment course, and studying interplay effects in proton scanning.« less

Perception of object trajectory: parsing retinal motion into self and object movement components.

PubMed

Warren, Paul A; Rushton, Simon K

2007-08-16

A moving observer needs to be able to estimate the trajectory of other objects moving in the scene. Without the ability to do so, it would be difficult to avoid obstacles or catch a ball. We hypothesized that neural mechanisms sensitive to the patterns of motion generated on the retina during self-movement (optic flow) play a key role in this process, "parsing" motion due to self-movement from that due to object movement. We investigated this "flow parsing" hypothesis by measuring the perceived trajectory of a moving probe placed within a flow field that was consistent with movement of the observer. In the first experiment, the flow field was consistent with an eye rotation; in the second experiment, it was consistent with a lateral translation of the eyes. We manipulated the distance of the probe in both experiments and assessed the consequences. As predicted by the flow parsing hypothesis, manipulating the distance of the probe had differing effects on the perceived trajectory of the probe in the two experiments. The results were consistent with the scene geometry and the type of simulated self-movement. In a third experiment, we explored the contribution of local and global motion processing to the results of the first two experiments. The data suggest that the parsing process involves global motion processing, not just local motion contrast. The findings of this study support a role for optic flow processing in the perception of object movement during self-movement.

Helical paths, gravitaxis, and separation phenomena for mass-anisotropic self-propelling colloids: Experiment versus theory

NASA Astrophysics Data System (ADS)

Campbell, Andrew I.; Wittkowski, Raphael; ten Hagen, Borge; Löwen, Hartmut; Ebbens, Stephen J.

2017-08-01

The self-propulsion mechanism of active colloidal particles often generates not only translational but also rotational motion. For particles with an anisotropic mass density under gravity, the motion is usually influenced by a downwards oriented force and an aligning torque. Here we study the trajectories of self-propelled bottom-heavy Janus particles in three spatial dimensions both in experiments and by theory. For a sufficiently large mass anisotropy, the particles typically move along helical trajectories whose axis is oriented either parallel or antiparallel to the direction of gravity (i.e., they show gravitaxis). In contrast, if the mass anisotropy is small and rotational diffusion is dominant, gravitational alignment of the trajectories is not possible. Furthermore, the trajectories depend on the angular self-propulsion velocity of the particles. If this component of the active motion is strong and rotates the direction of translational self-propulsion of the particles, their trajectories have many loops, whereas elongated swimming paths occur if the angular self-propulsion is weak. We show that the observed gravitational alignment mechanism and the dependence of the trajectory shape on the angular self-propulsion can be used to separate active colloidal particles with respect to their mass anisotropy and angular self-propulsion, respectively.

Tunable smart digital structure (SDS) to modularly assemble soft actuators with layered adhesive bonding

NASA Astrophysics Data System (ADS)

Jin, Hu; Dong, Erbao; Xu, Min; Xia, Qirong; Liu, Shuai; Li, Weihua; Yang, Jie

2018-01-01

Many shape memory alloy (SMA)-based soft actuators have specific composite structures and manufacture processes, and are therefore unique. However, these exclusive characteristics limit their capabilities and applications, so in this article a soft and smart digital structure (SDS) is proposed that acts like a modular unit to assemble soft actuators by a layered adhesive bonding process. The SDS is a fully soft structure that encapsulates a digital skeleton consisting of four groups of parallel and independently actuated SMA wires capable of outputting a four-channel tunable force. The layered adhesive bonding process modularly bonds several SDSs with an elastic backbone to fabricate a layered soft actuator where the elastic backbone is used to recover the SDSs in a cooling process using the SMA wires. Two kinds of SDS-based soft actuators were modularly assembled, an actuator, SDS-I, with a two-dimensional reciprocal motion, and an actuator, SDS-II, capable of bi-directional reciprocal motion. The thermodynamics and phase transformation modeling of the SDS-based actuator were analyzed. Several extensional soft actuators were also assembled by bonding the SDS with an anomalous elastic backbone or modularly assembling the SDS-Is and SDS-IIs. These modularly assembled soft actuators delivered more output channels and a complicated motion, e.g., an actinomorphic soft actuator with four SDS-Is jumps in a series of hierarchical heights and directional movement by tuning the input channels of the SDSs. This result showed that the SDS can modularly assemble multifarious soft actuators with diverse capabilities, steerability and tunable outputs.

3D Measurement of Forearm and Upper Arm during Throwing Motion using Body Mounted Sensor

NASA Astrophysics Data System (ADS)

Koda, Hideharu; Sagawa, Koichi; Kuroshima, Kouta; Tsukamoto, Toshiaki; Urita, Kazutaka; Ishibashi, Yasuyuki

The aim of this study is to propose the measurement method of three-dimensional (3D) movement of forearm and upper arm during pitching motion of baseball using inertial sensors without serious consideration of sensor installation. Although high accuracy measurement of sports motion is achieved by using optical motion capture system at present, it has some disadvantages such as the calibration of cameras and limitation of measurement place. Whereas the proposed method for 3D measurement of pitching motion using body mounted sensors provides trajectory and orientation of upper arm by the integration of acceleration and angular velocity measured on upper limb. The trajectory of forearm is derived so that the elbow joint axis of forearm corresponds to that of upper arm. Spatial relation between upper limb and sensor system is obtained by performing predetermined movements of upper limb and utilizing angular velocity and gravitational acceleration. The integration error is modified so that the estimated final position, velocity and posture of upper limb agree with the actual ones. The experimental results of the measurement of pitching motion show that trajectories of shoulder, elbow and wrist estimated by the proposed method are highly correlated to those from the motion capture system within the estimation error of about 10 [%].

Quantum trajectories in elastic atom-surface scattering: threshold and selective adsorption resonances.

PubMed

Sanz, A S; Miret-Artés, S

2005-01-01

The elastic resonant scattering of He atoms off the Cu(117) surface is fully described with the formalism of quantum trajectories provided by Bohmian mechanics. Within this theory of quantum motion, the concept of trapping is widely studied and discussed. Classically, atoms undergo impulsive collisions with the surface, and then the trapped motion takes place covering at least two consecutive unit cells. However, from a Bohmian viewpoint, atom trajectories can smoothly adjust to the equipotential energy surface profile in a sort of sliding motion; thus the trapping process could eventually occur within one single unit cell. In particular, both threshold and selective adsorption resonances are explained by means of this quantum trapping considering different space and time scales. Furthermore, a mapping between each region of the (initial) incoming plane wave and the different parts of the diffraction and resonance patterns can be easily established, an important issue only provided by a quantum trajectory formalism. (c) 2005 American Institute of Physics.

Kinematic Optimization of Robot Trajectories for Thermal Spray Coating Application

NASA Astrophysics Data System (ADS)

Deng, Sihao; Liang, Hong; Cai, Zhenhua; Liao, Hanlin; Montavon, Ghislain

2014-12-01

Industrial robots are widely used in the field of thermal spray nowadays. Due to their characteristics of high-accuracy and programmable flexibility, spraying on complex geometrical workpieces can be realized in the equipped spray room. However, in some cases, the robots cannot guarantee the process parameters defined by the robot movement, such as the scanning trajectory, spray angle, relative speed between the torch and the substrate, etc., which have distinct influences on heat and mass transfer during the generation of any thermally sprayed coatings. In this study, an investigation on the robot kinematics was proposed to find the rules of motion in a common case. The results showed that the motion behavior of each axis of robot permits to identify the motion problems in the trajectory. This approach allows to optimize the robot trajectory generation in a limited working envelop. It also minimizes the influence of robot performance to achieve a more constant relative scanning speed which is represented as a key parameter in thermal spraying.

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

NASA Astrophysics Data System (ADS)

Yi, Seung-Jong

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

Understanding soft glassy materials using an energy landscape approach

NASA Astrophysics Data System (ADS)

Hwang, Hyun Joo; Riggleman, Robert A.; Crocker, John C.

2016-09-01

Many seemingly different soft materials--such as soap foams, mayonnaise, toothpaste and living cells--display strikingly similar viscoelastic behaviour. A fundamental physical understanding of such soft glassy rheology and how it can manifest in such diverse materials, however, remains unknown. Here, by using a model soap foam consisting of compressible spherical bubbles, whose sizes slowly evolve and whose collective motion is simply dictated by energy minimization, we study the foam's dynamics as it corresponds to downhill motion on an energy landscape function spanning a high-dimensional configuration space. We find that these downhill paths, when viewed in this configuration space, are, surprisingly, fractal. The complex behaviour of our model, including power-law rheology and non-diffusive bubble motion and avalanches, stems directly from the fractal dimension and energy function of these paths. Our results suggest that ubiquitous soft glassy rheology may be a consequence of emergent fractal geometry in the energy landscapes of many complex fluids.

Neck Proprioception Shapes Body Orientation and Perception of Motion

PubMed Central

Pettorossi, Vito Enrico; Schieppati, Marco

2014-01-01

This review article deals with some effects of neck muscle proprioception on human balance, gait trajectory, subjective straight-ahead (SSA), and self-motion perception. These effects are easily observed during neck muscle vibration, a strong stimulus for the spindle primary afferent fibers. We first remind the early findings on human balance, gait trajectory, SSA, induced by limb, and neck muscle vibration. Then, more recent findings on self-motion perception of vestibular origin are described. The use of a vestibular asymmetric yaw-rotation stimulus for emphasizing the proprioceptive modulation of motion perception from the neck is mentioned. In addition, an attempt has been made to conjointly discuss the effects of unilateral neck proprioception on motion perception, SSA, and walking trajectory. Neck vibration also induces persistent aftereffects on the SSA and on self-motion perception of vestibular origin. These perceptive effects depend on intensity, duration, side of the conditioning vibratory stimulation, and on muscle status. These effects can be maintained for hours when prolonged high-frequency vibration is superimposed on muscle contraction. Overall, this brief outline emphasizes the contribution of neck muscle inflow to the construction and fine-tuning of perception of body orientation and motion. Furthermore, it indicates that tonic neck-proprioceptive input may induce persistent influences on the subject’s mental representation of space. These plastic changes might adapt motion sensitiveness to lasting or permanent head positional or motor changes. PMID:25414660

Neck proprioception shapes body orientation and perception of motion.

PubMed

Pettorossi, Vito Enrico; Schieppati, Marco

2014-01-01

This review article deals with some effects of neck muscle proprioception on human balance, gait trajectory, subjective straight-ahead (SSA), and self-motion perception. These effects are easily observed during neck muscle vibration, a strong stimulus for the spindle primary afferent fibers. We first remind the early findings on human balance, gait trajectory, SSA, induced by limb, and neck muscle vibration. Then, more recent findings on self-motion perception of vestibular origin are described. The use of a vestibular asymmetric yaw-rotation stimulus for emphasizing the proprioceptive modulation of motion perception from the neck is mentioned. In addition, an attempt has been made to conjointly discuss the effects of unilateral neck proprioception on motion perception, SSA, and walking trajectory. Neck vibration also induces persistent aftereffects on the SSA and on self-motion perception of vestibular origin. These perceptive effects depend on intensity, duration, side of the conditioning vibratory stimulation, and on muscle status. These effects can be maintained for hours when prolonged high-frequency vibration is superimposed on muscle contraction. Overall, this brief outline emphasizes the contribution of neck muscle inflow to the construction and fine-tuning of perception of body orientation and motion. Furthermore, it indicates that tonic neck-proprioceptive input may induce persistent influences on the subject's mental representation of space. These plastic changes might adapt motion sensitiveness to lasting or permanent head positional or motor changes.

Search for and Study of Nearly Periodic Orbits in the Plane Problem of Three Equal-Mass Bodies

NASA Astrophysics Data System (ADS)

Martynova, A. I.; Orlov, V. V.

2005-09-01

We analyze nearly periodic solutions in the plane problem of three equal-mass bodies by numerically simulating the dynamics of triple systems. We identify families of orbits in which all three points are on one straight line (syzygy) at the initial time. In this case, at fixed total energy of a triple system, the set of initial conditions is a bounded region in four-dimensional parameter space. We scan this region and identify sets of trajectories in which the coordinates and velocities of all bodies are close to their initial values at certain times (which are approximately multiples of the period). We classify the nearly periodic orbits by the structure of trajectory loops over one period. We have found the families of orbits generated by von Schubart’s stable periodic orbit revealed in the rectilinear three-body problem. We have also found families of hierarchical, nearly periodic trajectories with prograde and retrograde motions. In the orbits with prograde motions, the trajectory loops of two close bodies form looplike structures. The trajectories with retrograde motions are characterized by leafed structures. Orbits with central and axial symmetries are identified among the families found.

Soft Ultrathin Electronics Innervated Adaptive Fully Soft Robots.

PubMed

Wang, Chengjun; Sim, Kyoseung; Chen, Jin; Kim, Hojin; Rao, Zhoulyu; Li, Yuhang; Chen, Weiqiu; Song, Jizhou; Verduzco, Rafael; Yu, Cunjiang

2018-03-01

Soft robots outperform the conventional hard robots on significantly enhanced safety, adaptability, and complex motions. The development of fully soft robots, especially fully from smart soft materials to mimic soft animals, is still nascent. In addition, to date, existing soft robots cannot adapt themselves to the surrounding environment, i.e., sensing and adaptive motion or response, like animals. Here, compliant ultrathin sensing and actuating electronics innervated fully soft robots that can sense the environment and perform soft bodied crawling adaptively, mimicking an inchworm, are reported. The soft robots are constructed with actuators of open-mesh shaped ultrathin deformable heaters, sensors of single-crystal Si optoelectronic photodetectors, and thermally responsive artificial muscle of carbon-black-doped liquid-crystal elastomer (LCE-CB) nanocomposite. The results demonstrate that adaptive crawling locomotion can be realized through the conjugation of sensing and actuation, where the sensors sense the environment and actuators respond correspondingly to control the locomotion autonomously through regulating the deformation of LCE-CB bimorphs and the locomotion of the robots. The strategy of innervating soft sensing and actuating electronics with artificial muscles paves the way for the development of smart autonomous soft robots. © 2018 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Hand interception of occluded motion in humans: a test of model-based vs. on-line control.

PubMed

La Scaleia, Barbara; Zago, Myrka; Lacquaniti, Francesco

2015-09-01

Two control schemes have been hypothesized for the manual interception of fast visual targets. In the model-free on-line control, extrapolation of target motion is based on continuous visual information, without resorting to physical models. In the model-based control, instead, a prior model of target motion predicts the future spatiotemporal trajectory. To distinguish between the two hypotheses in the case of projectile motion, we asked participants to hit a ball that rolled down an incline at 0.2 g and then fell in air at 1 g along a parabola. By varying starting position, ball velocity and trajectory differed between trials. Motion on the incline was always visible, whereas parabolic motion was either visible or occluded. We found that participants were equally successful at hitting the falling ball in both visible and occluded conditions. Moreover, in different trials the intersection points were distributed along the parabolic trajectories of the ball, indicating that subjects were able to extrapolate an extended segment of the target trajectory. Remarkably, this trend was observed even at the very first repetition of movements. These results are consistent with the hypothesis of model-based control, but not with on-line control. Indeed, ball path and speed during the occlusion could not be extrapolated solely from the kinematic information obtained during the preceding visible phase. The only way to extrapolate ball motion correctly during the occlusion was to assume that the ball would fall under gravity and air drag when hidden from view. Such an assumption had to be derived from prior experience. Copyright © 2015 the American Physiological Society.

Atmospheric guidance law for planar skip trajectories

NASA Technical Reports Server (NTRS)

Mease, K. D.; Mccreary, F. A.

1985-01-01

The applicability of an approximate, closed-form, analytical solution to the equations of motion, as a basis for a deterministic guidance law for controlling the in-plane motion during a skip trajectory, is investigated. The derivation of the solution by the method of matched asymptotic expansions is discussed. Specific issues that arise in the application of the solution to skip trajectories are addressed. Based on the solution, an explicit formula for the approximate energy loss due to an atmospheric pass is derived. A guidance strategy is proposed that illustrates the use of the approximate solution. A numerical example shows encouraging performance.

Disentangling Random Motion and Flow in a Complex Medium

PubMed Central

Koslover, Elena F.; Chan, Caleb K.; Theriot, Julie A.

2016-01-01

We describe a technique for deconvolving the stochastic motion of particles from large-scale fluid flow in a dynamic environment such as that found in living cells. The method leverages the separation of timescales to subtract out the persistent component of motion from single-particle trajectories. The mean-squared displacement of the resulting trajectories is rescaled so as to enable robust extraction of the diffusion coefficient and subdiffusive scaling exponent of the stochastic motion. We demonstrate the applicability of the method for characterizing both diffusive and fractional Brownian motion overlaid by flow and analytically calculate the accuracy of the method in different parameter regimes. This technique is employed to analyze the motion of lysosomes in motile neutrophil-like cells, showing that the cytoplasm of these cells behaves as a viscous fluid at the timescales examined. PMID:26840734

Statistical characteristics of trajectories of diamagnetic unicellular organisms in a magnetic field.

PubMed

Gorobets, Yu I; Gorobets, O Yu

2015-01-01

The statistical model is proposed in this paper for description of orientation of trajectories of unicellular diamagnetic organisms in a magnetic field. The statistical parameter such as the effective energy is calculated on basis of this model. The resulting effective energy is the statistical characteristics of trajectories of diamagnetic microorganisms in a magnetic field connected with their metabolism. The statistical model is applicable for the case when the energy of the thermal motion of bacteria is negligible in comparison with their energy in a magnetic field and the bacteria manifest the significant "active random movement", i.e. there is the randomizing motion of the bacteria of non thermal nature, for example, movement of bacteria by means of flagellum. The energy of the randomizing active self-motion of bacteria is characterized by the new statistical parameter for biological objects. The parameter replaces the energy of the randomizing thermal motion in calculation of the statistical distribution. Copyright © 2014 Elsevier Ltd. All rights reserved.

Dynamic trajectory-based couch motion for improvement of radiation therapy trajectories in cranial SRT

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

MacDonald, R. Lee; Thomas, Christopher G., E-mail: Chris.Thomas@cdha.nshealth.ca; Department of Medical Physics, Nova Scotia Cancer Centre, Queen Elizabeth II Health Sciences Centre, Halifax, Nova Scotia B3H 1V7

2015-05-15

Purpose: To investigate potential improvement in external beam stereotactic radiation therapy plan quality for cranial cases using an optimized dynamic gantry and patient support couch motion trajectory, which could minimize exposure to sensitive healthy tissue. Methods: Anonymized patient anatomy and treatment plans of cranial cancer patients were used to quantify the geometric overlap between planning target volumes and organs-at-risk (OARs) based on their two-dimensional projection from source to a plane at isocenter as a function of gantry and couch angle. Published dose constraints were then used as weighting factors for the OARs to generate a map of couch-gantry coordinate space,more » indicating degree of overlap at each point in space. A couch-gantry collision space was generated by direct measurement on a linear accelerator and couch using an anthropomorphic solid-water phantom. A dynamic, fully customizable algorithm was written to generate a navigable ideal trajectory for the patient specific couch-gantry space. The advanced algorithm can be used to balance the implementation of absolute minimum values of overlap with the clinical practicality of large-scale couch motion and delivery time. Optimized cranial cancer treatment trajectories were compared to conventional treatment trajectories. Results: Comparison of optimized treatment trajectories with conventional treatment trajectories indicated an average decrease in mean dose to the OARs of 19% and an average decrease in maximum dose to the OARs of 12%. Degradation was seen for homogeneity index (6.14% ± 0.67%–5.48% ± 0.76%) and conformation number (0.82 ± 0.02–0.79 ± 0.02), but neither was statistically significant. Removal of OAR constraints from volumetric modulated arc therapy optimization reveals that reduction in dose to OARs is almost exclusively due to the optimized trajectory and not the OAR constraints. Conclusions: The authors’ study indicated that simultaneous couch and gantry motion during radiation therapy to minimize the geometrical overlap in the beams-eye-view of target volumes and the organs-at-risk can have an appreciable dose reduction to organs-at-risk.« less

Main braking phase for a soft moon landing as a form of trajectory correction

NASA Astrophysics Data System (ADS)

Likhachev, V. N.; Sikharulidze, Yu. G.; Fedotov, V. P.

2013-12-01

Rationale is given for the braking profile of a spacecraft making a soft landing on the Moon's surface, including the following four phases: main braking, free fall, repeated braking, and descent at a constant speed. Due to the large altitude differential over the braking path in near-polar regions of the Moon, main braking is proposed as a type of trajectory correction impulse using no altimeter. The boundary problem solution and statistical calculations are used to give the potential energy costs and characteristics of the dispersion characteristics for this phase and choose an optimal thrust-to-weight ratio for the phase.

Blind retrospective motion correction of MR images.

PubMed

Loktyushin, Alexander; Nickisch, Hannes; Pohmann, Rolf; Schölkopf, Bernhard

2013-12-01

Subject motion can severely degrade MR images. A retrospective motion correction algorithm, Gradient-based motion correction, which significantly reduces ghosting and blurring artifacts due to subject motion was proposed. The technique uses the raw data of standard imaging sequences; no sequence modifications or additional equipment such as tracking devices are required. Rigid motion is assumed. The approach iteratively searches for the motion trajectory yielding the sharpest image as measured by the entropy of spatial gradients. The vast space of motion parameters is efficiently explored by gradient-based optimization with a convergence guarantee. The method has been evaluated on both synthetic and real data in two and three dimensions using standard imaging techniques. MR images are consistently improved over different kinds of motion trajectories. Using a graphics processing unit implementation, computation times are in the order of a few minutes for a full three-dimensional volume. The presented technique can be an alternative or a complement to prospective motion correction methods and is able to improve images with strong motion artifacts from standard imaging sequences without requiring additional data. Copyright © 2013 Wiley Periodicals, Inc., a Wiley company.

Hierarchical Motion Planning for Autonomous Aerial and Terrestrial Vehicles

NASA Astrophysics Data System (ADS)

Cowlagi, Raghvendra V.

Autonomous mobile robots---both aerial and terrestrial vehicles---have gained immense importance due to the broad spectrum of their potential military and civilian applications. One of the indispensable requirements for the autonomy of a mobile vehicle is the vehicle's capability of planning and executing its motion, that is, finding appropriate control inputs for the vehicle such that the resulting vehicle motion satisfies the requirements of the vehicular task. The motion planning and control problem is inherently complex because it involves two disparate sub-problems: (1) satisfaction of the vehicular task requirements, which requires tools from combinatorics and/or formal methods, and (2) design of the vehicle control laws, which requires tools from dynamical systems and control theory. Accordingly, this problem is usually decomposed and solved over two levels of hierarchy. The higher level, called the geometric path planning level, finds a geometric path that satisfies the vehicular task requirements, e.g., obstacle avoidance. The lower level, called the trajectory planning level, involves sufficient smoothening of this geometric path followed by a suitable time parametrization to obtain a reference trajectory for the vehicle. Although simple and efficient, such hierarchical decomposition suffers a serious drawback: the geometric path planner has no information of the kinematical and dynamical constraints of the vehicle. Consequently, the geometric planner may produce paths that the trajectory planner cannot transform into a feasible reference trajectory. Two main ideas appear in the literature to remedy this problem: (a) randomized sampling-based planning, which eliminates the geometric planner altogether by planning in the vehicle state space, and (b) geometric planning supported by feedback control laws. The former class of methods suffer from a lack of optimality of the resultant trajectory, while the latter class of methods makes a restrictive assumption concerning the vehicle kinematical model. We propose a hierarchical motion planning framework based on a novel mode of interaction between these two levels of planning. This interaction rests on the solution of a special shortest-path problem on graphs, namely, one using costs defined on multiple edge transitions in the path instead of the usual single edge transition costs. These costs are provided by a local trajectory generation algorithm, which we implement using model predictive control and the concept of effective target sets for simplifying the non-convex constraints involved in the problem. The proposed motion planner ensures "consistency" between the two levels of planning, i.e., a guarantee that the higher level geometric path is always associated with a kinematically and dynamically feasible trajectory. The main contributions of this thesis are: 1. A motion planning framework based on history-dependent costs (H-costs) in cell decomposition graphs for incorporating vehicle dynamical constraints: this framework offers distinct advantages in comparison with the competing approaches of discretization of the state space, of randomized sampling-based motion planning, and of local feedback-based, decoupled hierarchical motion planning, 2. An efficient and flexible algorithm for finding optimal H-cost paths, 3. A precise and general formulation of a local trajectory problem (the tile motion planning problem) that allows independent development of the discrete planner and the trajectory planner, while maintaining "compatibility" between the two planners, 4. A local trajectory generation algorithm using mpc, and the application of the concept of effective target sets for a significant simplification of the local trajectory generation problem, 5. The geometric analysis of curvature-bounded traversal of rectangular channels, leading to less conservative results in comparison with a result reported in the literature, and also to the efficient construction of effective target sets for the solution of the tile motion planning problem, 6. A wavelet-based multi-resolution path planning scheme, and a proof of completeness of the proposed scheme: such proofs are altogether absent from other works on multi-resolution path planning, 7. A technique for extracting all information about cells---namely, the locations, the sizes, and the associated image intensities---directly from the set of significant detail coefficients considered for path planning at a given iteration, and 8. The extension of the multi-resolution path planning scheme to include vehicle dynamical constraints using the aforementioned history-dependent costs approach. The future work includes an implementation of the proposed framework involving a discrete planner that solves classical planning problems more general than the single-query path planning problem considered thus far, and involving trajectory generation schemes for realistic vehicle dynamical models such as the bicycle model.

Experimental study of trajectory planning and control of a high precision robot manipulator

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Antrazi, Sami S.

1991-01-01

The kinematic and trajectory planning is presented for a 6 DOF end-effector whose design was based on the Stewart Platform mechanism. The end-effector was used as a testbed for studying robotic assembly of NASA hardware with passive compliance. Vector analysis was employed to derive a closed-form solution for the end-effector inverse kinematic transformation. A computationally efficient numerical solution was obtained for the end-effector forward kinematic transformation using Newton-Raphson method. Three trajectory planning schemes, two for fine motion and one for gross motion, were developed for the end-effector. Experiments conducted to evaluate the performance of the trajectory planning schemes showed excellent tracking quality with minimal errors. Current activities focus on implementing the developed trajectory planning schemes on mating and demating space-rated connectors and using the compliant platform to acquire forces/torques applied on the end-effector during the assembly task.

Enhanced sampling by multiple molecular dynamics trajectories: carbonmonoxy myoglobin 10 micros A0-->A(1-3) transition from ten 400 picosecond simulations.

PubMed

Loccisano, Anne E; Acevedo, Orlando; DeChancie, Jason; Schulze, Brita G; Evanseck, Jeffrey D

2004-05-01

The utility of multiple trajectories to extend the time scale of molecular dynamics simulations is reported for the spectroscopic A-states of carbonmonoxy myoglobin (MbCO). Experimentally, the A0-->A(1-3) transition has been observed to be 10 micros at 300 K, which is beyond the time scale of standard molecular dynamics simulations. To simulate this transition, 10 short (400 ps) and two longer time (1.2 ns) molecular dynamics trajectories, starting from five different crystallographic and solution phase structures with random initial velocities centered in a 37 A radius sphere of water, have been used to sample the native-fold of MbCO. Analysis of the ensemble of structures gathered over the cumulative 5.6 ns reveals two biomolecular motions involving the side chains of His64 and Arg45 to explain the spectroscopic states of MbCO. The 10 micros A0-->A(1-3) transition involves the motion of His64, where distance between His64 and CO is found to vary up to 8.8 +/- 1.0 A during the transition of His64 from the ligand (A(1-3)) to bulk solvent (A0). The His64 motion occurs within a single trajectory only once, however the multiple trajectories populate the spectroscopic A-states fully. Consequently, multiple independent molecular dynamics simulations have been found to extend biomolecular motion from 5 ns of total simulation to experimental phenomena on the microsecond time scale.

Motion Planning of Two Stacker Cranes in a Large-Scale Automated Storage/Retrieval System

NASA Astrophysics Data System (ADS)

Kung, Yiheng; Kobayashi, Yoshimasa; Higashi, Toshimitsu; Ota, Jun

We propose a method for reducing the computational time of motion planning for stacker cranes. Most automated storage/retrieval systems (AS/RSs) are only equipped with one stacker crane. However, this is logistically challenging, and greater work efficiency in warehouses, such as those using two stacker cranes, is required. In this paper, a warehouse with two stacker cranes working simultaneously is proposed. Unlike warehouses with only one crane, trajectory planning in those with two cranes is very difficult. Since there are two cranes working together, a proper trajectory must be considered to avoid collision. However, verifying collisions is complicated and requires a considerable amount of computational time. As transport work in AS/RSs occurs randomly, motion planning cannot be conducted in advance. Planning an appropriate trajectory within a restricted duration would be a difficult task. We thereby address the current problem of motion planning requiring extensive calculation time. As a solution, we propose a “free-step” to simplify the procedure of collision verification and reduce the computational time. On the other hand, we proposed a method to reschedule the order of collision verification in order to find an appropriate trajectory in less time. By the proposed method, we reduce the calculation time to less than 1/300 of that achieved in former research.

On motions of a carrier with a mobile load along a rough inclined plane

NASA Astrophysics Data System (ADS)

Bilchenko, Grigory; Bilchenko, Grigory; Bilchenko, Nataly

2018-05-01

A mechanical system consisting of a carrier and a load is considered. The load can move respectively to the carrier according to a predetermined motion law. The carrier can move translationally along a rectilinear trajectory on a rough inclined plane. The trajectory is the line of the greatest descent. The axis of the rectilinear channel, along which the load moves, is located in a vertical plane passing through the trajectory of the carrier. The Coulomb dry friction model is applied for simulation the forces of resistance to the motion of the carrier from the side of the underlying inclined plane. The extreme value of plane inclination angle at which the carrier is at rest, when the load is stationary, is obtained by taking into account the frictional forces of sliding at rest. Differential equations of motion of a carrier with a load moving with respect to the carrier are obtained taking into account the requirement of motion of the carrier along an inclined plane without detachment. The determining relationships are given which made it possible to classify the types of carrier motion when the channel setting angle and the plane inclination angle are related by a certain inequality. The results of computational experiments are presented.

Implied dynamics biases the visual perception of velocity.

PubMed

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

2014-01-01

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

How many atoms are required to characterize accurately trajectory fluctuations of a protein?

NASA Astrophysics Data System (ADS)

Cukier, Robert I.

2010-06-01

Large molecules, whose thermal fluctuations sample a complex energy landscape, exhibit motions on an extended range of space and time scales. Principal component analysis (PCA) is often used to extract dominant motions that in proteins are typically domain motions. These motions are captured in the large eigenvalue (leading) principal components. There is also information in the small eigenvalues, arising from approximate linear dependencies among the coordinates. These linear dependencies suggest that instead of using all the atom coordinates to represent a trajectory, it should be possible to use a reduced set of coordinates with little loss in the information captured by the large eigenvalue principal components. In this work, methods that can monitor the correlation (overlap) between a reduced set of atoms and any number of retained principal components are introduced. For application to trajectory data generated by simulations, where the overall translational and rotational motion needs to be eliminated before PCA is carried out, some difficulties with the overlap measures arise and methods are developed to overcome them. The overlap measures are evaluated for a trajectory generated by molecular dynamics for the protein adenylate kinase, which consists of a stable, core domain, and two more mobile domains, referred to as the LID domain and the AMP-binding domain. The use of reduced sets corresponding, for the smallest set, to one-eighth of the alpha carbon (CA) atoms relative to using all the CA atoms is shown to predict the dominant motions of adenylate kinase. The overlap between using all the CA atoms and all the backbone atoms is essentially unity for a sum over PCA modes that effectively capture the exact trajectory. A reduction to a few atoms (three in the LID and three in the AMP-binding domain) shows that at least the first principal component, characterizing a large part of the LID-binding and AMP-binding motion, is well described. Based on these results, the overlap criterion should be applicable as a guide to postulating and validating coarse-grained descriptions of generic biomolecular assemblies.

Research on motion model for the hypersonic boost-glide aircraft

NASA Astrophysics Data System (ADS)

Xu, Shenda; Wu, Jing; Wang, Xueying

2015-11-01

A motion model for the hypersonic boost-glide aircraft(HBG) was proposed in this paper, which also analyzed the precision of model through simulation. Firstly the trajectory of HBG was analyzed, and a scheme which divide the trajectory into two parts then build the motion model on each part. Secondly a restrained model of boosting stage and a restrained model of J2 perturbation were established, and set up the observe model. Finally the analysis of simulation results show the feasible and high-accuracy of the model, and raise a expectation for intensive research.

Mapa MEGNO para satélites irregulares de Satuno

NASA Astrophysics Data System (ADS)

Moyano, M. M.; Leiva, A. M.

By implementing the elliptic restricted three-body model we obtain high resolution dynamical maps in the phase space region corresponding to that where Saturn's irregular satellites are currently found. The nature of the trajectories is characterized by the MEGNO chaos indicator (Cincotta P. and Simó C., 2000), which allows to identify regions of chaotic and quasi- periodic trajectories much faster than with other indicators (e.g. Lyapunov exponents). The results obtained allow to identify with great detail the boundaries of the regions of regular motion, chaotic motion, and substruc- tures associated to mean motion resonances. FULL TEXT IN SPANISH

Interfractional variability of respiration-induced esophageal tumor motion quantified using fiducial markers and four-dimensional cone-beam computed tomography.

PubMed

Jin, Peng; Hulshof, Maarten C C M; van Wieringen, Niek; Bel, Arjan; Alderliesten, Tanja

2017-07-01

To investigate the interfractional variability of respiration-induced esophageal tumor motion using fiducial markers and four-dimensional cone-beam computed tomography (4D-CBCT) and assess if a 4D-CT is sufficient for predicting the motion during the treatment. Twenty-four patients with 63 markers visible in the retrospectively reconstructed 4D-CBCTs were included. For each marker, we calculated the amplitude and trajectory of the respiration-induced motion. Possible time trends of the amplitude over the treatment course and the interfractional variability of amplitudes and trajectory shapes were assessed. Further, the amplitudes measured in the 4D-CT were compared to those in the 4D-CBCTs. The amplitude was largest in the cranial-caudal direction of the distal esophagus (mean: 7.1mm) and proximal stomach (mean: 7.8mm). No time trend was observed in the amplitude over the treatment course. The interfractional variability of amplitudes and trajectory shapes was limited (mean: ≤1.4mm). Moreover, small and insignificant deviation was found between the amplitudes quantified in the 4D-CT and in the 4D-CBCT (mean absolute difference: ≤1.0mm). The limited interfractional variability of amplitudes and trajectory shapes and small amplitude difference between 4D-CT-based and 4D-CBCT-based measurements imply that a single 4D-CT would be sufficient for predicting the respiration-induced esophageal tumor motion during the treatment course. Copyright © 2017 Elsevier B.V. All rights reserved.

Does representational momentum reflect a distortion of the length or the endpoint of a trajectory?

PubMed

Hubbard, Timothy L; Motes, Michael A

2002-01-01

Observers viewed a moving target, and after the target vanished, indicated either the initial position or the final position of the target. In Experiment 1, an auditory tone cued observers to indicate either the initial position or the final position; in Experiment 2, different groups of observers indicated the initial position or the final position. Judgments of the initial position were displaced backward in the direction opposite to motion, and judgments of the final position were displaced forward in the direction of motion. The data suggest that the remembered trajectory is longer than the actual trajectory, and the displacement pattern is not consistent with the hypothesis that representational momentum results from a distortion of memory for the location of a trajectory.

Heterogeneous activation in 2D colloidal glass-forming liquids classified by machine learning

NASA Astrophysics Data System (ADS)

Ma, Xiaoguang; Davidson, Zoey; Still, Tim; Ivancic, Robert; Schoenholz, Sam S.; Sussman, Daniel M.; Liu, A. J.; Yodh, A. G.

The trajectories of particles in colloidal glass-forming liquids are often characterized by long periods of ``in-cage'' fluctuations and rapid ``cage-breaking'' rearrangements. We study the rate of such rearrangements and its connection with local cage structures in a 2D binary mixture of poly(N-isopropyl acrylamide) spheres. We use the hopping function, Phop (t) , to identify rearrangements within particle trajectories. Then we obtain distributions of the residence time tR between consecutive rearrangements. The mean residence time tR (S) is found to correlate with the local configurations for the rearranging particles, characterized by 70 radial structural features and softness S, which ranks the structural similarities with respect to rearranging particles. Furthermore, tR (S) for particles with similar softness decays monotonically with increasing softness, indicating correlation between rearrangement rates and softness S. Finally we find that the conditional and full probability distribution functions, P (tR | S) and P (tR) , are well explained by a thermal activation model. We acknowledge financial supports from NSF-MRSEC DMR11-20901, NSF DMR16-07378, and NASA NNX08AO0G.

Improved UTE-based attenuation correction for cranial PET-MR using dynamic magnetic field monitoring

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

Aitken, A. P.; Giese, D.; Tsoumpas, C.

2014-01-15

Purpose: Ultrashort echo time (UTE) MRI has been proposed as a way to produce segmented attenuation maps for PET, as it provides contrast between bone, air, and soft tissue. However, UTE sequences require samples to be acquired during rapidly changing gradient fields, which makes the resulting images prone to eddy current artifacts. In this work it is demonstrated that this can lead to misclassification of tissues in segmented attenuation maps (AC maps) and that these effects can be corrected for by measuring the true k-space trajectories using a magnetic field camera. Methods: The k-space trajectories during a dual echo UTEmore » sequence were measured using a dynamic magnetic field camera. UTE images were reconstructed using nominal trajectories and again using the measured trajectories. A numerical phantom was used to demonstrate the effect of reconstructing with incorrect trajectories. Images of an ovine leg phantom were reconstructed and segmented and the resulting attenuation maps were compared to a segmented map derived from a CT scan of the same phantom, using the Dice similarity measure. The feasibility of the proposed method was demonstrated inin vivo cranial imaging in five healthy volunteers. Simulated PET data were generated for one volunteer to show the impact of misclassifications on the PET reconstruction. Results: Images of the numerical phantom exhibited blurring and edge artifacts on the bone–tissue and air–tissue interfaces when nominal k-space trajectories were used, leading to misclassification of soft tissue as bone and misclassification of bone as air. Images of the tissue phantom and thein vivo cranial images exhibited the same artifacts. The artifacts were greatly reduced when the measured trajectories were used. For the tissue phantom, the Dice coefficient for bone in MR relative to CT was 0.616 using the nominal trajectories and 0.814 using the measured trajectories. The Dice coefficients for soft tissue were 0.933 and 0.934 for the nominal and measured cases, respectively. For air the corresponding figures were 0.991 and 0.993. Compared to an unattenuated reference image, the mean error in simulated PET uptake in the brain was 9.16% when AC maps derived from nominal trajectories was used, with errors in the SUV{sub max} for simulated lesions in the range of 7.17%–12.19%. Corresponding figures when AC maps derived from measured trajectories were used were 0.34% (mean error) and −0.21% to +1.81% (lesions). Conclusions: Eddy current artifacts in UTE imaging can be corrected for by measuring the true k-space trajectories during a calibration scan and using them in subsequent image reconstructions. This improves the accuracy of segmented PET attenuation maps derived from UTE sequences and subsequent PET reconstruction.« less

SU-E-J-136: Evaluation of a Non-Invasive Method on Lung Tumor Tracking.

PubMed

Zhao, T; White, B; Low, D

2012-06-01

to develop a non-invasive method to track lung motion in free-breathing patients. A free-breathing breathing model has been developed to use tidal volume and air flow rate as surrogates for lung trajectories. In this study, 4D CT data sets were acquired during simulation and were reconstructed into 10 phases. Total lung capacities were calculated from the reconstructed images. Continuous signals from the abdominal pneumatic belt were correlated to the volumes and were therefore converted into a curve of tidal volumes. Air flow rate were calculated as the first order derivative of the tidal volume curve. Lung trajectories in the 10 reconstructed images were obtained using B-Spline registration. Parameters of the free-breathing lung motion model were fit from the tidal volumes, airflow rates and lung trajectories using the simulation data. Patients were rescanned every week during the treatment. Prediction of lung trajectories from the model were given and compared to the actual positions in BEV. Trajectories of lung were predicted with residual error of 1.49mm at 95th percentile of all tracked points. Tracking was stable and reproducible over two weeks. Non-invasive tumor tracking based on a free-breathing lung motion model is feasible and stable over weeks. © 2012 American Association of Physicists in Medicine.

TU-F-17A-03: An Analytical Respiratory Perturbation Model for Lung Motion Prediction

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

Li, G; Yuan, A; Wei, J

2014-06-15

Purpose: Breathing irregularity is common, causing unreliable prediction in tumor motion for correlation-based surrogates. Both tidal volume (TV) and breathing pattern (BP=ΔVthorax/TV, where TV=ΔVthorax+ΔVabdomen) affect lung motion in anterior-posterior and superior-inferior directions. We developed a novel respiratory motion perturbation (RMP) model in analytical form to account for changes in TV and BP in motion prediction from simulation to treatment. Methods: The RMP model is an analytical function of patient-specific anatomic and physiologic parameters. It contains a base-motion trajectory d(x,y,z) derived from a 4-dimensional computed tomography (4DCT) at simulation and a perturbation term Δd(ΔTV,ΔBP) accounting for deviation at treatment from simulation.more » The perturbation is dependent on tumor-specific location and patient-specific anatomy. Eleven patients with simulation and treatment 4DCT images were used to assess the RMP method in motion prediction from 4DCT1 to 4DCT2, and vice versa. For each patient, ten motion trajectories of corresponding points in the lower lobes were measured in both 4DCTs: one served as the base-motion trajectory and the other as the ground truth for comparison. In total, 220 motion trajectory predictions were assessed. The motion discrepancy between two 4DCTs for each patient served as a control. An established 5D motion model was used for comparison. Results: The average absolute error of RMP model prediction in superior-inferior direction is 1.6±1.8 mm, similar to 1.7±1.6 mm from the 5D model (p=0.98). Some uncertainty is associated with limited spatial resolution (2.5mm slice thickness) and temporal resolution (10-phases). Non-corrected motion discrepancy between two 4DCTs is 2.6±2.7mm, with the maximum of ±20mm, and correction is necessary (p=0.01). Conclusion: The analytical motion model predicts lung motion with accuracy similar to the 5D model. The analytical model is based on physical relationships, requires no training, and therefore is potentially more resilient to breathing irregularities. On-going investigation introduces airflow into the RMP model for improvement. This research is in part supported by NIH (U54CA137788/132378). AY would like to thank MSKCC summer medical student research program supported by National Cancer Institute and hosted by Department of Medical Physics at MSKCC.« less

Biomechanical analysis of the circular friction hand massage.

PubMed

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

2015-01-01

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

Kinematics of flagellar swimming in Euglena gracilis: Helical trajectories and flagellar shapes.

PubMed

Rossi, Massimiliano; Cicconofri, Giancarlo; Beran, Alfred; Noselli, Giovanni; DeSimone, Antonio

2017-12-12

The flagellar swimming of euglenids, which are propelled by a single anterior flagellum, is characterized by a generalized helical motion. The 3D nature of this swimming motion, which lacks some of the symmetries enjoyed by more common model systems, and the complex flagellar beating shapes that power it make its quantitative description challenging. In this work, we provide a quantitative, 3D, highly resolved reconstruction of the swimming trajectories and flagellar shapes of specimens of Euglena gracilis We achieved this task by using high-speed 2D image recordings taken with a conventional inverted microscope combined with a precise characterization of the helical motion of the cell body to lift the 2D data to 3D trajectories. The propulsion mechanism is discussed. Our results constitute a basis for future biophysical research on a relatively unexplored type of eukaryotic flagellar movement. Copyright © 2017 the Author(s). Published by PNAS.

Perception of object motion in three-dimensional space induced by cast shadows.

PubMed

Katsuyama, Narumi; Usui, Nobuo; Nose, Izuru; Taira, Masato

2011-01-01

Cast shadows can be salient depth cues in three-dimensional (3D) vision. Using a motion illusion in which a ball is perceived to roll in depth on the bottom or to flow in the front plane depending on the slope of the trajectory of its cast shadow, we investigated cortical mechanisms underlying 3D vision based on cast shadows using fMRI techniques. When modified versions of the original illusion, in which the slope of the shadow trajectory (shadow slope) was changed in 5 steps from the same one as the ball trajectory to the horizontal, were presented to participants, their perceived ball trajectory shifted gradually from rolling on the bottom to floating in the front plane as the change of the shadow slope. This observation suggests that the perception of the ball trajectory in this illusion is strongly affected by the motion of the cast shadow. In the fMRI study, cortical activity during observation of the movies of the illusion was investigated. We found that the bilateral posterior-occipital sulcus (POS) and right ventral precuneus showed activation related to the perception of the ball trajectory induced by the cast shadows in the illusion. Of these areas, it was suggested that the right POS may be involved in the inferring of the ball trajectory by the given spatial relation between the ball and the shadow. Our present results suggest that the posterior portion of the medial parietal cortex may be involved in 3D vision by cast shadows. Copyright © 2010 Elsevier Inc. All rights reserved.

Physical Sensing of Surface Properties by Microswimmers--Directing Bacterial Motion via Wall Slip.

PubMed

Hu, Jinglei; Wysocki, Adam; Winkler, Roland G; Gompper, Gerhard

2015-05-20

Bacteria such as Escherichia coli swim along circular trajectories adjacent to surfaces. Thereby, the orientation (clockwise, counterclockwise) and the curvature depend on the surface properties. We employ mesoscale hydrodynamic simulations of a mechano-elastic model of E. coli, with a spherocylindrical body propelled by a bundle of rotating helical flagella, to study quantitatively the curvature of the appearing circular trajectories. We demonstrate that the cell is sensitive to nanoscale changes in the surface slip length. The results are employed to propose a novel approach to directing bacterial motion on striped surfaces with different slip lengths, which implies a transformation of the circular motion into a snaking motion along the stripe boundaries. The feasibility of this approach is demonstrated by a simulation of active Brownian rods, which also reveals a dependence of directional motion on the stripe width.

Steering particles by breaking symmetries

NASA Astrophysics Data System (ADS)

Bet, Bram; Samin, Sela; Georgiev, Rumen; Burak Eral, Huseyin; van Roij, René

2018-06-01

We derive general equations of motions for highly-confined particles that perform quasi-two-dimensional motion in Hele-Shaw channels, which we solve analytically, aiming to derive design principles for self-steering particles. Based on symmetry properties of a particle, its equations of motion can be simplified, where we retrieve an earlier-known equation of motion for the orientation of dimer particles consisting of disks (Uspal et al 2013 Nat. Commun. 4), but now in full generality. Subsequently, these solutions are compared with particle trajectories that are obtained numerically. For mirror-symmetric particles, excellent agreement between the analytical and numerical solutions is found. For particles lacking mirror symmetry, the analytic solutions provide means to classify the motion based on particle geometry, while we find that taking the side-wall interactions into account is important to accurately describe the trajectories.

Fractional Brownian motion and motion governed by the fractional Langevin equation in confined geometries.

PubMed

Jeon, Jae-Hyung; Metzler, Ralf

2010-02-01

Motivated by subdiffusive motion of biomolecules observed in living cells, we study the stochastic properties of a non-Brownian particle whose motion is governed by either fractional Brownian motion or the fractional Langevin equation and restricted to a finite domain. We investigate by analytic calculations and simulations how time-averaged observables (e.g., the time-averaged mean-squared displacement and displacement correlation) are affected by spatial confinement and dimensionality. In particular, we study the degree of weak ergodicity breaking and scatter between different single trajectories for this confined motion in the subdiffusive domain. The general trend is that deviations from ergodicity are decreased with decreasing size of the movement volume and with increasing dimensionality. We define the displacement correlation function and find that this quantity shows distinct features for fractional Brownian motion, fractional Langevin equation, and continuous time subdiffusion, such that it appears an efficient measure to distinguish these different processes based on single-particle trajectory data.

Motion streaks in fast motion rivalry cause orientation-selective suppression.

PubMed

Apthorp, Deborah; Wenderoth, Peter; Alais, David

2009-05-14

We studied binocular rivalry between orthogonally translating arrays of random Gaussian blobs and measured the strength of rivalry suppression for static oriented probes. Suppression depth was quantified by expressing monocular probe thresholds during dominance relative to thresholds during suppression. Rivalry between two fast motions or two slow motions was compared in order to test the suggestion that fast-moving objects leave oriented "motion streaks" due to temporal integration (W. S. Geisler, 1999). If fast motions do produce motion streaks, then fast motion rivalry might also entail rivalry between the orthogonal streak orientations. We tested this using a static oriented probe that was aligned either parallel to the motion trajectory (hence collinear with the "streaks") or was orthogonal to the trajectory, predicting that rivalry suppression would be greater for parallel probes, and only for rivalry between fast motions. Results confirmed that suppression depth did depend on probe orientation for fast motion but not for slow motion. Further experiments showed that threshold elevations for the oriented probe during suppression exhibited clear orientation tuning. However, orientation-tuned elevations were also present during dominance, suggesting within-channel masking as the basis of the extra-deep suppression. In sum, the presence of orientation-dependent suppression in fast motion rivalry is consistent with the "motion streaks" hypothesis.

SU-E-J-12: An Image-Guided Soft Robotic Patient Positioning System for Maskless Head-And-Neck Cancer Radiotherapy: A Proof-Of-Concept Study

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

Ogunmolu, O; Gans, N; Jiang, S

Purpose: We propose a surface-image-guided soft robotic patient positioning system for maskless head-and-neck radiotherapy. The ultimate goal of this project is to utilize a soft robot to realize non-rigid patient positioning and real-time motion compensation. In this proof-of-concept study, we design a position-based visual servoing control system for an air-bladder-based soft robot and investigate its performance in controlling the flexion/extension cranial motion on a mannequin head phantom. Methods: The current system consists of Microsoft Kinect depth camera, an inflatable air bladder (IAB), pressured air source, pneumatic valve actuators, custom-built current regulators, and a National Instruments myRIO microcontroller. The performance ofmore » the designed system was evaluated on a mannequin head, with a ball joint fixed below its neck to simulate torso-induced head motion along flexion/extension direction. The IAB is placed beneath the mannequin head. The Kinect camera captures images of the mannequin head, extracts the face, and measures the position of the head relative to the camera. This distance is sent to the myRIO, which runs control algorithms and sends actuation commands to the valves, inflating and deflating the IAB to induce head motion. Results: For a step input, i.e. regulation of the head to a constant displacement, the maximum error was a 6% overshoot, which the system then reduces to 0% steady-state error. In this initial investigation, the settling time to reach the regulated position was approximately 8 seconds, with 2 seconds of delay between the command start of motion due to capacitance of the pneumatics, for a total of 10 seconds to regulate the error. Conclusion: The surface image-guided soft robotic patient positioning system can achieve accurate mannequin head flexion/extension motion. Given this promising initial Result, the extension of the current one-dimensional soft robot control to multiple IABs for non-rigid positioning control will be pursued.« less

Revealing nonergodic dynamics in living cells from a single particle trajectory

NASA Astrophysics Data System (ADS)

Lanoiselée, Yann; Grebenkov, Denis S.

2016-05-01

We propose the improved ergodicity and mixing estimators to identify nonergodic dynamics from a single particle trajectory. The estimators are based on the time-averaged characteristic function of the increments and can thus capture additional information on the process as compared to the conventional time-averaged mean-square displacement. The estimators are first investigated and validated for several models of anomalous diffusion, such as ergodic fractional Brownian motion and diffusion on percolating clusters, and nonergodic continuous-time random walks and scaled Brownian motion. The estimators are then applied to two sets of earlier published trajectories of mRNA molecules inside live Escherichia coli cells and of Kv2.1 potassium channels in the plasma membrane. These statistical tests did not reveal nonergodic features in the former set, while some trajectories of the latter set could be classified as nonergodic. Time averages along such trajectories are thus not representative and may be strongly misleading. Since the estimators do not rely on ensemble averages, the nonergodic features can be revealed separately for each trajectory, providing a more flexible and reliable analysis of single-particle tracking experiments in microbiology.

Robot Trajectories Comparison: A Statistical Approach

PubMed Central

Ansuategui, A.; Arruti, A.; Susperregi, L.; Yurramendi, Y.; Jauregi, E.; Lazkano, E.; Sierra, B.

2014-01-01

The task of planning a collision-free trajectory from a start to a goal position is fundamental for an autonomous mobile robot. Although path planning has been extensively investigated since the beginning of robotics, there is no agreement on how to measure the performance of a motion algorithm. This paper presents a new approach to perform robot trajectories comparison that could be applied to any kind of trajectories and in both simulated and real environments. Given an initial set of features, it automatically selects the most significant ones and performs a statistical comparison using them. Additionally, a graphical data visualization named polygraph which helps to better understand the obtained results is provided. The proposed method has been applied, as an example, to compare two different motion planners, FM2 and WaveFront, using different environments, robots, and local planners. PMID:25525618

Self-propelled Brownian spinning top: dynamics of a biaxial swimmer at low Reynolds numbers.

PubMed

Wittkowski, Raphael; Löwen, Hartmut

2012-02-01

Recently the Brownian dynamics of self-propelled (active) rodlike particles was explored to model the motion of colloidal microswimmers, catalytically driven nanorods, and bacteria. Here we generalize this description to biaxial particles with arbitrary shape and derive the corresponding Langevin equation for a self-propelled Brownian spinning top. The biaxial swimmer is exposed to a hydrodynamic Stokes friction force at low Reynolds numbers, to fluctuating random forces and torques as well as to an external and an internal (effective) force and torque. The latter quantities control its self-propulsion. Due to biaxiality and hydrodynamic translational-rotational coupling, the Langevin equation can only be solved numerically. In the special case of an orthotropic particle in the absence of external forces and torques, the noise-free (zero-temperature) trajectory is analytically found to be a circular helix. This trajectory is confirmed numerically to be more complex in the general case of an arbitrarily shaped particle under the influence of arbitrary forces and torques involving a transient irregular motion before ending up in a simple periodic motion. By contrast, if the external force vanishes, no transient regime is found, and the particle moves on a superhelical trajectory. For orthotropic particles, the noise-averaged trajectory is a generalized concho-spiral. We furthermore study the reduction of the model to two spatial dimensions and classify the noise-free trajectories completely finding circles, straight lines with and without transients, as well as cycloids and arbitrary periodic trajectories. © 2012 American Physical Society

Evidence for explosive chromospheric evaporation in a solar flare observed with SMM

NASA Technical Reports Server (NTRS)

Zarro, D. M.; Saba, J. L. R.; Strong, K. T.; Canfield, R. C.; Metcalf, T.

1986-01-01

SMM soft X-ray data and Sacramento Peak Observatory H-alpha observations are combined in a study of the impulsive phase of a solar flare. A blue asymmetry, indicative of upflow motions, was observed in the coronal Ca XIX line during the soft X-ray rise phase. H-alpha redshifts, indicative of downward motions, were observed simultaneously in bright flare kernels during the period of hard X-ray emission. It is shown that, to within observational errors, the impulsive phase momentum transported by the upflowing soft X-ray plasma is equivalent to that of the downward moving chromospheric material.

Study on Vortex-Induced Motions of A New Type of Deep Draft Multi-Columns FDPSO

NASA Astrophysics Data System (ADS)

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

2018-03-01

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

Implied Dynamics Biases the Visual Perception of Velocity

PubMed Central

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

2014-01-01

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

3D Tracking of Diatom Motion in Turbulent Flow

NASA Astrophysics Data System (ADS)

Variano, E. A.; Brandt, L.; Sardina, G.; Ardekani, M.; Pujara, N.; Ayers, S.; Du Clos, K.; Karp-Boss, L.; Jumars, P. A.

2016-02-01

We present laboratory measurements of single-celled and chain forming diatom motion in a stirred turbulence tank. The overarching goal is to explore whether diatoms track flow with fidelity (passive tracers) or whether interactions with cell density and shape result in biased trajectories that alter settling velocities. Diatom trajectories are recorded in 3D using a stereoscopic, calibrated tracking tool. Turbulence is created in a novel stirred tank, designed to create motions that match those found in the ocean surface mixed layer at scales less than 10 cm. The data are analyzed for evidence of enhanced particle clustering, an indicator of turbulently altered settling rates

Theoretical Foundation of Copernicus: A Unified System for Trajectory Design and Optimization

NASA Technical Reports Server (NTRS)

Ocampo, Cesar; Senent, Juan S.; Williams, Jacob

2010-01-01

The fundamental methods are described for the general spacecraft trajectory design and optimization software system called Copernicus. The methods rely on a unified framework that is used to model, design, and optimize spacecraft trajectories that may operate in complex gravitational force fields, use multiple propulsion systems, and involve multiple spacecraft. The trajectory model, with its associated equations of motion and maneuver models, are discussed.

Three-bead steering microswimmers

NASA Astrophysics Data System (ADS)

Rizvi, Mohd Suhail; Farutin, Alexander; Misbah, Chaouqi

2018-02-01

The self-propelled microswimmers have recently attracted considerable attention as model systems for biological cell migration as well as artificial micromachines. A simple and well-studied microswimmer model consists of three identical spherical beads joined by two springs in a linear fashion with active oscillatory forces being applied on the beads to generate self-propulsion. We have extended this linear microswimmer configuration to a triangular geometry where the three beads are connected by three identical springs in an equilateral triangular manner. The active forces acting on each spring can lead to autonomous steering motion; i.e., allowing the swimmer to move along arbitrary paths. We explore the microswimmer dynamics analytically and pinpoint its rich character depending on the nature of the active forces. The microswimmers can translate along a straight trajectory, rotate at a fixed location, as well as perform a simultaneous translation and rotation resulting in complex curved trajectories. The sinusoidal active forces on the three springs of the microswimmer contain naturally four operating parameters which are more than required for the steering motion. We identify the minimal operating parameters which are essential for the motion of the microswimmer along any given arbitrary trajectory. Therefore, along with providing insights into the mechanics of the complex motion of the natural and artificial microswimmers, the triangular three-bead microswimmer can be utilized as a model for targeted drug delivery systems and autonomous underwater vehicles where intricate trajectories are involved.

Analysis of free breathing motion using artifact reduced 4D CT image data

NASA Astrophysics Data System (ADS)

Ehrhardt, Jan; Werner, Rene; Frenzel, Thorsten; Lu, Wei; Low, Daniel; Handels, Heinz

2007-03-01

The mobility of lung tumors during the respiratory cycle is a source of error in radiotherapy treatment planning. Spatiotemporal CT data sets can be used for studying the motion of lung tumors and inner organs during the breathing cycle. We present methods for the analysis of respiratory motion using 4D CT data in high temporal resolution. An optical flow based reconstruction method was used to generate artifact-reduced 4D CT data sets of lung cancer patients. The reconstructed 4D CT data sets were segmented and the respiratory motion of tumors and inner organs was analyzed. A non-linear registration algorithm is used to calculate the velocity field between consecutive time frames of the 4D data. The resulting velocity field is used to analyze trajectories of landmarks and surface points. By this technique, the maximum displacement of any surface point is calculated, and regions with large respiratory motion are marked. To describe the tumor mobility the motion of the lung tumor center in three orthogonal directions is displayed. Estimated 3D appearance probabilities visualize the movement of the tumor during the respiratory cycle in one static image. Furthermore, correlations between trajectories of the skin surface and the trajectory of the tumor center are determined and skin regions are identified which are suitable for prediction of the internal tumor motion. The results of the motion analysis indicate that the described methods are suitable to gain insight into the spatiotemporal behavior of anatomical and pathological structures during the respiratory cycle.

Automatic acquisition of motion trajectories: tracking hockey players

NASA Astrophysics Data System (ADS)

Okuma, Kenji; Little, James J.; Lowe, David

2003-12-01

Computer systems that have the capability of analyzing complex and dynamic scenes play an essential role in video annotation. Scenes can be complex in such a way that there are many cluttered objects with different colors, shapes and sizes, and can be dynamic with multiple interacting moving objects and a constantly changing background. In reality, there are many scenes that are complex, dynamic, and challenging enough for computers to describe. These scenes include games of sports, air traffic, car traffic, street intersections, and cloud transformations. Our research is about the challenge of inventing a descriptive computer system that analyzes scenes of hockey games where multiple moving players interact with each other on a constantly moving background due to camera motions. Ultimately, such a computer system should be able to acquire reliable data by extracting the players" motion as their trajectories, querying them by analyzing the descriptive information of data, and predict the motions of some hockey players based on the result of the query. Among these three major aspects of the system, we primarily focus on visual information of the scenes, that is, how to automatically acquire motion trajectories of hockey players from video. More accurately, we automatically analyze the hockey scenes by estimating parameters (i.e., pan, tilt, and zoom) of the broadcast cameras, tracking hockey players in those scenes, and constructing a visual description of the data by displaying trajectories of those players. Many technical problems in vision such as fast and unpredictable players' motions and rapid camera motions make our challenge worth tackling. To the best of our knowledge, there have not been any automatic video annotation systems for hockey developed in the past. Although there are many obstacles to overcome, our efforts and accomplishments would hopefully establish the infrastructure of the automatic hockey annotation system and become a milestone for research in automatic video annotation in this domain.

SU-E-J-11: A New Optical Method to Register Patient External Motion

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

Barbes, B; Azcona, J; Moreno, M

2014-06-01

Purpose: To devise and implement a new system to measure and register the patient motion during radiotherapy treatments. Methods: The system can obtain the position of several points in the 3D-space, through their projections in the 2D-images recorded by two cameras. The algorithm needs a series of constants, that are obtained using the images of a calibrated phantom.To test the system, some adhesive labels were placed on the surface of an object. Two cameras recorded the moving object over time. An in-house developed software localized the labels in each image. In the first pair of images, the program used amore » first approximation given by the user. In the subsequent images, it used the last position as an approximate location. The final exact coordinates of the point were obtained in a two-step process using the contrast of the images. From the 2D-positions of the point in each frame, the 3D-trajectories of each of these marks were obtained.The system was tested with linear displacements, oscillations of a mechanical oscillator, circular trajectories of a rotating disk, and with respiratory motion of a volunteer. Results: Trajectories of several points were reproduced with sub-millimeter accuracy in the three directions of the space. The system was able to follow periodic motion with amplitudes lower than 0.5mm; and trajectories of rotating points at speeds up to 200mm/s. The software could also track accurately the respiration motion of a person. Conclusion: A new, inexpensive optical tracking system for patient motion has been demonstrated. The system detects motion with high accuracy. Installation and calibration of the system is simple and quick. Data collection is not expected to involve any discomfort for the patient, nor any delay for the treatment. The system could be also used as a method of warning for patient movements, and for gating. We acknowledge financial support from Fundacion Mutua Madrilena, Madrid, Spain.« less

On-Line Use of Three-Dimensional Marker Trajectory Estimation From Cone-Beam Computed Tomography Projections for Precise Setup in Radiotherapy for Targets With Respiratory Motion

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

Worm, Esben S., E-mail: esbeworm@rm.dk; Department of Medical Physics, Aarhus University Hospital, Aarhus; Hoyer, Morten

2012-05-01

Purpose: To develop and evaluate accurate and objective on-line patient setup based on a novel semiautomatic technique in which three-dimensional marker trajectories were estimated from two-dimensional cone-beam computed tomography (CBCT) projections. Methods and Materials: Seven treatment courses of stereotactic body radiotherapy for liver tumors were delivered in 21 fractions in total to 6 patients by a linear accelerator. Each patient had two to three gold markers implanted close to the tumors. Before treatment, a CBCT scan with approximately 675 two-dimensional projections was acquired during a full gantry rotation. The marker positions were segmented in each projection. From this, the three-dimensionalmore » marker trajectories were estimated using a probability based method. The required couch shifts for patient setup were calculated from the mean marker positions along the trajectories. A motion phantom moving with known tumor trajectories was used to examine the accuracy of the method. Trajectory-based setup was retrospectively used off-line for the first five treatment courses (15 fractions) and on-line for the last two treatment courses (6 fractions). Automatic marker segmentation was compared with manual segmentation. The trajectory-based setup was compared with setup based on conventional CBCT guidance on the markers (first 15 fractions). Results: Phantom measurements showed that trajectory-based estimation of the mean marker position was accurate within 0.3 mm. The on-line trajectory-based patient setup was performed within approximately 5 minutes. The automatic marker segmentation agreed with manual segmentation within 0.36 {+-} 0.50 pixels (mean {+-} SD; pixel size, 0.26 mm in isocenter). The accuracy of conventional volumetric CBCT guidance was compromised by motion smearing ({<=}21 mm) that induced an absolute three-dimensional setup error of 1.6 {+-} 0.9 mm (maximum, 3.2) relative to trajectory-based setup. Conclusions: The first on-line clinical use of trajectory estimation from CBCT projections for precise setup in stereotactic body radiotherapy was demonstrated. Uncertainty in the conventional CBCT-based setup procedure was eliminated with the new method.« less

Flight trajectories with maximum tangential thrust in a central Newtonian field

NASA Astrophysics Data System (ADS)

Azizov, A. G.; Korshunova, N. A.

1983-07-01

The paper examines the two-dimensional problem of determining the optimal trajectories of a point moving with a limited per-second mass consumption in a central Newtonian field. It is shown that one of the cases in which the variational equations in the Meier formulation can be integrated in quadratures is motion with maximum tangential thrust. Trajectories corresponding to this motion are determined. By way of application, attention is given to the problem of determining the thrust which assures maximum kinetic energy for the point at the moment t = t1, corresponding to the mass consumption M0 - M1, where M0 and M1 are, respectively, the initial and final mass.

Flapping Wings of an Inclined Stroke Angle: Experiments and Reduced-Order Models in Dual Aerial/Aquatic Flight

NASA Astrophysics Data System (ADS)

Izraelevitz, Jacob; Triantafyllou, Michael

2016-11-01

Flapping wings in nature demonstrate a large force actuation envelope, with capabilities beyond the limits of static airfoil section coefficients. Puffins, guillemots, and other auks particularly showcase this mechanism, as they are able to both generate both enough thrust to swim and lift to fly, using the same wing, by changing the wing motion trajectory. The wing trajectory is therefore an additional design criterion to be optimized along with traditional aircraft parameters, and could possibly enable dual aerial/aquatic flight. We showcase finite aspect-ratio flapping wing experiments, dynamic similarity arguments, and reduced-order models for predicting the performance of flapping wings that carry out complex motion trajectories.

On the Adaptation of Pelvic Motion by Applying 3-dimensional Guidance Forces Using TPAD.

PubMed

Kang, Jiyeon; Vashista, Vineet; Agrawal, Sunil K

2017-09-01

Pelvic movement is important to human locomotion as the center of mass is located near the center of pelvis. Lateral pelvic motion plays a crucial role to shift the center of mass on the stance leg, while swinging the other leg and keeping the body balanced. In addition, vertical pelvic movement helps to reduce metabolic energy expenditure by exchanging potential and kinetic energy during the gait cycle. However, patient groups with cerebral palsy or stroke have excessive pelvic motion that leads to high energy expenditure. In addition, they have higher chances of falls as the center ofmass could deviate outside the base of support. In this paper, a novel control method is suggested using tethered pelvic assist device (TPAD) to teach subjects to walk with a specified target pelvic trajectory while walking on a treadmill. In this method, a force field is applied to the pelvis to guide it to move on a target trajectory and correctional forces are applied, if the pelvis motion has excessive deviations from the target trajectory. Three different experimentswith healthy subjects were conducted to teach them to walk on a new target pelvic trajectory with the presented control method. For all three experiments, the baseline trajectory of the pelvis was experimentally determined for each participating subject. To design a target pelvic trajectory which is different from the baseline, Experiment I scaled up the lateral component of the baseline pelvic trajectory, while Experiment II scaled down the lateral component of the baseline trajectory. For both Experiments I and II, the controller generated a 2-D force field in the transverse plane to provide the guidance force. In this paper, seven subjects were recruited for each experiment who walked on the treadmill with suggested control methods and visual feedback of their pelvic trajectory. The results show that the subjects were able to learn the target pelvic trajectory in each experiment and also retained the training effects after the completion of the experiment. In Experiment III, both lateral and vertical components of the pelvic trajectory were scaled down from the baseline trajectory. The force field was extended to three dimensions in order to correct the vertical pelvic movement as well. Three subgroups (force feedback alone, visual feedback alone, and both force and visual feedback) were recruited to understand the effects of force feedback and visual feedback alone to distinguish the results from Experiments I and II. The results showthat a trainingmethod that combines visual and force feedback is superior to the training methods with visual or force feedback alone. We believe that the present control strategy holds potential in training and correcting abnormal pelvic movements in different patient populations.

Curvilinear approach to an intersection and visual detection of a collision.

PubMed

Berthelon, C; Mestre, D

1993-09-01

Visual motion perception plays a fundamental role in vehicle control. Recent studies have shown that the pattern of optical flow resulting from the observer's self-motion through a stable environment is used by the observer to accurately control his or her movements. However, little is known about the perception of another vehicle during self-motion--for instance, when a car driver approaches an intersection with traffic. In a series of experiments using visual simulations of car driving, we show that observers are able to detect the presence of a moving object during self-motion. However, the perception of the other car's trajectory appears to be strongly dependent on environmental factors, such as the presence of a road sign near the intersection or the shape of the road. These results suggest that local and global visual factors determine the perception of a car's trajectory during self-motion.

Physical Sensing of Surface Properties by Microswimmers – Directing Bacterial Motion via Wall Slip

PubMed Central

Hu, Jinglei; Wysocki, Adam; Winkler, Roland G.; Gompper, Gerhard

2015-01-01

Bacteria such as Escherichia coli swim along circular trajectories adjacent to surfaces. Thereby, the orientation (clockwise, counterclockwise) and the curvature depend on the surface properties. We employ mesoscale hydrodynamic simulations of a mechano-elastic model of E. coli, with a spherocylindrical body propelled by a bundle of rotating helical flagella, to study quantitatively the curvature of the appearing circular trajectories. We demonstrate that the cell is sensitive to nanoscale changes in the surface slip length. The results are employed to propose a novel approach to directing bacterial motion on striped surfaces with different slip lengths, which implies a transformation of the circular motion into a snaking motion along the stripe boundaries. The feasibility of this approach is demonstrated by a simulation of active Brownian rods, which also reveals a dependence of directional motion on the stripe width. PMID:25993019

Continuous quantum measurement and the quantum to classical transition

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

Bhattacharya, Tanmoy; Habib, Salman; Jacobs, Kurt

2003-04-01

While ultimately they are described by quantum mechanics, macroscopic mechanical systems are nevertheless observed to follow the trajectories predicted by classical mechanics. Hence, in the regime defining macroscopic physics, the trajectories of the correct classical motion must emerge from quantum mechanics, a process referred to as the quantum to classical transition. Extending previous work [Bhattacharya, Habib, and Jacobs, Phys. Rev. Lett. 85, 4852 (2000)], here we elucidate this transition in some detail, showing that once the measurement processes that affect all macroscopic systems are taken into account, quantum mechanics indeed predicts the emergence of classical motion. We derive inequalities thatmore » describe the parameter regime in which classical motion is obtained, and provide numerical examples. We also demonstrate two further important properties of the classical limit: first, that multiple observers all agree on the motion of an object, and second, that classical statistical inference may be used to correctly track the classical motion.« less

3D printing of robotic soft actuators with programmable bioinspired architectures.

PubMed

Schaffner, Manuel; Faber, Jakob A; Pianegonda, Lucas; Rühs, Patrick A; Coulter, Fergal; Studart, André R

2018-02-28

Soft actuation allows robots to interact safely with humans, other machines, and their surroundings. Full exploitation of the potential of soft actuators has, however, been hindered by the lack of simple manufacturing routes to generate multimaterial parts with intricate shapes and architectures. Here, we report a 3D printing platform for the seamless digital fabrication of pneumatic silicone actuators exhibiting programmable bioinspired architectures and motions. The actuators comprise an elastomeric body whose surface is decorated with reinforcing stripes at a well-defined lead angle. Similar to the fibrous architectures found in muscular hydrostats, the lead angle can be altered to achieve elongation, contraction, or twisting motions. Using a quantitative model based on lamination theory, we establish design principles for the digital fabrication of silicone-based soft actuators whose functional response is programmed within the material's properties and architecture. Exploring such programmability enables 3D printing of a broad range of soft morphing structures.

A Generalized-Compliant-Motion Primitive

NASA Technical Reports Server (NTRS)

Backes, Paul G.

1993-01-01

Computer program bridges gap between planning and execution of compliant robotic motions developed and installed in control system of telerobot. Called "generalized-compliant-motion primitive," one of several task-execution-primitive computer programs, which receives commands from higher-level task-planning programs and executes commands by generating required trajectories and applying appropriate control laws. Program comprises four parts corresponding to nominal motion, compliant motion, ending motion, and monitoring. Written in C language.

Single-particle tracking: applications to membrane dynamics.

PubMed

Saxton, M J; Jacobson, K

1997-01-01

Measurements of trajectories of individual proteins or lipids in the plasma membrane of cells show a variety of types of motion. Brownian motion is observed, but many of the particles undergo non-Brownian motion, including directed motion, confined motion, and anomalous diffusion. The variety of motion leads to significant effects on the kinetics of reactions among membrane-bound species and requires a revision of existing views of membrane structure and dynamics.

POCS-based reconstruction of multiplexed sensitivity encoded MRI (POCSMUSE): a general algorithm for reducing motion-related artifacts

PubMed Central

Chu, Mei-Lan; Chang, Hing-Chiu; Chung, Hsiao-Wen; Truong, Trong-Kha; Bashir, Mustafa R.; Chen, Nan-kuei

2014-01-01

Purpose A projection onto convex sets reconstruction of multiplexed sensitivity encoded MRI (POCSMUSE) is developed to reduce motion-related artifacts, including respiration artifacts in abdominal imaging and aliasing artifacts in interleaved diffusion weighted imaging (DWI). Theory Images with reduced artifacts are reconstructed with an iterative POCS procedure that uses the coil sensitivity profile as a constraint. This method can be applied to data obtained with different pulse sequences and k-space trajectories. In addition, various constraints can be incorporated to stabilize the reconstruction of ill-conditioned matrices. Methods The POCSMUSE technique was applied to abdominal fast spin-echo imaging data, and its effectiveness in respiratory-triggered scans was evaluated. The POCSMUSE method was also applied to reduce aliasing artifacts due to shot-to-shot phase variations in interleaved DWI data corresponding to different k-space trajectories and matrix condition numbers. Results Experimental results show that the POCSMUSE technique can effectively reduce motion-related artifacts in data obtained with different pulse sequences, k-space trajectories and contrasts. Conclusion POCSMUSE is a general post-processing algorithm for reduction of motion-related artifacts. It is compatible with different pulse sequences, and can also be used to further reduce residual artifacts in data produced by existing motion artifact reduction methods. PMID:25394325

Preoperative trajectory planning for closed reduction of long-bone diaphyseal fracture using a computer-assisted reduction system.

PubMed

Du, Hailong; Hu, Lei; Li, Changsheng; He, Chunqing; Zhang, Lihai; Tang, Peifu

2015-03-01

Balancing reduction accuracy with soft-tissue preservation is a challenge in orthopaedics. Computer-assisted orthopaedic surgery (CAOS) can improve accuracy and reduce radiation exposure. However, previous reports have not summarized the fracture patterns to which CAOS has been applied. We used a CAOS system and a stereolithography model to define a new fracture classification. Twenty reduction tests were performed to evaluate the effectiveness of preoperative trajectory planning. Twenty tests ran automatically and smoothly. Only three slight scratches occurred. Seventy-six path points represented displacement deviations of < 2 mm (average < 1 mm) and angulation deviation of < 1.5°. Because of the strength of muscles, mechanical sensors are used to prevent iatrogenic soft-tissue injury. Secondary fractures are prevented mainly through preoperative trajectory planning. Based on our data, a 1 mm gap between the edges of fractures spikes is sufficient to avoid emergency braking from spike interference. Copyright © 2014 John Wiley & Sons, Ltd.

A cardioid oscillator with asymmetric time ratio for establishing CPG models.

PubMed

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

2018-01-13

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

Amplified effect of Brownian motion in bacterial near-surface swimming

PubMed Central

Li, Guanglai; Tam, Lick-Kong; Tang, Jay X.

2008-01-01

Brownian motion influences bacterial swimming by randomizing displacement and direction. Here, we report that the influence of Brownian motion is amplified when it is coupled to hydrodynamic interaction. We examine swimming trajectories of the singly flagellated bacterium Caulobacter crescentus near a glass surface with total internal reflection fluorescence microscopy and observe large fluctuations over time in the distance of the cell from the solid surface caused by Brownian motion. The observation is compared with computer simulation based on analysis of relevant physical factors, including electrostatics, van der Waals force, hydrodynamics, and Brownian motion. The simulation reproduces the experimental findings and reveals contribution from fluctuations of the cell orientation beyond the resolution of present observation. Coupled with hydrodynamic interaction between the bacterium and the boundary surface, the fluctuations in distance and orientation subsequently lead to variation of the swimming speed and local radius of curvature of swimming trajectory. These results shed light on the fundamental roles of Brownian motion in microbial motility, nutrient uptake, and adhesion. PMID:19015518

Navigation of the autonomous vehicle reverse movement

NASA Astrophysics Data System (ADS)

Rachkov, M.; Petukhov, S.

2018-02-01

The paper presents a mathematical formulation of the vehicle reverse motion along a multi-link polygonal trajectory consisting of rectilinear segments interconnected by nodal points. Relevance of the problem is caused by the need to solve a number of tasks: to save the vehicle in the event of а communication break by returning along the trajectory already passed, to avoid a turn on the ground in constrained obstacles or dangerous conditions, or a partial return stroke for the subsequent bypass of the obstacle and continuation of the forward movement. The method of navigation with direct movement assumes that the reverse path is elaborated by using landmarks. To measure landmarks on board, a block of cameras is placed on a vehicle controlled by the operator through the radio channel. Errors in estimating deviation from the nominal trajectory of motion are determined using the multidimensional correlation analysis apparatus based on the dynamics of a lateral deviation error and a vehicle speed error. The result of the experiment showed a relatively high accuracy in determining the state vector that provides the vehicle reverse motion relative to the reference trajectory with a practically acceptable error while returning to the start point.

CAT & MAUS: A novel system for true dynamic motion measurement of underlying bony structures with compensation for soft tissue movement.

PubMed

Jia, Rui; Monk, Paul; Murray, David; Noble, J Alison; Mellon, Stephen

2017-09-06

Optoelectronic motion capture systems are widely employed to measure the movement of human joints. However, there can be a significant discrepancy between the data obtained by a motion capture system (MCS) and the actual movement of underlying bony structures, which is attributed to soft tissue artefact. In this paper, a computer-aided tracking and motion analysis with ultrasound (CAT & MAUS) system with an augmented globally optimal registration algorithm is presented to dynamically track the underlying bony structure during movement. The augmented registration part of CAT & MAUS was validated with a high system accuracy of 80%. The Euclidean distance between the marker-based bony landmark and the bony landmark tracked by CAT & MAUS was calculated to quantify the measurement error of an MCS caused by soft tissue artefact during movement. The average Euclidean distance between the target bony landmark measured by each of the CAT & MAUS system and the MCS alone varied from 8.32mm to 16.87mm in gait. This indicates the discrepancy between the MCS measured bony landmark and the actual underlying bony landmark. Moreover, Procrustes analysis was applied to demonstrate that CAT & MAUS reduces the deformation of the body segment shape modeled by markers during motion. The augmented CAT & MAUS system shows its potential to dynamically detect and locate actual underlying bony landmarks, which reduces the MCS measurement error caused by soft tissue artefact during movement. Copyright © 2017 Elsevier Ltd. All rights reserved.

Topology of the Relative Motion: Circular and Eccentric Reference Orbit Cases

NASA Technical Reports Server (NTRS)

FontdecabaiBaig, Jordi; Metris, Gilles; Exertier, Pierre

2007-01-01

This paper deals with the topology of the relative trajectories in flight formations. The purpose is to study the different types of relative trajectories, their degrees of freedom, and to give an adapted parameterization. The paper also deals with the research of local circular motions. Even if they exist only when the reference orbit is circular, we extrapolate initial conditions to the eccentric reference orbit case.This alternative approach is complementary with traditional approaches in terms of cartesian coordinates or differences of orbital elements.

Differential contributions to the interception of occluded ballistic trajectories by the temporoparietal junction, area hMT/V5+, and the intraparietal cortex.

PubMed

Delle Monache, Sergio; Lacquaniti, Francesco; Bosco, Gianfranco

2017-09-01

The ability to catch objects when transiently occluded from view suggests their motion can be extrapolated. Intraparietal cortex (IPS) plays a major role in this process along with other brain structures, depending on the task. For example, interception of objects under Earth's gravity effects may depend on time-to-contact predictions derived from integration of visual signals processed by hMT/V5+ with a priori knowledge of gravity residing in the temporoparietal junction (TPJ). To investigate this issue further, we disrupted TPJ, hMT/V5+, and IPS activities with transcranial magnetic stimulation (TMS) while subjects intercepted computer-simulated projectile trajectories perturbed randomly with either hypo- or hypergravity effects. In experiment 1 , trajectories were occluded either 750 or 1,250 ms before landing. Three subject groups underwent triple-pulse TMS (tpTMS, 3 pulses at 10 Hz) on one target area (TPJ | hMT/V5+ | IPS) and on the vertex (control site), timed at either trajectory perturbation or occlusion. In experiment 2 , trajectories were entirely visible and participants received tpTMS on TPJ and hMT/V5+ with same timing as experiment 1 tpTMS of TPJ, hMT/V5+, and IPS affected differently the interceptive timing. TPJ stimulation affected preferentially responses to 1-g motion, hMT/V5+ all response types, and IPS stimulation induced opposite effects on 0-g and 2-g responses, being ineffective on 1-g responses. Only IPS stimulation was effective when applied after target disappearance, implying this area might elaborate memory representations of occluded target motion. Results are compatible with the idea that IPS, TPJ, and hMT/V5+ contribute to distinct aspects of visual motion extrapolation, perhaps through parallel processing. NEW & NOTEWORTHY Visual extrapolation represents a potential neural solution to afford motor interactions with the environment in the face of missing information. We investigated relative contributions by temporoparietal junction (TPJ), hMT/V5+, and intraparietal cortex (IPS), cortical areas potentially involved in these processes. Parallel organization of visual extrapolation processes emerged with respect to the target's motion causal nature: TPJ was primarily involved for visual motion congruent with gravity effects, IPS for arbitrary visual motion, whereas hMT/V5+ contributed at earlier processing stages. Copyright © 2017 the American Physiological Society.

Studies of aircraft differential maneuvering. Report 75-27: Calculating of differential-turning barrier surfaces. Report 75-26: A user's guide to the aircraft energy-turn and tandem-motion computer programs. Report 75-7: A user's guide to the aircraft energy-turn hodograph program. [numerical analysis of tactics and aircraft maneuvers of supersonic attack aircraft

NASA Technical Reports Server (NTRS)

Kelley, H. J.; Lefton, L.

1976-01-01

The numerical analysis of composite differential-turn trajectory pairs was studied for 'fast-evader' and 'neutral-evader' attitude dynamics idealization for attack aircraft. Transversality and generalized corner conditions are examined and the joining of trajectory segments discussed. A criterion is given for the screening of 'tandem-motion' trajectory segments. Main focus is upon the computation of barrier surfaces. Fortunately, from a computational viewpoint, the trajectory pairs defining these surfaces need not be calculated completely, the final subarc of multiple-subarc pairs not being required. Some calculations for pairs of example aircraft are presented. A computer program used to perform the calculations is included.

Non-adiabatic molecular dynamics with complex quantum trajectories. I. The diabatic representation.

PubMed

Zamstein, Noa; Tannor, David J

2012-12-14

We extend a recently developed quantum trajectory method [Y. Goldfarb, I. Degani, and D. J. Tannor, J. Chem. Phys. 125, 231103 (2006)] to treat non-adiabatic transitions. Each trajectory evolves on a single surface according to Newton's laws with complex positions and momenta. The transfer of amplitude between surfaces stems naturally from the equations of motion, without the need for surface hopping. In this paper we derive the equations of motion and show results in the diabatic representation, which is rarely used in trajectory methods for calculating non-adiabatic dynamics. We apply our method to the first two benchmark models introduced by Tully [J. Chem. Phys. 93, 1061 (1990)]. Besides giving the probability branching ratios between the surfaces, the method also allows the reconstruction of the time-dependent wavepacket. Our results are in quantitative agreement with converged quantum mechanical calculations.

A guidance and navigation system for continuous low thrust vehicles. M.S. Thesis

NASA Technical Reports Server (NTRS)

Tse, C. J. C.

1973-01-01

A midcourse guidance and navigation system for continuous low thrust vehicles is described. A set of orbit elements, known as the equinoctial elements, are selected as the state variables. The uncertainties are modelled statistically by random vector and stochastic processes. The motion of the vehicle and the measurements are described by nonlinear stochastic differential and difference equations respectively. A minimum time nominal trajectory is defined and the equation of motion and the measurement equation are linearized about this nominal trajectory. An exponential cost criterion is constructed and a linear feedback guidance law is derived to control the thrusting direction of the engine. Using this guidance law, the vehicle will fly in a trajectory neighboring the nominal trajectory. The extended Kalman filter is used for state estimation. Finally a short mission using this system is simulated. The results indicate that this system is very efficient for short missions.

3D hand motion trajectory prediction from EEG mu and beta bandpower.

PubMed

Korik, A; Sosnik, R; Siddique, N; Coyle, D

2016-01-01

A motion trajectory prediction (MTP) - based brain-computer interface (BCI) aims to reconstruct the three-dimensional (3D) trajectory of upper limb movement using electroencephalography (EEG). The most common MTP BCI employs a time series of bandpass-filtered EEG potentials (referred to here as the potential time-series, PTS, model) for reconstructing the trajectory of a 3D limb movement using multiple linear regression. These studies report the best accuracy when a 0.5-2Hz bandpass filter is applied to the EEG. In the present study, we show that spatiotemporal power distribution of theta (4-8Hz), mu (8-12Hz), and beta (12-28Hz) bands are more robust for movement trajectory decoding when the standard PTS approach is replaced with time-varying bandpower values of a specified EEG band, ie, with a bandpower time-series (BTS) model. A comprehensive analysis comprising of three subjects performing pointing movements with the dominant right arm toward six targets is presented. Our results show that the BTS model produces significantly higher MTP accuracy (R~0.45) compared to the standard PTS model (R~0.2). In the case of the BTS model, the highest accuracy was achieved across the three subjects typically in the mu (8-12Hz) and low-beta (12-18Hz) bands. Additionally, we highlight a limitation of the commonly used PTS model and illustrate how this model may be suboptimal for decoding motion trajectory relevant information. Although our results, showing that the mu and beta bands are prominent for MTP, are not in line with other MTP studies, they are consistent with the extensive literature on classical multiclass sensorimotor rhythm-based BCI studies (classification of limbs as opposed to motion trajectory prediction), which report the best accuracy of imagined limb movement classification using power values of mu and beta frequency bands. The methods proposed here provide a positive step toward noninvasive decoding of imagined 3D hand movements for movement-free BCIs. © 2016 Elsevier B.V. All rights reserved.

Soft Snakes: Construction, Locomotion, and Control

NASA Astrophysics Data System (ADS)

Branyan, Callie; Courier, Taylor; Fleming, Chloe; Remaley, Jacquelin; Hatton, Ross; Menguc, Yigit

We fabricated modular bidirectional silicone pneumatic actuators to build a soft snake robot, applying geometric models of serpenoid swimmers to identify theoretically optimal gaits to realize serpentine locomotion. With the introduction of magnetic connections and elliptical cross-sections in fiber-reinforced modules, we can vary the number of continuum segments in the snake body to achieve more supple serpentine motion in a granular media. The performance of these gaits is observed using a motion capture system and efficiency is assessed in terms of pressure input and net displacement. These gaits are optimized using our geometric soap-bubble method of gait optimization, demonstrating the applicability of this tool to soft robot control and coordination.

Development of a 6DOF robotic motion phantom for radiation therapy

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

Belcher, Andrew H.; Liu, Xinmin; Grelewicz, Zachary

Purpose: The use of medical technology capable of tracking patient motion or positioning patients along 6 degree-of-freedom (6DOF) has steadily increased in the field of radiation therapy. However, due to the complex nature of tracking and performing 6DOF motion, it is critical that such technology is properly verified to be operating within specifications in order to ensure patient safety. In this study, a robotic motion phantom is presented that can be programmed to perform highly accurate motion along any X (left–right), Y (superior–inferior), Z (anterior–posterior), pitch (around X), roll (around Y), and yaw (around Z) axes. In addition, highly synchronizedmore » motion along all axes can be performed in order to simulate the dynamic motion of a tumor in 6D. The accuracy and reproducibility of this 6D motion were characterized. Methods: An in-house designed and built 6D robotic motion phantom was constructed following the Stewart–Gough parallel kinematics platform archetype. The device was controlled using an inverse kinematics formulation, and precise movements in all 6 degrees-of-freedom (X, Y, Z, pitch, roll, and yaw) were performed, both simultaneously and separately for each degree-of-freedom. Additionally, previously recorded 6D cranial and prostate motions were effectively executed. The robotic phantom movements were verified using a 15 fps 6D infrared marker tracking system and the measured trajectories were compared quantitatively to the intended input trajectories. The workspace, maximum 6D velocity, backlash, and weight load capabilities of the system were also established. Results: Evaluation of the 6D platform demonstrated translational root mean square error (RMSE) values of 0.14, 0.22, and 0.08 mm over 20 mm in X and Y and 10 mm in Z, respectively, and rotational RMSE values of 0.16°, 0.06°, and 0.08° over 10° of pitch, roll, and yaw, respectively. The robotic stage also effectively performed controlled 6D motions, as well as reproduced cranial trajectories over 15 min, with a maximal RMSE of 0.04 mm translationally and 0.04° rotationally, and a prostate trajectory over 2 min, with a maximal RMSE of 0.06 mm translationally and 0.04° rotationally. Conclusions: This 6D robotic phantom has proven to be accurate under clinical standards and capable of reproducing tumor motion in 6D. Such functionality makes the robotic phantom usable for either quality assurance or research purposes.« less

SU-F-BRB-16: A Spreadsheet Based Automatic Trajectory GEnerator (SAGE): An Open Source Tool for Automatic Creation of TrueBeam Developer Mode Robotic Trajectories

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

Etmektzoglou, A; Mishra, P; Svatos, M

Purpose: To automate creation and delivery of robotic linac trajectories with TrueBeam Developer Mode, an open source spreadsheet-based trajectory generation tool has been developed, tested and made freely available. The computing power inherent in a spreadsheet environment plus additional functions programmed into the tool insulate users from the underlying schema tedium and allow easy calculation, parameterization, graphical visualization, validation and finally automatic generation of Developer Mode XML scripts which are directly loadable on a TrueBeam linac. Methods: The robotic control system platform that allows total coordination of potentially all linac moving axes with beam (continuous, step-and-shoot, or combination thereof) becomesmore » available in TrueBeam Developer Mode. Many complex trajectories are either geometric or can be described in analytical form, making the computational power, graphing and programmability available in a spreadsheet environment an easy and ideal vehicle for automatic trajectory generation. The spreadsheet environment allows also for parameterization of trajectories thus enabling the creation of entire families of trajectories using only a few variables. Standard spreadsheet functionality has been extended for powerful movie-like dynamic graphic visualization of the gantry, table, MLC, room, lasers, 3D observer placement and beam centerline all as a function of MU or time, for analysis of the motions before requiring actual linac time. Results: We used the tool to generate and deliver extended SAD “virtual isocenter” trajectories of various shapes such as parameterized circles and ellipses. We also demonstrated use of the tool in generating linac couch motions that simulate respiratory motion using analytical parameterized functions. Conclusion: The SAGE tool is a valuable resource to experiment with families of complex geometric trajectories for a TrueBeam Linac. It makes Developer Mode more accessible as a vehicle to quickly translate research ideas into machine readable scripts without programming knowledge. As an open source initiative, it also enables researcher collaboration on future developments. I am a full time employee at Varian Medical Systems, Palo Alto, California.« less

Correlation between the viscoelastic heterogeneity and the domain wall motion of Fe-based metallic glass

NASA Astrophysics Data System (ADS)

Ouyang, S.; Song, L. J.; Liu, Y. H.; Huo, J. T.; Wang, J. Q.; Xu, W.; Li, J. L.; Wang, C. T.; Wang, X. M.; Li, R. W.

2018-06-01

The soft magnetic properties of Fe-based metallic glasses are reduced significantly by external and residual stresses, e.g., the susceptibility decreases and coercivity increases, which limits their application severely. Unraveling the micromechanism of how the stress influences the soft magnetic properties is of great help for enhancing the performance of Fe-based metallic glasses. In this work, we investigate the effect of viscoelastic heterogeneity on the motion of magnetic domain wall surrounding nanoindentations. Compared to the matrix, dissipation of the viscoelastic heterogeneity increases toward the nanoindentation. Meanwhile, the motion of domain wall under external magnetic field becomes more difficult toward the nanoindentations. A correlation between the viscoelastic dissipation and the moving ability of magnetic domain walls is observed, which can be well fitted using magnetoelastic coupling theory. This suggests that manipulating the microscale viscoelastic heterogeneity is probably a helpful strategy for enhancing the soft magnetic properties of metallic glasses.

Fluorescent image tracking velocimeter

DOEpatents

Shaffer, Franklin D.

1994-01-01

A multiple-exposure fluorescent image tracking velocimeter (FITV) detects and measures the motion (trajectory, direction and velocity) of small particles close to light scattering surfaces. The small particles may follow the motion of a carrier medium such as a liquid, gas or multi-phase mixture, allowing the motion of the carrier medium to be observed, measured and recorded. The main components of the FITV include: (1) fluorescent particles; (2) a pulsed fluorescent excitation laser source; (3) an imaging camera; and (4) an image analyzer. FITV uses fluorescing particles excited by visible laser light to enhance particle image detectability near light scattering surfaces. The excitation laser light is filtered out before reaching the imaging camera allowing the fluoresced wavelengths emitted by the particles to be detected and recorded by the camera. FITV employs multiple exposures of a single camera image by pulsing the excitation laser light for producing a series of images of each particle along its trajectory. The time-lapsed image may be used to determine trajectory and velocity and the exposures may be coded to derive directional information.

A margin model to account for respiration-induced tumour motion and its variability

NASA Astrophysics Data System (ADS)

Coolens, Catherine; Webb, Steve; Shirato, H.; Nishioka, K.; Evans, Phil M.

2008-08-01

In order to reduce the sensitivity of radiotherapy treatments to organ motion, compensation methods are being investigated such as gating of treatment delivery, tracking of tumour position, 4D scanning and planning of the treatment, etc. An outstanding problem that would occur with all these methods is the assumption that breathing motion is reproducible throughout the planning and delivery process of treatment. This is obviously not a realistic assumption and is one that will introduce errors. A dynamic internal margin model (DIM) is presented that is designed to follow the tumour trajectory and account for the variability in respiratory motion. The model statistically describes the variation of the breathing cycle over time, i.e. the uncertainty in motion amplitude and phase reproducibility, in a polar coordinate system from which margins can be derived. This allows accounting for an additional gating window parameter for gated treatment delivery as well as minimizing the area of normal tissue irradiated. The model was illustrated with abdominal motion for a patient with liver cancer and tested with internal 3D lung tumour trajectories. The results confirm that the respiratory phases around exhale are most reproducible and have the smallest variation in motion amplitude and phase (approximately 2 mm). More importantly, the margin area covering normal tissue is significantly reduced by using trajectory-specific margins (as opposed to conventional margins) as the angular component is by far the largest contributor to the margin area. The statistical approach to margin calculation, in addition, offers the possibility for advanced online verification and updating of breathing variation as more data become available.

Walking Ahead: The Headed Social Force Model.

PubMed

Farina, Francesco; Fontanelli, Daniele; Garulli, Andrea; Giannitrapani, Antonio; Prattichizzo, Domenico

2017-01-01

Human motion models are finding an increasing number of novel applications in many different fields, such as building design, computer graphics and robot motion planning. The Social Force Model is one of the most popular alternatives to describe the motion of pedestrians. By resorting to a physical analogy, individuals are assimilated to point-wise particles subject to social forces which drive their dynamics. Such a model implicitly assumes that humans move isotropically. On the contrary, empirical evidence shows that people do have a preferred direction of motion, walking forward most of the time. Lateral motions are observed only in specific circumstances, such as when navigating in overcrowded environments or avoiding unexpected obstacles. In this paper, the Headed Social Force Model is introduced in order to improve the realism of the trajectories generated by the classical Social Force Model. The key feature of the proposed approach is the inclusion of the pedestrians' heading into the dynamic model used to describe the motion of each individual. The force and torque representing the model inputs are computed as suitable functions of the force terms resulting from the traditional Social Force Model. Moreover, a new force contribution is introduced in order to model the behavior of people walking together as a single group. The proposed model features high versatility, being able to reproduce both the unicycle-like trajectories typical of people moving in open spaces and the point-wise motion patterns occurring in high density scenarios. Extensive numerical simulations show an increased regularity of the resulting trajectories and confirm a general improvement of the model realism.

A guidance and navigation system for continuous low-thrust vehicles. M.S. Thesis

NASA Technical Reports Server (NTRS)

Jack-Chingtse, C.

1973-01-01

A midcourse guidance and navigation system for continuous low thrust vehicles was developed. The equinoctial elements are the state variables. Uncertainties are modelled statistically by random vector and stochastic processes. The motion of the vehicle and the measurements are described by nonlinear stochastic differential and difference equations respectively. A minimum time trajectory is defined; equations of motion and measurements are linearized about this trajectory. An exponential cost criterion is constructed and a linear feedback quidance law is derived. An extended Kalman filter is used for state estimation. A short mission using this system is simulated. It is indicated that this system is efficient for short missions, but longer missions require accurate trajectory and ground based measurements.

Swarming bacteria migrate by Lévy Walk

NASA Astrophysics Data System (ADS)

Ariel, Gil; Rabani, Amit; Benisty, Sivan; Partridge, Jonathan D.; Harshey, Rasika M.; Be'Er, Avraham

2015-09-01

Individual swimming bacteria are known to bias their random trajectories in search of food and to optimize survival. The motion of bacteria within a swarm, wherein they migrate as a collective group over a solid surface, is fundamentally different as typical bacterial swarms show large-scale swirling and streaming motions involving millions to billions of cells. Here by tracking trajectories of fluorescently labelled individuals within such dense swarms, we find that the bacteria are performing super-diffusion, consistent with Lévy walks. Lévy walks are characterized by trajectories that have straight stretches for extended lengths whose variance is infinite. The evidence of super-diffusion consistent with Lévy walks in bacteria suggests that this strategy may have evolved considerably earlier than previously thought.

Field signature for apparently superluminal particle motion

NASA Astrophysics Data System (ADS)

Land, Martin

2015-05-01

In the context of Stueckelberg's covariant symplectic mechanics, Horwitz and Aharonovich [1] have proposed a simple mechanism by which a particle traveling below light speed almost everywhere may exhibit a transit time that suggests superluminal motion. This mechanism, which requires precise measurement of the particle velocity, involves a subtle perturbation affecting the particle's recorded time coordinate caused by virtual pair processes. The Stueckelberg framework is particularly well suited to such problems, because it permits pair creation/annihilation at the classical level. In this paper, we study a trajectory of the type proposed by Horwitz and Aharonovich, and derive the Maxwell 4-vector potential associated with the motion. We show that the resulting fields carry a signature associated with the apparent superluminal motion, providing an independent test for the mechanism that does not require direct observation of the trajectory, except at the detector.

Optimal Navigation of Self-Propelled Colloids in Microstructured Mazes

NASA Astrophysics Data System (ADS)

Yang, Yuguang; Bevan, Michael

Controlling navigation of self-propelled microscopic `robots' subject to random Brownian motion in complex microstructured environments (e.g., porous media, tumor vasculature) is important to many emerging applications (e.g., enhanced oil recovery, drug delivery). In this work, we design an optimal feedback policy to navigate an active self-propelled colloidal rod in complex mazes with various obstacle types. Actuation of the rods is modelled based on a light-controlled osmotic flow mechanism, which produces different propulsion velocities along the rod's long axis. Actuator-parameterized Langevin equations, with soft rod-obstacle repulsive interactions, are developed to describe the system dynamics. A Markov decision process (MDP) framework is used for optimal policy calculations with design goals of colloidal rods reaching target end points in minimum time. Simulations show that optimal MDP-based policies are able to control rod trajectories to reach target regions order-of-magnitudes faster than uncontrolled rods, which diverges as maze complexity increases. An efficient multi-graph based implementation for MDP is also presented, which scales linearly with the maze dimension.

Visiting Vehicle Ground Trajectory Tool

NASA Technical Reports Server (NTRS)

Hamm, Dustin

2013-01-01

The International Space Station (ISS) Visiting Vehicle Group needed a targeting tool for vehicles that rendezvous with the ISS. The Visiting Vehicle Ground Trajectory targeting tool provides the ability to perform both realtime and planning operations for the Visiting Vehicle Group. This tool provides a highly reconfigurable base, which allows the Visiting Vehicle Group to perform their work. The application is composed of a telemetry processing function, a relative motion function, a targeting function, a vector view, and 2D/3D world map type graphics. The software tool provides the ability to plan a rendezvous trajectory for vehicles that visit the ISS. It models these relative trajectories using planned and realtime data from the vehicle. The tool monitors ongoing rendezvous trajectory relative motion, and ensures visiting vehicles stay within agreed corridors. The software provides the ability to update or re-plan a rendezvous to support contingency operations. Adding new parameters and incorporating them into the system was previously not available on-the-fly. If an unanticipated capability wasn't discovered until the vehicle was flying, there was no way to update things.

Does Helicobacter pylori exhibit corkscrew motion while swimming?

NASA Astrophysics Data System (ADS)

Constantino, Maira; Hardcastle, Joseph; Bansil, Rama

2015-03-01

Helicobacter pylori is a spiral shaped bacterium associated with ulcers, gastric cancer, gastritis among other diseases. In order to colonize the harsh acidic environment of the stomach H. pylori has to go across the viscoelastic mucus layer of the stomach. Many studies have been conducted on the swimming of H. pylori in viscous media however none have taken into account the influence of cell-body shape on the trajectory. We present an experimental study of the effects of body shape in the swimming trajectory of H. pylori in viscous media by a quantitative analysis of the bacterium rotation and translation in gels using phase contrast microscopy and particle tracking techniques. Preliminary microscopic tracking measurements show very well defined helical trajectories in the spiral-shaped wild type H. pylori. These helical trajectories are not seen in rod-shaped mutants which sometimes display whirling motion about one end acting as a hinge. We will present an analysis of the different trajectories for bacteria swimming in media with different viscoelastic parameters. Supported by the National Science Foundation PHY PoLS.

An unconditionally stable method for numerically solving solar sail spacecraft equations of motion

NASA Astrophysics Data System (ADS)

Karwas, Alex

Solar sails use the endless supply of the Sun's radiation to propel spacecraft through space. The sails use the momentum transfer from the impinging solar radiation to provide thrust to the spacecraft while expending zero fuel. Recently, the first solar sail spacecraft, or sailcraft, named IKAROS completed a successful mission to Venus and proved the concept of solar sail propulsion. Sailcraft experimental data is difficult to gather due to the large expenses of space travel, therefore, a reliable and accurate computational method is needed to make the process more efficient. Presented in this document is a new approach to simulating solar sail spacecraft trajectories. The new method provides unconditionally stable numerical solutions for trajectory propagation and includes an improved physical description over other methods. The unconditional stability of the new method means that a unique numerical solution is always determined. The improved physical description of the trajectory provides a numerical solution and time derivatives that are continuous throughout the entire trajectory. The error of the continuous numerical solution is also known for the entire trajectory. Optimal control for maximizing thrust is also provided within the framework of the new method. Verification of the new approach is presented through a mathematical description and through numerical simulations. The mathematical description provides details of the sailcraft equations of motion, the numerical method used to solve the equations, and the formulation for implementing the equations of motion into the numerical solver. Previous work in the field is summarized to show that the new approach can act as a replacement to previous trajectory propagation methods. A code was developed to perform the simulations and it is also described in this document. Results of the simulations are compared to the flight data from the IKAROS mission. Comparison of the two sets of data show that the new approach is capable of accurately simulating sailcraft motion. Sailcraft and spacecraft simulations are compared to flight data and to other numerical solution techniques. The new formulation shows an increase in accuracy over a widely used trajectory propagation technique. Simulations for two-dimensional, three-dimensional, and variable attitude trajectories are presented to show the multiple capabilities of the new technique. An element of optimal control is also part of the new technique. An additional equation is added to the sailcraft equations of motion that maximizes thrust in a specific direction. A technical description and results of an example optimization problem are presented. The spacecraft attitude dynamics equations take the simulation a step further by providing control torques using the angular rate and acceleration outputs of the numerical formulation.

A Novel Respiratory Motion Perturbation Model Adaptable to Patient Breathing Irregularities

PubMed Central

Yuan, Amy; Wei, Jie; Gaebler, Carl P.; Huang, Hailiang; Olek, Devin; Li, Guang

2016-01-01

Purpose To develop a physical, adaptive motion perturbation model to predict tumor motion using feedback from dynamic measurement of breathing conditions to compensate for breathing irregularities. Methods and Materials A novel respiratory motion perturbation (RMP) model was developed to predict tumor motion variations caused by breathing irregularities. This model contained 2 terms: the initial tumor motion trajectory, measured from 4-dimensional computed tomography (4DCT) images, and motion perturbation, calculated from breathing variations in tidal volume (TV) and breathing pattern (BP). The motion perturbation was derived from the patient-specific anatomy, tumor-specific location, and time-dependent breathing variations. Ten patients were studied, and 2 amplitude-binned 4DCT images for each patient were acquired within 2 weeks. The motion trajectories of 40 corresponding bifurcation points in both 4DCT images of each patient were obtained using deformable image registration. An in-house 4D data processing toolbox was developed to calculate the TV and BP as functions of the breathing phase. The motion was predicted from the simulation 4DCT scan to the treatment 4DCT scan, and vice versa, resulting in 800 predictions. For comparison, noncorrected motion differences and the predictions from a published 5-dimensional model were used. Results The average motion range in the superoinferior direction was 9.4 ± 4.4 mm, the average ΔTV ranged from 10 to 248 mm3 (−26% to 61%), and the ΔBP ranged from 0 to 0.2 (−71% to 333%) between the 2 4DCT scans. The mean noncorrected motion difference was 2.0 ± 2.8 mm between 2 4DCT motion trajectories. After applying the RMP model, the mean motion difference was reduced significantly to 1.2 ± 1.8 mm (P = .0018), a 40% improvement, similar to the 1.2 ± 1.8 mm (P = .72) predicted with the 5-dimensional model. Conclusions A novel physical RMP model was developed with an average accuracy of 1.2 ± 1.8 mm for interfraction motion prediction, similar to that of a published lung motion model. This physical RMP was analytically derived and is able to adapt to breathing irregularities. Further improvement of this RMP model is under investigation. PMID:27745981

A Novel Respiratory Motion Perturbation Model Adaptable to Patient Breathing Irregularities

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

Yuan, Amy; Wei, Jie; Gaebler, Carl P.

Purpose: To develop a physical, adaptive motion perturbation model to predict tumor motion using feedback from dynamic measurement of breathing conditions to compensate for breathing irregularities. Methods and Materials: A novel respiratory motion perturbation (RMP) model was developed to predict tumor motion variations caused by breathing irregularities. This model contained 2 terms: the initial tumor motion trajectory, measured from 4-dimensional computed tomography (4DCT) images, and motion perturbation, calculated from breathing variations in tidal volume (TV) and breathing pattern (BP). The motion perturbation was derived from the patient-specific anatomy, tumor-specific location, and time-dependent breathing variations. Ten patients were studied, and 2more » amplitude-binned 4DCT images for each patient were acquired within 2 weeks. The motion trajectories of 40 corresponding bifurcation points in both 4DCT images of each patient were obtained using deformable image registration. An in-house 4D data processing toolbox was developed to calculate the TV and BP as functions of the breathing phase. The motion was predicted from the simulation 4DCT scan to the treatment 4DCT scan, and vice versa, resulting in 800 predictions. For comparison, noncorrected motion differences and the predictions from a published 5-dimensional model were used. Results: The average motion range in the superoinferior direction was 9.4 ± 4.4 mm, the average ΔTV ranged from 10 to 248 mm{sup 3} (−26% to 61%), and the ΔBP ranged from 0 to 0.2 (−71% to 333%) between the 2 4DCT scans. The mean noncorrected motion difference was 2.0 ± 2.8 mm between 2 4DCT motion trajectories. After applying the RMP model, the mean motion difference was reduced significantly to 1.2 ± 1.8 mm (P=.0018), a 40% improvement, similar to the 1.2 ± 1.8 mm (P=.72) predicted with the 5-dimensional model. Conclusions: A novel physical RMP model was developed with an average accuracy of 1.2 ± 1.8 mm for interfraction motion prediction, similar to that of a published lung motion model. This physical RMP was analytically derived and is able to adapt to breathing irregularities. Further improvement of this RMP model is under investigation.« less

Design of a Lightweight Soft Robotic Arm Using Pneumatic Artificial Muscles and Inflatable Sleeves.

PubMed

Ohta, Preston; Valle, Luis; King, Jonathan; Low, Kevin; Yi, Jaehyun; Atkeson, Christopher G; Park, Yong-Lae

2018-04-01

As robots begin to interact with humans and operate in human environments, safety becomes a major concern. Conventional robots, although reliable and consistent, can cause injury to anyone within its range of motion. Soft robotics, wherein systems are made to be soft and mechanically compliant, are thus a promising alternative due to their lightweight nature and ability to cushion impacts, but current designs often sacrifice accuracy and usefulness for safety. We, therefore, have developed a bioinspired robotic arm combining elements of rigid and soft robotics such that it exhibits the positive qualities of both, namely compliance and accuracy, while maintaining a low weight. This article describes the design of a robotic arm-wrist-hand system with seven degrees of freedom (DOFs). The shoulder and elbow each has two DOFs for two perpendicular rotational motions on each joint, and the hand has two DOFs for wrist rotations and one DOF for a grasp motion. The arm is pneumatically powered using custom-built McKibben type pneumatic artificial muscles, which are inflated and deflated using binary and proportional valves. The wrist and hand motions are actuated through servomotors. In addition to the actuators, the arm is equipped with a potentiometer in each joint for detecting joint angle changes. Simulation and experimental results for closed-loop position control are also presented in the article.

Correlated motion of protein subdomains and large-scale conformational flexibility of RecA protein filament

NASA Astrophysics Data System (ADS)

Yu, Garmay; A, Shvetsov; D, Karelov; D, Lebedev; A, Radulescu; M, Petukhov; V, Isaev-Ivanov

2012-02-01

Based on X-ray crystallographic data available at Protein Data Bank, we have built molecular dynamics (MD) models of homologous recombinases RecA from E. coli and D. radiodurans. Functional form of RecA enzyme, which is known to be a long helical filament, was approximated by a trimer, simulated in periodic water box. The MD trajectories were analyzed in terms of large-scale conformational motions that could be detectable by neutron and X-ray scattering techniques. The analysis revealed that large-scale RecA monomer dynamics can be described in terms of relative motions of 7 subdomains. Motion of C-terminal domain was the major contributor to the overall dynamics of protein. Principal component analysis (PCA) of the MD trajectories in the atom coordinate space showed that rotation of C-domain is correlated with the conformational changes in the central domain and N-terminal domain, that forms the monomer-monomer interface. Thus, even though C-terminal domain is relatively far from the interface, its orientation is correlated with large-scale filament conformation. PCA of the trajectories in the main chain dihedral angle coordinate space implicates a co-existence of a several different large-scale conformations of the modeled trimer. In order to clarify the relationship of independent domain orientation with large-scale filament conformation, we have performed analysis of independent domain motion and its implications on the filament geometry.

Sliding Mode Control (SMC) of Robot Manipulator via Intelligent Controllers

NASA Astrophysics Data System (ADS)

Kapoor, Neha; Ohri, Jyoti

2017-02-01

Inspite of so much research, key technical problem, naming chattering of conventional, simple and robust SMC is still a challenge to the researchers and hence limits its practical application. However, newly developed soft computing based techniques can provide solution. In order to have advantages of conventional and heuristic soft computing based control techniques, in this paper various commonly used intelligent techniques, neural network, fuzzy logic and adaptive neuro fuzzy inference system (ANFIS) have been combined with sliding mode controller (SMC). For validation, proposed hybrid control schemes have been implemented for tracking a predefined trajectory by robotic manipulator, incorporating structured and unstructured uncertainties in the system. After reviewing numerous papers, all the commonly occurring uncertainties like continuous disturbance, uniform random white noise, static friction like coulomb friction and viscous friction, dynamic friction like Dhal friction and LuGre friction have been inserted in the system. Various performance indices like norm of tracking error, chattering in control input, norm of input torque, disturbance rejection, chattering rejection have been used. Comparative results show that with almost eliminated chattering the intelligent SMC controllers are found to be more efficient over simple SMC. It has also been observed from results that ANFIS based controller has the best tracking performance with the reduced burden on the system. No paper in the literature has found to have all these structured and unstructured uncertainties together for motion control of robotic manipulator.

Development of hand exoskeleton for rehabilitation of post-stroke patient

NASA Astrophysics Data System (ADS)

Zaid, Amran Mohd; Chean, Tee Chu; Sukor, Jumadi Abdul; Hanafi, Dirman

2017-10-01

Degenerative muscle diseases characterized by loss of strength in human hand significantly affect the physical of affected individuals. A soft assistive exoskeleton glove is designed to help post-stroke patient with their rehabilitation process. The glove uses soft bending actuator which has a rubber like tender characteristic. Due to its rubber like characteristic, flexion of finger can be achieved easily through pneumatic air without considering other hand motions. The application involves a post-stroke patient to wear the soft exoskeleton glove on his paralyzed hand and control the actuation of the glove by using pneumatic air source. The fabrication of the soft bending actuator involves silicone rubber Mold Star® 15 SLOW which falls within the soft category of shore A hardness scale. The soft bending actuator is controlled by Arduino Mega 2560 as main controller board and relay module is used to trigger the 3/2-way single solenoid valve by switching on the 24VDC power supply. The actuation of the soft bending actuator can be manipulated by setting delay ON and OFF for the relay switching. Thus, the repetition of the bending motion can be customized to fulfil the rehabilitation needs of the patient.

Quantum Stochastic Trajectories: The Fokker-Planck-Bohm Equation Driven by the Reduced Density Matrix.

PubMed

Avanzini, Francesco; Moro, Giorgio J

2018-03-15

The quantum molecular trajectory is the deterministic trajectory, arising from the Bohm theory, that describes the instantaneous positions of the nuclei of molecules by assuring the agreement with the predictions of quantum mechanics. Therefore, it provides the suitable framework for representing the geometry and the motions of molecules without neglecting their quantum nature. However, the quantum molecular trajectory is extremely demanding from the computational point of view, and this strongly limits its applications. To overcome such a drawback, we derive a stochastic representation of the quantum molecular trajectory, through projection operator techniques, for the degrees of freedom of an open quantum system. The resulting Fokker-Planck operator is parametrically dependent upon the reduced density matrix of the open system. Because of the pilot role played by the reduced density matrix, this stochastic approach is able to represent accurately the main features of the open system motions both at equilibrium and out of equilibrium with the environment. To verify this procedure, the predictions of the stochastic and deterministic representation are compared for a model system of six interacting harmonic oscillators, where one oscillator is taken as the open quantum system of interest. The undeniable advantage of the stochastic approach is that of providing a simplified and self-contained representation of the dynamics of the open system coordinates. Furthermore, it can be employed to study the out of equilibrium dynamics and the relaxation of quantum molecular motions during photoinduced processes, like photoinduced conformational changes and proton transfers.

Omni Directional Multimaterial Soft Cylindrical Actuator and Its Application as a Steerable Catheter.

PubMed

Gul, Jahan Zeb; Yang, Young Jin; Su, Kim Young; Choi, Kyung Hyun

2017-09-01

Soft actuators with complex range of motion lead to strong interest in applying devices like biomedical catheters and steerable soft pipe inspectors. To facilitate the use of soft actuators in devices where controlled, complex, precise, and fast motion is required, a structurally controlled Omni directional soft cylindrical actuator is fabricated in a modular way using multilayer composite of polylactic acid based conductive Graphene, shape memory polymer, shape memory alloy, and polyurethane. Multiple fabrication techniques are discussed step by step that mainly include fused deposition modeling based 3D printing, dip coating, and UV curing. A mathematical control model is used to generate patterned electrical signals for the Omni directional deformations. Characterizations like structural control, bending, recovery, path, and thermal effect are carried out with and without load (10 g) to verify the new cylindrical design concept. Finally, the application of Omni directional actuator as a steerable catheter is explored by fabricating a scaled version of carotid artery through 3D printing using a semitransparent material.

Janus Colloids Actively Rotating on the Surface of Water.

PubMed

Wang, Xiaolu; In, Martin; Blanc, Christophe; Würger, Alois; Nobili, Maurizio; Stocco, Antonio

2017-12-05

Biological or artificial microswimmers move performing trajectories of different kinds such as rectilinear, circular, or spiral ones. Here, we report on circular trajectories observed for active Janus colloids trapped at the air-water interface. Circular motion is due to asymmetric and nonuniform surface properties of the particles caused by fabrication. Motion persistence is enhanced by the partial wetted state of the Janus particles actively moving in two dimensions at the air-water interface. The slowing down of in-plane and out-of-plane rotational diffusions is described and discussed.

Gaze-contingent control for minimally invasive robotic surgery.

PubMed

Mylonas, George P; Darzi, Ara; Yang, Guang Zhong

2006-09-01

Recovering tissue depth and deformation during robotically assisted minimally invasive procedures is an important step towards motion compensation, stabilization and co-registration with preoperative data. This work demonstrates that eye gaze derived from binocular eye tracking can be effectively used to recover 3D motion and deformation of the soft tissue. A binocular eye-tracking device was integrated into the stereoscopic surgical console. After calibration, the 3D fixation point of the participating subjects could be accurately resolved in real time. A CT-scanned phantom heart model was used to demonstrate the accuracy of gaze-contingent depth extraction and motion stabilization of the soft tissue. The dynamic response of the oculomotor system was assessed with the proposed framework by using autoregressive modeling techniques. In vivo data were also used to perform gaze-contingent decoupling of cardiac and respiratory motion. Depth reconstruction, deformation tracking, and motion stabilization of the soft tissue were possible with binocular eye tracking. The dynamic response of the oculomotor system was able to cope with frequencies likely to occur under most routine minimally invasive surgical operations. The proposed framework presents a novel approach towards the tight integration of a human and a surgical robot where interaction in response to sensing is required to be under the control of the operating surgeon.

Ranges of motion after reverse shoulder arthroplasty improve significantly the first year after surgery in patients with rheumatoid arthritis.

PubMed

Tiusanen, Hannu; Sarantsin, Pjotor; Stenholm, Miika; Mattie, Ryan; Saltychev, Mikhail

2016-07-01

To evaluate the trajectory of the change in range of motion after reverse shoulder joint replacement during 3-year follow-up among patients with rheumatoid arthritis. Retrospective cohort longitudinal study of 76 shoulder replacements performed in a university clinic. The range of shoulder motion was assessed by a physiotherapist using a manual goniometer with 5-degree precision before the surgery and 1, 3, 6, 12, and 36 months postoperatively. The shapes of the regression curves suggest that the improvement or decline observed in joint motion was happening mostly during the first year after surgery. After 1 year, the trajectories become flat and they remained unchanged until the end of follow-up. After shoulder joint replacement, the range of shoulder motion showed substantial changes during the first year only. This should be taken into account when scheduling control visits, planning rehabilitation, and predicting the use of community services after the surgery.

Asynchrony between position and motion signals in the saccadic system.

PubMed

Schreiber, Céline; Missal, Marcus; Lefèvre, Philippe

2006-02-01

The influence of position and motion signals on saccades was studied in two dimensions (2D) using a double step-ramp paradigm. We showed the presence of a predictive component in 2D catch-up saccade programming that is based on motion signals and influences both saccade amplitude and orientation. Interestingly, a significant proportion of catch-up saccades was characterized by a large curvature or a sudden change of direction in midflight for large values of retinal slip. For these saccades, a quantitative analysis showed that their trajectory could be explained by an asynchrony between position and motion signals in saccade programming. When the saccade trajectory was not straight, position error was always available first and influenced the initial orientation of the saccade, whereas retinal slip determined the final orientation. This new paradigm could be used in electrophysiological experiments, where it should prove to be very useful to study position and motion pathways separately in catch-up saccades.

Atypical soil hardening during the Tohoku earthquake of March 11, 2011 ( M w = 9.0)

NASA Astrophysics Data System (ADS)

Pavlenko, O. V.

2017-10-01

Based on the records of KiK-net vertical arrays, models of soil behavior down to depths of 100-200 m in the near-fault zones during the Tohoku earthquake are examined. In contrast to the regular pattern observed during strong earthquakes, soft soils have not broadly demonstrated nonlinear behavior, or a reduction (with the onset of strong motions) and recovery (after strong motions finished) of the shear modulus in soil layers. At the stations where anomalously high peak ground accelerations were recorded (PGA > 1g), the values of the shear modulus in soil layers increased with the onset of strong motions and reached a maximum when motions were the most intensive, which indicated hardening of soils. Soil behavior was close to linear, here. The values of the shear moduli decrease along with a decrease in intensity of strong ground motions, and at soft soil stations, this was accompanied by a stepwise decrease in the frequency of motion.

Expressions of Different-Trajectory Caused Motion Events in Chinese

ERIC Educational Resources Information Center

Paul, Jing Z.

2013-01-01

We perform motion events in all aspects of our daily life, from walking home to jumping into a pool, from throwing a frisbee to pushing a shopping cart. The fact that languages may encode such motion events in different fashions has raised intriguing questions regarding the typological classifications of natural languages in relation to…

Variation in Angular Velocity and Angular Acceleration of a Particle in Rectilinear Motion

ERIC Educational Resources Information Center

Mashood, K. K.; Singh, V. A.

2012-01-01

We discuss the angular velocity ([image omitted]) and angular acceleration ([image omitted]) associated with a particle in rectilinear motion with constant acceleration. The discussion was motivated by an observation that students and even teachers have difficulty in ascribing rotational motion concepts to a particle when the trajectory is a…

Two-Dimensional Motions of Rockets

ERIC Educational Resources Information Center

Kang, Yoonhwan; Bae, Saebyok

2007-01-01

We analyse the two-dimensional motions of the rockets for various types of rocket thrusts, the air friction and the gravitation by using a suitable representation of the rocket equation and the numerical calculation. The slope shapes of the rocket trajectories are discussed for the three types of rocket engines. Unlike the projectile motions, the…

TU-CD-304-01: FEATURED PRESENTATION and BEST IN PHYSICS (THERAPY): Trajectory Modulated Arc Therapy: Development of Novel Arc Delivery Techniques Integrating Dynamic Table Motion for Extended Volume Treatments

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

Chin, E; Hoppe, R; Million, L

2015-06-15

Purpose: Integration of coordinated robotic table motion with inversely-planned arc delivery has the potential to resolve table-top delivery limitations of large-field treatments such as Total Body Irradiation (TBI), Total Lymphoid Irradiation (TLI), and Cranial-Spinal Irradiation (CSI). We formulate the foundation for Trajectory Modulated Arc Therapy (TMAT), and using Varian Developer Mode capabilities, experimentally investigate its practical implementation for such techniques. Methods: A MATLAB algorithm was developed for inverse planning optimization of the table motion, MLC positions, and gantry motion under extended-SSD geometry. To maximize the effective field size, delivery trajectories for TMAT TBI were formed with the table rotated atmore » 270° IEC and dropped vertically to 152.5cm SSD. Preliminary testing of algorithm parameters was done through retrospective planning analysis. Robotic delivery was programmed using custom XML scripting on the TrueBeam Developer Mode platform. Final dose was calculated using the Eclipse AAA algorithm. Initial verification of delivery accuracy was measured using OSLDs on a solid water phantom of varying thickness. Results: A comparison of DVH curves demonstrated that dynamic couch motion irradiation was sufficiently approximated by static control points spaced in intervals of less than 2cm. Optimized MLC motion decreased the average lung dose to 68.5% of the prescription dose. The programmed irradiation integrating coordinated table motion was deliverable on a TrueBeam STx linac in 6.7 min. With the couch translating under an open 10cmx20cm field angled at 10°, OSLD measurements along the midline of a solid water phantom at depths of 3, 5, and 9cm were within 3% of the TPS AAA algorithm with an average deviation of 1.2%. Conclusion: A treatment planning and delivery system for Trajectory Modulated Arc Therapy of extended volumes has been established and experimentally demonstrated for TBI. Extension to other treatment techniques such as TLI and CSI is readily achievable through the developed platform. Grant Funding by Varian Medical Systems.« less

SU-G-JeP4-03: Anomaly Detection of Respiratory Motion by Use of Singular Spectrum Analysis

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

Kotoku, J; Kumagai, S; Nakabayashi, S

Purpose: The implementation and realization of automatic anomaly detection of respiratory motion is a very important technique to prevent accidental damage during radiation therapy. Here, we propose an automatic anomaly detection method using singular value decomposition analysis. Methods: The anomaly detection procedure consists of four parts:1) measurement of normal respiratory motion data of a patient2) calculation of a trajectory matrix representing normal time-series feature3) real-time monitoring and calculation of a trajectory matrix of real-time data.4) calculation of an anomaly score from the similarity of the two feature matrices. Patient motion was observed by a marker-less tracking system using a depthmore » camera. Results: Two types of motion e.g. cough and sudden stop of breathing were successfully detected in our real-time application. Conclusion: Automatic anomaly detection of respiratory motion using singular spectrum analysis was successful in the cough and sudden stop of breathing. The clinical use of this algorithm will be very hopeful. This work was supported by JSPS KAKENHI Grant Number 15K08703.« less

Constants of the motion, universal time and the Hamilton-Jacobi function in general relativity

NASA Astrophysics Data System (ADS)

O'Hara, Paul

2013-04-01

In most text books of mechanics, Newton's laws or Hamilton's equations of motion are first written down and then solved based on initial conditions to determine the constants of the motions and to describe the trajectories of the particles. In this essay, we take a different starting point. We begin with the metrics of general relativity and show how they can be used to construct by inspection constants of motion, which can then be used to write down the equations of the trajectories. This will be achieved by deriving a Hamiltonian-Jacobi function from the metric and showing that its existence requires all of the above mentioned properties. The article concludes by showing that a consistent theory of such functions also requires the need for a universal measure of time which can be identified with the "worldtime" parameter, first introduced by Steuckelberg and later developed by Horwitz and Piron.

Edge effects on the fluttering characteristics of freely falling planar particles

NASA Astrophysics Data System (ADS)

Blay Esteban, Luis; Shrimpton, John; Ganapathisubramani, Bharathram

2018-06-01

The effect of particle edge geometry on the descent motion of freely falling planar particles is examined through experiments. Various planar particles, such as disk and polygons, with identical frontal areas (Ap) and different number of edges (or perimeter) are used. All particles are designed such that their values of Galileo number (G ) and dimensionless moment of inertia (I*) correspond to the previously identified fluttering regime of particle motion. Several modes of secondary motion are observed for the same particle and conditions, and these are not equally probable. This probability depends on the particle shape. Disks and heptagons were found to prefer a "planar zig-zag" behavior. These planar motions are composed of gliding sweeps and turning sections. As the number of sides in the polygon decreases, i.e., for hexagons and pentagons, the trajectory transitions to a more three-dimensional form. These trajectories were found to be restricted to one plane per swing, but the subsequent swings are in other planes. Further decrease in number of sides to a square results in the trajectories having a severe out-of-plane motion. These subregimes of particle motion within the fluttering regime are consistent with those reported for disks in previous studies. Based on this information, a length scale that accounts for the frontal area of the particles and its edge geometry (i.e., perimeter) is proposed. This length scale represents an approach to determine an equivalent disk for planar particles such that the phase diagram in the Reynolds number (Re) and dimensionless moment of inertia (I*) domain can be used to characterize the motion of planar particles with different frontal geometries. However, further experiments covering other domains of the regime map are needed to verify its universality.

The determination of high-resolution spatio-temporal glacier motion fields from time-lapse sequences

NASA Astrophysics Data System (ADS)

Schwalbe, Ellen; Maas, Hans-Gerd

2017-12-01

This paper presents a comprehensive method for the determination of glacier surface motion vector fields at high spatial and temporal resolution. These vector fields can be derived from monocular terrestrial camera image sequences and are a valuable data source for glaciological analysis of the motion behaviour of glaciers. The measurement concepts for the acquisition of image sequences are presented, and an automated monoscopic image sequence processing chain is developed. Motion vector fields can be derived with high precision by applying automatic subpixel-accuracy image matching techniques on grey value patterns in the image sequences. Well-established matching techniques have been adapted to the special characteristics of the glacier data in order to achieve high reliability in automatic image sequence processing, including the handling of moving shadows as well as motion effects induced by small instabilities in the camera set-up. Suitable geo-referencing techniques were developed to transform image measurements into a reference coordinate system.The result of monoscopic image sequence analysis is a dense raster of glacier surface point trajectories for each image sequence. Each translation vector component in these trajectories can be determined with an accuracy of a few centimetres for points at a distance of several kilometres from the camera. Extensive practical validation experiments have shown that motion vector and trajectory fields derived from monocular image sequences can be used for the determination of high-resolution velocity fields of glaciers, including the analysis of tidal effects on glacier movement, the investigation of a glacier's motion behaviour during calving events, the determination of the position and migration of the grounding line and the detection of subglacial channels during glacier lake outburst floods.

Catalytic Propulsion and Magnetic Steering of Soft, Patchy Microcapsules: Ability to Pick-Up and Drop-Off Microscale Cargo.

PubMed

Lu, Annie Xi; Liu, Yijing; Oh, Hyuntaek; Gargava, Ankit; Kendall, Eric; Nie, Zhihong; DeVoe, Don L; Raghavan, Srinivasa R

2016-06-22

We describe the creation of polymeric microcapsules that can exhibit autonomous motion along defined trajectories. The capsules are made by cross-linking aqueous microdroplets of the biopolymer chitosan using glutaraldehyde. A coflow microfluidic tubing device is used to generate chitosan droplets containing nanoparticles (NPs) with an iron (Fe) core and a platinum (Pt) shell. The droplets are then incubated in a Petri dish with the cross-linking solution, and an external magnet is placed below the Petri dish to pull the NPs together as a collective "patch" on one end of each droplet. This results in cross-linked capsules (∼150 μm in diameter) with an anisotropic (patchy) structure. When these capsules are placed in a solution of H2O2, the Pt shell of the NPs catalyzes the decomposition of H2O2 into O2 gas, which is ejected from the patchy end in the form of bubbles. As a result, the capsules (which are termed micromotors) move in a direction opposite to the bubbles. Furthermore, the micromotors can be steered along specific paths by an external magnet (the magnetic response arises due to the Fe in the core of the NPs). A given micromotor can thus be directed to meet with and adhere to an inert capsule, i.e., a model cargo. Adhesion occurs due to the soft nature of the two structures. Once the cargo is picked up, the micromotor-cargo pair can be moved along a specific path to a destination, whereupon the cargo can be released from the micromotor. We believe these soft micromotors offer significant benefits over their existing hard counterparts because of their biocompatibility, biodegradability, and ability to encapsulate a variety of payloads.

Trajectory optimization for lunar soft landing with complex constraints

NASA Astrophysics Data System (ADS)

Chu, Huiping; Ma, Lin; Wang, Kexin; Shao, Zhijiang; Song, Zhengyu

2017-11-01

A unified trajectory optimization framework with initialization strategies is proposed in this paper for lunar soft landing for various missions with specific requirements. Two main missions of interest are Apollo-like Landing from low lunar orbit and Vertical Takeoff Vertical Landing (a promising mobility method) on the lunar surface. The trajectory optimization is characterized by difficulties arising from discontinuous thrust, multi-phase connections, jump of attitude angle, and obstacles avoidance. Here R-function is applied to deal with the discontinuities of thrust, checkpoint constraints are introduced to connect multiple landing phases, attitude angular rate is designed to get rid of radical changes, and safeguards are imposed to avoid collision with obstacles. The resulting dynamic problems are generally with complex constraints. The unified framework based on Gauss Pseudospectral Method (GPM) and Nonlinear Programming (NLP) solver are designed to solve the problems efficiently. Advanced initialization strategies are developed to enhance both the convergence and computation efficiency. Numerical results demonstrate the adaptability of the framework for various landing missions, and the performance of successful solution of difficult dynamic problems.

Dynamical density functional theory analysis of the laning instability in sheared soft matter.

PubMed

Scacchi, A; Archer, A J; Brader, J M

2017-12-01

Using dynamical density functional theory (DDFT) methods we investigate the laning instability of a sheared colloidal suspension. The nonequilibrium ordering at the laning transition is driven by nonaffine particle motion arising from interparticle interactions. Starting from a DDFT which incorporates the nonaffine motion, we perform a linear stability analysis that enables identification of the regions of parameter space where lanes form. We illustrate our general approach by applying it to a simple one-component fluid of soft penetrable particles.

Flow Mapping Based on the Motion-Integration Errors of Autonomous Underwater Vehicles

NASA Astrophysics Data System (ADS)

Chang, D.; Edwards, C. R.; Zhang, F.

2016-02-01

Knowledge of a flow field is crucial in the navigation of autonomous underwater vehicles (AUVs) since the motion of AUVs is affected by ambient flow. Due to the imperfect knowledge of the flow field, it is typical to observe a difference between the actual and predicted trajectories of an AUV, which is referred to as a motion-integration error (also known as a dead-reckoning error if an AUV navigates via dead-reckoning). The motion-integration error has been essential for an underwater glider to compute its flow estimate from the travel information of the last leg and to improve navigation performance by using the estimate for the next leg. However, the estimate by nature exhibits a phase difference compared to ambient flow experienced by gliders, prohibiting its application in a flow field with strong temporal and spatial gradients. In our study, to mitigate the phase problem, we have developed a local ocean model by combining the flow estimate based on the motion-integration error with flow predictions from a tidal ocean model. Our model has been used to create desired trajectories of gliders for guidance. Our method is validated by Long Bay experiments in 2012 and 2013 in which we deployed multiple gliders on the shelf of South Atlantic Bight and near the edge of Gulf Stream. In our recent study, the application of the motion-integration error is further extended to create a spatial flow map. Considering that the motion-integration errors of AUVs accumulate along their trajectories, the motion-integration error is formulated as a line integral of ambient flow which is then reformulated into algebraic equations. By solving an inverse problem for these algebraic equations, we obtain the knowledge of such flow in near real time, allowing more effective and precise guidance of AUVs in a dynamic environment. This method is referred to as motion tomography. We provide the results of non-parametric and parametric flow mapping from both simulated and experimental data.

The Tactile Ethics of Soft Robotics: Designing Wisely for Human-Robot Interaction.

PubMed

Arnold, Thomas; Scheutz, Matthias

2017-06-01

Soft robots promise an exciting design trajectory in the field of robotics and human-robot interaction (HRI), promising more adaptive, resilient movement within environments as well as a safer, more sensitive interface for the objects or agents the robot encounters. In particular, tactile HRI is a critical dimension for designers to consider, especially given the onrush of assistive and companion robots into our society. In this article, we propose to surface an important set of ethical challenges for the field of soft robotics to meet. Tactile HRI strongly suggests that soft-bodied robots balance tactile engagement against emotional manipulation, model intimacy on the bonding with a tool not with a person, and deflect users from personally and socially destructive behavior the soft bodies and surfaces could normally entice.

Differences in gaze anticipation for locomotion with and without vision

PubMed Central

Authié, Colas N.; Hilt, Pauline M.; N'Guyen, Steve; Berthoz, Alain; Bennequin, Daniel

2015-01-01

Previous experimental studies have shown a spontaneous anticipation of locomotor trajectory by the head and gaze direction during human locomotion. This anticipatory behavior could serve several functions: an optimal selection of visual information, for instance through landmarks and optic flow, as well as trajectory planning and motor control. This would imply that anticipation remains in darkness but with different characteristics. We asked 10 participants to walk along two predefined complex trajectories (limaçon and figure eight) without any cue on the trajectory to follow. Two visual conditions were used: (i) in light and (ii) in complete darkness with eyes open. The whole body kinematics were recorded by motion capture, along with the participant's right eye movements. We showed that in darkness and in light, horizontal gaze anticipates the orientation of the head which itself anticipates the trajectory direction. However, the horizontal angular anticipation decreases by a half in darkness for both gaze and head. In both visual conditions we observed an eye nystagmus with similar properties (frequency and amplitude). The main difference comes from the fact that in light, there is a shift of the orientations of the eye nystagmus and the head in the direction of the trajectory. These results suggest that a fundamental function of gaze is to represent self motion, stabilize the perception of space during locomotion, and to simulate the future trajectory, regardless of the vision condition. PMID:26106313

Spontaneous symmetry breaking for geometrical trajectories of actin-based motility in three dimensions

NASA Astrophysics Data System (ADS)

Wen, Fu-Lai; Leung, Kwan-tai; Chen, Hsuan-Yi

2016-07-01

Actin-based motility is important for many cellular processes. In this article we extend our previous studies of an actin-propelled circular disk in two dimensions to an actin-propelled spherical bead in three dimensions. We find that for an achiral load the couplings between the motion of the load and the actin network induce a series of bifurcations, starting with a transition from rest to moving state, followed by a transition from straight to planar curves, and finally a further transition from motion in a plane to one with torsion. To address the intriguing, experimentally observed chiral motility of the bacterium Listeria monocytogenes, we also study the motility of a spherical load with a built-in chirality. For such a chiral load, stable circular trajectories are no longer found in numerical simulations. Instead, helical trajectories with handedness that depends on the chirality of the load are found. Our results reveal the relation between the symmetry of actin network and the trajectories of actin-propelled loads.

Six-Degree-of-Freedom Trajectory Optimization Utilizing a Two-Timescale Collocation Architecture

NASA Technical Reports Server (NTRS)

Desai, Prasun N.; Conway, Bruce A.

2005-01-01

Six-degree-of-freedom (6DOF) trajectory optimization of a reentry vehicle is solved using a two-timescale collocation methodology. This class of 6DOF trajectory problems are characterized by two distinct timescales in their governing equations, where a subset of the states have high-frequency dynamics (the rotational equations of motion) while the remaining states (the translational equations of motion) vary comparatively slowly. With conventional collocation methods, the 6DOF problem size becomes extraordinarily large and difficult to solve. Utilizing the two-timescale collocation architecture, the problem size is reduced significantly. The converged solution shows a realistic landing profile and captures the appropriate high-frequency rotational dynamics. A large reduction in the overall problem size (by 55%) is attained with the two-timescale architecture as compared to the conventional single-timescale collocation method. Consequently, optimum 6DOF trajectory problems can now be solved efficiently using collocation, which was not previously possible for a system with two distinct timescales in the governing states.

Swimming trajectories of a three-sphere microswimmer near a wall

NASA Astrophysics Data System (ADS)

Daddi-Moussa-Ider, Abdallah; Lisicki, Maciej; Hoell, Christian; Löwen, Hartmut

2018-04-01

The hydrodynamic flow field generated by self-propelled active particles and swimming microorganisms is strongly altered by the presence of nearby boundaries in a viscous flow. Using a simple model three-linked sphere swimmer, we show that the swimming trajectories near a no-slip wall reveal various scenarios of motion depending on the initial orientation and the distance separating the swimmer from the wall. We find that the swimmer can either be trapped by the wall, completely escape, or perform an oscillatory gliding motion at a constant mean height above the wall. Using a far-field approximation, we find that, at leading order, the wall-induced correction has a source-dipolar or quadrupolar flow structure where the translational and angular velocities of the swimmer decay as inverse third and fourth powers with distance from the wall, respectively. The resulting equations of motion for the trajectories and the relevant order parameters fully characterize the transition between the states and allow for an accurate description of the swimming behavior near a wall. We demonstrate that the transition between the trapping and oscillatory gliding states is first order discontinuous, whereas the transition between the trapping and escaping states is continuous, characterized by non-trivial scaling exponents of the order parameters. In order to model the circular motion of flagellated bacteria near solid interfaces, we further assume that the spheres can undergo rotational motion around the swimming axis. We show that the general three-dimensional motion can be mapped onto a quasi-two-dimensional representational model by an appropriate redefinition of the order parameters governing the transition between the swimming states.

Motion control system of MAX IV Laboratory soft x-ray beamlines

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

Sjöblom, Peter, E-mail: peter.sjoblom@maxlab.lu.se; Lindberg, Mirjam, E-mail: mirjam.lindberg@maxlab.lu.se; Forsberg, Johan, E-mail: johan.forsberg@maxlab.lu.se

2016-07-27

At the MAX IV Laboratory, five new soft x-ray beamlines are under development. The first is Species and it will be used to develop and set the standard of the control system, which will be common across the facility. All motion axes at MAX IV will be motorized using stepper motors steered by the IcePAP motion controller and a mixture of absolute and incremental encoders following a predefined coordinate system. The control system software is built in Tango and uses the Python-based Sardana framework. The user controls the entire beamline through a synoptic overview and Sardana is used to runmore » the scans.« less

Real-time soft tissue motion estimation for lung tumors during radiotherapy delivery.

PubMed

Rottmann, Joerg; Keall, Paul; Berbeco, Ross

2013-09-01

To provide real-time lung tumor motion estimation during radiotherapy treatment delivery without the need for implanted fiducial markers or additional imaging dose to the patient. 2D radiographs from the therapy beam's-eye-view (BEV) perspective are captured at a frame rate of 12.8 Hz with a frame grabber allowing direct RAM access to the image buffer. An in-house developed real-time soft tissue localization algorithm is utilized to calculate soft tissue displacement from these images in real-time. The system is tested with a Varian TX linear accelerator and an AS-1000 amorphous silicon electronic portal imaging device operating at a resolution of 512 × 384 pixels. The accuracy of the motion estimation is verified with a dynamic motion phantom. Clinical accuracy was tested on lung SBRT images acquired at 2 fps. Real-time lung tumor motion estimation from BEV images without fiducial markers is successfully demonstrated. For the phantom study, a mean tracking error <1.0 mm [root mean square (rms) error of 0.3 mm] was observed. The tracking rms accuracy on BEV images from a lung SBRT patient (≈20 mm tumor motion range) is 1.0 mm. The authors demonstrate for the first time real-time markerless lung tumor motion estimation from BEV images alone. The described system can operate at a frame rate of 12.8 Hz and does not require prior knowledge to establish traceable landmarks for tracking on the fly. The authors show that the geometric accuracy is similar to (or better than) previously published markerless algorithms not operating in real-time.

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

Reister, D.B.; Pin, F.G.

This paper addresses the problem of time-optional motions for a mobile platform in a planar environment. The platform has two non-steerable independently driven wheels. The overall mission of the robot is expressed in terms of a sequence of via points at which the platform must be at rest in a given configuration (position and orientation). The objective is to plan time-optimal trajectories between these configurations assuming an unobstructed environment. Using Pontryagin's maximum principle (PMP), we formally demonstrate that all time optimal motions of the platform for this problem occur for bang-bang controls on the wheels (at each instant, the accelerationmore » on each wheel is either at its upper or lower limit). The PMP, however, only provides necessary conditions for time optimality. To find the time optimal robot trajectories, we first parameterize the bang-bang trajectories using the switch times on the wheels (the times at which the wheel accelerations change sign). With this parameterization, we can fully search the robot trajectory space and find the switch times that will produce particular paths to a desired final configuration of the platform. We show numerically that robot trajectories with three switch times (two on one wheel, one on the other) can reach any position, while trajectories with four switch times can reach any configuration. By numerical comparison with other trajectories involving similar or greater numbers of switch times, we then identify the sets of time-optimal trajectories. These are uniquely defined using ranges of the parameters, and consist of subsets of trajectories with three switch times for the problem when the final orientation of the robot is not specified, and four switch times when a full final configuration is specified. We conclude with a description of the use of the method for trajectory planning for one of our robots.« less

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

Reister, D.B.; Pin, F.G.

This paper addresses the problem of time-optional motions for a mobile platform in a planar environment. The platform has two non-steerable independently driven wheels. The overall mission of the robot is expressed in terms of a sequence of via points at which the platform must be at rest in a given configuration (position and orientation). The objective is to plan time-optimal trajectories between these configurations assuming an unobstructed environment. Using Pontryagin`s maximum principle (PMP), we formally demonstrate that all time optimal motions of the platform for this problem occur for bang-bang controls on the wheels (at each instant, the accelerationmore » on each wheel is either at its upper or lower limit). The PMP, however, only provides necessary conditions for time optimality. To find the time optimal robot trajectories, we first parameterize the bang-bang trajectories using the switch times on the wheels (the times at which the wheel accelerations change sign). With this parameterization, we can fully search the robot trajectory space and find the switch times that will produce particular paths to a desired final configuration of the platform. We show numerically that robot trajectories with three switch times (two on one wheel, one on the other) can reach any position, while trajectories with four switch times can reach any configuration. By numerical comparison with other trajectories involving similar or greater numbers of switch times, we then identify the sets of time-optimal trajectories. These are uniquely defined using ranges of the parameters, and consist of subsets of trajectories with three switch times for the problem when the final orientation of the robot is not specified, and four switch times when a full final configuration is specified. We conclude with a description of the use of the method for trajectory planning for one of our robots.« less

Dynamics of essential collective motions in proteins: Theory

NASA Astrophysics Data System (ADS)

Stepanova, Maria

2007-11-01

A general theoretical background is introduced for characterization of conformational motions in protein molecules, and for building reduced coarse-grained models of proteins, based on the statistical analysis of their phase trajectories. Using the projection operator technique, a system of coupled generalized Langevin equations is derived for essential collective coordinates, which are generated by principal component analysis of molecular dynamic trajectories. The number of essential degrees of freedom is not limited in the theory. An explicit analytic relation is established between the generalized Langevin equation for essential collective coordinates and that for the all-atom phase trajectory projected onto the subspace of essential collective degrees of freedom. The theory introduced is applied to identify correlated dynamic domains in a macromolecule and to construct coarse-grained models representing the conformational motions in a protein through a few interacting domains embedded in a dissipative medium. A rigorous theoretical background is provided for identification of dynamic correlated domains in a macromolecule. Examples of domain identification in protein G are given and employed to interpret NMR experiments. Challenges and potential outcomes of the theory are discussed.

The eivaN: A forward-looking interactive orbital trajectory plotting tool for use with proximity operations (PROX OPS) and other maneuvers: Description and user's manual

NASA Technical Reports Server (NTRS)

Brody, Adam R.

1988-01-01

The results of vehicle burns on-orbit are very difficult to anticipate because of nonlinearities in the equations of motion governing orbiting bodies. This confusion was noticed firsthand in prior experimentation. Out of plane motion is relatively simple as it is uncoupled from the other two degrees of freedom. However, in plane thrusts are more complex because the motions resulting from these inputs are coupled. An interactive planning device, eivaN, was developed to plot resulting trajectories, to provide a better comprehension of orbital mechanics effects, and to help the user to develop heuristics for on-orbit mission planning. The eivaN runs with Microsoft Excel on a Macintosh computer. It provides a forward looking display: burn parameters in the three orthogonal axes in addition to time inputted, and the resultant trajectory is then plotted. Position and velocity components for any burn at any user specified time are readily available. A new area of research related to the human factors of real time, on-orbit mission planning was identified and is currently being investigated.

Molecular dynamics: deciphering the data.

PubMed

Dauber-Osguthorpe, P; Maunder, C M; Osguthorpe, D J

1996-06-01

The dynamic behaviour of molecules is important in determining their activity. Molecular dynamics (MD) simulations give a detailed description of motion, from small fluctuations to conformational transitions, and can include solvent effects. However, extracting useful information about conformational motion from a trajectory is not trivial. We have used digital signal-processing techniques to characterise the motion in MD simulations, including: calculating the frequency distribution, applying filtering functions, and extraction of vectors defining the characteristic motion for each frequency in an MD simulation. We describe here some typical results obtained for peptides and proteins. The nature of the low-frequency modes of motion, as obtained from MD and normal mode (NM) analysis, of Ace-(Ala)31-Nma and of a proline mutant is discussed. Low-frequency modes extracted from the MD trajectories of Rop protein and phospholipase A2 reveal characteristic motions of secondary structure elements, as well as concerned motions that are of significance to the protein's biological activity. MD simulations are also used frequently as a tool for conformational searches and for investigating protein folding/unfolding. We have developed a novel method that uses time-domain filtering to channel energy into conformational motion and thus enhance conformational transitions. The selectively enhanced molecular dynamics method is tested on the small molecule hexane.

Molecular dynamics: Deciphering the data

NASA Astrophysics Data System (ADS)

Dauber-Osguthorpe, Pnina; Maunder, Colette M.; Osguthorpe, David J.

1996-06-01

The dynamic behaviour of molecules is important in determining their activity. Molecular dynamics (MD) simulations give a detailed description of motion, from small fluctuations to conformational transitions, and can include solvent effects. However, extracting useful information about conformational motion from a trajectory is not trivial. We have used digital signal-processing techniques to characterise the motion in MD simulations, including: calculating the frequency distribution, applying filtering functions, and extraction of vectors defining the characteristic motion for each frequency in an MD simulation. We describe here some typical results obtained for peptides and proteins. The nature of the low-frequency modes of motion, as obtained from MD and normal mode (NM) analysis, of Ace-(Ala)31-Nma and of a proline mutant is discussed. Low-frequency modes extracted from the MD trajectories of Rop protein and phospholipase A2 reveal characteristic motions of secondary structure elements, as well as concerted motions that are of significance to the protein's biological activity. MD simulations are also used frequently as a tool for conformational searches and for investigating protein folding/unfolding. We have developed a novel method that uses time-domain filtering to channel energy into conformational motion and thus enhance conformational transitions. The selectively enhanced molecular dynamics method is tested on the small molecule hexane.

Trajectory of Charged Particle in Combined Electric and Magnetic Fields Using Interactive Spreadsheets

ERIC Educational Resources Information Center

Tambade, Popat S.

2011-01-01

The objective of this article is to graphically illustrate to the students the physical phenomenon of motion of charged particle under the action of simultaneous electric and magnetic fields by simulating particle motion on a computer. Differential equations of motions are solved analytically and path of particle in three-dimensional space are…

Soft Vibrational Modes Predict Breaking Events during Force-Induced Protein Unfolding.

PubMed

Habibi, Mona; Plotkin, Steven S; Rottler, Jörg

2018-02-06

We investigate the correlation between soft vibrational modes and unfolding events in simulated force spectroscopy of proteins. Unfolding trajectories are obtained from molecular dynamics simulations of a Gō model of a monomer of a mutant of superoxide dismutase 1 protein containing all heavy atoms in the protein, and a normal mode analysis is performed based on the anisotropic network model. We show that a softness map constructed from the superposition of the amplitudes of localized soft modes correlates with unfolding events at different stages of the unfolding process. Soft residues are up to eight times more likely to undergo disruption of native structure than the average amino acid. The memory of the softness map is retained for extensions of up to several nanometers, but decorrelates more rapidly during force drops. Copyright © 2017 Biophysical Society. Published by Elsevier Inc. All rights reserved.

Development of soft robots using dielectric elastomer actuators

NASA Astrophysics Data System (ADS)

Godaba, Hareesh; Wang, Yuzhe; Cao, Jiawei; Zhu, Jian

2016-04-01

Soft robots are gaining in popularity due to their unique attributes such as low weight, compliance, flexibility and diverse range in motion types. This paper illustrates soft robots and actuators which are developed using dielectric elastomer. These developments include a jellyfish robot, a worm like robot and artificial muscle actuators for jaw movement in a robotic skull. The jellyfish robot which employs a bulged dielectric elastomer membrane has been demonstrated too generate thrust and buoyant forces and can move effectively in water. The artificial muscle for jaw movement employs a pure shear configuration and has been shown to closely mimic the jaw motion while chewing or singing a song. Thee inchworm robot, powered by dielectric elastomer actuator can demonstrate stable movement in one-direction.

Effects of changes in size, speed and distance on the perception of curved 3D trajectories

PubMed Central

Zhang, Junjun; Braunstein, Myron L.; Andersen, George J.

2012-01-01

Previous research on the perception of 3D object motion has considered time to collision, time to passage, collision detection and judgments of speed and direction of motion, but has not directly studied the perception of the overall shape of the motion path. We examined the perception of the magnitude of curvature and sign of curvature of the motion path for objects moving at eye level in a horizontal plane parallel to the line of sight. We considered two sources of information for the perception of motion trajectories: changes in angular size and changes in angular speed. Three experiments examined judgments of relative curvature for objects moving at different distances. At the closest distance studied, accuracy was high with size information alone but near chance with speed information alone. At the greatest distance, accuracy with size information alone decreased sharply but accuracy for displays with both size and speed information remained high. We found similar results in two experiments with judgments of sign of curvature. Accuracy was higher for displays with both size and speed information than with size information alone, even when the speed information was based on parallel projections and was not informative about sign of curvature. For both magnitude of curvature and sign of curvature judgments, information indicating that the trajectory was curved increased accuracy, even when this information was not directly relevant to the required judgment. PMID:23007204

Odometry and Low-Cost Sensor Fusion in Tmm Dataset

NASA Astrophysics Data System (ADS)

Manzino, A. M.; Taglioretti, C.

2016-03-01

The aim of this study is to identify the most powerful motion model and filtering technique to represent an urban terrestrial mobile mapping (TMM) survey and ultimately to obtain the best representation of the car trajectory. The authors want to test how far a motion model and a more or less refined filtering technique could bring benefits in the determination of the car trajectory. To achieve the necessary data for the application of the motion models and the filtering techniques described in the article, the authors realized a TMM survey in the urban centre of Turin by equipping a vehicle with various instruments: a low-cost action-cam also able to record the GPS trace of the vehicle even in the presence of obstructions, an inertial measurement system and an odometer. The results of analysis show in the article indicate that the Unscented Kalman Filter (UKF) technique provides good results in the determination of the vehicle trajectory, especially if the motion model considers more states (such as the positions, the tangential velocity, the angular velocity, the heading, the acceleration). The authors also compared the results obtained with a motion model characterized by four, five and six states. A natural corollary to this work would be the introduction to the UKF of the photogrammetric information obtained by the same camera placed on board the vehicle. These data would permit to establish how photogrammetric measurements can improve the quality of TMM solutions, especially in the absence of GPS signals (like urban canyons).

Investigating the possible effect of electrode support structure on motion artifact in wearable bioelectric signal monitoring.

PubMed

Cömert, Alper; Hyttinen, Jari

2015-05-15

With advances in technology and increasing demand, wearable biosignal monitoring is developing and new applications are emerging. One of the main challenges facing the widespread use of wearable monitoring systems is the motion artifact. The sources of the motion artifact lie in the skin-electrode interface. Reducing the motion and deformation at this interface should have positive effects on signal quality. In this study, we aim to investigate whether the structure supporting the electrode can be designed to reduce the motion artifact with the hypothesis that this can be achieved by stabilizing the skin deformations around the electrode. We compare four textile electrodes with different support structure designs: a soft padding larger than the electrode area, a soft padding larger than the electrode area with a novel skin deformation restricting design, a soft padding the same size as the electrode area, and a rigid support the same size as the electrode. With five subjects and two electrode locations placed over different kinds of tissue at various mounting forces, we simultaneously measured the motion artifact, a motion affected ECG, and the real-time skin-electrode impedance during the application of controlled motion to the electrodes. The design of the electrode support structure has an effect on the generated motion artifact; good design with a skin stabilizing structure makes the electrodes physically more motion artifact resilient, directly affecting signal quality. Increasing the applied mounting force shows a positive effect up to 1,000 gr applied force. The properties of tissue under the electrode are an important factor in the generation of the motion artifact and the functioning of the electrodes. The relationship of motion artifact amplitude to the electrode movement magnitude is seen to be linear for smaller movements. For larger movements, the increase of motion generated a disproportionally larger artifact. The motion artifact and the induced impedance change were caused by the electrode motion and contained the same frequency components as the applied electrode motion pattern. We found that stabilizing the skin around the electrode using an electrode structure that manages to successfully distribute the force and movement to an area beyond the borders of the electrical contact area reduces the motion artifact when compared to structures that are the same size as the electrode area.

Locus of the apices of projectile trajectories under constant drag

NASA Astrophysics Data System (ADS)

Hernández-Saldaña, H.

2017-11-01

Using the hodograph method, we present an analytical solution for projectile coplanar motion under constant drag, parametrised by the velocity angle. We find the locus formed by the apices of the projectile trajectories, and discuss its implementation for the motion of a particle on an inclined plane in presence of Coulomb friction. The range and time of flight are obtained numerically, and we find that the optimal launching angle is smaller than in the drag-free case. This is a good example of a problem with constant dissipation of energy that includes curvature; it is appropriate for intermediate courses of mechanics.

Relative motion using analytical differential gravity

NASA Technical Reports Server (NTRS)

Gottlieb, Robert G.

1988-01-01

This paper presents a new approach to the computation of the motion of one satellite relative to another. The trajectory of the reference satellite is computed accurately subject to geopotential perturbations. This precise trajectory is used as a reference in computing the position of a nearby body, or bodies. The problem that arises in this approach is differencing nearly equal terms in the geopotential model, especially as the separation of the reference and nearby bodies approaches zero. By developing closed form expressions for differences in higher order and degree geopotential terms, the numerical problem inherent in the differencing approach is eliminated.

Feature point based 3D tracking of multiple fish from multi-view images

PubMed Central

Qian, Zhi-Ming

2017-01-01

A feature point based method is proposed for tracking multiple fish in 3D space. First, a simplified representation of the object is realized through construction of two feature point models based on its appearance characteristics. After feature points are classified into occluded and non-occluded types, matching and association are performed, respectively. Finally, the object's motion trajectory in 3D space is obtained through integrating multi-view tracking results. Experimental results show that the proposed method can simultaneously track 3D motion trajectories for up to 10 fish accurately and robustly. PMID:28665966

Motion transitions of falling plates via quasisteady aerodynamics.

PubMed

Hu, Ruifeng; Wang, Lifeng

2014-07-01

In this paper, we study the dynamics of freely falling plates based on the Kirchhoff equation and the quasisteady aerodynamic model. Motion transitions among fluttering, tumbling along a cusp-like trajectory, irregular, and tumbling along a straight trajectory are obtained by solving the dynamical equations. Phase diagrams spanning between the nondimensional moment of inertia and aerodynamic coefficients or aspect ratio are built to identify regimes for these falling styles. We also investigate the stability of fixed points and bifurcation scenarios. It is found that the transitions are all heteroclinic bifurcations and the influence of the fixed-point stability is local.

Feature point based 3D tracking of multiple fish from multi-view images.

PubMed

Qian, Zhi-Ming; Chen, Yan Qiu

2017-01-01

A feature point based method is proposed for tracking multiple fish in 3D space. First, a simplified representation of the object is realized through construction of two feature point models based on its appearance characteristics. After feature points are classified into occluded and non-occluded types, matching and association are performed, respectively. Finally, the object's motion trajectory in 3D space is obtained through integrating multi-view tracking results. Experimental results show that the proposed method can simultaneously track 3D motion trajectories for up to 10 fish accurately and robustly.

Optimization of Spiral-Based Pulse Sequences for First Pass Myocardial Perfusion Imaging

PubMed Central

Salerno, Michael; Sica, Christopher T.; Kramer, Christopher M.; Meyer, Craig H.

2010-01-01

While spiral trajectories have multiple attractive features such as their isotropic resolution, acquisition efficiency, and robustness to motion, there has been limited application of these techniques to first pass perfusion imaging because of potential off-resonance and inconsistent data artifacts. Spiral trajectories may also be less sensitive to dark-rim artifacts (DRA) that are caused, at least in part, by cardiac motion. By careful consideration of the spiral trajectory readout duration, flip angle strategy, and image reconstruction strategy, spiral artifacts can be abated to create high quality first pass myocardial perfusion images with high SNR. The goal of this paper was to design interleaved spiral pulse sequences for first-pass myocardial perfusion imaging, and to evaluate them clinically for image quality and the presence of dark-rim, blurring, and dropout artifacts. PMID:21590802

Feasibility study of a procedure to detect and warn of low level wind shear

NASA Technical Reports Server (NTRS)

Turkel, B. S.; Kessel, P. A.; Frost, W.

1981-01-01

A Doppler radar system which provides an aircraft with advanced warning of longitudinal wind shear is described. This system uses a Doppler radar beamed along the glide slope linked with an on line microprocessor containing a two dimensional, three degree of freedom model of the motion of an aircraft including pilot/autopilot control. The Doppler measured longitudinal glide slope winds are entered into the aircraft motion model, and a simulated controlled aircraft trajectory is calculated. Several flight path deterioration parameters are calculated from the computed aircraft trajectory information. The aircraft trajectory program, pilot control models, and the flight path deterioration parameters are discussed. The performance of the computer model and a test pilot in a flight simulator through longitudinal and vertical wind fields characteristic of a thunderstorm wind field are compared.

Primer vector theory applied to the linear relative-motion equations. [for N-impulse space trajectory optimization

NASA Technical Reports Server (NTRS)

Jezewski, D.

1980-01-01

Prime vector theory is used in analyzing a set of linear relative-motion equations - the Clohessy-Wiltshire (C/W) equations - to determine the criteria and necessary conditions for an optimal N-impulse trajectory. The analysis develops the analytical criteria for improving a solution by: (1) moving any dependent or independent variable in the initial and/or final orbit, and (2) adding intermediate impulses. If these criteria are violated, the theory establishes a sufficient number of analytical equations. The subsequent satisfaction of these equations will result in the optimal position vectors and times of an N-impulse trajectory. The solution is examined for the specific boundary conditions of: (1) fixed-end conditions, two impulse, and time-open transfer; (2) an orbit-to-orbit transfer; and (3) a generalized renezvous problem.

Schrödinger–Langevin equation with quantum trajectories for photodissociation dynamics

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

Chou, Chia-Chun, E-mail: ccchou@mx.nthu.edu.tw

The Schrödinger–Langevin equation is integrated to study the wave packet dynamics of quantum systems subject to frictional effects by propagating an ensemble of quantum trajectories. The equations of motion for the complex action and quantum trajectories are derived from the Schrödinger–Langevin equation. The moving least squares approach is used to evaluate the spatial derivatives of the complex action required for the integration of the equations of motion. Computational results are presented and analyzed for the evolution of a free Gaussian wave packet, a two-dimensional barrier model, and the photodissociation dynamics of NOCl. The absorption spectrum of NOCl obtained from themore » Schrödinger–Langevin equation displays a redshift when frictional effects increase. This computational result agrees qualitatively with the experimental results in the solution-phase photochemistry of NOCl.« less

Hybrid 3-D rocket trajectory program. Part 1: Formulation and analysis. Part 2: Computer programming and user's instruction. [computerized simulation using three dimensional motion analysis

NASA Technical Reports Server (NTRS)

Huang, L. C. P.; Cook, R. A.

1973-01-01

Models utilizing various sub-sets of the six degrees of freedom are used in trajectory simulation. A 3-D model with only linear degrees of freedom is especially attractive, since the coefficients for the angular degrees of freedom are the most difficult to determine and the angular equations are the most time consuming for the computer to evaluate. A computer program is developed that uses three separate subsections to predict trajectories. A launch rail subsection is used until the rocket has left its launcher. The program then switches to a special 3-D section which computes motions in two linear and one angular degrees of freedom. When the rocket trims out, the program switches to the standard, three linear degrees of freedom model.

Upper extremities flexibility comparisons of collegiate "soft" martial art practitioners with other athletes.

PubMed

Huang, C-C; Yang, Y-H; Chen, C-H; Chen, T-W; Lee, C-L; Wu, C-L; Chuang, S-H; Huang, M-H

2008-03-01

The aim of this study was to compare the flexibility of the upper extremities in collegiate students involved in Aikido (a kind of soft martial art attracting youth) training with those involved in other sports. Fifty freshmen with a similar frequency of exercise were divided into the Aikido group (n = 18), the upper-body sports group (n = 17), and the lower-body sports group (n = 15) according to the sports that they participated in. Eight classes of range of motion in upper extremities were taken for all subjects by the same clinicians. The Aikido group had significantly better flexibility than the upper-body sports group except for range of motion in shoulder flexion (p = 0.22), shoulder lateral rotation (p > 0.99), and wrist extension (p > 0.99). The Aikido group also had significantly better flexibility than the lower-body sports group (p < 0.01) and the sedentary group (p < 0.01) in all classes of range of motion. The upper-body sports group was significantly more flexible in five classes of range of motion and significantly tighter in range of motion of wrist flexion (p < 0.01) compared to the lower-body sports group. It was concluded that the youths participating in soft martial arts had good upper extremities flexibility that might not result from regular exercise alone.

Canonical Transformations of Kepler Trajectories

ERIC Educational Resources Information Center

Mostowski, Jan

2010-01-01

In this paper, canonical transformations generated by constants of motion in the case of the Kepler problem are discussed. It is shown that canonical transformations generated by angular momentum are rotations of the trajectory. Particular attention is paid to canonical transformations generated by the Runge-Lenz vector. It is shown that these…

Temporal Audiovisual Motion Prediction in 2D- vs. 3D-Environments

PubMed Central

Dittrich, Sandra; Noesselt, Tömme

2018-01-01

Predicting motion is essential for many everyday life activities, e.g., in road traffic. Previous studies on motion prediction failed to find consistent results, which might be due to the use of very different stimulus material and behavioural tasks. Here, we directly tested the influence of task (detection, extrapolation) and stimulus features (visual vs. audiovisual and three-dimensional vs. non-three-dimensional) on temporal motion prediction in two psychophysical experiments. In both experiments a ball followed a trajectory toward the observer and temporarily disappeared behind an occluder. In audiovisual conditions a moving white noise (congruent or non-congruent to visual motion direction) was presented concurrently. In experiment 1 the ball reappeared on a predictable or a non-predictable trajectory and participants detected when the ball reappeared. In experiment 2 the ball did not reappear after occlusion and participants judged when the ball would reach a specified position at two possible distances from the occluder (extrapolation task). Both experiments were conducted in three-dimensional space (using stereoscopic screen and polarised glasses) and also without stereoscopic presentation. Participants benefitted from visually predictable trajectories and concurrent sounds during detection. Additionally, visual facilitation was more pronounced for non-3D stimulation during detection task. In contrast, for a more complex extrapolation task group mean results indicated that auditory information impaired motion prediction. However, a post hoc cross-validation procedure (split-half) revealed that participants varied in their ability to use sounds during motion extrapolation. Most participants selectively profited from either near or far extrapolation distances but were impaired for the other one. We propose that interindividual differences in extrapolation efficiency might be the mechanism governing this effect. Together, our results indicate that both a realistic experimental environment and subject-specific differences modulate the ability of audiovisual motion prediction and need to be considered in future research. PMID:29618999

Temporal Audiovisual Motion Prediction in 2D- vs. 3D-Environments.

PubMed

Dittrich, Sandra; Noesselt, Tömme

2018-01-01

Predicting motion is essential for many everyday life activities, e.g., in road traffic. Previous studies on motion prediction failed to find consistent results, which might be due to the use of very different stimulus material and behavioural tasks. Here, we directly tested the influence of task (detection, extrapolation) and stimulus features (visual vs. audiovisual and three-dimensional vs. non-three-dimensional) on temporal motion prediction in two psychophysical experiments. In both experiments a ball followed a trajectory toward the observer and temporarily disappeared behind an occluder. In audiovisual conditions a moving white noise (congruent or non-congruent to visual motion direction) was presented concurrently. In experiment 1 the ball reappeared on a predictable or a non-predictable trajectory and participants detected when the ball reappeared. In experiment 2 the ball did not reappear after occlusion and participants judged when the ball would reach a specified position at two possible distances from the occluder (extrapolation task). Both experiments were conducted in three-dimensional space (using stereoscopic screen and polarised glasses) and also without stereoscopic presentation. Participants benefitted from visually predictable trajectories and concurrent sounds during detection. Additionally, visual facilitation was more pronounced for non-3D stimulation during detection task. In contrast, for a more complex extrapolation task group mean results indicated that auditory information impaired motion prediction. However, a post hoc cross-validation procedure (split-half) revealed that participants varied in their ability to use sounds during motion extrapolation. Most participants selectively profited from either near or far extrapolation distances but were impaired for the other one. We propose that interindividual differences in extrapolation efficiency might be the mechanism governing this effect. Together, our results indicate that both a realistic experimental environment and subject-specific differences modulate the ability of audiovisual motion prediction and need to be considered in future research.

Development of a video image-based QA system for the positional accuracy of dynamic tumor tracking irradiation in the Vero4DRT system.

PubMed

Ebe, Kazuyu; Sugimoto, Satoru; Utsunomiya, Satoru; Kagamu, Hiroshi; Aoyama, Hidefumi; Court, Laurence; Tokuyama, Katsuichi; Baba, Ryuta; Ogihara, Yoshisada; Ichikawa, Kosuke; Toyama, Joji

2015-08-01

To develop and evaluate a new video image-based QA system, including in-house software, that can display a tracking state visually and quantify the positional accuracy of dynamic tumor tracking irradiation in the Vero4DRT system. Sixteen trajectories in six patients with pulmonary cancer were obtained with the ExacTrac in the Vero4DRT system. Motion data in the cranio-caudal direction (Y direction) were used as the input for a programmable motion table (Quasar). A target phantom was placed on the motion table, which was placed on the 2D ionization chamber array (MatriXX). Then, the 4D modeling procedure was performed on the target phantom during a reproduction of the patient's tumor motion. A substitute target with the patient's tumor motion was irradiated with 6-MV x-rays under the surrogate infrared system. The 2D dose images obtained from the MatriXX (33 frames/s; 40 s) were exported to in-house video-image analyzing software. The absolute differences in the Y direction between the center of the exposed target and the center of the exposed field were calculated. Positional errors were observed. The authors' QA results were compared to 4D modeling function errors and gimbal motion errors obtained from log analyses in the ExacTrac to verify the accuracy of their QA system. The patients' tumor motions were evaluated in the wave forms, and the peak-to-peak distances were also measured to verify their reproducibility. Thirteen of sixteen trajectories (81.3%) were successfully reproduced with Quasar. The peak-to-peak distances ranged from 2.7 to 29.0 mm. Three trajectories (18.7%) were not successfully reproduced due to the limited motions of the Quasar. Thus, 13 of 16 trajectories were summarized. The mean number of video images used for analysis was 1156. The positional errors (absolute mean difference + 2 standard deviation) ranged from 0.54 to 1.55 mm. The error values differed by less than 1 mm from 4D modeling function errors and gimbal motion errors in the ExacTrac log analyses (n = 13). The newly developed video image-based QA system, including in-house software, can analyze more than a thousand images (33 frames/s). Positional errors are approximately equivalent to those in ExacTrac log analyses. This system is useful for the visual illustration of the progress of the tracking state and for the quantification of positional accuracy during dynamic tumor tracking irradiation in the Vero4DRT system.

Bivariate Gaussian bridges: directional factorization of diffusion in Brownian bridge models.

PubMed

Kranstauber, Bart; Safi, Kamran; Bartumeus, Frederic

2014-01-01

In recent years high resolution animal tracking data has become the standard in movement ecology. The Brownian Bridge Movement Model (BBMM) is a widely adopted approach to describe animal space use from such high resolution tracks. One of the underlying assumptions of the BBMM is isotropic diffusive motion between consecutive locations, i.e. invariant with respect to the direction. Here we propose to relax this often unrealistic assumption by separating the Brownian motion variance into two directional components, one parallel and one orthogonal to the direction of the motion. Our new model, the Bivariate Gaussian bridge (BGB), tracks movement heterogeneity across time. Using the BGB and identifying directed and non-directed movement within a trajectory resulted in more accurate utilisation distributions compared to dynamic Brownian bridges, especially for trajectories with a non-isotropic diffusion, such as directed movement or Lévy like movements. We evaluated our model with simulated trajectories and observed tracks, demonstrating that the improvement of our model scales with the directional correlation of a correlated random walk. We find that many of the animal trajectories do not adhere to the assumptions of the BBMM. The proposed model improves accuracy when describing the space use both in simulated correlated random walks as well as observed animal tracks. Our novel approach is implemented and available within the "move" package for R.

Trochoidal X-ray Vector Radiography: Directional dark-field without grating stepping

NASA Astrophysics Data System (ADS)

Sharma, Y.; Bachche, S.; Kageyama, M.; Kuribayashi, M.; Pfeiffer, F.; Lasser, T.; Momose, A.

2018-03-01

X-ray Vector Radiography (XVR) is an imaging technique that reveals the orientations of sub-pixel sized structures within a sample. Several dark-field radiographs are acquired by rotating the sample around the beam propagation direction and stepping one of the gratings to several positions for every pose of the sample in an X-ray grating interferometry setup. In this letter, we present a method of performing XVR of a continuously moving sample without the need of any grating motion. We reconstruct the orientations within a sample by analyzing the change in the background moire fringes caused by the sample moving and simultaneously rotating in plane (trochoidal trajectory) across the detector field-of-view. Avoiding the motion of gratings provides significant advantages in terms of stability and repeatability, while the continuous motion of the sample makes this kind of system adaptable for industrial applications such as the scanning of samples on a conveyor belt. Being the first step in the direction of utilizing advanced sample trajectories to replace grating motion, this work also lays the foundations for a full three dimensional reconstruction of scattering function without grating motion.

Feasibility study of a single, elliptical heliocentric Earth-Mars trajectory

NASA Technical Reports Server (NTRS)

Blake, M.; Fulgham, K.; Westrup, S.

1989-01-01

The initial intent of this design project was to evaluate the existence and feasibility of a single elliptical heliocentric Earth/Mars trajectory. This trajectory was constrained to encounter Mars twice in its orbit, within a time interval of 15 to 180 Earth days between encounters. The single ellipse restriction was soon found to be prohibitive for reasons shown later. Therefore, the approach taken in the design of the round-trip mission to Mars was to construct single-leg trajectories which connected two planets on two prescribed dates. Three methods of trajectory design were developed. Method 1 is an eclectic approach and employs Gaussian Orbit Determination (Method 1A) and Lambert-Euler Preliminary Orbit Determination (Method 1B) in conjunction with each other. Method 2 is an additional version of Lambert's Solution to orbit determination, and both a coplanar and a noncoplanar solution were developed within Method 2. In each of these methods, the fundamental variables are two position vectors and the time between the position vectors. In all methods, the motion was considered Keplerian motion and the reference frame origin was located at the sun. Perturbative effects were not considered in Method 1. The feasibility study of round-trip Earth/Mars trajectories maintains generality by considering only heliocentric trajectory parameters and planetary approach conditions. The coordinates and velocity components of the planets, for the standard epoch J2000, were computed from an approximate set of osculating elements by the procedure outlined in an ephemeris of coordinates.

The soft embodiment of culture: camera angles and motion through time and space.

PubMed

Leung, Angela K-y; Cohen, Dov

2007-09-01

Cultural assumptions about one's relation to others and one's place in the world can be literally embodied in the way one cognitively maps out one's position and motion in time and space. In three experiments, we examined the psychological perspective that Asian American and Euro-American participants embodied as they both comprehended and produced narratives and mapped out metaphors of time and space. In social situations, Euro-American participants were more likely to embody their own perspective and a sense of their own motion (rather than those of a friend), whereas Asian American participants were more likely to embody a friend's perspective and sense of motion (rather than their own). We discuss how these psychological perspectives represent the soft embodiment of culture by implicitly instantiating cultural injunctions (a) to think about how you look to others and to harmonize with them or (b) to know yourself, trust yourself, and act with confidence.

The Versatile Elastohydrodynamics of a Free Particle near a Thin Soft Wall

NASA Astrophysics Data System (ADS)

Salez, Thomas; Saintyves, Baudouin; Mahadevan, L.

2015-03-01

We address the free motion of a buoyant particle inside a viscous fluid, in the vicinity of a thin compressible elastic wall. After discussing the main scalings, we obtain analytically the dominant drag forces within the soft lubrication approximation. By including those into the equations of motion of the particle, we establish a general governing system of three coupled nonlinear and singular differential equations, that describe the three essential motions: sedimentation, hydroplaning, and hydrospinning, through four dimensionless control parameters. Numerical integration allows us to predict a wide zoology of exotic solutions - despite the low-Reynolds feature of the flow - including: spontaneous oscillation, Magnus-like effect, enhanced sedimentation, and boomerang-like effect. We compare these predictions to experiments. The presented elementary approach could be of interest in the description of a broad variety of elastohydrodynamical phenomena, including: landslides, ageing of cartilaginous joints, and motion of a cell in a microfluidic channel or in a blood vessel.

Real-time soft tissue motion estimation for lung tumors during radiotherapy delivery

PubMed Central

Rottmann, Joerg; Keall, Paul; Berbeco, Ross

2013-01-01

Purpose: To provide real-time lung tumor motion estimation during radiotherapy treatment delivery without the need for implanted fiducial markers or additional imaging dose to the patient. Methods: 2D radiographs from the therapy beam's-eye-view (BEV) perspective are captured at a frame rate of 12.8 Hz with a frame grabber allowing direct RAM access to the image buffer. An in-house developed real-time soft tissue localization algorithm is utilized to calculate soft tissue displacement from these images in real-time. The system is tested with a Varian TX linear accelerator and an AS-1000 amorphous silicon electronic portal imaging device operating at a resolution of 512 × 384 pixels. The accuracy of the motion estimation is verified with a dynamic motion phantom. Clinical accuracy was tested on lung SBRT images acquired at 2 fps. Results: Real-time lung tumor motion estimation from BEV images without fiducial markers is successfully demonstrated. For the phantom study, a mean tracking error <1.0 mm [root mean square (rms) error of 0.3 mm] was observed. The tracking rms accuracy on BEV images from a lung SBRT patient (≈20 mm tumor motion range) is 1.0 mm. Conclusions: The authors demonstrate for the first time real-time markerless lung tumor motion estimation from BEV images alone. The described system can operate at a frame rate of 12.8 Hz and does not require prior knowledge to establish traceable landmarks for tracking on the fly. The authors show that the geometric accuracy is similar to (or better than) previously published markerless algorithms not operating in real-time. PMID:24007146

Motion of the angular momentum vector in body coordinates for torque-free dual-spin spacecraft

NASA Technical Reports Server (NTRS)

Fedor, J. V.

1981-01-01

The motion of the angular momentum vector in body coordinates for torque free, asymmetric dual spin spacecraft without and, for a special case, with energy dissipation on the main spacecraft is investigated. Without energy dissipation, two integrals can be obtained from the Euler equations of motion. Using the classical method of elimination of variable, the motion about the equilibrium points (six for the general case) are derived with these integrals. For small nutation angle, theta, the trajectories about the theta = 0 deg and theta = 180 deg points readily show the requirements for stable motion about these points. Also the conditions needed to eliminate stable motion about the theta = 180 deg point as well as the other undesireable equilibrium points follow directly from these equations. For the special case where the angular momentum vector moves about the principal axis which contains the momentum wheel, the notion of 'free variable' azimuth angle is used. Physically this angle must vary from 0 to 2 pi in a circular periodic fashion. Expressions are thus obtained for the nutation angle in terms of the free variable and other spacecraft parameters. Results show that in general there are two separate trajectory expressions that govern the motion of the angular momentum vector in body coordinates.

Physics of Cellular Movements

NASA Astrophysics Data System (ADS)

Sackmann, Erich; Keber, Felix; Heinrich, Doris

2010-04-01

The survival of cells depends on perpetual active motions, including (a) bending excitations of the soft cell envelopes, (b) the bidirectional transport of materials and organelles between the cell center and the periphery, and (c) the ongoing restructuring of the intracellular macromolecular scaffolds mediating global cell changes associated with cell adhesion locomotion and phagocytosis. Central questions addressed are the following: How can this bustling motion of extremely complex soft structures be characterized and measured? What are the major driving forces? Further topics include (a) the active dynamic control of global shape changes by the interactive coupling of the aster-like soft scaffold of microtubules and the network of actin filaments associated with the cell envelope (the actin cortex) and (b) the generation of propulsion forces by solitary actin gelation waves propagating within the actin cortex.

Self-propelled colloidal particle near a planar wall: A Brownian dynamics study

NASA Astrophysics Data System (ADS)

Mozaffari, Ali; Sharifi-Mood, Nima; Koplik, Joel; Maldarelli, Charles

2018-01-01

Miniaturized, self-propelled locomotors use chemo-mechanical transduction mechanisms to convert fuel in the environment to autonomous motion. Recent experimental and theoretical studies demonstrate that these autonomous engines can passively follow the contours of solid boundaries they encounter. Boundary guidance, however, is not necessarily stable: Mechanical disturbances can cause the motor to hydrodynamically depart from the passively guided pathway. Furthermore, given the scaled-down size of micromotors (typically 100 nm to10 μ m ), Brownian thermal fluctuation forces are necessarily important, and these stochastic forces can randomize passively steered trajectories. Here we examine theoretically the stability of boundary-guided motion of micromotors along infinite planar walls to mechanical disturbances and to Brownian forces. Our aim is to understand under what conditions this passively guided motion is stable. We choose a locomotor design in which spherical colloids are partially coated with a catalytic cap that reacts with solute to produce a product. The product is repelled from the particle surface, causing the particle to move with the inert face at the front (autonomous motion via self-diffusiophoresis). When propelled towards a planar wall, deterministic hydrodynamic studies demonstrate that these locomotors can exhibit, for large enough cap sizes, steady trajectories in which the particle either skims unidirectionally along the surface at a constant distance from the wall or becomes stationary. We first investigate the linear hydrodynamic stability of these states by expanding the equations of motion about the states, and we find that linear perturbations decay exponentially in time. We then study the effects of thermal fluctuations by formulating a Langevin equation for the particle motion which includes the Brownian stochastic force. The Péclet number scales the ratio of deterministic to Brownian forces, where Pe =π μ a2v˜c/kBT and a denotes the colloid radius, μ the continuous phase viscosity, v˜c the characteristic diffusiophoretic velocity, and kBT the thermal energy. The skimming and stationary states are found to persist for Pe above 103. At Pe below 200, the trajectory of a locomotor approaching the wall is unpredictable. We present representative individual trajectories along with probability distributions for statistical ensembles of particles, quantifying the effects of thermal fluctuations and illustrating the transition from unpredictable to passively guided motion.

Project Physics Handbook 1, Concepts of Motion.

ERIC Educational Resources Information Center

Harvard Univ., Cambridge, MA. Harvard Project Physics.

Thirteen experiments and 15 activities are presented in this unit handbook for student use. The experiment sections are concerned with naked-eye observation in astronomy, regularity and time, variations in data, uniform motion, gravitational acceleration, Galileo's experiments, Netson's laws, inertial and gravitational mass, trajectories, and…

Grouping and trajectory storage in multiple object tracking: impairments due to common item motions.

PubMed

Suganuma, Mutsumi; Yokosawa, Kazuhiko

2006-01-01

In our natural viewing, we notice that objects change their locations across space and time. However, there has been relatively little consideration of the role of motion information in the construction and maintenance of object representations. We investigated this question in the context of the multiple object tracking (MOT) paradigm, wherein observers must keep track of target objects as they move randomly amid featurally identical distractors. In three experiments, we observed impairments in tracking ability when the motions of the target and distractor items shared particular properties. Specifically, we observed impairments when the target and distractor items were in a chasing relationship or moved in a uniform direction. Surprisingly, tracking ability was impaired by these manipulations even when observers failed to notice them. Our results suggest that differentiable trajectory information is an important factor in successful performance of MOT tasks. More generally, these results suggest that various types of common motion can serve as cues to form more global object representations even in the absence of other grouping cues.

A turtle-like swimming robot using a smart soft composite (SSC) structure

NASA Astrophysics Data System (ADS)

Kim, Hyung-Jung; Song, Sung-Hyuk; Ahn, Sung-Hoon

2013-01-01

This paper describes the development of a biomimetic swimming robot based on the locomotion of a marine turtle. To realize the smooth, soft flapping motions of this type of turtle, a novel actuator was also developed, using a smart soft composite (SSC) structure that can generate bending and twisting motions in a simple, lightweight structure. The SSC structure is a composite consisting of an active component to generate the actuation force, a passive component to determine the twisting angle of the structure, and a matrix to combine the components. The motion of such a structure can be designed by specifying the angle between a filament of the scaffold structure and a shape-memory alloy (SMA) wire. The bending and twisting motion of the SSC structure is explained in terms of classical laminate theory, and cross-ply and angled-ply structures were fabricated to evaluate its motion. Finally, the turtle-like motion of a swimming robot was realized by employing a specially designed SSC structure. To mimic the posterior positive twisting angle of a turtle’s flipper during the upstroke, the SMA wire on the upper side was offset, and a positive ply-angled scaffold was used. Likewise, for the anterior negative twisting angle of the flipper during the downstroke, an offset SMA wire on the lower side and a positive ply-angled scaffold were also required. The fabricated flipper’s length is 64.3 mm and it realizes 55 mm bending and 24° twisting. The resulting robot achieved a swimming speed of 22.5 mm s-1.

A motion-compensated image filter for low-dose fluoroscopy in a real-time tumor-tracking radiotherapy system

PubMed Central

Miyamoto, Naoki; Ishikawa, Masayori; Sutherland, Kenneth; Suzuki, Ryusuke; Matsuura, Taeko; Toramatsu, Chie; Takao, Seishin; Nihongi, Hideaki; Shimizu, Shinichi; Umegaki, Kikuo; Shirato, Hiroki

2015-01-01

In the real-time tumor-tracking radiotherapy system, a surrogate fiducial marker inserted in or near the tumor is detected by fluoroscopy to realize respiratory-gated radiotherapy. The imaging dose caused by fluoroscopy should be minimized. In this work, an image processing technique is proposed for tracing a moving marker in low-dose imaging. The proposed tracking technique is a combination of a motion-compensated recursive filter and template pattern matching. The proposed image filter can reduce motion artifacts resulting from the recursive process based on the determination of the region of interest for the next frame according to the current marker position in the fluoroscopic images. The effectiveness of the proposed technique and the expected clinical benefit were examined by phantom experimental studies with actual tumor trajectories generated from clinical patient data. It was demonstrated that the marker motion could be traced in low-dose imaging by applying the proposed algorithm with acceptable registration error and high pattern recognition score in all trajectories, although some trajectories were not able to be tracked with the conventional spatial filters or without image filters. The positional accuracy is expected to be kept within ±2 mm. The total computation time required to determine the marker position is a few milliseconds. The proposed image processing technique is applicable for imaging dose reduction. PMID:25129556

On the non-stationary generalized Langevin equation

NASA Astrophysics Data System (ADS)

Meyer, Hugues; Voigtmann, Thomas; Schilling, Tanja

2017-12-01

In molecular dynamics simulations and single molecule experiments, observables are usually measured along dynamic trajectories and then averaged over an ensemble ("bundle") of trajectories. Under stationary conditions, the time-evolution of such averages is described by the generalized Langevin equation. By contrast, if the dynamics is not stationary, it is not a priori clear which form the equation of motion for an averaged observable has. We employ the formalism of time-dependent projection operator techniques to derive the equation of motion for a non-equilibrium trajectory-averaged observable as well as for its non-stationary auto-correlation function. The equation is similar in structure to the generalized Langevin equation but exhibits a time-dependent memory kernel as well as a fluctuating force that implicitly depends on the initial conditions of the process. We also derive a relation between this memory kernel and the autocorrelation function of the fluctuating force that has a structure similar to a fluctuation-dissipation relation. In addition, we show how the choice of the projection operator allows us to relate the Taylor expansion of the memory kernel to data that are accessible in MD simulations and experiments, thus allowing us to construct the equation of motion. As a numerical example, the procedure is applied to Brownian motion initialized in non-equilibrium conditions and is shown to be consistent with direct measurements from simulations.

Particle confinement by a radially polarized laser Bessel beam

NASA Astrophysics Data System (ADS)

Laredo, Gilad; Kimura, Wayne D.; Schächter, Levi

2017-03-01

The stable trajectory of a charged particle in an external guiding field is an essential condition for its acceleration or for forcing it to generate radiation. Examples of possible guiding devices include a solenoidal magnetic field or permanent periodic magnet in klystrons, a wiggler in free-electron lasers, the lattice of any accelerator, and finally the crystal lattice for the case of channeling radiation. We demonstrate that the trajectory of a point-charge in a radially polarized laser Bessel beam may be stable similarly to the case of a positron that bounces back and forth in the potential well generated by two adjacent atomic planes. While in the case of channeling radiation, the transverse motion is controlled by a harmonic oscillator equation, for a Bessel beam the transverse motion is controlled by the Mathieu equation. Some characteristics of the motion are presented.

Statistical modelling of subdiffusive dynamics in the cytoplasm of living cells: A FARIMA approach

NASA Astrophysics Data System (ADS)

Burnecki, K.; Muszkieta, M.; Sikora, G.; Weron, A.

2012-04-01

Golding and Cox (Phys. Rev. Lett., 96 (2006) 098102) tracked the motion of individual fluorescently labelled mRNA molecules inside live E. coli cells. They found that in the set of 23 trajectories from 3 different experiments, the automatically recognized motion is subdiffusive and published an intriguing microscopy video. Here, we extract the corresponding time series from this video by image segmentation method and present its detailed statistical analysis. We find that this trajectory was not included in the data set already studied and has different statistical properties. It is best fitted by a fractional autoregressive integrated moving average (FARIMA) process with the normal-inverse Gaussian (NIG) noise and the negative memory. In contrast to earlier studies, this shows that the fractional Brownian motion is not the best model for the dynamics documented in this video.

Detecting and Analyzing Multiple Moving Objects in Crowded Environments with Coherent Motion Regions

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

Cheriyadat, Anil M.

Understanding the world around us from large-scale video data requires vision systems that can perform automatic interpretation. While human eyes can unconsciously perceive independent objects in crowded scenes and other challenging operating environments, automated systems have difficulty detecting, counting, and understanding their behavior in similar scenes. Computer scientists at ORNL have a developed a technology termed as "Coherent Motion Region Detection" that invloves identifying multiple indepedent moving objects in crowded scenes by aggregating low-level motion cues extracted from moving objects. Humans and other species exploit such low-level motion cues seamlessely to perform perceptual grouping for visual understanding. The algorithm detectsmore » and tracks feature points on moving objects resulting in partial trajectories that span coherent 3D region in the space-time volume defined by the video. In the case of multi-object motion, many possible coherent motion regions can be constructed around the set of trajectories. The unique approach in the algorithm is to identify all possible coherent motion regions, then extract a subset of motion regions based on an innovative measure to automatically locate moving objects in crowded environments.The software reports snapshot of the object, count, and derived statistics ( count over time) from input video streams. The software can directly process videos streamed over the internet or directly from a hardware device (camera).« less

The KALI multi-arm robot programming and control environment

NASA Technical Reports Server (NTRS)

Backes, Paul; Hayati, Samad; Hayward, Vincent; Tso, Kam

1989-01-01

The KALI distributed robot programming and control environment is described within the context of its use in the Jet Propulsion Laboratory (JPL) telerobot project. The purpose of KALI is to provide a flexible robot programming and control environment for coordinated multi-arm robots. Flexibility, both in hardware configuration and software, is desired so that it can be easily modified to test various concepts in robot programming and control, e.g., multi-arm control, force control, sensor integration, teleoperation, and shared control. In the programming environment, user programs written in the C programming language describe trajectories for multiple coordinated manipulators with the aid of KALI function libraries. A system of multiple coordinated manipulators is considered within the programming environment as one motion system. The user plans the trajectory of one controlled Cartesian frame associated with a motion system and describes the positions of the manipulators with respect to that frame. Smooth Cartesian trajectories are achieved through a blending of successive path segments. The manipulator and load dynamics are considered during trajectory generation so that given interface force limits are not exceeded.

Giant saltation on Mars

PubMed Central

Almeida, Murilo P.; Parteli, Eric J. R.; Andrade, José S.; Herrmann, Hans J.

2008-01-01

Saltation, the motion of sand grains in a sequence of ballistic trajectories close to the ground, is a major factor for surface erosion, dune formation, and triggering of dust storms on Mars. Although this mode of sand transport has been matter of research for decades through both simulations and wind tunnel experiments under Earth and Mars conditions, it has not been possible to provide accurate measurements of particle trajectories in fully developed turbulent flow. Here we calculate the motion of saltating grains by directly solving the turbulent wind field and its interaction with the particles. Our calculations show that the minimal wind velocity required to sustain saltation on Mars may be surprisingly lower than the aerodynamic minimal threshold measurable in wind tunnels. Indeed, Mars grains saltate in 100 times higher and longer trajectories and reach 5-10 times higher velocities than Earth grains do. On the basis of our results, we arrive at general expressions that can be applied to calculate the length and height of saltation trajectories and the flux of grains in saltation under various physical conditions, when the wind velocity is close to the minimal threshold for saltation. PMID:18443302

A trajectory generation framework for modeling spacecraft entry in MDAO

NASA Astrophysics Data System (ADS)

D`Souza, Sarah N.; Sarigul-Klijn, Nesrin

2016-04-01

In this paper a novel trajectory generation framework was developed that optimizes trajectory event conditions for use in a Generalized Entry Guidance algorithm. The framework was developed to be adaptable via the use of high fidelity equations of motion and drag based analytical bank profiles. Within this framework, a novel technique was implemented that resolved the sensitivity of the bank profile to atmospheric non-linearities. The framework's adaptability was established by running two different entry bank conditions. Each case yielded a reference trajectory and set of transition event conditions that are flight feasible and implementable in a Generalized Entry Guidance algorithm.

Iliac screw fixation using computer-assisted computer tomographic image guidance: technical note.

PubMed

Shin, John H; Hoh, Daniel J; Kalfas, Iain H

2012-03-01

Iliac screw fixation is a powerful tool used by spine surgeons to achieve fusion across the lumbosacral junction for a number of indications, including deformity, tumor, and pseudarthrosis. Complications associated with screw placement are related to blind trajectory selection and excessive soft tissue dissection. To describe the technique of iliac screw fixation using computed tomographic (CT)-based image guidance. Intraoperative registration and verification of anatomic landmarks are performed with the use of a preoperatively acquired CT of the lumbosacral spine. With the navigation probe, the ideal starting point for screw placement is selected while visualizing the intended trajectory and target on a computer screen. Once the starting point is selected and marked with a burr, a drill guide is docked within this point and the navigation probe re-inserted, confirming the trajectory. The probe is then removed and the high-speed drill reinserted within the drill guide. Drilling is performed to a depth measured on the computer screen and a screw is placed. Confirmation of accurate placement of iliac screws can be performed with standard radiographs. CT-guided navigation allows for 3-dimensional visualization of the pelvis and minimizes complications associated with soft-tissue dissection and breach of the ilium during screw placement.

Sensory Agreement Guides Kinetic Energy Optimization of Arm Movements during Object Manipulation.

PubMed

Farshchiansadegh, Ali; Melendez-Calderon, Alejandro; Ranganathan, Rajiv; Murphey, Todd D; Mussa-Ivaldi, Ferdinando A

2016-04-01

The laws of physics establish the energetic efficiency of our movements. In some cases, like locomotion, the mechanics of the body dominate in determining the energetically optimal course of action. In other tasks, such as manipulation, energetic costs depend critically upon the variable properties of objects in the environment. Can the brain identify and follow energy-optimal motions when these motions require moving along unfamiliar trajectories? What feedback information is required for such optimal behavior to occur? To answer these questions, we asked participants to move their dominant hand between different positions while holding a virtual mechanical system with complex dynamics (a planar double pendulum). In this task, trajectories of minimum kinetic energy were along curvilinear paths. Our findings demonstrate that participants were capable of finding the energy-optimal paths, but only when provided with veridical visual and haptic information pertaining to the object, lacking which the trajectories were executed along rectilinear paths.

Perceptual response and information pick-up strategies within a family of sports.

PubMed

Ida, Hirofumi; Fukuhara, Kazunobu; Ishii, Motonobu; Inoue, Tetsuri

2013-02-01

The purpose of this study was to determine whether and how the perceptual response of athletes differed depending on their sporting expertise. This was achieved by comparing the responses of tennis and soft tennis players. Twelve experienced tennis players and 12 experienced soft tennis players viewed computer graphic serve motions simulated by a motion perturbation technique, and then scaled their anticipatory judgments regarding the direction, speed, and spin of the ball on a visual analogue scale. Experiment 1 evaluated the player's judgments in response to test motions rendered with a complete polygon model. The results revealed significantly different anticipatory judgments between the player groups when an elbow rotation perturbation was applied to the test serve motion. Experiment 2 used spatially occluded models in order to investigate the effectiveness of local information in making anticipatory judgments. The results suggested that the isolation of visual information had less effect on the judgment of the tennis players than on that of the soft tennis players. In conclusion, the domain of sporting expertise, including those of closely related sports, cannot only differentiate the anticipatory judgment of a ball's future flight path, but also affect the utilization strategy for the local kinematic information. Copyright © 2012 Elsevier B.V. All rights reserved.

Liquid-Embedded Elastomer Electronics

NASA Astrophysics Data System (ADS)

Kramer, Rebecca; Majidi, Carmel; Park, Yong-Lae; Paik, Jamie; Wood, Robert

2012-02-01

Hyperelastic sensors are fabricated by embedding a silicone rubber film with microchannels of conductive liquid. In the case of soft tactile sensors, pressing the surface of the elastomer will deform the cross-section of underlying channels and change their electrical resistance. Soft pressure sensors may be employed in a variety of applications. For example, a network of pressure sensors can serve as artificial skin by yielding detailed information about contact pressures. This concept was demonstrated in a hyperelastic keypad, where perpendicular conductive channels form a quasi-planar network within an elastomeric matrix that registers the location, intensity and duration of applied pressure. In a second demonstration, soft curvature sensors were used for joint angle proprioception. Because the sensors are soft and stretchable, they conform to the host without interfering with the natural mechanics of motion. This marked the first use of liquid-embedded elastomer electronics to monitor human or robotic motion. Finally, liquid-embedded elastomers may be implemented as conductors in applications that call for flexible or stretchable circuitry, such as robotic origami.

Dynamic Stability Derivatives

DTIC Science & Technology

2015-06-01

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

Direct Detection of the Helical Magnetic Field Geometry from 3D Reconstruction of Prominence Knot Trajectories

NASA Astrophysics Data System (ADS)

Zapiór, Maciej; Martínez-Gómez, David

2016-02-01

Based on the data collected by the Vacuum Tower Telescope located in the Teide Observatory in the Canary Islands, we analyzed the three-dimensional (3D) motion of so-called knots in a solar prominence of 2014 June 9. Trajectories of seven knots were reconstructed, giving information of the 3D geometry of the magnetic field. Helical motion was detected. From the equipartition principle, we estimated the lower limit of the magnetic field in the prominence to ≈1-3 G and from the Ampère’s law the lower limit of the electric current to ≈1.2 × 109 A.

Spiral diffusion of rotating self-propellers with stochastic perturbation

NASA Astrophysics Data System (ADS)

Nourhani, Amir; Ebbens, Stephen J.; Gibbs, John G.; Lammert, Paul E.

2016-09-01

Translationally diffusive behavior arising from the combination of orientational diffusion and powered motion at microscopic scales is a known phenomenon, but the peculiarities of the evolution of expected position conditioned on initial position and orientation have been neglected. A theory is given of the spiral motion of the mean trajectory depending upon propulsion speed, angular velocity, orientational diffusion, and rate of random chirality reversal. We demonstrate the experimental accessibility of this effect using both tadpole-like and Janus sphere dimer rotating motors. Sensitivity of the mean trajectory to the kinematic parameters suggest that it may be a useful way to determine those parameters.

Spatial orientation perception and reflexive eye movements--a perspective, an overview, and some clinical implications

NASA Technical Reports Server (NTRS)

Guedry, F. E.; Paloski, W. F. (Principal Investigator)

1996-01-01

When head motion includes a linear velocity component, eye velocity required to track an earth-fixed target depends upon: a) angular and linear head velocity, b) target distance, and c) direction of gaze relative to the motion trajectory. Recent research indicates that eye movements (LVOR), presumably otolith-mediated, partially compensate for linear velocity in small head excursions on small devices. Canal-mediated eye velocity (AVOR), otolith-mediated eye velocity (LVOR), and Ocular Torsion (OT) can be measured, one by one, on small devices. However, response dynamics that depend upon the ratio of linear to angular velocity in the motion trajectory and on subject orientation relative to the trajectory are present in a centrifuge paradigm. With this paradigm, two 3-min runs yields measures of: LVOR differentially modulated by different subject orientations in the two runs; OT dynamics in four conditions; two directions of "steady-state" OT, and two directions of AVOR. Efficient assessment of the dynamics (and of the underlying central integrative processes) may require a centrifuge radius of 1.0 meters or more. Clinical assessment of the spatial orientation system should include evaluation of central integrative processes that determine the dynamics of these responses.

Fast, Safe, Propellant-Efficient Spacecraft Motion Planning Under Clohessy-Wiltshire-Hill Dynamics

NASA Technical Reports Server (NTRS)

Starek, Joseph A.; Schmerling, Edward; Maher, Gabriel D.; Barbee, Brent W.; Pavone, Marco

2016-01-01

This paper presents a sampling-based motion planning algorithm for real-time and propellant-optimized autonomous spacecraft trajectory generation in near-circular orbits. Specifically, this paper leverages recent algorithmic advances in the field of robot motion planning to the problem of impulsively actuated, propellant- optimized rendezvous and proximity operations under the Clohessy-Wiltshire-Hill dynamics model. The approach calls upon a modified version of the FMT* algorithm to grow a set of feasible trajectories over a deterministic, low-dispersion set of sample points covering the free state space. To enforce safety, the tree is only grown over the subset of actively safe samples, from which there exists a feasible one-burn collision-avoidance maneuver that can safely circularize the spacecraft orbit along its coasting arc under a given set of potential thruster failures. Key features of the proposed algorithm include 1) theoretical guarantees in terms of trajectory safety and performance, 2) amenability to real-time implementation, and 3) generality, in the sense that a large class of constraints can be handled directly. As a result, the proposed algorithm offers the potential for widespread application, ranging from on-orbit satellite servicing to orbital debris removal and autonomous inspection missions.

Decomposition technique and optimal trajectories for the aeroassisted flight experiment

NASA Technical Reports Server (NTRS)

Miele, A.; Wang, T.; Deaton, A. W.

1990-01-01

An actual geosynchronous Earth orbit-to-low Earth orbit (GEO-to-LEO) transfer is considered with reference to the aeroassisted flight experiment (AFE) spacecraft, and optimal trajectories are determined by minimizing the total characteristic velocity. The optimization is performed with respect to the time history of the controls (angle of attack and angle of bank), the entry path inclination and the flight time being free. Two transfer maneuvers are considered: direct ascent (DA) to LEO and indirect ascent (IA) to LEO via parking Earth orbit (PEO). By taking into account certain assumptions, the complete system can be decoupled into two subsystems: one describing the longitudinal motion and one describing the lateral motion. The angle of attack history, the entry path inclination, and the flight time are determined via the longitudinal motion subsystem. In this subsystem, the difference between the instantaneous bank angle and a constant bank angle is minimized in the least square sense subject to the specified orbital inclination requirement. Both the angles of attack and the angle of bank are shown to be constant. This result has considerable importance in the design of nominal trajectories to be used in the guidance of AFE and aeroassisted orbital transfer (AOT) vehicles.

Trajectory modulated prone breast irradiation: a LINAC-based technique combining intensity modulated delivery and motion of the couch.

PubMed

Fahimian, Benjamin; Yu, Victoria; Horst, Kathleen; Xing, Lei; Hristov, Dimitre

2013-12-01

External beam radiation therapy (EBRT) provides a non-invasive treatment alternative for accelerated partial breast irradiation (APBI), however, limitations in achievable dose conformity of current EBRT techniques have been correlated to reported toxicity. To enhance the conformity of EBRT APBI, a technique for conventional LINACs is developed, which through combined motion of the couch, intensity modulated delivery, and a prone breast setup, enables wide-angular coronal arc irradiation of the ipsilateral breast without irradiating through the thorax and contralateral breast. A couch trajectory optimization technique was developed to determine the trajectories that concurrently avoid collision with the LINAC and maintain the target within the MLC apertures. Inverse treatment planning was performed along the derived trajectory. The technique was experimentally implemented by programming the Varian TrueBeam™ STx in Developer Mode. The dosimetric accuracy of the delivery was evaluated by ion chamber and film measurements in phantom. The resulting optimized trajectory was shown to be necessarily non-isocentric, and contain both translation and rotations of the couch. Film measurements resulted in 93% of the points in the measured two-dimensional dose maps passing the 3%/3mm Gamma criterion. Preliminary treatment plan comparison to 5-field 3D-conformal, IMRT, and VMAT demonstrated enhancement in conformity, and reduction of the normal tissue V50% and V100% parameters that have been correlated with EBRT toxicity. The feasibility of wide-angular intensity modulated partial breast irradiation using motion of the couch has been demonstrated experimentally on a standard LINAC for the first time. For patients eligible for a prone setup, the technique may enable improvement of dose conformity and associated dose-volume parameters correlated with toxicity. Copyright © 2013 Elsevier Ireland Ltd. All rights reserved.

Adaptive-Repetitive Visual-Servo Control of Low-Flying Aerial Robots via Uncalibrated High-Flying Cameras

NASA Astrophysics Data System (ADS)

Guo, Dejun; Bourne, Joseph R.; Wang, Hesheng; Yim, Woosoon; Leang, Kam K.

2017-08-01

This paper presents the design and implementation of an adaptive-repetitive visual-servo control system for a moving high-flying vehicle (HFV) with an uncalibrated camera to monitor, track, and precisely control the movements of a low-flying vehicle (LFV) or mobile ground robot. Applications of this control strategy include the use of high-flying unmanned aerial vehicles (UAVs) with computer vision for monitoring, controlling, and coordinating the movements of lower altitude agents in areas, for example, where GPS signals may be unreliable or nonexistent. When deployed, a remote operator of the HFV defines the desired trajectory for the LFV in the HFV's camera frame. Due to the circular motion of the HFV, the resulting motion trajectory of the LFV in the image frame can be periodic in time, thus an adaptive-repetitive control system is exploited for regulation and/or trajectory tracking. The adaptive control law is able to handle uncertainties in the camera's intrinsic and extrinsic parameters. The design and stability analysis of the closed-loop control system is presented, where Lyapunov stability is shown. Simulation and experimental results are presented to demonstrate the effectiveness of the method for controlling the movement of a low-flying quadcopter, demonstrating the capabilities of the visual-servo control system for localization (i.e.,, motion capturing) and trajectory tracking control. In fact, results show that the LFV can be commanded to hover in place as well as track a user-defined flower-shaped closed trajectory, while the HFV and camera system circulates above with constant angular velocity. On average, the proposed adaptive-repetitive visual-servo control system reduces the average RMS tracking error by over 77% in the image plane and over 71% in the world frame compared to using just the adaptive visual-servo control law.

Emotion categorization of body expressions in narrative scenarios

PubMed Central

Volkova, Ekaterina P.; Mohler, Betty J.; Dodds, Trevor J.; Tesch, Joachim; Bülthoff, Heinrich H.

2014-01-01

Humans can recognize emotions expressed through body motion with high accuracy even when the stimuli are impoverished. However, most of the research on body motion has relied on exaggerated displays of emotions. In this paper we present two experiments where we investigated whether emotional body expressions could be recognized when they were recorded during natural narration. Our actors were free to use their entire body, face, and voice to express emotions, but our resulting visual stimuli used only the upper body motion trajectories in the form of animated stick figures. Observers were asked to perform an emotion recognition task on short motion sequences using a large and balanced set of emotions (amusement, joy, pride, relief, surprise, anger, disgust, fear, sadness, shame, and neutral). Even with only upper body motion available, our results show recognition accuracy significantly above chance level and high consistency rates among observers. In our first experiment, that used more classic emotion induction setup, all emotions were well recognized. In the second study that employed narrations, four basic emotion categories (joy, anger, fear, and sadness), three non-basic emotion categories (amusement, pride, and shame) and the “neutral” category were recognized above chance. Interestingly, especially in the second experiment, observers showed a bias toward anger when recognizing the motion sequences for emotions. We discovered that similarities between motion sequences across the emotions along such properties as mean motion speed, number of peaks in the motion trajectory and mean motion span can explain a large percent of the variation in observers' responses. Overall, our results show that upper body motion is informative for emotion recognition in narrative scenarios. PMID:25071623

A computational procedure for large rotational motions in multibody dynamics

NASA Technical Reports Server (NTRS)

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

1987-01-01

A computational procedure suitable for the solution of equations of motion for multibody systems is presented. The present procedure adopts a differential partitioning of the translational motions and the rotational motions. The translational equations of motion are then treated by either a conventional explicit or an implicit direct integration method. A principle feature of this procedure is a nonlinearly implicit algorithm for updating rotations via the Euler four-parameter representation. This procedure is applied to the rolling of a sphere through a specific trajectory, which shows that it yields robust solutions.

A real-time dynamic-MLC control algorithm for delivering IMRT to targets undergoing 2D rigid motion in the beam's eye view.

PubMed

McMahon, Ryan; Berbeco, Ross; Nishioka, Seiko; Ishikawa, Masayori; Papiez, Lech

2008-09-01

An MLC control algorithm for delivering intensity modulated radiation therapy (IMRT) to targets that are undergoing two-dimensional (2D) rigid motion in the beam's eye view (BEV) is presented. The goal of this method is to deliver 3D-derived fluence maps over a moving patient anatomy. Target motion measured prior to delivery is first used to design a set of planned dynamic-MLC (DMLC) sliding-window leaf trajectories. During actual delivery, the algorithm relies on real-time feedback to compensate for target motion that does not agree with the motion measured during planning. The methodology is based on an existing one-dimensional (ID) algorithm that uses on-the-fly intensity calculations to appropriately adjust the DMLC leaf trajectories in real-time during exposure delivery [McMahon et al., Med. Phys. 34, 3211-3223 (2007)]. To extend the 1D algorithm's application to 2D target motion, a real-time leaf-pair shifting mechanism has been developed. Target motion that is orthogonal to leaf travel is tracked by appropriately shifting the positions of all MLC leaves. The performance of the tracking algorithm was tested for a single beam of a fractionated IMRT treatment, using a clinically derived intensity profile and a 2D target trajectory based on measured patient data. Comparisons were made between 2D tracking, 1D tracking, and no tracking. The impact of the tracking lag time and the frequency of real-time imaging were investigated. A study of the dependence of the algorithm's performance on the level of agreement between the motion measured during planning and delivery was also included. Results demonstrated that tracking both components of the 2D motion (i.e., parallel and orthogonal to leaf travel) results in delivered fluence profiles that are superior to those that track the component of motion that is parallel to leaf travel alone. Tracking lag time effects may lead to relatively large intensity delivery errors compared to the other sources of error investigated. However, the algorithm presented is robust in the sense that it does not rely on a high level of agreement between the target motion measured during treatment planning and delivery.

Motion robust high resolution 3D free-breathing pulmonary MRI using dynamic 3D image self-navigator.

PubMed

Jiang, Wenwen; Ong, Frank; Johnson, Kevin M; Nagle, Scott K; Hope, Thomas A; Lustig, Michael; Larson, Peder E Z

2018-06-01

To achieve motion robust high resolution 3D free-breathing pulmonary MRI utilizing a novel dynamic 3D image navigator derived directly from imaging data. Five-minute free-breathing scans were acquired with a 3D ultrashort echo time (UTE) sequence with 1.25 mm isotropic resolution. From this data, dynamic 3D self-navigating images were reconstructed under locally low rank (LLR) constraints and used for motion compensation with one of two methods: a soft-gating technique to penalize the respiratory motion induced data inconsistency, and a respiratory motion-resolved technique to provide images of all respiratory motion states. Respiratory motion estimation derived from the proposed dynamic 3D self-navigator of 7.5 mm isotropic reconstruction resolution and a temporal resolution of 300 ms was successful for estimating complex respiratory motion patterns. This estimation improved image quality compared to respiratory belt and DC-based navigators. Respiratory motion compensation with soft-gating and respiratory motion-resolved techniques provided good image quality from highly undersampled data in volunteers and clinical patients. An optimized 3D UTE sequence combined with the proposed reconstruction methods can provide high-resolution motion robust pulmonary MRI. Feasibility was shown in patients who had irregular breathing patterns in which our approach could depict clinically relevant pulmonary pathologies. Magn Reson Med 79:2954-2967, 2018. © 2017 International Society for Magnetic Resonance in Medicine. © 2017 International Society for Magnetic Resonance in Medicine.

A study of cervical spine kinematics and joint capsule strain in rear impacts using a human FE model.

PubMed

Kitagawa, Yuichi; Yasuki, Tsuyoshi; Hasegawa, Junji

2006-11-01

Many efforts have been made to understand the mechanism of whiplash injury. Recently, the cervical facet joint capsules have been focused on as a potential site of injury. An experimental approach has been taken to analyze the vertebral motion and to estimate joint capsule stretch that was thought to be a potential cause of pain. The purpose of this study is to analyze the kinematics of the cervical facet joint using a human FE model in order to better understand the injury mechanism. The Total Human Model for Safety (THUMS) was used to visually analyze the local and global kinematics of the spine. Soft tissues in the neck were newly modeled and introduced into THUMS for estimating the loading level in rear impacts. The model was first validated against human test data in the literature by comparing vertebrae motion as well as head and neck responses. Joint capsule strain was estimated from a maximum principal strain output from the elements representing the capsule tissues. A rear-end collision was then simulated using THUMS and a prototype seat model, assuming a delta-V of 25 km/h. The trajectory of the vertebrae was analyzed in a local coordinate system defined along the joint surface. Strain growth in the joint capsules was explained, as related to contact events between the occupant and the seat. A new seat concept was proposed to help lessen the loading level to the neck soft tissues. The foam material of the seat back was softened, the initial gap behind the head was reduced and the head restraint was stiffened for firm support. The lower seat back frame was also reinforced to withstand the impact severity at the given delta-V. Another rear impact simulation was conducted using the new seat concept model to examine the effectiveness of the new concept. The joint capsule strain was found to be relatively lower with the new seat concept. The study also discusses the influence of seat parameters to the vertebral motion and the resultant strain in the joint capsules. The meaning of the contact timing of the head to the head restraint was examined based on the results in terms of correlation with injury indicators such as NIC and the joint capsule strain.

Spiral Imaging in fMRI

PubMed Central

Glover, Gary H.

2011-01-01

T2*-weighted Blood Oxygen Level Dependent (BOLD) functional magnetic resonance imaging (fMRI) requires efficient acquisition methods in order to fully sample the brain in a several second time period. The most widely used approach is Echo Planar Imaging (EPI), which utilizes a Cartesian trajectory to cover k-space. This trajectory is subject to ghosts from off-resonance and gradient imperfections and is intrinsically sensitive to cardiac-induced pulsatile motion from substantial first- and higher order moments of the gradient waveform near the k-space origin. In addition, only the readout direction gradient contributes significant energy to the trajectory. By contrast, the Spiral method samples k-space with an Archimedean or similar trajectory that begins at the k-space center and spirals to the edge (Spiral-out), or its reverse, ending at the origin (Spiral-in). Spiral methods have reduced sensitivity to motion, shorter readout times, improved signal recovery in most frontal and parietal brain regions, and exhibit blurring artifacts instead of ghosts or geometric distortion. Methods combining Spiral-in and Spiral-out trajectories have further advantages in terms of diminished susceptibility-induced signal dropout and increased BOLD signal. In measurements of temporal signal to noise ratio measured in 8 subjects, Spiral-in/out exhibited significant increases over EPI in voxel volumes recovered in frontal and whole brain regions (18% and 10%, respectively). PMID:22036995

Algorithm for constructing the programmed motion of a bounding vehicle for the flight phase

NASA Technical Reports Server (NTRS)

Lapshin, V. V.

1979-01-01

The construction of the programmed motion of a multileg bounding vehicle in the flight was studied. An algorithm is given for solving the boundary value problem for constructing this programmed motion. If the motion is shown to be symmetrical, a simplified use of the algorithm can be applied. A method is proposed for nonimpact of the legs during lift-off of the vehicle, and for softness at touchdown. Tables are utilized to construct this programmed motion over a broad set of standard motion conditions.

Optimal Trajectories Generation in Robotic Fiber Placement Systems

NASA Astrophysics Data System (ADS)

Gao, Jiuchun; Pashkevich, Anatol; Caro, Stéphane

2017-06-01

The paper proposes a methodology for optimal trajectories generation in robotic fiber placement systems. A strategy to tune the parameters of the optimization algorithm at hand is also introduced. The presented technique transforms the original continuous problem into a discrete one where the time-optimal motions are generated by using dynamic programming. The developed strategy for the optimization algorithm tuning allows essentially reducing the computing time and obtaining trajectories satisfying industrial constraints. Feasibilities and advantages of the proposed methodology are confirmed by an application example.

The power of a single trajectory

NASA Astrophysics Data System (ADS)

Schnellbächer, Nikolas D.; Schwarz, Ulrich S.

2018-03-01

Random walks are often evaluated in terms of their mean squared displacements, either for a large number of trajectories or for one very long trajectory. An alternative evaluation is based on the power spectral density, but here it is less clear which information can be extracted from a single trajectory. For continuous-time Brownian motion, Krapf et al now have mathematically proven that the one property that can be reliably extracted from a single trajectory is the frequency dependence of the ensemble-averaged power spectral density (Krapf et al 2018 New J. Phys. 20 023029). Their mathematical analysis also identifies the appropriate frequency window for this procedure and shows that the diffusion coefficient can be extracted by averaging over a small number of trajectories. The authors have verified their analytical results both by computer simulations and experiments.

Optimal solar sail planetocentric trajectories

NASA Technical Reports Server (NTRS)

Sackett, L. L.

1977-01-01

The analysis of solar sail planetocentric optimal trajectory problem is described. A computer program was produced to calculate optimal trajectories for a limited performance analysis. A square sail model is included and some consideration is given to a heliogyro sail model. Orbit to a subescape point and orbit to orbit transfer are considered. Trajectories about the four inner planets can be calculated and shadowing, oblateness, and solar motion may be included. Equinoctial orbital elements are used to avoid the classical singularities, and the method of averaging is applied to increase computational speed. Solution of the two-point boundary value problem which arises from the application of optimization theory is accomplished with a Newton procedure. Time optimal trajectories are emphasized, but a penalty function has been considered to prevent trajectories which intersect a planet's surface.

Microscopic reversibility and memory in soft crystals undergoing large deformations

NASA Astrophysics Data System (ADS)

Rosenfeld, Liat; Stan, Claudiu; Tang, Sindy K. Y.

2014-11-01

In this study, we explore the transition from reversible to chaotic behavior in an oscillatory shear flow of water-in-oil emulsions. The emulsion was injected through a microchannel and was forced to rearrange due to a central constriction in the channel. We study the motion of the individual droplets and their neighbors in order to determine their ability to retain their original position after several cycles of oscillations. We have found that the emulsion exhibit behaviors that vary from complete reversibility to complete irreversibility depending on the volume fraction, velocity and strain rate. The reversibility, both in the trajectory and the deformation of every drop, is reproducible even when the drops undergo many rearrangement events over distances of >150 droplet diameters. Moreover, the deformability of the drops and the high volume fraction are crucial conditions for the onset of reversibility. We provide here the first direct visualization and physical analysis of this phenomenon. This work is an important step in describing the flow of concentrated emulsions and suspensions in microchannels and is therefore crucial for understanding the behavior of droplets, bubbles and particles in droplet microfluidic applications.

A novel Kinetic Monte Carlo algorithm for Non-Equilibrium Simulations

NASA Astrophysics Data System (ADS)

Jha, Prateek; Kuzovkov, Vladimir; Grzybowski, Bartosz; Olvera de La Cruz, Monica

2012-02-01

We have developed an off-lattice kinetic Monte Carlo simulation scheme for reaction-diffusion problems in soft matter systems. The definition of transition probabilities in the Monte Carlo scheme are taken identical to the transition rates in a renormalized master equation of the diffusion process and match that of the Glauber dynamics of Ising model. Our scheme provides several advantages over the Brownian dynamics technique for non-equilibrium simulations. Since particle displacements are accepted/rejected in a Monte Carlo fashion as opposed to moving particles following a stochastic equation of motion, nonphysical movements (e.g., violation of a hard core assumption) are not possible (these moves have zero acceptance). Further, the absence of a stochastic ``noise'' term resolves the computational difficulties associated with generating statistically independent trajectories with definitive mean properties. Finally, since the timestep is independent of the magnitude of the interaction forces, much longer time-steps can be employed than Brownian dynamics. We discuss the applications of this scheme for dynamic self-assembly of photo-switchable nanoparticles and dynamical problems in polymeric systems.

Skin-Inspired Multifunctional Autonomic-Intrinsic Conductive Self-Healing Hydrogels with Pressure Sensitivity, Stretchability, and 3D Printability.

PubMed

Darabi, Mohammad Ali; Khosrozadeh, Ali; Mbeleck, Rene; Liu, Yuqing; Chang, Qiang; Jiang, Junzi; Cai, Jun; Wang, Quan; Luo, Gaoxing; Xing, Malcolm

2017-08-01

The advent of conductive self-healing (CSH) hydrogels, a class of novel materials mimicking human skin, may change the trajectory of the industrial process because of their potential applications in soft robots, biomimetic prostheses, and health-monitoring systems. Here, the development of a mechanically and electrically self-healing hydrogel based on physically and chemically cross-linked networks is reported. The autonomous intrinsic self-healing of the hydrogel is attained through dynamic ionic interactions between carboxylic groups of poly(acrylic acid) and ferric ions. A covalent cross-linking is used to support the mechanical structure of the hydrogel. Establishing a fair balance between the chemical and physical cross-linking networks together with the conductive nanostructure of polypyrrole networks leads to a double network hydrogel with bulk conductivity, mechanical and electrical self-healing properties (100% mechanical recovery in 2 min), ultrastretchability (1500%), and pressure sensitivity. The practical potential of CSH hydrogels is further revealed by their application in human motion detection and their 3D-printing performance. © 2017 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Particle trajectory computer program for icing analysis of axisymmetric bodies

NASA Technical Reports Server (NTRS)

Frost, Walter; Chang, Ho-Pen; Kimble, Kenneth R.

1982-01-01

General aviation aircraft and helicopters exposed to an icing environment can accumulate ice resulting in a sharp increase in drag and reduction of maximum lift causing hazardous flight conditions. NASA Lewis Research Center (LeRC) is conducting a program to examine, with the aid of high-speed computer facilities, how the trajectories of particles contribute to the ice accumulation on airfoils and engine inlets. This study, as part of the NASA/LeRC research program, develops a computer program for the calculation of icing particle trajectories and impingement limits relative to axisymmetric bodies in the leeward-windward symmetry plane. The methodology employed in the current particle trajectory calculation is to integrate the governing equations of particle motion in a flow field computed by the Douglas axisymmetric potential flow program. The three-degrees-of-freedom (horizontal, vertical, and pitch) motion of the particle is considered. The particle is assumed to be acted upon by aerodynamic lift and drag forces, gravitational forces, and for nonspherical particles, aerodynamic moments. The particle momentum equation is integrated to determine the particle trajectory. Derivation of the governing equations and the method of their solution are described in Section 2.0. General features, as well as input/output instructions for the particle trajectory computer program, are described in Section 3.0. The details of the computer program are described in Section 4.0. Examples of the calculation of particle trajectories demonstrating application of the trajectory program to given axisymmetric inlet test cases are presented in Section 5.0. For the examples presented, the particles are treated as spherical water droplets. In Section 6.0, limitations of the program relative to excessive computer time and recommendations in this regard are discussed.

Prediction of Scour below Flip Bucket using Soft Computing Techniques

NASA Astrophysics Data System (ADS)

Azamathulla, H. Md.; Ab Ghani, Aminuddin; Azazi Zakaria, Nor

2010-05-01

The accurate prediction of the depth of scour around hydraulic structure (trajectory spillways) has been based on the experimental studies and the equations developed are mainly empirical in nature. This paper evaluates the performance of the soft computing (intelligence) techiques, Adaptive Neuro-Fuzzy System (ANFIS) and Genetic expression Programming (GEP) approach, in prediction of scour below a flip bucket spillway. The results are very promising, which support the use of these intelligent techniques in prediction of highly non-linear scour parameters.

Chaotic Motion in the Solar System and Beyond

NASA Technical Reports Server (NTRS)

Lissauer, Jack; DeVincenzi, Donald (Technical Monitor)

2001-01-01

The motion of planetary bodies is the archetypal clockwork system. Indeed, clocks and calendars were developed to keep track of the relative motions of the Earth, the Sun and the Moon. However, studies over the past few decades imply that this predictable regularity does not extend to small bodies, nor does it apply to the precise trajectories of the planets themselves over long timescale.s. Various examples of chaotic motion within our Solar System and, extrasolar planetary systems will be discussed.

Eye movements and manual interception of ballistic trajectories: effects of law of motion perturbations and occlusions.

PubMed

Delle Monache, Sergio; Lacquaniti, Francesco; Bosco, Gianfranco

2015-02-01

Manual interceptions are known to depend critically on integration of visual feedback information and experience-based predictions of the interceptive event. Within this framework, coupling between gaze and limb movements might also contribute to the interceptive outcome, since eye movements afford acquisition of high-resolution visual information. We investigated this issue by analyzing subjects' head-fixed oculomotor behavior during manual interceptions. Subjects moved a mouse cursor to intercept computer-generated ballistic trajectories either congruent with Earth's gravity or perturbed with weightlessness (0 g) or hypergravity (2 g) effects. In separate sessions, trajectories were either fully visible or occluded before interception to enforce visual prediction. Subjects' oculomotor behavior was classified in terms of amounts of time they gazed at different visual targets and of overall number of saccades. Then, by way of multivariate analyses, we assessed the following: (1) whether eye movement patterns depended on targets' laws of motion and occlusions; and (2) whether interceptive performance was related to the oculomotor behavior. First, we found that eye movement patterns depended significantly on targets' laws of motion and occlusion, suggesting predictive mechanisms. Second, subjects coupled differently oculomotor and interceptive behavior depending on whether targets were visible or occluded. With visible targets, subjects made smaller interceptive errors if they gazed longer at the mouse cursor. Instead, with occluded targets, they achieved better performance by increasing the target's tracking accuracy and by avoiding gaze shifts near interception, suggesting that precise ocular tracking provided better trajectory predictions for the interceptive response.

Tense, Aspect and the Verbs of Motion.

ERIC Educational Resources Information Center

Pahomov, George S.

1979-01-01

To help students learn the imperfect and perfect aspects of Russian verbs, principles of math and physics can be utilized. This Orbit-Trajectory-Stasis method presents verbs of motion by avoiding tense, and suggests new verbal configurations for exploring both conceptual and concrete aspects. Appendices further illustrate the approach. (PMJ)

Alignment of cryo-EM movies of individual particles by optimization of image translations.

PubMed

Rubinstein, John L; Brubaker, Marcus A

2015-11-01

Direct detector device (DDD) cameras have revolutionized single particle electron cryomicroscopy (cryo-EM). In addition to an improved camera detective quantum efficiency, acquisition of DDD movies allows for correction of movement of the specimen, due to both instabilities in the microscope specimen stage and electron beam-induced movement. Unlike specimen stage drift, beam-induced movement is not always homogeneous within an image. Local correlation in the trajectories of nearby particles suggests that beam-induced motion is due to deformation of the ice layer. Algorithms have already been described that can correct movement for large regions of frames and for >1 MDa protein particles. Another algorithm allows individual <1 MDa protein particle trajectories to be estimated, but requires rolling averages to be calculated from frames and fits linear trajectories for particles. Here we describe an algorithm that allows for individual <1 MDa particle images to be aligned without frame averaging or linear trajectories. The algorithm maximizes the overall correlation of the shifted frames with the sum of the shifted frames. The optimum in this single objective function is found efficiently by making use of analytically calculated derivatives of the function. To smooth estimates of particle trajectories, rapid changes in particle positions between frames are penalized in the objective function and weighted averaging of nearby trajectories ensures local correlation in trajectories. This individual particle motion correction, in combination with weighting of Fourier components to account for increasing radiation damage in later frames, can be used to improve 3-D maps from single particle cryo-EM. Copyright © 2015 Elsevier Inc. All rights reserved.

Numerical simulation of human orientation perception during lunar landing

NASA Astrophysics Data System (ADS)

Clark, Torin K.; Young, Laurence R.; Stimpson, Alexander J.; Duda, Kevin R.; Oman, Charles M.

2011-09-01

In lunar landing it is necessary to select a suitable landing point and then control a stable descent to the surface. In manned landings, astronauts will play a critical role in monitoring systems and adjusting the descent trajectory through either supervisory control and landing point designations, or by direct manual control. For the astronauts to ensure vehicle performance and safety, they will have to accurately perceive vehicle orientation. A numerical model for human spatial orientation perception was simulated using input motions from lunar landing trajectories to predict the potential for misperceptions. Three representative trajectories were studied: an automated trajectory, a landing point designation trajectory, and a challenging manual control trajectory. These trajectories were studied under three cases with different cues activated in the model to study the importance of vestibular cues, visual cues, and the effect of the descent engine thruster creating dust blowback. The model predicts that spatial misperceptions are likely to occur as a result of the lunar landing motions, particularly with limited or incomplete visual cues. The powered descent acceleration profile creates a somatogravic illusion causing the astronauts to falsely perceive themselves and the vehicle as upright, even when the vehicle has a large pitch or roll angle. When visual pathways were activated within the model these illusions were mostly suppressed. Dust blowback, obscuring the visual scene out the window, was also found to create disorientation. These orientation illusions are likely to interfere with the astronauts' ability to effectively control the vehicle, potentially degrading performance and safety. Therefore suitable countermeasures, including disorientation training and advanced displays, are recommended.

Hydrogel Walkers with Electro-Driven Motility for Cargo Transport.

PubMed

Yang, Chao; Wang, Wei; Yao, Chen; Xie, Rui; Ju, Xiao-Jie; Liu, Zhuang; Chu, Liang-Yin

2015-08-28

In this study, soft hydrogel walkers with electro-driven motility for cargo transport have been developed via a facile mould-assisted strategy. The hydrogel walkers consisting of polyanionic poly(2-acrylamido-2-methylpropanesulfonic acid-co-acrylamide) exhibit an arc looper-like shape with two "legs" for walking. The hydrogel walkers can reversibly bend and stretch via repeated "on/off" electro-triggers in electrolyte solution. Based on such bending/stretching behaviors, the hydrogel walkers can move their two "legs" to achieve one-directional walking motion on a rough surface via repeated "on/off" electro-triggering cycles. Moreover, the hydrogel walkers loaded with very heavy cargo also exhibit excellent walking motion for cargo transport. Such hydrogel systems create new opportunities for developing electro-controlled soft systems with simple design/fabrication strategies in the soft robotic field for remote manipulation and transportation.

Chronic ankle pain and fibrosis successfully treated with a new noninvasive augmented soft tissue mobilization technique (ASTM): a case report.

PubMed

Melham, T J; Sevier, T L; Malnofski, M J; Wilson, J K; Helfst, R H

1998-06-01

This clinical case report demonstrates the clinical effectiveness of a new form of soft tissue mobilization in the treatment of excessive connective tissue fibrosis (scar tissue) around an athlete's injured ankle. The scar tissue was causing the athlete to have pain with activity, pain on palpation of the ankle, decreased range of motion, and loss of function. Surgery and several months of conventional physical therapy failed to alleviate the athlete's symptoms. As a final resort, augmented soft tissue mobilization (ASTM) was administered. ASTM is an alternative nonsurgical treatment modality that is being researched at Performance Dynamics (Muncip, IN). ASTM is a process that uses ergonomically designed instruments that assist therapists in the rapid localization and effective treatment of areas exhibiting excessive soft tissue fibrosis. This is followed by a stretching and strengthening program. Upon the completion of 6 wk of ASTM therapy, the athlete had no pain and had regained full range of motion and function. This case report is an example of how a noninvasive augmented form of soft tissue mobilization (ASTM) demonstrated impressive clinical results in treating a condition caused by connective tissue fibrosis.

Development of a video image-based QA system for the positional accuracy of dynamic tumor tracking irradiation in the Vero4DRT system

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

Ebe, Kazuyu, E-mail: nrr24490@nifty.com; Tokuyama, Katsuichi; Baba, Ryuta

Purpose: To develop and evaluate a new video image-based QA system, including in-house software, that can display a tracking state visually and quantify the positional accuracy of dynamic tumor tracking irradiation in the Vero4DRT system. Methods: Sixteen trajectories in six patients with pulmonary cancer were obtained with the ExacTrac in the Vero4DRT system. Motion data in the cranio–caudal direction (Y direction) were used as the input for a programmable motion table (Quasar). A target phantom was placed on the motion table, which was placed on the 2D ionization chamber array (MatriXX). Then, the 4D modeling procedure was performed on themore » target phantom during a reproduction of the patient’s tumor motion. A substitute target with the patient’s tumor motion was irradiated with 6-MV x-rays under the surrogate infrared system. The 2D dose images obtained from the MatriXX (33 frames/s; 40 s) were exported to in-house video-image analyzing software. The absolute differences in the Y direction between the center of the exposed target and the center of the exposed field were calculated. Positional errors were observed. The authors’ QA results were compared to 4D modeling function errors and gimbal motion errors obtained from log analyses in the ExacTrac to verify the accuracy of their QA system. The patients’ tumor motions were evaluated in the wave forms, and the peak-to-peak distances were also measured to verify their reproducibility. Results: Thirteen of sixteen trajectories (81.3%) were successfully reproduced with Quasar. The peak-to-peak distances ranged from 2.7 to 29.0 mm. Three trajectories (18.7%) were not successfully reproduced due to the limited motions of the Quasar. Thus, 13 of 16 trajectories were summarized. The mean number of video images used for analysis was 1156. The positional errors (absolute mean difference + 2 standard deviation) ranged from 0.54 to 1.55 mm. The error values differed by less than 1 mm from 4D modeling function errors and gimbal motion errors in the ExacTrac log analyses (n = 13). Conclusions: The newly developed video image-based QA system, including in-house software, can analyze more than a thousand images (33 frames/s). Positional errors are approximately equivalent to those in ExacTrac log analyses. This system is useful for the visual illustration of the progress of the tracking state and for the quantification of positional accuracy during dynamic tumor tracking irradiation in the Vero4DRT system.« less

Investigation of optimal method for inducing harmonic motion in tissue using a linear ultrasound phased array--a simulation study.

PubMed

Heikkilä, Janne; Hynynen, Kullervo

2006-04-01

Many noninvasive ultrasound techniques have been developed to explore mechanical properties of soft tissues. One of these methods, Localized Harmonic Motion Imaging (LHMI), has been proposed to be used for ultrasound surgery monitoring. In LHMI, dynamic ultrasound radiation-force stimulation induces displacements in a target that can be measured using pulse-echo imaging and used to estimate the elastic properties of the target. In this initial, simulation study, the use of a one-dimensional phased array is explored for the induction of the tissue motion. The study compares three different dual-frequency and amplitude-modulated single-frequency methods for the inducing tissue motion. Simulations were computed in a homogeneous soft-tissue volume. The Rayleigh integral was used in the simulations of the ultrasound fields and the tissue displacements were computed using a finite-element method (FEM). The simulations showed that amplitude-modulated sonication using a single frequency produced the largest vibration amplitude of the target tissue. These simulations demonstrate that the properties of the tissue motion are highly dependent on the sonication method and that it is important to consider the full three-dimensional distribution of the ultrasound field for controlling the induction of tissue motion.

Site-specific seismic ground motion analyses for transportation infrastructure in the New Madrid seismic zone.

DOT National Transportation Integrated Search

2012-11-01

Generic, code-based design procedures cannot account for the anticipated short-period attenuation and long-period amplification of earthquake ground motions in the deep, soft sediments of the Mississippi Embayment within the New Madrid Seismic Zone (...

Digital holographic microscope for measuring three-dimensional particle distributions and motions.

PubMed

Sheng, Jian; Malkiel, Edwin; Katz, Joseph

2006-06-01

Better understanding of particle-particle and particle-fluid interactions requires accurate 3D measurements of particle distributions and motions. We introduce the application of in-line digital holographic microscopy as a viable tool for measuring distributions of dense micrometer (3.2 microm) and submicrometer (0.75 microm) particles in a liquid solution with large depths of 1-10 mm. By recording a magnified hologram, we obtain a depth of field of approximately 1000 times the object diameter and a reduced depth of focus of approximately 10 particle diameters, both representing substantial improvements compared to a conventional microscope and in-line holography. Quantitative information on depth of field, depth of focus, and axial resolution is provided. We demonstrate that digital holographic microscopy can resolve the locations of several thousand particles and can measure their motions and trajectories using cinematographic holography. A sample trajectory and detailed morphological information of a free-swimming copepod nauplius are presented.

Evaluation of bacterial motility from non-Gaussianity of finite-sample trajectories using the large deviation principle

NASA Astrophysics Data System (ADS)

Hanasaki, Itsuo; Kawano, Satoyuki

2013-11-01

Motility of bacteria is usually recognized in the trajectory data and compared with Brownian motion, but the diffusion coefficient is insufficient to evaluate it. In this paper, we propose a method based on the large deviation principle. We show that it can be used to evaluate the non-Gaussian characteristics of model Escherichia coli motions and to distinguish combinations of the mean running duration and running speed that lead to the same diffusion coefficient. Our proposed method does not require chemical stimuli to induce the chemotaxis in a specific direction, and it is applicable to various types of self-propelling motions for which no a priori information of, for example, threshold parameters for run and tumble or head/tail direction is available. We also address the issue of the finite-sample effect on the large deviation quantities, but we propose to make use of it to characterize the nature of motility.

Lagrangian equations of motion of particles and photons in a Schwarzschild field

NASA Astrophysics Data System (ADS)

Ritus, V. I.

2015-11-01

The equations of motion of a particle in the gravitational field of a black hole are considered in a formulation that uses generalized coordinates, velocities, and accelerations and is convenient for finding the integrals of motion. The equations are rewritten in terms of the physical velocities and accelerations measured in the Schwarzschild frame by a stationary observer using proper local length and time standards. The attractive force due to the field and the centripetal acceleration of a particle is proportional to the particle kinetic energy m/\\sqrt{1 - v^2}, consistently with the fact that the particle kinetic energy and the photon energy \\hbarω in the field increase by the same factor compared with their values without a field. The attraction exerted on particles and photons by a gravitational field source is proportional to their kinetic energies. The particle trajectory in the ultrarelativistic limit v \\to 1 coincides with the photon trajectory.

Novel algorithm and MATLAB-based program for automated power law analysis of single particle, time-dependent mean-square displacement

NASA Astrophysics Data System (ADS)

Umansky, Moti; Weihs, Daphne

2012-08-01

In many physical and biophysical studies, single-particle tracking is utilized to reveal interactions, diffusion coefficients, active modes of driving motion, dynamic local structure, micromechanics, and microrheology. The basic analysis applied to those data is to determine the time-dependent mean-square displacement (MSD) of particle trajectories and perform time- and ensemble-averaging of similar motions. The motion of particles typically exhibits time-dependent power-law scaling, and only trajectories with qualitatively and quantitatively comparable MSD should be ensembled. Ensemble averaging trajectories that arise from different mechanisms, e.g., actively driven and diffusive, is incorrect and can result inaccurate correlations between structure, mechanics, and activity. We have developed an algorithm to automatically and accurately determine power-law scaling of experimentally measured single-particle MSD. Trajectories can then categorized and grouped according to user defined cutoffs of time, amplitudes, scaling exponent values, or combinations. Power-law fits are then provided for each trajectory alongside categorized groups of trajectories, histograms of power laws, and the ensemble-averaged MSD of each group. The codes are designed to be easily incorporated into existing user codes. We expect that this algorithm and program will be invaluable to anyone performing single-particle tracking, be it in physical or biophysical systems. Catalogue identifier: AEMD_v1_0 Program summary URL:http://cpc.cs.qub.ac.uk/summaries/AEMD_v1_0.html Program obtainable from: CPC Program Library, Queen's University, Belfast, N. Ireland Licensing provisions: Standard CPC licence, http://cpc.cs.qub.ac.uk/licence/licence.html No. of lines in distributed program, including test data, etc.: 25 892 No. of bytes in distributed program, including test data, etc.: 5 572 780 Distribution format: tar.gz Programming language: MATLAB (MathWorks Inc.) version 7.11 (2010b) or higher, program should also be backwards compatible. Symbolic Math Toolboxes (5.5) is required. The Curve Fitting Toolbox (3.0) is recommended. Computer: Tested on Windows only, yet should work on any computer running MATLAB. In Windows 7, should be used as administrator, if the user is not the administrator the program may not be able to save outputs and temporary outputs to all locations. Operating system: Any supporting MATLAB (MathWorks Inc.) v7.11 / 2010b or higher. Supplementary material: Sample output files (approx. 30 MBytes) are available. Classification: 12 External routines: Several MATLAB subfunctions (m-files), freely available on the web, were used as part of and included in, this code: count, NaN suite, parseArgs, roundsd, subaxis, wcov, wmean, and the executable pdfTK.exe. Nature of problem: In many physical and biophysical areas employing single-particle tracking, having the time-dependent power-laws governing the time-averaged meansquare displacement (MSD) of a single particle is crucial. Those power laws determine the mode-of-motion and hint at the underlying mechanisms driving motion. Accurate determination of the power laws that describe each trajectory will allow categorization into groups for further analysis of single trajectories or ensemble analysis, e.g. ensemble and time-averaged MSD. Solution method: The algorithm in the provided program automatically analyzes and fits time-dependent power laws to single particle trajectories, then group particles according to user defined cutoffs. It accepts time-dependent trajectories of several particles, each trajectory is run through the program, its time-averaged MSD is calculated, and power laws are determined in regions where the MSD is linear on a log-log scale. Our algorithm searches for high-curvature points in experimental data, here time-dependent MSD. Those serve as anchor points for determining the ranges of the power-law fits. Power-law scaling is then accurately determined and error estimations of the parameters and quality of fit are provided. After all single trajectory time-averaged MSDs are fit, we obtain cutoffs from the user to categorize and segment the power laws into groups; cutoff are either in exponents of the power laws, time of appearance of the fits, or both together. The trajectories are sorted according to the cutoffs and the time- and ensemble-averaged MSD of each group is provided, with histograms of the distributions of the exponents in each group. The program then allows the user to generate new trajectory files with trajectories segmented according to the determined groups, for any further required analysis. Additional comments: README file giving the names and a brief description of all the files that make-up the package and clear instructions on the installation and execution of the program is included in the distribution package. Running time: On an i5 Windows 7 machine with 4 GB RAM the automated parts of the run (excluding data loading and user input) take less than 45 minutes to analyze and save all stages for an 844 trajectory file, including optional PDF save. Trajectory length did not affect run time (tested up to 3600 frames/trajectory), which was on average 3.2±0.4 seconds per trajectory.

Extended state observer-based motion synchronisation control for hybrid actuation system of large civil aircraft

NASA Astrophysics Data System (ADS)

Wang, Xingjian; Shi, Cun; Wang, Shaoping

2017-07-01

Hybrid actuation system with dissimilar redundant actuators, which is composed of a hydraulic actuator (HA) and an electro-hydrostatic actuator (EHA), has been applied on modern civil aircraft to improve the reliability. However, the force fighting problem arises due to different dynamic performances between HA and EHA. This paper proposes an extended state observer (ESO)-based motion synchronisation control method. To cope with the problem of unavailability of the state signals, the well-designed ESO is utilised to observe the HA and EHA state variables which are unmeasured. In particular, the extended state of ESO can estimate the lumped effect of the unknown external disturbances acting on the control surface, the nonlinear dynamics, uncertainties, and the coupling term between HA and EHA. Based on the observed states of ESO, motion synchronisation controllers are presented to make HA and EHA to simultaneously track the desired motion trajectories, which are generated by a trajectory generator. Additionally, the unknown disturbances and the coupling terms can be compensated by using the extended state of the proposed ESO. Finally, comparative simulation results indicate that the proposed ESO-based motion synchronisation controller can achieve great force fighting reduction between HA and EHA.

Self-assembly of robotic micro- and nanoswimmers using magnetic nanoparticles

NASA Astrophysics Data System (ADS)

Cheang, U. Kei; Kim, Min Jun

2015-03-01

Micro- and nanoscale robotic swimmers are very promising to significantly enhance the performance of particulate drug delivery by providing high accuracy at extremely small scales. Here, we introduce micro- and nanoswimmers fabricated using self-assembly of nanoparticles and control via magnetic fields. Nanoparticles self-align into parallel chains under magnetization. The swimmers exhibit flexibility under a rotating magnetic field resulting in chiral structures upon deformation, thereby having the prerequisite for non-reciprocal motion to move about at low Reynolds number. The swimmers are actuated wirelessly using an external rotating magnetic field supplied by approximate Helmholtz coils. By controlling the concentration of the suspended magnetic nanoparticles, the swimmers can be modulated into different sizes. Nanoscale swimmers are largely influenced by Brownian motion, as observed from their jerky trajectories. The microswimmers, which are roughly three times larger, are less vulnerable to the effects from Brownian motion. In this paper, we demonstrate responsive directional control of micro- and nanoswimmers and compare their respective diffusivities and trajectories to characterize the implications of Brownian disturbance on the motions of small and large swimmers. We then performed a simulation using a kinematic model for the magnetic swimmers including the stochastic nature of Brownian motion.

Sampling-based real-time motion planning under state uncertainty for autonomous micro-aerial vehicles in GPS-denied environments.

PubMed

Li, Dachuan; Li, Qing; Cheng, Nong; Song, Jingyan

2014-11-18

This paper presents a real-time motion planning approach for autonomous vehicles with complex dynamics and state uncertainty. The approach is motivated by the motion planning problem for autonomous vehicles navigating in GPS-denied dynamic environments, which involves non-linear and/or non-holonomic vehicle dynamics, incomplete state estimates, and constraints imposed by uncertain and cluttered environments. To address the above motion planning problem, we propose an extension of the closed-loop rapid belief trees, the closed-loop random belief trees (CL-RBT), which incorporates predictions of the position estimation uncertainty, using a factored form of the covariance provided by the Kalman filter-based estimator. The proposed motion planner operates by incrementally constructing a tree of dynamically feasible trajectories using the closed-loop prediction, while selecting candidate paths with low uncertainty using efficient covariance update and propagation. The algorithm can operate in real-time, continuously providing the controller with feasible paths for execution, enabling the vehicle to account for dynamic and uncertain environments. Simulation results demonstrate that the proposed approach can generate feasible trajectories that reduce the state estimation uncertainty, while handling complex vehicle dynamics and environment constraints.

Sampling-Based Real-Time Motion Planning under State Uncertainty for Autonomous Micro-Aerial Vehicles in GPS-Denied Environments

PubMed Central

Li, Dachuan; Li, Qing; Cheng, Nong; Song, Jingyan

2014-01-01

This paper presents a real-time motion planning approach for autonomous vehicles with complex dynamics and state uncertainty. The approach is motivated by the motion planning problem for autonomous vehicles navigating in GPS-denied dynamic environments, which involves non-linear and/or non-holonomic vehicle dynamics, incomplete state estimates, and constraints imposed by uncertain and cluttered environments. To address the above motion planning problem, we propose an extension of the closed-loop rapid belief trees, the closed-loop random belief trees (CL-RBT), which incorporates predictions of the position estimation uncertainty, using a factored form of the covariance provided by the Kalman filter-based estimator. The proposed motion planner operates by incrementally constructing a tree of dynamically feasible trajectories using the closed-loop prediction, while selecting candidate paths with low uncertainty using efficient covariance update and propagation. The algorithm can operate in real-time, continuously providing the controller with feasible paths for execution, enabling the vehicle to account for dynamic and uncertain environments. Simulation results demonstrate that the proposed approach can generate feasible trajectories that reduce the state estimation uncertainty, while handling complex vehicle dynamics and environment constraints. PMID:25412217

Testing inflation and curvaton scenarios with CMB distortions

NASA Astrophysics Data System (ADS)

Clesse, Sébastien; Garbrecht, Björn; Zhu, Yi

2014-10-01

Prior to recombination, Silk damping causes the dissipation of energy from acoustic waves into the monopole of the Cosmic Microwave Background (CMB), resulting in spectral distortions. These can be used to probe the primordial scalar power spectrum on smaller scales than it is possible with CMB anisotropies. An enhancement of power on these scales is nevertheless required for the resulting distortions to be detectable by future experiments like PIXIE. In this paper, we examine all 49 single-field inflation models listed by Martin et al. in the Encyclopaedia Inflationaris [1] and find that only one of these may lead to a detectable level of distortions in a tuned region of its parameter space, namely the original hybrid model. Three effective multi-field scenarios are also studied: with softly and suddenly turning trajectories, and with a mild waterfall trajectory. Softly turning trajectories do not induce distortions at any detectable level, whereas a sudden turn in the field space or a mild waterfall trajectory predicts a peak (plus damped oscillations in the sudden turn case) in the scalar power spectrum, which can lead to an observable amount of CMB distortions. Finally, another scenario leading to potentially detectable distortions involves a curvaton whose blue spectrum is subdominant on CMB angular scales and overtakes the inflaton spectrum on smaller scales. In this case however, we show that the bounds from ultra compact minihaloes are not satisfied. Expectations for an ultimate PRISM-class experiment characterized by an improvement in sensitivity by a factor of ten are discussed for some models.

Erosion in radial inflow turbines. Volume 1: Erosive particle trajectory similarity

NASA Technical Reports Server (NTRS)

Clevenger, W. B., Jr.; Tabakoff, W.

1974-01-01

Similarity parameters from the equations of motion of particles immersed in a gas flow are derived. These parameters relate the particles which follow a certain trajectory in an equivalent cold gas turbine to particles that will follow the same trajectory in a real hot gas turbine. Numerical solutions of the trajectories that particles follow in the vortex and rotor regions of a radial inflow turbine are used to verify the range of Reynolds numbers in which the derived similarity parameters are applicable. In addition, an example is presented of typical particle sizes that can be observed in high speed photographic data collection and at the same time simulate the trajectories of particles in a real hot gas turbine.

Design of a Soft Robot with Multiple Motion Patterns Using Soft Pneumatic Actuators

NASA Astrophysics Data System (ADS)

Miao, Yu; Dong, Wei; Du, Zhijiang

2017-11-01

Soft robots are made of soft materials and have good flexibility and infinite degrees of freedom in theory. These properties enable soft robots to work in narrow space and adapt to external environment. In this paper, a 2-DOF soft pneumatic actuator is introduced, with two chambers symmetrically distributed on both sides and a jamming cylinder along the axis. Fibers are used to constrain the expansion of the soft actuator. Experiments are carried out to test the performance of the soft actuator, including bending and elongation characteristics. A soft robot is designed and fabricated by connecting four soft pneumatic actuators to a 3D-printed board. The soft robotic system is then established. The pneumatic circuit is built by pumps and solenoid valves. The control system is based on the control board Arduino Mega 2560. Relay modules are used to control valves and pressure sensors are used to measure pressure in the pneumatic circuit. Experiments are conducted to test the performance of the proposed soft robot.

TH-A-9A-10: Prostate SBRT Delivery with Flattening-Filter-Free Mode: Benefit and Accuracy

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

Li, T; Yuan, L; Sheng, Y

Purpose: Flattening-filter-free (FFF) beam mode offered on TrueBeam™ linac enables delivering IMRT at 2400 MU/min dose rate. This study investigates the benefit and delivery accuracy of using high dose rate in the context of prostate SBRT. Methods: 8 prostate SBRT patients were retrospectively studied. In 5 cases treated with 600-MU/min dose rate, continuous prostate motion data acquired during radiation-beam-on was used to analyze motion range. In addition, the initial 1/3 of prostate motion trajectories during each radiation-beam-on was separated to simulate motion range if 2400-MU/min were used. To analyze delivery accuracy in FFF mode, MLC trajectory log files from anmore » additional 3 cases treated at 2400-MU/min were acquired. These log files record MLC expected and actual positions every 20ms, and therefore can be used to reveal delivery accuracy. Results: (1) Benefit. On average treatment at 600-MU/min takes 30s per beam; whereas 2400-MU/min requires only 11s. When shortening delivery time to ~1/3, the prostate motion range was significantly smaller (p<0.001). Largest motion reduction occurred in Sup-Inf direction, from [−3.3mm, 2.1mm] to [−1.7mm, 1.7mm], followed by reduction from [−2.1mm, 2.4mm] to [−1.0mm, 2.4mm] in Ant-Pos direction. No change observed in LR direction [−0.8mm, 0.6mm]. The combined motion amplitude (vector norm) confirms that average motion and ranges are significantly smaller when beam-on was limited to the 1st 1/3 of actual delivery time. (2) Accuracy. Trajectory log file analysis showed excellent delivery accuracy with at 2400 MU/min. Most leaf deviations during beam-on were within 0.07mm (99-percentile). Maximum leaf-opening deviations during each beam-on were all under 0.1mm for all leaves. Dose-rate was maintained at 2400-MU/min during beam-on without dipping. Conclusion: Delivery prostate SBRT with 2400 MU/min is both beneficial and accurate. High dose rates significantly reduced both treatment time and intra-beam prostate motion range. Excellent delivery accuracy was confirmed with very small leaf motion deviation.« less

Effects of modeling errors on trajectory predictions in air traffic control automation

NASA Technical Reports Server (NTRS)

Jackson, Michael R. C.; Zhao, Yiyuan; Slattery, Rhonda

1996-01-01

Air traffic control automation synthesizes aircraft trajectories for the generation of advisories. Trajectory computation employs models of aircraft performances and weather conditions. In contrast, actual trajectories are flown in real aircraft under actual conditions. Since synthetic trajectories are used in landing scheduling and conflict probing, it is very important to understand the differences between computed trajectories and actual trajectories. This paper examines the effects of aircraft modeling errors on the accuracy of trajectory predictions in air traffic control automation. Three-dimensional point-mass aircraft equations of motion are assumed to be able to generate actual aircraft flight paths. Modeling errors are described as uncertain parameters or uncertain input functions. Pilot or autopilot feedback actions are expressed as equality constraints to satisfy control objectives. A typical trajectory is defined by a series of flight segments with different control objectives for each flight segment and conditions that define segment transitions. A constrained linearization approach is used to analyze trajectory differences caused by various modeling errors by developing a linear time varying system that describes the trajectory errors, with expressions to transfer the trajectory errors across moving segment transitions. A numerical example is presented for a complete commercial aircraft descent trajectory consisting of several flight segments.

Ion trajectory simulations of axial ac dipolar excitation in the Orbitrap

NASA Astrophysics Data System (ADS)

Wu, Guangxiang; Noll, Robert J.; Plass, Wolfgang R.; Hu, Qizhi; Perry, Richard H.; Cooks, R. Graham

2006-07-01

The newly developed version of the multi-particle ion trajectory simulation program, ITSIM 6.0, was applied to simulate ac dipolar excitation of ion axial motion in the Orbitrap. The Orbitrap inner and outer electrodes were generated in AutoCAD, a 3D drawing program. The electrode geometry was imported into the 3D field solver COMSOL; the field array was then imported into ITSIM 6.0. Ion trajectories were calculated by solving Newton's equations using Runge-Kutta integration methods. Compared to the analytical solution, calculated radial components of the field at the device's "equator" (z = 0) were within 0.5% and calculated axial components midway between the inner and outer electrodes were within 0.2%. The experiments simulated here involved the control of axial motion of ions in the Orbitrap by the application of dipolar ac signals to the split outer electrodes, as described in a recently published paper from this laboratory [Hu et al., J. Phys. Chem. A 110 (2006) 2682]. In these experiments, ac signal was applied at the axial resonant frequency of a selected ion. Axial excitation and eventual ion ejection resulted when the ac was in phase with, i.e., had 0° phase relative to ion axial motion. De-excitation of ion axial motion until the ions were at z = 0 and at rest with respect to the z-axis resulted if the applied ac was out of phase with ion motion, with re-excitation of ion axial motion occurring if the dipolar ac was continued beyond this point. Both de-excitation and re-excitation could be achieved mass-selectively and depended on the amplitude and duration (number of cycles) of the applied ac. The effects of ac amplitude, frequency, phase relative to ion motion, and bandwidth of applied waveform were simulated. All simulation results were compared directly with the experimental data and good agreement was observed. Such ion motion control experiments and their simulation provide the possibility to improve Orbitrap performance and to develop tandem mass spectrometry (MS/MS) capabilities inside the Orbitrap.

Soft tissue distraction using pentagonal frame for long-standing traumatic flexion deformity of interphalangeal joints.

PubMed

Nazerani, Shaharm; Keramati, Mohammad Reza; Vahedian, Jalal; Fereshtehnejad, Seyed-Mohammad

2012-01-01

Interphalangeal joint contracture is a challenging complication of hand trauma, which reduces the functional capacity of the entire hand. In this study we evaluated the results of soft tissue distraction with no collateral ligament transection or volar plate removal in comparison with traditional operation of contracture release and partial ligament transection and volar plate removal. In this prospective study, a total of 40 patients in two equal groups (A and B) were studied. Patients suffering from chronic flexion contracture of abrasive traumatic nature were included. Group A were treated by soft tissue distraction using pentagonal frame technique and in Group B the contracture release was followed by finger splinting. Analyzed data revealed a significant difference between the two groups for range of motion in the proximal interphalangeal joints (P less than 0.05), while it was not meaningful in the distal interphalangeal joints (P larger than 0.05). There was not a significant difference in the degrees of flexion contracture between groups (P larger than 0.05). Regression analysis showed that using pentagonal frame technique significantly increased the mean improvement in range of motion of proximal interphalangeal joints (P less than 0.001), while the higher the preoperative flexion contracture was observed in proximal interphalangeal joints, the lower improvement was achieved in range of motion of proximal interphalangeal joints after intervention (P less than 0.001). Soft tissue distraction using pentagonal frame technique with gradual and continuous collateral ligament and surrounding joint tissues distraction combined with skin Z-plasty significantly improves the range of motion in patients with chronic traumatic flexion deformity of proximal and/or distal interphalangeal joints.

Megaquakes, prograde surface waves and urban evolution

NASA Astrophysics Data System (ADS)

Lomnitz, C.; Castaños, H.

2013-05-01

Cities grow according to evolutionary principles. They move away from soft-ground conditions and avoid vulnerable types of structures. A megaquake generates prograde surface waves that produce unexpected damage in modern buildings. The examples (Figs. 1 and 2) were taken from the 1985 Mexico City and the 2010 Concepción, Chile megaquakes. About 400 structures built under supervision according to modern building codes were destroyed in the Mexican earthquake. All were sited on soft ground. A Rayleigh wave will cause surface particles to move as ellipses in a vertical plane. Building codes assume that this motion will be retrograde as on a homogeneous elastic halfspace, but soft soils are intermediate materials between a solid and a liquid. When Poisson's ratio tends to ν→0.5 the particle motion turns prograde as it would on a homogeneous fluid halfspace. Building codes assume that the tilt of the ground is not in phase with the acceleration but we show that structures on soft ground tilt into the direction of the horizontal ground acceleration. The combined effect of gravity and acceleration may destabilize a structure when it is in resonance with its eigenfrequency. Castaños, H. and C. Lomnitz, 2013. Charles Darwin and the 1835 Chile earthquake. Seismol. Res. Lett., 84, 19-23. Lomnitz, C., 1990. Mexico 1985: the case for gravity waves. Geophys. J. Int., 102, 569-572. Malischewsky, P.G. et al., 2008. The domain of existence of prograde Rayleigh-wave particle motion. Wave Motion 45, 556-564.; Figure 1 1985 Mexico megaquake--overturned 15-story apartment building in Mexico City ; Figure 2 2010 Chile megaquake Overturned 15-story R-C apartment building in Concepción

Dynamic imperfections and optimized feedback design in the Compact Linear Collider main linac

NASA Astrophysics Data System (ADS)

Eliasson, Peder

2008-05-01

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

Whole-Body Human Inverse Dynamics with Distributed Micro-Accelerometers, Gyros and Force Sensing †

PubMed Central

Latella, Claudia; Kuppuswamy, Naveen; Romano, Francesco; Traversaro, Silvio; Nori, Francesco

2016-01-01

Human motion tracking is a powerful tool used in a large range of applications that require human movement analysis. Although it is a well-established technique, its main limitation is the lack of estimation of real-time kinetics information such as forces and torques during the motion capture. In this paper, we present a novel approach for a human soft wearable force tracking for the simultaneous estimation of whole-body forces along with the motion. The early stage of our framework encompasses traditional passive marker based methods, inertial and contact force sensor modalities and harnesses a probabilistic computational technique for estimating dynamic quantities, originally proposed in the domain of humanoid robot control. We present experimental analysis on subjects performing a two degrees-of-freedom bowing task, and we estimate the motion and kinetics quantities. The results demonstrate the validity of the proposed method. We discuss the possible use of this technique in the design of a novel soft wearable force tracking device and its potential applications. PMID:27213394

Motion of Solid Grains During Magnetic Field-Assisted Directional Solidification

NASA Astrophysics Data System (ADS)

Wang, Jiang; Lin, Xin; Fautrelle, Yves; Nguyen-Thi, Henri; Ren, Zhongming

2018-06-01

In this paper, we report the visible evidence for thermoelectric magnetic forces (TEMFs) during magnetic field-assisted directional solidification, and their potential to control the motion of solid grains (dendrite fragments or equiaxed grains). These motions are observed by means of synchrotron X-ray radiography and compared with analytic calculations for a spherical particle's motion driven only by TEMFs, which confirms that the observed solid grain motions are the combined result of the TEMFs and gravity. We also carried out corresponding 3D numerical simulations to validate the calculations and further prove our conclusion that TEMF acts on the solid grain and affects its motion trajectory.

Domain walls and the C P anomaly in softly broken supersymmetric QCD

NASA Astrophysics Data System (ADS)

Draper, Patrick

2018-04-01

In ordinary QCD with light, degenerate, fundamental flavors, C P symmetry is spontaneously broken at θ =π , and domain wall solutions connecting the vacua can be constructed in chiral perturbation theory. In some cases the breaking of C P saturates a 't Hooft anomaly, and anomaly inflow requires nontrivial massless excitations on the domain walls. Analogously, C P can be spontaneously broken in supersymmetric QCD (SQCD) with light flavors and small soft breaking parameters. We study C P breaking and domain walls in softly broken SQCD with Nf

Analysis of Modification Mechanism of Gait with Rhythmic Cueing Training Paradigm

NASA Astrophysics Data System (ADS)

Muto, Takeshi; Kanai, Tetsuya; Sakuta, Hiroshi; Miyake, Yoshihiro

In this research, we applied the gait training method which takes in the rhythmic auditory stimulation as a pace maker to the assistance of gait motion, and analyzed the dynamical stability of the period and trajectory of the lower limbs' motions. As the result, it was clarified that, in the training style which presents a constant rhythm, trajectory of ankles was modified as the stable state which has the historical property, but the period of footsteps was not modified but susceptible to the external environment. This result suggests that the hierarchical modification mechanism of motor schema of gait is realized by the connection between the immediate and historical modification system.

Autonomous manipulation on a robot: Summary of manipulator software functions

NASA Technical Reports Server (NTRS)

Lewis, R. A.

1974-01-01

A six degree-of-freedom computer-controlled manipulator is examined, and the relationships between the arm's joint variables and 3-space are derived. Arm trajectories using sequences of third-degree polynomials to describe the time history of each joint variable are presented and two approaches to the avoidance of obstacles are given. The equations of motion for the arm are derived and then decomposed into time-dependent factors and time-independent coefficients. Several new and simplifying relationships among the coefficients are proven. Two sample trajectories are analyzed in detail for purposes of determining the most important contributions to total force in order that relatively simple approximations to the equations of motion can be used.

Dexterity-Enhanced Telerobotic Microsurgery

NASA Technical Reports Server (NTRS)

Charles, Steve; Das, Hari; Ohm, Timothy; Boswell, Curtis; Rodriguez, Guillermo; Steele, Robert; Istrate, Dan

1997-01-01

The work reported in this paper is the result, of a collaboration between researchers at the Jet Propulsion Laboratory and Steve Charles, MD, a vitreo-retinal surgeon. The Robot Assisted MicroSurgery (RAMS) telerobotic workstation developed at JPL is a prototype of a system that will be completely under the manual control of a surgeon. The system has a slave robot that will hold surgical instruments. The slave robot motions replicate in six degrees of freedom those of tile. surgeon's hand measured using a master input device with a surgical instrument, shaped handle. The surgeon commands motions for the instrument by moving the handle in the desired trajectories. The trajectories are measured, filtered, and scaled down then used to drive the slave robot.

Acoustically Driven Fluid and Particle Motion in Confined and Leaky Systems

NASA Astrophysics Data System (ADS)

Barnkob, Rune; Nama, Nitesh; Ren, Liqiang; Huang, Tony Jun; Costanzo, Francesco; Kähler, Christian J.

2018-01-01

The acoustic motion of fluids and particles in confined and acoustically leaky systems is receiving increasing attention for its use in medicine and biotechnology. A number of contradicting physical and numerical models currently exist, but their validity is uncertain due to the unavailability of hard-to-access experimental data for validation. We provide experimental benchmarking data by measuring 3D particle trajectories and demonstrate that the particle trajectories can be described numerically without any fitting parameter by a reduced-fluid model with leaky impedance-wall conditions. The results reveal the hitherto unknown existence of a pseudo-standing wave that drives the acoustic streaming as well as the acoustic radiation force on suspended particles.

Automated detection of videotaped neonatal seizures of epileptic origin.

PubMed

Karayiannis, Nicolaos B; Xiong, Yaohua; Tao, Guozhi; Frost, James D; Wise, Merrill S; Hrachovy, Richard A; Mizrahi, Eli M

2006-06-01

This study aimed at the development of a seizure-detection system by training neural networks with quantitative motion information extracted from short video segments of neonatal seizures of the myoclonic and focal clonic types and random infant movements. The motion of the infants' body parts was quantified by temporal motion-strength signals extracted from video segments by motion-segmentation methods based on optical flow computation. The area of each frame occupied by the infants' moving body parts was segmented by clustering the motion parameters obtained by fitting an affine model to the pixel velocities. The motion of the infants' body parts also was quantified by temporal motion-trajectory signals extracted from video recordings by robust motion trackers based on block-motion models. These motion trackers were developed to adjust autonomously to illumination and contrast changes that may occur during the video-frame sequence. Video segments were represented by quantitative features obtained by analyzing motion-strength and motion-trajectory signals in both the time and frequency domains. Seizure recognition was performed by conventional feed-forward neural networks, quantum neural networks, and cosine radial basis function neural networks, which were trained to detect neonatal seizures of the myoclonic and focal clonic types and to distinguish them from random infant movements. The computational tools and procedures developed for automated seizure detection were evaluated on a set of 240 video segments of 54 patients exhibiting myoclonic seizures (80 segments), focal clonic seizures (80 segments), and random infant movements (80 segments). Regardless of the decision scheme used for interpreting the responses of the trained neural networks, all the neural network models exhibited sensitivity and specificity>90%. For one of the decision schemes proposed for interpreting the responses of the trained neural networks, the majority of the trained neural-network models exhibited sensitivity>90% and specificity>95%. In particular, cosine radial basis function neural networks achieved the performance targets of this phase of the project (i.e., sensitivity>95% and specificity>95%). The best among the motion segmentation and tracking methods developed in this study produced quantitative features that constitute a reliable basis for detecting neonatal seizures. The performance targets of this phase of the project were achieved by combining the quantitative features obtained by analyzing motion-strength signals with those produced by analyzing motion-trajectory signals. The computational procedures and tools developed in this study to perform off-line analysis of short video segments will be used in the next phase of this project, which involves the integration of these procedures and tools into a system that can process and analyze long video recordings of infants monitored for seizures in real time.

An incremental DPMM-based method for trajectory clustering, modeling, and retrieval.

PubMed

Hu, Weiming; Li, Xi; Tian, Guodong; Maybank, Stephen; Zhang, Zhongfei

2013-05-01

Trajectory analysis is the basis for many applications, such as indexing of motion events in videos, activity recognition, and surveillance. In this paper, the Dirichlet process mixture model (DPMM) is applied to trajectory clustering, modeling, and retrieval. We propose an incremental version of a DPMM-based clustering algorithm and apply it to cluster trajectories. An appropriate number of trajectory clusters is determined automatically. When trajectories belonging to new clusters arrive, the new clusters can be identified online and added to the model without any retraining using the previous data. A time-sensitive Dirichlet process mixture model (tDPMM) is applied to each trajectory cluster for learning the trajectory pattern which represents the time-series characteristics of the trajectories in the cluster. Then, a parameterized index is constructed for each cluster. A novel likelihood estimation algorithm for the tDPMM is proposed, and a trajectory-based video retrieval model is developed. The tDPMM-based probabilistic matching method and the DPMM-based model growing method are combined to make the retrieval model scalable and adaptable. Experimental comparisons with state-of-the-art algorithms demonstrate the effectiveness of our algorithm.

Deformable Self-Propelled Micro-Object Comprising Underwater Oil Droplets

NASA Astrophysics Data System (ADS)

Banno, Taisuke; Asami, Arisa; Ueno, Naoko; Kitahata, Hiroyuki; Koyano, Yuki; Asakura, Kouichi; Toyota, Taro

2016-08-01

The self-propelled motion with deformation of micrometer-sized soft matter in water has potential application not only for underwater carriers or probes in very narrow spaces but also for understanding cell locomotion in terms of non-equilibrium physics. As far as we know, there have been no reports about micrometer-sized self-propelled soft matter mimicking amoeboid motion underwater. Here, we report an artificial molecular system of underwater oil droplets exhibiting self-propelled motion with deformation as an initial experimental model. We describe the heterogeneity in a deformable self-propelled oil droplet system in aqueous and oil phases and at their interface based on the behavior and interaction of surfactant and oil molecules. The current results have great importance for scientific frontiers such as developing deformable micro-swimmers and exploring the emergence of self-locomotion of oil droplet-type protocells.

Deformable Self-Propelled Micro-Object Comprising Underwater Oil Droplets.

PubMed

Banno, Taisuke; Asami, Arisa; Ueno, Naoko; Kitahata, Hiroyuki; Koyano, Yuki; Asakura, Kouichi; Toyota, Taro

2016-08-09

The self-propelled motion with deformation of micrometer-sized soft matter in water has potential application not only for underwater carriers or probes in very narrow spaces but also for understanding cell locomotion in terms of non-equilibrium physics. As far as we know, there have been no reports about micrometer-sized self-propelled soft matter mimicking amoeboid motion underwater. Here, we report an artificial molecular system of underwater oil droplets exhibiting self-propelled motion with deformation as an initial experimental model. We describe the heterogeneity in a deformable self-propelled oil droplet system in aqueous and oil phases and at their interface based on the behavior and interaction of surfactant and oil molecules. The current results have great importance for scientific frontiers such as developing deformable micro-swimmers and exploring the emergence of self-locomotion of oil droplet-type protocells.

Living liquid crystals

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

Zhou, S.; Sokolov, A.; Lavrentovich, O. D.

2014-01-13

Collective motion of self-propelled organisms or synthetic par­ticles, often termed •active fluid,• has attracted enormous atten­tion in the broad scientific community because of its fundamentally nonequilibrium nature. Energy input and interactions among the moving units and the medium lead to complex dynamics. Here,we introduce a class of active matter-living liquid crystals (UCs}­ that combines living swimming bacteria with a lyotropic liquid crystal. The physical properties of LLCs can be controlled by the amount of oxygen available to bacteria, by concentration of ingre­dients, or by temperature. Our studies reveal a wealth of intriguing dynamic phenomena. caused by the coupling between themore » activity-triggered flow and long-range orientational order of the medium. Among these are (i) nonlinear trajectories of bacterial motion guided by nonuniform director, (ii) local melting of the liquid crystal caused by the bacteria-produced shear flows, (iii) activity-triggered transition from a nonflowing uniform state into a flowing one-dimensional periodic pattern and its evolution into a turbulent array of topological defects, and (iv) birefringence­ enabled visualization of microflow generated by the nanometers­ thick bacterial flagella. Unlike their isotropic counterpart, the LLCs show collective dynamic effects at very low volume fraction of bacteria, on the order of 0.2%. Our work suggests an unorthodox design concept to control and manipulate the dynamic behavior of soft active matter and opens the door for potential biosensing and biomedical applications.« less

Time and Space: Undergraduate Mexican Physics in Motion

ERIC Educational Resources Information Center

Candela, Antonia

2010-01-01

This is an ethnographic study of the trajectories and itineraries of undergraduate physics students at a Mexican university. In this work learning is understood as being able to move oneself and, other things (cultural tools), through the space-time networks of a discipline (Nespor in Knowledge in motion: space, time and curriculum in…

Unsteady Adjoint Approach for Design Optimization of Flapping Airfoils

NASA Technical Reports Server (NTRS)

Lee, Byung Joon; Liou, Meng-Sing

2012-01-01

This paper describes the work for optimizing the propulsive efficiency of flapping airfoils, i.e., improving the thrust under constraining aerodynamic work during the flapping flights by changing their shape and trajectory of motion with the unsteady discrete adjoint approach. For unsteady problems, it is essential to properly resolving time scales of motion under consideration and it must be compatible with the objective sought after. We include both the instantaneous and time-averaged (periodic) formulations in this study. For the design optimization with shape parameters or motion parameters, the time-averaged objective function is found to be more useful, while the instantaneous one is more suitable for flow control. The instantaneous objective function is operationally straightforward. On the other hand, the time-averaged objective function requires additional steps in the adjoint approach; the unsteady discrete adjoint equations for a periodic flow must be reformulated and the corresponding system of equations solved iteratively. We compare the design results from shape and trajectory optimizations and investigate the physical relevance of design variables to the flapping motion at on- and off-design conditions.

Dissipative quantum trajectories in complex space: Damped harmonic oscillator

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

Chou, Chia-Chun, E-mail: ccchou@mx.nthu.edu.tw

Dissipative quantum trajectories in complex space are investigated in the framework of the logarithmic nonlinear Schrödinger equation. The logarithmic nonlinear Schrödinger equation provides a phenomenological description for dissipative quantum systems. Substituting the wave function expressed in terms of the complex action into the complex-extended logarithmic nonlinear Schrödinger equation, we derive the complex quantum Hamilton–Jacobi equation including the dissipative potential. It is shown that dissipative quantum trajectories satisfy a quantum Newtonian equation of motion in complex space with a friction force. Exact dissipative complex quantum trajectories are analyzed for the wave and solitonlike solutions to the logarithmic nonlinear Schrödinger equation formore » the damped harmonic oscillator. These trajectories converge to the equilibrium position as time evolves. It is indicated that dissipative complex quantum trajectories for the wave and solitonlike solutions are identical to dissipative complex classical trajectories for the damped harmonic oscillator. This study develops a theoretical framework for dissipative quantum trajectories in complex space.« less

Numerical simulation of rotating body movement in medium with various densities

NASA Astrophysics Data System (ADS)

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

2016-10-01

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

A Motion Tracking and Sensor Fusion Module for Medical Simulation.

PubMed

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

2016-01-01

Here we introduce a motion tracking or navigation module for medical simulation systems. Our main contribution is a sensor fusion method for proximity or distance sensors integrated with inertial measurement unit (IMU). Since IMU rotation tracking has been widely studied, we focus on the position or trajectory tracking of the instrument moving freely within a given boundary. In our experiments, we have found that this module reliably tracks instrument motion.

WE-AB-209-06: Dynamic Collimator Trajectory Algorithm for Use in VMAT Treatment Deliveries

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

MacDonald, L; Thomas, C; Syme, A

2016-06-15

Purpose: To develop advanced dynamic collimator positioning algorithms for optimal beam’s-eye-view (BEV) fitting of targets in VMAT procedures, including multiple metastases stereotactic radiosurgery procedures. Methods: A trajectory algorithm was developed, which can dynamically modify the angle of the collimator as a function of VMAT control point to provide optimized collimation of target volume(s). Central to this algorithm is a concept denoted “whitespace”, defined as area within the jaw-defined BEV field, outside of the PTV, and not shielded by the MLC when fit to the PTV. Calculating whitespace at all collimator angles and every control point, a two-dimensional topographical map depictingmore » the tightness-of-fit of the MLC was generated. A variety of novel searching algorithms identified a number of candidate trajectories of continuous collimator motion. Ranking these candidate trajectories according to their accrued whitespace value produced an optimal solution for navigation of this map. Results: All trajectories were normalized to minimum possible (i.e. calculated without consideration of collimator motion constraints) accrued whitespace. On an acoustic neuroma case, a random walk algorithm generated a trajectory with 151% whitespace; random walk including a mandatory anchor point improved this to 148%; gradient search produced a trajectory with 137%; and bi-directional gradient search generated a trajectory with 130% whitespace. For comparison, a fixed collimator angle of 30° and 330° accumulated 272% and 228% of whitespace, respectively. The algorithm was tested on a clinical case with two metastases (single isocentre) and identified collimator angles that allow for simultaneous irradiation of the PTVs while minimizing normal tissue irradiation. Conclusion: Dynamic collimator trajectories have the potential to improve VMAT deliveries through increased efficiency and reduced normal tissue dose, especially in treatment of multiple cranial metastases, without significant safety concerns that hinder immediate clinical implementation.« less

Statistical Trajectory Estimation Program (STEP) implementation for BLDT post flight trajectory simulation

NASA Technical Reports Server (NTRS)

Shields, W. E.

1973-01-01

Tests were conducted to provide flight conditions for qualifying the Viking Decelerator System in a simulated Mars environment. A balloon launched decelerator test (BLDT) vehicle which has an external shape similar to the actual Mars Viking Lander Capsule was used so that the decelerator would be deployed in the wake of a blunt body. An effort was made to simulate the BLDT vehicle flights from the time they were dropped from the balloon, through decelerator deployment, until stable decelerator conditions were reached. The procedure used to simulate these flights using the Statistical Trajectory Estimation Program (STEP) is discussed. Using primarily ground-based position radar and vehicle onboard rate gyro and accelerometer data, the STEP produces a minimum variance solution of the vehicle trajectory and calculates vehicle attitude histories. Using film from cameras in the vehicle along with a computer program, attitude histories for portions of the flight before and after decelerator deployment were calculated independent of the STEP simulation. With the assumption that the vehicle motions derived from camera data are accurate, a comparison reveals that STEP was able to simulate vehicle motions for all flights both before and after decelerator deployment.

Trajectory study of supercollision relaxation in highly vibrationally excited pyrazine and CO2.

PubMed

Li, Ziman; Sansom, Rebecca; Bonella, Sara; Coker, David F; Mullin, Amy S

2005-09-01

Classical trajectory calculations were performed to simulate state-resolved energy transfer experiments of highly vibrationally excited pyrazine (E(vib) = 37,900 cm(-1)) and CO(2), which were conducted using a high-resolution transient infrared absorption spectrometer. The goal here is to use classical trajectories to simulate the supercollision energy transfer pathway wherein large amounts of energy are transferred in single collisions in order to compare with experimental results. In the trajectory calculations, Newton's laws of motion are used for the molecular motion, isolated molecules are treated as collections of harmonic oscillators, and intermolecular potentials are formed by pairwise Lennard-Jones potentials. The calculations qualitatively reproduce the observed energy partitioning in the scattered CO(2) molecules and show that the relative partitioning between bath rotation and translation is dependent on the moment of inertia of the bath molecule. The simulations show that the low-frequency modes of the vibrationally excited pyrazine contribute most to the strong collisions. The majority of collisions lead to small DeltaE values and primarily involve single encounters between the energy donor and acceptor. The large DeltaE exchanges result from both single impulsive encounters and chattering collisions that involve multiple encounters.

Turbulence and the Stabilization Principle

NASA Technical Reports Server (NTRS)

Zak, Michail

2010-01-01

Further results of research, reported in several previous NASA Tech Briefs articles, were obtained on a mathematical formalism for postinstability motions of a dynamical system characterized by exponential divergences of trajectories leading to chaos (including turbulence). To recapitulate: Fictitious control forces are introduced to couple the dynamical equations with a Liouville equation that describes the evolution of the probability density of errors in initial conditions. These forces create a powerful terminal attractor in probability space that corresponds to occurrence of a target trajectory with probability one. The effect in ordinary perceived three-dimensional space is to suppress exponential divergences of neighboring trajectories without affecting the target trajectory. Con sequently, the postinstability motion is represented by a set of functions describing the evolution of such statistical quantities as expectations and higher moments, and this representation is stable. The previously reported findings are analyzed from the perspective of the authors Stabilization Principle, according to which (1) stability is recognized as an attribute of mathematical formalism rather than of underlying physics and (2) a dynamical system that appears unstable when modeled by differentiable functions only can be rendered stable by modifying the dynamical equations to incorporate intrinsic stochasticity.

A device for characterising the mechanical properties of the plantar soft tissue of the foot.

PubMed

Parker, D; Cooper, G; Pearson, S; Crofts, G; Howard, D; Busby, P; Nester, C

2015-11-01

The plantar soft tissue is a highly functional viscoelastic structure involved in transferring load to the human body during walking. A Soft Tissue Response Imaging Device was developed to apply a vertical compression to the plantar soft tissue whilst measuring the mechanical response via a combined load cell and ultrasound imaging arrangement. Accuracy of motion compared to input profiles; validation of the response measured for standard materials in compression; variability of force and displacement measures for consecutive compressive cycles; and implementation in vivo with five healthy participants. Static displacement displayed average error of 0.04 mm (range of 15 mm), and static load displayed average error of 0.15 N (range of 250 N). Validation tests showed acceptable agreement compared to a Houndsfield tensometer for both displacement (CMC > 0.99 RMSE > 0.18 mm) and load (CMC > 0.95 RMSE < 4.86 N). Device motion was highly repeatable for bench-top tests (ICC = 0.99) and participant trials (CMC = 1.00). Soft tissue response was found repeatable for intra (CMC > 0.98) and inter trials (CMC > 0.70). The device has been shown to be capable of implementing complex loading patterns similar to gait, and of capturing the compressive response of the plantar soft tissue for a range of loading conditions in vivo. Copyright © 2015. Published by Elsevier Ltd.

Self-sustained lift and low friction via soft lubrication

PubMed Central

Saintyves, Baudouin; Jules, Theo; Salez, Thomas; Mahadevan, L.

2016-01-01

Relative motion between soft wet solids arises in a number of applications in natural and artificial settings, and invariably couples elastic deformation fluid flow. We explore this in a minimal setting by considering a fluid-immersed negatively buoyant cylinder moving along a soft inclined wall. Our experiments show that there is an emergent robust steady-state sliding regime of the cylinder with an effective friction that is significantly reduced relative to that of rigid fluid-lubricated contacts. A simple scaling approach that couples the cylinder-induced flow to substrate deformation allows us to explain the elastohydrodynamic lift that underlies the self-sustained lubricated motion of the cylinder, consistent with recent theoretical predictions. Our results suggest an explanation for a range of effects such as reduced wear in animal joints and long-runout landslides, and can be couched as a design principle for low-friction interfaces. PMID:27162361

Soft 2D nanoarchitectonics

NASA Astrophysics Data System (ADS)

Ariga, Katsuhiko; Watanabe, Shun; Mori, Taizo; Takeya, Jun

2018-04-01

Nanoarchitectonics is a new paradigm to combine and unify nanotechnology with other sciences and technologies, such as supramolecular chemistry, self-assembly, self-organization, materials technology for manipulation of the size of material objects, and even biotechnology for hybridization with bio-components. The nanoarchitectonic concept leads to the synergistic combination of various methodologies in materials production, including atomic/molecular-level control, self-organization, and field-controlled organization. The focus of this review is on soft 2D nanoarchitectonics. Scientific views on soft 2D nanomaterials are not fully established compared with those on rigid 2D materials. Here, we collect recent examples of 2D nanoarchitectonic constructions of functional materials and systems with soft components. These examples are selected according to the following three categories on the basis of 2D spatial density and motional freedom: (i) well-packed and oriented organic 2D materials with rational design of component molecules and device applications, (ii) well-defined assemblies with 2D porous structures as 2D network materials, and (iii) 2D control of molecular machines and receptors on the basis of certain motional freedom confined in two dimensions.

Optimal flight trajectories in the presence of windshear, 1984-86

NASA Technical Reports Server (NTRS)

Miele, A.

1986-01-01

Optimal flight trajectories were determined in the presence of windshear and guidance schemes were developed for near optimum flight in a windshear. This is a wind characterized by sharp change in intensity and direction over a relatively small region of space. This problem is important in the takeoff and landing of both civilian airplanes and military airplanes and is key to aircraft saftey. The topics covered in reference to takeoff problems are: equations of motion, problem formulation, algorithms, optimal flight trajectories, advanced guidance schemes, simplified guidance schemes, and piloting strategies.

Optimal trajectory generation for mechanical arms. M.S. Thesis

NASA Technical Reports Server (NTRS)

Iemenschot, J. A.

1972-01-01

A general method of generating optimal trajectories between an initial and a final position of an n degree of freedom manipulator arm with nonlinear equations of motion is proposed. The method is based on the assumption that the time history of each of the coordinates can be expanded in a series of simple time functions. By searching over the coefficients of the terms in the expansion, trajectories which minimize the value of a given cost function can be obtained. The method has been applied to a planar three degree of freedom arm.

Cloud motion in relation to the ambient wind field

NASA Technical Reports Server (NTRS)

Fuelberg, H. E.; Scoggins, J. R.

1975-01-01

Trajectories of convective clouds were computed from a mathematical model and compared with trajectories observed by radar. The ambient wind field was determined from the AVE IIP data. The model includes gradient, coriolis, drag, lift, and lateral forces. The results show that rotational effects may account for large differences between the computed and observed trajectories and that convective clouds may move 10 to 20 degrees to the right or left of the average wind vector and at speeds 5 to 10 m/sec faster or slower than the average ambient wind speed.

Integration of Visual and Joint Information to Enable Linear Reaching Motions

NASA Astrophysics Data System (ADS)

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

2017-01-01

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

Extension of Liouville Formalism to Postinstability Dynamics

NASA Technical Reports Server (NTRS)

Zak, Michail

2003-01-01

A mathematical formalism has been developed for predicting the postinstability motions of a dynamic system governed by a system of nonlinear equations and subject to initial conditions. Previously, there was no general method for prediction and mathematical modeling of postinstability behaviors (e.g., chaos and turbulence) in such a system. The formalism of nonlinear dynamics does not afford means to discriminate between stable and unstable motions: an additional stability analysis is necessary for such discrimination. However, an additional stability analysis does not suggest any modifications of a mathematical model that would enable the model to describe postinstability motions efficiently. The most important type of instability that necessitates a postinstability description is associated with positive Lyapunov exponents. Such an instability leads to exponential growth of small errors in initial conditions or, equivalently, exponential divergence of neighboring trajectories. The development of the present formalism was undertaken in an effort to remove positive Lyapunov exponents. The means chosen to accomplish this is coupling of the governing dynamical equations with the corresponding Liouville equation that describes the evolution of the flow of error probability. The underlying idea is to suppress the divergences of different trajectories that correspond to different initial conditions, without affecting a target trajectory, which is one that starts with prescribed initial conditions.

Classification of Dynamical Diffusion States in Single Molecule Tracking Microscopy

PubMed Central

Bosch, Peter J.; Kanger, Johannes S.; Subramaniam, Vinod

2014-01-01

Single molecule tracking of membrane proteins by fluorescence microscopy is a promising method to investigate dynamic processes in live cells. Translating the trajectories of proteins to biological implications, such as protein interactions, requires the classification of protein motion within the trajectories. Spatial information of protein motion may reveal where the protein interacts with cellular structures, because binding of proteins to such structures often alters their diffusion speed. For dynamic diffusion systems, we provide an analytical framework to determine in which diffusion state a molecule is residing during the course of its trajectory. We compare different methods for the quantification of motion to utilize this framework for the classification of two diffusion states (two populations with different diffusion speed). We found that a gyration quantification method and a Bayesian statistics-based method are the most accurate in diffusion-state classification for realistic experimentally obtained datasets, of which the gyration method is much less computationally demanding. After classification of the diffusion, the lifetime of the states can be determined, and images of the diffusion states can be reconstructed at high resolution. Simulations validate these applications. We apply the classification and its applications to experimental data to demonstrate the potential of this approach to obtain further insights into the dynamics of cell membrane proteins. PMID:25099798

Surface waves on a soft viscoelastic layer produced by an oscillating microbubble.

PubMed

Tinguely, Marc; Hennessy, Matthew G; Pommella, Angelo; Matar, Omar K; Garbin, Valeria

2016-05-14

Ultrasound-driven bubbles can cause significant deformation of soft viscoelastic layers, for instance in surface cleaning and biomedical applications. The effect of the viscoelastic properties of a boundary on the bubble-boundary interaction has been explored only qualitatively, and remains poorly understood. We investigate the dynamic deformation of a viscoelastic layer induced by the volumetric oscillations of an ultrasound-driven microbubble. High-speed video microscopy is used to observe the deformation produced by a bubble oscillating at 17-20 kHz in contact with the surface of a hydrogel. The localised oscillating pressure applied by the bubble generates surface elastic (Rayleigh) waves on the gel, characterised by elliptical particle trajectories. The tilt angle of the elliptical trajectories varies with increasing distance from the bubble. Unexpectedly, the direction of rotation of the surface elements on the elliptical trajectories shifts from prograde to retrograde at a distance from the bubble that depends on the viscoelastic properties of the gel. To explain these behaviours, we develop a simple three-dimensional model for the deformation of a viscoelastic solid by a localised oscillating force. By using as input for the model the values of the shear modulus obtained from the propagation velocity of the Rayleigh waves, we find good qualitative agreement with the experimental observations.

Focusing of Shear Shock Waves

NASA Astrophysics Data System (ADS)

Giammarinaro, Bruno; Espíndola, David; Coulouvrat, François; Pinton, Gianmarco

2018-01-01

Focusing is a ubiquitous way to transform waves. Recently, a new type of shock wave has been observed experimentally with high-frame-rate ultrasound: shear shock waves in soft solids. These strongly nonlinear waves are characterized by a high Mach number, because the shear wave velocity is much slower, by 3 orders of magnitude, than the longitudinal wave velocity. Furthermore, these waves have a unique cubic nonlinearity which generates only odd harmonics. Unlike longitudinal waves for which only compressional shocks are possible, shear waves exhibit cubic nonlinearities which can generate positive and negative shocks. Here we present the experimental observation of shear shock wave focusing, generated by the vertical motion of a solid cylinder section embedded in a soft gelatin-graphite phantom to induce linearly vertically polarized motion. Raw ultrasound data from high-frame-rate (7692 images per second) acquisitions in combination with algorithms that are tuned to detect small displacements (approximately 1 μ m ) are used to generate quantitative movies of gel motion. The features of shear shock wave focusing are analyzed by comparing experimental observations with numerical simulations of a retarded-time elastodynamic equation with cubic nonlinearities and empirical attenuation laws for soft solids.

KALI - An environment for the programming and control of cooperative manipulators

NASA Technical Reports Server (NTRS)

Hayward, Vincent; Hayati, Samad

1988-01-01

A design description is given of a controller for cooperative robots. The background and motivation for multiple arm control are discussed. A set of programming primitives which permit a programmer to specify cooperative tasks are described. Motion primitives specify asynchronous motions, master/slave motions, and cooperative motions. In the context of cooperative robots, trajectory generation issues are discussed and the authors' implementation briefly described. The relations between programming and control in the case of multiple robots are examined. The allocation of various tasks among a multiprocessor computer is described.

SENS-5D trajectory and wind-sensitivity calculations for unguided rockets

NASA Technical Reports Server (NTRS)

Singh, R. P.; Huang, L. C. P.; Cook, R. A.

1975-01-01

A computational procedure is described which numerically integrates the equations of motion of an unguided rocket. Three translational and two angular (roll discarded) degrees of freedom are integrated through the final burnout; and then, through impact, only three translational motions are considered. Input to the routine is: initial time, altitude and velocity, vehicle characteristics, and other defined options. Input format has a wide range of flexibility for special calculations. Output is geared mainly to the wind-weighting procedure, and includes summary of trajectory at burnout, apogee and impact, summary of spent-stage trajectories, detailed position and vehicle data, unit-wind effects for head, tail and cross winds, coriolis deflections, range derivative, and the sensitivity curves (the so called F(Z) and DF(Z) curves). The numerical integration procedure is a fourth-order, modified Adams-Bashforth Predictor-Corrector method. This method is supplemented by a fourth-order Runge-Kutta method to start the integration at t=0 and whenever error criteria demand a change in step size.

One-dimensional numerical study of charged particle trajectories in turbulent electrostatic wave fields

NASA Technical Reports Server (NTRS)

Graham, K. N.; Fejer, J. A.

1976-01-01

The paper describes a numerical simulation of electron trajectories in weak random electric fields under conditions that are approximately true for Langmuir waves whose wavelength is much longer than the Debye length. Two types of trajectory calculations were made: (1) the initial particle velocity was made equal to the mean phase velocity of the waves, or (2) it was equal to 0.7419 times the mean velocity of the waves, so that the initial velocity differed substantially from all phase velocities of the wave spectrum. When the autocorrelation time is much greater than the trapping time, the particle motion can change virtually instantaneously from one of three states - high-velocity, low-velocity, or trapped state - to another. The probability of instantaneous transition from a high- or low-velocity state becomes small when the difference between the particle velocity and the mean phase velocity of the waves becomes high in comparison to the trapping velocity. Diffusive motion becomes negligible under these conditions also.

Superintegrability of the Fock-Darwin system

NASA Astrophysics Data System (ADS)

Drigho-Filho, E.; Kuru, Ş.; Negro, J.; Nieto, L. M.

2017-08-01

The Fock-Darwin system is analyzed from the point of view of its symmetry properties in the quantum and classical frameworks. The quantum Fock-Darwin system is known to have two sets of ladder operators, a fact which guarantees its solvability. We show that for rational values of the quotient of two relevant frequencies, this system is superintegrable, the quantum symmetries being responsible for the degeneracy of the energy levels. These symmetries are of higher order and close a polynomial algebra. In the classical case, the ladder operators are replaced by ladder functions and the symmetries by constants of motion. We also prove that the rational classical system is superintegrable and its trajectories are closed. The constants of motion are also generators of symmetry transformations in the phase space that have been integrated for some special cases. These transformations connect different trajectories with the same energy. The coherent states of the quantum superintegrable system are found and they reproduce the closed trajectories of the classical one.

Active motion assisted by correlated stochastic torques.

PubMed

Weber, Christian; Radtke, Paul K; Schimansky-Geier, Lutz; Hänggi, Peter

2011-07-01

The stochastic dynamics of an active particle undergoing a constant speed and additionally driven by an overall fluctuating torque is investigated. The random torque forces are expressed by a stochastic differential equation for the angular dynamics of the particle determining the orientation of motion. In addition to a constant torque, the particle is supplemented by random torques, which are modeled as an Ornstein-Uhlenbeck process with given correlation time τ(c). These nonvanishing correlations cause a persistence of the particles' trajectories and a change of the effective spatial diffusion coefficient. We discuss the mean square displacement as a function of the correlation time and the noise intensity and detect a nonmonotonic dependence of the effective diffusion coefficient with respect to both correlation time and noise strength. A maximal diffusion behavior is obtained if the correlated angular noise straightens the curved trajectories, interrupted by small pirouettes, whereby the correlated noise amplifies a straightening of the curved trajectories caused by the constant torque.

Parallel Robot for Lower Limb Rehabilitation Exercises.

PubMed

Rastegarpanah, Alireza; Saadat, Mozafar; Borboni, Alberto

2016-01-01

The aim of this study is to investigate the capability of a 6-DoF parallel robot to perform various rehabilitation exercises. The foot trajectories of twenty healthy participants have been measured by a Vicon system during the performing of four different exercises. Based on the kinematics and dynamics of a parallel robot, a MATLAB program was developed in order to calculate the length of the actuators, the actuators' forces, workspace, and singularity locus of the robot during the performing of the exercises. The calculated length of the actuators and the actuators' forces were used by motion analysis in SolidWorks in order to simulate different foot trajectories by the CAD model of the robot. A physical parallel robot prototype was built in order to simulate and execute the foot trajectories of the participants. Kinect camera was used to track the motion of the leg's model placed on the robot. The results demonstrate the robot's capability to perform a full range of various rehabilitation exercises.

Parallel Robot for Lower Limb Rehabilitation Exercises

PubMed Central

Saadat, Mozafar; Borboni, Alberto

2016-01-01

The aim of this study is to investigate the capability of a 6-DoF parallel robot to perform various rehabilitation exercises. The foot trajectories of twenty healthy participants have been measured by a Vicon system during the performing of four different exercises. Based on the kinematics and dynamics of a parallel robot, a MATLAB program was developed in order to calculate the length of the actuators, the actuators' forces, workspace, and singularity locus of the robot during the performing of the exercises. The calculated length of the actuators and the actuators' forces were used by motion analysis in SolidWorks in order to simulate different foot trajectories by the CAD model of the robot. A physical parallel robot prototype was built in order to simulate and execute the foot trajectories of the participants. Kinect camera was used to track the motion of the leg's model placed on the robot. The results demonstrate the robot's capability to perform a full range of various rehabilitation exercises. PMID:27799727

Improvement of operational prediction system applied to the oil spill prediction in the Yellow Sea

NASA Astrophysics Data System (ADS)

Kim, C.; Cho, Y.; Choi, B.; Jung, K.

2012-12-01

Multi-nested operational prediction system for the Yellow Sea (YS) has been developed to predict the movement of oil spill. Drifter trajectory simulations were performed to predict the path of the oil spill of the MV Hebei Spirit accident occurred on 7 December 2007. The oil spill trajectories at the surface predicted by numerical model without tidal forcing were remarkably faster than the observation. However the speed of drifters predicted by model considering tide was satisfactorily improved not only for the motion with tidal cycle but also for the motion with subtidal period. The subtidal flow of the simulation with tide was weaker than that without tide due to tidal stress. Tidal stress decelerated the southward subtidal flows driven by northwesterly wind along the Korean coast of the YS in winter. This result provides a substantial implication that tide must be included for accurate prediction of oil spill trajectory not only for variation within a tidal cycle but also for longer time scale advection in tide dominant area.

Characterizing spatiotemporal information loss in sparse-sampling-based dynamic MRI for monitoring respiration-induced tumor motion in radiotherapy

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

Arai, Tatsuya J.; Nofiele, Joris; Yuan, Qing

Purpose: Sparse-sampling and reconstruction techniques represent an attractive strategy to achieve faster image acquisition speeds, while maintaining adequate spatial resolution and signal-to-noise ratio in rapid magnetic resonance imaging (MRI). The authors investigate the use of one such sequence, broad-use linear acquisition speed-up technique (k-t BLAST) in monitoring tumor motion for thoracic and abdominal radiotherapy and examine the potential trade-off between increased sparsification (to increase imaging speed) and the potential loss of “true” information due to greater reliance on a priori information. Methods: Lung tumor motion trajectories in the superior–inferior direction, previously recorded from ten lung cancer patients, were replayed usingmore » a motion phantom module driven by an MRI-compatible motion platform. Eppendorf test tubes filled with water which serve as fiducial markers were placed in the phantom. The modeled rigid and deformable motions were collected in a coronal image slice using balanced fast field echo in conjunction with k-t BLAST. Root mean square (RMS) error was used as a metric of spatial accuracy as measured trajectories were compared to input data. The loss of spatial information was characterized for progressively increasing acceleration factor from 1 to 16; the resultant sampling frequency was increased approximately from 2.5 to 19 Hz when the principal direction of the motion was set along frequency encoding direction. In addition to the phantom study, respiration-induced tumor motions were captured from two patients (kidney tumor and lung tumor) at 13 Hz over 49 s to demonstrate the impact of high speed motion monitoring over multiple breathing cycles. For each subject, the authors compared the tumor centroid trajectory as well as the deformable motion during free breathing. Results: In the rigid and deformable phantom studies, the RMS error of target tracking at the acquisition speed of 19 Hz was approximately 0.3–0.4 mm, which was smaller than the reconstructed pixel resolution of 0.67 mm. In the patient study, the dynamic 2D MRI enabled the monitoring of cycle-to-cycle respiratory variability present in the tumor position. It was seen that the range of centroid motion as well as the area covered due to target motion during each individual respiratory cycle was underestimated compared to the entire motion range observed over multiple breathing cycles. Conclusions: The authors’ initial results demonstrate that sparse-sampling- and reconstruction-based dynamic MRI can be used to achieve adequate image acquisition speeds without significant information loss for the task of radiotherapy guidance. Such monitoring can yield spatial and temporal information superior to conventional offline and online motion capture methods used in thoracic and abdominal radiotherapy.« less

Characterizing spatiotemporal information loss in sparse-sampling-based dynamic MRI for monitoring respiration-induced tumor motion in radiotherapy.

PubMed

Arai, Tatsuya J; Nofiele, Joris; Madhuranthakam, Ananth J; Yuan, Qing; Pedrosa, Ivan; Chopra, Rajiv; Sawant, Amit

2016-06-01

Sparse-sampling and reconstruction techniques represent an attractive strategy to achieve faster image acquisition speeds, while maintaining adequate spatial resolution and signal-to-noise ratio in rapid magnetic resonance imaging (MRI). The authors investigate the use of one such sequence, broad-use linear acquisition speed-up technique (k-t BLAST) in monitoring tumor motion for thoracic and abdominal radiotherapy and examine the potential trade-off between increased sparsification (to increase imaging speed) and the potential loss of "true" information due to greater reliance on a priori information. Lung tumor motion trajectories in the superior-inferior direction, previously recorded from ten lung cancer patients, were replayed using a motion phantom module driven by an MRI-compatible motion platform. Eppendorf test tubes filled with water which serve as fiducial markers were placed in the phantom. The modeled rigid and deformable motions were collected in a coronal image slice using balanced fast field echo in conjunction with k-t BLAST. Root mean square (RMS) error was used as a metric of spatial accuracy as measured trajectories were compared to input data. The loss of spatial information was characterized for progressively increasing acceleration factor from 1 to 16; the resultant sampling frequency was increased approximately from 2.5 to 19 Hz when the principal direction of the motion was set along frequency encoding direction. In addition to the phantom study, respiration-induced tumor motions were captured from two patients (kidney tumor and lung tumor) at 13 Hz over 49 s to demonstrate the impact of high speed motion monitoring over multiple breathing cycles. For each subject, the authors compared the tumor centroid trajectory as well as the deformable motion during free breathing. In the rigid and deformable phantom studies, the RMS error of target tracking at the acquisition speed of 19 Hz was approximately 0.3-0.4 mm, which was smaller than the reconstructed pixel resolution of 0.67 mm. In the patient study, the dynamic 2D MRI enabled the monitoring of cycle-to-cycle respiratory variability present in the tumor position. It was seen that the range of centroid motion as well as the area covered due to target motion during each individual respiratory cycle was underestimated compared to the entire motion range observed over multiple breathing cycles. The authors' initial results demonstrate that sparse-sampling- and reconstruction-based dynamic MRI can be used to achieve adequate image acquisition speeds without significant information loss for the task of radiotherapy guidance. Such monitoring can yield spatial and temporal information superior to conventional offline and online motion capture methods used in thoracic and abdominal radiotherapy.

Characterizing spatiotemporal information loss in sparse-sampling-based dynamic MRI for monitoring respiration-induced tumor motion in radiotherapy

PubMed Central

Arai, Tatsuya J.; Nofiele, Joris; Madhuranthakam, Ananth J.; Yuan, Qing; Pedrosa, Ivan; Chopra, Rajiv; Sawant, Amit

2016-01-01

Purpose: Sparse-sampling and reconstruction techniques represent an attractive strategy to achieve faster image acquisition speeds, while maintaining adequate spatial resolution and signal-to-noise ratio in rapid magnetic resonance imaging (MRI). The authors investigate the use of one such sequence, broad-use linear acquisition speed-up technique (k-t BLAST) in monitoring tumor motion for thoracic and abdominal radiotherapy and examine the potential trade-off between increased sparsification (to increase imaging speed) and the potential loss of “true” information due to greater reliance on a priori information. Methods: Lung tumor motion trajectories in the superior–inferior direction, previously recorded from ten lung cancer patients, were replayed using a motion phantom module driven by an MRI-compatible motion platform. Eppendorf test tubes filled with water which serve as fiducial markers were placed in the phantom. The modeled rigid and deformable motions were collected in a coronal image slice using balanced fast field echo in conjunction with k-t BLAST. Root mean square (RMS) error was used as a metric of spatial accuracy as measured trajectories were compared to input data. The loss of spatial information was characterized for progressively increasing acceleration factor from 1 to 16; the resultant sampling frequency was increased approximately from 2.5 to 19 Hz when the principal direction of the motion was set along frequency encoding direction. In addition to the phantom study, respiration-induced tumor motions were captured from two patients (kidney tumor and lung tumor) at 13 Hz over 49 s to demonstrate the impact of high speed motion monitoring over multiple breathing cycles. For each subject, the authors compared the tumor centroid trajectory as well as the deformable motion during free breathing. Results: In the rigid and deformable phantom studies, the RMS error of target tracking at the acquisition speed of 19 Hz was approximately 0.3–0.4 mm, which was smaller than the reconstructed pixel resolution of 0.67 mm. In the patient study, the dynamic 2D MRI enabled the monitoring of cycle-to-cycle respiratory variability present in the tumor position. It was seen that the range of centroid motion as well as the area covered due to target motion during each individual respiratory cycle was underestimated compared to the entire motion range observed over multiple breathing cycles. Conclusions: The authors’ initial results demonstrate that sparse-sampling- and reconstruction-based dynamic MRI can be used to achieve adequate image acquisition speeds without significant information loss for the task of radiotherapy guidance. Such monitoring can yield spatial and temporal information superior to conventional offline and online motion capture methods used in thoracic and abdominal radiotherapy. PMID:27277029

A principal component analysis of the dynamics of subdomains and binding sites in human serum albumin.

PubMed

Paris, Guillaume; Ramseyer, Christophe; Enescu, Mironel

2014-05-01

The conformational dynamics of human serum albumin (HSA) was investigated by principal component analysis (PCA) applied to three molecular dynamics trajectories of 200 ns each. The overlap of the essential subspaces spanned by the first 10 principal components (PC) of different trajectories was about 0.3 showing that the PCA based on a trajectory length of 200 ns is not completely convergent for this protein. The contributions of the relative motion of subdomains and of the subdomains (internal) distortion to the first 10 PCs were found to be comparable. Based on the distribution of the first 3 PC, 10 protein conformers are identified showing relative root mean square deviations (RMSD) between 2.3 and 4.6 Å. The main PCs are found to be delocalized over the whole protein structure indicating that the motions of different protein subdomains are coupled. This coupling is considered as being related to the allosteric effects observed upon ligand binding to HSA. On the other hand, the first PC of one of the three trajectories describes a conformational transition of the protein domain I that is close to that experimentally observed upon myristate binding. This is a theoretical support for the older hypothesis stating that changes of the protein onformation favorable to binding can precede the ligand complexation. A detailed all atoms PCA performed on the primary Sites 1 and 2 confirms the multiconformational character of the HSA binding sites as well as the significant coupling of their motions. Copyright © 2013 Wiley Periodicals, Inc.

A Lorentz model for weak magnetic field bioeffects: part I--thermal noise is an essential component of AC/DC effects on bound ion trajectory.

PubMed

Muehsam, David J; Pilla, Arthur A

2009-09-01

We have previously employed the Lorentz-Langevin model to describe the effects of weak exogenous magnetic fields via the classical Lorentz force on a charged ion bound in a harmonic oscillator potential, in the presence of thermal noise forces. Previous analyses predicted that microT-range fields give rise to a rotation of the oscillator orientation at the Larmor frequency and bioeffects were based upon the assumption that the classical trajectory of the bound charge itself could modulate a biochemical process. Here, it is shown that the thermal component of the motion follows the Larmor trajectory. The results show that the Larmor frequency is independent of the thermal noise strength, and the motion retains the form of a coherent oscillator throughout the binding lifetime, rather than devolving into a random walk. Thermal equilibration results in a continual increase in the vibrational amplitude of the rotating oscillator towards the steady-state amplitude, but does not affect the Larmor orbit. Thus, thermal noise contributes to, rather than inhibits, the effect of the magnetic field upon reactivity. Expressions are derived for the ensemble average of position and the velocity of the thermal component of the oscillator motion. The projection of position and velocity onto a Cartesian axis measures the nonuniformity of the Larmor trajectory and is illustrated for AC and combined AC/DC magnetic fields, suggesting a means of interpreting resonance phenomena. It is noted that the specific location and height of resonances are dependent upon binding lifetime and initial AC phase.

Spared Ability to Perceive Direction of Locomotor Heading and Scene-Relative Object Movement Despite Inability to Perceive Relative Motion

PubMed Central

Vaina, Lucia M.; Buonanno, Ferdinando; Rushton, Simon K.

2014-01-01

Background All contemporary models of perception of locomotor heading from optic flow (the characteristic patterns of retinal motion that result from self-movement) begin with relative motion. Therefore it would be expected that an impairment on perception of relative motion should impact on the ability to judge heading and other 3D motion tasks. Material/Methods We report two patients with occipital lobe lesions whom we tested on a battery of motion tasks. Patients were impaired on all tests that involved relative motion in plane (motion discontinuity, form from differences in motion direction or speed). Despite this they retained the ability to judge their direction of heading relative to a target. A potential confound is that observers can derive information about heading from scale changes bypassing the need to use optic flow. Therefore we ran further experiments in which we isolated optic flow and scale change. Results Patients’ performance was in normal ranges on both tests. The finding that ability to perceive heading can be retained despite an impairment on ability to judge relative motion questions the assumption that heading perception proceeds from initial processing of relative motion. Furthermore, on a collision detection task, SS and SR’s performance was significantly better for simulated forward movement of the observer in the 3D scene, than for the static observer. This suggests that in spite of severe deficits on relative motion in the frontoparlel (xy) plane, information from self-motion helped identification objects moving along an intercept 3D relative motion trajectory. Conclusions This result suggests a potential use of a flow parsing strategy to detect in a 3D world the trajectory of moving objects when the observer is moving forward. These results have implications for developing rehabilitation strategies for deficits in visually guided navigation. PMID:25183375

Curved trajectories of actin-based motility in two dimensions

NASA Astrophysics Data System (ADS)

Wen, Fu-Lai; Leung, Kwan-tai; Chen, Hsuan-Yi

2012-05-01

Recent experiments have reported fascinating geometrical trajectories for actin-based motility of bacteria Listeria monocytogenes and functionalized beads. To understand the physical mechanism for these trajectories, we constructed a phenomenological model to study the motion of an actin-propelled disk in two dimensions. In our model, the force and actin density on the surface of the disk are influenced by the translation and rotation of the disk, which in turn is induced by the asymmetric distributions of those densities. We show that this feedback can destabilize a straight trajectory, leading to circular, S-shape and other geometrical trajectories observed in the experiments through bifurcations in the distributions of the force and actin density. The relation between our model and the models for self-propelled deformable particles is emphasized and discussed.

Multigait soft robot

PubMed Central

Shepherd, Robert F.; Ilievski, Filip; Choi, Wonjae; Morin, Stephen A.; Stokes, Adam A.; Mazzeo, Aaron D.; Chen, Xin; Wang, Michael; Whitesides, George M.

2011-01-01

This manuscript describes a unique class of locomotive robot: A soft robot, composed exclusively of soft materials (elastomeric polymers), which is inspired by animals (e.g., squid, starfish, worms) that do not have hard internal skeletons. Soft lithography was used to fabricate a pneumatically actuated robot capable of sophisticated locomotion (e.g., fluid movement of limbs and multiple gaits). This robot is quadrupedal; it uses no sensors, only five actuators, and a simple pneumatic valving system that operates at low pressures (< 10 psi). A combination of crawling and undulation gaits allowed this robot to navigate a difficult obstacle. This demonstration illustrates an advantage of soft robotics: They are systems in which simple types of actuation produce complex motion. PMID:22123978

Lane changing trajectory planning and tracking control for intelligent vehicle on curved road.

PubMed

Wang, Lukun; Zhao, Xiaoying; Su, Hao; Tang, Gongyou

2016-01-01

This paper explores lane changing trajectory planning and tracking control for intelligent vehicle on curved road. A novel arcs trajectory is planned for the desired lane changing trajectory. A kinematic controller and a dynamics controller are designed to implement the trajectory tracking control. Firstly, the kinematic model and dynamics model of intelligent vehicle with non-holonomic constraint are established. Secondly, two constraints of lane changing on curved road in practice (LCCP) are proposed. Thirdly, two arcs with same curvature are constructed for the desired lane changing trajectory. According to the geometrical characteristics of arcs trajectory, equations of desired state can be calculated. Finally, the backstepping method is employed to design a kinematic trajectory tracking controller. Then the sliding-mode dynamics controller is designed to ensure that the motion of the intelligent vehicle can follow the desired velocity generated by kinematic controller. The stability of control system is proved by Lyapunov theory. Computer simulation demonstrates that the desired arcs trajectory and state curves with B-spline optimization can meet the requirements of LCCP constraints and the proposed control schemes can make tracking errors to converge uniformly.

Program manual for ASTOP, an Arbitrary space trajectory optimization program

NASA Technical Reports Server (NTRS)

Horsewood, J. L.

1974-01-01

The ASTOP program (an Arbitrary Space Trajectory Optimization Program) designed to generate optimum low-thrust trajectories in an N-body field while satisfying selected hardware and operational constraints is presented. The trajectory is divided into a number of segments or arcs over which the control is held constant. This constant control over each arc is optimized using a parameter optimization scheme based on gradient techniques. A modified Encke formulation of the equations of motion is employed. The program provides a wide range of constraint, end conditions, and performance index options. The basic approach is conducive to future expansion of features such as the incorporation of new constraints and the addition of new end conditions.

A eutectic-alloy-infused soft actuator with sensing, tunable degrees of freedom, and stiffness properties

NASA Astrophysics Data System (ADS)

Hao, Yufei; Wang, Tianmiao; Xie, Zhexin; Sun, Wenguang; Liu, Zemin; Fang, Xi; Yang, Minxuan; Wen, Li

2018-02-01

This paper presents a soft actuator embedded with two types of eutectic alloys which enable sensing, tunable mechanical degrees of freedom (DOF), and variable stiffness properties. To modulate the stiffness of the actuator, we embedded a low melting point alloy (LMPA) in the bottom portion of the soft actuator. Different sections of the LMPA could be selectively melted by the Ni-Cr wires twined underneath. To acquire the curvature information, EGaIn (eutectic gallium indium) was infused into a microchannel surrounding the chambers of the soft actuator. Systematic experiments were performed to characterize the stiffness, tunable DOF, and sensing the bending curvature. We found that the average bending force and elasticity modulus could be increased about 35 and 4000 times, respectively, with the LMPA in a solid state. The entire LMPA could be melted from a solid to a liquid state within 12 s. In particular, up to six different motion patterns could be achieved under each pneumatic pressure of the soft actuator. Furthermore, the kinematics of the actuator under different motion patterns could be obtained by a mathematical model whose input was provided by the EGaIn sensor. For demonstration purposes, a two-fingered gripper was fabricated to grasp various objects by adjusting the DOF and mechanical stiffness.

GENERAL RELATIVITY DERIVATION OF BEAM REST-FRAME HAMILTONIAN.

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

WEI,J.

2001-06-18

Analysis of particle interaction in the laboratory frame of storage rings is often complicated by the fact that particle motion is relativistic, and that reference particle trajectory is curved. Rest frame of the reference particle is a convenient coordinate system to work with, within which particle motion is non-relativistic. We have derived the equations of motion in the beam rest frame from the general relativity formalism, and have successfully applied them to the analysis of crystalline beams [1].

Fast instantaneous center of rotation estimation algorithm for a skied-steered robot

NASA Astrophysics Data System (ADS)

Kniaz, V. V.

2015-05-01

Skid-steered robots are widely used as mobile platforms for machine vision systems. However it is hard to achieve a stable motion of such robots along desired trajectory due to an unpredictable wheel slip. It is possible to compensate the unpredictable wheel slip and stabilize the motion of the robot using visual odometry. This paper presents a fast optical flow based algorithm for estimation of instantaneous center of rotation, angular and longitudinal speed of the robot. The proposed algorithm is based on Horn-Schunck variational optical flow estimation method. The instantaneous center of rotation and motion of the robot is estimated by back projection of optical flow field to the ground surface. The developed algorithm was tested using skid-steered mobile robot. The robot is based on a mobile platform that includes two pairs of differential driven motors and a motor controller. Monocular visual odometry system consisting of a singleboard computer and a low cost webcam is mounted on the mobile platform. A state-space model of the robot was derived using standard black-box system identification. The input (commands) and the output (motion) were recorded using a dedicated external motion capture system. The obtained model was used to control the robot without visual odometry data. The paper is concluded with the algorithm quality estimation by comparison of the trajectories estimated by the algorithm with the data from motion capture system.

Scale Changes Provide an Alternative Cue For the Discrimination of Heading, But Not Object Motion

PubMed Central

Calabro, Finnegan J.; Vaina, Lucia Maria

2016-01-01

Background Understanding the dynamics of our surrounding environments is a task usually attributed to the detection of motion based on changes in luminance across space. Yet a number of other cues, both dynamic and static, have been shown to provide useful information about how we are moving and how objects around us move. One such cue, based on changes in spatial frequency, or scale, over time has been shown to be useful in conveying motion in depth even in the absence of a coherent, motion-defined flow field (optic flow). Material/Methods 16 right handed healthy observers (ages 18–28) participated in the behavioral experiments described in this study. Using analytical behavioral methods we investigate the functional specificity of this cue by measuring the ability of observers to perform tasks of heading (direction of self-motion) and 3D trajectory discrimination on the basis of scale changes and optic flow. Results Statistical analyses of performance on the test-experiments in comparison to the control experiments suggests that while scale changes may be involved in the detection of heading, they are not correctly integrated with translational motion and, thus, do not provide a correct discrimination of 3D object trajectories. Conclusions These results have the important implication for the type of visual guided navigation that can be done by an observer blind to optic flow. Scale change is an important alternative cue for self-motion. PMID:27231114

Scale Changes Provide an Alternative Cue For the Discrimination of Heading, But Not Object Motion.

PubMed

Calabro, Finnegan J; Vaina, Lucia Maria

2016-05-27

BACKGROUND Understanding the dynamics of our surrounding environments is a task usually attributed to the detection of motion based on changes in luminance across space. Yet a number of other cues, both dynamic and static, have been shown to provide useful information about how we are moving and how objects around us move. One such cue, based on changes in spatial frequency, or scale, over time has been shown to be useful in conveying motion in depth even in the absence of a coherent, motion-defined flow field (optic flow). MATERIAL AND METHODS 16 right handed healthy observers (ages 18-28) participated in the behavioral experiments described in this study. Using analytical behavioral methods we investigate the functional specificity of this cue by measuring the ability of observers to perform tasks of heading (direction of self-motion) and 3D trajectory discrimination on the basis of scale changes and optic flow. RESULTS Statistical analyses of performance on the test-experiments in comparison to the control experiments suggests that while scale changes may be involved in the detection of heading, they are not correctly integrated with translational motion and, thus, do not provide a correct discrimination of 3D object trajectories. CONCLUSIONS These results have the important implication for the type of visual guided navigation that can be done by an observer blind to optic flow. Scale change is an important alternative cue for self-motion.

Universal Algorithm for Identification of Fractional Brownian Motion. A Case of Telomere Subdiffusion

PubMed Central

Burnecki, Krzysztof; Kepten, Eldad; Janczura, Joanna; Bronshtein, Irena; Garini, Yuval; Weron, Aleksander

2012-01-01

We present a systematic statistical analysis of the recently measured individual trajectories of fluorescently labeled telomeres in the nucleus of living human cells. The experiments were performed in the U2OS cancer cell line. We propose an algorithm for identification of the telomere motion. By expanding the previously published data set, we are able to explore the dynamics in six time orders, a task not possible earlier. As a result, we establish a rigorous mathematical characterization of the stochastic process and identify the basic mathematical mechanisms behind the telomere motion. We find that the increments of the motion are stationary, Gaussian, ergodic, and even more chaotic—mixing. Moreover, the obtained memory parameter estimates, as well as the ensemble average mean square displacement reveal subdiffusive behavior at all time spans. All these findings statistically prove a fractional Brownian motion for the telomere trajectories, which is confirmed by a generalized p-variation test. Taking into account the biophysical nature of telomeres as monomers in the chromatin chain, we suggest polymer dynamics as a sufficient framework for their motion with no influence of other models. In addition, these results shed light on other studies of telomere motion and the alternative telomere lengthening mechanism. We hope that identification of these mechanisms will allow the development of a proper physical and biological model for telomere subdynamics. This array of tests can be easily implemented to other data sets to enable quick and accurate analysis of their statistical characteristics. PMID:23199912

Final Report: CNC Micromachines LDRD No.10793

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

JOKIEL JR., BERNHARD; BENAVIDES, GILBERT L.; BIEG, LOTHAR F.

2003-04-01

The three-year LDRD ''CNC Micromachines'' was successfully completed at the end of FY02. The project had four major breakthroughs in spatial motion control in MEMS: (1) A unified method for designing scalable planar and spatial on-chip motion control systems was developed. The method relies on the use of parallel kinematic mechanisms (PKMs) that when properly designed provide different types of motion on-chip without the need for post-fabrication assembly, (2) A new type of actuator was developed--the linear stepping track drive (LSTD) that provides open loop linear position control that is scalable in displacement, output force and step size. Several versionsmore » of this actuator were designed, fabricated and successfully tested. (3) Different versions of XYZ translation only and PTT motion stages were designed, successfully fabricated and successfully tested demonstrating absolutely that on-chip spatial motion control systems are not only possible, but are a reality. (4) Control algorithms, software and infrastructure based on MATLAB were created and successfully implemented to drive the XYZ and PTT motion platforms in a controlled manner. The control software is capable of reading an M/G code machine tool language file, decode the instructions and correctly calculate and apply position and velocity trajectories to the motion devices linear drive inputs to position the device platform along the trajectory as specified by the input file. A full and detailed account of design methodology, theory and experimental results (failures and successes) is provided.« less

Path integral analysis of Jarzynski's equality: Analytical results

NASA Astrophysics Data System (ADS)

Minh, David D. L.; Adib, Artur B.

2009-02-01

We apply path integrals to study nonequilibrium work theorems in the context of Brownian dynamics, deriving in particular the equations of motion governing the most typical and most dominant trajectories. For the analytically soluble cases of a moving harmonic potential and a harmonic oscillator with a time-dependent natural frequency, we find such trajectories, evaluate the work-weighted propagators, and validate Jarzynski’s equality.

Roller Coasters without Differential Equations--A Newtonian Approach to Constrained Motion

ERIC Educational Resources Information Center

Muller, Rainer

2010-01-01

Within the context of Newton's equation, we present a simple approach to the constrained motion of a body forced to move along a specified trajectory. Because the formalism uses a local frame of reference, it is simpler than other methods, making more complicated geometries accessible. No Lagrangian multipliers are necessary to determine the…

Slipping and Rolling on an Inclined Plane

ERIC Educational Resources Information Center

Aghamohammadi, Cina; Aghamohammadi, Amir

2011-01-01

In the first part of the paper, using a direct calculation two-dimensional motion of a particle sliding on an inclined plane is investigated for general values of friction coefficient ([mu]). A parametric equation for the trajectory of the particle is also obtained. In the second part of the paper, the motion of a sphere on the inclined plane is…

Effects of the reconnection electric field on crescent electron distribution functions in asymmetric guide field reconnection

NASA Astrophysics Data System (ADS)

Bessho, N.; Chen, L. J.; Hesse, M.; Wang, S.

2017-12-01

In asymmetric reconnection with a guide field in the Earth's magnetopause, electron motion in the electron diffusion region (EDR) is largely affected by the guide field, the Hall electric field, and the reconnection electric field. The electron motion in the EDR is neither simple gyration around the guide field nor simple meandering motion across the current sheet. The combined meandering motion and gyration has essential effects on particle acceleration by the in-plane Hall electric field (existing only in the magnetospheric side) and the out-of-plane reconnection electric field. We analyze electron motion and crescent-shaped electron distribution functions in the EDR in asymmetric guide field reconnection, and perform 2-D particle-in-cell (PIC) simulations to elucidate the effect of reconnection electric field on electron distribution functions. Recently, we have analytically expressed the acceleration effect due to the reconnection electric field on electron crescent distribution functions in asymmetric reconnection without a guide field (Bessho et al., Phys. Plasmas, 24, 072903, 2017). We extend the theory to asymmetric guide field reconnection, and predict the crescent bulge in distribution functions. Assuming 1D approximation of field variations in the EDR, we derive the time period of oscillatory electron motion (meandering + gyration) in the EDR. The time period is expressed as a hybrid of the meandering period and the gyro period. Due to the guide field, electrons not only oscillate along crescent-shaped trajectories in the velocity plane perpendicular to the antiparallel magnetic fields, but also move along parabolic trajectories in the velocity plane coplanar with magnetic field. The trajectory in the velocity space gradually shifts to the acceleration direction by the reconnection electric field as multiple bounces continue. Due to the guide field, electron distributions for meandering particles are bounded by two paraboloids (or hyperboloids) in the velocity space. We compare theory and PIC simulation results of the velocity shift of crescent distribution functions based on the derived time period of bounce motion in a guide field. Theoretical predictions are applied to electron distributions observed by MMS in magnetopause reconnection to estimate the reconnection electric field.

Relaxing USOS Solar Array Constraints for Russian Vehicle Undocking

NASA Technical Reports Server (NTRS)

Menkin, Evgeny; Schrock, Mariusz; Schrock, Rita; Zaczek, Mariusz; Gomez, Susan; Lee, Roscoe; Bennet, George

2011-01-01

With the retirement of Space Shuttle cargo delivery capability and the ten year life extension of the International Space Station (ISS) more emphasis is being put on preservation of the service life of ISS critical components. Current restrictions on the United States Orbital Segment (USOS) Solar Array (SA) positioning during Russian Vehicle (RV) departure from ISS nadir and zenith ports cause SA to be positioned in the plume field of Service Module thrusters and lead to degradation of SAs as well as potential damage to Sun tracking Beta Gimbal Assemblies (BGA). These restrictions are imposed because of the single fault tolerant RV Motion Control System (MCS), which does not meet ISS Safety requirements for catastrophic hazards and dictates 16 degree Solar Array Rotary Joint position, which ensures that ISS and RV relative motion post separation, does lead to collision. The purpose of this paper is to describe a methodology and the analysis that was performed to determine relative motion trajectories of the ISS and separating RV for nominal and contingency cases. Analysis was performed in three phases that included ISS free drift prior to Visiting Vehicle separation, ISS and Visiting Vehicle relative motion analysis and clearance analysis. First, the ISS free drift analysis determined the worst case attitude and attitude rate excursions prior to RV separation based on a series of different configurations and mass properties. Next, the relative motion analysis calculated the separation trajectories while varying the initial conditions, such as docking mechanism performance, Visiting Vehicle MCS failure, departure port location, ISS attitude and attitude rates at the time of separation, etc. The analysis employed both orbital mechanics and rigid body rotation calculations while accounting for various atmospheric conditions and gravity gradient effects. The resulting relative motion trajectories were then used to determine the worst case separation envelopes during the clearance analysis. Analytical models were developed individually for each stage and the results were used to build initial conditions for the following stages. In addition to the analysis approach, this paper also discusses the analysis results, showing worst case relative motion envelopes, the recommendations for ISS appendage positioning and the suggested approach for future analyses.

Deformable Self-Propelled Micro-Object Comprising Underwater Oil Droplets

PubMed Central

Banno, Taisuke; Asami, Arisa; Ueno, Naoko; Kitahata, Hiroyuki; Koyano, Yuki; Asakura, Kouichi; Toyota, Taro

2016-01-01

The self-propelled motion with deformation of micrometer-sized soft matter in water has potential application not only for underwater carriers or probes in very narrow spaces but also for understanding cell locomotion in terms of non-equilibrium physics. As far as we know, there have been no reports about micrometer-sized self-propelled soft matter mimicking amoeboid motion underwater. Here, we report an artificial molecular system of underwater oil droplets exhibiting self-propelled motion with deformation as an initial experimental model. We describe the heterogeneity in a deformable self-propelled oil droplet system in aqueous and oil phases and at their interface based on the behavior and interaction of surfactant and oil molecules. The current results have great importance for scientific frontiers such as developing deformable micro-swimmers and exploring the emergence of self-locomotion of oil droplet-type protocells. PMID:27503336

Optical pseudomotors for soft x-ray beamlines

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

Pedreira, P., E-mail: ppedreira@cells.es; Sics, I.; Sorrentino, A.

2016-05-15

Optical elements of soft x-ray beamlines usually have motorized translations and rotations that allow for the fine alignment of the beamline. This is to steer the photon beam at some positions and to correct the focus on slits or on sample. Generally, each degree of freedom of a mirror induces a change of several parameters of the beam. Inversely, several motions are required to actuate on a single optical parameter, keeping the others unchanged. We define optical pseudomotors as combinations of physical motions of the optical elements of a beamline, which allow modifying one optical parameter without affecting the others.more » We describe a method to obtain analytic relationships between physical motions of mirrors and the corresponding variations of the beam parameters. This method has been implemented and tested at two beamlines at ALBA, where it is used to control the focus of the photon beam and its position independently.« less

A comparison of two computer-automated semen analysis instruments for the evaluation of sperm motion characteristics in the stallion.

PubMed

Jasko, D J; Lein, D H; Foote, R H

1990-01-01

Two commercially available computer-automate semen analysis instruments (CellSoft Automated Semen Analyzer and HTM-2000 Motion Analyzer) were compared for their ability to report similar results based on the analysis of pre-recorded video tapes of extended, motile stallion semen. The determinations of the percentage of motile cells by these instruments were more similar than the comparisons between subjective estimates and either instrument. However, mean values obtained from the same sample may still differ by as much as 30 percentage units between instruments. Instruments varied with regard to the determinations of mean sperm curvilinear velocity and sperm concentration, but mean sperm linearity determinations were similar between the instruments. We concluded that the determinations of sperm motion characteristics by subjective estimation, CellSoft Automated Semen Analyzer, and HTM-2000 Motility Analyzer are often dissimilar, making direct comparisons of results difficult.

A plant tendril mimic soft actuator with phototunable bending and chiral twisting motion modes

NASA Astrophysics Data System (ADS)

Wang, Meng; Lin, Bao-Ping; Yang, Hong

2016-12-01

In nature, plant tendrils can produce two fundamental motion modes, bending and chiral twisting (helical curling) distortions, under the stimuli of sunlight, humidity, wetting or other atmospheric conditions. To date, many artificial plant-like mechanical machines have been developed. Although some previously reported materials could realize bending or chiral twisting through tailoring the samples into various ribbons along different orientations, each single ribbon could execute only one deformation mode. The challenging task is how to endow one individual plant tendril mimic material with two different, fully tunable and reversible motion modes (bending and chiral twisting). Here we show a dual-layer, dual-composition polysiloxane-based liquid crystal soft actuator strategy to synthesize a plant tendril mimic material capable of performing two different three-dimensional reversible transformations (bending versus chiral twisting) through modulation of the wavelength band of light stimuli (ultraviolet versus near-infrared). This material has broad application prospects in biomimetic control devices.

A plant tendril mimic soft actuator with phototunable bending and chiral twisting motion modes.

PubMed

Wang, Meng; Lin, Bao-Ping; Yang, Hong

2016-12-22

In nature, plant tendrils can produce two fundamental motion modes, bending and chiral twisting (helical curling) distortions, under the stimuli of sunlight, humidity, wetting or other atmospheric conditions. To date, many artificial plant-like mechanical machines have been developed. Although some previously reported materials could realize bending or chiral twisting through tailoring the samples into various ribbons along different orientations, each single ribbon could execute only one deformation mode. The challenging task is how to endow one individual plant tendril mimic material with two different, fully tunable and reversible motion modes (bending and chiral twisting). Here we show a dual-layer, dual-composition polysiloxane-based liquid crystal soft actuator strategy to synthesize a plant tendril mimic material capable of performing two different three-dimensional reversible transformations (bending versus chiral twisting) through modulation of the wavelength band of light stimuli (ultraviolet versus near-infrared). This material has broad application prospects in biomimetic control devices.

Neck motion, motor control, pain and disability: A longitudinal study of associations in neck pain patients in physiotherapy treatment.

PubMed

Meisingset, Ingebrigt; Stensdotter, Ann-Katrin; Woodhouse, Astrid; Vasseljen, Ottar

2016-04-01

Neck pain is associated with several alterations in neck motion and motor control, but most of the findings are based on cross-sectional studies. The aim of this study was to investigate associations between changes in neck motion and motor control, and changes in neck pain and disability in physiotherapy patients during a course of treatment. Prospective cohort study. Subjects with non-specific neck pain (n = 71) participated in this study. Neck flexibility, joint position error (JPE), head steadiness, trajectory movement control and postural sway were recorded before commencement of physiotherapy (baseline), at 2 weeks, and at 2 months. Numerical Rating Scale and Neck Disability Index were used to measure neck pain and disability at the day of testing. To analyze within subjects effects in neck motion and motor control, neck pain, and disability over time we used fixed effects linear regression analysis. Changes in neck motion and motor control occurred primarily within 2 weeks. Reduction in neck pain was associated with increased cervical range of motion in flexion-/extension and increased postural sway when standing with eyes open. Decreased neck disability was associated with some variables for neck flexibility and trajectory movement control. Cervical range of motion in flexion-/extension was the only variable associated with changes in both neck pain and neck disability. This study shows that few of the variables for neck motion and motor control were associated with changes neck pain and disability over a course of 2 months with physiotherapy treatment. Copyright © 2015 Elsevier Ltd. All rights reserved.

Testing inflation and curvaton scenarios with CMB distortions

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

Clesse, Sébastien; Garbrecht, Björn; Zhu, Yi, E-mail: s.clesse@tum.de, E-mail: garbrecht@tum.de, E-mail: yi.zhu@tum.de

2014-10-01

Prior to recombination, Silk damping causes the dissipation of energy from acoustic waves into the monopole of the Cosmic Microwave Background (CMB), resulting in spectral distortions. These can be used to probe the primordial scalar power spectrum on smaller scales than it is possible with CMB anisotropies. An enhancement of power on these scales is nevertheless required for the resulting distortions to be detectable by future experiments like PIXIE. In this paper, we examine all 49 single-field inflation models listed by Martin et al. in the Encyclopaedia Inflationaris [1] and find that only one of these may lead to amore » detectable level of distortions in a tuned region of its parameter space, namely the original hybrid model. Three effective multi-field scenarios are also studied: with softly and suddenly turning trajectories, and with a mild waterfall trajectory. Softly turning trajectories do not induce distortions at any detectable level, whereas a sudden turn in the field space or a mild waterfall trajectory predicts a peak (plus damped oscillations in the sudden turn case) in the scalar power spectrum, which can lead to an observable amount of CMB distortions. Finally, another scenario leading to potentially detectable distortions involves a curvaton whose blue spectrum is subdominant on CMB angular scales and overtakes the inflaton spectrum on smaller scales. In this case however, we show that the bounds from ultra compact minihaloes are not satisfied. Expectations for an ultimate PRISM-class experiment characterized by an improvement in sensitivity by a factor of ten are discussed for some models.« less

Quaternion regularization in celestial mechanics, astrodynamics, and trajectory motion control. III

NASA Astrophysics Data System (ADS)

Chelnokov, Yu. N.

2015-09-01

The present paper1 analyzes the basic problems arising in the solution of problems of the optimum control of spacecraft (SC) trajectory motion (including the Lyapunov instability of solutions of conjugate equations) using the principle of the maximum. The use of quaternion models of astrodynamics is shown to allow: (1) the elimination of singular points in the differential phase and conjugate equations and in their partial analytical solutions; (2) construction of the first integrals of the new quaternion; (3) a considerable decrease of the dimensions of systems of differential equations of boundary value optimization problems with their simultaneous simplification by using the new quaternion variables related with quaternion constants of motion by rotation transformations; (4) construction of general solutions of differential equations for phase and conjugate variables on the sections of SC passive motion in the simplest and most convenient form, which is important for the solution of optimum pulse SC transfers; (5) the extension of the possibilities of the analytical investigation of differential equations of boundary value problems with the purpose of identifying the basic laws of optimum control and motion of SC; (6) improvement of the computational stability of the solution of boundary value problems; (7) a decrease in the required volume of computation.

Multi-objective four-dimensional vehicle motion planning in large dynamic environments.

PubMed

Wu, Paul P-Y; Campbell, Duncan; Merz, Torsten

2011-06-01

This paper presents Multi-Step A∗ (MSA∗), a search algorithm based on A∗ for multi-objective 4-D vehicle motion planning (three spatial and one time dimensions). The research is principally motivated by the need for offline and online motion planning for autonomous unmanned aerial vehicles (UAVs). For UAVs operating in large dynamic uncertain 4-D environments, the motion plan consists of a sequence of connected linear tracks (or trajectory segments). The track angle and velocity are important parameters that are often restricted by assumptions and a grid geometry in conventional motion planners. Many existing planners also fail to incorporate multiple decision criteria and constraints such as wind, fuel, dynamic obstacles, and the rules of the air. It is shown that MSA∗ finds a cost optimal solution using variable length, angle, and velocity trajectory segments. These segments are approximated with a grid-based cell sequence that provides an inherent tolerance to uncertainty. The computational efficiency is achieved by using variable successor operators to create a multiresolution memory-efficient lattice sampling structure. The simulation studies on the UAV flight planning problem show that MSA∗ meets the time constraints of online replanning and finds paths of equivalent cost but in a quarter of the time (on average) of a vector neighborhood-based A∗.

Human pelvis motions when walking and when riding a therapeutic horse.

PubMed

Garner, Brian A; Rigby, B Rhett

2015-02-01

A prevailing rationale for equine assisted therapies is that the motion of a horse can provide sensory stimulus and movement patterns that mimic those of natural human activities such as walking. The purpose of this study was to quantitatively measure and compare human pelvis motions when walking to those when riding a horse. Six able-bodied children (inexperienced riders, 8-12years old) participated in over-ground trials of self-paced walking and leader-paced riding on four different horses. Five kinematic measures were extracted from three-dimensional pelvis motion data: anteroposterior, superoinferior, and mediolateral translations, list angle about the anteroposterior axis, and twist angle about the superoinferior axis. There was generally as much or more variability in motion range observed between riding on the different horses as between riding and walking. Pelvis trajectories exhibited many similar features between walking and riding, including distorted lemniscate patterns in the transverse and frontal planes. In the sagittal plane the pelvis trajectory during walking exhibited a somewhat circular pattern whereas during riding it exhibited a more diagonal pattern. This study shows that riding on a horse can generate movement patterns in the human pelvis that emulate many, but not all, characteristics of those during natural walking. Copyright © 2014 Elsevier B.V. All rights reserved.

Perception of Animacy from the Motion of a Single Sound Object.

PubMed

Nielsen, Rasmus Høll; Vuust, Peter; Wallentin, Mikkel

2015-02-01

Research in the visual modality has shown that the presence of certain dynamics in the motion of an object has a strong effect on whether or not the entity is perceived as animate. Cues for animacy are, among others, self-propelled motion and direction changes that are seemingly not caused by entities external to, or in direct contact with, the moving object. The present study aimed to extend this research into the auditory domain by determining if similar dynamics could influence the perceived animacy of a sound source. In two experiments, participants were presented with single, synthetically generated 'mosquito' sounds moving along trajectories in space, and asked to rate how certain they were that each sound-emitting entity was alive. At a random point on a linear motion trajectory, the sound source would deviate from its initial path and speed. Results confirm findings from the visual domain that a change in the velocity of motion is positively correlated with perceived animacy, and changes in direction were found to influence animacy judgment as well. This suggests that an ability to facilitate and sustain self-movement is perceived as a living quality not only in the visual domain, but in the auditory domain as well. © 2015 SAGE Publications.

Improved configuration control for redundant robots

NASA Technical Reports Server (NTRS)

Seraji, H.; Colbaugh, R.

1990-01-01

This article presents a singularity-robust task-prioritized reformulation of the configuration control scheme for redundant robot manipulators. This reformulation suppresses large joint velocities near singularities, at the expense of small task trajectory errors. This is achieved by optimally reducing the joint velocities to induce minimal errors in the task performance by modifying the task trajectories. Furthermore, the same framework provides a means for assignment of priorities between the basic task of end-effector motion and the user-defined additional task for utilizing redundancy. This allows automatic relaxation of the additional task constraints in favor of the desired end-effector motion, when both cannot be achieved exactly. The improved configuration control scheme is illustrated for a variety of additional tasks, and extensive simulation results are presented.

Adiabatic particle motion in a nearly drift-free magnetic field - Application to the geomagnetic tail

NASA Technical Reports Server (NTRS)

Stern, D. P.

1978-01-01

An investigation is made of the adiabatic particle motion occurring in an almost drift-free magnetic field. The dependence of the mean drift velocity on the equatorial pitch angle and the variation of the local drift velocity along the trajectories is studied. The fields considered are two-dimensional and resemble the geomagnetic tail. Derivations are presented for instantaneous and average drift velocities, bounce times, longitudinal invariants, and approximations to the adiabatic Hamiltonian. As expected, the mean drift velocity is significantly smaller than the instantaneous drift velocities found at typical points on the trajectory. The slow drift indicates that particles advance in the dawn-dusk direction rather slowly in the plasma sheet of the magnetospheric tail.

Using chaos to generate variations on movement sequences

NASA Astrophysics Data System (ADS)

Bradley, Elizabeth; Stuart, Joshua

1998-12-01

We describe a method for introducing variations into predefined motion sequences using a chaotic symbol-sequence reordering technique. A progression of symbols representing the body positions in a dance piece, martial arts form, or other motion sequence is mapped onto a chaotic trajectory, establishing a symbolic dynamics that links the movement sequence and the attractor structure. A variation on the original piece is created by generating a trajectory with slightly different initial conditions, inverting the mapping, and using special corpus-based graph-theoretic interpolation schemes to smooth any abrupt transitions. Sensitive dependence guarantees that the variation is different from the original; the attractor structure and the symbolic dynamics guarantee that the two resemble one another in both aesthetic and mathematical senses.

Adaptive robust motion trajectory tracking control of pneumatic cylinders with LuGre model-based friction compensation

NASA Astrophysics Data System (ADS)

Meng, Deyuan; Tao, Guoliang; Liu, Hao; Zhu, Xiaocong

2014-07-01

Friction compensation is particularly important for motion trajectory tracking control of pneumatic cylinders at low speed movement. However, most of the existing model-based friction compensation schemes use simple classical models, which are not enough to address applications with high-accuracy position requirements. Furthermore, the friction force in the cylinder is time-varying, and there exist rather severe unmodelled dynamics and unknown disturbances in the pneumatic system. To deal with these problems effectively, an adaptive robust controller with LuGre model-based dynamic friction compensation is constructed. The proposed controller employs on-line recursive least squares estimation (RLSE) to reduce the extent of parametric uncertainties, and utilizes the sliding mode control method to attenuate the effects of parameter estimation errors, unmodelled dynamics and disturbances. In addition, in order to realize LuGre model-based friction compensation, the modified dual-observer structure for estimating immeasurable friction internal state is developed. Therefore, a prescribed motion tracking transient performance and final tracking accuracy can be guaranteed. Since the system model uncertainties are unmatched, the recursive backstepping design technology is applied. In order to solve the conflicts between the sliding mode control design and the adaptive control design, the projection mapping is used to condition the RLSE algorithm so that the parameter estimates are kept within a known bounded convex set. Finally, the proposed controller is tested for tracking sinusoidal trajectories and smooth square trajectory under different loads and sudden disturbance. The testing results demonstrate that the achievable performance of the proposed controller is excellent and is much better than most other studies in literature. Especially when a 0.5 Hz sinusoidal trajectory is tracked, the maximum tracking error is 0.96 mm and the average tracking error is 0.45 mm. This paper constructs an adaptive robust controller which can compensate the friction force in the cylinder.

Intrafraction Bladder Motion in Radiation Therapy Estimated From Pretreatment and Posttreatment Volumetric Imaging

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

Foroudi, Farshad, E-mail: farshad.foroudi@petermac.org; Pham, Daniel; Bressel, Mathias

2013-05-01

Purpose: The use of image guidance protocols using soft tissue anatomy identification before treatment can reduce interfractional variation. This makes intrafraction clinical target volume (CTV) to planning target volume (PTV) changes more important, including those resulting from intrafraction bladder filling and motion. The purpose of this study was to investigate the required intrafraction margins for soft tissue image guidance from pretreatment and posttreatment volumetric imaging. Methods and Materials: Fifty patients with muscle-invasive bladder cancer (T2-T4) underwent an adaptive radiation therapy protocol using daily pretreatment cone beam computed tomography (CBCT) with weekly posttreatment CBCT. A total of 235 pairs of pretreatmentmore » and posttreatment CBCT images were retrospectively contoured by a single radiation oncologist (CBCT-CTV). The maximum bladder displacement was measured according to the patient's bony pelvis movement during treatment, intrafraction bladder filling, and bladder centroid motion. Results: The mean time between pretreatment and posttreatment CBCT was 13 minutes, 52 seconds (range, 7 min 52 sec to 30 min 56 sec). Taking into account patient motion, bladder centroid motion, and bladder filling, the required margins to cover intrafraction changes from pretreatment to posttreatment in the superior, inferior, right, left, anterior, and posterior were 1.25 cm (range, 1.19-1.50 cm), 0.67 cm (range, 0.58-1.12 cm), 0.74 cm (range, 0.59-0.94 cm), 0.73 cm (range, 0.51-1.00 cm), 1.20 cm (range, 0.85-1.32 cm), and 0.86 cm (range, 0.73-0.99), respectively. Small bladders on pretreatment imaging had relatively the largest increase in pretreatment to posttreatment volume. Conclusion: Intrafraction motion of the bladder based on pretreatment and posttreatment bladder imaging can be significant particularly in the anterior and superior directions. Patient motion, bladder centroid motion, and bladder filling all contribute to changes between pretreatment and posttreatment imaging. Asymmetric expansion of CTV to PTV should be considered. Care is required in using image-guided radiation therapy protocols that reduce CTV to PTV margins based only on daily pretreatment soft tissue position.« less

3D printing for soft robotics – a review

PubMed Central

Gul, Jahan Zeb; Sajid, Memoon; Rehman, Muhammad Muqeet; Siddiqui, Ghayas Uddin; Shah, Imran; Kim, Kyung-Hwan; Lee, Jae-Wook; Choi, Kyung Hyun

2018-01-01

Abstract Soft robots have received an increasing attention due to their advantages of high flexibility and safety for human operators but the fabrication is a challenge. Recently, 3D printing has been used as a key technology to fabricate soft robots because of high quality and printing multiple materials at the same time. Functional soft materials are particularly well suited for soft robotics due to a wide range of stimulants and sensitive demonstration of large deformations, high motion complexities and varied multi-functionalities. This review comprises a detailed survey of 3D printing in soft robotics. The development of key 3D printing technologies and new materials along with composites for soft robotic applications is investigated. A brief summary of 3D-printed soft devices suitable for medical to industrial applications is also included. The growing research on both 3D printing and soft robotics needs a summary of the major reported studies and the authors believe that this review article serves the purpose. PMID:29707065

3D printing for soft robotics - a review.

PubMed

Gul, Jahan Zeb; Sajid, Memoon; Rehman, Muhammad Muqeet; Siddiqui, Ghayas Uddin; Shah, Imran; Kim, Kyung-Hwan; Lee, Jae-Wook; Choi, Kyung Hyun

2018-01-01

Soft robots have received an increasing attention due to their advantages of high flexibility and safety for human operators but the fabrication is a challenge. Recently, 3D printing has been used as a key technology to fabricate soft robots because of high quality and printing multiple materials at the same time. Functional soft materials are particularly well suited for soft robotics due to a wide range of stimulants and sensitive demonstration of large deformations, high motion complexities and varied multi-functionalities. This review comprises a detailed survey of 3D printing in soft robotics. The development of key 3D printing technologies and new materials along with composites for soft robotic applications is investigated. A brief summary of 3D-printed soft devices suitable for medical to industrial applications is also included. The growing research on both 3D printing and soft robotics needs a summary of the major reported studies and the authors believe that this review article serves the purpose.

3D printing of soft robotic systems

NASA Astrophysics Data System (ADS)

Wallin, T. J.; Pikul, J.; Shepherd, R. F.

2018-06-01

Soft robots are capable of mimicking the complex motion of animals. Soft robotic systems are defined by their compliance, which allows for continuous and often responsive localized deformation. These features make soft robots especially interesting for integration with human tissues, for example, the implementation of biomedical devices, and for robotic performance in harsh or uncertain environments, for example, exploration in confined spaces or locomotion on uneven terrain. Advances in soft materials and additive manufacturing technologies have enabled the design of soft robots with sophisticated capabilities, such as jumping, complex 3D movements, gripping and releasing. In this Review, we examine the essential soft material properties for different elements of soft robots, highlighting the most relevant polymer systems. Advantages and limitations of different additive manufacturing processes, including 3D printing, fused deposition modelling, direct ink writing, selective laser sintering, inkjet printing and stereolithography, are discussed, and the different techniques are investigated for their application in soft robotic fabrication. Finally, we explore integrated robotic systems and give an outlook for the future of the field and remaining challenges.

Pretraining Cortical Thickness Predicts Subsequent Perceptual Learning Rate in a Visual Search Task.

PubMed

Frank, Sebastian M; Reavis, Eric A; Greenlee, Mark W; Tse, Peter U

2016-03-01

We report that preexisting individual differences in the cortical thickness of brain areas involved in a perceptual learning task predict the subsequent perceptual learning rate. Participants trained in a motion-discrimination task involving visual search for a "V"-shaped target motion trajectory among inverted "V"-shaped distractor trajectories. Motion-sensitive area MT+ (V5) was functionally identified as critical to the task: after 3 weeks of training, activity increased in MT+ during task performance, as measured by functional magnetic resonance imaging. We computed the cortical thickness of MT+ from anatomical magnetic resonance imaging volumes collected before training started, and found that it significantly predicted subsequent perceptual learning rates in the visual search task. Participants with thicker neocortex in MT+ before training learned faster than those with thinner neocortex in that area. A similar association between cortical thickness and training success was also found in posterior parietal cortex (PPC). © The Author 2015. Published by Oxford University Press. All rights reserved. For Permissions, please e-mail: journals.permissions@oup.com.

Adaptive independent joint control of manipulators - Theory and experiment

NASA Technical Reports Server (NTRS)

Seraji, H.

1988-01-01

The author presents a simple decentralized adaptive control scheme for multijoint robot manipulators based on the independent joint control concept. The proposed control scheme for each joint consists of a PID (proportional integral and differential) feedback controller and a position-velocity-acceleration feedforward controller, both with adjustable gains. The static and dynamic couplings that exist between the joint motions are compensated by the adaptive independent joint controllers while ensuring trajectory tracking. The proposed scheme is implemented on a MicroVAX II computer for motion control of the first three joints of a PUMA 560 arm. Experimental results are presented to demonstrate that trajectory tracking is achieved despite strongly coupled, highly nonlinear joint dynamics. The results confirm that the proposed decentralized adaptive control of manipulators is feasible, in spite of strong interactions between joint motions. The control scheme presented is computationally very fast and is amenable to parallel processing implementation within a distributed computing architecture, where each joint is controlled independently by a simple algorithm on a dedicated microprocessor.

Effect of relativistic motion on witnessing nonclassicality of quantum states

NASA Astrophysics Data System (ADS)

Checińska, Agata; Lorek, Krzysztof; Dragan, Andrzej

2017-01-01

We show that the operational definition of nonclassicality of a quantum state depends on the motion of the observer. We use the relativistic Unruh-DeWitt detector model to witness nonclassicality of the probed field state. It turns out that the witness based on the properties of the P representation of the quantum state depends on the trajectory of the detector. Inertial and noninertial motion of the device have qualitatively different impact on the performance of the witness.

Comparison of distal chevron osteotomy with and without lateral soft tissue release for the treatment of hallux valgus.

PubMed

Lee, Ho-Jin; Chung, Jin-Wha; Chu, In-Tak; Kim, Yoon-Chung

2010-04-01

A lateral soft tissue release is often performed with distal chevron osteotomy for the correction of hallux valgus deformities. However, many complications of lateral soft tissue release have been reported. To define the necessity of lateral soft tissue release, the authors compared the clinical and radiographic results of distal chevron osteotomy with and without it. 86 consecutive patients (152 feet) were enrolled in this prospective study. In Group A, 45 patients (74 feet) underwent a chevron osteotomy with lateral soft tissue release. In Group B, 41 patients (78 feet) underwent a chevron osteotomy without it. Mean followup was 1.7 years and 2.1 years, respectively. The hallux valgus angle (HVA) and intermetatarsal angle (IMA), and AOFAS score were measured preoperatively, and 1-year followup postoperatively and complications were evaluated. The change in HVA, IMA and AOFAS score were insignificant (p > 0.05) between Group A and Group B, however, the range of motion of the first metatarsophalangeal joint was significantly less in Group A (p < 0.05). Complications of digital neuritis and cosmetically dissatisfied scarring of the dorsal web space were seen only in Group A. No cases had avascular necrosis of the metatarsal head, malunion or nonunion. Lateral soft tissue release may not be needed for mild or moderate hallux valgus deformities which may prevent decreased range of motion of the first metatarsophalangeal joint, neuritis of dorsal or plantar lateral digital nerve and cosmetic dissatisfaction of a dorsal scar.

Soft robotics: a review and progress towards faster and higher torque actuators (presentation video)

NASA Astrophysics Data System (ADS)

Shepherd, Robert

2014-03-01

Last year, nearly 160,000 industrial robots were shipped worldwide—into a total market valued at 26 Bn (including hardware, software, and peripherals).[1] Service robots for professional (e.g., defense, medical, agriculture) and personal (e.g., household, handicap assistance, toys, and education) use accounted for 16,000 units, 3.4 Bn and 3,000,000 units, $1.2 Bn respectively.[1] The vast majority of these robotic systems use fully actuated, rigid components that take little advantage of passive dynamics. Soft robotics is a field that is taking advantage of compliant actuators and passive dynamics to achieve several goals: reduced design, manufacturing and control complexity, improved energy efficiency, more sophisticated motions, and safe human-machine interactions to name a few. The potential for societal impact is immense. In some instances, soft actuators have achieved commercial success; however, large scale adoption will require improved methods of controlling non-linear systems, greater reliability in their function, and increased utility from faster and more forceful actuation. In my talk, I will describe efforts from my work in the Whitesides group at Harvard to prove sophisticated motions in these machines using simple controls, as well capabilities unique to soft machines. I will also describe the potential for combinations of different classes of soft actuators (e.g., electrically and pneumatically actuated systems) to improve the utility of soft robots. 1. World Robotics - Industrial Robots 2013, 2013, International Federation of Robotics.

An Optimized Trajectory Planning for Welding Robot

NASA Astrophysics Data System (ADS)

Chen, Zhilong; Wang, Jun; Li, Shuting; Ren, Jun; Wang, Quan; Cheng, Qunchao; Li, Wentao

2018-03-01

In order to improve the welding efficiency and quality, this paper studies the combined planning between welding parameters and space trajectory for welding robot and proposes a trajectory planning method with high real-time performance, strong controllability and small welding error. By adding the virtual joint at the end-effector, the appropriate virtual joint model is established and the welding process parameters are represented by the virtual joint variables. The trajectory planning is carried out in the robot joint space, which makes the control of the welding process parameters more intuitive and convenient. By using the virtual joint model combined with the B-spline curve affine invariant, the welding process parameters are indirectly controlled by controlling the motion curve of the real joint. To solve the optimal time solution as the goal, the welding process parameters and joint space trajectory joint planning are optimized.

Trajectories of charged particles in radial electric and uniform axial magnetic fields

NASA Technical Reports Server (NTRS)

Englert, G. W.

1979-01-01

Trajectories of charged particles were determined over a wide range of parameters characterizing motion in cylindrical low-pressure gas discharges and plasma heating devices which have steady radial electric fields perpendicular to uniform steady magnetic fields. Consideration was given to radial distributions characteristic of fields measured in a modified Penning discharge, in two NASA Lewis burnout-type plasma heating devices, and that estimated for the Ixion device. Numerical calculations of trajectories for such devices showed that differences between cyclotron frequency and qB/m and between azimuthal drift and a guiding center approximation are appreciable.

The flight of Newton's cannonball

NASA Astrophysics Data System (ADS)

Pesnell, W. Dean

2018-05-01

Newton's Cannon is a thought experiment used to motivate orbital motion. Cannonballs were fired from a high mountain at increasing muzzle velocity until they orbit the Earth. We will use the trajectories of these cannonballs to describe the shape of orbital tunnels that allow a cannonball fired from a high mountain to pass through the Earth. A sphere of constant density is used as the model of the Earth to take advantage of the analytic solutions for the interior trajectories that exist for that model. For the example shown, the cannonball trajectories that pass through the Earth intersect near the antipodal point of the cannon.

Low-Thrust Many-Revolution Trajectory Optimization via Differential Dynamic Programming and a Sundman Transformation

NASA Technical Reports Server (NTRS)

Aziz, Jonathan D.; Parker, Jeffrey S.; Scheeres, Daniel J.; Englander, Jacob A.

2017-01-01

Low-thrust trajectories about planetary bodies characteristically span a high count of orbital revolutions. Directing the thrust vector over many revolutions presents a challenging optimization problem for any conventional strategy. This paper demonstrates the tractability of low-thrust trajectory optimization about planetary bodies by applying a Sundman transformation to change the independent variable of the spacecraft equations of motion to the eccentric anomaly and performing the optimization with differential dynamic programming. Fuel-optimal geocentric transfers are shown in excess of 1000 revolutions while subject to Earths J2 perturbation and lunar gravity.

Autonomous Object Manipulation Using a Soft Planar Grasping Manipulator

PubMed Central

Katzschmann, Robert K.; Marchese, Andrew D.

2015-01-01

Abstract This article presents the development of an autonomous motion planning algorithm for a soft planar grasping manipulator capable of grasp-and-place operations by encapsulation with uncertainty in the position and shape of the object. The end effector of the soft manipulator is fabricated in one piece without weakening seams using lost-wax casting instead of the commonly used multilayer lamination process. The soft manipulation system can grasp randomly positioned objects within its reachable envelope and move them to a desired location without human intervention. The autonomous planning system leverages the compliance and continuum bending of the soft grasping manipulator to achieve repeatable grasps in the presence of uncertainty. A suite of experiments is presented that demonstrates the system's capabilities. PMID:27625916

WE-AB-303-05: Breathing Motion of Liver Segments From Fiducial Tracking During Robotic Radiosurgery and Comparison with 4D-CT-Derived Fiducial Motion

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

Sutherland, J; Pantarotto, J; Nair, V

Purpose: To quantify respiratory-induced motion of liver segments using the positions of implanted fiducials during robotic radiosurgery. This study also compared fiducial motion derived from four-dimensional computed tomography (4D-CT) maximum intensity projections (MIP) with motion derived from imaging during treatment. Methods: Forty-two consecutive liver patients treated with liver ablative radiotherapy were accrued to an ethics approved retrospective study. The liver segment in which each fiducial resided was identified. Fiducial positions throughout each treatment fraction were determined using orthogonal kilovoltage images. Any data due to patient repositioning or motion was removed. Mean fiducial positions were calculated. Fiducial positions beyond two standardmore » deviations of the mean were discarded and remaining positions were fit to a line segment using least squares minimization (LSM). For eight patients, fiducial motion was derived from 4D-CT MIPs by calculating the CT number weighted mean position of the fiducial on each slice and fitting a line segment to these points using LSM. Treatment derived fiducial trajectories were corrected for patient rotation and compared to MIP derived trajectories. Results: The mean total magnitude of fiducial motion across all liver segments in left-right, anteroposterior, and superoinferior (SI) directions were 3.0 ± 0.2 mm, 9.3 ± 0.4 mm, and 20.5 ± 0.5 mm, respectively. Differences in per-segment mean fiducial motion were found with SI motion ranging from 12.6 ± 0.8 mm to 22.6 ± 0.9 mm for segments 3 and 8, respectively. Large, varied differences between treatment and MIP derived motion at simulation were found with the mean difference for SI motion being 2.6 mm (10.8 mm standard deviation). Conclusion: The magnitude of liver fiducial motion was found to differ by liver segment. MIP derived liver fiducial motion differed from motion observed during treatment, implying that 4D-CTs may not accurately capture the range of liver motion across fractions and during treatment. Author V. Nair was funded by the Cushing estate for a SABR clinical research fellowship.« less

Generalized compliant motion primitive

NASA Technical Reports Server (NTRS)

Backes, Paul G. (Inventor)

1994-01-01

This invention relates to a general primitive for controlling a telerobot with a set of input parameters. The primitive includes a trajectory generator; a teleoperation sensor; a joint limit generator; a force setpoint generator; a dither function generator, which produces telerobot motion inputs in a common coordinate frame for simultaneous combination in sensor summers. Virtual return spring motion input is provided by a restoration spring subsystem. The novel features of this invention include use of a single general motion primitive at a remote site to permit the shared and supervisory control of the robot manipulator to perform tasks via a remotely transferred input parameter set.

Analysis of the dynamics of movement of the landing vehicle with an inflatable braking device on the final trajectory under the influence of wind load

NASA Astrophysics Data System (ADS)

Koryanov, V.; Kazakovtsev, V.; Harri, A.-M.; Heilimo, J.; Haukka, H.; Aleksashkin, S.

2015-10-01

This research work is devoted to analysis of angular motion of the landing vehicle (LV) with an inflatable braking device (IBD), taking into account the influence of the wind load on the final stage of the movement. Using methods to perform a calculation of parameters of angular motion of the landing vehicle with an inflatable braking device based on the availability of small asymmetries, which are capable of complex dynamic phenomena, analyzes motion of the landing vehicle at the final stage of motion in the atmosphere.

Fiducial marker-based correction for involuntary motion in weight-bearing C-arm CT scanning of knees. II. Experiment.

PubMed

Choi, Jang-Hwan; Maier, Andreas; Keil, Andreas; Pal, Saikat; McWalter, Emily J; Beaupré, Gary S; Gold, Garry E; Fahrig, Rebecca

2014-06-01

A C-arm CT system has been shown to be capable of scanning a single cadaver leg under loaded conditions by virtue of its highly flexible acquisition trajectories. In Part I of this study, using the 4D XCAT-based numerical simulation, the authors predicted that the involuntary motion in the lower body of subjects in weight-bearing positions would seriously degrade image quality and the authors suggested three motion compensation methods by which the reconstructions could be corrected to provide diagnostic image quality. Here, the authors demonstrate that a flat-panel angiography system is appropriate for scanning both legs of subjects in vivo under weight-bearing conditions and further evaluate the three motion-correction algorithms using in vivo data. The geometry of a C-arm CT system for a horizontal scan trajectory was calibrated using the PDS-2 phantom. The authors acquired images of two healthy volunteers while lying supine on a table, standing, and squatting at several knee flexion angles. In order to identify the involuntary motion of the lower body, nine 1-mm-diameter tantalum fiducial markers were attached around the knee. The static mean marker position in 3D, a reference for motion compensation, was estimated by back-projecting detected markers in multiple projections using calibrated projection matrices and identifying the intersection points in 3D of the back-projected rays. Motion was corrected using three different methods (described in detail previously): (1) 2D projection shifting, (2) 2D deformable projection warping, and (3) 3D rigid body warping. For quantitative image quality analysis, SSIM indices for the three methods were compared using the supine data as a ground truth. A 2D Euclidean distance-based metric of subjects' motion ranged from 0.85 mm (±0.49 mm) to 3.82 mm (±2.91 mm) (corresponding to 2.76 to 12.41 pixels) resulting in severe motion artifacts in 3D reconstructions. Shifting in 2D, 2D warping, and 3D warping improved the SSIM in the central slice by 20.22%, 16.83%, and 25.77% in the data with the largest motion among the five datasets (SCAN5); improvement in off-center slices was 18.94%, 29.14%, and 36.08%, respectively. The authors showed that C-arm CT control can be implemented for nonstandard horizontal trajectories which enabled us to scan and successfully reconstruct both legs of volunteers in weight-bearing positions. As predicted using theoretical models, the proposed motion correction methods improved image quality by reducing motion artifacts in reconstructions; 3D warping performed better than the 2D methods, especially in off-center slices.

Fiducial marker-based correction for involuntary motion in weight-bearing C-arm CT scanning of knees. II. Experiment

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

Choi, Jang-Hwan; Maier, Andreas; Keil, Andreas

2014-06-15

Purpose: A C-arm CT system has been shown to be capable of scanning a single cadaver leg under loaded conditions by virtue of its highly flexible acquisition trajectories. In Part I of this study, using the 4D XCAT-based numerical simulation, the authors predicted that the involuntary motion in the lower body of subjects in weight-bearing positions would seriously degrade image quality and the authors suggested three motion compensation methods by which the reconstructions could be corrected to provide diagnostic image quality. Here, the authors demonstrate that a flat-panel angiography system is appropriate for scanning both legs of subjectsin vivo undermore » weight-bearing conditions and further evaluate the three motion-correction algorithms using in vivo data. Methods: The geometry of a C-arm CT system for a horizontal scan trajectory was calibrated using the PDS-2 phantom. The authors acquired images of two healthy volunteers while lying supine on a table, standing, and squatting at several knee flexion angles. In order to identify the involuntary motion of the lower body, nine 1-mm-diameter tantalum fiducial markers were attached around the knee. The static mean marker position in 3D, a reference for motion compensation, was estimated by back-projecting detected markers in multiple projections using calibrated projection matrices and identifying the intersection points in 3D of the back-projected rays. Motion was corrected using three different methods (described in detail previously): (1) 2D projection shifting, (2) 2D deformable projection warping, and (3) 3D rigid body warping. For quantitative image quality analysis, SSIM indices for the three methods were compared using the supine data as a ground truth. Results: A 2D Euclidean distance-based metric of subjects’ motion ranged from 0.85 mm (±0.49 mm) to 3.82 mm (±2.91 mm) (corresponding to 2.76 to 12.41 pixels) resulting in severe motion artifacts in 3D reconstructions. Shifting in 2D, 2D warping, and 3D warping improved the SSIM in the central slice by 20.22%, 16.83%, and 25.77% in the data with the largest motion among the five datasets (SCAN5); improvement in off-center slices was 18.94%, 29.14%, and 36.08%, respectively. Conclusions: The authors showed that C-arm CT control can be implemented for nonstandard horizontal trajectories which enabled us to scan and successfully reconstruct both legs of volunteers in weight-bearing positions. As predicted using theoretical models, the proposed motion correction methods improved image quality by reducing motion artifacts in reconstructions; 3D warping performed better than the 2D methods, especially in off-center slices.« less

Micro air vehicle motion tracking and aerodynamic modeling

NASA Astrophysics Data System (ADS)

Uhlig, Daniel V.

Aerodynamic performance of small-scale fixed-wing flight is not well understood, and flight data are needed to gain a better understanding of the aerodynamics of micro air vehicles (MAVs) flying at Reynolds numbers between 10,000 and 30,000. Experimental studies have shown the aerodynamic effects of low Reynolds number flow on wings and airfoils, but the amount of work that has been conducted is not extensive and mostly limited to tests in wind and water tunnels. In addition to wind and water tunnel testing, flight characteristics of aircraft can be gathered through flight testing. The small size and low weight of MAVs prevent the use of conventional on-board instrumentation systems, but motion tracking systems that use off-board triangulation can capture flight trajectories (position and attitude) of MAVs with minimal onboard instrumentation. Because captured motion trajectories include minute noise that depends on the aircraft size, the trajectory results were verified in this work using repeatability tests. From the captured glide trajectories, the aerodynamic characteristics of five unpowered aircraft were determined. Test results for the five MAVs showed the forces and moments acting on the aircraft throughout the test flights. In addition, the airspeed, angle of attack, and sideslip angle were also determined from the trajectories. Results for low angles of attack (less than approximately 20 deg) showed the lift, drag, and moment coefficients during nominal gliding flight. For the lift curve, the results showed a linear curve until stall that was generally less than finite wing predictions. The drag curve was well described by a polar. The moment coefficients during the gliding flights were used to determine longitudinal and lateral stability derivatives. The neutral point, weather-vane stability and the dihedral effect showed some variation with different trim speeds (different angles of attack). In the gliding flights, the aerodynamic characteristics exhibited quasi-steady effects caused by small variations in the angle of attack. The quasi-steady effects, or small unsteady effects, caused variations in the aerodynamic characteristics (particularly incrementing the lift curve), and the magnitude of the influence depended on the angle-of-attack rate. In addition to nominal gliding flight, MAVs in general are capable of flying over a wide flight envelope including agile maneuvers such as perching, hovering, deep stall and maneuvering in confined spaces. From the captured motion trajectories, the aerodynamic characteristics during the numerous unsteady flights were gathered without the complexity required for unsteady wind tunnel tests. Experimental results for the MAVs show large flight envelopes that included high angles of attack (on the order of 90 deg) and high angular rates, and the aerodynamic coefficients had dynamic stall hysteresis loops and large values. From the large number of unsteady high angle-of-attack flights, an aerodynamic modeling method was developed and refined for unsteady MAV flight at high angles of attack. The method was based on a separation parameter that depended on the time history of the angle of attack and angle-of-attack rate. The separation parameter accounted for the time lag inherit in the longitudinal characteristics during dynamic maneuvers. The method was applied to three MAVs and showed general agreement with unsteady experimental results and with nominal gliding flight results. The flight tests with the MAVs indicate that modern motion tracking systems are capable of capturing the flight trajectories, and the captured trajectories can be used to determine the aerodynamic characteristics. From the captured trajectories, low Reynolds number MAV flight is explored in both nominal gliding flight and unsteady high angle-of-attack flight. Building on the experimental results, a modeling method for the longitudinal characteristics is developed that is applicable to the full flight envelope.

The envelope of ballistic trajectories and elliptic orbits

NASA Astrophysics Data System (ADS)

Butikov, Eugene I.

2015-11-01

Simple geometric derivations are given for the shape of the "safety domain" boundary for the family of Keplerian orbits of equal energy in a central gravitational field and for projectile trajectories in a uniform field. Examples of practical uses of the envelope of the family of orbits are discussed and illustrated by computer simulations. This material is appropriate for physics teachers and undergraduate students studying classical mechanics and orbital motions.

Swinging Atwood's Machine

NASA Astrophysics Data System (ADS)

Tufillaro, Nicholas B.; Abbott, Tyler A.; Griffiths, David J.

1984-10-01

We examine the motion of an Atwood's Machine in which one of the masses is allowed to swing in a plane. Computer studies reveal a rich variety of trajectories. The orbits are classified (bounded, periodic, singular, and terminating), and formulas for the critical mass ratios are developed. Perturbative techniques yield good approximations to the computer-generated trajectories. The model constitutes a simple example of a nonlinear dynamical system with two degrees of freedom.

Visual Persons Behavior Diary Generation Model based on Trajectories and Pose Estimation

NASA Astrophysics Data System (ADS)

Gang, Chen; Bin, Chen; Yuming, Liu; Hui, Li

2018-03-01

The behavior pattern of persons was the important output of the surveillance analysis. This paper focus on the generation model of visual person behavior diary. The pipeline includes the person detection, tracking, and the person behavior classify. This paper adopts the deep convolutional neural model YOLO (You Only Look Once)V2 for person detection module. Multi person tracking was based on the detection framework. The Hungarian assignment algorithm was used to the matching. The person appearance model was integrated by HSV color model and Hash code model. The person object motion was estimated by the Kalman Filter. The multi objects were matching with exist tracklets through the appearance and motion location distance by the Hungarian assignment method. A long continuous trajectory for one person was get by the spatial-temporal continual linking algorithm. And the face recognition information was used to identify the trajectory. The trajectories with identification information can be used to generate the visual diary of person behavior based on the scene context information and person action estimation. The relevant modules are tested in public data sets and our own capture video sets. The test results show that the method can be used to generate the visual person behavior pattern diary with certain accuracy.

Emergent Structural Mechanisms for High-Density Collective Motion Inspired by Human Crowds

NASA Astrophysics Data System (ADS)

Bottinelli, Arianna; Sumpter, David T. J.; Silverberg, Jesse L.

2016-11-01

Collective motion of large human crowds often depends on their density. In extreme cases like heavy metal concerts and black Friday sales events, motion is dominated by physical interactions instead of conventional social norms. Here, we study an active matter model inspired by situations when large groups of people gather at a point of common interest. Our analysis takes an approach developed for jammed granular media and identifies Goldstone modes, soft spots, and stochastic resonance as structurally driven mechanisms for potentially dangerous emergent collective motion.

Uncovering Implicit Assumptions: A Large-Scale Study on Students' Mental Models of Diffusion

ERIC Educational Resources Information Center

Stains, Marilyne; Sevian, Hannah

2015-01-01

Students' mental models of diffusion in a gas phase solution were studied through the use of the Structure and Motion of Matter (SAMM) survey. This survey permits identification of categories of ways students think about the structure of the gaseous solute and solvent, the origin of motion of gas particles, and trajectories of solute particles in…

The method of averages applied to the KS differential equations

NASA Technical Reports Server (NTRS)

Graf, O. F., Jr.; Mueller, A. C.; Starke, S. E.

1977-01-01

A new approach for the solution of artificial satellite trajectory problems is proposed. The basic idea is to apply an analytical solution method (the method of averages) to an appropriate formulation of the orbital mechanics equations of motion (the KS-element differential equations). The result is a set of transformed equations of motion that are more amenable to numerical solution.

E-Invariant Quantized Motion of Valence Quarks

NASA Astrophysics Data System (ADS)

Kreymer, E. L.

2018-06-01

In sub-proton space wave processes are impossible. The analog of the Klein-Gordon equation in sub-proton space is elliptical and describes a stationary system with a constant number of particles. For dynamical processes, separation of variables is used and in each quantum of motion of the quark two states are distinguished: a localization state and a translation state with infinite velocity. Alternation of these states describes the motion of a quark. The mathematical expectations of the lifetimes of the localization states and the spatial extents of the translation states for a free quark and for a quark in a centrally symmetric potential are found. The action after one quantum of motion is equal to the Planck constant. The one-sided Laplace transform is used to determine the Green's function. Use of path integrals shows that the quantized trajectory of a quark is a broken line enveloping the classical trajectory of oscillation of the quark. Comparison of the calculated electric charge distribution in a proton with its experimental value gives satisfactory results. A hypothesis is formulated, according to which the three Grand Geometries of space correspond to the three main interactions of elementary particles.

Correlated motion of electrons in the He atom irradiated with coherent light

NASA Astrophysics Data System (ADS)

Someda, Kiyohiko

2018-05-01

Correlated motion of electrons in the He atom irradiated with linearly polarised light is discussed. Mixing of the 2pz orbital into the 1s orbital is interpreted as motion of an electron along the z-axis. The transitions to the configurations (1s)(2pz) and (2pz)(2pz) from (1s)(1s) are described by using 1s-2pz hybridised orbitals with variable coefficients of hybridisation, in other words, by using the Thouless parameters. The quasi-eigenstates of the atom in stationary light are obtained on the basis of the Floquet formalism, and the behaviour of the Thouless parameters is analysed. Trajectories of time evolution of the Thouless parameters are found to be useful to grasp the motion of electrons. Shapes of the trajectories are classified into four modes: (1) two electrons try to stay away from each other due to Coulomb repulsion, (2) one of the electrons is solely driven to run, (3) two electrons are driven to travel together and (4) two electrons run anti-parallel with each other. The conditions of intensity and frequency of light causing these four modes are clarified and summarised in a kind of phase diagram.

Study of Transport Characteristics of Motile Microorganisms Using Micro-Scale Devices

NASA Astrophysics Data System (ADS)

Parashar, R.; Scheibe, T. D.; Plymale, A.; Hu, D.; Kelly, R.; Frederick, J. M.; Yang, X.; Sund, N. L.

2016-12-01

Accurate numerical models of microbial transport are needed to support design and evaluation of bioremediation implementations. A sequence of micro-scale experiments using advanced microfluidics and imaging techniques was conducted to quantify the movement patterns of individual microbes and their interactions with solid surfaces in unobstructed medium and simple pore geometries. The set of bacteria studied encompasses strictly anaerobic, facultatively anaerobic, fermentative, and facultatively autotrophic species, with capacities to reduce a range of metals and radionuclides, as well as nitrate, using a variety of electron donors, including acetate, lactate, carbohydrates, and molecular hydrogen. Motion of motile microorganisms recorded over time provides results that can be analyzed to determine the character and several statistical attributes of microbial motion. Individual tracks on the order of several seconds to a few minutes in duration are characterized to provide information on 1) the length (distance in microns) of microbial runs, 2) velocity distributions along individual trajectories, and 3) the angle between the directions of sequential runs. Analysis of the microbial trajectories elucidates parameters related to dynamics of their motion. Comparison of these parameters with those of a classical Brownian motion yields crucial information on selection of appropriate model to account for microbial motility in relevant applications.

Inferring segmented dense motion layers using 5D tensor voting.

PubMed

Min, Changki; Medioni, Gérard

2008-09-01

We present a novel local spatiotemporal approach to produce motion segmentation and dense temporal trajectories from an image sequence. A common representation of image sequences is a 3D spatiotemporal volume, (x,y,t), and its corresponding mathematical formalism is the fiber bundle. However, directly enforcing the spatiotemporal smoothness constraint is difficult in the fiber bundle representation. Thus, we convert the representation into a new 5D space (x,y,t,vx,vy) with an additional velocity domain, where each moving object produces a separate 3D smooth layer. The smoothness constraint is now enforced by extracting 3D layers using the tensor voting framework in a single step that solves both correspondence and segmentation simultaneously. Motion segmentation is achieved by identifying those layers, and the dense temporal trajectories are obtained by converting the layers back into the fiber bundle representation. We proceed to address three applications (tracking, mosaic, and 3D reconstruction) that are hard to solve from the video stream directly because of the segmentation and dense matching steps, but become straightforward with our framework. The approach does not make restrictive assumptions about the observed scene or camera motion and is therefore generally applicable. We present results on a number of data sets.

Two modes of motion of the alligator lizard cochlea: Measurements and model predictions

NASA Astrophysics Data System (ADS)

Aranyosi, A. J.; Freeman, Dennis M.

2005-09-01

Measurements of motion of an in vitro preparation of the alligator lizard basilar papilla in response to sound demonstrate elliptical trajectories. These trajectories are consistent with the presence of both a translational and rotational mode of motion. The translational mode is independent of frequency, and the rotational mode has a displacement peak near 5 kHz. These measurements can be explained by a simple mechanical system in which the basilar papilla is supported asymmetrically on the basilar membrane. In a quantitative model, the translational admittance is compliant while the rotational admittance is second order. Best-fit model parameters are consistent with estimates based on anatomy and predict that fluid flow across hair bundles is a primary source of viscous damping. The model predicts that the rotational mode contributes to the high-frequency slopes of auditory nerve fiber tuning curves, providing a physical explanation for a low-pass filter required in models of this cochlea. The combination of modes makes the sensitivity of hair bundles more uniform with radial position than that which would result from pure rotation. A mechanical analogy with the organ of Corti suggests that these two modes of motion may also be present in the mammalian cochlea.

Robot Acting on Moving Bodies (RAMBO): Interaction with tumbling objects

NASA Technical Reports Server (NTRS)

Davis, Larry S.; Dementhon, Daniel; Bestul, Thor; Ziavras, Sotirios; Srinivasan, H. V.; Siddalingaiah, Madhu; Harwood, David

1989-01-01

Interaction with tumbling objects will become more common as human activities in space expand. Attempting to interact with a large complex object translating and rotating in space, a human operator using only his visual and mental capacities may not be able to estimate the object motion, plan actions or control those actions. A robot system (RAMBO) equipped with a camera, which, given a sequence of simple tasks, can perform these tasks on a tumbling object, is being developed. RAMBO is given a complete geometric model of the object. A low level vision module extracts and groups characteristic features in images of the object. The positions of the object are determined in a sequence of images, and a motion estimate of the object is obtained. This motion estimate is used to plan trajectories of the robot tool to relative locations rearby the object sufficient for achieving the tasks. More specifically, low level vision uses parallel algorithms for image enhancement by symmetric nearest neighbor filtering, edge detection by local gradient operators, and corner extraction by sector filtering. The object pose estimation is a Hough transform method accumulating position hypotheses obtained by matching triples of image features (corners) to triples of model features. To maximize computing speed, the estimate of the position in space of a triple of features is obtained by decomposing its perspective view into a product of rotations and a scaled orthographic projection. This allows use of 2-D lookup tables at each stage of the decomposition. The position hypotheses for each possible match of model feature triples and image feature triples are calculated in parallel. Trajectory planning combines heuristic and dynamic programming techniques. Then trajectories are created using dynamic interpolations between initial and goal trajectories. All the parallel algorithms run on a Connection Machine CM-2 with 16K processors.

The open quantum Brownian motions

NASA Astrophysics Data System (ADS)

Bauer, Michel; Bernard, Denis; Tilloy, Antoine

2014-09-01

Using quantum parallelism on random walks as the original seed, we introduce new quantum stochastic processes, the open quantum Brownian motions. They describe the behaviors of quantum walkers—with internal degrees of freedom which serve as random gyroscopes—interacting with a series of probes which serve as quantum coins. These processes may also be viewed as the scaling limit of open quantum random walks and we develop this approach along three different lines: the quantum trajectory, the quantum dynamical map and the quantum stochastic differential equation. We also present a study of the simplest case, with a two level system as an internal gyroscope, illustrating the interplay between the ballistic and diffusive behaviors at work in these processes. Notation H_z : orbital (walker) Hilbert space, {C}^{{Z}} in the discrete, L^2({R}) in the continuum H_c : internal spin (or gyroscope) Hilbert space H_sys=H_z\\otimesH_c : system Hilbert space H_p : probe (or quantum coin) Hilbert space, H_p={C}^2 \\rho^tot_t : density matrix for the total system (walker + internal spin + quantum coins) \\bar \\rho_t : reduced density matrix on H_sys : \\bar\\rho_t=\\int dxdy\\, \\bar\\rho_t(x,y)\\otimes | x \\rangle _z\\langle y | \\hat \\rho_t : system density matrix in a quantum trajectory: \\hat\\rho_t=\\int dxdy\\, \\hat\\rho_t(x,y)\\otimes | x \\rangle _z\\langle y | . If diagonal and localized in position: \\hat \\rho_t=\\rho_t\\otimes| X_t \\rangle _z\\langle X_t | ρt: internal density matrix in a simple quantum trajectory Xt: walker position in a simple quantum trajectory Bt: normalized Brownian motion ξt, \\xi_t^\\dagger : quantum noises

Real time correlation function in a single phase space integral beyond the linearized semiclassical initial value representation.

PubMed

Liu, Jian; Miller, William H

2007-06-21

It is shown how quantum mechanical time correlation functions [defined, e.g., in Eq. (1.1)] can be expressed, without approximation, in the same form as the linearized approximation of the semiclassical initial value representation (LSC-IVR), or classical Wigner model, for the correlation function [cf. Eq. (2.1)], i.e., as a phase space average (over initial conditions for trajectories) of the Wigner functions corresponding to the two operators. The difference is that the trajectories involved in the LSC-IVR evolve classically, i.e., according to the classical equations of motion, while in the exact theory they evolve according to generalized equations of motion that are derived here. Approximations to the exact equations of motion are then introduced to achieve practical methods that are applicable to complex (i.e., large) molecular systems. Four such methods are proposed in the paper--the full Wigner dynamics (full WD) and the second order WD based on "Wigner trajectories" [H. W. Lee and M. D. Scully, J. Chem. Phys. 77, 4604 (1982)] and the full Donoso-Martens dynamics (full DMD) and the second order DMD based on "Donoso-Martens trajectories" [A. Donoso and C. C. Martens, Phys. Rev. Lett. 8722, 223202 (2001)]--all of which can be viewed as generalizations of the original LSC-IVR method. Numerical tests of the four versions of this new approach are made for two anharmonic model problems, and for each the momentum autocorrelation function (i.e., operators linear in coordinate or momentum operators) and the force autocorrelation function (nonlinear operators) have been calculated. These four new approximate treatments are indeed seen to be significant improvements to the original LSC-IVR approximation.

Design of relative trajectories for in orbit proximity operations

NASA Astrophysics Data System (ADS)

Opromolla, Roberto; Fasano, Giancarmine; Rufino, Giancarlo; Grassi, Michele

2018-04-01

This paper presents an innovative approach to design relative trajectories suitable for close-proximity operations in orbit, by assigning high-level constraints regarding their stability, shape and orientation. Specifically, this work is relevant to space mission scenarios, e.g. formation flying, on-orbit servicing, and active debris removal, which involve either the presence of two spacecraft carrying out coordinated maneuvers, or a servicing/recovery spacecraft (chaser) performing monitoring, rendezvous and docking with respect to another space object (target). In the above-mentioned scenarios, an important aspect is the capability of reducing collision risks and of providing robust and accurate relative navigation solutions. To this aim, the proposed approach exploits a relative motion model relevant to two-satellite formations, and developed in mean orbit parameters, which takes the perturbation effect due to secular Earth oblateness, as well as the motion of the target along a small-eccentricity orbit, into account. This model is used to design trajectories which ensure safe relative motion, to minimize collision risks and relax control requirements, providing at the same time favorable conditions, in terms of target-chaser relative observation geometry for pose determination and relative navigation with passive or active electro-optical sensors on board the chaser. Specifically, three design strategies are proposed in the context of a space target monitoring scenario, considering as design cases both operational spacecraft and debris, characterized by highly variable shape, size and absolute rotational dynamics. The effectiveness of the proposed design approach in providing favorable observation conditions for target-chaser relative pose estimation is demonstrated within a simulation environment which reproduces the designed target-chaser relative trajectory, the operation of an active LIDAR installed on board the chaser, and pose estimation algorithms.

Coordinated joint motion control system with position error correction

DOEpatents

Danko, George [Reno, NV

2011-11-22

Disclosed are an articulated hydraulic machine supporting, control system and control method for same. The articulated hydraulic machine has an end effector for performing useful work. The control system is capable of controlling the end effector for automated movement along a preselected trajectory. The control system has a position error correction system to correct discrepancies between an actual end effector trajectory and a desired end effector trajectory. The correction system can employ one or more absolute position signals provided by one or more acceleration sensors supported by one or more movable machine elements. Good trajectory positioning and repeatability can be obtained. A two-joystick controller system is enabled, which can in some cases facilitate the operator's task and enhance their work quality and productivity.

Coordinated joint motion control system with position error correction

DOEpatents

Danko, George L.

2016-04-05

Disclosed are an articulated hydraulic machine supporting, control system and control method for same. The articulated hydraulic machine has an end effector for performing useful work. The control system is capable of controlling the end effector for automated movement along a preselected trajectory. The control system has a position error correction system to correct discrepancies between an actual end effector trajectory and a desired end effector trajectory. The correction system can employ one or more absolute position signals provided by one or more acceleration sensors supported by one or more movable machine elements. Good trajectory positioning and repeatability can be obtained. A two joystick controller system is enabled, which can in some cases facilitate the operator's task and enhance their work quality and productivity.

QAARM: quasi-anharmonic autoregressive model reveals molecular recognition pathways in ubiquitin

PubMed Central

Savol, Andrej J.; Burger, Virginia M.; Agarwal, Pratul K.; Ramanathan, Arvind; Chennubhotla, Chakra S.

2011-01-01

Motivation: Molecular dynamics (MD) simulations have dramatically improved the atomistic understanding of protein motions, energetics and function. These growing datasets have necessitated a corresponding emphasis on trajectory analysis methods for characterizing simulation data, particularly since functional protein motions and transitions are often rare and/or intricate events. Observing that such events give rise to long-tailed spatial distributions, we recently developed a higher-order statistics based dimensionality reduction method, called quasi-anharmonic analysis (QAA), for identifying biophysically-relevant reaction coordinates and substates within MD simulations. Further characterization of conformation space should consider the temporal dynamics specific to each identified substate. Results: Our model uses hierarchical clustering to learn energetically coherent substates and dynamic modes of motion from a 0.5 μs ubiqutin simulation. Autoregressive (AR) modeling within and between states enables a compact and generative description of the conformational landscape as it relates to functional transitions between binding poses. Lacking a predictive component, QAA is extended here within a general AR model appreciative of the trajectory's temporal dependencies and the specific, local dynamics accessible to a protein within identified energy wells. These metastable states and their transition rates are extracted within a QAA-derived subspace using hierarchical Markov clustering to provide parameter sets for the second-order AR model. We show the learned model can be extrapolated to synthesize trajectories of arbitrary length. Contact: ramanathana@ornl.gov; chakracs@pitt.edu PMID:21685101

A biologically inspired controller to solve the coverage problem in robotics.

PubMed

Rañó, Iñaki; Santos, José A

2017-06-05

The coverage problem consists on computing a path or trajectory for a robot to pass over all the points in some free area and has applications ranging from floor cleaning to demining. Coverage is solved as a planning problem-providing theoretical validation of the solution-or through heuristic techniques which rely on experimental validation. Through a combination of theoretical results and simulations, this paper presents a novel solution to the coverage problem that exploits the chaotic behaviour of a simple biologically inspired motion controller, the Braitenberg vehicle 2b. Although chaos has been used for coverage, our approach has much less restrictive assumptions about the environment and can be implemented using on-board sensors. First, we prove theoretically that this vehicle-a well known model of animal tropotaxis-behaves as a charge in an electro-magnetic field. The motion equations can be reduced to a Hamiltonian system, and, therefore the vehicle follows quasi-periodic or chaotic trajectories, which pass arbitrarily close to any point in the work-space, i.e. it solves the coverage problem. Secondly, through a set of extensive simulations, we show that the trajectories cover regions of bounded workspaces, and full coverage is achieved when the perceptual range of the vehicle is short. We compare the performance of this new approach with different types of random motion controllers in the same bounded environments.

New method for finding multiple meaningful trajectories

NASA Astrophysics Data System (ADS)

Bao, Zhonghao; Flachs, Gerald M.; Jordan, Jay B.

1995-07-01

Mathematical foundations and algorithms for efficiently finding multiple meaningful trajectories (FMMT) in a sequence of digital images are presented. A meaningful trajectory is motion created by a sentient being or by a device under the control of a sentient being. It is smooth and predictable over short time intervals. A meaningful trajectory can suddenly appear or disappear in sequence images. The development of the FMMT is based on these assumptions. A finite state machine in the FMMT is used to model the trajectories under the conditions of occlusions and false targets. Each possible trajectory is associated with an initial state of a finite state machine. When two frames of data are available, a linear predictor is used to predict the locations of all possible trajectories. All trajectories within a certain error bound are moved to a monitoring trajectory state. When trajectories attain three consecutive good predictions, they are moved to a valid trajectory state and considered to be locked into a tracking mode. If an object is occluded while in the valid trajectory state, the predicted position is used to continue to track; however, the confidence in the trajectory is lowered. If the trajectory confidence falls below a lower limit, the trajectory is terminated. Results are presented that illustrate the FMMT applied to track multiple munitions fired from a missile in a sequence of images. Accurate trajectories are determined even in poor images where the probabilities of miss and false alarm are very high.

Precise Image-Based Motion Estimation for Autonomous Small Body Exploration

NASA Technical Reports Server (NTRS)

Johnson, Andrew E.; Matthies, Larry H.

1998-01-01

Space science and solar system exploration are driving NASA to develop an array of small body missions ranging in scope from near body flybys to complete sample return. This paper presents an algorithm for onboard motion estimation that will enable the precision guidance necessary for autonomous small body landing. Our techniques are based on automatic feature tracking between a pair of descent camera images followed by two frame motion estimation and scale recovery using laser altimetry data. The output of our algorithm is an estimate of rigid motion (attitude and position) and motion covariance between frames. This motion estimate can be passed directly to the spacecraft guidance and control system to enable rapid execution of safe and precise trajectories.

SU-E-J-74: Impact of Respiration-Correlated Image Quality On Tumor Motion Reconstruction in 4D-CBCT: A Phantom Study

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

Lee, S; Lu, B; Samant, S

2014-06-01

Purpose: To investigate the effects of scanning parameters and respiratory patterns on the image quality for 4-dimensional cone-beam computed tomography(4D-CBCT) imaging, and assess the accuracy of computed tumor trajectory for lung imaging using registration of phased 4D-CBCT imaging with treatment planning-CT. Methods: We simulated a periodic and non-sinusoidal respirations with various breathing periods and amplitudes using a respiratory phantom(Quasar, Modus Medical Devices Inc) to acquire respiration-correlated 4D-CBCT images. 4D-CBCT scans(Elekta Oncology Systems Ltd) were performed with different scanning parameters for collimation size(e.g., small and medium field-of-views) and scanning speed(e.g., slow 50°·min{sup −1}, fast 100°·min{sup −1}). Using a standard CBCT-QA phantom(Catphan500,more » The Phantom Laboratory), the image qualities of all phases in 4D-CBCT were evaluated with contrast-to-noise ratio(CNR) for lung tissue and uniformity in each module. Using a respiratory phantom, the target imaging in 4D-CBCT was compared to 3D-CBCT target image. The target trajectory from 10-respiratory phases in 4D-CBCT was extracted using an automatic image registration and subsequently assessed the accuracy by comparing with actual motion of the target. Results: Image analysis indicated that a short respiration with a small amplitude resulted in superior CNR and uniformity. Smaller variation of CNR and uniformity was present amongst different respiratory phases. The small field-of-view with a partial scan using slow scan can improve CNR, but degraded uniformity. Large amplitude of respiration can degrade image quality. RMS of voxel densities in tumor area of 4D-CBCT images between sinusoidal and non-sinusoidal motion exhibited no significant difference. The maximum displacement errors of motion trajectories were less than 1.0 mm and 13.5 mm, for sinusoidal and non-sinusoidal breathings, respectively. The accuracy of motion reconstruction showed good overall agreement with the 4D-CBCT image quality results only using sinusoidal breathings. Conclusion: This information can be used to determine the appropriate acquisition parameters of 4D-CBCT imaging for registration accuracy and target trajectory measurements in a clinical setting.« less

Optimal bipedal interactions with dynamic terrain: synthesis and analysis via nonlinear programming

NASA Astrophysics Data System (ADS)

Hubicki, Christian; Goldman, Daniel; Ames, Aaron

In terrestrial locomotion, gait dynamics and motor control behaviors are tuned to interact efficiently and stably with the dynamics of the terrain (i.e. terradynamics). This controlled interaction must be particularly thoughtful in bipeds, as their reduced contact points render them highly susceptible to falls. While bipedalism under rigid terrain assumptions is well-studied, insights for two-legged locomotion on soft terrain, such as sand and dirt, are comparatively sparse. We seek an understanding of how biological bipeds stably and economically negotiate granular media, with an eye toward imbuing those abilities in bipedal robots. We present a trajectory optimization method for controlled systems subject to granular intrusion. By formulating a large-scale nonlinear program (NLP) with reduced-order resistive force theory (RFT) models and jamming cone dynamics, the optimized motions are informed and shaped by the dynamics of the terrain. Using a variant of direct collocation methods, we can express all optimization objectives and constraints in closed-form, resulting in rapid solving by standard NLP solvers, such as IPOPT. We employ this tool to analyze emergent features of bipedal locomotion in granular media, with an eye toward robotic implementation.

A reduced basis method for molecular dynamics simulation

NASA Astrophysics Data System (ADS)

Vincent-Finley, Rachel Elisabeth

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

Forward and backward motion of artificial helical swimmers in cylindrical channels

NASA Astrophysics Data System (ADS)

Acemoglu, Alperen; Temel, Fatma Zeynep; Yesilyurt, Serhat

2013-11-01

Motion of micro swimmers in confined geometries such as channels is important due to its relevance in in vivo medical applications such as minimally invasive surgery and drug delivery. Here, swimmers with diameters 0.8 mm and lengths 2 to 3 mm are produced with a 3D printer and cylindrical Nd2Fe14B magnets are placed inside the bodies. Rotating external magnetic field is used for the actuation of artificial swimmers. Different body and tail geometries are produced and experiments are conducted with a glycerol filled circular channel. Result demonstrate that decreasing channel diameter directly affects the forward motion of the swimmer due to the increasing drag. It is observed that step-out frequency, which defines maximum frequency at which the swimmer can establish a synchronous rotation with the external magnetic field, depends on the geometry of the swimmer and the channel diameter. There are significant differences between low and high frequency motion and forward and backward swimming. Longer tails enable higher forward velocities in high frequencies than backward ones, whereas forward and backward velocities are approximately the same at low frequencies. Furthermore backward motion is more stable than the forward one; at high frequencies, swimmers travel almost at the center of the channel for backward motion, and follow a helical trajectory near the wall during the forward motion. According to simulation results there is a flow which is induced by the rotation of the swimmer rotation that affects the swimmer's trajectory. We acknowledge the support from TUBITAK (Techonological & Research Council of Turkey) under the grant no: 111M376.

Universal algorithm for identification of fractional Brownian motion. A case of telomere subdiffusion.

PubMed

Burnecki, Krzysztof; Kepten, Eldad; Janczura, Joanna; Bronshtein, Irena; Garini, Yuval; Weron, Aleksander

2012-11-07

We present a systematic statistical analysis of the recently measured individual trajectories of fluorescently labeled telomeres in the nucleus of living human cells. The experiments were performed in the U2OS cancer cell line. We propose an algorithm for identification of the telomere motion. By expanding the previously published data set, we are able to explore the dynamics in six time orders, a task not possible earlier. As a result, we establish a rigorous mathematical characterization of the stochastic process and identify the basic mathematical mechanisms behind the telomere motion. We find that the increments of the motion are stationary, Gaussian, ergodic, and even more chaotic--mixing. Moreover, the obtained memory parameter estimates, as well as the ensemble average mean square displacement reveal subdiffusive behavior at all time spans. All these findings statistically prove a fractional Brownian motion for the telomere trajectories, which is confirmed by a generalized p-variation test. Taking into account the biophysical nature of telomeres as monomers in the chromatin chain, we suggest polymer dynamics as a sufficient framework for their motion with no influence of other models. In addition, these results shed light on other studies of telomere motion and the alternative telomere lengthening mechanism. We hope that identification of these mechanisms will allow the development of a proper physical and biological model for telomere subdynamics. This array of tests can be easily implemented to other data sets to enable quick and accurate analysis of their statistical characteristics. Copyright © 2012 Biophysical Society. Published by Elsevier Inc. All rights reserved.

Goal-directed action is automatically biased towards looming motion

PubMed Central

Moher, Jeff; Sit, Jonathan; Song, Joo-Hyun

2014-01-01

It is known that looming motion can capture attention regardless of an observer’s intentions. Real-world behavior, however, frequently involves not just attentional selection, but selection for action. Thus, it is important to understand the impact of looming motion on goal-directed action to gain a broader perspective on how stimulus properties bias human behavior. We presented participants with a visually-guided reaching task in which they pointed to a target letter presented among non-target distractors. On some trials, one of the pre-masks at the location of the upcoming search objects grew rapidly in size, creating the appearance of a “looming” target or distractor. Even though looming motion did not predict the target location, the time required to reach to the target was shorter when the target loomed compared to when a distractor loomed. Furthermore, reach movement trajectories were pulled towards the location of a looming distractor when one was present, a pull that was greater still when the looming motion was on a collision path with the participant. We also contrast reaching data with data from a similarly designed visual search task requiring keypress responses. This comparison underscores the sensitivity of visually-guided reaching data, as some experimental manipulations, such as looming motion path, affected reach trajectories but not keypress measures. Together, the results demonstrate that looming motion biases visually-guided action regardless of an observer’s current behavioral goals, affecting not only the time required to reach to targets but also the path of the observer’s hand movement itself. PMID:25159287

From Red Cells to Soft Porous Lubrication

NASA Astrophysics Data System (ADS)

Wu, Qianhong; Gacka, Thomas; Nathan, Rungun; Crawford, Robert; Vucbmss Team

2014-11-01

Biological scientists have wondered, since the motion of red cells was first observed in capillaries, how the highly flexible red cell can move with so little friction in tightly fitting microvessels without being damaged or undergoing hemolysis. Theoretical studies (Feng and Weinbaum, 2000, JFM; Wu et al., 2004, PRL) attributed this frictionless motion to the dramatically enhanced hydrodynamic lifting force generated inside the soft, porous, endothelial surface layer (ESL) covering the inner surfaces of our capillaries, as a red blood cell glides over it. Herein we report the first experimental examination of this concept. The results conclusively demonstrate that significant fraction of the overall lifting force generated in a soft porous layer as a planing surface glides over it, is contributed by the pore fluid pressure, and thus frictional loss is reduced significantly. Moreover, the experimental predictions showed excellent agreement with the experimental data. This finding has the potential of dramatically changing existing lubrication approaches, and can result in substantial savings in energy consumption and thus reduction in greenhouse gas emissions.

Seismic velocities and geologic logs from boreholes at three downhole arrays in San Francisco, California

USGS Publications Warehouse

Gibbs, James F.; Fumal, Thomas E.; Borcherdt, Roger D.; Warrick, Richard E.; Liu, Hsi-Ping; Westerlund, Robert E.

1994-01-01

The Loma Prieta earthquake of October 17, 1989 (1704 PST), has reinforced observations made by Wood and others (1908) after the 1906 San Francisco earthquake, that poor ground conditions (soft soil) increase the likelihood of shaking damage to structures. Since 1908 many studies (for example Borcherdt, 1970, Borcherdt and Gibbs, 1976, Borcherdt and Glassmoyer, 1992) have shown that soft soils amplify seismic waves at frequencies that can be damaging to structures. Damage in the City of San Francisco from the Loma Prieta earthquake was concentrated in the Marina District, the Embarcadero, and the China Basin areas. Each of these areas, to some degree, is underlain by soft soil deposits. These concentrations of damage raise important questions regarding the amplification effects of such deposits at damaging levels of motion. Unfortunately, no strong-motion recordings were obtained in these areas during the Loma Prieta earthquake and only a limited number (< 10) have been obtained on other soft soil sites in the United States. Consequently, important questions exist regarding the response of such deposits during damaging earthquakes, especially questions regarding the nonlinear soil response. Towards developing a data set to address these important questions, borehole strong-motion arrays have been installed at three locations. These arrays consist of groups of wide-dynamic-range pore-pressure transducers and three-component accelerometers, the outputs of which are recorded digitally. The arrays are designed to provide an integrated set of data on ground shaking, liquifaction-induced ground failure, and structural response. This report describes the detailed geologic, seismic, and material-property determinations derived at each of these sites.

Elastohydrodynamic Lift at a Soft Wall

NASA Astrophysics Data System (ADS)

Davies, Heather S.; Débarre, Delphine; El Amri, Nouha; Verdier, Claude; Richter, Ralf P.; Bureau, Lionel

2018-05-01

We study experimentally the motion of nondeformable microbeads in a linear shear flow close to a wall bearing a thin and soft polymer layer. Combining microfluidics and 3D optical tracking, we demonstrate that the steady-state bead-to-surface distance increases with the flow strength. Moreover, such lift is shown to result from flow-induced deformations of the layer, in quantitative agreement with theoretical predictions from elastohydrodynamics. This study thus provides the first experimental evidence of "soft lubrication" at play at small scale, in a system relevant, for example, to the physics of blood microcirculation.

An ultra-high field strength MR image-guided robotic needle delivery system for in-bore small animal interventions.

PubMed

Gravett, Matthew; Cepek, Jeremy; Fenster, Aaron

2017-11-01

The purpose of this study was to develop and validate an image-guided robotic needle delivery system for accurate and repeatable needle targeting procedures in mouse brains inside the 12 cm inner diameter gradient coil insert of a 9.4 T MR scanner. Many preclinical research techniques require the use of accurate needle deliveries to soft tissues, including brain tissue. Soft tissues are optimally visualized in MR images, which offer high-soft tissue contrast, as well as a range of unique imaging techniques, including functional, spectroscopy and thermal imaging, however, there are currently no solutions for delivering needles to small animal brains inside the bore of an ultra-high field MR scanner. This paper describes the mechatronic design, evaluation of MR compatibility, registration technique, mechanical calibration, the quantitative validation of the in-bore image-guided needle targeting accuracy and repeatability, and demonstrated the system's ability to deliver needles in situ. Our six degree-of-freedom, MR compatible, mechatronic system was designed to fit inside the bore of a 9.4 T MR scanner and is actuated using a combination of piezoelectric and hydraulic mechanisms. The MR compatibility and targeting accuracy of the needle delivery system are evaluated to ensure that the system is precisely calibrated to perform the needle targeting procedures. A semi-automated image registration is performed to link the robot coordinates to the MR coordinate system. Soft tissue targets can be accurately localized in MR images, followed by automatic alignment of the needle trajectory to the target. Intra-procedure visualization of the needle target location and the needle were confirmed through MR images after needle insertion. The effects of geometric distortions and signal noise were found to be below threshold that would have an impact on the accuracy of the system. The system was found to have negligible effect on the MR image signal noise and geometric distortion. The system was mechanically calibrated and the mean image-guided needle targeting and needle trajectory accuracies were quantified in an image-guided tissue mimicking phantom experiment to be 178 ± 54 μm and 0.27 ± 0.65°, respectively. An MR image-guided system for in-bore needle deliveries to soft tissue targets in small animal models has been developed. The results of the needle targeting accuracy experiments in phantoms indicate that this system has the potential to deliver needles to the smallest soft tissue structures relevant in preclinical studies, at a wide variety of needle trajectories. Future work in the form of a fully-automated needle driver with precise depth control would benefit this system in terms of its applicability to a wider range of animal models and organ targets. © 2017 American Association of Physicists in Medicine.

Davisson-Germer Prize in Atomic or Surface Physics Talk: Soft X-Ray Studies of Surfaces, Interfaces and Thin Films: From Spectroscopy to Ultrafast Nanoscale Movies

NASA Astrophysics Data System (ADS)

Stöhr, Joachim

2011-03-01

My talk will review the development of soft x-ray spectroscopy and microscopy and its impact on our understanding of chemical bonding, magnetism and dynamics at surfaces and interfaces. I will first outline important soft x-ray spectroscopy and microscopy techniques that have been developed over the last 30 years and their key strengths such as elemental and chemical specificity, sensitivity to small atomic concentrations, separation of charge and spin properties, spatial resolution down to the nanometer scale, and temporal resolution down to the intrinsic femtosecond timescale of atomic and electronic motions. I will then present scientific breakthroughs based on soft x-ray studies in three selected areas: the nature of molecular bonding and reactivity on metal surfaces, the molecular origin of liquid crystal alignment on surfaces, and the microscopic origin of interface-mediated spin alignments in modern magnetic devices. My talk will also cover the use of soft x-rays for revealing the temporal evolution of electronic structure, addressing the key problem of ``function,'' down to the intrinsic femtosecond time scale of charge and spin configuration changes. As examples I will present the formation and breaking of chemical bonds in surface complexes and the motion of the magnetization in magnetic devices. Work supported by the Office of Basic Energy Science of the US Department of Energy.

Estimating patient-specific soft-tissue properties in a TKA knee.

PubMed

Ewing, Joseph A; Kaufman, Michelle K; Hutter, Erin E; Granger, Jeffrey F; Beal, Matthew D; Piazza, Stephen J; Siston, Robert A

2016-03-01

Surgical technique is one factor that has been identified as critical to success of total knee arthroplasty. Researchers have shown that computer simulations can aid in determining how decisions in the operating room generally affect post-operative outcomes. However, to use simulations to make clinically relevant predictions about knee forces and motions for a specific total knee patient, patient-specific models are needed. This study introduces a methodology for estimating knee soft-tissue properties of an individual total knee patient. A custom surgical navigation system and stability device were used to measure the force-displacement relationship of the knee. Soft-tissue properties were estimated using a parameter optimization that matched simulated tibiofemoral kinematics with experimental tibiofemoral kinematics. Simulations using optimized ligament properties had an average root mean square error of 3.5° across all tests while simulations using generic ligament properties taken from literature had an average root mean square error of 8.4°. Specimens showed large variability among ligament properties regardless of similarities in prosthetic component alignment and measured knee laxity. These results demonstrate the importance of soft-tissue properties in determining knee stability, and suggest that to make clinically relevant predictions of post-operative knee motions and forces using computer simulations, patient-specific soft-tissue properties are needed. © 2015 Orthopaedic Research Society. Published by Wiley Periodicals, Inc.

Computational study of the effect of Reynolds number and motion trajectory asymmetry on the aerodynamics of a pitching airfoil at low Reynolds number

NASA Astrophysics Data System (ADS)

Hammer, Patrick R.

It is well established that natural flyers flap their wings to sustain flight due to poor performance of steady wing aerodynamics at low Reynolds number. Natural flyers also benefit from the propulsive force generated by flapping. Unsteady airfoils allow for simplified study of flapping wing aerodynamics. Limited previous work has suggested that both the Reynolds number and motion trajectory asymmetry play a non-negligible role in the resulting forces and wake structure of an oscillating airfoil. In this work, computations are performed to on this topic for a NACA 0012 airfoil purely pitching about its quarter-chord point. Two-dimensional computations are undertaken using the high-order, extensively validated FDL3DI Navier-Strokes solver developed at Wright-Patterson Air Force Base. The Reynolds number range of this study is 2,000-22,000, reduced frequencies as high as 16 are considered, and the pitching amplitude varies from 2° to 10°. In order to simulate the incompressible limit with the current compressible solver, freestream Mach numbers as low as 0.005 are used. The wake structure is accurately resolved using an overset grid approach. The results show that the streamwise force depends on Reynolds number such that the drag-to-thrust crossover reduced frequency decreases with increasing Reynolds number at a given amplitude. As the amplitude increases, the crossover reduced frequency decreases at a given Reynolds number. The crossover frequency data show good collapse for all pitching amplitudes considered when expressed as the Strouhal number based on trailing edge-amplitude for different Reynolds numbers. Appropriate scaling causes the thrust data to become nearly independent of Reynolds number and amplitude. An increase in propulsive efficiency is observed as the Reynolds number increases while less dependence is seen in the peak-to-peak lift and drag amplitudes. Reynolds number dependence is also seen for the wake structure. The crossover reduced frequency to produce a switch in the wake vortex configuration from von Karman (drag) to reverse von Karman (thrust) patterns decreases as the Reynolds number increases. As the pitching amplitude increases, more complex structures form in the wake, particularly at the higher Reynolds numbers considered. Although both the transverse and streamwise spacing depend on amplitude, the vortex array aspect ratio is nearly amplitude independent for each Reynolds number. Motion trajectory asymmetry produces a non-zero average lift and a decrease in average drag. Decomposition of the lift demonstrates that the majority of the average lift is a result of the component from average vortex (circulatory) lift. The average lift is positive at low reduced frequency, but as the reduced frequency increases at a given motion asymmetry, an increasing amount of negative lift occurs over a greater portion of the oscillation cycle, and eventually causes a switch in the sign of the lift. The maximum value, minimum value, and peak-to-peak amplitude of the lift and drag increase with increasing reduced frequency and asymmetry. The wake structure becomes complex with an asymmetric motion trajectory. A faster pitch-up produces a single positive vortex and one or more negative vortices, the number of which depends on the reduced frequency and asymmetry. When the airfoil motion trajectory is asymmetric, the vortex trajectories and properties in the wake exhibit asymmetric behavior.

Principal component analysis for protein folding dynamics.

PubMed

Maisuradze, Gia G; Liwo, Adam; Scheraga, Harold A

2009-01-09

Protein folding is considered here by studying the dynamics of the folding of the triple beta-strand WW domain from the Formin-binding protein 28. Starting from the unfolded state and ending either in the native or nonnative conformational states, trajectories are generated with the coarse-grained united residue (UNRES) force field. The effectiveness of principal components analysis (PCA), an already established mathematical technique for finding global, correlated motions in atomic simulations of proteins, is evaluated here for coarse-grained trajectories. The problems related to PCA and their solutions are discussed. The folding and nonfolding of proteins are examined with free-energy landscapes. Detailed analyses of many folding and nonfolding trajectories at different temperatures show that PCA is very efficient for characterizing the general folding and nonfolding features of proteins. It is shown that the first principal component captures and describes in detail the dynamics of a system. Anomalous diffusion in the folding/nonfolding dynamics is examined by the mean-square displacement (MSD) and the fractional diffusion and fractional kinetic equations. The collisionless (or ballistic) behavior of a polypeptide undergoing Brownian motion along the first few principal components is accounted for.

The primer vector in linear, relative-motion equations. [spacecraft trajectory optimization

NASA Technical Reports Server (NTRS)

1980-01-01

Primer vector theory is used in analyzing a set of linear, relative-motion equations - the Clohessy-Wiltshire equations - to determine the criteria and necessary conditions for an optimal, N-impulse trajectory. Since the state vector for these equations is defined in terms of a linear system of ordinary differential equations, all fundamental relations defining the solution of the state and costate equations, and the necessary conditions for optimality, can be expressed in terms of elementary functions. The analysis develops the analytical criteria for improving a solution by (1) moving any dependent or independent variable in the initial and/or final orbit, and (2) adding intermediate impulses. If these criteria are violated, the theory establishes a sufficient number of analytical equations. The subsequent satisfaction of these equations will result in the optimal position vectors and times of an N-impulse trajectory. The solution is examined for the specific boundary conditions of (1) fixed-end conditions, two-impulse, and time-open transfer; (2) an orbit-to-orbit transfer; and (3) a generalized rendezvous problem. A sequence of rendezvous problems is solved to illustrate the analysis and the computational procedure.

Judgements about the relation between force and trajectory variables in verbally described ballistic projectile motion.

PubMed

White, Peter A

2013-01-01

How accurate are explicit judgements about familiar forms of object motion, and how are they made? Participants judged the relations between force exerted in kicking a soccer ball and variables that define the trajectory of the ball: launch angle, maximum height attained, and maximum distance reached. Judgements tended to conform to a simple heuristic that judged force tends to increase as maximum height and maximum distance increase, with launch angle not being influential. Support was also found for the converse prediction, that judged maximum height and distance tend to increase as the amount of force described in the kick increases. The observed judgemental tendencies did not resemble the objective relations, in which force is a function of interactions between the trajectory variables. This adds to a body of research indicating that practical knowledge based on experiences of actions on objects is not available to the processes that generate judgements in higher cognition and that such judgements are generated by simple rules that do not capture the objective interactions between the physical variables.

Trajectory of asteroid 2017 SB20 within the CRTBP

NASA Astrophysics Data System (ADS)

Tiwary, Rishikesh Dutta; Kushvah, Badam Singh; Ishwar, Bhola

2018-06-01

Regular monitoring the trajectory of asteroids to a future time is a necessity, because the variety of known probably unsafe near-Earth asteroids are increasing. The analysis is perform to avoid any incident or whether they would have a further future threat to the Earth or not. Recently a new Near Earth Asteroid (2017 SB20) has been observed to cross the Earth orbit. In view of this we obtain the trajectory of Asteroid in the circular restricted three body problem with radiation pressure and oblateness. We examine nature of Asteroid's orbit with Lyapunov Characteristic Exponents (LCEs) over a finite intervals of time. LCE of the system confirms that the motion of asteroid is chaotic in nature. With the effect of radiation pressure and oblateness the length of curve varies in both the planes. Oblateness factor is found to be more perturbative than radiation pressure. To see the precision of result obtain from numerical integration we show the error propagation and the numerical stability is assured around the singularity by applying regularized equations of motion for precise long-term study.

Numerical approach of collision avoidance and optimal control on robotic manipulators

NASA Technical Reports Server (NTRS)

Wang, Jyhshing Jack

1990-01-01

Collision-free optimal motion and trajectory planning for robotic manipulators are solved by a method of sequential gradient restoration algorithm. Numerical examples of a two degree-of-freedom (DOF) robotic manipulator are demonstrated to show the excellence of the optimization technique and obstacle avoidance scheme. The obstacle is put on the midway, or even further inward on purpose, of the previous no-obstacle optimal trajectory. For the minimum-time purpose, the trajectory grazes by the obstacle and the minimum-time motion successfully avoids the obstacle. The minimum-time is longer for the obstacle avoidance cases than the one without obstacle. The obstacle avoidance scheme can deal with multiple obstacles in any ellipsoid forms by using artificial potential fields as penalty functions via distance functions. The method is promising in solving collision-free optimal control problems for robotics and can be applied to any DOF robotic manipulators with any performance indices and mobile robots as well. Since this method generates optimum solution based on Pontryagin Extremum Principle, rather than based on assumptions, the results provide a benchmark against which any optimization techniques can be measured.

A Sampling Based Approach to Spacecraft Autonomous Maneuvering with Safety Specifications

NASA Technical Reports Server (NTRS)

Starek, Joseph A.; Barbee, Brent W.; Pavone, Marco

2015-01-01

This paper presents a methods for safe spacecraft autonomous maneuvering that leverages robotic motion-planning techniques to spacecraft control. Specifically the scenario we consider is an in-plan rendezvous of a chaser spacecraft in proximity to a target spacecraft at the origin of the Clohessy Wiltshire Hill frame. The trajectory for the chaser spacecraft is generated in a receding horizon fashion by executing a sampling based robotic motion planning algorithm name Fast Marching Trees (FMT) which efficiently grows a tree of trajectories over a set of probabillistically drawn samples in the state space. To enforce safety the tree is only grown over actively safe samples for which there exists a one-burn collision avoidance maneuver that circularizes the spacecraft orbit along a collision-free coasting arc and that can be executed under potential thrusters failures. The overall approach establishes a provably correct framework for the systematic encoding of safety specifications into the spacecraft trajectory generations process and appears amenable to real time implementation on orbit. Simulation results are presented for a two-fault tolerant spacecraft during autonomous approach to a single client in Low Earth Orbit.

Atypical soil behavior during the 2011 Tohoku earthquake ( Mw = 9)

NASA Astrophysics Data System (ADS)

Pavlenko, Olga V.

2016-07-01

To understand physical mechanisms of generation of abnormally high peak ground acceleration (PGA; >1 g) during the Tohoku earthquake, models of nonlinear soil behavior in the strong motion were constructed for 27 KiK-net stations located in the near-fault zones to the south of FKSH17. The method of data processing used was developed by Pavlenko and Irikura, Pure Appl Geophys 160:2365-2379, 2003 and previously applied for studying soil behavior at vertical array sites during the 1995 Kobe (Mw = 6.8) and 2000 Tottori (Mw = 6.7) earthquakes. During the Tohoku earthquake, we did not observe a widespread nonlinearity of soft soils and reduction at the beginning of strong motion and recovery at the end of strong motion of shear moduli in soil layers, as usually observed during strong earthquakes. Manifestations of soil nonlinearity and reduction of shear moduli during strong motion were observed at sites located close to the source, in coastal areas. At remote sites, where abnormally high PGAs were recorded, shear moduli in soil layers increased and reached their maxima at the moments of the highest intensity of the strong motion, indicating soil hardening. Then, shear moduli reduced with decreasing the intensity of the strong motion. At soft-soil sites, the reduction of shear moduli was accompanied by a step-like decrease of the predominant frequencies of motion. Evidently, the observed soil hardening at the moments of the highest intensity of the strong motion contributed to the occurrence of abnormally high PGA, recorded during the Tohoku earthquake.

Apo adenylate kinase encodes its holo form: a principal component and varimax analysis.

PubMed

Cukier, Robert I

2009-02-12

Adenylate kinase undergoes large-scale motions of its LID and AMP-binding (AMPbd) domains when its apo, open form closes over its substrates, AMP and Mg2+-ATP. It may be an example of an enzyme that provides an ensemble of conformations in its apo state from which its substrates can select and bind to produce catalytically competent conformations. In this work, the fluctuations of the enzyme apo Escherichia coli adenylate kinase (AKE) are obtained with molecular dynamics. The resulting trajectory is analyzed with principal component analysis (PCA) that decomposes the atom motions into orthogonal modes ordered by their decreasing contributions to the total protein fluctuation. In apo AKE, a small set of the PCA modes describes the bulk of the fluctuations. Identification of the atom motions that are important contributors to these modes is improved with the use of a varimax rotation method that rotates the PCA modes to a new mode set that concentrates the atom contributions to a smaller set of atoms in these new modes. In this way, the nature of the important motions of the LID and AMPbd domains are clarified. The dominant PCA modes are used to investigate if apo AKE can fluctuate to conformations that are holo-like, even though the apo trajectory is mainly confined to a region around the initial apo structure. This is accomplished by expressing the difference between the protein coordinates, obtained from the holo and apo crystal structures, using as a basis the PCA modes from the apo AKE trajectory. The coherent motion described by a small set of the apo PCA modes is shown to be able to produce protein conformations that are quite similar to the holo conformation of the protein. In this sense, apo AKE does encode in its fluctuations information about holo-like conformations.

Mid-Ventilation Concept for Mobile Pulmonary Tumors: Internal Tumor Trajectory Versus Selective Reconstruction of Four-Dimensional Computed Tomography Frames Based on External Breathing Motion

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

Guckenberger, Matthias; Wilbert, Juergen; Krieger, Thomas

2009-06-01

Purpose: To evaluate the accuracy of direct reconstruction of mid-ventilation and peak-phase four-dimensional (4D) computed tomography (CT) frames based on the external breathing signal. Methods and Materials: For 11 patients with 15 pulmonary targets, a respiration-correlated CT study (4D CT) was acquired for treatment planning. After retrospective time-based sorting of raw projection data and reconstruction of eight CT frames equally distributed over the breathing cycle, mean tumor position (P{sub mean}), mid-ventilation frame, and breathing motion were evaluated based on the internal tumor trajectory. Analysis of the external breathing signal (pressure sensor around abdomen) with amplitude-based sorting of projections was performedmore » for direct reconstruction of the mid-ventilation frame and frames at peak phases of the breathing cycle. Results: On the basis of the eight 4D CT frames equally spaced in time, tumor motion was largest in the craniocaudal direction, with 12 {+-} 7 mm on average. Tumor motion between the two frames reconstructed at peak phases was not different in the craniocaudal and anterior-posterior directions but was systematically smaller in the left-right direction by 1 mm on average. The 3-dimensional distance between P{sub mean} and the tumor position in the mid-ventilation frame based on the internal tumor trajectory was 1.2 {+-} 1 mm. Reconstruction of the mid-ventilation frame at the mean amplitude position of the external breathing signal resulted in tumor positions 2.0 {+-} 1.1 mm distant from P{sub mean}. Breathing-induced motion artifacts in mid-ventilation frames caused negligible changes in tumor volume and shape. Conclusions: Direct reconstruction of the mid-ventilation frame and frames at peak phases based on the external breathing signal was reliable. This makes the reconstruction of only three 4D CT frames sufficient for application of the mid-ventilation technique in clinical practice.« less

WE-G-18C-06: Is Diaphragm Motion a Good Surrogate for Liver Tumor Motion?

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

Yang, J; School of Information Science and Engineering, Shandong University, Jinan, Shandong; Cai, J

2014-06-15

Purpose: To investigate whether diaphragm motion is a good surrogate for liver tumor motion by comparing their motion trajectories obtained from cine-MRI. Methods: Fourteen patients with hepatocellular carcinoma (10/14) or liver metastases (4/14) undergoing radiation therapy were included in this study. All patients underwent single-slice 2D cine-MRI simulations across the center of the tumor in three orthogonal planes. Tumor and diaphragm motion trajectories in the superior-inferior (SI), anteriorposterior (AP), and medial-lateral (ML) directions were obtained using the normalized cross-correlation based tracking technique. Agreement between tumor and diaphragm motions was assessed by calculating the phase difference percentage (PDP), intra-class correlation coefficientmore » (ICC), Bland-Altman analysis (Diffs) and paired t-test. The distance (D) between tumor and tracked diaphragm area was analyzed to understand its impact on the correlation between tumor and diaphragm motions. Results: Of all patients, the means (±standard deviations) of PDP were 7.1 (±1.1)%, 4.5 (±0.5)% and 17.5 (±4.5)% in the SI, AP and ML directions, respectively. The means of ICC were 0.98 (±0.02), 0.97 (±0.02), and 0.08 (±0.06) in the SI, AP and ML directions, respectively. The Diffs were 2.8 (±1.4) mm, 2.4 (±1.1) mm, and 2.2 (±0.5) mm in the SI, AP and ML directions, respectively. The p-values derived from the paired t-test were < 0.02 in SI and AP directions, whereas were > 0.58 in ML direction primarily due to the small motion in ML direction. Tumor and diaphragmatic motion had high concordance when the distance between the tumor and tracked diaphragm areas was small. Conclusion: Preliminary results showed that liver tumor motion had good correlations with diaphragm motion in the SI and AP directions, indicating diaphragm motion in the SI and AP directions could potentially be a reliable surrogate for liver tumor motion. NIH (1R21CA165384-01A1), Golfers Against Cancer (GAC) Foundation, The China Scholarship Council (CSC)« less

A new telescope control software for the Mayall 4-meter telescope

NASA Astrophysics Data System (ADS)

Abareshi, Behzad; Marshall, Robert; Gott, Shelby; Sprayberry, David; Cantarutti, Rolando; Joyce, Dick; Williams, Doug; Probst, Ronald; Reetz, Kristin; Paat, Anthony; Butler, Karen; Soto, Christian; Dey, Arjun; Summers, David

2016-07-01

The Mayall 4-meter telescope recently went through a major modernization of its telescope control system in preparation for DESI. We describe MPK (Mayall Pointing Kernel), our new software for telescope control. MPK outputs a 20Hz position-based trajectory with a velocity component, which feeds into Mayall's new servo system over a socket. We wrote a simple yet realistic servo simulator that let us develop MPK mostly without access to real hardware, and also lets us provide other teams with a Mayall simulator as test bed for development of new instruments. MPK has a small core comprised of prioritized, soft real-time threads. Access to the core's services is via MPK's main thread, a complete, interactive Tcl/Tk shell, which gives us the power and flexibility of a scripting language to add any other features, from GUIs, to modules for interaction with critical subsystems like dome or guider, to an API for networked clients of a new instrument (e.g., DESI). MPK is designed for long term maintainability: it runs on a stock computer and Linux OS, and uses only standard, open source libraries, except for commercial software that comes with source code in ANSI C/C++. We discuss the technical details of how MPK combines the Reflexxes motion library with the TCSpk/TPK pointing library to generically handle any motion requests, from slews to offsets to sidereal or non-sidereal tracking. We show how MPK calculates when the servos have reached a steady state. We also discuss our TPOINT modeling strategy and report performance results.

Quantum caustics in resonance-fluorescence trajectories

NASA Astrophysics Data System (ADS)

Naghiloo, M.; Tan, D.; Harrington, P. M.; Lewalle, P.; Jordan, A. N.; Murch, K. W.

2017-11-01

We employ phase-sensitive amplification to perform homodyne detection of the resonance fluorescence from a driven superconducting artificial atom. Entanglement between the emitter and its fluorescence allows us to track the individual quantum state trajectories of the emitter conditioned on the outcomes of the field measurements. We analyze the ensemble properties of these trajectories by considering trajectories that connect specific initial and final states. By applying the stochastic path-integral formalism, we calculate equations of motion for the most-likely path between two quantum states and compare these predicted paths to experimental data. Drawing on the mathematical similarity between the action formalism of the most-likely quantum paths and ray optics, we study the emergence of caustics in quantum trajectories: places where multiple extrema in the stochastic action occur. We observe such multiple most-likely paths in experimental data and find these paths to be in reasonable quantitative agreement with theoretical calculations.

Hyper-X Post-Flight Trajectory Reconstruction

NASA Technical Reports Server (NTRS)

Karlgaard, Christopher D.; Tartabini, Paul V.; Blanchard, RobertC.; Kirsch, Michael; Toniolo, Matthew D.

2004-01-01

This paper discusses the formulation and development of a trajectory reconstruction tool for the NASA X{43A/Hyper{X high speed research vehicle, and its implementation for the reconstruction and analysis of ight test data. Extended Kalman ltering techniques are employed to reconstruct the trajectory of the vehicle, based upon numerical integration of inertial measurement data along with redundant measurements of the vehicle state. The equations of motion are formulated in order to include the effects of several systematic error sources, whose values may also be estimated by the ltering routines. Additionally, smoothing algorithms have been implemented in which the nal value of the state (or an augmented state that includes other systematic error parameters to be estimated) and covariance are propagated back to the initial time to generate the best-estimated trajectory, based upon all available data. The methods are applied to the problem of reconstructing the trajectory of the Hyper-X vehicle from ight data.

Mixed Pattern Matching-Based Traffic Abnormal Behavior Recognition

PubMed Central

Cui, Zhiming; Zhao, Pengpeng

2014-01-01

A motion trajectory is an intuitive representation form in time-space domain for a micromotion behavior of moving target. Trajectory analysis is an important approach to recognize abnormal behaviors of moving targets. Against the complexity of vehicle trajectories, this paper first proposed a trajectory pattern learning method based on dynamic time warping (DTW) and spectral clustering. It introduced the DTW distance to measure the distances between vehicle trajectories and determined the number of clusters automatically by a spectral clustering algorithm based on the distance matrix. Then, it clusters sample data points into different clusters. After the spatial patterns and direction patterns learned from the clusters, a recognition method for detecting vehicle abnormal behaviors based on mixed pattern matching was proposed. The experimental results show that the proposed technical scheme can recognize main types of traffic abnormal behaviors effectively and has good robustness. The real-world application verified its feasibility and the validity. PMID:24605045

Predicting plasticity with soft vibrational modes: from dislocations to glasses.

PubMed

Rottler, Jörg; Schoenholz, Samuel S; Liu, Andrea J

2014-04-01

We show that quasilocalized low-frequency modes in the vibrational spectrum can be used to construct soft spots, or regions vulnerable to rearrangement, which serve as a universal tool for the identification of flow defects in solids. We show that soft spots not only encode spatial information, via their location, but also directional information, via directors for particles within each soft spot. Single crystals with isolated dislocations exhibit low-frequency phonon modes that localize at the core, and their polarization pattern predicts the motion of atoms during elementary dislocation glide in two and three dimensions in exquisite detail. Even in polycrystals and disordered solids, we find that the directors associated with particles in soft spots are highly correlated with the direction of particle displacements in rearrangements.

Passive microrheology of soft materials with atomic force microscopy: A wavelet-based spectral analysis

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

Martinez-Torres, C.; Streppa, L.; Arneodo, A.

2016-01-18

Compared to active microrheology where a known force or modulation is periodically imposed to a soft material, passive microrheology relies on the spectral analysis of the spontaneous motion of tracers inherent or external to the material. Passive microrheology studies of soft or living materials with atomic force microscopy (AFM) cantilever tips are rather rare because, in the spectral densities, the rheological response of the materials is hardly distinguishable from other sources of random or periodic perturbations. To circumvent this difficulty, we propose here a wavelet-based decomposition of AFM cantilever tip fluctuations and we show that when applying this multi-scale methodmore » to soft polymer layers and to living myoblasts, the structural damping exponents of these soft materials can be retrieved.« less

3D+T motion analysis with nanosensors

NASA Astrophysics Data System (ADS)

Leduc, Jean-Pierre

2017-09-01

This paper addresses the problem of motion analysis performed in a signal sampled on an irregular grid spread in 3-dimensional space and time (3D+T). Nanosensors can be randomly scattered in the field to form a "sensor network". Once released, each nanosensor transmits at its own fixed pace information which corresponds to some physical variable measured in the field. Each nanosensor is supposed to have a limited lifetime given by a Poisson-exponential distribution after release. The motion analysis is supported by a model based on a Lie group called the Galilei group that refers to the actual mechanics that takes place on some given geometry. The Galilei group has representations in the Hilbert space of the captured signals. Those representations have the properties to be unitary, irreducible and square-integrable and to enable the existence of admissible continuous wavelets fit for motion analysis. The motion analysis can be considered as a so-called "inverse problem" where the physical model is inferred to estimate the kinematical parameters of interest. The estimation of the kinematical parameters is performed by a gradient algorithm. The gradient algorithm extends in the trajectory determination. Trajectory computation is related to a Lagrangian-Hamiltonian formulation and fits into a neuro-dynamic programming approach that can be implemented in the form of a Q-learning algorithm. Applications relevant for this problem can be found in medical imaging, Earth science, military, and neurophysiology.

Obstacle avoidance for redundant robots using configuration control

NASA Technical Reports Server (NTRS)

Seraji, Homayoun (Inventor); Colbaugh, Richard D. (Inventor); Glass, Kristin L. (Inventor)

1992-01-01

A redundant robot control scheme is provided for avoiding obstacles in a workspace during the motion of an end effector along a preselected trajectory by stopping motion of the critical point on the robot closest to the obstacle when the distance between is reduced to a predetermined sphere of influence surrounding the obstacle. Algorithms are provided for conveniently determining the critical point and critical distance.

Correcting Duporcq's theorem☆

PubMed Central

Nawratil, Georg

2014-01-01

In 1898, Ernest Duporcq stated a famous theorem about rigid-body motions with spherical trajectories, without giving a rigorous proof. Today, this theorem is again of interest, as it is strongly connected with the topic of self-motions of planar Stewart–Gough platforms. We discuss Duporcq's theorem from this point of view and demonstrate that it is not correct. Moreover, we also present a revised version of this theorem. PMID:25540467

SU-G-TeP4-15: The Roucoulette: A Set of Quality Control Tests for Dynamic Trajectory (4Pi) Treatment Delivery Techniques

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

Teke, T

Purpose: To present and validate a set of quality control tests for trajectory treatment delivery using synchronized dynamic couch (translation and rotation), MLC and collimator motion. Methods: The quality control tests are based on the Picket fence test, which consist of 5 narrow band 2mm width spaced at 2.5cm intervals, and adds progressively synchronized dynamic motions. The tests were exposed on GafChromic EBT3 films. The first test is a regular (no motion and MLC static while beam is on) Picket Fence test used as baseline. The second test includes simultaneous collimator and couch rotation, each stripe corresponding to a differentmore » rotation speed. Errors in these tests were introduced (0.5 degree and 1 degree error in rotation synchronization) to assess the error sensitivity of this test. The second test is similar to the regular Picket Fence but now including dynamic MLC motion and couch translation (including acceleration during delivery) while the beam is on. Finally in the third test, which is a combination of the first and second test, the Picket Fence pattern is delivered using synchronized collimator and couch rotation and synchronized dynamic MLC and couch translation including acceleration. Films were analyzed with FilmQA Pro. Results: The distance between the peaks in the dose profile where measured (18.5cm away from the isocentre in the inplane direction where non synchronized rotation would have the largest effect) and compared to the regular Picket Fence tests. For well synchronized motions distances between peaks where between 24.9–25.4 mm identical to the regular Picket Fence test. This range increased to 24.4–26.4mm and 23.4–26.4mm for 0.5 degree and 1 degree error respectively. The amplitude also decreased up to 15% when errors are introduced. Conclusion: We demonstrated that the Roucoulette tests can be used as a quality control tests for trajectory treatment delivery using synchronized dynamic motion.« less

A Removable Long-arm Soft Cast to Treat Nondisplaced Pediatric Elbow Fractures: A Randomized, Controlled Trial.

PubMed

Silva, Mauricio; Sadlik, Gal; Avoian, Tigran; Ebramzadeh, Edward

2018-04-01

The ideal type of immobilization for nondisplaced pediatric elbow fractures has not been established. We hypothesized that the use of a long-arm cylinder made of soft cast material will result in similar outcomes to those obtained with a traditional long-arm hard cast. We randomly assigned 100 consecutive children who presented with a closed, nondisplaced, type I supracondylar humeral fracture or an occult, closed, acute elbow injury, to 1 of 2 groups: group A (n=50) received a long-arm, traditional fiberglass (hard) cast. Group B (n=50) received a long-arm, soft fiberglass cast. After 4 weeks, the cast was removed in group A by a member of our staff using a cast saw, and in group B by one of the patient's parents by rolling back the soft fiberglass material. We compared the amount of fracture displacement and/or angulation, recovery of range of motion, elbow pain, and patient satisfaction. There were no instances of unplanned removal of the cast by the patient or parent. No evidence of fracture displacement or angulation was seen in either group. The final carrying angle of the affected elbow was nearly identical of that of the normal, contralateral elbow in both groups (P=0.64). At the latest follow-up appointment, elbows in groups A and B had a similar mean arc of motion (156 vs. 154 degrees; P=0.45), and had achieved identical relative arc of motion of 99.6% and 99.5% of that of the normal, contralateral side, respectively (P=0.94). Main pain scores were low and comparable over the study period. All patients in both groups reported the highest rate of satisfaction at the eighth week of follow-up. The results indicate that children with nondisplaced supracondylar humeral fractures can be successfully managed with the use of a removable long-arm soft cast, maintaining fracture alignment and resulting in comparable rates of range of motion, pain, and patient satisfaction. The use of a removable immobilization that can reliably maintain fracture alignment and result in similar outcomes, while minimizing the risk of noncompliance, could be advantageous. Although we elected to remove the soft cast during a scheduled follow-up, it appears that such immobilization could be removed easily and safely at home, potentially resulting in a lower number of patient visits, decreased health care costs, and higher patient/parent satisfaction. Level I.

Rotary Actuators Based on Pneumatically Driven Elastomeric Structures.

PubMed

Gong, Xiangyu; Yang, Ke; Xie, Jingjin; Wang, Yanjun; Kulkarni, Parth; Hobbs, Alexander S; Mazzeo, Aaron D

2016-09-01

Unique elastomeric rotary actuators based on pneumatically driven peristaltic motion are demonstrated. Using silicone-based wheels, these motors enable a new class of soft locomotion not found in nature, which is capable of withstanding impact, traversing irregular terrain, and operating in water. For soft robotics, this work marks progress toward providing torque without bending actuators. © 2016 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

TU-F-BRB-02: Motion Artifacts and Suppression in MRI

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

Zhong, X.

The current clinical standard of organ respiratory imaging, 4D-CT, is fundamentally limited by poor soft-tissue contrast and imaging dose. These limitations are potential barriers to beneficial “4D” radiotherapy methods which optimize the target and OAR dose-volume considering breathing motion but rely on a robust motion characterization. Conversely, MRI imparts no known radiation risk and has excellent soft-tissue contrast. MRI-based motion management is therefore highly desirable and holds great promise to improve radiotherapy of moving cancers, particularly in the abdomen. Over the past decade, MRI techniques have improved significantly, making MR-based motion management clinically feasible. For example, cine MRI has highmore » temporal resolution up to 10 f/s and has been used to track and/or characterize tumor motion, study correlation between external and internal motions. New MR technologies, such as 4D-MRI and MRI hybrid treatment machines (i.e. MR-linac or MR-Co60), have been recently developed. These technologies can lead to more accurate target volume determination and more precise radiation dose delivery via direct tumor gating or tracking. Despite all these promises, great challenges exist and the achievable clinical benefit of MRI-based tumor motion management has yet to be fully explored, much less realized. In this proposal, we will review novel MR-based motion management methods and technologies, the state-of-the-art concerning MRI development and clinical application and the barriers to more widespread adoption. Learning Objectives: Discuss the need of MR-based motion management for improving patient care in radiotherapy. Understand MR techniques for motion imaging and tumor motion characterization. Understand the current state of the art and future steps for clinical integration. Henry Ford Health System holds research agreements with Philips Healthcare. Research sponsored in part by a Henry Ford Health System Internal Mentored Grant.« less

TU-F-BRB-03: Clinical Implementation of MR-Based Motion Management

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

Glide-Hurst, C.

The current clinical standard of organ respiratory imaging, 4D-CT, is fundamentally limited by poor soft-tissue contrast and imaging dose. These limitations are potential barriers to beneficial “4D” radiotherapy methods which optimize the target and OAR dose-volume considering breathing motion but rely on a robust motion characterization. Conversely, MRI imparts no known radiation risk and has excellent soft-tissue contrast. MRI-based motion management is therefore highly desirable and holds great promise to improve radiotherapy of moving cancers, particularly in the abdomen. Over the past decade, MRI techniques have improved significantly, making MR-based motion management clinically feasible. For example, cine MRI has highmore » temporal resolution up to 10 f/s and has been used to track and/or characterize tumor motion, study correlation between external and internal motions. New MR technologies, such as 4D-MRI and MRI hybrid treatment machines (i.e. MR-linac or MR-Co60), have been recently developed. These technologies can lead to more accurate target volume determination and more precise radiation dose delivery via direct tumor gating or tracking. Despite all these promises, great challenges exist and the achievable clinical benefit of MRI-based tumor motion management has yet to be fully explored, much less realized. In this proposal, we will review novel MR-based motion management methods and technologies, the state-of-the-art concerning MRI development and clinical application and the barriers to more widespread adoption. Learning Objectives: Discuss the need of MR-based motion management for improving patient care in radiotherapy. Understand MR techniques for motion imaging and tumor motion characterization. Understand the current state of the art and future steps for clinical integration. Henry Ford Health System holds research agreements with Philips Healthcare. Research sponsored in part by a Henry Ford Health System Internal Mentored Grant.« less

TU-F-BRB-01: Resolving and Characterizing Breathing Motion for Radiotherapy with MRI

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

Tryggestad, E.

The current clinical standard of organ respiratory imaging, 4D-CT, is fundamentally limited by poor soft-tissue contrast and imaging dose. These limitations are potential barriers to beneficial “4D” radiotherapy methods which optimize the target and OAR dose-volume considering breathing motion but rely on a robust motion characterization. Conversely, MRI imparts no known radiation risk and has excellent soft-tissue contrast. MRI-based motion management is therefore highly desirable and holds great promise to improve radiotherapy of moving cancers, particularly in the abdomen. Over the past decade, MRI techniques have improved significantly, making MR-based motion management clinically feasible. For example, cine MRI has highmore » temporal resolution up to 10 f/s and has been used to track and/or characterize tumor motion, study correlation between external and internal motions. New MR technologies, such as 4D-MRI and MRI hybrid treatment machines (i.e. MR-linac or MR-Co60), have been recently developed. These technologies can lead to more accurate target volume determination and more precise radiation dose delivery via direct tumor gating or tracking. Despite all these promises, great challenges exist and the achievable clinical benefit of MRI-based tumor motion management has yet to be fully explored, much less realized. In this proposal, we will review novel MR-based motion management methods and technologies, the state-of-the-art concerning MRI development and clinical application and the barriers to more widespread adoption. Learning Objectives: Discuss the need of MR-based motion management for improving patient care in radiotherapy. Understand MR techniques for motion imaging and tumor motion characterization. Understand the current state of the art and future steps for clinical integration. Henry Ford Health System holds research agreements with Philips Healthcare. Research sponsored in part by a Henry Ford Health System Internal Mentored Grant.« less

TU-F-BRB-00: MRI-Based Motion Management for RT

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

NONE

The current clinical standard of organ respiratory imaging, 4D-CT, is fundamentally limited by poor soft-tissue contrast and imaging dose. These limitations are potential barriers to beneficial “4D” radiotherapy methods which optimize the target and OAR dose-volume considering breathing motion but rely on a robust motion characterization. Conversely, MRI imparts no known radiation risk and has excellent soft-tissue contrast. MRI-based motion management is therefore highly desirable and holds great promise to improve radiotherapy of moving cancers, particularly in the abdomen. Over the past decade, MRI techniques have improved significantly, making MR-based motion management clinically feasible. For example, cine MRI has highmore » temporal resolution up to 10 f/s and has been used to track and/or characterize tumor motion, study correlation between external and internal motions. New MR technologies, such as 4D-MRI and MRI hybrid treatment machines (i.e. MR-linac or MR-Co60), have been recently developed. These technologies can lead to more accurate target volume determination and more precise radiation dose delivery via direct tumor gating or tracking. Despite all these promises, great challenges exist and the achievable clinical benefit of MRI-based tumor motion management has yet to be fully explored, much less realized. In this proposal, we will review novel MR-based motion management methods and technologies, the state-of-the-art concerning MRI development and clinical application and the barriers to more widespread adoption. Learning Objectives: Discuss the need of MR-based motion management for improving patient care in radiotherapy. Understand MR techniques for motion imaging and tumor motion characterization. Understand the current state of the art and future steps for clinical integration. Henry Ford Health System holds research agreements with Philips Healthcare. Research sponsored in part by a Henry Ford Health System Internal Mentored Grant.« less

Collective dynamics of soft active particles

NASA Astrophysics Data System (ADS)

van Drongelen, Ruben; Pal, Anshuman; Goodrich, Carl P.; Idema, Timon

2015-03-01

We present a model of soft active particles that leads to a rich array of collective behavior found also in dense biological swarms of bacteria and other unicellular organisms. Our model uses only local interactions, such as Vicsek-type nearest-neighbor alignment, short-range repulsion, and a local boundary term. Changing the relative strength of these interactions leads to migrating swarms, rotating swarms, and jammed swarms, as well as swarms that exhibit run-and-tumble motion, alternating between migration and either rotating or jammed states. Interestingly, although a migrating swarm moves slower than an individual particle, the diffusion constant can be up to three orders of magnitude larger, suggesting that collective motion can be highly advantageous, for example, when searching for food.

Motion Compensation in Extremity Cone-Beam CT Using a Penalized Image Sharpness Criterion

PubMed Central

Sisniega, A.; Stayman, J. W.; Yorkston, J.; Siewerdsen, J. H.; Zbijewski, W.

2017-01-01

Cone-beam CT (CBCT) for musculoskeletal imaging would benefit from a method to reduce the effects of involuntary patient motion. In particular, the continuing improvement in spatial resolution of CBCT may enable tasks such as quantitative assessment of bone microarchitecture (0.1 mm – 0.2 mm detail size), where even subtle, sub-mm motion blur might be detrimental. We propose a purely image based motion compensation method that requires no fiducials, tracking hardware or prior images. A statistical optimization algorithm (CMA-ES) is used to estimate a motion trajectory that optimizes an objective function consisting of an image sharpness criterion augmented by a regularization term that encourages smooth motion trajectories. The objective function is evaluated using a volume of interest (VOI, e.g. a single bone and surrounding area) where the motion can be assumed to be rigid. More complex motions can be addressed by using multiple VOIs. Gradient variance was found to be a suitable sharpness metric for this application. The performance of the compensation algorithm was evaluated in simulated and experimental CBCT data, and in a clinical dataset. Motion-induced artifacts and blurring were significantly reduced across a broad range of motion amplitudes, from 0.5 mm to 10 mm. Structure Similarity Index (SSIM) against a static volume was used in the simulation studies to quantify the performance of the motion compensation. In studies with translational motion, the SSIM improved from 0.86 before compensation to 0.97 after compensation for 0.5 mm motion, from 0.8 to 0.94 for 2 mm motion and from 0.52 to 0.87 for 10 mm motion (~70% increase). Similar reduction of artifacts was observed in a benchtop experiment with controlled translational motion of an anthropomorphic hand phantom, where SSIM (against a reconstruction of a static phantom) improved from 0.3 to 0.8 for 10 mm motion. Application to a clinical dataset of a lower extremity showed dramatic reduction of streaks and improvement in delineation of tissue boundaries and trabecular structures throughout the whole volume. The proposed method will support new applications of extremity CBCT in areas where patient motion may not be sufficiently managed by immobilization, such as imaging under load and quantitative assessment of subchondral bone architecture. PMID:28327471