Caliko: An Inverse Kinematics Software Library Implementation of the FABRIK Algorithm

OpenAIRE

Lansley, Alastair; Vamplew, Peter; Smith, Philip; Foale, Cameron

2016-01-01

The Caliko library is an implementation of the FABRIK (Forward And Backward Reaching Inverse Kinematics) algorithm written in Java. The inverse kinematics (IK) algorithm is implemented in both 2D and 3D, and incorporates a variety of joint constraints as well as the ability to connect multiple IK chains together in a hierarchy. The library allows for the simple creation and solving of multiple IK chains as well as visualisation of these solutions. It is licensed under the MIT software license...

Kinematic Optimization in Birds, Bats and Ornithopters

Science.gov (United States)

Reichert, Todd

Birds and bats employ a variety of advanced wing motions in the efficient production of thrust. The purpose of this thesis is to quantify the benefit of these advanced wing motions, determine the optimal theoretical wing kinematics for a given flight condition, and to develop a methodology for applying the results in the optimal design of flapping-wing aircraft (ornithopters). To this end, a medium-fidelity, combined aero-structural model has been developed that is capable of simulating the advanced kinematics seen in bird flight, as well as the highly non-linear structural deformations typical of high-aspect ratio wings. Five unique methods of thrust production observed in natural species have been isolated, quantified and thoroughly investigated for their dependence on Reynolds number, airfoil selection, frequency, amplitude and relative phasing. A gradient-based optimization algorithm has been employed to determined the wing kinematics that result in the minimum required power for a generalized aircraft or species in any given flight condition. In addition to the theoretical work, with the help of an extended team, the methodology was applied to the design and construction of the world's first successful human-powered ornithopter. The Snowbird Human-Powered Ornithopter, is used as an example aircraft to show how additional design constraints can pose limits on the optimal kinematics. The results show significant trends that give insight into the kinematic operation of natural species. The general result is that additional complexity, whether it be larger twisting deformations or advanced wing-folding mechanisms, allows for the possibility of more efficient flight. At its theoretical optimum, the efficiency of flapping-wings exceeds that of current rotors and propellers, although these efficiencies are quite difficult to achieve in practice.

Decoupled Closed-Form Solution for Humanoid Lower Limb Kinematics

Directory of Open Access Journals (Sweden)

Alejandro Said

2015-01-01

Full Text Available This paper presents an explicit, omnidirectional, analytical, and decoupled closed-form solution for the lower limb kinematics of the humanoid robot NAO. The paper starts by decoupling the position and orientation analysis from the overall Denavit-Hartenberg (DH transformation matrices. Here, the joint activation sequence for the DH matrices is based on the geometry of a triangle. Furthermore, the implementation of a forward and a reversed kinematic analysis for the support and swing phase equations is developed to avoid matrix inversion. The allocation of constant transformations allows the position and orientation end-coordinate systems to be aligned with each other. Also, the redefinition of the DH transformations and the use of constraints allow decoupling the shared DOF between the legs and the torso. Finally, a geometric approach to avoid the singularities during the walking process is indicated. Numerical data is presented along with an experimental implementation to prove the validity of the analytical results.

Rate effects on timing, key velocity, and finger kinematics in piano performance.

Science.gov (United States)

Bella, Simone Dalla; Palmer, Caroline

2011-01-01

We examined the effect of rate on finger kinematics in goal-directed actions of pianists. In addition, we evaluated whether movement kinematics can be treated as an indicator of personal identity. Pianists' finger movements were recorded with a motion capture system while they performed melodies from memory at different rates. Pianists' peak finger heights above the keys preceding keystrokes increased as tempo increased, and were attained about one tone before keypress. These rate effects were not simply due to a strategy to increase key velocity (associated with tone intensity) of the corresponding keystroke. Greater finger heights may compensate via greater tactile feedback for a speed-accuracy tradeoff that underlies the tendency toward larger temporal variability at faster tempi. This would allow pianists to maintain high temporal accuracy when playing at fast rates. In addition, finger velocity and accelerations as pianists' fingers approached keys were sufficiently unique to allow pianists' identification with a neural-network classifier. Classification success was higher in pianists with more extensive musical training. Pianists' movement "signatures" may reflect unique goal-directed movement kinematic patterns, leading to individualistic sound.

Kinematics modeling and simulation of an autonomous omni-directional mobile robot

Directory of Open Access Journals (Sweden)

Daniel Garcia Sillas

2015-05-01

Full Text Available Although robotics has progressed to the extent that it has become relatively accessible with low-cost projects, there is still a need to create models that accurately represent the physical behavior of a robot. Creating a completely virtual platform allows us to test behavior algorithms such as those implemented using artificial intelligence, and additionally, it enables us to find potential problems in the physical design of the robot. The present work describes a methodology for the construction of a kinematic model and a simulation of the autonomous robot, specifically of an omni-directional wheeled robot. This paper presents the kinematic model development and its implementation using several tools. The result is a model that follows the kinematics of a triangular omni-directional mobile wheeled robot, which is then tested by using a 3D model imported from 3D Studio® and Matlab® for the simulation. The environment used for the experiment is very close to the real environment and reflects the kinematic characteristics of the robot.

The role of reversed kinematics and double kinematic solutions in nuclear reactions studies

International Nuclear Information System (INIS)

Kaplan, M.; Parker, W.E.; Moses, D.J.; Lacey, R.; Alexander, J.M.

1993-01-01

The advantages of reversed kinematics in nuclear reactions studies are discussed, with particular emphasis on the origin of double solutions in the reaction kinematics. This possibility for double solutions does not exist in normal kinematics, and provides the basis for a new method of imposing important experimental constraints on the uniqueness of fitting complex observations. By gating on one or the other of the two solutions, light particle kinematics can be greatly influenced in coincidence measurements. The power of the method is illustrated with data for the reaction 1030 MeV 121 Sb+ 27 Al, where charged particle emissions arise from several different sources. (orig.)

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

Science.gov (United States)

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

2016-01-01

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

Kinematic Measures of Imitation Fidelity in Primary School Children

Science.gov (United States)

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

2014-01-01

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

Galileo's kinematical paradox and the role of resistive forces

International Nuclear Information System (INIS)

Aguiar, C E; Soares, V; Tort, A C

2014-01-01

We discuss Galileo's kinematical ‘paradox’ taking into account the effects of sliding friction and of resistive forces proportional to velocity. We show that sliding friction eliminates the paradox but still allows for very simple synchronous curves. Perhaps surprisingly, Galileo's paradox is preserved when the resistive force is proportional to velocity. (paper)

pynoddy 1.0: an experimental platform for automated 3-D kinematic and potential field modelling

Science.gov (United States)

Florian Wellmann, J.; Thiele, Sam T.; Lindsay, Mark D.; Jessell, Mark W.

2016-03-01

We present a novel methodology for performing experiments with subsurface structural models using a set of flexible and extensible Python modules. We utilize the ability of kinematic modelling techniques to describe major deformational, tectonic, and magmatic events at low computational cost to develop experiments testing the interactions between multiple kinematic events, effect of uncertainty regarding event timing, and kinematic properties. These tests are simple to implement and perform, as they are automated within the Python scripting language, allowing the encapsulation of entire kinematic experiments within high-level class definitions and fully reproducible results. In addition, we provide a link to geophysical potential-field simulations to evaluate the effect of parameter uncertainties on maps of gravity and magnetics. We provide relevant fundamental information on kinematic modelling and our implementation, and showcase the application of our novel methods to investigate the interaction of multiple tectonic events on a pre-defined stratigraphy, the effect of changing kinematic parameters on simulated geophysical potential fields, and the distribution of uncertain areas in a full 3-D kinematic model, based on estimated uncertainties in kinematic input parameters. Additional possibilities for linking kinematic modelling to subsequent process simulations are discussed, as well as additional aspects of future research. Our modules are freely available on github, including documentation and tutorial examples, and we encourage the contribution to this project.

Rate effects on timing, key velocity, and finger kinematics in piano performance.

Directory of Open Access Journals (Sweden)

Simone Dalla Bella

Full Text Available We examined the effect of rate on finger kinematics in goal-directed actions of pianists. In addition, we evaluated whether movement kinematics can be treated as an indicator of personal identity. Pianists' finger movements were recorded with a motion capture system while they performed melodies from memory at different rates. Pianists' peak finger heights above the keys preceding keystrokes increased as tempo increased, and were attained about one tone before keypress. These rate effects were not simply due to a strategy to increase key velocity (associated with tone intensity of the corresponding keystroke. Greater finger heights may compensate via greater tactile feedback for a speed-accuracy tradeoff that underlies the tendency toward larger temporal variability at faster tempi. This would allow pianists to maintain high temporal accuracy when playing at fast rates. In addition, finger velocity and accelerations as pianists' fingers approached keys were sufficiently unique to allow pianists' identification with a neural-network classifier. Classification success was higher in pianists with more extensive musical training. Pianists' movement "signatures" may reflect unique goal-directed movement kinematic patterns, leading to individualistic sound.

Caliko: An Inverse Kinematics Software Library Implementation of the FABRIK Algorithm

Directory of Open Access Journals (Sweden)

Alastair Lansley

2016-09-01

Full Text Available The Caliko library is an implementation of the FABRIK (Forward And Backward Reaching Inverse Kinematics algorithm written in Java. The inverse kinematics (IK algorithm is implemented in both 2D and 3D, and incorporates a variety of joint constraints as well as the ability to connect multiple IK chains together in a hierarchy. The library allows for the simple creation and solving of multiple IK chains as well as visualisation of these solutions. It is licensed under the MIT software license and the source code is freely available for use and modification at: https://github.com/feduni/caliko

STRUCTURAL APPROACH TO THE MATHEMATICAL DESCRIPTION AND COMPUTER VISUALIZATION OF PLANE KINEMATIC CURVES FOR THE DISPLAY OF GEARS

Directory of Open Access Journals (Sweden)

Tatyana TRETYAK

2018-05-01

Full Text Available The structural approach stated in this paper allows to simulate the different plane kinematic curves without their concrete analytic equations. The summarized unified mapping system for rack gearing is used. The examples of plane kinematic curves received by the structural method on computer are adduced.

Optimizing the way kinematical feed chains with great distance between slides are chosen for CNC machine tools

Science.gov (United States)

Lucian, P.; Gheorghe, S.

2017-08-01

This paper presents a new method, based on FRISCO formula, for optimizing the choice of the best control system for kinematical feed chains with great distance between slides used in computer numerical controlled machine tools. Such machines are usually, but not limited to, used for machining large and complex parts (mostly in the aviation industry) or complex casting molds. For such machine tools the kinematic feed chains are arranged in a dual-parallel drive structure that allows the mobile element to be moved by the two kinematical branches and their related control systems. Such an arrangement allows for high speed and high rigidity (a critical requirement for precision machining) during the machining process. A significant issue for such an arrangement it’s the ability of the two parallel control systems to follow the same trajectory accurately in order to address this issue it is necessary to achieve synchronous motion control for the two kinematical branches ensuring that the correct perpendicular position it’s kept by the mobile element during its motion on the two slides.

Age Effects on Upper Limb Kinematics Assessed by the REAplan Robot in Healthy School-Aged Children.

Science.gov (United States)

Gilliaux, Maxime; Dierckx, Floriane; Vanden Berghe, Lola; Lejeune, Thierry M; Sapin, Julien; Dehez, Bruno; Stoquart, Gaëtan; Detrembleur, Christine

2015-05-01

The use of kinematics is recommended to quantitatively evaluate upper limb movements. The aims of this study were to determine the age effects on upper limb kinematics and establish norms in healthy children. Ninety-three healthy children, aged 3-12 years, participated in this study. Twenty-eight kinematic indices were computed from four tasks. Each task was performed with the REAplan, a distal effector robotic device that allows upper limb displacements in the horizontal plane. Twenty-four of the 28 indices showed an improvement during childhood. Indeed, older children showed better upper limb movements. This study was the first to use a robotic device to show the age effects on upper limb kinematics and establish norms in healthy children.

Nuclear reaction studies using inverse kinematics

International Nuclear Information System (INIS)

Shapira, D.

1985-01-01

Reaction studies with reversed kinematics refer to studies of nuclear reactions induced by a heavy projectile colliding with lighter target nuclei. The technique of using reversed kinematics is costly in terms of the available center-of-mass energy. Most of the projectile's energy goes into forward motion of the reaction products in the laboratory system. Examples are presented where the use of reversed kinematics techniques has provided new information on certain reaction processes. A list of kinematic properties and advantages they may afford is shown. Clearly the possible studies listed can be done without using reversed kinematics but because of the difficulty associated with some of these studies they were never performed until more energetic heavier beams have become available and the reversed kinematics technique was utilized

Virtual prototype simulation of hydraulic shovel kinematics for spatial characterization in surface mining operations

Energy Technology Data Exchange (ETDEWEB)

S. Frimpong; Y. Li [University of Missouri-Rolla, Rolla, MO (United States). Department of Mining and Nuclear Engineering

2005-12-15

Hydraulic shovels are large-capacity equipment for excavating and loading dump trucks in constrained surface mining environments. Kinematics simulation of such equipment allows mine planning engineers to plan, design and control their spatial environments to achieve operating safety and efficiency. In this study, a hydraulic shovel was modelled as a mechanical manipulator with five degrees of freedom comprising the crawler, upper, boom, stick, bucket and bucket door components. The model was captured in a schematic diagram consisting of a six-bar linkage using the symbolic notation of Denavit and Hartenberg (Ho and Sriwattanathmma 1989). Homogeneous transformation matrices were used to capture the spatial configuration between adjacent links. The forward kinematics method was used to formulate the kinematics equations by attaching Cartesian coordinates to the schematic shovel diagram. Based on the kinematics model, a 3D virtual prototype of the hydraulic shovel was built in the Automatic Dynamic Analysis of Mechanical Systems (ADAMS) environment to simulate the motions of the hydraulic shovel with selected time steps. The simulator was validated using real-world data with animation and numerical analysis of the digging, swinging and dumping motions of the shovel machinery. The superimposed display of the deployment of the hydraulic shovel in three phases allows a detailed motion examination of the system. The numerical results of linear and angular displacements of the bucket tip and bucket door can be used to analyse the kinematics motion of the hydraulic shovel for its optimization. This simulator provides a solid foundation for further dynamics modelling and dynamic hydraulic shovel performance studies.

Kinematic Model of NAO Humanoid Robot

Directory of Open Access Journals (Sweden)

Miloš D. Jovanović

2014-06-01

Full Text Available This paper presents synthesis of kinematic model of NAO humanoid robot of Aldebaran Robotics. NAO humanoid robot has complex kinematic structure with 25 active degrees of freedom (DOF. Humanoid system is formed through 5 mutually depended kinematic chains. After that we applied standard aspects of kinematic chains synthesis and Denavit-Hartenberg parameters of each of 5 chains of robotic structure were introduced. Also, mutual relationships between chains were described, as well as their physical and structural dependence. Generated kinematic model will be the starting point for further dynamical modeling of NAO humanoid robot and motion synthesis on actual platform.

Kinematic decomposition and classification of octopus arm movements.

Science.gov (United States)

Zelman, Ido; Titon, Myriam; Yekutieli, Yoram; Hanassy, Shlomi; Hochner, Binyamin; Flash, Tamar

2013-01-01

The octopus arm is a muscular hydrostat and due to its deformable and highly flexible structure it is capable of a rich repertoire of motor behaviors. Its motor control system uses planning principles and control strategies unique to muscular hydrostats. We previously reconstructed a data set of octopus arm movements from records of natural movements using a sequence of 3D curves describing the virtual backbone of arm configurations. Here we describe a novel representation of octopus arm movements in which a movement is characterized by a pair of surfaces that represent the curvature and torsion values of points along the arm as a function of time. This representation allowed us to explore whether the movements are built up of elementary kinematic units by decomposing each surface into a weighted combination of 2D Gaussian functions. The resulting Gaussian functions can be considered as motion primitives at the kinematic level of octopus arm movements. These can be used to examine underlying principles of movement generation. Here we used combination of such kinematic primitives to decompose different octopus arm movements and characterize several movement prototypes according to their composition. The representation and methodology can be applied to the movement of any organ which can be modeled by means of a continuous 3D curve.

Inverse Kinematics using Quaternions

DEFF Research Database (Denmark)

Henriksen, Knud; Erleben, Kenny; Engell-Nørregård, Morten

In this project I describe the status of inverse kinematics research, with the focus firmly on the methods that solve the core problem. An overview of the different methods are presented Three common methods used in inverse kinematics computation have been chosen as subject for closer inspection....

Fission of highly excited nuclei investigated in complete kinematic measurements

International Nuclear Information System (INIS)

Rodriguez-Sanchez, J. L.; Benlliure, J.; Taieb, J.; Avarez-Pol, H.; Audouin, L.; Ayyad, Y.; Belier, G.; Boutoux, G.; Casarejos, E.; Chatillon, A.; Cortina-Gil, D.; Gorbinet, T.; Heinz, A.; Kelic-Heil, A.; Kurz, N.; Laurent, B.; Martin, J. F.; Paradela, C.; Pellereau, E.; Pietras, B.; Prochazka, A.; Ramos, D.; Rodriguez-Tajes, C.; Rossi, D.; Simon, H.; Tassan-Got, L.; Vargas, J.; Voss, B.

2013-01-01

Fission is an extremely complex mechanism that requires a dynamical approach to describe the evolution of the process in terms of intrinsic and collective excitations of the nuclear constituents. In order to determine these effects a complex experimental setup was mounted at GSI, which allowed us for the first time the full identification in charge and mass of all fission fragments thanks to a magnetic separation and the use of the inverse kinematic technique. Moreover, we also measured the neutron multiplicities and the light-charged particles emitted in coincidence with fission. These complete kinematic measurements will be used to define sensitive observables to dissipative and transient effects in fission. In this manuscript we present the first results for the total fission cross sections. (authors)

How can the study of action kinematics inform our understanding of human social interaction?

Science.gov (United States)

Krishnan-Barman, Sujatha; Forbes, Paul A G; Hamilton, Antonia F de C

2017-10-01

The kinematics of human actions are influenced by the social context in which they are performed. Motion-capture technology has allowed researchers to build up a detailed and complex picture of how action kinematics vary across different social contexts. Here we review three task domains-point-to-point imitation tasks, motor interference tasks and reach-to-grasp tasks-to critically evaluate how these tasks can inform our understanding of social interactions. First, we consider how actions within these task domains are performed in a non-social context, before highlighting how a plethora of social cues can perturb the baseline kinematics. We show that there is considerable overlap in the findings from these different tasks domains but also highlight the inconsistencies in the literature and the possible reasons for this. Specifically, we draw attention to the pitfalls of dealing with rich, kinematic data. As a way to avoid these pitfalls, we call for greater standardisation and clarity in the reporting of kinematic measures and suggest the field would benefit from a move towards more naturalistic tasks. Copyright © 2017 The Authors. Published by Elsevier Ltd.. All rights reserved.

Advances in robot kinematics

CERN Document Server

Khatib, Oussama

2014-01-01

The topics addressed in this book cover the whole range of kinematic analysis, synthesis and design and consider robotic systems possessing serial, parallel and cable driven mechanisms. The robotic systems range from being less than fully mobile to kinematically redundant to overconstrained.  The fifty-six contributions report the latest results in robot kinematics with emphasis on emerging areas such as design and control of humanoids or humanoid subsystems. The book is of interest to researchers wanting to bring their knowledge up to date regarding modern topics in one of the basic disciplines in robotics, which relates to the essential property of robots, the motion of mechanisms.

End-Effector Position Analysis Using Forward Kinematics For 5 Dof Pravak Robot Arm

Directory of Open Access Journals (Sweden)

Jolly Atit Shah

2013-03-01

Full Text Available Automatic control of the robotic manipulator involves study of kinematics and dynamics as a major issue. This paper involves the kinematic analysis of a Pravak Robot arm which is used for doing successful robotic manipulation task in its workspace. The Pravak Robot Arm is a 5-DOF robot having all the joints revolute. The kinematics problem is defined as the transformation from the Cartesian space to the joint space and vice versa. In this study the Denavit- Hartenberg (D-H model is used to model robot links and joints. Pravak Robot Arm is a simple and safe robotic system designed for laboratory training and research applications. This robot allows to gain theoretical and practical experience in robotics, automation and control systems. The MATLAB R2007 is used to analyse end effectors position for a set of joint parameter.

New Methods for Kinematic Modelling and Calibration of Robots

DEFF Research Database (Denmark)

Søe-Knudsen, Rune

2014-01-01

the accuracy in an easy and accessible way. The required equipment is accessible, since the cost is held to a minimum and can be made with conventional processing equipment. Our first method calibrates the kinematics of a robot using known relative positions measured with the robot itself and a plate...... with holes matching the robot tool flange. The second method calibrates the kinematics using two robots. This method allows the robots to carry out the collection of measurements and the adjustment, by themselves, after the robots have been connected. Furthermore, we also propose a method for restoring......Improving a robot's accuracy increases its ability to solve certain tasks, and is therefore valuable. Practical ways of achieving this improved accuracy, even after robot repair, is also valuable. In this work, we introduce methods that improve the robot's accuracy and make it possible to maintain...

Kinematic parameters of signed verbs.

Science.gov (United States)

Malaia, Evie; Wilbur, Ronnie B; Milkovic, Marina

2013-10-01

Sign language users recruit physical properties of visual motion to convey linguistic information. Research on American Sign Language (ASL) indicates that signers systematically use kinematic features (e.g., velocity, deceleration) of dominant hand motion for distinguishing specific semantic properties of verb classes in production ( Malaia & Wilbur, 2012a) and process these distinctions as part of the phonological structure of these verb classes in comprehension ( Malaia, Ranaweera, Wilbur, & Talavage, 2012). These studies are driven by the event visibility hypothesis by Wilbur (2003), who proposed that such use of kinematic features should be universal to sign language (SL) by the grammaticalization of physics and geometry for linguistic purposes. In a prior motion capture study, Malaia and Wilbur (2012a) lent support for the event visibility hypothesis in ASL, but there has not been quantitative data from other SLs to test the generalization to other languages. The authors investigated the kinematic parameters of predicates in Croatian Sign Language ( Hrvatskom Znakovnom Jeziku [HZJ]). Kinematic features of verb signs were affected both by event structure of the predicate (semantics) and phrase position within the sentence (prosody). The data demonstrate that kinematic features of motion in HZJ verb signs are recruited to convey morphological and prosodic information. This is the first crosslinguistic motion capture confirmation that specific kinematic properties of articulator motion are grammaticalized in other SLs to express linguistic features.

Kinematics Control and Analysis of Industrial Robot

Science.gov (United States)

Zhu, Tongbo; Cai, Fan; Li, Yongmei; Liu, Wei

2018-03-01

The robot’s development present situation, basic principle and control system are introduced briefly. Research is mainly focused on the study of the robot’s kinematics and motion control. The structural analysis of a planar articulated robot (SCARA) robot is presented,the coordinate system is established to obtain the position and orientation matrix of the end effector,a method of robot kinematics analysis based on homogeneous transformation method is proposed, and the kinematics solution of the robot is obtained.Establishment of industrial robot’s kinematics equation and formula for positive kinematics by example. Finally,the kinematic analysis of this robot was verified by examples.It provides a basis for structural design and motion control.It has active significance to promote the motion control of industrial robot.

On the kinematic reconstruction of deep inelastic scattering at HERA: the Σmethod

International Nuclear Information System (INIS)

Bassler, U.; Bernardi, G.

1994-12-01

We review and compare the reconstruction methods of the inclusive deep inelastic scattering variables used at HERA. We introduce a new prescription, the Sigma (Σ) method, which allows to measure the structure function of the proton F 2 (x, Q 2 ) in a large kinematic domain, and in particular in the low x-low Q 2 region, with small systematic errors and small radiative corrections. A detailed comparison between the Σ method and the other methods is shown. Extensions of the Σ method are presented. The effect of QED radiation on the kinematic reconstruction and on the structure function measurement is discussed. (orig.)

Kinematic decomposition and classification of octopus arm movements

Directory of Open Access Journals (Sweden)

Ido eZelman

2013-05-01

Full Text Available The octopus arm is a muscular hydrostat and due to its deformable and highly flexible structure it is capable of a rich repertoire of motor behaviors. Its motor control system uses planning principles and control strategies unique to muscular hydrostats. We previously reconstructed a data set of octopus arm movements from records of natural movements using a sequence of 3D curves describing the virtual backbone of arm configurations. Here we describe a novel representation of octopus arm movements in which a movement is characterized by a pair of surfaces that represent the curvature and torsion values of points along the arm as a function of time. This representation allowed us to explore whether the movements are built up of elementary kinematic units by decomposing each surface into a weighted combination of 2D Gaussian functions. The resulting Gaussian functions can be considered as motion primitives at the kinematic level of octopus arm movements. These can be used to examine underlying principles of movement generation. Here we used combination of such kinematic primitives to decompose different octopus arm movements and characterize several movement prototypes according to their composition. The representation and methodology can be applied to the movement of any organ which can be modeled by means of a continuous 3D curve.

Morpho-kinematic properties of field S0 bulges in the CALIFA survey

Science.gov (United States)

Méndez-Abreu, J.; Aguerri, J. A. L.; Falcón-Barroso, J.; Ruiz-Lara, T.; Sánchez-Menguiano, L.; de Lorenzo-Cáceres, A.; Costantin, L.; Catalán-Torrecilla, C.; Zhu, L.; Sánchez-Blazquez, P.; Florido, E.; Corsini, E. M.; Wild, V.; Lyubenova, M.; van de Ven, G.; Sánchez, S. F.; Bland-Hawthorn, J.; Galbany, L.; García-Benito, R.; García-Lorenzo, B.; González Delgado, R. M.; López-Sánchez, A. R.; Marino, R. A.; Márquez, I.; Ziegler, B.; Califa Collaboration

2018-02-01

We study a sample of 28 S0 galaxies extracted from the integral field spectroscopic (IFS) survey Calar Alto Legacy Integral Field Area. We combine an accurate two-dimensional (2D) multicomponent photometric decomposition with the IFS kinematic properties of their bulges to understand their formation scenario. Our final sample is representative of S0s with high stellar masses (M⋆/M⊙ > 1010). They lay mainly on the red sequence and live in relatively isolated environments similar to that of the field and loose groups. We use our 2D photometric decomposition to define the size and photometric properties of the bulges, as well as their location within the galaxies. We perform mock spectroscopic simulations mimicking our observed galaxies to quantify the impact of the underlying disc on our bulge kinematic measurements (λ and v/σ). We compare our bulge corrected kinematic measurements with the results from Schwarzschild dynamical modelling. The good agreement confirms the robustness of our results and allows us to use bulge deprojected values of λ and v/σ. We find that the photometric (n and B/T) and kinematic (v/σ and λ) properties of our field S0 bulges are not correlated. We demonstrate that this morpho-kinematic decoupling is intrinsic to the bulges and it is not due to projection effects. We conclude that photometric diagnostics to separate different types of bulges (disc-like versus classical) might not be useful for S0 galaxies. The morpho-kinematics properties of S0 bulges derived in this paper suggest that they are mainly formed by dissipational processes happening at high redshift, but dedicated high-resolution simulations are necessary to better identify their origin.

Wearable Inertial Sensors Allow for Quantitative Assessment of Shoulder and Elbow Kinematics in a Cadaveric Knee Arthroscopy Model.

Science.gov (United States)

Rose, Michael; Curtze, Carolin; O'Sullivan, Joseph; El-Gohary, Mahmoud; Crawford, Dennis; Friess, Darin; Brady, Jacqueline M

2017-12-01

To develop a model using wearable inertial sensors to assess the performance of orthopaedic residents while performing a diagnostic knee arthroscopy. Fourteen subjects performed a diagnostic arthroscopy on a cadaveric right knee. Participants were divided into novices (5 postgraduate year 3 residents), intermediates (5 postgraduate year 4 residents), and experts (4 faculty) based on experience. Arm movement data were collected by inertial measurement units (Opal sensors) by securing 2 sensors to each upper extremity (dorsal forearm and lateral arm) and 2 sensors to the trunk (sternum and lumbar spine). Kinematics of the elbow and shoulder joints were calculated from the inertial data by biomechanical modeling based on a sequence of links connected by joints. Range of motion required to complete the procedure was calculated for each group. Histograms were used to compare the distribution of joint positions for an expert, intermediate, and novice. For both the right and left upper extremities, skill level corresponded well with shoulder abduction-adduction and elbow prono-supination. Novices required on average 17.2° more motion in the right shoulder abduction-adduction plane than experts to complete the diagnostic arthroscopy (P = .03). For right elbow prono-supination (probe hand), novices required on average 23.7° more motion than experts to complete the procedure (P = .03). Histogram data showed novices had markedly more variability in shoulder abduction-adduction and elbow prono-supination compared with the other groups. Our data show wearable inertial sensors can measure joint kinematics during diagnostic knee arthroscopy. Range-of-motion data in the shoulder and elbow correlated inversely with arthroscopic experience. Motion pattern-based analysis shows promise as a metric of resident skill acquisition and development in arthroscopy. Wearable inertial sensors show promise as metrics of arthroscopic skill acquisition among residents. Copyright © 2017

Are undesirable contact kinematics minimized after kinematically aligned total knee arthroplasty? An intersurgeon analysis of consecutive patients.

Science.gov (United States)

Howell, Stephen M; Hodapp, Esther E; Vernace, Joseph V; Hull, Maury L; Meade, Thomas D

2013-10-01

Tibiofemoral contact kinematics or knee implant motions have a direct influence on patient function and implant longevity and should be evaluated for any new alignment technique such as kinematically aligned total knee arthroplasty (TKA). Edge loading of the tibial liner and external rotation (reverse of normal) and adduction of the tibial component on the femoral component are undesirable contact kinematics that should be minimized. Accordingly, this study determined whether the overall prevalence of undesirable contact kinematics during standing, mid kneeling near 90 degrees and full kneeling with kinematically aligned TKA are minimal and not different between groups of consecutive patients treated by different surgeons. Three surgeons were asked to perform cemented, kinematically aligned TKA with patient-specific guides in a consecutive series of patients with their preferred cruciate-retaining (CR) implant. In vivo tibiofemoral contact positions were obtained using a 3- to 2-dimensional image registration technique in 69 subjects (Vanguard CR-TKA N = 22, and Triathlon CR-TKA N = 47). Anterior or posterior edge loading of the tibial liner was not observed. The overall prevalence of external rotation of the tibial component on the femoral component of 6 % was low and not different between surgeons (n.s.). The overall prevalence of adduction of the tibial component on the femoral component of 4 % was low and not different between surgeons (n.s.). Kinematically aligned TKA minimized the undesirable contact kinematics of edge loading of the tibial liner, and external rotation and adduction of the tibial component on the femoral component during standing and kneeling, which suggests an optimistic prognosis for durable long-term function. III.

Inverse Kinematic Analysis Of A Quadruped Robot

Directory of Open Access Journals (Sweden)

Muhammed Arif Sen

2017-09-01

Full Text Available This paper presents an inverse kinematics program of a quadruped robot. The kinematics analysis is main problem in the manipulators and robots. Dynamic and kinematic structures of quadruped robots are very complex compared to industrial and wheeled robots. In this study inverse kinematics solutions for a quadruped robot with 3 degrees of freedom on each leg are presented. Denavit-Hartenberg D-H method are used for the forward kinematic. The inverse kinematic equations obtained by the geometrical and mathematical methods are coded in MATLAB. And thus a program is obtained that calculate the legs joint angles corresponding to desired various orientations of robot and endpoints of legs. Also the program provides the body orientations of robot in graphical form. The angular positions of joints obtained corresponding to desired different orientations of robot and endpoints of legs are given in this study.

Investigating The Kinematics of Canids and Felids

Science.gov (United States)

Sur, D.

2016-12-01

For all organisms, metabolic energy is critical for survival. While moving efficiently is a necessity for large carnivores, the influence of kinematics on energy demand remains poorly understood. We measured the kinematics of dogs, wolves, and pumas to detect any differences in their respective energy expenditures. Using 22 kinematic parameters measured on 78 videos, we used one-way ANOVAs and paired T-tests to compare 5 experimental treatments among gaits in dogs (n=11 in 3 breed groups), wolves (n=2), and pumas (n=2). Across the measured parameters, we found greater kinematic similarity than expected among dog breeds and no trend in any of the 22 parameters regarding the effect of steepness on locomotion mechanics. Similarly, treadmill kinematics were nearly identical to those measured during outdoor movement. However, in 3 inches of snow, we observed significant differences (pwolf. When comparing canids (wolves and dogs) to a felid (pumas), we found that pumas and dogs are the most kinematically distinct (differing in 13 of 22 parameters, compared with 5 of 22 for wolves and pumas). Lastly, compared with wolves, walking pumas had larger head angles (p=0.0025), forelimb excursion angles (p=0.0045), and hindlimb excursion angles (p=0.0327). After comparing the energetics of pumas and dogs with their respective kinematics, we noted that less dynamic kinematics result in energy savings. Through tracking the locations and gait behavior of large carnivores, novel sensor technology can reveal how indoor kinematics applies to wild animals and improve the conservation of these species.

Inverse Kinematics With Closed Form Solution For Denso Robot Manipulator

Directory of Open Access Journals (Sweden)

Ikhsan Eka Prasetia

2015-03-01

Full Text Available In this paper, the forward kinematics and inverse kinematics used on the Denso robot manipulator which has a 6-DOF. The forward kinematics will result in the desired position by end-effector, while inverse kinematics produce angel on each joint. Inverse kinematics problem are very difficult, therefor to obtain the solution of inverse kinematics using closed form solution with geometry approach. The simulation result obtained from forward kinematics and inverse kinematics is determining desired position by Denso robot manipulator. Forward kinematics produce the desired position by the end-effector. Inverse kinematics produce joint angle, where the inverse kinematics produce eight conditions obtained from closed form solution with geometry approach to reach the desired position by the end-effector.

Inverse Kinematics

Directory of Open Access Journals (Sweden)

Joel Sereno

2010-01-01

Full Text Available Inverse kinematics is the process of converting a Cartesian point in space into a set of joint angles to more efficiently move the end effector of a robot to a desired orientation. This project investigates the inverse kinematics of a robotic hand with fingers under various scenarios. Assuming the parameters of a provided robot, a general equation for the end effector point was calculated and used to plot the region of space that it can reach. Further, the benefits obtained from the addition of a prismatic joint versus an extra variable angle joint were considered. The results confirmed that having more movable parts, such as prismatic points and changing angles, increases the effective reach of a robotic hand.

Inverse Kinematics With Closed Form Solution For Denso Robot Manipulator

OpenAIRE

Ikhsan Eka Prasetia; Trihastuti Agustinah

2015-01-01

In this paper, the forward kinematics and inverse kinematics used on the Denso robot manipulator which has a 6-DOF. The forward kinematics will result in the desired position by end-effector, while inverse kinematics produce angel on each joint. Inverse kinematics problem are very difficult, therefor to obtain the solution of inverse kinematics using closed form solution with geometry approach. The simulation result obtained from forward kinematics and inverse kinematics is determining desire...

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

Science.gov (United States)

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

2003-04-01

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

Interactive scan control for kinematic study in open MRI

International Nuclear Information System (INIS)

Goto, Tomohiro; Hamada, Kiyomi; Ito, Taeko; Nagao, Hisako; Takahashi, Tetsuhiko; Hayashida, Yoshiko; Hiai, Yasuhiro; Yamashita, Yasuyuki

2007-01-01

A tool to support the subject is generally used for kinematic joint imaging with an open MRI apparatus because of difficulty setting the image plane correctly. However, use of a support tool requires a complicated procedure to position the subject, and setting the image plane when the joint angle changes is time consuming. Allowing the subject to move freely enables better diagnoses when kinematic joint imaging is performed. We therefore developed an interactive scan control (ISC) to facilitate the easy, quick, and accurate setting of the image plane even when a support tool is not used. We used a 0.4T magnetic resonance (MR) imaging system open in the horizontal direction. The ISC determines the image plane interactively on the basis of fluoroscopy images displayed on a user interface. The imaging pulse is a balanced steady-state acquisition with rewound gradient echo (SARGE) sequence with update time less than 2 s. Without using a tool to support the knee, we positioned the knee of a healthy volunteer at 4 different joint angles and set the image plane through the patella and femur at each of the angles. Lumbar imaging is also demonstrated with ISC. Setting the image plane was easy and quick at all knee angles, and images obtained clearly showed the patella and femur. Total imaging time was less than 10 min, a fourth of the time needed when a support tool is used. We also used our ISC in kinematic imaging of the lumbar. The ISC shortens total time for kinematic joint imaging, and because a support tool is not needed, imaging can be done more freely in an open MR imaging apparatus. (author)

Landslide Kinematical Analysis through Inverse Numerical Modelling and Differential SAR Interferometry

Science.gov (United States)

Castaldo, R.; Tizzani, P.; Lollino, P.; Calò, F.; Ardizzone, F.; Lanari, R.; Guzzetti, F.; Manunta, M.

2015-11-01

The aim of this paper is to propose a methodology to perform inverse numerical modelling of slow landslides that combines the potentialities of both numerical approaches and well-known remote-sensing satellite techniques. In particular, through an optimization procedure based on a genetic algorithm, we minimize, with respect to a proper penalty function, the difference between the modelled displacement field and differential synthetic aperture radar interferometry (DInSAR) deformation time series. The proposed methodology allows us to automatically search for the physical parameters that characterize the landslide behaviour. To validate the presented approach, we focus our analysis on the slow Ivancich landslide (Assisi, central Italy). The kinematical evolution of the unstable slope is investigated via long-term DInSAR analysis, by exploiting about 20 years of ERS-1/2 and ENVISAT satellite acquisitions. The landslide is driven by the presence of a shear band, whose behaviour is simulated through a two-dimensional time-dependent finite element model, in two different physical scenarios, i.e. Newtonian viscous flow and a deviatoric creep model. Comparison between the model results and DInSAR measurements reveals that the deviatoric creep model is more suitable to describe the kinematical evolution of the landslide. This finding is also confirmed by comparing the model results with the available independent inclinometer measurements. Our analysis emphasizes that integration of different data, within inverse numerical models, allows deep investigation of the kinematical behaviour of slow active landslides and discrimination of the driving forces that govern their deformation processes.

Kinematic analysis of the gait of adult sheep during treadmill locomotion: Parameter values, allowable total error, and potential for use in evaluating spinal cord injury.

Science.gov (United States)

Safayi, Sina; Jeffery, Nick D; Shivapour, Sara K; Zamanighomi, Mahdi; Zylstra, Tyler J; Bratsch-Prince, Joshua; Wilson, Saul; Reddy, Chandan G; Fredericks, Douglas C; Gillies, George T; Howard, Matthew A

2015-11-15

We are developing a novel intradural spinal cord (SC) stimulator designed to improve the treatment of intractable pain and the sequelae of SC injury. In-vivo ovine models of neuropathic pain and moderate SC injury are being implemented for pre-clinical evaluations of this device, to be carried out via gait analysis before and after induction of the relevant condition. We extend previous studies on other quadrupeds to extract the three-dimensional kinematics of the limbs over the gait cycle of sheep walking on a treadmill. Quantitative measures of thoracic and pelvic limb movements were obtained from 17 animals. We calculated the total-error values to define the analytical performance of our motion capture system for these kinematic variables. The post- vs. pre-injury time delay between contralateral thoracic and pelvic-limb steps for normal and SC-injured sheep increased by ~24s over 100 steps. The pelvic limb hoof velocity during swing phase decreased, while range of pelvic hoof elevation and distance between lateral pelvic hoof placements increased after SC injury. The kinematics measures in a single SC-injured sheep can be objectively defined as changed from the corresponding pre-injury values, implying utility of this method to assess new neuromodulation strategies for specific deficits exhibited by an individual. Copyright © 2015 Elsevier B.V. All rights reserved.

Inverse kinematic-based robot control

Science.gov (United States)

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

1987-01-01

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

The magnon kinematics of the AdS/CFT correspondence

International Nuclear Information System (INIS)

Gomez, Cesar; Hernandez, Rafael

2006-01-01

The planar dilatation operator of N = 4 supersymmetric Yang-Mills is the Hamiltonian of an integrable spin chain whose length is allowed to fluctuate. We will identify the dynamics of length fluctuations of planar N = 4 Yang-Mills with the existence of an abelian Hopf algebra Z symmetry with non-trivial co-multiplication and antipode. The intertwiner conditions for this Hopf algebra will restrict the allowed magnon irreps to those leading to the magnon dispersion relation. We will discuss magnon kinematics and crossing symmetry on the spectrum of Z. We also consider general features of the underlying Hopf algebra with Z as central Hopf subalgebra, and discuss the giant magnon semiclassical regime

Kinematic aspects of pion-nucleus elastic scattering

International Nuclear Information System (INIS)

Weiss, D.L.; Ernst, D.J.

1982-01-01

The inclusion of relativistic kinematics in the theory of elastic scattering of pions from nuclei is examined. The investigation is performed in the context of the first order impulse approximation which incorporates the following features: (1) Relative momentum are defined according to relativistic theories consistent with time reversal invariance. (2) The two-nucleon interaction is a new, multichannel, separable potential model consistent with the most recent data derived from a recent nonpotential model of Ernst and Johnson. (3) The recoil of the pion-nucleon interacting pair and its resultant nonlocality are included. (4) The Fermi integral is treated by an optimal factorization approximation. It is shown how a careful definition of an intrinsic target density leads to an unambiguous method for including the recoil of the target. The target recoil corrections are found to be large for elastic scattering from 4 He and not negligible for scattering from 12 C. Relativistic potential theory kinematics, kinematics which result from covariant reduction approaches, and kinematics which result from replacing masses by energies in nonrelativistic formulas are compared. The relativistic potential theory kinematics and covariant reduction kinematics are shown to produce different elastic scattering at all pion energies examined (T/sub π/<300 MeV). Simple extensions of nonrelativistic kinematics are found to be reasonable approximations to relativistic potential theory

Effects of kinematic hardening rules on thermal ratchetting analysis of cylinders subjected to cyclically moving temperature distribution

International Nuclear Information System (INIS)

Ohno, N.; Kobayashi, M.

1995-01-01

In the present work, thermal ratchetting in a cylinder subjected to a cyclically moving temperature front (i.e. liquid surface induced thermal ratchetting) was analyzed by implementing in a finite element method the four kinds of plasticity models with different kinematic hardening rules. The following findings were thus obtained concerning effects of the kinematic hardening rules on the analysis. (1) If transition nonlinear hardening after yielding is disregarded, the thermal ratchetting becomes significant, as seen in the results of the PP and LKH models. Especially the PP model, which does not express any strain hardening, predicts steady development of the thermal ratchetting. (2) If significant mechanical ratchetting is allowed in the modeling of kinematic hardening, the thermal ratchetting becomes marked, as seen in the results of the AF model. (3) Model dependence of the thermal ratchetting is more noticeable when the difference of temperature at the temperature front, ΔT, is smaller. (4) The OW model makes the thermal ratchetting stop at a smaller number of cycles when ΔT is smaller. On the other hand, the LKH and AF models allow that the thermal ratchetting to develop more constantly when ΔT is smaller. As seen from the above findings, the analysis of liquid surface induced thermal ratchetting has great dependence on the kinematic hardening rules employed. Especially the PP model, which has been used often to analyze the thermal ratchetting so far, gives too large development of the thermal ratchetting. Thus we may say that in order to improve the analysis it is necessary to use an appropriate kinematic hardening model which is capable of expressing appropriately both mechanical ratchetting and transient nonlinear hardening after yielding. (author)

The Impact of the Support System’s Kinematic Structure on Selected Kinematic and Dynamic Quantities of an Experimental Crane

Directory of Open Access Journals (Sweden)

Trąbka Arkadiusz

2014-12-01

Full Text Available This paper presents a comparative analysis of two kinematic structures of the support system (with supports with bilateral and unilateral constraints, which were used in an experimental model of a crane. The computational model was developed by using the ADAMS software. The impact of the kinematic structure of the support system on selected kinematic and dynamic values that were recorded during the slewing motion was analysed. It was found, among other things, that an increased number of degrees of freedom of the support system leads to multiple distortions of time characteristics of kinematic and dynamic quantities.

Age Effects on Upper Limb Kinematics Assessed by the REAplan Robot in Healthy Subjects Aged 3 to 93 Years.

Science.gov (United States)

Gilliaux, Maxime; Lejeune, Thierry M; Sapin, Julien; Dehez, Bruno; Stoquart, Gaëtan; Detrembleur, Christine

2016-04-01

Kinematics is recommended for the quantitative assessment of upper limb movements. The aims of this study were to determine the age effects on upper limb kinematics and establish normative values in healthy subjects. Three hundred and seventy healthy subjects, aged 3-93 years, participated in the study. They performed two unidirectional and two geometrical tasks ten consecutive times with the REAplan, a distal effector robotic device that allows upper limb displacements in the horizontal plane. Twenty-six kinematic indices were computed for the four tasks. For the four tasks, nineteen of the computed kinematic indices showed an age effect. Seventeen indices (the accuracy, speed and smoothness indices and the reproducibility of the accuracy, speed and smoothness) improved in young subjects aged 3-30 years, showed stabilization in adults aged 30-60 years and declined in elderly subjects aged 60-93 years. Additionally, for both geometrical tasks, the speed index exhibited a decrease throughout life. Finally, a principal component analysis provided the relations between the kinematic indices, tasks and subjects' age. This study is the first to assess age effects on upper limb kinematics and establish normative values in subjects aged 3-93 years.

Wheelchair propulsion kinematics in beginners and expert users: influence of wheelchair settings.

Science.gov (United States)

Gorce, P; Louis, N

2012-01-01

Biomechanical studies have linked the handrim wheelchair propulsion with a prevalence of upper limb musculoskeletal disorders. The purpose of this study was to examine the influence of the wheelchair settings on upper limb kinematics during wheelchair propulsion. Recordings were made under various wheelchair configuration conditions to understand the effect of wheelchair settings on kinematics parameters such shoulder, elbow and wrist angles. Ten experts and ten beginners' subjects propelled an experimental wheelchair on a roller ergometer system at a comfortable speed. Twelve wheelchair configurations were tested. Kinematics were recorded for each configuration. Based on the hand position relatively to the handrim, the main kinematic parameters of wheelchair propulsion were investigated on the whole propulsion cycle and a key event such as handrim contact and release. Compared to the beginner subjects, all the experts' subjects generally present higher joint amplitude and propulsion speeds. Seat height and antero-posterior axle position influence usage of the hand-rim, timing parameters and configurations of upper limb joints. Results seem to confirm that low and backward seat position allow a greater efficiency. Nevertheless, according that proximity of joint limit is a well known factor of musculoskeletal disorders, our results let us think that too low and backward seat position, increasing joints positions and amplitudes, could increase the risk of upper limb injuries in relation with manual wheelchair propulsion. Kinematic differences highlight that future studies on wheelchair propulsion should only be done with impaired experienced subjects. Furthermore, this study provides indications on how wheelchair settings can be used for upper limb injury prevention. Copyright © 2011 Elsevier Ltd. All rights reserved.

Kinematic relations in heavy-ion reactions

International Nuclear Information System (INIS)

Gippner, P.; Kalpakchieva, R.

1988-01-01

The present work gives a short overview of the non-relativistic kinematics of nuclear reactions derived on the basis of the conservation laws of energy and linear momentum. Section 2 contains kinematic relations valid for two-body reactions, sections 3 makes use of these relations to describe sequential fission as a special case of reactions with three particles in the exit channel. It is the aim of this work to comprise the kinematic formulae essential for planning of experiments, data analysis and critical examination of the obtained results. (author)

Study of actinides fission induced by multi-nucleon transfer reactions in inverse kinematics

International Nuclear Information System (INIS)

Derkx, X.

2010-10-01

The study of actinide fission encounters two major issues. On one hand, measurements of the fission fragment distributions and the fission probabilities allow a better understanding of the fission process itself and the discrimination among the models of nuclear structure and dynamics. On the other hand, new measurements are required to improve nuclear data bases, which are a key component for the design of new generation reactors and radio-toxic waste incinerators. This thesis is in line with different French and American experimental projects using the surrogate method, i.e. transfer reactions leading to the same compound nuclei as in neutron irradiation, allowing the study of fission of actinides which are inaccessible by conventional techniques, whereas they are important for applications. The experiment is based on multi-nucleon transfer reactions between a 238 U beam and a 12 C target, using the inverse kinematics technique to measure, for each transfer channel, the complete isotopic distributions of the fission fragments with the VAMOS spectrometer. The work presented in this dissertation is focused on the identification of the transfer channels and their properties, as their angular distributions and the distributions of the associated excitation energy, using the SPIDER telescope to identify the target recoil nuclei. This work of an exploratory nature aims to generalize the surrogate method to heavy transfers and to measure, for the first time, the fission probabilities in inverse kinematics. The obtained results are compared with available direct kinematics and neutron irradiation measurements. (author)

Kinematic adjustments to seismic recordings

Energy Technology Data Exchange (ETDEWEB)

Telegin, A.N.; Levii, N.V.; Volovik, U.M.

1981-01-01

The introduction of kinematic adjustments by adding the displaced blocks is studied theoretically and in test seismograms. The advantage to this method resulting from the weight variation in the trace is demonstrated together with its kinematic drawback. A variation on the displaced block addition method that does not involve realignment of the travel time curves and that has improved amplitude characteristics is proposed.

Upper-limb kinematic reconstruction during stroke robot-aided therapy.

Science.gov (United States)

Papaleo, E; Zollo, L; Garcia-Aracil, N; Badesa, F J; Morales, R; Mazzoleni, S; Sterzi, S; Guglielmelli, E

2015-09-01

The paper proposes a novel method for an accurate and unobtrusive reconstruction of the upper-limb kinematics of stroke patients during robot-aided rehabilitation tasks with end-effector machines. The method is based on a robust analytic procedure for inverse kinematics that simply uses, in addition to hand pose data provided by the robot, upper arm acceleration measurements for computing a constraint on elbow position; it is exploited for task space augmentation. The proposed method can enable in-depth comprehension of planning strategy of stroke patients in the joint space and, consequently, allow developing therapies tailored for their residual motor capabilities. The experimental validation has a twofold purpose: (1) a comparative analysis with an optoelectronic motion capturing system is used to assess the method capability to reconstruct joint motion; (2) the application of the method to healthy and stroke subjects during circle-drawing tasks with InMotion2 robot is used to evaluate its efficacy in discriminating stroke from healthy behavior. The experimental results have shown that arm angles are reconstructed with a RMSE of 8.3 × 10(-3) rad. Moreover, the comparison between healthy and stroke subjects has revealed different features in the joint space in terms of mean values and standard deviations, which also allow assessing inter- and intra-subject variability. The findings of this study contribute to the investigation of motor performance in the joint space and Cartesian space of stroke patients undergoing robot-aided therapy, thus allowing: (1) evaluating the outcomes of the therapeutic approach, (2) re-planning the robotic treatment based on patient needs, and (3) understanding pathology-related motor strategies.

Biquaternions and relativistic kinematics

International Nuclear Information System (INIS)

Bogush, A.A.; Kurochkin, Yu.A.; Fedorov, F.I.

1979-01-01

The problems concerning the use of quaternion interpretation of the Lorentz group vector parametrization are considered for solving relativistic kinematics problems. A vector theory convenient for describing the characteristic features of the Lobachevsky space is suggested. The kinematics of elementary particle scattering is investigated on the basis of this theory. A synthesis of vector parametrization and of quaternion calculation has been shown to lead to natural formulation of the theory of vectors in the three-dimensional Lobachevsky space, realized on mass hyperboloids of relativistic particles

Kinematics and dynamics of a six-degree-of-freedom robot manipulator with closed kinematic chain mechanism

Science.gov (United States)

Nguyen, Charles C.; Pooran, Farhad J.

1989-01-01

This paper deals with a class of robot manipulators built based on the kinematic chain mechanism (CKCM). This class of CKCM manipulators consists of a fixed and a moving platform coupled together via a number of in-parallel actuators. A closed-form solution is derived for the inverse kinematic problem of a six-degre-of-freedom CKCM manipulator designed to study robotic applications in space. Iterative Newton-Raphson method is employed to solve the forward kinematic problem. Dynamics of the above manipulator is derived using the Lagrangian approach. Computer simulation of the dynamical equations shows that the actuating forces are strongly dependent on the mass and centroid of the robot links.

Kinematic control of robot with degenerate wrist

Science.gov (United States)

Barker, L. K.; Moore, M. C.

1984-01-01

Kinematic resolved rate equations allow an operator with visual feedback to dynamically control a robot hand. When the robot wrist is degenerate, the computed joint angle rates exceed operational limits, and unwanted hand movements can result. The generalized matrix inverse solution can also produce unwanted responses. A method is introduced to control the robot hand in the region of the degenerate robot wrist. The method uses a coordinated movement of the first and third joints of the robot wrist to locate the second wrist joint axis for movement of the robot hand in the commanded direction. The method does not entail infinite joint angle rates.

GNSS Precise Kinematic Positioning for Multiple Kinematic Stations Based on A Priori Distance Constraints

Science.gov (United States)

He, Kaifei; Xu, Tianhe; Förste, Christoph; Petrovic, Svetozar; Barthelmes, Franz; Jiang, Nan; Flechtner, Frank

2016-01-01

When applying the Global Navigation Satellite System (GNSS) for precise kinematic positioning in airborne and shipborne gravimetry, multiple GNSS receiving equipment is often fixed mounted on the kinematic platform carrying the gravimetry instrumentation. Thus, the distances among these GNSS antennas are known and invariant. This information can be used to improve the accuracy and reliability of the state estimates. For this purpose, the known distances between the antennas are applied as a priori constraints within the state parameters adjustment. These constraints are introduced in such a way that their accuracy is taken into account. To test this approach, GNSS data of a Baltic Sea shipborne gravimetric campaign have been used. The results of our study show that an application of distance constraints improves the accuracy of the GNSS kinematic positioning, for example, by about 4 mm for the radial component. PMID:27043580

Intra- and inter-subject variation in lower limb coordination during countermovement jumps in children and adults

DEFF Research Database (Denmark)

Raffalt, Peter C; Alkjær, Tine; Simonsen, Erik B

2016-01-01

-subject variability. Based on these results, it was concluded that the same movement solutions were available to both age groups, but the children were less able to consistently utilize the individually chosen coordination pattern. Thus, this ability appears to be developed through normal ontogenesis.......The purpose of the present study was to investigate the coordination pattern and coordination variability (intra-subject and inter-subject) in children and adults during vertical countermovement jumps. Ten children (mean age: 11.5±1.8years) and ten adults (mean age: 26.1±4.9years) participated...... in the experiment. Lower body 3D-kinematics and kinetics from both legs were obtained during 9 vertical jumps of each subject. Coordination pattern and coordination variability of intra-limb and inter-limb coupling were established by modified vector coding and continuous relative phase. The adult group jumped...

Transfer-induced fission in inverse kinematics: Impact on experimental and evaluated nuclear data bases

Energy Technology Data Exchange (ETDEWEB)

Farget, F.; Schmidt, K.H.; Clement, E.; Delaune, O.; Derkx, X.; Dijon, A.; Golabek, C.; Lemasson, A.; Roger, T.; Schmitt, C. [CEA/DSM-CNRS/IN2P3, GANIL, Caen (France); Caamano, M.; Ramos, D.; Benlliure, J.; Cortina, D.; Fernandez-Dominguez, B.; Paradela, C. [Universidade de Santiago de Compostela, Santiago de Compostela (Spain); Rodriguez-Tajes, C. [CEA/DSM-CNRS/IN2P3, GANIL, Caen (France); Universidade de Santiago de Compostela, Santiago de Compostela (Spain); Audouin, L. [Universite Paris-Sud 11, CNRS/IN2P3, Institut de Physique Nucleaire, Orsay (France); Casarejos, E. [Universidade de Vigo, Vigo (Spain); Dore, D.; Salsac, M.D. [Centre de Saclay, CEA, Irfu, Gif-sur-Yvette (France); Gaudefroy, L. [CEA DAM Ile-de-France, BP 12, Bruyeres-le-Chatel (France); Heinz, A. [Chalmers Tekniska Hoegskola, Fundamental Fysik, Goeteborg (Sweden); Jurado, B. [Universite Bordeaux, CENBG, UMR 5797 CNRS/IN2P3, Gradignan (France)

2015-12-15

Inverse kinematics is a new tool to study nuclear fission. Its main advantage is the possibility to measure with an unmatched resolution the atomic number of fission fragments, leading to new observables in the properties of fission-fragment distributions. In addition to the resolution improvement, the study of fission based on nuclear collisions in inverse kinematics beneficiates from a larger view with respect to the neutron-induced fission, as in a single experiment the number of fissioning systems and the excitation energy range are widden. With the use of spectrometers, mass and kinetic-energy distributions may now be investigated as a function of the proton and neutron number sharing. The production of fissioning nuclei in transfer reactions allows studying the isotopic yields of fission fragments as a function of the excitation energy. The higher excitation energy resulting in the fusion reaction leading to the compound nucleus {sup 250}Cf at an excitation energy of 45MeV is also presented. With the use of inverse kinematics, the charge polarisation of fragments at scission is now revealed with high precision, and it is shown that it cannot be neglected, even at higher excitation energies. In addition, the kinematical properties of the fragments inform on the deformation configuration at scission. (orig.)

A black-hole mass measurement from molecular gas kinematics in NGC4526.

Science.gov (United States)

Davis, Timothy A; Bureau, Martin; Cappellari, Michele; Sarzi, Marc; Blitz, Leo

2013-02-21

The masses of the supermassive black holes found in galaxy bulges are correlated with a multitude of galaxy properties, leading to suggestions that galaxies and black holes may evolve together. The number of reliably measured black-hole masses is small, and the number of methods for measuring them is limited, holding back attempts to understand this co-evolution. Directly measuring black-hole masses is currently possible with stellar kinematics (in early-type galaxies), ionized-gas kinematics (in some spiral and early-type galaxies) and in rare objects that have central maser emission. Here we report that by modelling the effect of a black hole on the kinematics of molecular gas it is possible to fit interferometric observations of CO emission and thereby accurately estimate black-hole masses. We study the dynamics of the gas in the early-type galaxy NGC 4526, and obtain a best fit that requires the presence of a central dark object of 4.5(+4.2)(-3.1) × 10(8) solar masses (3σ confidence limit). With the next-generation millimetre-wavelength interferometers these observations could be reproduced in galaxies out to 75 megaparsecs in less than 5 hours of observing time. The use of molecular gas as a kinematic tracer should thus allow one to estimate black-hole masses in hundreds of galaxies in the local Universe, many more than are accessible with current techniques.

Kinematic analysis of hip and knee rotation and other contributors to ballet turnout.

Science.gov (United States)

Quanbeck, Amy E; Russell, Jeffrey A; Handley, Sara C; Quanbeck, Deborah S

2017-02-01

Turnout, or external rotation (ER) of the lower extremities, is essential in ballet. The purpose of this study was to utilise physical examination and a biomechanical method for obtaining functional kinematic data using hip and knee joint centres to identify the relative turnout contributions from hip rotation, femoral anteversion, knee rotation, tibial torsion, and other sources. Ten female dancers received a lower extremity alignment assessment, including passive hip rotation, femoral anteversion, tibial torsion, weightbearing foot alignment, and Beighton hypermobility score. Next, turnout was assessed using plantar pressure plots and three-dimensional motion analysis; participants performed turnout to ballet first position on both a plantar pressure mat and friction-reducing discs. A retro-reflective functional marker motion capture system mapped the lower extremities and hip and knee joint centres. Mean total turnout was 129±15.7° via plantar pressure plots and 135±17.8° via kinematics. Bilateral hip ER during turnout was 49±10.2° (36% of total turnout). Bilateral knee ER during turnout was 41±5.9° (32% of total turnout). Hip ER contribution to total turnout measured kinematically was less than expected compared to other studies, where hip ER was determined without functional kinematic data. Knee ER contributed substantially more turnout than expected or previously reported. This analysis method allows precise assessment of turnout contributors.

Properties of kinematic singularities

Energy Technology Data Exchange (ETDEWEB)

Coley, A A [Department of Mathematics and Statistics, Dalhousie University, Halifax, Nova Scotia B3H 3J5 (Canada); Hervik, S [Department of Mathematics and Natural Sciences, University of Stavanger, N-4036 Stavanger (Norway); Lim, W C [Albert-Einstein-Institut, Am Muehlenberg 1, D-14476 Potsdam (Germany); MacCallum, M A H, E-mail: aac@mathstat.dal.c, E-mail: sigbjorn.hervik@uis.n, E-mail: wclim@aei.mpg.d, E-mail: m.a.h.maccallum@qmul.ac.u [School of Mathematical Sciences, Queen Mary University of London, E1 4NS (United Kingdom)

2009-11-07

The locally rotationally symmetric tilted perfect fluid Bianchi type V cosmological model provides examples of future geodesically complete spacetimes that admit a 'kinematic singularity' at which the fluid congruence is inextendible but all frame components of the Weyl and Ricci tensors remain bounded. We show that for any positive integer n there are examples of Bianchi type V spacetimes admitting a kinematic singularity such that the covariant derivatives of the Weyl and Ricci tensors up to the nth order also stay bounded. We briefly discuss singularities in classical spacetimes.

Observability of planet-disc interactions in CO kinematics

Science.gov (United States)

Pérez, Sebastián; Casassus, S.; Benítez-Llambay, P.

2018-06-01

Empirical evidence of planets in gas-rich circumstellar discs is required to constrain giant planet formation theories. Here we study the kinematic patterns which arise from planet-disc interactions and their observability in CO rotational emission lines. We perform three-dimensional hydrodynamical simulations of single giant planets, and predict the emergent intensity field with radiative transfer. Pressure gradients at planet-carved gaps, spiral wakes and vortices bear strong kinematic counterparts. The iso-velocity contours in the CO(2-1) line centroids vo reveal large-scale perturbations, corresponding to abrupt transitions from below sub-Keplerian to super-Keplerian rotation along with radial and vertical flows. The increase in line optical depth at the edge of the gap also modulates vo, but this is a mild effect compared to the dynamical imprint of the planet-disc interaction. The large-scale deviations from the Keplerian rotation thus allow the planets to be indirectly detected via the first moment maps of molecular gas tracers, at ALMA angular resolutions. The strength of these deviations depends on the mass of the perturber. This initial study paves the way to eventually determine the mass of the planet by comparison with more detailed models.

Kinematic Chains in Ski Jumping In-run Posture.

Science.gov (United States)

Janurová, Eva; Janura, Miroslav; Cabell, Lee; Svoboda, Zdeněk; Vařeka, Ivan; Elfmark, Milan

2013-12-18

The concept of kinematic chains has been systematically applied to biological systems since the 1950s. The course of a ski jump can be characterized as a change between closed and open kinematic chains. The purpose of this study was to determine a relationship between adjacent segments within the ski jumper's body's kinematic chain during the in-run phase of the ski jump. The in-run positions of 267 elite male ski jumpers who participated in the FIS World Cup events in Innsbruck, Austria, between 1992 and 2001 were analyzed (656 jumps). Two-dimensional (2-D) kinematic data were collected from the bodies of the subjects. Relationships between adjacent segments of the kinematic chain in the ski jumper's body at the in-run position are greater nearer the chain's ground contact. The coefficient of determination between the ankle and knee joint angles is 0.67. Changes in the segments' positions in the kinematic chain of the ski jumper's body are stable during longitudinal assessment. Changes in shank and thigh positions, in the sense of increase or decrease, are the same.

Transverse masses and kinematic constraints: from the boundary to the crease

International Nuclear Information System (INIS)

Barr, Alan J.; Gripaios, Ben; Lester, Christopher G.

2009-01-01

We re-examine the kinematic variable m T2 and its relatives in the light of recent work by Cheng and Han. Their proof that m T2 admits an equivalent, but implicit, definition as the 'boundary of the region of parent and daughter masses that is kinematically consistent with the event hypothesis' is far-reaching in its consequences. We generalize their result both to simpler cases (m T , the transverse mass) and to more complex cases (m TGen ). We further note that it is possible to re-cast many existing and unpleasant proofs (e.g. those relating to the existence or properties of 'kink' and 'crease' structures in m T2 ) into almost trivial forms by using the alternative definition. Not only does this allow us to gain better understanding of those existing results, but it also allows us to write down new (and more or less explicit) definitions of (a) the variable that naturally generalizes m T2 to the case in which the parent or daughter particles are not identical, and (b) the inverses of m T and m T2 - which may be useful if daughter masses are known and bounds on parent masses are required. We note the implications that these results may have for future matrix-element likelihood techniques.

Wave kinematics and response of slender offshore structures. Vol 4: Wave kinematics

Energy Technology Data Exchange (ETDEWEB)

Riber, H.J.

1999-08-01

The kinematics of large surface waves has been measured by means of sonar's placed on the sea floor at the Tyra field. Measurements from the most severe storm are analysed and extreme wave velocity profiles are compared to Stoke wave velocity profiles. Statistical distributions of crest velocity and wave celerity are presented. The analysis shows how the deviation from the Stokes prediction varies with wave heights and steepness. Analyses of the directional wave field leads to the conclusion that the extreme waves are three-dimensional. It is shown that the peculiar kinematics of extreme waves is of great relevance to the design of jacket type structures. (au)

Inverse kinematics of OWI-535 robotic arm

OpenAIRE

DEBENEC, PRIMOŽ

2015-01-01

The thesis aims to calculate the inverse kinematics for the OWI-535 robotic arm. The calculation of the inverse kinematics determines the joint parameters that provide the right pose of the end effector. The pose consists of the position and orientation, however, we will focus only on the second one. Due to arm limitations, we have created our own type of the calculation of the inverse kinematics. At first we have derived it only theoretically, and then we have transferred the derivation into...

Expressions of manipulator kinematic equations via symbolic computation

International Nuclear Information System (INIS)

Sasaki, Shinobu

1993-09-01

While it is simple in principle to determine the position and orientation of the manipulator hand, its computational process has been regarded as extremely laborious since trigonometric functions must be calculated many times in operations of revolute or rotation. Due to development of a general class of kinematic algorithm based on iterative methods, however, we have come to a satisfactory settlement of this problem. In the present article, we consider to construct symbolic kinematic equations in an automatic fashion making use of the algorithm. To this end, recursive expressions are applied to a symbolic computation system REDUCE. As a concrete result, a complete kinematic model for a six-jointed arm having all kinematic attributes is provided. Together with work space analysis, the computer-aided generation of kinematic equations in symbolic form will serve to liberate us from their cumbersome derivations. (author)

2nd Conference on Interdisciplinary Applications in Kinematics

CERN Document Server

Flores, Francisco

2015-01-01

This book collects a number of important contributions presented during the Second Conference on Interdisciplinary Applications of Kinematics (IAK 2013) held in Lima, Peru. The conference brought together scientists from several research fields, such as computational kinematics, multibody systems, industrial machines, robotics, biomechanics, mechatronics, computational chemistry, and vibration analysis, and embraced all key aspects of kinematics, namely, theoretical methods, modeling, optimization, experimental validation, industrial applications, and design. Kinematics is an exciting area of computational mechanics and plays  a central role in a great variety of fields and industrial applications nowadays. Apart from research in pure kinematics, the field deals with problems of practical relevance that need to be solved in an interdisciplinary manner in order for new technologies to develop. The results presented in this book should be of interest for practicing and research engineers as well as Ph.D. stud...

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

Science.gov (United States)

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

2016-01-01

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

Kinematic Identification of Parallel Mechanisms by a Divide and Conquer Strategy

DEFF Research Database (Denmark)

Durango, Sebastian; Restrepo, David; Ruiz, Oscar

2010-01-01

using the inverse calibration method. The identification poses are selected optimizing the observability of the kinematic parameters from a Jacobian identification matrix. With respect to traditional identification methods the main advantages of the proposed Divide and Conquer kinematic identification...... strategy are: (i) reduction of the kinematic identification computational costs, (ii) improvement of the numerical efficiency of the kinematic identification algorithm and, (iii) improvement of the kinematic identification results. The contributions of the paper are: (i) The formalization of the inverse...... calibration method as the Divide and Conquer strategy for the kinematic identification of parallel symmetrical mechanisms and, (ii) a new kinematic identification protocol based on the Divide and Conquer strategy. As an application of the proposed kinematic identification protocol the identification...

A Hybrid Neural Network Approach for Kinematic Modeling of a Novel 6-UPS Parallel Human-Like Mastication Robot

Directory of Open Access Journals (Sweden)

Hadi Kalani

2016-04-01

Full Text Available Introduction we aimed to introduce a 6-universal-prismatic-spherical (UPS parallel mechanism for the human jaw motion and theoretically evaluate its kinematic problem. We proposed a strategy to provide a fast and accurate solution to the kinematic problem. The proposed strategy could accelerate the process of solution-finding for the direct kinematic problem by reducing the number of required iterations in order to reach the desired accuracy level. Materials and Methods To overcome the direct kinematic problem, an artificial neural network and third-order Newton-Raphson algorithm were combined to provide an improved hybrid method. In this method, approximate solution was presented for the direct kinematic problem by the neural network. This solution could be considered as the initial guess for the third-order Newton-Raphson algorithm to provide an answer with the desired level of accuracy. Results The results showed that the proposed combination could help find a approximate solution and reduce the execution time for the direct kinematic problem, The results showed that muscular actuations showed periodic behaviors, and the maximum length variation of temporalis muscle was larger than that of masseter and pterygoid muscles. By reducing the processing time for solving the direct kinematic problem, more time could be devoted to control calculations.. In this method, for relatively high levels of accuracy, the number of iterations and computational time decreased by 90% and 34%, respectively, compared to the conventional Newton method. Conclusion The present analysis could allow researchers to characterize and study the mastication process by specifying different chewing patterns (e.g., muscle displacements.

Development of Calculation Algorithm for ECCS Kinematic Shock

Energy Technology Data Exchange (ETDEWEB)

Lee, Seung-Chan; Yoon, Duk-Joo; Ha, Sang-Jun [KHNP-CRI, Daejeon (Korea, Republic of)

2014-10-15

The void fraction of inverted U-pipes in front of SI(Safety Injection) pumps impact on the pipe system of ECCS(Emergency Core Cooling Systems). This phenomena is called as 'Kinematic Shock'. The purpose of this paper is to achieve the more exactly calculation when the kinematic shock is calculated by simplified equation. The behavior of the void packet of the ECCS pipes is illustrated by the simplified (other name is kinematic shock equation).. The kinematic shock is defined as the depth of total length of void clusters in the pipes of ECCS when the void cluster is continually reached along the part of pipes in vertical direction. In this paper, the simplified equation is evaluated by comparing calculation error each other.]. The more exact methods of calculating the depth of the kinematic shock in ECCS is achieved. The error of kinematic shock calculation is strongly depended on the calculation search gap and the order of Taylor's expansion. From this study, to select the suitable search gap and the suitable calculation order, differential root method, secant method, and Taylor's expansion form are compared one another.

21st Century Kinematics : The 2012 NSF Workshop

CERN Document Server

2013-01-01

21st Century Kinematics focuses on algebraic problems in the analysis and synthesis of mechanisms and robots, compliant mechanisms, cable-driven systems and protein kinematics. The specialist contributors provide the background for a series of presentations at the 2012 NSF Workshop. The text shows how the analysis and design of innovative mechanical systems yield increasingly complex systems of polynomials, characteristic of those systems. In doing so, takes advantage of increasingly sophisticated computational tools developed for numerical algebraic geometry and demonstrates the now routine derivation of polynomial systems dwarfing the landmark problems of even the recent past. The 21st Century Kinematics workshop echoes the NSF-supported 1963 Yale Mechanisms Teachers Conference that taught a generation of university educators the fundamental principles of kinematic theory. As such these proceedings will be provide admirable supporting theory for a graduate course in modern kinematics and should be of consid...

Static and kinematic formulation of planar reciprocal assemblies

DEFF Research Database (Denmark)

Parigi, Dario; Sassone, Mario; Kirkegaard, Poul Henning

2014-01-01

Planar reciprocal frames are two dimensional structures formed by elements joined together according to the principle of structural reciprocity. In this paper a rigorous formulation of the static and kinematic problem is proposed and developed extending the theory of pin-jointed assemblies....... This formulation is used to evaluate the static and kinematic determinacy of reciprocal assemblies from the properties of their equilibrium and kinematic matrices...

TP-Space RRT – Kinematic Path Planning of Non-Holonomic Any-Shape Vehicles

Directory of Open Access Journals (Sweden)

Jose Luis Blanco

2015-05-01

Full Text Available The autonomous navigation of vehicles typically combines two kinds of methods: a path is first planned, and then the robot is driven by a local obstacle-avoidance controller. The present work, which focuses on path planning, proposes an extension to the well-known rapidly-exploring random tree (RRT algorithm to allow its integration with a trajectory parameter-space (TP-space as an efficient method to detect collision-free, kinematically-feasible paths for arbitrarily-shaped vehicles. In contrast to original RRT, this proposal generates navigation trees, with poses as nodes, whose edges are all kinematically-feasible paths, suitable to being accurately followed by vehicles driven by pure reactive algorithms. Initial experiments demonstrate the suitability of the method with an Ackermann-steering vehicle model whose severe kinematic constraints cannot be obviated. An important result that sets this work apart from previous research is the finding that employing several families of potential trajectories to expand the tree, which can be done efficiently under the TP-space formalism, improves the optimality of the planned trajectories. A reference C++ implementation has been released as open-source.

Constraint Study for a Hand Exoskeleton: Human Hand Kinematics and Dynamics

Directory of Open Access Journals (Sweden)

Fai Chen Chen

2013-01-01

Full Text Available In the last few years, the number of projects studying the human hand from the robotic point of view has increased rapidly, due to the growing interest in academic and industrial applications. Nevertheless, the complexity of the human hand given its large number of degrees of freedom (DoF within a significantly reduced space requires an exhaustive analysis, before proposing any applications. The aim of this paper is to provide a complete summary of the kinematic and dynamic characteristics of the human hand as a preliminary step towards the development of hand devices such as prosthetic/robotic hands and exoskeletons imitating the human hand shape and functionality. A collection of data and constraints relevant to hand movements is presented, and the direct and inverse kinematics are solved for all the fingers as well as the dynamics; anthropometric data and dynamics equations allow performing simulations to understand the behavior of the finger.

Using robotics in kinematics classes: exploring braking and stopping distances

Science.gov (United States)

Brockington, Guilherme; Schivani, Milton; Barscevicius, Cesar; Raquel, Talita; Pietrocola, Maurício

2018-03-01

Research in the field of physics teaching has revealed high school students’ difficulties in establishing relations between kinematic equations and real movements. Moreover, there are well-known and significant challenges in their comprehension of graphic language content. Thus, this article explores a didactic activity which utilized robotics in order to investigate significant aspects of kinematics, gathering data and performing analyses and descriptions via graphs and mathematical equations which were indispensable for the analysis of the phenomena in question. Traffic safety appears as a main theme, with particular emphasis on the distinction between braking and stopping distances in harsh conditions, as observed in the robot vehicle’s tires and track. This active-learning investigation allows students to identify significant differences between the average value of the initial empirical braking position and that of the vehicle’s programmed braking position, enabling them to more deeply comprehend the relations between mathematical and graphic representations of this real phenomenon and the phenomenon itself, thereby providing a sense of accuracy to this study.

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

Science.gov (United States)

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

2018-03-01

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

Kinematically Decoupled Cores in Dwarf (Elliptical) Galaxies

NARCIS (Netherlands)

Toloba, E.; Peletier, R. F.; Guhathakurta, P.; van de Ven, G.; Boissier, S.; Boselli, A.; Brok, M. d.; Falcón-Barroso, J.; Hensler, G.; Janz, J.; Laurikainen, E.; Lisker, T.; Paudel, S.; Ryś, A.; Salo, H.

An overview is given of what we know about the frequency of kinematically decoupled cores in dwarf elliptical galaxies. New observations show that kinematically decoupled cores happen just as often in dwarf elliptical as in ordinary early-type galaxies. This has important consequences for the

Validation and structural analysis of the kinematics concept test

Directory of Open Access Journals (Sweden)

A. Lichtenberger

2017-04-01

Full Text Available The kinematics concept test (KCT is a multiple-choice test designed to evaluate students’ conceptual understanding of kinematics at the high school level. The test comprises 49 multiple-choice items about velocity and acceleration, which are based on seven kinematic concepts and which make use of three different representations. In the first part of this article we describe the development and the validation process of the KCT. We applied the KCT to 338 Swiss high school students who attended traditional teaching in kinematics. We analyzed the response data to provide the psychometric properties of the test. In the second part we present the results of a structural analysis of the test. An exploratory factor analysis of 664 student answers finally uncovered the seven kinematics concepts as factors. However, the analysis revealed a hierarchical structure of concepts. At the higher level, mathematical concepts group together, and then split up into physics concepts at the lower level. Furthermore, students who seem to understand a concept in one representation have difficulties transferring the concept to similar problems in another representation. Both results have implications for teaching kinematics. First, teaching mathematical concepts beforehand might be beneficial for learning kinematics. Second, instructions have to be designed to teach students the change between different representations.

Validation and structural analysis of the kinematics concept test

Science.gov (United States)

Lichtenberger, A.; Wagner, C.; Hofer, S. I.; Stern, E.; Vaterlaus, A.

2017-06-01

The kinematics concept test (KCT) is a multiple-choice test designed to evaluate students' conceptual understanding of kinematics at the high school level. The test comprises 49 multiple-choice items about velocity and acceleration, which are based on seven kinematic concepts and which make use of three different representations. In the first part of this article we describe the development and the validation process of the KCT. We applied the KCT to 338 Swiss high school students who attended traditional teaching in kinematics. We analyzed the response data to provide the psychometric properties of the test. In the second part we present the results of a structural analysis of the test. An exploratory factor analysis of 664 student answers finally uncovered the seven kinematics concepts as factors. However, the analysis revealed a hierarchical structure of concepts. At the higher level, mathematical concepts group together, and then split up into physics concepts at the lower level. Furthermore, students who seem to understand a concept in one representation have difficulties transferring the concept to similar problems in another representation. Both results have implications for teaching kinematics. First, teaching mathematical concepts beforehand might be beneficial for learning kinematics. Second, instructions have to be designed to teach students the change between different representations.

Validation and Structural Analysis of the Kinematics Concept Test

Science.gov (United States)

Lichtenberger, A.; Wagner, C.; Hofer, S. I.; Stem, E.; Vaterlaus, A.

2017-01-01

The kinematics concept test (KCT) is a multiple-choice test designed to evaluate students' conceptual understanding of kinematics at the high school level. The test comprises 49 multiple-choice items about velocity and acceleration, which are based on seven kinematic concepts and which make use of three different representations. In the first part…

Understanding the central kinematics of globular clusters with simulated integrated-light IFU observations

Science.gov (United States)

Bianchini, Paolo; Norris, Mark A.; van de Ven, Glenn; Schinnerer, Eva

2015-10-01

The detection of intermediate-mass black holes in the centres of globular clusters is highly controversial, as complementary observational methods often deliver significantly different results. In order to understand these discrepancies, we develop a procedure to simulate integral field unit (IFU) observations of globular clusters: Simulating IFU Star Cluster Observations (SISCO). The inputs of our software are realistic dynamical models of globular clusters that are then converted in a spectral data cube. We apply SISCO to Monte Carlo cluster simulations with a realistic number of stars and concentrations. Using independent realizations of a given simulation we are able to quantify the stochasticity intrinsic to the problem of observing a partially resolved stellar population with integrated-light spectroscopy. We show that the luminosity-weighted IFU observations can be strongly biased by the presence of a few bright stars that introduce a scatter in the velocity dispersion measurements up to ≃40 per cent around the expected value, preventing any sound assessment of the central kinematic and a sensible interpretation of the presence/absence of an intermediate-mass black hole. Moreover, we illustrate that, in our mock IFU observations, the average kinematic tracer has a mass of ≃0.75 M⊙, only slightly lower than the mass of the typical stars examined in studies of resolved line-of-sight velocities of giant stars. Finally, in order to recover unbiased kinematic measurements we test different masking techniques that allow us to remove the spaxels dominated by bright stars, bringing the scatter down to a level of only a few per cent. The application of SISCO will allow us to investigate state-of-the-art simulations as realistic observations.

Differences between kinematic synergies and muscle synergies during two-digit grasping

Directory of Open Access Journals (Sweden)

Michele eTagliabue

2015-03-01

Full Text Available The large number of mechanical degrees of freedom of the hand is not fully exploited during actual movements such as grasping. Usually, angular movements in various joints tend to be coupled, and EMG activities in different hand muscles tend to be correlated. The occurrence of covariation in the former was termed kinematic synergies, in the latter muscle synergies. This study addresses two questions: (i Whether kinematic and muscle synergies can simultaneously accommodate for kinematic and kinetic constraints. (ii If so, whether there is an interrelation between kinematic and muscle synergies. We used a reach-grasp-and-pull paradigm and recorded the hand kinematics as well as 8 surface EMGs. Subjects had to either perform a precision grip or side grip and had to modify their grip force in order to displace an object against a low or high load. The analysis was subdivided into three epochs: reach, grasp-and-pull, and static hold. Principal component analysis (PCA, temporal or static was performed separately for all three epochs, in the kinematic and in the EMG domain. PCA revealed that (i Kinematic- and muscle-synergies can simultaneously accommodate kinematic (grip type and kinetic task constraints (load condition. (ii Upcoming grip and load conditions of the grasp are represented in kinematic- and muscle-synergies already during reach. Phase plane plots of the principal muscle-synergy against the principal kinematic synergy revealed (iii that the muscle-synergy is linked (correlated, and in phase advance to the kinematic synergy during reach and during grasp-and-pull. Furthermore (iv, pair-wise correlations of EMGs during hold suggest that muscle-synergies are (in part implemented by coactivation of muscles through common input. Together, these results suggest that kinematic synergies have (at least in part their origin not just in muscular activation, but in synergiestic muscle activation. In short: kinematic synergies may result from muscle

Kinematics, structural mechanics, and design of origami structures with smooth folds

Science.gov (United States)

Peraza Hernandez, Edwin Alexander

Origami provides novel approaches to the fabrication, assembly, and functionality of engineering structures in various fields such as aerospace, robotics, etc. With the increase in complexity of the geometry and materials for origami structures that provide engineering utility, computational models and design methods for such structures have become essential. Currently available models and design methods for origami structures are generally limited to the idealization of the folds as creases of zeroth-order geometric continuity. Such an idealization is not proper for origami structures having non-negligible thickness or maximum curvature at the folds restricted by material limitations. Thus, for general structures, creased folds of merely zeroth-order geometric continuity are not appropriate representations of structural response and a new approach is needed. The first contribution of this dissertation is a model for the kinematics of origami structures having realistic folds of non-zero surface area and exhibiting higher-order geometric continuity, here termed smooth folds. The geometry of the smooth folds and the constraints on their associated kinematic variables are presented. A numerical implementation of the model allowing for kinematic simulation of structures having arbitrary fold patterns is also described. Examples illustrating the capability of the model to capture realistic structural folding response are provided. Subsequently, a method for solving the origami design problem of determining the geometry of a single planar sheet and its pattern of smooth folds that morphs into a given three-dimensional goal shape, discretized as a polygonal mesh, is presented. The design parameterization of the planar sheet and the constraints that allow for a valid pattern of smooth folds and approximation of the goal shape in a known folded configuration are presented. Various testing examples considering goal shapes of diverse geometries are provided. Afterwards, a

Phenotypic characterization of speed-associated gait changes in mice reveals modular organization of locomotor networks

DEFF Research Database (Denmark)

Bellardita, Carmelo; Kiehn, Ole

2015-01-01

behavioral outcomes expressed at different speeds of locomotion. Here, we use detailed kinematic analyses to search for signatures of a modular organization of locomotor circuits in intact and genetically modified mice moving at different speeds of locomotion. We show that wild-type mice display three...... distinct gaits: two alternating, walk and trot, and one synchronous, bound. Each gait is expressed in distinct ranges of speed with phenotypic inter-limb and intra-limb coordination. A fourth gait, gallop, closely resembled bound in most of the locomotor parameters but expressed diverse inter......-limb coordination. Genetic ablation of commissural V0V neurons completely removed the expression of one alternating gait, trot, but left intact walk, gallop, and bound. Ablation of commissural V0V and V0D neurons led to a loss of walk, trot, and gallop, leaving bound as the default gait. Our study provides...

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

Science.gov (United States)

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

2018-03-01

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

Force generation of bio-inspired hover kinematics

NARCIS (Netherlands)

Vandenheede, R.B.R.; Bernal, L.P.; Morrison, C.L.; Humbert, S.

2012-01-01

This paper presents the results of an experimental study of the aerodynamics of an elliptical flap plate wing in pitch-plunge motion. Several wing motion kinematics are derived from the kinematics of the Agrius Convolvuli (hawk moth) in hover. The experiments are conducted at a Reynolds number of 4,

A Novel Algorithm for the Generation of Distinct Kinematic Chain

Science.gov (United States)

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

2016-07-01

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

Exploring the Origin of Kinematically Irregular Galaxies with MaNGA

Science.gov (United States)

Stark, David Vincent; Bundy, Kevin; Westfall, Kyle; Bershady, Matthew; Cheung, Edmond; Soler, Juan; Brinchmann, Jarle; Abraham, Roberto; Bizyaev, Dmitry; Masters, Karen; Weijmans, Anne-Marie; Chen, Yanmei; Jin, Yifei; Drory, Niv; Lopes, Alexandre Roman; Law, David

2018-01-01

Deviations from normal rotation in galaxies may have a number of potential drivers, including tidal interactions, gas inflows/outflows, spiral structure, bar/oval distortions, or other internally generated instabilities. Thanks to new massive IFU surveys like MaNGA, we can now characterize the gas and stellar kinematics of thousands of galaxies in the local universe, enabling statistical analyses on the frequency of disturbed kinematics, their origin, and their impact on their host galaxies. We present a census of kinematics in MaNGA using a modified version of the Radon transform to map radial variations in kinematic position angles (PA). We discuss the frequency of kinematically irregular disks, and describe commonly observed patterns in radial PA profiles. In order to constrain the drivers of these kinematic signatures, we analyze how they correlate with galaxy mass, environment, star formation history, and gas-phase metallicity.

Assessment of three-dimensional joint kinematics of the upper limb during simulated swimming using wearable inertial-magnetic measurement units.

Science.gov (United States)

Fantozzi, Silvia; Giovanardi, Andrea; Magalhães, Fabrício Anício; Di Michele, Rocco; Cortesi, Matteo; Gatta, Giorgio

2016-01-01

The analysis of the joint kinematics during swimming plays a fundamental role both in sports conditioning and in clinical contexts. Contrary to the traditional video analysis, wearable inertial-magnetic measurements units (IMMUs) allow to analyse both the underwater and aerial phases of the swimming stroke over the whole length of the swimming pool. Furthermore, the rapid calibration and short data processing required by IMMUs provide coaches and athletes with an immediate feedback on swimming kinematics during training. This study aimed to develop a protocol to assess the three-dimensional kinematics of the upper limbs during swimming using IMMUs. Kinematics were evaluated during simulated dry-land swimming trials performed in the laboratory by eight swimmers. A stereo-photogrammetric system was used as the gold standard. The results showed high coefficient of multiple correlation (CMC) values, with median (first-third quartile) of 0.97 (0.93-0.95) and 0.99 (0.97-0.99) for simulated front-crawl and breaststroke, respectively. Furthermore, the joint angles were estimated with an accuracy increasing from distal to proximal joints, with wrist indices showing median CMC values always higher than 0.90. The present findings represent an important step towards the practical use of technology based on IMMUs for the kinematic analysis of swimming in applied contexts.

Evaluation of Handwriting Movement Kinematics: From an Ecological to a Magnetic Resonance Environment

Science.gov (United States)

Bisio, Ambra; Pedullà, Ludovico; Bonzano, Laura; Ruggeri, Piero; Brichetto, Giampaolo; Bove, Marco

2016-01-01

Writing is a means of communication which requires complex motor, perceptual, and cognitive skills. If one of these abilities gets lost following traumatic events or due to neurological diseases, handwriting could deteriorate. Occupational therapy practitioners provide rehabilitation services for people with impaired handwriting. However, to determine the effectiveness of handwriting interventions no studies assessed whether the proposed treatments improved the kinematics of writing movement or had an effect at the level of the central nervous system. There is need to find new quantitative methodologies able to describe the behavioral and the neural outcomes of the rehabilitative interventions for handwriting. In the present study we proposed a combined approach that allowed evaluating the kinematic parameters of handwriting movements, acquired by means of a magnetic resonance-compatible tablet, and their neural correlates obtained simultaneously from a functional magnetic resonance imaging examination. Results showed that the system was reliable in term of reproducibility of the kinematic data during a test/re-test procedure. Further, despite the modifications with respect to an ecological writing movement condition, the kinematic parameters acquired inside the MR-environment were descriptive of individuals’ movement features. At last, the imaging protocol succeeded to show the activation of the cerebral regions associated with the production of writing movement in healthy people. From these findings, this methodology seems to be promising to evaluate the handwriting movement deficits and the potential alterations in the neural activity in those individuals who have handwriting difficulties. Finally, it would provide a mean to quantitatively assess the effect of a rehabilitative treatment. PMID:27746727

Evaluation of handwriting movement kinematics: from an ecological to a magnetic resonance environment

Directory of Open Access Journals (Sweden)

Ambra Bisio

2016-09-01

Full Text Available Writing is a means of communication which requires complex motor, perceptual and cognitive skills. If one of these abilities gets lost following traumatic events or due to neurological diseases, handwriting could deteriorate. Occupational therapy practitioners provide rehabilitation services for people with impaired handwriting. However, to determine the effectiveness of handwriting interventions no studies assessed whether the proposed treatments improved the kinematics of writing movement or had an effect at the level of the central nervous system. There is need to find new quantitative methodologies able to describe the behavioral and the neural outcomes of the rehabilitative interventions for handwriting. In the present study we proposed a combined approach that allowed evaluating the kinematic parameters of handwriting movements, acquired by means of a magnetic resonance-compatible tablet, and their neural correlates obtained simultaneously from a functional magnetic resonance imaging (fMRI examination. Results showed that the system was reliable in term of reproducibility of the kinematic data during a test/re-test procedure. Further, despite the modifications with respect to an ecological writing movement condition, the kinematic parameters acquired inside the MR-environment were descriptive of individuals’ movement features. At last, the imaging protocol succeeded to show the activation of the cerebral regions associated with the production of writing movement in healthy people. From these findings, this methodology seems to be promising to evaluate the handwriting movement deficits and the potential alterations in the neural activity in those individuals who have handwriting difficulties. Finally, it would provide a mean to quantitatively assess the effect of a rehabilitative treatment.

Chiral quark model with relativistic kinematics

International Nuclear Information System (INIS)

Garcilazo, H.; Valcarce, A.

2003-01-01

The nonstrange baryon spectrum is studied within a three-body model that incorporates relativistic kinematics. We found that the combined effect of relativistic kinematics together with the pion exchange between quarks is able to reverse the order of the first positive- and negative-parity nucleon excited states as observed experimentally. Including the chiral partner of the pion (the σ meson) leads to an overall good description of the spectrum

Chiral quark model with relativistic kinematics

OpenAIRE

Garcilazo, H.; Valcarce, A.

2003-01-01

The non-strange baryon spectrum is studied within a three-body model that incorporates relativistic kinematics. We found that the combined effect of relativistic kinematics together with the pion exchange between quarks is able to reverse the order of the first positive- and negative-parity nucleon excited states as observed experimentally. Including the chiral partner of the pion (the $\\sigma$ meson) leads to an overall good description of the spectrum.

Posterior tibial slope impacts intraoperatively measured mid-flexion anteroposterior kinematics during cruciate-retaining total knee arthroplasty.

Science.gov (United States)

Dai, Yifei; Cross, Michael B; Angibaud, Laurent D; Hamad, Cyril; Jung, Amaury; Jenny, Jean-Yves

2018-02-23

Posterior tibial slope (PTS) for cruciate-retaining (CR) total knee arthroplasty (TKA) is usually pre-determined by the surgeon. Limited information is available comparing different choices of PTS on the kinematics of the CR TKA, independent of the balancing of the extension gap. This study hypothesized that with the same balanced extension gap, the choice of PTS significantly impacts the intraoperatively measured kinematics of CR TKA. Navigated CR TKAs were performed on seven fresh-frozen cadavers with healthy knees and intact posterior cruciate ligament (PCL). A custom designed tibial baseplate was implanted to allow in situ modification of the PTS, which altered the flexion gap but maintained the extension gap. Knee kinematics were measured by performing passive range of motion (ROM) tests from full extension to 120° of flexion on the intact knee and CR TKAs with four different PTSs (1°, 4°, 7°, and 10°). The measured kinematics were compared across test conditions to assess the impact of PTS. With a consistent extension gap, the change of PTS had significant impact on the anteroposterior (AP) kinematics of the CR TKA knees in mid-flexion range (45°-90°), but not so much for the high-flexion range (90°-120°). No considerable impacts were found on internal/external (I/E) rotation and hip-knee-ankle (HKA) angle. However, the findings on the individual basis suggested the impact of PTS on I/E rotation and HKA angle may be patient-specific. The data suggested that the choice of PTS had the greatest impact on the mid-flexion AP translation among the intraoperatively measured kinematics. This impact may be considered while making surgical decisions in the context of AP kinematics. When using a tibial component designed with "center" pivoting PTS, a surgeon may be able to fine tune the PTS to achieve proper mid-flexion AP stability.

Plastic frames: Reduction of the kinematical inequality and optimization

International Nuclear Information System (INIS)

Brousse, P.

1979-01-01

It is well-known that the following inequality plays an essential part in the theory of perfectly plastic frames: for all kinematically admissible mechanisms and for bending moments associated with the hinge rotations by the flow rule, the plastic dissipation power is greater than or equal to the load power. This inequality will be termed as the kinematic inequality. It contains parameters generating the mechanisms. In simple cases, several ingenious authors obtained appreciable results excluding parameters. But, in more complicated cases, for instance when the given quantities are not numerical, the parameters remain in the kinematic inequality, thereby precluding exploitation of the kinematic approach. In the present work we overcome this dificulty: we reduce the kinematic inequality, i.e., we replace it by inequalities containing no variable parameter; we then state a process giving automatically such inequalities; finally, we treat a practical application. (orig.)

The Kinematic Learning Model using Video and Interfaces Analysis

Science.gov (United States)

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

2017-09-01

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

Coordination of dual robot arms using kinematic redundancy

Science.gov (United States)

Suh, Il Hong; Shin, Kang G.

1988-01-01

A method is developed to coordinate the motion of dual robot arms carrying a solid object, where the first robot (leader) grasps one end of the object rigidly and the second robot (follower) is allowed to change its grasping position at the other end of the object along the object surface while supporting the object. It is shown that this flexible grasping is equivalent to the addition of one more degree of freedom (dof), giving the follower more maneuvering capabilities. In particular, motion commands for the follower are generated by using kinematic redundancy. To show the utility and power of the method, an example system with two PUMA 560 robots carrying a beam is analyzed.

Kinematic design considerations for minimally invasive surgical robots: an overview.

Science.gov (United States)

Kuo, Chin-Hsing; Dai, Jian S; Dasgupta, Prokar

2012-06-01

Kinematic design is a predominant phase in the design of robotic manipulators for minimally invasive surgery (MIS). However, an extensive overview of the kinematic design issues for MIS robots is not yet available to both mechanisms and robotics communities. Hundreds of archival reports and articles on robotic systems for MIS are reviewed and studied. In particular, the kinematic design considerations and mechanism development described in the literature for existing robots are focused on. The general kinematic design goals, design requirements, and design preferences for MIS robots are defined. An MIS-specialized mechanism, namely the remote center-of-motion (RCM) mechanism, is revisited and studied. Accordingly, based on the RCM mechanism types, a classification for MIS robots is provided. A comparison between eight different RCM types is given. Finally, several open challenges for the kinematic design of MIS robotic manipulators are discussed. This work provides a detailed survey of the kinematic design of MIS robots, addresses the research opportunity in MIS robots for kinematicians, and clarifies the kinematic point of view to MIS robots as a reference for the medical community. Copyright © 2012 John Wiley & Sons, Ltd.

Kinematic analysis of a posterior-stabilized knee prosthesis.

Science.gov (United States)

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

2015-01-20

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

Kinematic Analysis of a Posterior-stabilized Knee Prosthesis

Directory of Open Access Journals (Sweden)

Zhi-Xin Zhao

2015-01-01

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

Kinematic Analysis of a Posterior-stabilized Knee Prosthesis

Science.gov (United States)

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

2015-01-01

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

Agent Control for Reconfigurable Open Kinematic Chain Manipulators

Directory of Open Access Journals (Sweden)

Janez Sluga

2013-10-01

Full Text Available This paper presents a method for the autonomous control of differently structured open kinematic chains based on multi-agent system technology. The appropriate level of distributing local autonomy (agents to a manipulative structure is defined, which makes it possible to dynamically change the number, type and structure of manipulative components without modifying their behavioural logic. To achieve fast reconfigurable and scalable manipulative systems, a new multi-agent method is developed for controlling the manipulator kinematics. The new method enables independent manipulator structure from the control system because of its structural and system modularity. The proposed method consists of kinematic equations for use in an agent environment, agent motion-planning algorithms, evaluation functions, agent control logic and kinematic algorithms. The results of simulations and real-world experiments demonstrate the usefulness of the approach for different non-redundant and redundant manipulation structures.

The kinematics of the California sea lion foreflipper during forward swimming

International Nuclear Information System (INIS)

Friedman, C; Leftwich, M C

2014-01-01

To determine the two-dimensional kinematics of the California sea lion foreflipper during thrust generation, a digital, high-definition video is obtained using a non-research female sea lion at the Smithsonian National Zoological Park in Washington, DC. The observational videos are used to extract maneuvers of interest—forward acceleration from rest using the foreflippers and banked turns. Single camera videos are analyzed to digitize the flipper during the motions using 10 points spanning root to tip in each frame. Digitized shapes were then fitted with an empirical function that quantitatively allows for both comparison between different claps, and for extracting kinematic data. The resulting function shows a high degree of curvature (with a camber of up to 32%). Analysis of sea lion acceleration from rest shows thrust production in the range of 150–680 N and maximum flipper angular velocity (for rotation about the shoulder joint) as high as 20 rad s −1 . Analysis of turning maneuvers indicate extreme agility and precision of movement driven by the foreflipper surfaces. (paper)

Kinematic Analysis of Continuum Robot Consisted of Driven Flexible Rods

Directory of Open Access Journals (Sweden)

Yingzhong Tian

2016-01-01

Full Text Available This paper presents the kinematic analysis of a continuum bionic robot with three flexible actuation rods. Since the motion of the end-effector is actuated by the deformation of the rods, the robot structure is with high elasticity and good compliance and the kinematic analysis of the robot requires special treatment. We propose a kinematic model based on the geometry with constant curvature. The analysis consists of two independent mappings: a general mapping for the kinematics of all robots and a specific mapping for this kind of robots. Both of those mappings are developed for the single section and for the multisections. We aim at providing a guide for kinematic analysis of the similar manipulators through this paper.

Shoulder and Scapular Kinematics during the Windmill Softball Pitch

OpenAIRE

Backus, Sherry I.; Kraszewski, Andrew; Kontaxis, Andreas; Gibbons, Mandi; Bido, Jennifer; Graziano, Jessica; Hafer, Jocelyn; Jones, Kristofer J.; Hillstrom, Howard; Fealy, Stephen

2013-01-01

Objectives: Pitch count has been studied extensively in the overhand throwing athlete. However, pitch count and fatigue have not been systematically evaluated in the female windmill (underhand) throwing athlete. Direct kinematic measurements of the glenohumeral and scapulo-thoracic joint have not to be correlated and determined. The purpose is to measure scapular kinematics for the high school female windmill softball pitcher and identify kinematic adaptions and changes in pitching performanc...

Heavy baryon spectroscopy with relativistic kinematics

International Nuclear Information System (INIS)

Valcarce, A.; Garcilazo, H.; Vijande, J.

2014-01-01

We present a comparative Faddeev study of heavy baryon spectroscopy with nonrelativistic and relativistic kinematics. We show results for different standard hyperfine interactions with both kinematics in an attempt to learn about the light quark dynamics. We highlight the properties of particular states accessible in nowadays laboratories that would help in discriminating between different dynamical models. The advance in the knowledge of light quark dynamics is a key tool for the understanding of the existence of exotic hadrons.

Kinematic and neuromuscular relationships between lower extremity clinical movement assessments.

Science.gov (United States)

Mauntel, Timothy C; Cram, Tyler R; Frank, Barnett S; Begalle, Rebecca L; Norcross, Marc F; Blackburn, J Troy; Padua, Darin A

2018-06-01

Lower extremity injuries have immediate and long-term consequences. Lower extremity movement assessments can assist with identifying individuals at greater injury risk and guide injury prevention interventions. Movement assessments identify similar movement characteristics and evidence suggests large magnitude kinematic relationships exist between movement patterns observed across assessments; however, the magnitude of the relationships for electromyographic (EMG) measures across movement assessments remains largely unknown. This study examined relationships between lower extremity kinematic and EMG measures during jump landings and single leg squats. Lower extremity three-dimensional kinematic and EMG data were sampled from healthy adults (males = 20, females = 20) during the movement assessments. Pearson correlations examined the relationships of the kinematic and EMG measures and paired samples t-tests compared mean kinematic and EMG measures between the assessments. Overall, significant moderate correlations were observed for lower extremity kinematic (r avg  = 0.41, r range  = 0.10-0.61) and EMG (r avg  = 0.47, r range  = 0.32-0.80) measures across assessments. Kinematic and EMG measures were greater during the jump landings. Jump landings and single leg squats place different demands on the body and necessitate different kinematic and EMG patterns, such that these measures are not highly correlated between assessments. Clinicians should, therefore, use multiple assessments to identify aberrant movement and neuromuscular control patterns so that comprehensive interventions can be implemented.

Motor resonance facilitates movement execution: an ERP and kinematic study

Directory of Open Access Journals (Sweden)

Mathilde eMénoret

2013-10-01

Full Text Available Action observation, simulation and execution share neural mechanisms that allow for a common motor representation. It is known that when these overlapping mechanisms are simultaneously activated by action observation and execution, motor performance is influenced by observation and vice versa. To understand the neural dynamics underlying this influence and to measure how variations in brain activity impact the precise kinematics of motor behaviour, we coupled kinematics and electrophysiological recordings of participants while they performed and observed congruent or non-congruent actions or during action execution alone. We found that movement velocities and the trajectory deviations of the executed actions increased during the observation of congruent actions compared to the observation of non-congruent actions or action execution alone. This facilitation was also discernible in the motor-related potentials of the participants; the motor-related potentials were transiently more negative in the congruent condition around the onset of the executed movement, which occurred 300 ms after the onset of the observed movement. This facilitation seemed to depend not only on spatial congruency but also on the optimal temporal relationship of the observation and execution events.

Inverse kinematics of a dual linear actuator pitch/roll heliostat

Science.gov (United States)

Freeman, Joshua; Shankar, Balakrishnan; Sundaram, Ganesh

2017-06-01

This work presents a simple, computationally efficient inverse kinematics solution for a pitch/roll heliostat using two linear actuators. The heliostat design and kinematics have been developed, modeled and tested using computer simulation software. A physical heliostat prototype was fabricated to validate the theoretical computations and data. Pitch/roll heliostats have numerous advantages including reduced cost potential and reduced space requirements, with a primary disadvantage being the significantly more complicated kinematics, which are solved here. Novel methods are applied to simplify the inverse kinematics problem which could be applied to other similar problems.

A kinematic study on (unintentional imitation in bottlenose dolphins

Directory of Open Access Journals (Sweden)

Luisa eSartori

2015-08-01

Full Text Available The aim of the present study was to investigate the effect of observing other’s movements on subsequent performance in bottlenose dolphins. The imitative ability of non-human animals has intrigued a number of researchers. So far, however, studies in dolphins have been confined to intentional imitation concerned with the explicit request to imitate other agents. In the absence of instruction to imitate, do dolphins (unintentionally replicate other’s movement features? To test this, dolphins were filmed while reaching and touching a stimulus before and after observing another dolphin (i.e., model performing the same action. All videos were reviewed and segmented in order to extract the relevant movements. A marker was inserted post-hoc via software on the videos upon the anatomical landmark of interest (i.e. rostrum and was tracked throughout the time course of the movement sequence. The movement was analyzed using an in-house software developed to perform two-dimensional (2D post-hoc kinematic analysis. The results indicate that dolphins’ kinematics is sensitive to other’s movement features. Movements performed for the ‘visuomotor priming’ condition were characterized by a kinematic pattern similar to that performed by the observed dolphin (i.e., model. Addressing the issue of spontaneous imitation in bottlenose dolphins might allow ascertaining whether the potential or impulse to produce an imitative action is generated, not just when they intend to imitate, but whenever they watch another conspecific’s behavior. In closing, this will clarify whether motor representational capacity is a by-product of factors specific to humans or whether more general characteristics such as processes of associative learning prompted by high level of encephalization could help to explain the evolution of this ability.

Interactive cervical motion kinematics: sensitivity, specificity and clinically significant values for identifying kinematic impairments in patients with chronic neck pain.

Science.gov (United States)

Sarig Bahat, Hilla; Chen, Xiaoqi; Reznik, David; Kodesh, Einat; Treleaven, Julia

2015-04-01

Chronic neck pain has been consistently shown to be associated with impaired kinematic control including reduced range, velocity and smoothness of cervical motion, that seem relevant to daily function as in quick neck motion in response to surrounding stimuli. The objectives of this study were: to compare interactive cervical kinematics in patients with neck pain and controls; to explore the new measures of cervical motion accuracy; and to find the sensitivity, specificity, and optimal cutoff values for defining impaired kinematics in those with neck pain. In this cross-section study, 33 patients with chronic neck pain and 22 asymptomatic controls were assessed for their cervical kinematic control using interactive virtual reality hardware and customized software utilizing a head mounted display with built-in head tracking. Outcome measures included peak and mean velocity, smoothness (represented by number of velocity peaks (NVP)), symmetry (represented by time to peak velocity percentage (TTPP)), and accuracy of cervical motion. Results demonstrated significant and strong effect-size differences in peak and mean velocities, NVP and TTPP in all directions excluding TTPP in left rotation, and good effect-size group differences in 5/8 accuracy measures. Regression results emphasized the high clinical value of neck motion velocity, with very high sensitivity and specificity (85%-100%), followed by motion smoothness, symmetry and accuracy. These finding suggest cervical kinematics should be evaluated clinically, and screened by the provided cut off values for identification of relevant impairments in those with neck pain. Such identification of presence or absence of kinematic impairments may direct treatment strategies and additional evaluation when needed. Copyright © 2014 Elsevier Ltd. All rights reserved.

Kinematic Hardening: Characterization, Modeling and Impact on Springback Prediction

International Nuclear Information System (INIS)

Alves, J. L.; Bouvier, S.; Jomaa, M.; Billardon, R.; Oliveira, M. C.; Menezes, L. F.

2007-01-01

The constitutive modeling of the materials' mechanical behavior, usually carried out using a phenomenological constitutive model, i.e., a yield criterion associated to the isotropic and kinematic hardening laws, is of paramount importance in the FEM simulation of the sheet metal forming processes, as well as in the springback prediction. Among others, the kinematic behavior of the yield surface plays an essential role, since it is indispensable to describe the Bauschinger effect, i.e., the materials' answer to the multiple tension-compression cycles to which material points are submitted during the forming process. Several laws are usually used to model and describe the kinematic hardening, namely: a) the Prager's law, which describes a linear evolution of the kinematic hardening with the plastic strain rate tensor b) the Frederick-Armstrong non-linear kinematic hardening, basically a non-linear law with saturation; and c) a more advanced physically-based law, similar to the previous one but sensitive to the strain path changes. In the present paper a mixed kinematic hardening law (linear + non-linear behavior) is proposed and its implementation into a static fully-implicit FE code is described. The material parameters identification for sheet metals using different strategies, and the classical Bauschinger loading tests (i.e. in-plane forward and reverse monotonic loading), are addressed, and their impact on springback prediction evaluated. Some numerical results concerning the springback prediction of the Numisheet'05 Benchmark no. 3 are briefly presented to emphasize the importance of a correct modeling and identification of the kinematic hardening behavior

SPACEBAR: Kinematic design by computer graphics

Science.gov (United States)

Ricci, R. J.

1975-01-01

The interactive graphics computer program SPACEBAR, conceived to reduce the time and complexity associated with the development of kinematic mechanisms on the design board, was described. This program allows the direct design and analysis of mechanisms right at the terminal screen. All input variables, including linkage geometry, stiffness, and applied loading conditions, can be fed into or changed at the terminal and may be displayed in three dimensions. All mechanism configurations can be cycled through their range of travel and viewed in their various geometric positions. Output data includes geometric positioning in orthogonal coordinates of each node point in the mechanism, velocity and acceleration of the node points, and internal loads and displacements of the node points and linkages. All analysis calculations take at most a few seconds to complete. Output data can be viewed at the scope and also printed at the discretion of the user.

The Mechanical Design of a Kinematic Mount for the Mid Infrared Instrument Focal Plane Module on the James Webb Space Telescope

Science.gov (United States)

Thelen, Michael P.; Moore, Donald M.

2009-01-01

The detector assembly for the Mid Infrared Instrument (MIRI) of the James Webb Space Telescope (JWST) is mechanically supported in the Focal Plane Module (FPM) Assembly with an efficient hexapod design. The kinematic mount design allows for precision adjustment of the detector boresight to assembly alignment fiducials and maintains optical alignment requirements during flight conditions of launch and cryogenic operations below 7 Kelvin. This kinematic mounting technique is able to be implemented in a variety of optical-mechanical designs and is capable of micron level adjustment control and stability over wide dynamic and temperature ranges.

DIDACTIC AUTOMATED STATION OF COMPLEX KINEMATICS

Directory of Open Access Journals (Sweden)

Mariusz Sosnowski

2014-03-01

Full Text Available The paper presents the design, control system and software that controls the automated station of complex kinematics. Control interface and software has been developed and manufactured in the West Pomeranian University of Technology in Szczecin in the Department of Automated Manufacturing Systems Engineering and Quality. Conducting classes designed to teach programming and design of structures and systems for monitoring the robot kinematic components with non-standard structures was the reason for installation of the control system and software.

Kinematical coincidence method in transfer reactions

Energy Technology Data Exchange (ETDEWEB)

Acosta, L.; Amorini, F. [INFN—Laboratori Nazionali del Sud, Via S. Sofia, Catania (Italy); Auditore, L. [INFN Gruppo Collegato di Messina and Dipartimento di Fisica, Università di Messina (Italy); Berceanu, I. [Institute for Physics and Nuclear Engineering, Bucharest (Romania); Cardella, G., E-mail: cardella@ct.infn.it [INFN—Sezione di Catania, Via S. Sofia, 95123 Catania (Italy); Chatterjiee, M.B. [Saha Institute for Nuclear Physics, Kolkata (India); De Filippo, E. [INFN—Sezione di Catania, Via S. Sofia, 95123 Catania (Italy); Francalanza, L.; Gianì, R. [INFN—Laboratori Nazionali del Sud, Via S. Sofia, Catania (Italy); Dipartimento di Fisica e Astronomia, Università di Catania, Via S. Sofia, Catania (Italy); Grassi, L. [INFN—Sezione di Catania, Via S. Sofia, 95123 Catania (Italy); Rudjer Boskovic Institute, Zagreb (Croatia); Grzeszczuk, A. [Institut of Physics, University of Silesia, Katowice (Poland); La Guidara, E. [INFN—Sezione di Catania, Via S. Sofia, 95123 Catania (Italy); Centro Siciliano di Fisica Nucleare e Struttura della Materia, Catania (Italy); Lanzalone, G. [INFN—Laboratori Nazionali del Sud, Via S. Sofia, Catania (Italy); Facoltà di Ingegneria e Architettura, Università Kore, Enna (Italy); Lombardo, I. [INFN—Laboratori Nazionali del Sud, Via S. Sofia, Catania (Italy); Dipartimento di Scienze Fisiche, Università Federico II and INFN Sezione di Napoli (Italy); Loria, D.; Minniti, T. [INFN Gruppo Collegato di Messina and Dipartimento di Fisica, Università di Messina (Italy); Pagano, E.V. [INFN—Laboratori Nazionali del Sud, Via S. Sofia, Catania (Italy); Dipartimento di Fisica e Astronomia, Università di Catania, Via S. Sofia, Catania (Italy); and others

2013-07-01

A new method to extract high resolution angular distributions from kinematical coincidence measurements in binary reactions is presented. Kinematics is used to extract the center of mass angular distribution from the measured energy spectrum of light particles. Results obtained in the case of {sup 10}Be+p→{sup 9}Be+d reaction measured with the CHIMERA detector are shown. An angular resolution of few degrees in the center of mass is obtained. The range of applicability of the method is discussed.

High energy production of gluons in a quasi-multi-Regge kinematics

International Nuclear Information System (INIS)

Fadin, V.S.; Lipatov, L.N.

1989-01-01

Inelastic gluon-gluon scattering amplitudes in the Born approximation for the quasi-multi-Regge kinematics are calculated, starting with the Veneziano-type expression for the inelastic amplitude of the gluon-tachyon scattering with its subsequent simplification in the region of large energies and the Regge slope α'→0. Results obtained allow one to determine the high order corrections to the gluon Regge trajectory, the reggeon-particle vertices and to the integral kernel of the Bethe-Salpeter equation for the vacuum t-channel partial waves. 10 refs.; 7 figs

An adaptive inverse kinematics algorithm for robot manipulators

Science.gov (United States)

Colbaugh, R.; Glass, K.; Seraji, H.

1990-01-01

An adaptive algorithm for solving the inverse kinematics problem for robot manipulators is presented. The algorithm is derived using model reference adaptive control (MRAC) theory and is computationally efficient for online applications. The scheme requires no a priori knowledge of the kinematics of the robot if Cartesian end-effector sensing is available, and it requires knowledge of only the forward kinematics if joint position sensing is used. Computer simulation results are given for the redundant seven-DOF robotics research arm, demonstrating that the proposed algorithm yields accurate joint angle trajectories for a given end-effector position/orientation trajectory.

Kinematic top analyses at CDF

Energy Technology Data Exchange (ETDEWEB)

Grassmann, H.; CDF Collaboration

1995-03-01

We present an update of the top quark analysis using kinematic techniques in p{bar p} collisions at {radical}s = 1.8 TeV with the Collider Detector at Fermilab (CDF). We reported before on a study which used 19.3 pb{sup {minus}1} of data from the 1992--1993 collider run, but now we use a larger data sample of 67 pb{sup {minus}1}. First, we analyze the total transverse energy of the hard collision in W+{ge}3 jet events, showing the likely presence of a t{bar t} component in the event sample. Next, we compare in more detail the kinematic structure of W+ {ge}3 jet events with expectations for top pair production and with background processes, predominantly direct W+ jet production. We again find W+ {ge} 3 jet events which cannot be explained in terms of background, but show kinematic features as expected from top. These events also show evidence for beauty quarks, in agreement with expectations from top, but not compatible with expectations from backgrounds. The findings confirm the observation of top events made earlier in the data of the 1992--1993 collider run.

A Novel Methodology for the Simulation of Athletic Tasks on Cadaveric Knee Joints with Respect to In Vivo Kinematics

Science.gov (United States)

Bates, Nathaniel A.; Nesbitt, Rebecca J.; Shearn, Jason T.; Myer, Gregory D.; Hewett, Timothy E.

2015-01-01

Six degree of freedom (6-DOF) robotic manipulators have simulated clinical tests and gait on cadaveric knees to examine knee biomechanics. However, these activities do not necessarily emulate the kinematics and kinetics that lead to anterior cruciate ligament (ACL) rupture. The purpose of this study was to determine the techniques needed to derive reproducible, in vitro simulations from in vivo skin-marker kinematics recorded during simulated athletic tasks. Input of raw, in vivo, skin-marker-derived motion capture kinematics consistently resulted in specimen failure. The protocol described in this study developed an in-depth methodology to adapt in vivo kinematic recordings into 6-DOF knee motion simulations for drop vertical jumps and sidestep cutting. Our simulation method repeatably produced kinetics consistent with vertical ground reaction patterns while preserving specimen integrity. Athletic task simulation represents an advancement that allows investigators to examine ACL-intact and graft biomechanics during motions that generate greater kinetics, and the athletic tasks are more representative of documented cases of ligament rupture. Establishment of baseline functional mechanics within the knee joint during athletic tasks will serve to advance the prevention, repair and rehabilitation of ACL injuries. PMID:25869454

Latest Advances in Robot Kinematics

CERN Document Server

Husty, Manfred

2012-01-01

This book is  of interest to researchers inquiring about modern topics and methods in the kinematics, control and design of robotic manipulators. It considers the full range of robotic systems, including serial, parallel and cable driven manipulators, both planar and spatial. The systems range from being less than fully mobile to kinematically redundant to overconstrained. In addition to recognized areas, this book also presents recent advances in emerging areas such as the design and control of humanoids and humanoid subsystems, and the analysis, modeling and simulation of human body motions, as well as the mobility analysis of protein molecules and the development of machines which incorporate man.

Kinematic sensitivity of robot manipulators

Science.gov (United States)

Vuskovic, Marko I.

1989-01-01

Kinematic sensitivity vectors and matrices for open-loop, n degrees-of-freedom manipulators are derived. First-order sensitivity vectors are defined as partial derivatives of the manipulator's position and orientation with respect to its geometrical parameters. The four-parameter kinematic model is considered, as well as the five-parameter model in case of nominally parallel joint axes. Sensitivity vectors are expressed in terms of coordinate axes of manipulator frames. Second-order sensitivity vectors, the partial derivatives of first-order sensitivity vectors, are also considered. It is shown that second-order sensitivity vectors can be expressed as vector products of the first-order sensitivity vectors.

Color-Kinematics Duality for QCD Amplitudes

CERN Document Server

Johansson, Henrik

2016-01-01

We show that color-kinematics duality is present in tree-level amplitudes of quantum chromodynamics with massive flavored quarks. Starting with the color structure of QCD, we work out a new color decomposition for n-point tree amplitudes in a reduced basis of primitive amplitudes. These primitives, with k quark-antiquark pairs and (n-2k) gluons, are taken in the (n-2)!/k! Melia basis, and are independent under the color-algebra Kleiss-Kuijf relations. This generalizes the color decomposition of Del Duca, Dixon, and Maltoni to an arbitrary number of quarks. The color coefficients in the new decomposition are given by compact expressions valid for arbitrary gauge group and representation. Considering the kinematic structure, we show through explicit calculations that color-kinematics duality holds for amplitudes with general configurations of gluons and massive quarks. The new (massive) amplitude relations that follow from the duality can be mapped to a well-defined subset of the familiar BCJ relations for gluo...

Coordinate transformations, orthographic projections, and robot kinematics

International Nuclear Information System (INIS)

Crochetiere, W.J.

1984-01-01

Humans do not consciously think of moving each of their joints while they move their hands from one place to another. Likewise, robot arms can be commanded to move about in cartesian space without the need to address the individual joints. To do this, the direct and inverse kinematic equations of any robot arm must be derived. The direct kinematic equations uniquely transform the joint positions into the position (and orientation) of the hand, whereas the inverse kinematic equations transform the position (and orientation) of the hand into joint positions. The derivation of the inverse kinematic equations for any particular robot is a difficult problem which may have more than one solution. In this paper, these equations are derived for a six degree of freedom robot arm. A combination of matrix operations to perform coordinate rotations, and trigonometry within the appropriate orthographic projects to perform coordinate translations is employed. This complementary approach yields a solution which is more easily obtained, and also more easily visualized. The resulting solution was programmed into a real-time computer as a part of a higher level software system to control the motion of the arm

The kinematic algebras from the scattering equations

International Nuclear Information System (INIS)

Monteiro, Ricardo; O’Connell, Donal

2014-01-01

We study kinematic algebras associated to the recently proposed scattering equations, which arise in the description of the scattering of massless particles. In particular, we describe the role that these algebras play in the BCJ duality between colour and kinematics in gauge theory, and its relation to gravity. We find that the scattering equations are a consistency condition for a self-dual-type vertex which is associated to each solution of those equations. We also identify an extension of the anti-self-dual vertex, such that the two vertices are not conjugate in general. Both vertices correspond to the structure constants of Lie algebras. We give a prescription for the use of the generators of these Lie algebras in trivalent graphs that leads to a natural set of BCJ numerators. In particular, we write BCJ numerators for each contribution to the amplitude associated to a solution of the scattering equations. This leads to a decomposition of the determinant of a certain kinematic matrix, which appears naturally in the amplitudes, in terms of trivalent graphs. We also present the kinematic analogues of colour traces, according to these algebras, and the associated decomposition of that determinant

Kinematic seismic response of piles in layered soil profile

International Nuclear Information System (INIS)

Ahmad, I.; Khan, A.N.

2006-01-01

This paper is aimed at highlighting the importance of Kinematic Seismic Response of Piles, a phenomenon often ignored in dynamic analysis. A case study is presented where the end bearing pile is embedded in two layer soil system of highly contrasting stiffnesses; a typical case where kinematic loading plays important role. The pile soil system is modeled as continuous system and as discrete parameter system; both are based on BDWF (Beam on Dynamic Winkler Foundation) formulation. For discrete parameter system, a finite element software SAP2000 is used and the modeling technique of kinematic interaction in finite element software is discussed. For pile soil system modeled as continuous system, a general MATLAB code is developed capable of performing elastic site response analysis in two layer soil system, solving differential equation governing kinematic interaction, and giving as output the maximum ground displacement, maximum pile displacement, rotation, moment and shear distribution along pile length. The paper concludes that kinematic seismic actions must be evaluated particularly at the interface of soil layers of significantly differing soil stiffnesses. (author)

Expression of emotion in the kinematics of locomotion.

Science.gov (United States)

Barliya, Avi; Omlor, Lars; Giese, Martin A; Berthoz, Alain; Flash, Tamar

2013-03-01

Here, we examine how different emotions-happiness, fear, sadness and anger-affect the kinematics of locomotion. We focus on a compact representation of locomotion properties using the intersegmental law of coordination (Borghese et al. in J Physiol 494(3):863-879, 1996), which states that, during the gait cycle of human locomotion, the elevation angles of the thigh, shank and foot do not evolve independently of each other but form a planar pattern of co-variation. This phenomenon is highly robust and has been extensively studied. The orientation of the plane has been correlated with changes in the speed of locomotion and with reduction in energy expenditure as speed increases. An analytical model explaining the conditions underlying the emergence of this plane and predicting its orientation reveals that it suffices to examine the amplitudes of the elevation angles of the different segments along with the phase shifts between them (Barliya et al. in Exp Brain Res 193:371-385, 2009). We thus investigated the influence of different emotions on the parameters directly determining the orientation of the intersegmental plane and on the angular rotation profiles of the leg segments, examining both the effect of changes in walking speed and effects independent of speed. Subjects were professional actors and naïve subjects with no training in acting. As expected, emotions were found to strongly affect the kinematics of locomotion, particularly walking speed. The intersegmental coordination patterns revealed that emotional expression caused additional modifications to the locomotion patterns that could not be explained solely by a change in speed. For all emotions except sadness, the amplitude of thigh elevation angles changed from those in neutral locomotion. The intersegmental plane was also differently oriented, especially during anger. We suggest that, while speed is the dominant variable allowing discrimination between different emotional gaits, emotion can be

A statistical kinematic source inversion approach based on the QUESO library for uncertainty quantification and prediction

Science.gov (United States)

Zielke, Olaf; McDougall, Damon; Mai, Martin; Babuska, Ivo

2014-05-01

Seismic, often augmented with geodetic data, are frequently used to invert for the spatio-temporal evolution of slip along a rupture plane. The resulting images of the slip evolution for a single event, inferred by different research teams, often vary distinctly, depending on the adopted inversion approach and rupture model parameterization. This observation raises the question, which of the provided kinematic source inversion solutions is most reliable and most robust, and — more generally — how accurate are fault parameterization and solution predictions? These issues are not included in "standard" source inversion approaches. Here, we present a statistical inversion approach to constrain kinematic rupture parameters from teleseismic body waves. The approach is based a) on a forward-modeling scheme that computes synthetic (body-)waves for a given kinematic rupture model, and b) on the QUESO (Quantification of Uncertainty for Estimation, Simulation, and Optimization) library that uses MCMC algorithms and Bayes theorem for sample selection. We present Bayesian inversions for rupture parameters in synthetic earthquakes (i.e. for which the exact rupture history is known) in an attempt to identify the cross-over at which further model discretization (spatial and temporal resolution of the parameter space) is no longer attributed to a decreasing misfit. Identification of this cross-over is of importance as it reveals the resolution power of the studied data set (i.e. teleseismic body waves), enabling one to constrain kinematic earthquake rupture histories of real earthquakes at a resolution that is supported by data. In addition, the Bayesian approach allows for mapping complete posterior probability density functions of the desired kinematic source parameters, thus enabling us to rigorously assess the uncertainties in earthquake source inversions.

A Subject-Specific Kinematic Model to Predict Human Motion in Exoskeleton-Assisted Gait

Science.gov (United States)

Torricelli, Diego; Cortés, Camilo; Lete, Nerea; Bertelsen, Álvaro; Gonzalez-Vargas, Jose E.; del-Ama, Antonio J.; Dimbwadyo, Iris; Moreno, Juan C.; Florez, Julian; Pons, Jose L.

2018-01-01

The relative motion between human and exoskeleton is a crucial factor that has remarkable consequences on the efficiency, reliability and safety of human-robot interaction. Unfortunately, its quantitative assessment has been largely overlooked in the literature. Here, we present a methodology that allows predicting the motion of the human joints from the knowledge of the angular motion of the exoskeleton frame. Our method combines a subject-specific skeletal model with a kinematic model of a lower limb exoskeleton (H2, Technaid), imposing specific kinematic constraints between them. To calibrate the model and validate its ability to predict the relative motion in a subject-specific way, we performed experiments on seven healthy subjects during treadmill walking tasks. We demonstrate a prediction accuracy lower than 3.5° globally, and around 1.5° at the hip level, which represent an improvement up to 66% compared to the traditional approach assuming no relative motion between the user and the exoskeleton. PMID:29755336

Kinematical and dynamical aspects of higher-spin bound-state equations in holographic QCD

Energy Technology Data Exchange (ETDEWEB)

de Téramond, Guy F.; Dosch, Hans Günter; Brodsky, Stanley J.

2013-04-01

In this paper we derive holographic wave equations for hadrons with arbitrary spin starting from an effective action in a higher-dimensional space asymptotic to anti–de Sitter (AdS) space. Our procedure takes advantage of the local tangent frame, and it applies to all spins, including half-integer spins. An essential element is the mapping of the higher-dimensional equations of motion to the light-front Hamiltonian, thus allowing a clear distinction between the kinematical and dynamical aspects of the holographic approach to hadron physics. Accordingly, the nontrivial geometry of pure AdS space encodes the kinematics, and the additional deformations of AdS space encode the dynamics, including confinement. It thus becomes possible to identify the features of holographic QCD, which are independent of the specific mechanisms of conformal symmetry breaking. In particular, we account for some aspects of the striking similarities and differences observed in the systematics of the meson and baryon spectra.

A Subject-Specific Kinematic Model to Predict Human Motion in Exoskeleton-Assisted Gait.

Science.gov (United States)

Torricelli, Diego; Cortés, Camilo; Lete, Nerea; Bertelsen, Álvaro; Gonzalez-Vargas, Jose E; Del-Ama, Antonio J; Dimbwadyo, Iris; Moreno, Juan C; Florez, Julian; Pons, Jose L

2018-01-01

The relative motion between human and exoskeleton is a crucial factor that has remarkable consequences on the efficiency, reliability and safety of human-robot interaction. Unfortunately, its quantitative assessment has been largely overlooked in the literature. Here, we present a methodology that allows predicting the motion of the human joints from the knowledge of the angular motion of the exoskeleton frame. Our method combines a subject-specific skeletal model with a kinematic model of a lower limb exoskeleton (H2, Technaid), imposing specific kinematic constraints between them. To calibrate the model and validate its ability to predict the relative motion in a subject-specific way, we performed experiments on seven healthy subjects during treadmill walking tasks. We demonstrate a prediction accuracy lower than 3.5° globally, and around 1.5° at the hip level, which represent an improvement up to 66% compared to the traditional approach assuming no relative motion between the user and the exoskeleton.

Inverse Kinematics of a Serial Robot

Directory of Open Access Journals (Sweden)

Amici Cinzia

2016-01-01

Full Text Available This work describes a technique to treat the inverse kinematics of a serial manipulator. The inverse kinematics is obtained through the numerical inversion of the Jacobian matrix, that represents the equation of motion of the manipulator. The inversion is affected by numerical errors and, in different conditions, due to the numerical nature of the solver, it does not converge to a reasonable solution. Thus a soft computing approach is adopted to mix different traditional methods to obtain an increment of algorithmic convergence.

A Kinematically Beamed, Low Energy Pulsed Neutron Source for Active Interrogation

International Nuclear Information System (INIS)

Dietrich, D.; Hagmann, C.; Kerr, P.; Nakae, L.; Rowland, M.; Snyderman, N.; Stoeffl, W.; Hamm, R.

2004-01-01

We are developing a new active interrogation system based on a kinematically focused low energy neutron beam. The key idea is that one of the defining characteristics of SNM (Special Nuclear Materials) is the ability for low energy or thermal neutrons to induce fission. Thus by using low energy neutrons for the interrogation source we can accomplish three goals, (1) Energy discrimination allows us to measure the prompt fast fission neutrons produced while the interrogation beam is on; (2) Neutrons with an energy of approximately 60 to 100 keV do not fission 238U and Thorium, but penetrate bulk material nearly as far as high energy neutrons do and (3) below about 100keV neutrons lose their energy by kinematical collisions rather than via the nuclear (n,2n) or (n,n') processes thus further simplifying the prompt neutron induced background. 60 keV neutrons create a low radiation dose and readily thermal capture in normal materials, thus providing a clean spectroscopic signature of the intervening materials. The kinematically beamed source also eliminates the need for heavy backward and sideway neutron shielding. We have designed and built a very compact pulsed neutron source, based on an RFQ proton accelerator and a lithium target. We are developing fast neutron detectors that are nearly insensitive to the ever-present thermal neutron and neutron capture induced gamma ray background. The detection of only a few high energy fission neutrons in time correlation with the linac pulse will be a clear indication of the presence of SNM

Teaching about Kinematics

Science.gov (United States)

Nelson, Jane Bray; Nelson, Jim

2009-01-01

Written by Jim and Jane Nelson, Teaching About Kinematics is the latest AAPT/PTRA resource book. Based on physics education research, the book provides teachers with the resources needed to introduce students to some of the fundamental building blocks of physics. It is a carefully thought-out, step-by-step laboratory-based introduction to the…

Kinematic cross-correlation induces sensory integration across separate objects.

Science.gov (United States)

Debats, Nienke B; Ernst, Marc O; Heuer, Herbert

2017-12-01

In a basic cursor-control task, the perceived positions of the hand and the cursor are biased towards each other. We recently found that this phenomenon conforms to the reliability-based weighting mechanism of optimal multisensory integration. This indicates that optimal integration is not restricted to sensory signals originating from a single source, as is the prevailing view, but that it also applies to separate objects that are connected by a kinematic relation (i.e. hand and cursor). In the current study, we examined which aspects of the kinematic relation are crucial for eliciting the sensory integration: (i) the cross-correlation between kinematic variables of the hand and cursor trajectories, and/or (ii) an internal model of the hand-cursor kinematic transformation. Participants made out-and-back movements from the centre of a semicircular workspace to its boundary, after which they judged the position where either their hand or the cursor hit the boundary. We analysed the position biases and found that the integration was strong in a condition with high kinematic correlations (a straight hand trajectory was mapped to a straight cursor trajectory), that it was significantly reduced for reduced kinematic correlations (a straight hand trajectory was transformed into a curved cursor trajectory) and that it was not affected by the inability to acquire an internal model of the kinematic transformation (i.e. by the trial-to-trial variability of the cursor curvature). These findings support the idea that correlations play a crucial role in multisensory integration irrespective of the number of sensory sources involved. © 2017 Federation of European Neuroscience Societies and John Wiley & Sons Ltd.

Kinematic variables of table vault on artistic gymnastics

Directory of Open Access Journals (Sweden)

Sarah Maria Boldrini FERNANDES

2016-03-01

Full Text Available Abstract The table vault is an event of male and female Artistics Gymnastics. Although it can be performed in a variety of rotations and body positions in different phases, it can be separated in three groups: handspring, Yurchenko and Tsukahara. It is believed that kinematic variables of vault may vary according to group of vault or gymnast body position, but few studies compares the real differences among the three groups of vaults, comparing and describing the variables in different phases. Vault kinematic variables could be diversifying according to the approach or position of the vaulting, but little has been studied about the biomechanical differences, comparing and describing behaviours at different stages. The aim of this study was to organize critical, objective and to systematize the most relevant kinematic variables to performance on vaulting. A Meta analysis over the basis Pubmed, Sport Discus and Web of Science were performed about this issue. From the selected references, we described and analyzed the kinematics of the table vault. Vault can be characterized in seven phases of analysis. Most of the studies are descriptive, and some do not descript all phases. Differences among vault variables according to group vaults, technical level and gender were analysed only in recent studies. There still gaps of knowledge about kinematic variables of table vault, in order to provide comprehensive information about all possibilities of vaults in this gymnastic event. It is concluded that kinematic variables of table vault depends upon vault group and may be considered to the improvement of technical performance. More researches are needed to approach the coaching interface with biomechanics applicable knowledge.

Uncertainty estimation and multi sensor fusion for kinematic laser tracker measurements

Science.gov (United States)

Ulrich, Thomas

2013-08-01

Laser trackers are widely used to measure kinematic tasks such as tracking robot movements. Common methods to evaluate the uncertainty in the kinematic measurement include approximations specified by the manufacturers, various analytical adjustment methods and the Kalman filter. In this paper a new, real-time technique is proposed, which estimates the 4D-path (3D-position + time) uncertainty of an arbitrary path in space. Here a hybrid system estimator is applied in conjunction with the kinematic measurement model. This method can be applied to processes, which include various types of kinematic behaviour, constant velocity, variable acceleration or variable turn rates. The new approach is compared with the Kalman filter and a manufacturer's approximations. The comparison was made using data obtained by tracking an industrial robot's tool centre point with a Leica laser tracker AT901 and a Leica laser tracker LTD500. It shows that the new approach is more appropriate to analysing kinematic processes than the Kalman filter, as it reduces overshoots and decreases the estimated variance. In comparison with the manufacturer's approximations, the new approach takes account of kinematic behaviour with an improved description of the real measurement process and a reduction in estimated variance. This approach is therefore well suited to the analysis of kinematic processes with unknown changes in kinematic behaviour as well as the fusion among laser trackers.

Dose exposure work planning using DMU kinematics tools

International Nuclear Information System (INIS)

Rosli Darmawan

2010-01-01

The study on the possibility of using DMU Kinematics module in CAE tools for dose exposure work planning was carried out. A case scenario was created using 3D CAD software and transferred to DMU Kinematics module in CAE software. A work plan was created using DMU Kinematics tools and animated to simulate a real time scenario. Data on the phantom position against the radioactive source was collected by activating positioning sensors in the module. The data was used to estimate dose rate exposure for the phantom. The results can be used to plan the safest and optimum procedures in carrying out the radiation related task. (author)

Contact kinematics of biomimetic scales

Energy Technology Data Exchange (ETDEWEB)

Ghosh, Ranajay; Ebrahimi, Hamid; Vaziri, Ashkan, E-mail: vaziri@coe.neu.edu [Department of Mechanical and Industrial Engineering, Northeastern University, Boston, Massachusetts 02115 (United States)

2014-12-08

Dermal scales, prevalent across biological groups, considerably boost survival by providing multifunctional advantages. Here, we investigate the nonlinear mechanical effects of biomimetic scale like attachments on the behavior of an elastic substrate brought about by the contact interaction of scales in pure bending using qualitative experiments, analytical models, and detailed finite element (FE) analysis. Our results reveal the existence of three distinct kinematic phases of operation spanning linear, nonlinear, and rigid behavior driven by kinematic interactions of scales. The response of the modified elastic beam strongly depends on the size and spatial overlap of rigid scales. The nonlinearity is perceptible even in relatively small strain regime and without invoking material level complexities of either the scales or the substrate.

Quantifying the performance of jet definitions for kinematic reconstruction at the LHC

International Nuclear Information System (INIS)

Cacciari, Matteo; Rojo, Juan; Salam, Gavin P.; Soyez, Gregory

2008-01-01

We present a strategy to quantify the performance of jet definitions in kinematic reconstruction tasks. It is designed to make use exclusively of physical observables, in contrast to previous techniques which often used unphysical Monte Carlo partons as a reference. It is furthermore independent of the detailed shape of the kinematic distributions. We analyse the performance of 5 jet algorithms over a broad range of jet-radii, for sources of quark jets and gluon jets, spanning the energy scales of interest at the LHC, both with and without pileup. The results allow one to identify optimal jet definitions for the various scenarios. They confirm that the use of a small jet radius (R ≅ 0.5) for quark-induced jets at moderate energy scales, O(100 GeV), is a good choice. However, for gluon jets and in general for TeV scales, there are significant benefits to be had from using larger radii, up to R ∼> 1. This has implications for the span of jet-definitions that the LHC experiments should provide as defaults for searches and other physics analyses.

Application of robot kinematics methods to the simulation and control of neutron beam line positioning systems

Energy Technology Data Exchange (ETDEWEB)

James, Jonathan A. [Open University, Materials Engineering, Walton Hall, Milton Keynes, Buckinghamshire MK7 6AA (United Kingdom)]. E-mail: j.a.j.james@open.ac.uk; Edwards, Lyndon [Open University, Materials Engineering, Walton Hall, Milton Keynes, Buckinghamshire MK7 6AA (United Kingdom)

2007-02-11

Neutron stress measurements require specimens of complex geometry to be speedily and accurately positioned and oriented with respect to the neutron beam. Recognition that a majority of the specimen positioning systems in use at strain scanning facilities are effectively serial robot manipulators, suggests that the methods of serial robot kinematic modelling may be applied to advantage. The adoption of robotics methods provides a simple and reliable framework for controlling positioning systems of arbitrary geometry and complexity. In addition the numerical solution of the inverse kinematic problem is facilitated, allowing specimens to be automatically positioned and orientated so that pre-determined strain components are measured. It is also shown that, given sufficient degrees of freedom, a secondary characteristic of the measurement position such as the measurement count time may be simultaneously optimised.

The Maiden Voyage of a Kinematics Robot

Science.gov (United States)

Greenwolfe, Matthew L.

2015-04-01

In a Montessori preschool classroom, students work independently on tasks that absorb their attention in part because the apparatus are carefully designed to make mistakes directly observable and limit exploration to one aspect or dimension. Control of error inheres in the apparatus itself, so that teacher intervention can be minimal.1 Inspired by this example, I created a robotic kinematics apparatus that also shapes the inquiry experience. Students program the robot by drawing kinematic graphs on a computer and then observe its motion. Exploration is at once limited to constant velocity and constant acceleration motion, yet open to complex multi-segment examples difficult to achieve in the lab in other ways. The robot precisely and reliably produces the motion described by the students' graphs, so that the apparatus itself provides immediate visual feedback about whether their understanding is correct as they are free to explore within the hard-coded limits. In particular, the kinematic robot enables hands-on study of multi-segment constant velocity situations, which lays a far stronger foundation for the study of accelerated motion. When correction is anonymous—just between one group of lab partners and their robot—students using the kinematic robot tend to flow right back to work because they view the correction as an integral part of the inquiry learning process. By contrast, when correction occurs by the teacher and/or in public (e.g., returning a graded assignment or pointing out student misconceptions during class), students all too often treat the event as the endpoint to inquiry. Furthermore, quantitative evidence shows a large gain from pre-test to post-test scores using the Test of Understanding Graphs in Kinematics (TUG-K).

Action experience changes attention to kinematic cues

Directory of Open Access Journals (Sweden)

Courtney eFilippi

2016-02-01

Full Text Available The current study used remote corneal reflection eye-tracking to examine the relationship between motor experience and action anticipation in 13-month-old infants. To measure online anticipation of actions infants watched videos where the actor’s hand provided kinematic information (in its orientation about the type of object that the actor was going to reach for. The actor’s hand orientation either matched the orientation of a rod (congruent cue or did not match the orientation of the rod (incongruent cue. To examine relations between motor experience and action anticipation, we used a 2 (reach first vs. observe first x 2 (congruent kinematic cue vs. incongruent kinematic cue between-subjects design. We show that 13-month-old infants in the observe first condition spontaneously generate rapid online visual predictions to congruent hand orientation cues and do not visually anticipate when presented incongruent cues. We further demonstrate that the speed that these infants generate predictions to congruent motor cues is correlated with their own ability to pre-shape their hands. Finally, we demonstrate that following reaching experience, infants generate rapid predictions to both congruent and incongruent hand shape cues—suggesting that short-term experience changes attention to kinematics.

Effect of suspension kinematic on 14 DOF vehicle model

Science.gov (United States)

Wongpattananukul, T.; Chantharasenawong, C.

2017-12-01

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

Multiple Decoupled CPGs with Local Sensory Feedback for Adaptive Locomotion Behaviors of Bio-inspired Walking Robots

DEFF Research Database (Denmark)

Shaker Barikhan, Subhi; Wörgötter, Florentin; Manoonpong, Poramate

2014-01-01

, and their interactions during body and leg movements through the environment. Based on this concept, we present here an artificial bio-inspired walking system. Its intralimb coordination is formed by multiple decoupled CPGs while its interlimb coordination is attained by the interactions between body dynamics...... and the environment through local sensory feedback of each leg. Simulation results show that this bio-inspired approach generates self-organizing emergent locomotion allowing the robot to adaptively form regular patterns, to stably walk while pushing an object with its front legs or performing multiple stepping...

Nonlinear kinematics for piezoelectricity in ALEGRA-EMMA.

Energy Technology Data Exchange (ETDEWEB)

Mitchell, John Anthony; Fuller, Timothy Jesse

2013-09-01

This report develops and documents nonlinear kinematic relations needed to implement piezoelectric constitutive models in ALEGRA-EMMA [5], where calculations involving large displacements and rotations are routine. Kinematic relationships are established using Gausss law and Faradays law; this presentation on kinematics goes beyond piezoelectric materials and is applicable to all dielectric materials. The report then turns to practical details of implementing piezoelectric models in an application code where material principal axes are rarely aligned with user defined problem coordinate axes. This portion of the report is somewhat pedagogical but is necessary in order to establish documentation for the piezoelectric implementation in ALEGRA-EMMA. This involves transforming elastic, piezoelectric, and permittivity moduli from material principal axes to problem coordinate axes. The report concludes with an overview of the piezoelectric implementation in ALEGRA-EMMA and small verification examples.

Nonlinear kinematic hardening under non-proportional loading

International Nuclear Information System (INIS)

Ottosen, N.S.

1979-07-01

Within the framework of conventional plasticity theory, it is first determined under which conditions Melan-Prager's and Ziegler's kinematic hardening rules result in identical material behaviour. Next, assuming initial isotropy and adopting the von Mises yield criterion, a nonlinear kinematic hardening function is proposed for prediction of metal behaviour. The model assumes that hardening at a specific stress point depends on the direction of the new incremental loading. Hereby a realistic response is obtained for general reversed loading, and a smooth behaviour is assured, even when loading deviates more and more from proportional loading and ultimately results in reversed loading. The predictions of the proposed model for non-proportional loading under plane stress conditions are compared with those of the classical linear kinematic model, the isotropic model and with published experimental data. Finally, the limitations of the proposaed model are discussed. (author)

Of gluons and gravitons. Exploring color-kinematics duality

International Nuclear Information System (INIS)

Isermann, Reinke Sven

2013-06-01

In this thesis color-kinematics duality will be investigated. This duality is a statement about the kinematical dependence of a scattering amplitude in Yang-Mills gauge theories obeying group theoretical relations similar to that of the color gauge group. The major consequence of this duality is that gravity amplitudes can be related to a certain double copy of gauge theory amplitudes. The main focus of this thesis is on exploring the foundations of color-kinematics duality and its consequences. It is shown how color-kinematics duality can be made manifest at the one-loop level for rational amplitudes. A Lagrangian-based argument will be given for the validity of the double copy construction for these amplitudes including explicit examples at four points. Secondly, it is studied how color-kinematics duality can be used to improve powercounting in gravity theories. To this end the duality is reformulated in terms of linear maps. It is shown as an example how this can be used to derive the large BCFW shift behavior of a gravity integrand constructed through the duality to any loop order up to subtleties inherent to the duality that is addressed. As it becomes clear the duality implies massive cancellations with respect to the usual powercounting of Feynman graphs indicating that gravity theories are much better behaved than naively expected. As another example the linear map approach will be used to investigate the question of UV-finiteness of N=8 supergravity, and it is seen that the amount of cancellations depends on the exact implementation of the duality at loop level. Lastly, color-kinematics duality is considered from a Feynman-graph perspective reproducing some of the results of the earlier chapters thus giving non-trivial evidence for the duality at the loop level from a different perspective.

Of gluons and gravitons. Exploring color-kinematics duality

Energy Technology Data Exchange (ETDEWEB)

Isermann, Reinke Sven

2013-06-15

In this thesis color-kinematics duality will be investigated. This duality is a statement about the kinematical dependence of a scattering amplitude in Yang-Mills gauge theories obeying group theoretical relations similar to that of the color gauge group. The major consequence of this duality is that gravity amplitudes can be related to a certain double copy of gauge theory amplitudes. The main focus of this thesis is on exploring the foundations of color-kinematics duality and its consequences. It is shown how color-kinematics duality can be made manifest at the one-loop level for rational amplitudes. A Lagrangian-based argument will be given for the validity of the double copy construction for these amplitudes including explicit examples at four points. Secondly, it is studied how color-kinematics duality can be used to improve powercounting in gravity theories. To this end the duality is reformulated in terms of linear maps. It is shown as an example how this can be used to derive the large BCFW shift behavior of a gravity integrand constructed through the duality to any loop order up to subtleties inherent to the duality that is addressed. As it becomes clear the duality implies massive cancellations with respect to the usual powercounting of Feynman graphs indicating that gravity theories are much better behaved than naively expected. As another example the linear map approach will be used to investigate the question of UV-finiteness of N=8 supergravity, and it is seen that the amount of cancellations depends on the exact implementation of the duality at loop level. Lastly, color-kinematics duality is considered from a Feynman-graph perspective reproducing some of the results of the earlier chapters thus giving non-trivial evidence for the duality at the loop level from a different perspective.

Forward and inverse kinematics of double universal joint robot wrists

Science.gov (United States)

Williams, Robert L., II

1991-01-01

A robot wrist consisting of two universal joints can eliminate the wrist singularity problem found on many individual robots. Forward and inverse position and velocity kinematics are presented for such a wrist having three degrees of freedom. Denavit-Hartenberg parameters are derived to find the transforms required for the kinematic equations. The Omni-Wrist, a commercial double universal joint robot wrist, is studied in detail. There are four levels of kinematic parameters identified for this wrist; three forward and three inverse maps are presented for both position and velocity. These equations relate the hand coordinate frame to the wrist base frame. They are sufficient for control of the wrist standing alone. When the wrist is attached to a manipulator arm; the offset between the two universal joints complicates the solution of the overall kinematics problem. All wrist coordinate frame origins are not coincident, which prevents decoupling of position and orientation for manipulator inverse kinematics.

Isotropy of an Upper Limb Exoskeleton and the Kinematics and Dynamics of the Human Arm

Directory of Open Access Journals (Sweden)

Joel C. Perry

2009-01-01

shoulder and elbow, and nearly half of the total torque at the wrist. These results suggest that the majority of human arm joint torques are devoted to supporting the human arm position in space while compensating gravitational loads whereas a minor portion of the joint torques is dedicated to arm motion itself. A unique axial orientation at the base of the exoskeleton allowed the singular configuration of the shoulder joint to be moved towards the boundary of the human arm workspace while supporting 95% of the arm's workspace. At the same time, this orientation allowed the best exoskeleton manipulability at the most commonly used human arm configuration during ADLs. One of the potential implications of these results might be the need to compensate gravitational load during robotic-assistive rehabilitation treatment. Moreover, results of a manipulability analysis of the exoskeleton system indicate that the singular configuration of the exoskeleton system may be moved out of the human arm physiological workspace while maximising the overlap between the human arm and the exoskeleton workspaces. The collected database along with kinematic and dynamic analyses may provide a fundamental basis towards the development of assistive technologies for the human arm.

Kinematic analysis of competitive sprinting | Ansari | African Journal ...

African Journals Online (AJOL)

The results of the study showed that the kinematic variables i.e. knee angle, hip angle, ankle angle, shoulder rotation and extension had a significant influence on sprinting style. The results indicated that the kinematic variables of running style, knee angle at landing, hip flexion, ankle angle at landing, ankle angle at take-off, ...

Inverse kinematic control of LDUA and TWRMS

International Nuclear Information System (INIS)

Yih, T.C.; Burks, B.L.; Kwon, Dong-Soo

1995-01-01

A general inverse kinematic analysis is formulated particularly for the redundant Light Duty Utility Arm (LDUA) and Tank Waste Retrieval Manipulator System (TWRMS). The developed approach is applicable to the inverse kinematic simulation and control of LDUA, TWRMS, and other general robot manipulators. The 4 x 4 homogeneous Cylindrical coordinates-Bryant angles (C-B) notation is adopted to model LDUA, TWRMS, and any robot composed of R (revolute), P (prismatic), and/or S (spherical) joints

Dynamic Control of Kinematically Redundant Robotic Manipulators

Directory of Open Access Journals (Sweden)

Erling Lunde

1987-07-01

Full Text Available Several methods for task space control of kinematically redundant manipulators have been proposed in the literature. Most of these methods are based on a kinematic analysis of the manipulator. In this paper we propose a control algorithm in which we are especially concerned with the manipulator dynamics. The algorithm is particularly well suited for the class of redundant manipulators consisting of a relatively small manipulator mounted on a larger positioning part.

Scapula Kinematics of Youth Baseball Players

Directory of Open Access Journals (Sweden)

Oliver Gretchen

2015-12-01

Full Text Available Literature has revealed the importance of quantifying resting scapular posture in overhead athletes as well as quantifying scapular kinematics during dynamic movement. Prior to this project much of the attention in throwing research had been focused on the position of the humerus without description of the positioning of the scapula. Therefore, it was the purpose of this study to present scapular kinematics during pitching in youth baseball players. Twenty-five youth baseball players (age 11.3 + 1.0 years; body height 152.4 + 9.0 cm; body mass 47.5 + 11.3 kg, with no history of injury, participated in the study. Scapular kinematics at the events of maximum humeral external rotation (MER and maximum humeral internal rotation (MIR during the pitching motion were assessed three-dimensionally while pitching fastballs for strikes. Results revealed that at the event of MER, the scapula was in a position of retraction, upward rotation and a posterior tilt. While at the event of MIR, the scapula was protracted, upward rotated and tilted anteriorly.

MODELING OF KINEMATICS OF A PLASTIC SHAPING AT CALIBRATION OF A THIN-WALLED PRECISION PIPE SINKING

Directory of Open Access Journals (Sweden)

E. D. Chertov

2014-01-01

Full Text Available Summary. The mathematical model of kinematics of a plastic shaping at the sinking of a thin-walled precision pipe applied to calibration of the ends of the unified elements of the pipeline of aircraft from titanic alloys and corrosion-resistant steel before assembly to the route by means of automatic argon-arc welding of ring joints is developed. For modeling, the power criterion of stability with use of kinematic possible fields of speeds is applied to receiving the top assessment of effort of deformation. The developed model of kinematics of a plastic current allows to receive power parameters of the main condition of process of calibration by sinking and can be used for the solution of a task on stability of process of deformation by results of comparison of power (power parameters for the main (steady and indignant states. Modeling is made in cylindrical system of coordinates by comparison of options of kinematic possible fields of the speeds of a current meeting a condition of incompressibility and kinematic regional conditions. The result of the modeling was selected discontinuous field of high-speed, in which the decrease outer radius (R occurs only by increasing the thickness of the pipe wall (t. For this option the size of pressure of sinking had the smallest value, therefore the chosen field of speeds closely to the valid. It is established that with increase in a step of giving 1 at calibration by the multisector tool the demanded pressure of sinking of q decreases. At an identical step of giving 1 pipe with the smaller relative thickness of (t/r needs to be calibrated the smaller pressure of sinking. With increase of a limit of fluidity at shift of material of pipe preparation pressure of sinking of (q increases.

Rigid-body kinematics versus flapping kinematics of a flapping wing micro air vehicle

NARCIS (Netherlands)

Caetano, J.V.; Weehuizen, M.B.; De Visser, C.C.; De Croon, G.C.H.E.; Mulder, M.

2015-01-01

Several formulations have been proposed to model the dynamics of ornithopters, with inconclusive results regarding the need for complex kinematic formulations. Furthermore, the impact of assumptions made in the collected results was never assessed by comparing simulations with real flight data. In

Integrated kinematics-kinetics-plantar pressure data analysis: a useful tool for characterizing diabetic foot biomechanics.

Science.gov (United States)

Sawacha, Zimi; Guarneri, Gabriella; Cristoferi, Giuseppe; Guiotto, Annamaria; Avogaro, Angelo; Cobelli, Claudio

2012-05-01

The fundamental cause of lower-extremity complications in diabetes is chronic hyperglycemia leading to diabetic foot ulcer pathology. While the relationship between abnormal plantar pressure distribution and plantar ulcers has been widely investigated, little is known about the role of shear stress. Moreover, the mutual relationship among plantar pressure, shear stress, and abnormal kinematics in the etiology of diabetic foot has not been established. This lack of knowledge is determined by the lack of commercially available instruments which allow such a complex analysis. This study aims to develop a method for the simultaneous assessment of kinematics, kinetics, and plantar pressure on foot subareas of diabetic subjects by means of combining three commercial systems. Data were collected during gait on 24 patients (12 controls and 12 diabetic neuropathics) with a motion capture system synchronized with two force plates and two baropodometric systems. A four segment three-dimensional foot kinematics model was adopted for the subsegment angles estimation together with a three segment model for the plantar sub-area definition during gait. The neuropathic group exhibited significantly excessive plantar pressure, ground reaction forces on each direction, and a reduced loading surface on the midfoot subsegment (pfoot ulcerations, and help planning prevention programs. Copyright © 2011 Elsevier B.V. All rights reserved.

Global-local optimization of flapping kinematics in hovering flight

KAUST Repository

Ghommem, Mehdi; Hajj, M. R.; Mook, Dean T.; Stanford, Bret K.; Bé ran, Philip S.; Watson, Layne T.

2013-01-01

The kinematics of a hovering wing are optimized by combining the 2-d unsteady vortex lattice method with a hybrid of global and local optimization algorithms. The objective is to minimize the required aerodynamic power under a lift constraint. The hybrid optimization is used to efficiently navigate the complex design space due to wing-wake interference present in hovering aerodynamics. The flapping wing is chosen so that its chord length and flapping frequency match the morphological and flight properties of two insects with different masses. The results suggest that imposing a delay between the different oscillatory motions defining the flapping kinematics, and controlling the way through which the wing rotates at the end of each half stroke can improve aerodynamic power under a lift constraint. Furthermore, our optimization analysis identified optimal kinematics that agree fairly well with observed insect kinematics, as well as previously published numerical results.

Global-local optimization of flapping kinematics in hovering flight

KAUST Repository

Ghommem, Mehdi

2013-06-01

The kinematics of a hovering wing are optimized by combining the 2-d unsteady vortex lattice method with a hybrid of global and local optimization algorithms. The objective is to minimize the required aerodynamic power under a lift constraint. The hybrid optimization is used to efficiently navigate the complex design space due to wing-wake interference present in hovering aerodynamics. The flapping wing is chosen so that its chord length and flapping frequency match the morphological and flight properties of two insects with different masses. The results suggest that imposing a delay between the different oscillatory motions defining the flapping kinematics, and controlling the way through which the wing rotates at the end of each half stroke can improve aerodynamic power under a lift constraint. Furthermore, our optimization analysis identified optimal kinematics that agree fairly well with observed insect kinematics, as well as previously published numerical results.

Overground-Propulsion Kinematics and Acceleration in Elite Wheelchair Rugby.

Science.gov (United States)

Haydon, David S; Pinder, Ross A; Grimshaw, Paul N; Robertson, William S P

2018-02-01

Maximal acceleration from standstill has been identified as a key performance indicator in wheelchair rugby; however, the impact of classification and kinematic variables on performance has received limited attention. This study aimed to investigate kinematic variables during maximal acceleration, with level of activity limitation accounted for using sport-classification scores. Based on their sporting classification scores, which reflect combined trunk, arm, and hand function, 25 elite wheelchair rugby players were analyzed in high-, mid-, and low-point groups before completing five 5-m sprints from a stationary position. Inertial measurement units and video analysis were used to monitor key kinematic variables. Significant differences in kinematic variables were evident across the classification groups, particularly for the first stroke-contact angle (1-way ANOVA F 2,122  = 51.5, P propulsion approaches exist across classification groups, with this information potentially informing individual wheelchair setups and training programs.

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

Science.gov (United States)

Richards, Christopher T

2010-02-15

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

Kinematic gait analyses in healthy Golden Retrievers

OpenAIRE

Silva, Gabriela C.A.; Cardoso, Mariana Trés; Gaiad, Thais P.; Brolio, Marina P.; Oliveira, Vanessa C.; Assis Neto, Antonio; Martins, Daniele S.; Ambrósio, Carlos E.

2014-01-01

Kinematic analysis relates to the relative movement between rigid bodies and finds application in gait analysis and other body movements, interpretation of their data when there is change, determines the choice of treatment to be instituted. The objective of this study was to standardize the march of Dog Golden Retriever Healthy to assist in the diagnosis and treatment of musculoskeletal disorders. We used a kinematic analysis system to analyse the gait of seven dogs Golden Retriever, female,...

Automated Kinematics Equations Generation and Constrained Motion Planning Resolution for Modular and Reconfigurable Robots

Energy Technology Data Exchange (ETDEWEB)

Pin, Francois G.; Love, Lonnie L.; Jung, David L.

2004-03-29

Contrary to the repetitive tasks performed by industrial robots, the tasks in most DOE missions such as environmental restoration or Decontamination and Decommissioning (D&D) can be characterized as ''batches-of-one'', in which robots must be capable of adapting to changes in constraints, tools, environment, criteria and configuration. No commercially available robot control code is suitable for use with such widely varying conditions. In this talk we present our development of a ''generic code'' to allow real time (at loop rate) robot behavior adaptation to changes in task objectives, tools, number and type of constraints, modes of controls or kinematics configuration. We present the analytical framework underlying our approach and detail the design of its two major modules for the automatic generation of the kinematics equations when the robot configuration or tools change and for the motion planning under time-varying constraints. Sample problems illustrating the capabilities of the developed system are presented.

Probabilistic approach to manipulator kinematics and dynamics

International Nuclear Information System (INIS)

Rao, S.S.; Bhatti, P.K.

2001-01-01

A high performance, high speed robotic arm must be able to manipulate objects with a high degree of accuracy and repeatability. As with any other physical system, there are a number of factors causing uncertainties in the behavior of a robotic manipulator. These factors include manufacturing and assembling tolerances, and errors in the joint actuators and controllers. In order to study the effect of these uncertainties on the robotic end-effector and to obtain a better insight into the manipulator behavior, the manipulator kinematics and dynamics are modeled using a probabilistic approach. Based on the probabilistic model, kinematic and dynamic performance criteria are defined to provide measures of the behavior of the robotic end-effector. Techniques are presented to compute the kinematic and dynamic reliabilities of the manipulator. The effects of tolerances associated with the various manipulator parameters on the reliabilities are studied. Numerical examples are presented to illustrate the procedures

Kinematics and design of a class of parallel manipulators

Science.gov (United States)

Hertz, Roger Barry

1998-12-01

This dissertation is concerned with the kinematic analysis and design of a class of three degree-of-freedom, spatial parallel manipulators. The class of manipulators is characterized by two platforms, between which are three legs, each possessing a succession of revolute, spherical, and revolute joints. The class is termed the "revolute-spherical-revolute" class of parallel manipulators. Two members of this class are examined. The first mechanism is a double-octahedral variable-geometry truss, and the second is termed a double tripod. The history the mechanisms is explored---the variable-geometry truss dates back to 1984, while predecessors of the double tripod mechanism date back to 1869. This work centers on the displacement analysis of these three-degree-of-freedom mechanisms. Two types of problem are solved: the forward displacement analysis (forward kinematics) and the inverse displacement analysis (inverse kinematics). The kinematic model of the class of mechanism is general in nature. A classification scheme for the revolute-spherical-revolute class of mechanism is introduced, which uses dominant geometric features to group designs into 8 different sub-classes. The forward kinematics problem is discussed: given a set of independently controllable input variables, solve for the relative position and orientation between the two platforms. For the variable-geometry truss, the controllable input variables are assumed to be the linear (prismatic) joints. For the double tripod, the controllable input variables are the three revolute joints adjacent to the base (proximal) platform. Multiple solutions are presented to the forward kinematics problem, indicating that there are many different positions (assemblies) that the manipulator can assume with equivalent inputs. For the double tripod these solutions can be expressed as a 16th degree polynomial in one unknown, while for the variable-geometry truss there exist two 16th degree polynomials, giving rise to 256

Beyond reward prediction errors: the role of dopamine in movement kinematics

Directory of Open Access Journals (Sweden)

Joseph eBarter

2015-05-01

Full Text Available We recorded activity of dopamine (DA neurons in the substantia nigra pars compacta in unrestrained mice while monitoring their movements with video tracking. Our approach allows an unbiased examination of the continuous relationship between single unit activity and behavior. Although DA neurons show characteristic burst firing following cue or reward presentation, as previously reported, their activity can be explained by the representation of actual movement kinematics. Unlike neighboring pars reticulata GABAergic output neurons, which can represent vector components of position, DA neurons represent vector components of velocity or acceleration. We found neurons related to movements in four directions—up, down, left right. For horizontal movements, there is significant lateralization of neurons: the left nigra contains more rightward neurons, whereas the right nigra contains more leftward neurons. The relationship between DA activity and movement kinematics was found on both appetitive trials using sucrose and aversive trials using air puff, showing that these neurons belong to a velocity control circuit that can be used for any number of purposes, whether to seek reward or to avoid harm. In support of this conclusion, mimicry of the phasic activation of DA neurons with selective optogenetic stimulation could also generate movements. Contrary to the popular hypothesis that DA neurons encode reward prediction errors, our results suggest that nigrostriatal DA plays an essential role in controlling the kinematics of voluntary movements. We hypothesize that DA signaling implements gain adjustment for adaptive transition control, and describe a new model of BG in which DA functions to adjust the gain of a transition controller. This model has significant implications for our understanding of movement disorders implicating DA and the BG.

Knee joint kinematics and kinetics during the hop and cut after soft tissue artifact suppression: Time to reconsider ACL injury mechanisms?

Science.gov (United States)

Smale, Kenneth B; Potvin, Brigitte M; Shourijeh, Mohammad S; Benoit, Daniel L

2017-09-06

The recent development of a soft tissue artifact (STA) suppression method allows us to re-evaluate the tibiofemoral kinematics currently linked to non-contact knee injuries. The purpose of this study was therefore to evaluate knee joint kinematics and kinetics in six degrees of freedom (DoF) during the loading phases of a jump lunge and side cut using this in silico method. Thirty-five healthy adults completed these movements and their surface marker trajectories were then scaled and processed with OpenSim's inverse kinematics (IK) and inverse dynamics tools. Knee flexion angle-dependent kinematic constraints defined based on previous bone pin (BP) marker trajectories were then applied to the OpenSim model during IK and these constrained results were then processed with the standard inverse dynamics tool. Significant differences for all hip, knee, and ankle DoF were observed after STA suppression for both the jump lunge and side cut. Using clinically relevant effect size estimates, we conclude that STA contamination had led to misclassifications in hip transverse plane angles, knee frontal and transverse plane angles, medial/lateral and distractive/compressive knee translations, and knee frontal plane moments between the NoBP and the BP IK solutions. Our results have substantial clinical implications since past research has used joint kinematics and kinetics contaminated by STA to identify risk factors for musculoskeletal injuries. Copyright © 2017 Elsevier Ltd. All rights reserved.

Kinematic modeling of the Milky Way using the RAVE and GCS stellar surveys

Energy Technology Data Exchange (ETDEWEB)

Sharma, S.; Bland-Hawthorn, J. [Sydney Institute for Astronomy, School of Physics, University of Sydney, Sydney, NSW 2006 (Australia); Binney, J. [Rudolf Peierls Center for Theoretical Physics, University of Oxford, 1 Keble Road, Oxford OX1 3NP (United Kingdom); Freeman, K. C. [RSAA Australian National University, Mount Stromlo Observatory, Cotter Road, Weston Creek, Canberra, ACT 72611 (Australia); Steinmetz, M.; Williams, M. E. K. [Leibniz Institut für Astrophysik Potsdam (AIP), An der Sterwarte 16, D-14482 Potsdam (Germany); Boeche, C.; Grebel, E. K. [Astronomisches Rechen-Institut, Zentrum für Astronomie der Universität Heidelberg, D-69120 Heidelberg (Germany); Bienaymé, O.; Siebert, A. [Observatoire astronomique de Strasbourg, Université de Strasbourg, CNRS, UMR 7550, F-67000 Strasbourg (France); Gibson, B. K. [Jeremiah Horrocks Institute for Astrophysics and Super-computing, University of Central Lancashire, Preston PR1 2HE (United Kingdom); Gilmore, G. F.; Kordopatis, G. [Institute of Astronomy, University of Cambridge, Madingley Road, Cambridge CB3 0HA (United Kingdom); Helmi, A. [Kapteyn Astronomical Institute, University of Groningen, Postbus 800, 9700 AV Groningen (Netherlands); Munari, U. [INAF-Astronomical Observatory of Padova, I-36012 Asiago (VI) (Italy); Navarro, J. F. [University of Victoria, P.O. Box 3055, Station CSC, Victoria, BC V8W 3P6 (Canada); Parker, Q. A.; Reid, W. A. [Department of Physics and Astronomy, Macquarie University, Sydney, NSW 2109 (Australia); Seabroke, G. M. [Mullard Space Science Laboratory, University College London, Holmbury St Mary, Dorking RH5 6NT (United Kingdom); Watson, F. [Australian Astronomical Observatory, P.O. Box 296, Epping, NSW 1710 (Australia); and others

2014-09-20

We investigate the kinematic parameters of the Milky Way disk using the Radial Velocity Experiment (RAVE) and Geneva-Copenhagen Survey (GCS) stellar surveys. We do this by fitting a kinematic model to the data and taking the selection function of the data into account. For stars in the GCS we use all phase-space coordinates, but for RAVE stars we use only (ℓ, b, v {sub los}). Using the Markov Chain Monte Carlo technique, we investigate the full posterior distributions of the parameters given the data. We investigate the age-velocity dispersion relation for the three kinematic components (σ {sub R}, σ{sub φ}, σ {sub z}), the radial dependence of the velocity dispersions, the solar peculiar motion (U {sub ☉}, V {sub ☉}, W {sub ☉}), the circular speed Θ{sub 0} at the Sun, and the fall of mean azimuthal motion with height above the midplane. We confirm that the Besançon-style Gaussian model accurately fits the GCS data but fails to match the details of the more spatially extended RAVE survey. In particular, the Shu distribution function (DF) handles noncircular orbits more accurately and provides a better fit to the kinematic data. The Gaussian DF not only fits the data poorly but systematically underestimates the fall of velocity dispersion with radius. The radial scale length of the velocity dispersion profile of the thick disk was found to be smaller than that of the thin disk. We find that correlations exist between a number of parameters, which highlights the importance of doing joint fits. The large size of the RAVE survey allows us to get precise values for most parameters. However, large systematic uncertainties remain, especially in V {sub ☉} and Θ{sub 0}. We find that, for an extended sample of stars, Θ{sub 0} is underestimated by as much as 10% if the vertical dependence of the mean azimuthal motion is neglected. Using a simple model for vertical dependence of kinematics, we find that it is possible to match the Sgr A* proper motion without

Cluster algebras in scattering amplitudes with special 2D kinematics

Energy Technology Data Exchange (ETDEWEB)

Torres, Marcus A.C. [Institut de Physique Theorique, CEA-Saclay, Gif-sur-Yvette Cedex (France)

2014-02-15

We study the cluster algebra of the kinematic configuration space Conf{sub n}(P{sup 3}P3) of an n-particle scattering amplitude restricted to the special 2D kinematics. We found that the n-point two-loop MHVremainder function in special 2D kinematics depends on a selection of the X-coordinates that are part of a special structure of the cluster algebra related to snake triangulations of polygons. This structure forms a necklace of hypercube beads in the corresponding Stasheff polytope. Furthermore at n = 12, the cluster algebra and the selection of theX-coordinates in special2Dkinematics replicates the cluster algebra and the selection of X-coordinates of the n = 6 two-loop MHV amplitude in 4D kinematics. (orig.)

Kinematics and Workspace of a 4-DOF Hybrid Palletizing Robot

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Yong Tao

2014-06-01

Full Text Available We presented the kinematical analysis of a 4-DOF hybrid palletizing robot. The palletizing robot structure was proposed and the arm model of the robot was presented. The kinematical analysis of the end robotic manipulator was given. As a result, the position, velocity, and acceleration curves as well as the maximum workspace were demonstrated by simulation in Matlab. This study would be useful for the kinematical characteristics of the 4-DOF palletizing robot in space.

Kinematics fingerprints of leader and follower role-taking during cooperative joint actions.

Science.gov (United States)

Sacheli, Lucia Maria; Tidoni, Emmanuele; Pavone, Enea Francesco; Aglioti, Salvatore Maria; Candidi, Matteo

2013-05-01

Performing online complementary motor adjustments is quintessential to joint actions since it allows interacting people to coordinate efficiently and achieve a common goal. We sought to determine whether, during dyadic interactions, signaling strategies and simulative processes are differentially implemented on the basis of the interactional role played by each partner. To this aim, we recorded the kinematics of the right hand of pairs of individuals who were asked to grasp as synchronously as possible a bottle-shaped object according to an imitative or complementary action schedule. Task requirements implied an asymmetric role assignment so that participants performed the task acting either as (1) Leader (i.e., receiving auditory information regarding the goal of the task with indications about where to grasp the object) or (2) Follower (i.e., receiving instructions to coordinate their movements with their partner's by performing imitative or complementary actions). Results showed that, when acting as Leader, participants used signaling strategies to enhance the predictability of their movements. In particular, they selectively emphasized kinematic parameters and reduced movement variability to provide the partner with implicit cues regarding the action to be jointly performed. Thus, Leaders make their movements more "communicative" even when not explicitly instructed to do so. Moreover, only when acting in the role of Follower did participants tend to imitate the Leader, even in complementary actions where imitation is detrimental to joint performance. Our results show that mimicking and signaling are implemented in joint actions according to the interactional role of the agent, which in turn is reflected in the kinematics of each partner.

Evidence-based recommendations for musculoskeletal kinematic 4D-CT studies using wide area-detector scanners: a phantom study with cadaveric correlation

Energy Technology Data Exchange (ETDEWEB)

Gondim Teixeira, Pedro Augusto; Formery, Anne-Sophie; Blum, Alain [CHRU-Nancy Hopital Central, Service d' Imagerie Guilloz, Nancy (France); Hossu, Gabriela [Universite de Lorraine, IADI U947, Nancy (France); INSERM, CIC-IT 1433, Nancy (France); Winninger, Daniel [IDCmem, Nancy (France); Batch, Toufik [Hopital de Mercy, Service de Radiologie, Metz (France); Gervaise, Alban [Legouest Military Instruction Hospital, Medical Imaging Department, Metz (France)

2017-02-15

To establish evidence-based recommendations for musculoskeletal kinematic 4D-CT on wide area-detector CT. In order to assess factors influencing image quality in kinematic CT studies, a phantom consisting of a polymethylmethacrylate rotating disk with round wells of different sizes was imaged with various acquisition protocols. Cadaveric acquisitions were performed on the ankle joint during motion in two different axes and at different speeds to allow validation of phantom data. Images were acquired with a 320 detector-row CT scanner and were evaluated by two readers. Motion artefacts were significantly correlated with various parameters (movement axis, distance to centre, rotation speed and volume acquisition speed) (p < 0.0001). The relation between motion artefacts and distance to motion fulcrum was exponential (R{sup 2} 0.99). Half reconstruction led to a 23 % increase in image noise and a 40 % decrease in motion artefacts. Cadaveric acquisitions confirmed phantom data. Based on these findings, high tube rotation speed and half reconstruction are recommended for kinematic CT. The axis of motion significantly influences image artefacts and should be considered in patient training and evaluation of acquisition protocol suitability. This study provides evidence-based recommendations for musculoskeletal kinematic 4D-CT. (orig.)

A Closed Loop Inverse Kinematics Solver Intended for Offline Calculation Optimized with GA

Directory of Open Access Journals (Sweden)

Emil Dale Bjoerlykhaug

2018-01-01

Full Text Available This paper presents a simple approach to building a robotic control system. Instead of a conventional control system which solves the inverse kinematics in real-time as the robot moves, an alternative approach where the inverse kinematics is calculated ahead of time is presented. This approach reduces the complexity and code necessary for the control system. Robot control systems are usually implemented in low level programming language. This new approach enables the use of high level programming for the complex inverse kinematics problem. For our approach, we implement a program to solve the inverse kinematics, called the Inverse Kinematics Solver (IKS, in Java, with a simple graphical user interface (GUI to load a file with desired end effector poses and edit the configuration of the robot using the Denavit-Hartenberg (DH convention. The program uses the closed-loop inverse kinematics (CLIK algorithm to solve the inverse kinematics problem. As an example, the IKS was set up to solve the kinematics for a custom built serial link robot. The kinematics for the custom robot is presented, and an example of input and output files is also presented. Additionally, the gain of the loop in the IKS is optimized using a GA, resulting in almost a 50% decrease in computational time.

The kinematics of machinery outlines of a theory of machines

CERN Document Server

Reuleaux, Franz

2012-01-01

A classic on the kinematics of machinery, this volume was written by the Father of Kinematics. Reuleaux writes with authority and precision, developing the subject from its fundamentals. 450 figures. 1876 edition.

Lingual Kinematics during Rapid Syllable Repetition in Parkinson's Disease

Science.gov (United States)

Wong, Min Ney; Murdoch, Bruce E.; Whelan, Brooke-Mai

2012-01-01

Background: Rapid syllable repetition tasks are commonly used in the assessment of motor speech disorders. However, little is known about the articulatory kinematics during rapid syllable repetition in individuals with Parkinson's disease (PD). Aims: To investigate and compare lingual kinematics during rapid syllable repetition in dysarthric…

Kinematics and resolution at future ep colliders

International Nuclear Information System (INIS)

Bluemlein, J.; Klein, M.

1992-01-01

Limitations due to resolution and kinematics are discussed of the (Q 2 , x) range accessible with electron-proton colliders after HERA. For the time after HERA one may think of two electron-proton colliders: an asymmetric energy machine and a rather symmetric one. Both colliders are compared here in order to study the influence of the different E l /E p ratios on the accessible kinematic range which is restricted due to angular coverage, finite detector resolution and calibration uncertainties

Kinematics Analysis and Simulation on Transfer Robot with Six Degrees of Freedom

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Yi Lu

2014-08-01

Full Text Available Study focuses on transfer robot with Six Degrees of Freedom, establishing kinematic equation by D-H method, analyzing forward kinematics and obtaining inverse kinematics by using method of inverse transform. Based on vector product, it develops velocity Jacobian matrix of robot. The geometric model of robot virtual prototype is established by SolidWorks software and generates parameters such as mass and moment. Kinematic simulation for robot is performed by Mathematica software and develops curve graph of displacement, velocity and accelerated speed in x, y and z direction in end executor center of robot with measurement, analysis and assessment, which provides foundation for further kinematics analysis and structure optimization as well as motion control of robot.

Software Development for the Kinematic Analysis of a Lynx 6 Robot Arm

OpenAIRE

Baki Koyuncu; Mehmet Güzel

2007-01-01

The kinematics of manipulators is a central problem in the automatic control of robot manipulators. Theoretical background for the analysis of the 5 Dof Lynx-6 educational Robot Arm kinematics is presented in this paper. The kinematics problem is defined as the transformation from the Cartesian space to the joint space and vice versa. The Denavit-Harbenterg (D-H) model of representation is used to model robot links and joints in this study. Both forward and inverse kinematics solutions for th...

Study of spallation residues of gold at 0.8 GeV/N in reverse kinematics

International Nuclear Information System (INIS)

Tassan-Got, L.; Mustapha, B.; Rejmund, F.

2000-01-01

Spallation residue cross-sections of gold have been measured in reverse kinematics. For the first time isotopic distributions have been obtained for such a heavy nucleus at a level of accuracy of 10 %. When compared to model calculations the results appear to be very sensitive to the distribution of excitation energy in the fast step of the reaction. This allows an insight on the mechanism of the energy and momentum deposition. (authors)

Augmented kinematic feedback from haptic virtual reality for dental skill acquisition.

Science.gov (United States)

Suebnukarn, Siriwan; Haddawy, Peter; Rhienmora, Phattanapon; Jittimanee, Pannapa; Viratket, Piyanuch

2010-12-01

We have developed a haptic virtual reality system for dental skill training. In this study we examined several kinds of kinematic information about the movement provided by the system supplement knowledge of results (KR) in dental skill acquisition. The kinematic variables examined involved force utilization (F) and mirror view (M). This created three experimental conditions that received augmented kinematic feedback (F, M, FM) and one control condition that did not (KR-only). Thirty-two dental students were randomly assigned to four groups. Their task was to perform access opening on the upper first molar with the haptic virtual reality system. An acquisition session consisted of two days of ten trials of practice in which augmented kinematic feedback was provided for the appropriate experimental conditions after each trial. One week after, a retention test consisting of two trials without augmented feedback was completed. The results showed that the augmented kinematic feedback groups had larger mean performance scores than the KR-only group in Day 1 of the acquisition and retention sessions (ANOVA, p0.05). The trends in acquisition and retention sessions suggest that the augmented kinematic feedback can enhance the performance earlier in the skill acquisition and retention sessions.

Six-point remainder function in multi-Regge-kinematics: an efficient approach in momentum space

Energy Technology Data Exchange (ETDEWEB)

Broedel, Johannes [Institut für Theoretische Physik, Eidgenössische Technische Hochschule Zürich,Wolfgang-Pauli-Strasse 27, 8093 Zürich (Switzerland); Institut für Mathematik und Institut für Physik, Humboldt-Universität zu Berlin,IRIS Adlershof, Zum Großen Windkanal 6, 12489 Berlin (Germany); Sprenger, Martin [Institut für Theoretische Physik, Eidgenössische Technische Hochschule Zürich,Wolfgang-Pauli-Strasse 27, 8093 Zürich (Switzerland)

2016-05-10

Starting from the known all-order expressions for the BFKL eigenvalue and impact factor, we establish a formalism allowing the direct calculation of the six-point remainder function in N=4 super-Yang-Mills theory in momentum space to — in principle — all orders in perturbation theory. Based upon identities which relate different integrals contributing to the inverse Fourier-Mellin transform recursively, the formalism allows to easily access the full remainder function in multi-Regge kinematics up to 7 loops and up to 10 loops in the fourth logarithmic order. Using the formalism, we prove the all-loop formula for the leading logarithmic approximation proposed by Pennington and investigate the behavior of several newly calculated functions.

Sex Differences in Tibiocalcaneal Kinematics

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Sinclair Jonathan

2014-08-01

Full Text Available Purpose. Female runners typically suffer more from chronic running injuries than age-matched males, although the exact biome-chanical mechanisms behind the increased susceptibility of female runners are unknown. This study aimed to compare sex differences in tibiocalcaneal kinematics during the stance phase of running. Methods. Twenty male and twenty female participants ran at 4.0 m · s–1. Tibiocalcaneal kinematics were measured using an eight-camera motion analysis system and compared using independent samples t tests. Results. Peak eversion and tibial internal rotation angles were shown to be significantly greater in female runners. Conclusions. based on these observations, it was determined that female runners may be at increased risk from chronic injury development in relation to excessive tibiocalcaneal motions in the coronal and transverse planes.

The biomechanical assessment of the cervical inter-vertebral kinematics, between DDD patients ICR based study

Science.gov (United States)

Saveh, Amir Hossein; Zali, Ali Reza; Seddighi, Amir Saeed; Zarghi, Afsaneh; Chizari, Mahmoud; Hanafiah, Yussof

2012-01-01

Abstract: It is very important to pay more attention to spine from the biomechanical perspective. It would allow the analysis of initial conditions of the vertebral disc degeneration syndrome and adopting of normal spine kinematics to compare and match it with a degenerated disc and providing a biomechanical index as an indicator for the conduct of any surgical intervention including arthroplasty to maximize restoring spinal biomechanical motion. It is clear that the head movement is possible with the help of muscles. However, the shape and type of motion depends on the structure and shape of the cervical spine and the interaction between them. Cervical spine kinematics depends on the anatomy of the bones and joints. Bazhdok et al (2000) investigated the cervical kinematics and mechanical behavior of the spine and its anatomical connections. They have examined the atlanto- occipital joint motion during flexion-extension and rotation as well as the mechanism of paradoxical motion of atlanto- axial joint by radiography. Bifalkou et al (2011) studied the inter-vertebral motion based on arc kinematic commentary of video fluoroscopy. They showed that the diagnosis of biomechanical instability can be done based on the kinematic examination of the spine obtained in sagittal images. They also declared that the fluoroscopy can be used as a tool for study. Using an automated algorithm, image adaption was carried out and the motion direction of vertebrae was tracked. In the present study, some patients were selected among patients with cervical disc degeneration. Following imaging by fluoroscopy, the instantaneous center of the spinal action was calculated. It was used as a biomechanical criterion and the treatment group was compared with the healthy group. The loci of the instantaneous centers of the two groups were compared and its difference with the value of healthy group was calculated. A biomechanical criterion was introduced as a basis for comparison of normal and

Examining Acoustic and Kinematic Measures of Articulatory Working Space: Effects of Speech Intensity.

Science.gov (United States)

Whitfield, Jason A; Dromey, Christopher; Palmer, Panika

2018-04-18

The purpose of this study was to examine the effect of speech intensity on acoustic and kinematic vowel space measures and conduct a preliminary examination of the relationship between kinematic and acoustic vowel space metrics calculated from continuously sampled lingual marker and formant traces. Young adult speakers produced 3 repetitions of 2 different sentences at 3 different loudness levels. Lingual kinematic and acoustic signals were collected and analyzed. Acoustic and kinematic variants of several vowel space metrics were calculated from the formant frequencies and the position of 2 lingual markers. Traditional metrics included triangular vowel space area and the vowel articulation index. Acoustic and kinematic variants of sentence-level metrics based on the articulatory-acoustic vowel space and the vowel space hull area were also calculated. Both acoustic and kinematic variants of the sentence-level metrics significantly increased with an increase in loudness, whereas no statistically significant differences in traditional vowel-point metrics were observed for either the kinematic or acoustic variants across the 3 loudness conditions. In addition, moderate-to-strong relationships between the acoustic and kinematic variants of the sentence-level vowel space metrics were observed for the majority of participants. These data suggest that both kinematic and acoustic vowel space metrics that reflect the dynamic contributions of both consonant and vowel segments are sensitive to within-speaker changes in articulation associated with manipulations of speech intensity.

Human Gait Feature Extraction Including a Kinematic Analysis toward Robotic Power Assistance

Directory of Open Access Journals (Sweden)

Mario I. Chacon-Murguia

2012-09-01

Full Text Available The present work proposes a method for human gait and kinematic analysis. Gait analysis consists of the determination of hip, knee and ankle positions through video analysis. Gait kinematic for the thigh and knee is then generated from this data. Evaluations of the gait analysis method indicate an acceptable performance of 86.66% for hip and knee position estimation, and comparable findings with other reported works for gait kinematic. A coordinate systems assignment is performed according to the DH algorithm and a direct kinematic model of the legs is obtained. The legs' angles obtained from the video analysis are applied to the kinematic model in order to revise the application of this model to robotic legs in a power assisted system.

Modifying the test of understanding graphs in kinematics

Science.gov (United States)

Zavala, Genaro; Tejeda, Santa; Barniol, Pablo; Beichner, Robert J.

2017-12-01

In this article, we present several modifications to the Test of Understanding Graphs in Kinematics. The most significant changes are (i) the addition and removal of items to achieve parallelism in the objectives (dimensions) of the test, thus allowing comparisons of students' performance that were not possible with the original version, and (ii) changes to the distractors of some of the original items that represent the most frequent alternative conceptions. The final modified version (after an iterative process involving four administrations of test variations over two years) was administered to 471 students of an introductory university physics course at a large private university in Mexico. When analyzing the final modified version of the test it was found that the added items satisfied the statistical tests of difficulty, discriminatory power, and reliability; also, that the great majority of the modified distractors were effective in terms of their frequency selection and discriminatory power; and, that the final modified version of the test satisfied the reliability and discriminatory power criteria as well as the original test. Here, we also show the use of the new version of the test, presenting a new analysis of students' understanding not possible to do before with the original version of the test, specifically regarding the objectives and items that in the new version meet parallelisms. Finally, in the PhysPort project (physport.org), we present the final modified version of the test. It can be used by teachers and researchers to assess students' understanding of graphs in kinematics, as well as their learning about them.

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

Science.gov (United States)

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

2016-04-01

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

Act on Numbers: Numerical Magnitude Influences Selection and Kinematics of Finger Movement

Directory of Open Access Journals (Sweden)

Rosa Rugani

2017-08-01

Full Text Available In the past decade hand kinematics has been reliably adopted for investigating cognitive processes and disentangling debated topics. One of the most controversial issues in numerical cognition literature regards the origin – cultural vs. genetically driven – of the mental number line (MNL, oriented from left (small numbers to right (large numbers. To date, the majority of studies have investigated this effect by means of response times, whereas studies considering more culturally unbiased measures such as kinematic parameters are rare. Here, we present a new paradigm that combines a “free response” task with the kinematic analysis of movement. Participants were seated in front of two little soccer goals placed on a table, one on the left and one on the right side. They were presented with left- or right-directed arrows and they were instructed to kick a small ball with their right index toward the goal indicated by the arrow. In a few test trials participants were presented also with a small (2 or a large (8 number, and they were allowed to choose the kicking direction. Participants performed more left responses with the small number and more right responses with the large number. The whole kicking movement was segmented in two temporal phases in order to make a hand kinematics’ fine-grained analysis. The Kick Preparation and Kick Finalization phases were selected on the basis of peak trajectory deviation from the virtual midline between the two goals. Results show an effect of both small and large numbers on action execution timing. Participants were faster to finalize the action when responding to small numbers toward the left and to large number toward the right. Here, we provide the first experimental demonstration which highlights how numerical processing affects action execution in a new and not-overlearned context. The employment of this innovative and unbiased paradigm will permit to disentangle the role of nature and culture

A Kinematic Study of Prosodic Structure in Articulatory and Manual Gestures: Results from a Novel Method of Data Collection

Directory of Open Access Journals (Sweden)

Jelena Krivokapić

2017-03-01

Full Text Available The primary goal of this work is to examine prosodic structure as expressed concurrently through articulatory and manual gestures. Specifically, we investigated the effects of phrase-level prominence (Experiment 1 and of prosodic boundaries (Experiments 2 and 3 on the kinematic properties of oral constriction and manual gestures. The hypothesis guiding this work is that prosodic structure will be similarly expressed in both modalities. To test this, we have developed a novel method of data collection that simultaneously records speech audio, vocal tract gestures (using electromagnetic articulometry and manual gestures (using motion capture. This method allows us, for the first time, to investigate kinematic properties of body movement and vocal tract gestures simultaneously, which in turn allows us to examine the relationship between speech and body gestures with great precision. A second goal of the paper is thus to establish the validity of this method. Results from two speakers show that manual and oral gestures lengthen under prominence and at prosodic boundaries, indicating that the effects of prosodic structure extend beyond the vocal tract to include body movement.1

Impact of uncertain reference-frame motions in plate kinematic reconstructions

DEFF Research Database (Denmark)

Iaffaldano, Giampiero; Stein, Seth

2017-01-01

Geoscientists infer past plate motions, which serve as fundamental constraints for a range of studies, from observations of magnetic isochrons as well as hotspots tracks on the ocean floor and, for stages older than the Cretaceous, from paleomagnetic data. These observations effectively represent...... time-integrals of past plate motions but, because they are made at present, yield plate kinematics naturally tied to a present-day reference-frame, which may be another plate or a hotspots system. These kinematics are therefore different than those occurred at the time when the rocks acquired...... – in a temporal sense – and prone to noise. This limitation is commonly perceived to hamper the correction of plate kinematic reconstructions for RFAMs, but the extent to which this may be the case has not been explored. Here we assess the impact of uncertain RFAMs on kinematic reconstructions using synthetic...

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

Science.gov (United States)

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

2018-05-01

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

Quaternion-Based Conversion Formulas for Kinematic Attitude of Floating Offshore Wind Turbines (FOWT)

Science.gov (United States)

Li, Yugang; Fu, Gaoyong

2018-01-01

A floater allowing large-angle motion supporting a large payload (wind turbine and nacelle) with large aerodynamic loads high above the water surface is a great challenge because of the raised center of gravity and large overturning moment. In this paper, the conversion formulas between Euler angles and quaternions were derived, the research offered an efficient methodology without singularity to compute large-angle rigid body rotations of a FOWT, which laid the foundation for quaternion-based attitude kinematic model introduced to describe the dynamic response of the FOWT system and further solution.

Interactive inverse kinematics for human motion estimation

DEFF Research Database (Denmark)

Engell-Nørregård, Morten Pol; Hauberg, Søren; Lapuyade, Jerome

2009-01-01

We present an application of a fast interactive inverse kinematics method as a dimensionality reduction for monocular human motion estimation. The inverse kinematics solver deals efficiently and robustly with box constraints and does not suffer from shaking artifacts. The presented motion...... to significantly speed up the particle filtering. It should be stressed that the observation part of the system has not been our focus, and as such is described only from a sense of completeness. With our approach it is possible to construct a robust and computationally efficient system for human motion estimation....

A method to estimate stellar ages from kinematical data

Science.gov (United States)

Almeida-Fernandes, F.; Rocha-Pinto, H. J.

2018-05-01

We present a method to build a probability density function (PDF) for the age of a star based on its peculiar velocities U, V, and W and its orbital eccentricity. The sample used in this work comes from the Geneva-Copenhagen Survey (GCS) that contains the spatial velocities, orbital eccentricities, and isochronal ages for about 14 000 stars. Using the GCS stars, we fitted the parameters that describe the relations between the distributions of kinematical properties and age. This parametrization allows us to obtain an age probability from the kinematical data. From this age PDF, we estimate an individual average age for the star using the most likely age and the expected age. We have obtained the stellar age PDF for the age of 9102 stars from the GCS and have shown that the distribution of individual ages derived from our method is in good agreement with the distribution of isochronal ages. We also observe a decline in the mean metallicity with our ages for stars younger than 7 Gyr, similar to the one observed for isochronal ages. This method can be useful for the estimation of rough stellar ages for those stars that fall in areas of the Hertzsprung-Russell diagram where isochrones are tightly crowded. As an example of this method, we estimate the age of Trappist-1, which is a M8V star, obtaining the age of t(UVW) = 12.50(+0.29 - 6.23) Gyr.

Relativistic kinematics and dynamics: a new group theoretical approach

International Nuclear Information System (INIS)

Giovannini, N.

1983-01-01

The author reanalyzes the relationships between physical states and space-time symmetries with a view to describing relativistic extended and interacting systems. For this description he proposes to introduce, in space-time, an additional observable, related to a natural notion of simultaneity. The introduction of this new observable is justified on the basis of the operational meaning of the relations between state descriptions and symmetries in this case. The Poincare transformations are correspondingly split into two parts: the first one, kinematical, related to the symmetries of the description of the states, the other one, dynamical, related to the possible forms for the evolution. It is shown that the kinematical symmetries lead in a straightforward way to the expected classical and quantal state spaces for single particles of arbitrary spin and the author shows how the remaining symmetries can be related to the derivation of the possible forms for the dynamics. He finds as a particular case the usual dynamics of single particles in external fields (with some satisfactory improvements due to the corresponding new interpretation) and extends the method to the dynamics of N interacting particles. He also shows why this new approach and interpretation of relativistic states is necessary and how it allows a covariant description in the problems raised by the (recently measured) quantum correlations at-a-distance concerning the Einstein-Podolsky-Rosen paradox, something which seems quite impossible in the usual frameworks. (Auth.)

Development of a parametric kinematic model of the human hand and a novel robotic exoskeleton.

Science.gov (United States)

Burton, T M W; Vaidyanathan, R; Burgess, S C; Turton, A J; Melhuish, C

2011-01-01

This paper reports the integration of a kinematic model of the human hand during cylindrical grasping, with specific focus on the accurate mapping of thumb movement during grasping motions, and a novel, multi-degree-of-freedom assistive exoskeleton mechanism based on this model. The model includes thumb maximum hyper-extension for grasping large objects (~> 50 mm). The exoskeleton includes a novel four-bar mechanism designed to reproduce natural thumb opposition and a novel synchro-motion pulley mechanism for coordinated finger motion. A computer aided design environment is used to allow the exoskeleton to be rapidly customized to the hand dimensions of a specific patient. Trials comparing the kinematic model to observed data of hand movement show the model to be capable of mapping thumb and finger joint flexion angles during grasping motions. Simulations show the exoskeleton to be capable of reproducing the complex motion of the thumb to oppose the fingers during cylindrical and pinch grip motions. © 2011 IEEE

Kinematic and Dynamic Analysis of a Lower Limb Exoskeleton

OpenAIRE

Tawakal Hasnain Baluch; Adnan Masood; Javaid Iqbal; Umer Izhar; Umar Shahbaz Khan

2012-01-01

This paper will provide the kinematic and dynamic analysis of a lower limb exoskeleton. The forward and inverse kinematics of proposed exoskeleton is performed using Denevit and Hartenberg method. The torques required for the actuators will be calculated using Lagrangian formulation technique. This research can be used to design the control of the proposed exoskeleton.

Scapular kinematics during manual wheelchair propulsion in able-bodied participants

NARCIS (Netherlands)

Bekker, Michel J.; Vegter, Riemer J.K.; van der Scheer, Jan W.; Hartog, Johanneke; de Groot, Sonja; de Vries, Wiebe; Arnet, Ursina; van der Woude, Lucas H.V.; Veeger, Dirkjan (.H.E.J)

Background: Altered scapular kinematics have been associated with shoulder pain and functional limitations. To understand kinematics in persons with spinal cord injury during manual handrim wheelchair propulsion, a description of normal scapular behaviour in able-bodied persons during this specific

Scapular kinematics during manual wheelchair propulsion in able-bodied participants

NARCIS (Netherlands)

Bekker, Michel J; Vegter, Riemer J K; van der Scheer, Jan W; Hartog, Johanneke; de Groot, Sonja; de Vries, Wiebe; Arnet, Ursina; van der Woude, Lucas H V; Veeger, Dirkjan H E J

BACKGROUND: Altered scapular kinematics have been associated with shoulder pain and functional limitations. To understand kinematics in persons with spinal cord injury during manual handrim wheelchair propulsion, a description of normal scapular behaviour in able-bodied persons during this specific

Kinematic Fitting of Detached Vertices

Energy Technology Data Exchange (ETDEWEB)

Mattione, Paul [Rice Univ., Houston, TX (United States)

2007-05-01

The eg3 experiment at the Jefferson Lab CLAS detector aims to determine the existence of the $\\Xi_{5}$ pentaquarks and investigate the excited $\\Xi$ states. Specifically, the exotic $\\Xi_{5}^{--}$ pentaquark will be sought by first reconstructing the $\\Xi^{-}$ particle through its weak decays, $\\Xi^{-}\\to\\pi^{-}\\Lambda$ and $\\Lambda\\to\\pi^{-}$. A kinematic fitting routine was developed to reconstruct the detached vertices of these decays, where confidence level cuts on the fits are used to remove background events. Prior to fitting these decays, the exclusive reaction $\\gamma D\\rightarrow pp\\pi^{-}$ was studied in order to correct the track measurements and covariance matrices of the charged particles. The $\\Lambda\\rightarrow p\\pi^{-}$ and $\\Xi^{-}\\to\\pi^{-}\\Lambda$ decays were then investigated to demonstrate that the kinematic fitting routine reconstructs the decaying particles and their detached vertices correctly.

Sex Differences in Anthropometrics and Heading Kinematics Among Division I Soccer Athletes.

Science.gov (United States)

Bretzin, Abigail C; Mansell, Jamie L; Tierney, Ryan T; McDevitt, Jane K

Soccer players head the ball repetitively throughout their careers; this is also a potential mechanism for a concussion. Although not all soccer headers result in a concussion, these subconcussive impacts may impart acceleration, deceleration, and rotational forces on the brain, leaving structural and functional deficits. Stronger neck musculature may reduce head-neck segment kinematics. The relationship between anthropometrics and soccer heading kinematics will not differ between sexes. The relationship between anthropometrics and soccer heading kinematics will not differ between ball speeds. Pilot, cross-sectional design. Level 3. Division I soccer athletes (5 male, 8 female) were assessed for head-neck anthropometric and neck strength measurements in 6 directions (ie, flexion, extension, right and left lateral flexions and rotations). Participants headed the ball 10 times (25 or 40 mph) while wearing an accelerometer secured to their head. Kinematic measurements (ie, linear acceleration and rotational velocity) were recorded at 2 ball speeds. Sex differences were observed in neck girth ( t = 5.09, P soccer heading kinematics for sex and ball speeds. Neck girth and neck strength are factors that may limit head impact kinematics.

Kinematics of machinery through hyperworks

CERN Document Server

Rao, J S

2011-01-01

Using animations, this book explains the theory of machines concepts and the evolution of Kinematics. The book adopts HyperWorks MotionSolve to perform the analysis and visualizations, though the book is independent of the requirement of any software.

Kinematic measurements using an infrared sensor

International Nuclear Information System (INIS)

Marinho, F; Paulucci, L

2016-01-01

The use of an infrared sensor as a new alternative to measure position as a function of time in kinematic experiments was investigated using a microcontroller as the data acquisition and control device. These are versatile sensors that offer advantages over typical ultrasound devices. The setup described in this paper enables students to develop their own experiments, promoting opportunities for learning physical concepts such as the different types of forces that can act on a body (gravitational, elastic, drag, etc) and the resulting types of movements with good sensitivity within the 4–30 cm range. As a proof of concept we also present the application of a prototype designed to record the kinematics of mass-spring systems. (paper)

The kinematic advantage of electric cars

Science.gov (United States)

Meyn, Jan-Peter

2015-11-01

Acceleration of a common car with with a turbocharged diesel engine is compared to the same type with an electric motor in terms of kinematics. Starting from a state of rest, the electric car reaches a distant spot earlier than the diesel car, even though the latter has a better specification for engine power and average acceleration from 0 to 100 km h-1. A three phase model of acceleration as a function of time fits the data of the electric car accurately. The first phase is a quadratic growth of acceleration in time. It is shown that the tenfold higher coefficient for the first phase accounts for most of the kinematic advantage of the electric car.

An introduction to the mathematics of ocular kinematics

Directory of Open Access Journals (Sweden)

Graeme E MacKenzie

2006-12-01

Full Text Available The research surrounding ocular kinematics has widespread applications including the study of binocular vision, virtual reality and the detec-tion of ocular and neurologic pathologies. This field promises to have a significant impact on optometric diagnostic techniques. This paper in-troduces the terminology used in the description of eye rotations and explores a number of the mathematical approaches pertinent to the topic of ocular kinematics.

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

Science.gov (United States)

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

2017-09-06

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

Effects of robotically modulating kinematic variability on motor skill learning and motivation.

Science.gov (United States)

Duarte, Jaime E; Reinkensmeyer, David J

2015-04-01

It is unclear how the variability of kinematic errors experienced during motor training affects skill retention and motivation. We used force fields produced by a haptic robot to modulate the kinematic errors of 30 healthy adults during a period of practice in a virtual simulation of golf putting. On day 1, participants became relatively skilled at putting to a near and far target by first practicing without force fields. On day 2, they warmed up at the task without force fields, then practiced with force fields that either reduced or augmented their kinematic errors and were finally assessed without the force fields active. On day 3, they returned for a long-term assessment, again without force fields. A control group practiced without force fields. We quantified motor skill as the variability in impact velocity at which participants putted the ball. We quantified motivation using a self-reported, standardized scale. Only individuals who were initially less skilled benefited from training; for these people, practicing with reduced kinematic variability improved skill more than practicing in the control condition. This reduced kinematic variability also improved self-reports of competence and satisfaction. Practice with increased kinematic variability worsened these self-reports as well as enjoyment. These negative motivational effects persisted on day 3 in a way that was uncorrelated with actual skill. In summary, robotically reducing kinematic errors in a golf putting training session improved putting skill more for less skilled putters. Robotically increasing kinematic errors had no performance effect, but decreased motivation in a persistent way. Copyright © 2015 the American Physiological Society.

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

Energy Technology Data Exchange (ETDEWEB)

Unseren, M.A.

1993-04-01

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

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

International Nuclear Information System (INIS)

Unseren, M.A.

1993-04-01

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

Elementary introduction to relativistic kinematics

International Nuclear Information System (INIS)

Gerber, H.J.

1979-01-01

This paper includes the most important results and applications of the theory of special relativity to high energy phenomena; it provides an analysis of the kinematics of particle decays and reactions as well as an introduction to the Lorentz group

STRUCTURAL IDENTIFICATION OF DISTINCT INVERSIONS OF PLANAR KINEMATIC CHAINS

Directory of Open Access Journals (Sweden)

Dr. Shubhashis Sanyal

2011-12-01

Full Text Available 0 0 1 171 979 International Islamic University 8 2 1148 14.0 Normal 0 false false false EN-US JA X-NONE /* Style Definitions */ table.MsoNormalTable {mso-style-name:"Table Normal"; mso-tstyle-rowband-size:0; mso-tstyle-colband-size:0; mso-style-noshow:yes; mso-style-priority:99; mso-style-parent:""; mso-padding-alt:0cm 5.4pt 0cm 5.4pt; mso-para-margin:0cm; mso-para-margin-bottom:.0001pt; mso-pagination:widow-orphan; font-size:11.0pt; font-family:"Times New Roman";} Inversions are various structural possibilities of a kinematic chain. The number of inversions depends on the number of links of a kinematic chain. At the stage of structural synthesis, identification of distinct structural inversions of a particular type of kinematic chain is necessary. Various researchers have proposed methods for identification of distinct inversions. Present method based on Link joint connectivity is proposed to identify the distinct inversions of a planar kinematic chain. Method is tested successfully on single degree and multiple degree of freedom planar kinematic chains. ABSTRAK: Penyonsangan merupakan kebarangkalian pelbagai struktur suatu rangkaian kinematik. Jumlah songsangan bergantung kepada jumlah hubungan suatu rangkaian kinematik. Pada peringkat sintesis struktur, pengenalan songsangan struktur yang berbeza untuk suatu jenis rangkaian kinematik adalah perlu. Ramai penyelidik telah mencadangkan pelbagai kaedah pengenalan songsangan yang berbeza. Kaedah terkini berdasarkan hubungan kesambungan bersama telah dicadangkan untuk mengenalpasti songsangan yang berbeza dalam suatu satah rangkaian kinematik.

A DETAILED MORPHO-KINEMATIC MODEL OF THE ESKIMO, NGC 2392: A UNIFYING VIEW WITH THE CAT'S EYE AND SATURN PLANETARY NEBULAE

International Nuclear Information System (INIS)

García-Díaz, Ma. T.; López, J. A.; Steffen, W.; Richer, M. G.

2012-01-01

The three-dimensional and kinematic structure of the Eskimo nebula, NGC 2392, has been notoriously difficult to interpret in detail given its complex morphology, multiple kinematic components and its nearly pole-on orientation along the line of sight. We present a comprehensive, spatially resolved, high-resolution, long-slit spectroscopic mapping of the Eskimo planetary nebula. The data consist of 21 spatially resolved, long-slit echelle spectra tightly spaced over the Eskimo and along its bipolar jets. This data set allows us to construct a velocity-resolved [N II] channel map of the nebula with a resolution of 10 km s –1 that disentangles its different kinematic components. The spectroscopic information is combined with Hubble Space Telescope images to construct a detailed three-dimensional morpho-kinematic model of the Eskimo using the code SHAPE. With this model we demonstrate that the Eskimo is a close analog to the Saturn and the Cat's Eye nebulae, but rotated 90° to the line of sight. Furthermore, we show that the main characteristics of our model apply to the general properties of the group of elliptical planetary nebulae with ansae or FLIERS, once the orientation is considered. We conclude that this kind of nebula belongs to a class with a complex common evolutionary sequence of events.

Measurement of resonances in 12 C + 4 He through inverse kinematics with thick targets

International Nuclear Information System (INIS)

Aguilera, E.F.; Lizcano, D.; Martinez Q, E.; Fernandez, M.C.; Murillo, G.; Goldberg, V.; Skorodumov, B.B.; Rogachev, G.

2003-01-01

The excitation function of elastic scattering for the system 12 C + 4 He to energy from 0.5 to 3.5 MeV in the center of mass system (c.m.) was measured. We use a gassy thick target and the technique of inverse kinematics which allows to make measurements at 180 degrees in c.m. Using the R matrix theory those was deduced parameters of the resonances and the results were compared with measurements reported in the literature made with other techniques. (Author)

General analytical shakedown solution for structures with kinematic hardening materials

Science.gov (United States)

Guo, Baofeng; Zou, Zongyuan; Jin, Miao

2016-09-01

The effect of kinematic hardening behavior on the shakedown behaviors of structure has been investigated by performing shakedown analysis for some specific problems. The results obtained only show that the shakedown limit loads of structures with kinematic hardening model are larger than or equal to those with perfectly plastic model of the same initial yield stress. To further investigate the rules governing the different shakedown behaviors of kinematic hardening structures, the extended shakedown theorem for limited kinematic hardening is applied, the shakedown condition is then proposed, and a general analytical solution for the structural shakedown limit load is thus derived. The analytical shakedown limit loads for fully reversed cyclic loading and non-fully reversed cyclic loading are then given based on the general solution. The resulting analytical solution is applied to some specific problems: a hollow specimen subjected to tension and torsion, a flanged pipe subjected to pressure and axial force and a square plate with small central hole subjected to biaxial tension. The results obtained are compared with those in literatures, they are consistent with each other. Based on the resulting general analytical solution, rules governing the general effects of kinematic hardening behavior on the shakedown behavior of structure are clearly.

Kinematic power corrections in off-forward hard reactions.

Science.gov (United States)

Braun, V M; Manashov, A N

2011-11-11

We develop a general approach to the calculation of kinematic corrections ∝t/Q(2), m(2)/Q(2) in hard processes which involve momentum transfer from the initial to the final hadron state. As the principal result, the complete expression is derived for the time-ordered product of two electromagnetic currents that includes all kinematic corrections to twist-four accuracy. The results are immediately applicable, e.g., to the studies of deeply virtual Compton scattering.

Surgical gesture classification from video and kinematic data.

Science.gov (United States)

Zappella, Luca; Béjar, Benjamín; Hager, Gregory; Vidal, René

2013-10-01

Much of the existing work on automatic classification of gestures and skill in robotic surgery is based on dynamic cues (e.g., time to completion, speed, forces, torque) or kinematic data (e.g., robot trajectories and velocities). While videos could be equally or more discriminative (e.g., videos contain semantic information not present in kinematic data), they are typically not used because of the difficulties associated with automatic video interpretation. In this paper, we propose several methods for automatic surgical gesture classification from video data. We assume that the video of a surgical task (e.g., suturing) has been segmented into video clips corresponding to a single gesture (e.g., grabbing the needle, passing the needle) and propose three methods to classify the gesture of each video clip. In the first one, we model each video clip as the output of a linear dynamical system (LDS) and use metrics in the space of LDSs to classify new video clips. In the second one, we use spatio-temporal features extracted from each video clip to learn a dictionary of spatio-temporal words, and use a bag-of-features (BoF) approach to classify new video clips. In the third one, we use multiple kernel learning (MKL) to combine the LDS and BoF approaches. Since the LDS approach is also applicable to kinematic data, we also use MKL to combine both types of data in order to exploit their complementarity. Our experiments on a typical surgical training setup show that methods based on video data perform equally well, if not better, than state-of-the-art approaches based on kinematic data. In turn, the combination of both kinematic and video data outperforms any other algorithm based on one type of data alone. Copyright © 2013 Elsevier B.V. All rights reserved.

Improved Inverse Kinematics Algorithm Using Screw Theory for a Six-DOF Robot Manipulator

OpenAIRE

Chen, Qingcheng; Zhu, Shiqiang; Zhang, Xuequn

2015-01-01

Based on screw theory, a novel improved inverse-kinematics approach for a type of six-DOF serial robot, “Qianjiang I”, is proposed in this paper. The common kinematics model of the robot is based on the Denavit-Hartenberg (D-H) notation method while its inverse kinematics has inefficient calculation and complicated solution, which cannot meet the demands of online real-time application. To solve this problem, this paper presents a new method to improve the efficiency of the inverse kinematics...

Kinematic synthesis of a new 3D printing solution

Directory of Open Access Journals (Sweden)

Giberti Hermes

2016-01-01

The object of this article is the kinematic synthesis of a 5Dofs robot, based on two PKM machines, for additive manufacturing in order to compliant with the requirements of this new technology. Robot kinematics have been optimized by genetic algorithm in order to cover the required workspace and the design of the robot and outline of the control system are also given.

Factors associated with cervical kinematic impairments in patients with neck pain.

Science.gov (United States)

Treleaven, Julia; Chen, Xiaoqi; Sarig Bahat, Hilla

2016-04-01

Cervical kinematics have functional relevance and are important for assessment and management in patients with neck disorders. A better understanding of factors that might influence cervical kinematics is required. The aim of this study was to determine any relationships between altered kinematics to the symptoms and signs of sensorimotor impairments, neck pain and disability and fear of neck motion in people with neck pain. Kinematics were measured in 39 subjects with chronic neck pain using a customized virtual reality system. Range of cervical motion, mean and peak velocity, time to peak velocity percentage, number of velocity peaks and accuracy were derived. Correlations between these measures to self-reported (neck pain intensity, disability, fear of motion, dizziness, visual disturbances) and sensorimotor measures and regression analyses were conducted. Range and velocity of motion of cervical rotation appeared to be most related to visual disturbances and pain or dynamic balance. Nevertheless these relationships only explained about 30% of the variance of each measure. Signs and symptoms of sensorimotor dysfunction should be considered and monitored in the management of altered cervical rotation kinematics in patients with chronic neck disorders. Future research should consider the effects of addressing these factors on neck kinematics and vice versa to aid functional recovery in those with neck pain. Crown Copyright © 2015. Published by Elsevier Ltd. All rights reserved.

A multi-subject evaluation of uncertainty in anatomical landmark location on shoulder kinematic description.

Science.gov (United States)

Langenderfer, Joseph E; Rullkoetter, Paul J; Mell, Amy G; Laz, Peter J

2009-04-01

An accurate assessment of shoulder kinematics is useful for understanding healthy normal and pathological mechanics. Small variability in identifying and locating anatomical landmarks (ALs) has potential to affect reported shoulder kinematics. The objectives of this study were to quantify the effect of landmark location variability on scapular and humeral kinematic descriptions for multiple subjects using probabilistic analysis methods, and to evaluate the consistency in results across multiple subjects. Data from 11 healthy subjects performing humeral elevation in the scapular plane were used to calculate Euler angles describing humeral and scapular kinematics. Probabilistic analyses were performed for each subject to simulate uncertainty in the locations of 13 upper-extremity ALs. For standard deviations of 4 mm in landmark location, the analysis predicted Euler angle envelopes between the 1 and 99 percentile bounds of up to 16.6 degrees . While absolute kinematics varied with the subject, the average 1-99% kinematic ranges for the motion were consistent across subjects and sensitivity factors showed no statistically significant differences between subjects. The description of humeral kinematics was most sensitive to the location of landmarks on the thorax, while landmarks on the scapula had the greatest effect on the description of scapular elevation. The findings of this study can provide a better understanding of kinematic variability, which can aid in making accurate clinical diagnoses and refining kinematic measurement techniques.

Primate Anatomy, Kinematics, and Principles for Humanoid Design

Science.gov (United States)

Ambrose, Robert O.; Ambrose, Catherine G.

2004-01-01

The primate order of animals is investigated for clues in the design of Humanoid Robots. The pursuit is directed with a theory that kinematics, musculature, perception, and cognition can be optimized for specific tasks by varying the proportions of limbs, and in particular, the points of branching in kinematic trees such as the primate skeleton. Called the Bifurcated Chain Hypothesis, the theory is that the branching proportions found in humans may be superior to other animals and primates for the tasks of dexterous manipulation and other human specialties. The primate taxa are defined, contemporary primate evolution hypotheses are critiqued, and variations within the order are noted. The kinematic branching points of the torso, limbs and fingers are studied for differences in proportions across the order, and associated with family and genus capabilities and behaviors. The human configuration of a long waist, long neck, and short arms is graded using a kinematic workspace analysis and a set of design axioms for mobile manipulation robots. It scores well. The re emergence of the human waist, seen in early Prosimians and Monkeys for arboreal balance, but lost in the terrestrial Pongidae, is postulated as benefiting human dexterity. The human combination of an articulated waist and neck will be shown to enable the use of smaller arms, achieving greater regions of workspace dexterity than the larger limbs of Gorillas and other Hominoidea.

Hallux valgus surgery affects kinematic parameters during gait.

Science.gov (United States)

Klugarova, Jitka; Janura, Miroslav; Svoboda, Zdenek; Sos, Zdenek; Stergiou, Nicholas; Klugar, Miloslav

2016-12-01

The aim of our study was to compare spatiotemporal parameters and lower limb and pelvis kinematics during the walking in patients with hallux valgus before and after surgery and in relation to a control group. Seventeen females with hallux valgus, who underwent first metatarsal osteotomy, constituted our experimental group. The control group consisted of thirteen females. Kinematic data during walking were obtained using the Vicon MX system. Our results showed that hallux valgus before surgery affects spatiotemporal parameters and lower limb and pelvis kinematics during walking. Hallux valgus surgery further increased the differences that were present before surgery. Specifically after hallux valgus surgery, the walking speed decreased even more (p=0.09, η 2 =0.19) while step time increased (p=0.002, η 2 =0.44) on both legs. The maximum ankle plantar flexion of the operated leg during toe-off decreased to a greater extend (p=0.03, η 2 =0.26). The asymmetry in the hip and the pelvis movements in the frontal plane (present preoperatively) persisted after surgery. Hallux valgus is not an isolated problem of the first ray, which could be just surgically addressed by correcting the foot's alignment. It is a long-term progressive malfunction of the foot affecting the entire kinematic chain of the lower extremity. Copyright © 2016 Elsevier Ltd. All rights reserved.

Kinematic alterations of the lower limbs and pelvis during an ascending stairs task are associated with the degree of knee osteoarthritis severity.

Science.gov (United States)

Gonçalves, Glaucia Helena; Selistre, Luiz Fernando Approbato; Petrella, Marina; Mattiello, Stela Márcia

2017-03-01

Individuals with knee osteoarthritis (OA) generally demonstrate great difficulty in ascending stairs. The strategies and compensations used by these individuals in stair activities have not been fully established. The purpose of this study was to investigate the joint kinematics of the pelvis, hip, knee and ankle throughout the gait cycle, in the sagittal and frontal planes, in individuals with mild and moderate knee OA, during an ascending stairs task. Thirty-one individuals with knee OA and 19 controls were subjected to clinical and radiographic analysis, divided into three groups: control, mild knee OA, and moderate knee OA. Participants answered a self-reported questionnaire, carried out performance-based tests, and their kinematic data were recorded during an ascending stairs task using an eight-camera Qualisys 3D-Motion analysis system. The individuals with moderate degrees of knee OA demonstrated kinematic alterations in the pelvis, hip, knee, and ankle in the sagittal plane. The individuals with mild degrees of knee OA demonstrated kinematic alterations of the hip in the frontal plane, and kinematic alterations of the ankle in the sagittal plane. The ascending stairs task allowed verification of meaningful information regarding gait strategies used by individuals with mild and moderate knee OA. The strategies of these two groups of individuals are different for this task, although more pronounced in individuals with moderate knee OA. The findings should be taken into account in the development of rehabilitation programs. Copyright © 2017 Elsevier B.V. All rights reserved.

The affect of the use of graphical materials on teaching kinematics

International Nuclear Information System (INIS)

Yener, D.

2005-01-01

In this study, a review of literature about graphical materials and kinematics was done. Preparing traditional questions supported by graphical materials on kinematics that applied to 119 first year students at secondary education mathematics department, and physics, chemistry and biology departments at Selcuk University Educational Faculty. The effect of the usage of graphical materials on teaching kinematics were searched. The data obtained from traditional questions and graphical questions were evaluated by using SPSS (Statistical Social Science for Package Program). At the end of this evaluation, it is obvious that if kinematics are taught with graphical materials, students can learn the subject better, thus, they solve the questions easierly and more rapidly. As a result, the students were more successful to solve the questions with graphical materials than traditional questions

On the General Analytical Solution of the Kinematic Cosserat Equations

KAUST Repository

Michels, Dominik L.

2016-09-01

Based on a Lie symmetry analysis, we construct a closed form solution to the kinematic part of the (partial differential) Cosserat equations describing the mechanical behavior of elastic rods. The solution depends on two arbitrary analytical vector functions and is analytical everywhere except a certain domain of the independent variables in which one of the arbitrary vector functions satisfies a simple explicitly given algebraic relation. As our main theoretical result, in addition to the construction of the solution, we proof its generality. Based on this observation, a hybrid semi-analytical solver for highly viscous two-way coupled fluid-rod problems is developed which allows for the interactive high-fidelity simulations of flagellated microswimmers as a result of a substantial reduction of the numerical stiffness.

On the General Analytical Solution of the Kinematic Cosserat Equations

KAUST Repository

Michels, Dominik L.; Lyakhov, Dmitry; Gerdt, Vladimir P.; Hossain, Zahid; Riedel-Kruse, Ingmar H.; Weber, Andreas G.

2016-01-01

Based on a Lie symmetry analysis, we construct a closed form solution to the kinematic part of the (partial differential) Cosserat equations describing the mechanical behavior of elastic rods. The solution depends on two arbitrary analytical vector functions and is analytical everywhere except a certain domain of the independent variables in which one of the arbitrary vector functions satisfies a simple explicitly given algebraic relation. As our main theoretical result, in addition to the construction of the solution, we proof its generality. Based on this observation, a hybrid semi-analytical solver for highly viscous two-way coupled fluid-rod problems is developed which allows for the interactive high-fidelity simulations of flagellated microswimmers as a result of a substantial reduction of the numerical stiffness.

Program realization of mathematical model of kinematic calculation of flat lever mechanisms

Directory of Open Access Journals (Sweden)

M. A. Vasechkin

2016-01-01

Full Text Available Calculation of kinematic mechanisms is very time-consuming work. Due to the content of a large number of similar operations can be automated using computers. Forthis purpose, it is necessary to implement a software implementation ofthe mathematical model of calculation of kinematic mechanisms of the second class. In the article on Turbo Pascal presents the text module to library procedures all kinematic studies of planar lever mechanisms of the second class. The determination of the kinematic characteristics of the mechanism and the construction of its provisions, plans, plans, speeds and accelerations carried out on the example of the six-link mechanism. The beginning of the motionless coordinate system coincides with the axis of rotation of the crank AB. It is assumed that the known length of all links, the positions of all additional points of links and the coordinates of all kinematic pairs rack mechanism, i.e. this stage of work to determine the kinematics of the mechanism must be preceded by a stage of synthesis of mechanism (determining missing dimensions of links. Denote the coordinates of point C and considering that the analogues of velocities and accelerations of this point is 0 (stationary point, appeal to the procedure that computes the kinematics group the Assyrians (GA third. Specify kinematic parameters of point D, taking the beginning of the guide slide E at point C, the angle, the analogue of the angular velocity and the analogue of the angular acceleration of the guide is zero, knowing the length of the connecting rod DE and the length of link 5, refer to the procedure for the GA of the second kind. The use of library routines module of the kinematic calculation, makes it relatively simple to organize a simulation of the mechanism motion, to calculate the projection analogues of velocities and accelerations of all links of the mechanism, to build plans of the velocities and accelerations at each position of the mechanism.

Inverse kinematics problem in robotics using neural networks

Science.gov (United States)

Choi, Benjamin B.; Lawrence, Charles

1992-01-01

In this paper, Multilayer Feedforward Networks are applied to the robot inverse kinematic problem. The networks are trained with endeffector position and joint angles. After training, performance is measured by having the network generate joint angles for arbitrary endeffector trajectories. A 3-degree-of-freedom (DOF) spatial manipulator is used for the study. It is found that neural networks provide a simple and effective way to both model the manipulator inverse kinematics and circumvent the problems associated with algorithmic solution methods.

Kinematics of the trunk and the lower extremities during restricted and unrestricted squats.

Science.gov (United States)

List, Renate; Gülay, Turgut; Stoop, Mirjam; Lorenzetti, Silvio

2013-06-01

Squatting is a common strength training exercise used for rehabilitation, fitness training, and in preparation for competition. Knowledge about the loading and the motion of the back during the squat exercise is crucial to avoid overuse or injury. The aim of this study was the measurement and comparison of the kinematics of the lower leg, trunk, and spine during unrestricted and restricted (knees are not allowed beyond toes) squats. A total of 30 subjects performed unrestricted and restricted barbell squats with an extra load of 0, 25, and 50% bodyweight. Motion was tracked using a 12-camera Vicon system. A newly developed marker set with 24 trunk and 7 pelvic markers allowed us to measure 3D segmental kinematics between the pelvic and the lumbar regions, between the lumbar and the thoracic segments, and the sagittal curvatures of the lumbar and the thoracic spine. In an unrestricted squat, the angle of the knee is larger and the range of motion (ROM) between the lumbar and the thoracic segments is significantly smaller compared with a restricted squat (p squats. The unrestricted execution of a squat leads to a larger ROM in the knee and smaller changes in the curvature of the thoracic spine and the range of smaller segmental motions within the trunk. This execution in turn leads to lower stresses in the back. To strengthen the muscles of the leg, the unrestricted squat may be the best option for most people. Thus, practitioners should not be overly strict in coaching against anterior knee displacement during performance of the squat.

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

Science.gov (United States)

WANG, Wei; WANG, Lei; YUN, Chao

2017-03-01

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

A Projected Non-linear Conjugate Gradient Method for Interactive Inverse Kinematics

DEFF Research Database (Denmark)

Engell-Nørregård, Morten; Erleben, Kenny

2009-01-01

Inverse kinematics is the problem of posing an articulated figure to obtain a wanted goal, without regarding inertia and forces. Joint limits are modeled as bounds on individual degrees of freedom, leading to a box-constrained optimization problem. We present A projected Non-linear Conjugate...... Gradient optimization method suitable for box-constrained optimization problems for inverse kinematics. We show application on inverse kinematics positioning of a human figure. Performance is measured and compared to a traditional Jacobian Transpose method. Visual quality of the developed method...

Online Kinematic and Dynamic-State Estimation for Constrained Multibody Systems Based on IMUs

Science.gov (United States)

Torres-Moreno, José Luis; Blanco-Claraco, José Luis; Giménez-Fernández, Antonio; Sanjurjo, Emilio; Naya, Miguel Ángel

2016-01-01

This article addresses the problems of online estimations of kinematic and dynamic states of a mechanism from a sequence of noisy measurements. In particular, we focus on a planar four-bar linkage equipped with inertial measurement units (IMUs). Firstly, we describe how the position, velocity, and acceleration of all parts of the mechanism can be derived from IMU signals by means of multibody kinematics. Next, we propose the novel idea of integrating the generic multibody dynamic equations into two variants of Kalman filtering, i.e., the extended Kalman filter (EKF) and the unscented Kalman filter (UKF), in a way that enables us to handle closed-loop, constrained mechanisms, whose state space variables are not independent and would normally prevent the direct use of such estimators. The proposal in this work is to apply those estimators over the manifolds of allowed positions and velocities, by means of estimating a subset of independent coordinates only. The proposed techniques are experimentally validated on a testbed equipped with encoders as a means of establishing the ground-truth. Estimators are run online in real-time, a feature not matched by any previous procedure of those reported in the literature on multibody dynamics. PMID:26959027

Measurement of the magnetic moment of the 2$^{+}$ state in neutron-rich radioactive $^{72,74}$Zn using the transient field technique in inverse kinematics

CERN Multimedia

Kruecken, R; Speidel, K; Voulot, D; Neyens, G; Gernhaeuser, R A; Fraile prieto, L M; Leske, J

We propose to measure the sign and magnitude of the g-factors of the first 2$^{+}$ states in radioactive neutron-rich $^{72,74}$Zn applying the transient field (TF) technique in inverse kinematics. The result of this experiment will allow to probe the $\

Analysis of a closed-kinematic chain robot manipulator

Science.gov (United States)

Nguyen, Charles C.; Pooran, Farhad J.

1988-01-01

Presented are the research results from the research grant entitled: Active Control of Robot Manipulators, sponsored by the Goddard Space Flight Center (NASA) under grant number NAG-780. This report considers a class of robot manipulators based on the closed-kinematic chain mechanism (CKCM). This type of robot manipulators mainly consists of two platforms, one is stationary and the other moving, and they are coupled together through a number of in-parallel actuators. Using spatial geometry and homogeneous transformation, a closed-form solution is derived for the inverse kinematic problem of the six-degree-of-freedom manipulator, built to study robotic assembly in space. Iterative Newton Raphson method is employed to solve the forward kinematic problem. Finally, the equations of motion of the above manipulators are obtained by employing the Lagrangian method. Study of the manipulator dynamics is performed using computer simulation whose results show that the robot actuating forces are strongly dependent on the mass and centroid locations of the robot links.

Kinematic Tests of Small Arms

Science.gov (United States)

2016-03-15

muzzle devices, such as flash suppressors and muzzle compensators, if the items are designed to be operator removable. Use the ammunition that will...muzzle brake or adding a sound suppressor . A kinematics study is also a diagnostic tool to investigate weapon problems such as poor functioning with

On the kinematics of visual binary and multiple stars of the FK4 cataloque

International Nuclear Information System (INIS)

Starikova, G.A.

1981-01-01

Kinematic features of single, binary and multiple stars are considered. To compare kinematics of such stars with the kinematics of single stars the data on positions and proper motions of those stars which are given in the basic catalogue FK4. Single as well as visual binary and multiple stars united because of their limited content in FK4 have been subdivided by spectra and classes of luminosity into groups with account for known kinematic peculiarities of various spectral groups. Kinematic features for the studied spectral groups are given. By the stars of the FK4 catalogue for various spectral classes the difference of kinematic features of single, visual binary and multiple stars is obtained. However the values of these differences need to be specified due to small number of stars included in five of six groups considered

Differences in foot kinematics between young and older adults during walking.

Science.gov (United States)

Arnold, John B; Mackintosh, Shylie; Jones, Sara; Thewlis, Dominic

2014-02-01

Our understanding of age-related changes to foot function during walking has mainly been based on plantar pressure measurements, with little information on differences in foot kinematics between young and older adults. The purpose of this study was to investigate the differences in foot kinematics between young and older adults during walking using a multi-segment foot model. Joint kinematics of the foot and ankle for 20 young (mean age 23.2 years, standard deviation (SD) 3.0) and 20 older adults (mean age 73.2 years, SD 5.1) were quantified during walking with a 12 camera Vicon motion analysis system using a five segment kinematic model. Differences in kinematics were compared between older adults and young adults (preferred and slow walking speeds) using Student's t-tests or if indicated, Mann-Whitney U tests. Effect sizes (Cohen's d) for the differences were also computed. The older adults had a less plantarflexed calcaneus at toe-off (-9.6° vs. -16.1°, d = 1.0, p = range of motion (ROM) of the midfoot (11.9° vs. 14.8°, d = 1.3, p = young adults. Walking speed did not influence these differences, as they remained present when groups walked at comparable speeds. The findings of this study indicate that independent of walking speed, older adults exhibit significant differences in foot kinematics compared to younger adults, characterised by less propulsion and reduced mobility of multiple foot segments. Copyright © 2013 Elsevier B.V. All rights reserved.

Kinematic Modeling of Distant Galaxies

Directory of Open Access Journals (Sweden)

Kipper Rain

2012-12-01

Full Text Available Evolution of galaxies is one of the most actual topics in astrophysics. Among the most important factors determining the evolution are two galactic components which are difficult or even impossible to detect optically: the gaseous disks and the dark matter halo. We use deep Hubble Space Telescope images to construct a two-component (bulge + disk model for stellar matter distribution of galaxies. Properties of the galactic components are derived using a three-dimensional galaxy modeling software, which also estimates disk thickness and inclination angle. We add a gas disk and a dark matter halo and use hydrodynamical equations to calculate gas rotation and dispersion profiles in the resultant gravitational potential. We compare the kinematic profiles with the Team Keck Redshift Survey observations. In this pilot study, two galaxies are analyzed deriving parameters for their stellar components; both galaxies are found to be disk-dominated. Using the kinematical model, the gas mass and stellar mass ratio in the disk are estimated.

The influence of limited kinematic hardening in shakedown analysis

International Nuclear Information System (INIS)

Nery, Domingos E.S.; Jospin, Reinaldo R.; Zouain, Nestor

2009-01-01

The use of the Design by Analysis concept is a trend in modern pressure vessel and piping calculations. DBA flexibility allow us to deal with unexpected configurations detected at in-service inspections. It is also important, in life extension calculations, when deviations of the original standard hypothesis adopted initially in Design by Formula, can happen. To apply the DBA to structures under variable mechanic and thermal loads, it is necessary that, alternate plasticity and incremental collapse (with instantaneous plastic collapse as a particular case), be precluded. These are two basic failure modes considered by ASME or European Standards in DBA. The shakedown theory is the tool available to achieve this goal. In order to apply it, is necessary only the range of the variable loads and the material properties. Precise, robust and efficient algorithms to solve the very large nonlinear optimization problems generated in numerical applications of the shakedown theory is a recent achievement. Zouain and co-workers developed one of these algorithms for elastic ideally-plastic materials. But, it is necessary to consider more realistic material properties in real practical applications. This paper shows an enhancement of this algorithm to dealing with limited kinematic hardening, a typical property of the usual steels. This is done using internal thermodynamic variables. A discrete algorithm is obtained using a plane stress, mixed finite element, with internal variable. An example, a beam encased in an end, under constant axial force and variable moment is presented to show the importance of considering the limited kinematic hardening in a shakedown analysis. (author)

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

Science.gov (United States)

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

2017-07-01

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

A School Experiment in Kinematics: Shooting from a Ballistic Cart

Science.gov (United States)

Kranjc, T.; Razpet, N.

2011-01-01

Many physics textbooks start with kinematics. In the lab, students observe the motions, describe and make predictions, and get acquainted with basic kinematics quantities and their meaning. Then they can perform calculations and compare the results with experimental findings. In this paper we describe an experiment that is not often done, but is…

Right-handed currents at B→ K l+l− kinematic endpoint

Indian Academy of Sciences (India)

2017-10-09

Oct 9, 2017 ... The recent LHCb measured values of these observables are used to conclude an evidence of right-handed currents at the kinematic endpoint of this decay mode. As the conclusion is drawn at the maximum dilepton invariant mass square ( q 2 ) kinematic endpoint, it relies only on heavy quark symmetries ...

Kinematic Analysis of 3-DOF Planer Robot Using Artificial Neural Network

Directory of Open Access Journals (Sweden)

Jolly Atit Shah

2012-07-01

Full Text Available Automatic control of the robotic manipulator involves study of kinematics and dynamics as a major issue. This paper involves the forward and inverse kinematics of 3-DOF robotic manipulator with revolute joints. In this study the Denavit- Hartenberg (D-H model is used to model robot links and joints. Also forward and inverse kinematics solution has been achieved using Artificial Neural Networks for 3-DOF robotic manipulator. It shows that by using artificial neural network the solution we get is faster, acceptable and has zero error.

Tibial rotation kinematics subsequent to knee arthroplasty

Science.gov (United States)

Collins, Duane J.; Khatib, Yasser H.; Parker, David A.; Jenkin, Deanne E.; Molnar, Robert B.

2015-01-01

Background The use of computer assisted joint replacement has facilitated precise intraoperative measurement of knee kinematics. The changes in “screw home mechanism” (SHM) resulting from Total Knee Arthroplasty (TKA) with different prostheses and constraints has not yet been accurately described. Methods A pilot study was first completed. Intraoperative kinematic data was collected two groups of 15 patients receiving different prostheses. Results On average, patients lost 5.3° of ER (SD = 6.1°). There was no significant difference between the prostheses or different prosthetic constraints. Conclusions There significant loss of SHM after TKA. Further research is required to understand its impact on patient function. PMID:25829754

Kinematic Analysis of Speech Sound Sequencing Errors Induced by Delayed Auditory Feedback.

Science.gov (United States)

Cler, Gabriel J; Lee, Jackson C; Mittelman, Talia; Stepp, Cara E; Bohland, Jason W

2017-06-22

Delayed auditory feedback (DAF) causes speakers to become disfluent and make phonological errors. Methods for assessing the kinematics of speech errors are lacking, with most DAF studies relying on auditory perceptual analyses, which may be problematic, as errors judged to be categorical may actually represent blends of sounds or articulatory errors. Eight typical speakers produced nonsense syllable sequences under normal and DAF (200 ms). Lip and tongue kinematics were captured with electromagnetic articulography. Time-locked acoustic recordings were transcribed, and the kinematics of utterances with and without perceived errors were analyzed with existing and novel quantitative methods. New multivariate measures showed that for 5 participants, kinematic variability for productions perceived to be error free was significantly increased under delay; these results were validated by using the spatiotemporal index measure. Analysis of error trials revealed both typical productions of a nontarget syllable and productions with articulatory kinematics that incorporated aspects of both the target and the perceived utterance. This study is among the first to characterize articulatory changes under DAF and provides evidence for different classes of speech errors, which may not be perceptually salient. New methods were developed that may aid visualization and analysis of large kinematic data sets. https://doi.org/10.23641/asha.5103067.

Numerical kinematic transformation calculations for a parallel link manipulator

International Nuclear Information System (INIS)

Killough, S.M.

1993-01-01

Parallel link manipulators are often considered for particular robotic applications because of the unique advantages they provide. Unfortunately, they have significant disadvantages with respect to calculating the kinematic transformations because of the high-order equations that must be solved. Presented is a manipulator design that exploits the mechanical advantages of parallel links yet also has a corresponding numerical kinematic solution that can be solved in real time on common microcomputers

A non-linear kinematic hardening function

International Nuclear Information System (INIS)

Ottosen, N.S.

1977-05-01

Based on the classical theory of plasticity, and accepting the von Mises criterion as the initial yield criterion, a non-linear kinematic hardening function applicable both to Melan-Prager's and to Ziegler's hardening rule is proposed. This non-linear hardening function is determined by means of the uniaxial stress-strain curve, and any such curve is applicable. The proposed hardening function considers the problem of general reversed loading, and a smooth change in the behaviour from one plastic state to another nearlying plastic state is obtained. A review of both the kinematic hardening theory and the corresponding non-linear hardening assumptions is given, and it is shown that material behaviour is identical whether Melan-Prager's or Ziegler's hardening rule is applied, provided that the von Mises yield criterion is adopted. (author)

Not all stars form in clusters - measuring the kinematics of OB associations with Gaia

Science.gov (United States)

Ward, Jacob L.; Kruijssen, J. M. Diederik

2018-04-01

It is often stated that star clusters are the fundamental units of star formation and that most (if not all) stars form in dense stellar clusters. In this monolithic formation scenario, low-density OB associations are formed from the expansion of gravitationally bound clusters following gas expulsion due to stellar feedback. N-body simulations of this process show that OB associations formed this way retain signs of expansion and elevated radial anisotropy over tens of Myr. However, recent theoretical and observational studies suggest that star formation is a hierarchical process, following the fractal nature of natal molecular clouds and allowing the formation of large-scale associations in situ. We distinguish between these two scenarios by characterizing the kinematics of OB associations using the Tycho-Gaia Astrometric Solution catalogue. To this end, we quantify four key kinematic diagnostics: the number ratio of stars with positive radial velocities to those with negative radial velocities, the median radial velocity, the median radial velocity normalized by the tangential velocity, and the radial anisotropy parameter. Each quantity presents a useful diagnostic of whether the association was more compact in the past. We compare these diagnostics to models representing random motion and the expanding products of monolithic cluster formation. None of these diagnostics show evidence of expansion, either from a single cluster or multiple clusters, and the observed kinematics are better represented by a random velocity distribution. This result favours the hierarchical star formation model in which a minority of stars forms in bound clusters and large-scale, hierarchically structured associations are formed in situ.

Discordant tasks and motor adjustments affect interactions between adaptations to altered kinematics and dynamics

Directory of Open Access Journals (Sweden)

Fritzie Arce

2010-01-01

Full Text Available Motor control and adaptation are multi-determinate processes with complex interactions. This is reflected for example in the ambiguous nature of interactions during sequential adaptation of reaching under kinematics and dynamics perturbations. It has been suggested that perturbations based on the same kinematic parameter interfere. Others posited that opposing motor adjustments underlie interference. Here, we examined the influence of discordances in task and in motor adjustments on sequential adaptations to visuomotor rotation and viscous force field perturbations. These two factors – perturbation direction and task discordance – have been examined separately by previous studies, thus the inherent difficulty to identify the roots of interference. Forty-eight human subjects adapted sequentially to one or two types of perturbations, of matched or conflicting directions. We found a gradient of interaction effects based on perturbation direction and task discordance. Perturbations of matched directions showed facilitation while perturbations of opposite directions, which required opposing motor adjustments, interfered with each other. Further, interaction effects increased with greater task discordance. We also found that force field and visuomotor rotation had mutual anterograde and retrograde effects. However, we found independence between anterograde and retrograde interferences between similar tasks. The results suggest that the newly acquired internal models of kinematic and dynamic perturbations are not independent but they share common neuronal resources and interact between them. Such overlap does not necessarily imply competition of resources. Rather, our results point to an additional principle of sensorimotor adaptation allowing the system to tap or harness common features across diverse sensory inputs and task contexts whenever available.

Adding Image Constraints to Inverse Kinematics for Human Motion Capture

Science.gov (United States)

Jaume-i-Capó, Antoni; Varona, Javier; González-Hidalgo, Manuel; Perales, Francisco J.

2009-12-01

In order to study human motion in biomechanical applications, a critical component is to accurately obtain the 3D joint positions of the user's body. Computer vision and inverse kinematics are used to achieve this objective without markers or special devices attached to the body. The problem of these systems is that the inverse kinematics is "blinded" with respect to the projection of body segments into the images used by the computer vision algorithms. In this paper, we present how to add image constraints to inverse kinematics in order to estimate human motion. Specifically, we explain how to define a criterion to use images in order to guide the posture reconstruction of the articulated chain. Tests with synthetic images show how the scheme performs well in an ideal situation. In order to test its potential in real situations, more experiments with task specific image sequences are also presented. By means of a quantitative study of different sequences, the results obtained show how this approach improves the performance of inverse kinematics in this application.

Is Active Tectonics on Madagascar Consistent with Somalian Plate Kinematics?

Science.gov (United States)

Stamps, D. S.; Kreemer, C.; Rajaonarison, T. A.

2017-12-01

The East African Rift System (EARS) actively breaks apart the Nubian and Somalian tectonic plates. Madagascar finds itself at the easternmost boundary of the EARS, between the Rovuma block, Lwandle plate, and the Somalian plate. Earthquake focal mechanisms and N-S oriented fault structures on the continental island suggest that Madagascar is experiencing east-west oriented extension. However, some previous plate kinematic studies indicate minor compressional strains across Madagascar. This inconsistency may be due to uncertainties in Somalian plate rotation. Past estimates of the rotation of the Somalian plate suffered from a poor coverage of GPS stations, but some important new stations are now available for a re-evaluation. In this work, we revise the kinematics of the Somalian plate. We first calculate a new GPS velocity solution and perform block kinematic modeling to evaluate the Somalian plate rotation. We then estimate new Somalia-Rovuma and Somalia-Lwandle relative motions across Madagascar and evaluate whether they are consistent with GPS measurements made on the island itself, as well as with other kinematic indicators.

Fatigue effects on bar kinematics during the bench press.

Science.gov (United States)

Duffey, Michael J; Challis, John H

2007-05-01

The bench press is one of the most popular weight training exercises. Although most training regimens incorporate multiple repetition sets, there are few data describing how the kinematics of a lift change during a set to failure. To examine these changes, recreational lifters (10 men and 8 women) were recruited. The maximum weight each subject could bench press (1RM) was determined. Subjects then performed as many repetitions as possible at 75% of the 1RM load. Three-dimensional kinematic data were recorded and analyzed for all lifts. Statistical analysis revealed that differences between maximal and submaximal lifts and the kinematics of a submaximal lift change as a subject approaches failure in a set. The time to lift the bar more than doubled from the first to the last repetition, causing a decrease in both mean and peak upward velocity. Furthermore, the peak upward velocity occurred much earlier in the lift phase in these later repetitions. The path the bar followed also changed, with subjects keeping the bar more directly over the shoulder during the lift. In general, most of the kinematic variables analyzed became more similar to those of the maximal lift as the subjects progressed through the set, but there was considerable variation between subjects as to which repetition was most like the maximal lift. This study shows that there are definite changes in the lifting kinematics in recreational lifters during a set to failure and suggests it may be particularly important for coaches and less-skilled lifters to focus on developing the proper bar path, rather than reaching momentary muscular failure, in the early part of a training program.

Isolated patellofemoral arthroplasty reproduces natural patellofemoral joint kinematics when the patella is resurfaced.

Science.gov (United States)

Vandenneucker, Hilde; Labey, Luc; Vander Sloten, Jos; Desloovere, Kaat; Bellemans, Johan

2016-11-01

The objectives of this in vitro project were to compare the dynamic three-dimensional patellofemoral kinematics, contact forces, contact areas and contact pressures of a contemporary patellofemoral prosthetic implant with those of the native knee and to measure the influence of patellar resurfacing and patellar thickness. The hypothesis was that these designs are capable to reproduce the natural kinematics but result in higher contact pressures. Six fresh-frozen specimens were tested on a custom-made mechanical knee rig before and after prosthetic trochlear resurfacing, without and with patellar resurfacing in three different patellar thicknesses. Full three-dimensional kinematics were analysed during three different motor tasks, using infrared motion capture cameras and retroflective markers. Patellar contact characteristics were registered using a pressure measuring device. The patellofemoral kinematic behaviour of the patellofemoral arthroplasty was similar to that of the normal knee when the patella was resurfaced, showing only significant (p patellofemoral kinematics acceptable well when the patella was resurfaced. From a kinematic point of view, patellar resurfacing may be advisable. However, the substantially elevated patellar contact pressures remain a point of concern in the decision whether or not to resurface the patella. This study therefore not only adds a new point in the discussion whether or not to resurface the patella, but also supports the claimed advantage that a patellofemoral arthroplasty is capable to reproduce the natural knee kinematics.

Climbing fibers predict movement kinematics and performance errors.

Science.gov (United States)

Streng, Martha L; Popa, Laurentiu S; Ebner, Timothy J

2017-09-01

Requisite for understanding cerebellar function is a complete characterization of the signals provided by complex spike (CS) discharge of Purkinje cells, the output neurons of the cerebellar cortex. Numerous studies have provided insights into CS function, with the most predominant view being that they are evoked by error events. However, several reports suggest that CSs encode other aspects of movements and do not always respond to errors or unexpected perturbations. Here, we evaluated CS firing during a pseudo-random manual tracking task in the monkey ( Macaca mulatta ). This task provides extensive coverage of the work space and relative independence of movement parameters, delivering a robust data set to assess the signals that activate climbing fibers. Using reverse correlation, we determined feedforward and feedback CSs firing probability maps with position, velocity, and acceleration, as well as position error, a measure of tracking performance. The direction and magnitude of the CS modulation were quantified using linear regression analysis. The major findings are that CSs significantly encode all three kinematic parameters and position error, with acceleration modulation particularly common. The modulation is not related to "events," either for position error or kinematics. Instead, CSs are spatially tuned and provide a linear representation of each parameter evaluated. The CS modulation is largely predictive. Similar analyses show that the simple spike firing is modulated by the same parameters as the CSs. Therefore, CSs carry a broader array of signals than previously described and argue for climbing fiber input having a prominent role in online motor control. NEW & NOTEWORTHY This article demonstrates that complex spike (CS) discharge of cerebellar Purkinje cells encodes multiple parameters of movement, including motor errors and kinematics. The CS firing is not driven by error or kinematic events; instead it provides a linear representation of each

Numerical simulation for the design analysis of kinematic Stirling engines

International Nuclear Information System (INIS)

Araoz, Joseph A.; Salomon, Marianne; Alejo, Lucio; Fransson, Torsten H.

2015-01-01

Highlights: • A thermodynamic analysis for kinematic Stirling engines was presented. • The analysis integrated thermal, mechanical and thermodynamic interactions. • The analyses considered geometrical and operational parameters. • The results allowed to map the performance of the engine. • The analysis allow the design assessment of Stirling engines. - Abstract: The Stirling engine is a closed-cycle regenerative system that presents good theoretical properties. These include a high thermodynamic efficiency, low emissions levels thanks to a controlled external heat source, and multi-fuel capability among others. However, the performance of actual prototypes largely differs from the mentioned theoretical potential. Actual engine prototypes present low electrical power outputs and high energy losses. These are mainly attributed to the complex interaction between the different components of the engine, and the challenging heat transfer and fluid dynamics requirements. Furthermore, the integration of the engine into decentralized energy systems such as the Combined Heat and Power systems (CHP) entails additional complications. These has increased the need for engineering tools that could assess design improvements, considering a broader range of parameters that would influence the engine performance when integrated within overall systems. Following this trend, the current work aimed to implement an analysis that could integrate the thermodynamics, and the thermal and mechanical interactions that influence the performance of kinematic Stirling engines. In particular for their use in Combined Heat and Power systems. The mentioned analysis was applied for the study of an engine prototype that presented very low experimental performance. The numerical methodology was selected for the identification of possible causes that limited the performance. This analysis is based on a second order Stirling engine model that was previously developed and validated. The

Kinematics of roller chain drives - Exact and approximate analysis

DEFF Research Database (Denmark)

Fuglede, Niels; Thomsen, Jon Juel

2016-01-01

An exact and approximate kinematic analysis of a roller chain drive modeled as a four-bar mechanism is presented. The span connects the sprockets such that they rotate in the same direction, and the sprocket size, number of teeth, and shaft center distance can be arbitrary. The driven sprocket...... to be very good agreement. All together this gives new insights into the characteristics of chain drive kinematics and the influence of main design parameters....

How wing kinematics affect power requirements and aerodynamic force production in a robotic bat wing

International Nuclear Information System (INIS)

Bahlman, Joseph W; Swartz, Sharon M; Breuer, Kenneth S

2014-01-01

Bats display a wide variety of behaviors that require different amounts of aerodynamic force. To control and modulate aerodynamic force, bats change wing kinematics, which, in turn, may change the power required for wing motion. There are many kinematic mechanisms that bats, and other flapping animals, can use to increase aerodynamic force, e.g. increasing wingbeat frequency or amplitude. However, we do not know if there is a difference in energetic cost between these different kinematic mechanisms. To assess the relationship between mechanical power input and aerodynamic force output across different isolated kinematic parameters, we programmed a robotic bat wing to flap over a range of kinematic parameters and measured aerodynamic force and mechanical power. We systematically varied five kinematic parameters: wingbeat frequency, wingbeat amplitude, stroke plane angle, downstroke ratio, and wing folding. Kinematic values were based on observed values from free flying Cynopterus brachyotis, the species on which the robot was based. We describe how lift, thrust, and power change with increases in each kinematic variable. We compare the power costs associated with generating additional force through the four kinematic mechanisms controlled at the shoulder, and show that all four mechanisms require approximately the same power to generate a given force. This result suggests that no single parameter offers an energetic advantage over the others. Finally, we show that retracting the wing during upstroke reduces power requirements for flapping and increases net lift production, but decreases net thrust production. These results compare well with studies performed on C. brachyotis, offering insight into natural flight kinematics. (paper)

The kinematic footprints of five stellar streams in Andromeda's halo

Science.gov (United States)

Chapman, S. C.; Ibata, R.; Irwin, M.; Koch, A.; Letarte, B.; Martin, N.; Collins, M.; Lewis, G. F.; McConnachie, A.; Peñarrubia, J.; Rich, R. M.; Trethewey, D.; Ferguson, A.; Huxor, A.; Tanvir, N.

2008-11-01

We present a spectroscopic analysis of five stellar streams (`A', `B', `Cr', `Cp' and `D') as well as the extended star cluster, EC4, which lies within Stream`C', all discovered in the halo of M31 from our Canada-France-Hawaii Telescope/MegaCam survey. These spectroscopic results were initially serendipitous, making use of our existing observations from the DEep Imaging Multi-Object Spectrograph mounted on the Keck II telescope, and thereby emphasizing the ubiquity of tidal streams that account for ~70 per cent of the M31 halo stars in the targeted fields. Subsequent spectroscopy was then procured in Stream`C' and Stream`D' to trace the velocity gradient along the streams. Nine metal-rich ([Fe/H] ~ -0.7) stars at vhel = -349.5kms-1,σv,corr ~ 5.1 +/- 2.5km s-1 are proposed as a serendipitous detection of Stream`Cr', with follow-up kinematic identification at a further point along the stream. Seven metal-poor ([Fe/H] ~-1.3) stars confined to a narrow, 15 km s-1 velocity bin centred at vhel = -285.6, σv,corr = 4.3+1.7-1.4 km s-1 represent a kinematic detection of Stream`Cp', again with follow-up kinematic identification further along the stream. For the cluster EC4, candidate member stars with average [Fe/H] ~-1.4, are found at vhel = -282 suggesting it could be related to Stream`Cp'. No similarly obvious cold kinematic candidate is found for Stream`D', although candidates are proposed in both of two spectroscopic pointings along the stream (both at ~ -400km s-1). Spectroscopy near the edge of Stream`B' suggests a likely kinematic detection at vhel ~ -330, σv,corr ~ 6.9km s-1, while a candidate kinematic detection of Stream`A' is found (plausibly associated to M33 rather than M31) with vhel ~ -170, σv,corr = 12.5km s-1. The low dispersion of the streams in kinematics, physical thickness and metallicity makes it hard to reconcile with a scenario whereby these stream structures as an ensemble are related to the giant southern stream. We conclude that the M31 stellar

ISS Squat and Deadlift Kinematics on the Advanced Resistive Exercise Device

Science.gov (United States)

Newby, N.; Caldwell, E.; Sibonga, J.; Ploutz-Snyder, L.

2014-01-01

Visual assessment of exercise form on the Advanced Resistive Exercise Device (ARED) on orbit is difficult due to the motion of the entire device on its Vibration Isolation System (VIS). The VIS allows for two degrees of device translational motion, and one degree of rotational motion. In order to minimize the forces that the VIS must damp in these planes of motion, the floor of the ARED moves as well during exercise to reduce changes in the center of mass of the system. To help trainers and other exercise personnel better assess squat and deadlift form a tool was developed that removes the VIS motion and creates a stick figure video of the exerciser. Another goal of the study was to determine whether any useful kinematic information could be obtained from just a single camera. Finally, the use of these data may aid in the interpretation of QCT hip structure data in response to ARED exercises performed in-flight. After obtaining informed consent, four International Space Station (ISS) crewmembers participated in this investigation. Exercise was videotaped using a single camera positioned to view the side of the crewmember during exercise on the ARED. One crewmember wore reflective tape on the toe, heel, ankle, knee, hip, and shoulder joints. This technique was not available for the other three crewmembers, so joint locations were assessed and digitized frame-by-frame by lab personnel. A custom Matlab program was used to assign two-dimensional coordinates to the joint locations throughout exercise. A second custom Matlab program was used to scale the data, calculate joint angles, estimate the foot center of pressure (COP), approximate normal and shear loads, and to create the VIS motion-corrected stick figure videos. Kinematics for the squat and deadlift vary considerably for the four crewmembers in this investigation. Some have very shallow knee and hip angles, and others have quite large ranges of motion at these joints. Joint angle analysis showed that crewmembers

Distal hindlimb kinematics of galloping Thoroughbred racehorses on dirt and synthetic racetrack surfaces.

Science.gov (United States)

Symons, J E; Garcia, T C; Stover, S M

2014-03-01

The effect of racetrack surface (dirt or synthetic) on distal hindlimb kinematics of racehorses running at competition speeds is not known. To compare distal hindlimb and hoof kinematics during stance of breezing (unrestrained gallop) racehorses between dirt and synthetic surfaces. Two-dimensional kinematic video analysis of 5 Thoroughbred racehorses galloping at high speeds (12-17 m/s) on a dirt racetrack and a synthetic racetrack. The positions of kinematic markers applied to the left hindlimb were recorded at 500 Hz. Position, velocity and acceleration of joint angles and hoof translation during stance were calculated in the sagittal plane. Peak translational and angular kinematic values were compared between the dirt and synthetic race surfaces using mixed model analyses of covariance. Maximum and heel-strike metatarsophalangeal (fetlock) angles were greater (Pdirt surface than on the synthetic surface. Maximum fetlock angle occurred earlier during stance on the dirt surface (Pdirt surface (Pdirt surface than on a synthetic surface. Synthetic race surfaces may mitigate risk of injury to hindlimb fetlock structures by reducing fetlock hyperextension and associated strains in fetlock support structures. Differences in hoof slide may contribute to different distal hindlimb kinematics between surfaces. © 2013 EVJ Ltd.

Kinematics of the symbiotic system R Aqr

Science.gov (United States)

Navarro, S.; Corral, L. J.; Steffen, W.

2014-04-01

We present the results of the kinematical analysis of the symbiotic system R Aqr. We obtained high dispersion spectra with the MES spectrograph at the 2.1 m telescope of San Pedro Mártir (MEZCAL). The used filter were Ha + [NII], (λc = 6575Å, Δλ = 90Å). We analyse the [NII] λλ6583 line. When the observations are compared with previous ones by Solf (1992) we detected an important change in the projected velocities of the observed knots, supporting the idea of a precessing jet. We are working also in a 3-D kinematic model for the object using the measured velocities and the state of the model is presented.

Directed Neutron Beams From Inverse Kinematic Reactions

Science.gov (United States)

Vanhoy, J. R.; Guardala, N. A.; Glass, G. A.

2011-06-01

Kinematic focusing of an emitted fairly mono-energetic neutron beam by the use of inverse-kinematic reactions, i.e. where the projectile mass is greater than the target atom's mass, can provide for the utilization of a significant fraction of the fast neutron yield and also provide for a safer radiation environment. We examine the merit of various neutron production reactions and consider the practicalities of producing the primary beam using the suitable accelerator technologies. Preliminary progress at the NSWC-Carderock Positive Ion Accelerator Facility is described. Possible important applications for this type of neutron-based system can be both advanced medical imaging techniques and active "stand-off" interrogation of contraband items.

6th International Workshop on Computational Kinematics

CERN Document Server

Gracia, Alba

2014-01-01

Computational kinematics is an enthralling area of science with a rich spectrum of problems at the junction of mechanics, robotics, computer science, mathematics, and computer graphics. The covered topics include design and optimization of cable-driven robots, analysis of parallel manipulators, motion planning, numerical methods for mechanism calibration and optimization, geometric approaches to mechanism analysis and design, synthesis of mechanisms, kinematical issues in biomechanics, construction of novel mechanical devices, as well as detection and treatment of singularities. The results should be of interest for practicing and research engineers as well as Ph.D. students from the fields of mechanical and electrical engineering, computer science, and computer graphics. Indexed in Conference Proceedings Citation Index- Science (CPCI-S).

Plasma electron hole kinematics. I. Momentum conservation

Energy Technology Data Exchange (ETDEWEB)

Hutchinson, I. H.; Zhou, C. [Plasma Science and Fusion Center, Massachusetts Institute of Technology, Cambridge, Massachusetts 02139 (United States)

2016-08-15

We analyse the kinematic properties of a plasma electron hole: a non-linear self-sustained localized positive electric potential perturbation, trapping electrons, which behaves as a coherent entity. When a hole accelerates or grows in depth, ion and electron plasma momentum is changed both within the hole and outside, by an energization process we call jetting. We present a comprehensive analytic calculation of the momentum changes of an isolated general one-dimensional hole. The conservation of the total momentum gives the hole's kinematics, determining its velocity evolution. Our results explain many features of the behavior of hole speed observed in numerical simulations, including self-acceleration at formation, and hole pushing and trapping by ion streams.

The Effect of Direction on Cursor Moving Kinematics

Directory of Open Access Journals (Sweden)

Chiu-Ping Lu

2012-02-01

Full Text Available There have been only few studies to substantiate the kinematic characteristics of cursor movement. In this study, a quantitative experimental research method was used to explore the effect of moving direction on the kinematics of cursor movement in 24 typical young persons using our previously developed computerized measuring program. The results of multiple one way repeated measures ANOVAs and post hoc LSD tests demonstrated that the moving direction had effects on average velocity, movement time, movement unit and peak velocity. Moving leftward showed better efficiency than moving rightward, upward and downward from the kinematic evidences such as velocity, movement unit and time. Moreover, the unique pattern of the power spectral density (PSD of velocity (strategy for power application explained why the smoothness was still maintained while moving leftward even under an unstable situation with larger momentum. Moreover, the information from this cursor moving study can guide us to relocate the toolbars and icons in the window interface, especially for individuals with physical disabilities whose performances are easily interrupted while controlling the cursor in specific directions.

Collision-free inverse kinematics of a 7 link cucumber picking robot

NARCIS (Netherlands)

Henten, van E.J.; Schenk, E.J.J.; Willigenburg, van L.G.; Meuleman, J.; Barreiro, P.

2008-01-01

The paper presents results of research on inverse kinematics algorithms to be used in a functional model of a cucumber harvesting robot consisting of a redundant manipulator with one prismatic and six rotational joints (P6R). Within a first generic approach, the inverse kinematics problem was

A serial-kinematic nanopositioner for high-speed atomic force microscopy

Energy Technology Data Exchange (ETDEWEB)

Wadikhaye, Sachin P., E-mail: sachin.wadikhaye@uon.edu.au; Yong, Yuen Kuan; Reza Moheimani, S. O. [School of Electrical Engineering and Computer Science, The University of Newcastle, Callaghan, NSW (Australia)

2014-10-15

A flexure-guided serial-kinematic XYZ nanopositioner for high-speed Atomic Force Microscopy is presented in this paper. Two aspects influencing the performance of serial-kinematic nanopositioners are studied in this work. First, mass reduction by using tapered flexures is proposed to increased the natural frequency of the nanopositioner. 25% increase in the natural frequency is achieved due to reduced mass with tapered flexures. Second, a study of possible sensor positioning in a serial-kinematic nanopositioner is presented. An arrangement of sensors for exact estimation of cross-coupling is incorporated in the proposed design. A feedforward control strategy based on phaser approach is presented to mitigate the dynamics and nonlinearity in the system. Limitations in design approach and control strategy are discussed in the Conclusion.

A serial-kinematic nanopositioner for high-speed atomic force microscopy

International Nuclear Information System (INIS)

Wadikhaye, Sachin P.; Yong, Yuen Kuan; Reza Moheimani, S. O.

2014-01-01

A flexure-guided serial-kinematic XYZ nanopositioner for high-speed Atomic Force Microscopy is presented in this paper. Two aspects influencing the performance of serial-kinematic nanopositioners are studied in this work. First, mass reduction by using tapered flexures is proposed to increased the natural frequency of the nanopositioner. 25% increase in the natural frequency is achieved due to reduced mass with tapered flexures. Second, a study of possible sensor positioning in a serial-kinematic nanopositioner is presented. An arrangement of sensors for exact estimation of cross-coupling is incorporated in the proposed design. A feedforward control strategy based on phaser approach is presented to mitigate the dynamics and nonlinearity in the system. Limitations in design approach and control strategy are discussed in the Conclusion

Pure Gravities via Color-Kinematics Duality for Fundamental Matter

CERN Document Server

Johansson, Henrik

2015-01-01

We give a prescription for the computation of loop-level scattering amplitudes in pure Einstein gravity, and four-dimensional pure supergravities, using the color-kinematics duality. Amplitudes are constructed using double copies of pure (super-)Yang-Mills parts and additional contributions from double copies of fundamental matter, which are treated as ghosts. The opposite-statistics states cancel the unwanted dilaton and axion in the bosonic theory, as well as the extra matter supermultiplets in supergravities. As a spinoff, we obtain a prescription for obtaining amplitudes in supergravities with arbitrary non-self-interacting matter. As a prerequisite, we extend the color-kinematics duality from the adjoint to the fundamental representation of the gauge group. We explain the numerator relations that the fundamental kinematic Lie algebra should satisfy. We give nontrivial evidence supporting our construction using explicit tree and loop amplitudes, as well as more general arguments.

Ionised gas kinematics in bipolar H II regions

Science.gov (United States)

Dalgleish, Hannah S.; Longmore, Steven N.; Peters, Thomas; Henshaw, Jonathan D.; Veitch-Michaelis, Joshua L.; Urquhart, James S.

2018-05-01

Stellar feedback plays a fundamental role in shaping the evolution of galaxies. Here we explore the use of ionised gas kinematics in young, bipolar H II regions as a probe of early feedback in these star-forming environments. We have undertaken a multi-wavelength study of a young, bipolar H II region in the Galactic disc, G316.81-0.06, which lies at the centre of a massive (˜103 M⊙) infrared-dark cloud filament. It is still accreting molecular gas as well as driving a ˜0.2 pc ionised gas outflow perpendicular to the filament. Intriguingly, we observe a large velocity gradient (47.81 ± 3.21 km s-1 pc-1) across the ionised gas in a direction perpendicular to the outflow. This kinematic signature of the ionised gas shows a reasonable correspondence with the simulations of young H II regions. Based on a qualitative comparison between our observations and these simulations, we put forward a possible explanation for the velocity gradients observed in G316.81-0.06. If the velocity gradient perpendicular to the outflow is caused by rotation of the ionised gas, then we infer that this rotation is a direct result of the initial net angular momentum in the natal molecular cloud. If this explanation is correct, this kinematic signature should be common in other young (bipolar) H II regions. We suggest that further quantitative analysis of the ionised gas kinematics of young H II regions, combined with additional simulations, should improve our understanding of feedback at these early stages.

Scapular kinematics and muscle activities during pushing tasks.

Science.gov (United States)

Huang, Chun-Kai; Siu, Ka-Chun; Lien, Hen-Yu; Lee, Yun-Ju; Lin, Yang-Hua

2013-01-01

Pushing tasks are functional activities of daily living. However, shoulder complaints exist among workers exposed to regular pushing conditions. It is crucial to investigate the control of shoulder girdles during pushing tasks. The objective of the study was to demonstrate scapular muscle activities and motions on the dominant side during pushing tasks and the relationship between scapular kinematics and muscle activities in different pushing conditions. Thirty healthy adults were recruited to push a four-wheel cart in six pushing conditions. The electromyographic signals of the upper trapezius (UT) and serratus anterior (SA) muscles were recorded. A video-based system was used for measuring the movement of the shoulder girdle and scapular kinematics. Differences in scapular kinematics and muscle activities due to the effects of handle heights and weights of the cart were analyzed using two-way ANOVA with repeated measures. The relationships between scapular kinematics and muscle activities were examined by Pearson's correlation coefficients. The changes in upper trapezius and serratus anterior muscle activities increased significantly with increased pushing weights in the one-step pushing phase. The UT/SA ratio on the dominant side decreases significantly with increased handle heights in the one-step pushing phase. The changes in upward rotation, lateral slide and elevation of the scapula decreased with increased pushing loads in the trunk-forward pushing phase. This study indicated that increased pushing loads result in decreased motions of upward rotation, lateral slide and elevation of the scapula; decreased handle heights result in relatively increased activities of the serratus anterior muscles during pushing tasks.

Analysing the Hydraulic Actuator-based Knee Unit Kinematics and Correlating the Numerical Results and Walking Human Knee Joint Behavior

Directory of Open Access Journals (Sweden)

K. A. Trukhanov

2014-01-01

Full Text Available State-of-the-art machinery development enables people with lost lower limb to continue their previous life despite a loss. International companies dealing with this area pursue a minimization of human behaviour problems because of amputation. Researches to create an optimal design of the artificial knee joint are under way.The work task was to define analytical relationships of changing kinematic parameters of the human walking on the flat surface such as an angle of the knee joint, knee point (moment, definition of reduced knee actuator (A load, as well as to compare obtained results with experimental data.As an A in created design, the article proposes to use a controlled shock absorber based on the hydraulic cylinder.A knee unit is a kinematic two-tier mechanism. One of the mechanism links performs rotational motion, and the other is rotation-translational to provide a rotation of the first one.When studying the hydraulic actuator device dynamics, as a generalized coordinate a coordinate of the piston x (or ρ position is chosen while in the study of link movements an angle β is preferable.Experimental data are obtained for a human with the body weight of 57.6 kg walking on the flat surface to estimate a value of the knee joint angle, speed, acceleration, torque, and capacity in the knee joint and are taken from the published works of foreign authors.A trigonometric approximation was used for fitting the experimental data. The resulting dependence of the reduced load on the stock of A is necessary to perform the synthesis of A. The criterion for linear mechanisms mentioned in the D.N. Popov’s work is advisable to use as a possible criterion for optimization of A.The results obtained are as follows:1. Kinematics linkage mechanism is described using relationships for dependencies of its geometrical parameters, namely a cylinder piston stroke x (or ρ and a links angle β.2. Obtained polynomials of kinematic relationships allow a synthesis of

The brown dwarf kinematics project

Science.gov (United States)

Faherty, Jackie K.

2010-10-01

Brown dwarfs are a recent addition to the plethora of objects studied in Astronomy. With theoretical masses between 13 and 75 MJupiter , they lack sustained stable Hydrogen burning so they never join the stellar main sequence. They have physical properties similar to both planets and low-mass stars so studies of their population inform on both. The distances and kinematics of brown dwarfs provide key statistical constraints on their ages, moving group membership, absolute brightnesses, evolutionary trends, and multiplicity. Yet, until my thesis, fundamental measurements of parallax and proper motion were made for only a relatively small fraction of the known population. To address this deficiency, I initiated the Brown Dwarf Kinematics (BDKP). Over the past four years I have re-imaged the majority of spectroscopically confirmed field brown dwarfs (or ultracool dwarfs---UCDs) and created the largest proper motion catalog for ultracool dwarfs to date. Using new astrometric information I examined population characteristics such as ages calculated from velocity dispersions and correlations between kinematics and colors. Using proper motions, I identified several new wide co-moving companions and investigated binding energy (and hence formation) limitations as well as the frequency of hierarchical companions. Concurrently over the past four years I have been conducting a parallax survey of 84 UCDs including those showing spectral signatures of youth, metal-poor brown dwarfs, and those within 20 pc of the Sun. Using absolute magnitude relations in J,H, and K, I identified overluminous binary candidates and investigated known flux-reversal binaries. Using current evolutionary models, I compared the MK vs J-K color magnitude diagram to model predictions and found that the low-surface gravity dwarfs are significantly red-ward and underluminous of predictions and a handful of late-type T dwarfs may require thicker clouds to account for their scatter.

Quantifying meniscal kinematics in dogs.

Science.gov (United States)

Park, Brian H; Banks, Scott A; Pozzi, Antonio

2017-11-06

The dog has been used extensively as an experimental model to study meniscal treatments such as meniscectomy, meniscal repair, transplantation, and regeneration. However, there is very little information on meniscal kinematics in the dog. This study used MR imaging to quantify in vitro meniscal kinematics in loaded dog knees in four distinct poses: extension, flexion, internal, and external rotation. A new method was used to track the meniscal poses along the convex and posteriorly tilted tibial plateau. Meniscal displacements were large, displacing 13.5 and 13.7 mm posteriorly on average for the lateral and medial menisci during flexion (p = 0.90). The medial anterior horn and lateral posterior horns were the most mobile structures, showing average translations of 15.9 and 15.1 mm, respectively. Canine menisci are highly mobile and exhibit movements that correlate closely with the relative tibiofemoral positions. © 2017 Orthopaedic Research Society. Published by Wiley Periodicals, Inc. J Orthop Res. © 2017 Orthopaedic Research Society. Published by Wiley Periodicals, Inc.

The SLUGGS survey: wide-field stellar kinematics of early-type galaxies

Energy Technology Data Exchange (ETDEWEB)

Arnold, Jacob A. [Department of Astronomy and Astrophysics, University of California, Santa Cruz, CA 95064 (United States); Romanowsky, Aaron J.; Brodie, Jean P.; Woodley, Kristin A. [University of California Observatories, 1156 High Street, Santa Cruz, CA 95064 (United States); Forbes, Duncan A.; Blom, Christina; Kartha, Sreeja S.; Pastorello, Nicola; Pota, Vincenzo; Usher, Christopher [Centre for Astrophysics and Supercomputing, Swinburne University, Hawthorn, VIC 3122 (Australia); Strader, Jay [Department of Physics and Astronomy, Michigan State University, East Lansing, MI 48824 (United States); Spitler, Lee R. [Department of Physics and Astronomy, Faculty of Sciences, Macquarie University, Sydney, NSW 2109 (Australia); Foster, Caroline, E-mail: romanow@ucolick.org [Australian Astronomical Observatory, P.O. Box 915, North Ryde, NSW (Australia)

2014-08-20

We present stellar kinematics of 22 nearby early-type galaxies (ETGs), based on two-dimensional (2D) absorption line stellar spectroscopy out to ∼2-4 R {sub e} (effective radii), as part of the ongoing SLUGGS Survey. The galaxies span a factor of 20 in intrinsic luminosity, as well as a full range of environment and ETG morphology. Our data consist of good velocity resolution (σ{sub inst} ∼ 25 km s{sup –1}) integrated stellar-light spectra extracted from the individual slitlets of custom made Keck/DEIMOS slitmasks. We extract stellar kinematics measurements (V, σ, h {sub 3}, and h {sub 4}) for each galaxy. Combining with literature values from smaller radii, we present 2D spatially resolved maps of the large-scale kinematic structure in each galaxy. We find that the kinematic homogeneity found inside 1 R {sub e} often breaks down at larger radii, where a variety of kinematic behaviors are observed. While central slow rotators remain slowly rotating in their halos, central fast rotators show more diversity, ranging from rapidly increasing to rapidly declining specific angular momentum profiles in the outer regions. There are indications that the outer trends depend on morphological type, raising questions about the proposed unification of the elliptical and lenticular (S0) galaxy families in the ATLAS{sup 3D} survey. Several galaxies in our sample show multiple lines of evidence for distinct disk components embedded in more slowly rotating spheroids, and we suggest a joint photometric-kinematic approach for robust bulge-disk decomposition. Our observational results appear generally consistent with a picture of two-phase (in-situ plus accretion) galaxy formation.

Geometrically constrained kinematic global navigation satellite systems positioning: Implementation and performance

Science.gov (United States)

Asgari, Jamal; Mohammadloo, Tannaz H.; Amiri-Simkooei, Ali Reza

2015-09-01

GNSS kinematic techniques are capable of providing precise coordinates in extremely short observation time-span. These methods usually determine the coordinates of an unknown station with respect to a reference one. To enhance the precision, accuracy, reliability and integrity of the estimated unknown parameters, GNSS kinematic equations are to be augmented by possible constraints. Such constraints could be derived from the geometric relation of the receiver positions in motion. This contribution presents the formulation of the constrained kinematic global navigation satellite systems positioning. Constraints effectively restrict the definition domain of the unknown parameters from the three-dimensional space to a subspace defined by the equation of motion. To test the concept of the constrained kinematic positioning method, the equation of a circle is employed as a constraint. A device capable of moving on a circle was made and the observations from 11 positions on the circle were analyzed. Relative positioning was conducted by considering the center of the circle as the reference station. The equation of the receiver's motion was rewritten in the ECEF coordinates system. A special attention is drawn onto how a constraint is applied to kinematic positioning. Implementing the constraint in the positioning process provides much more precise results compared to the unconstrained case. This has been verified based on the results obtained from the covariance matrix of the estimated parameters and the empirical results using kinematic positioning samples as well. The theoretical standard deviations of the horizontal components are reduced by a factor ranging from 1.24 to 2.64. The improvement on the empirical standard deviation of the horizontal components ranges from 1.08 to 2.2.

A Model of Parallel Kinematics for Machine Calibration

DEFF Research Database (Denmark)

Pedersen, David Bue; Bæk Nielsen, Morten; Kløve Christensen, Simon

2016-01-01

Parallel kinematics have been adopted by more than 25 manufacturers of high-end desktop 3D printers [Wohlers Report (2015), p.118] as well as by research projects such as the WASP project [WASP (2015)], a 12 meter tall linear delta robot for Additive Manufacture of large-scale components for cons......Parallel kinematics have been adopted by more than 25 manufacturers of high-end desktop 3D printers [Wohlers Report (2015), p.118] as well as by research projects such as the WASP project [WASP (2015)], a 12 meter tall linear delta robot for Additive Manufacture of large-scale components...

Kinematic signature of a rotating bar near a resonance

Science.gov (United States)

Weinberg, Martin D.

1994-01-01

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

Quantum deformed magnon kinematics

OpenAIRE

Gómez, César; Hernández Redondo, Rafael

2007-01-01

The dispersion relation for planar N=4 supersymmetric Yang-Mills is identified with the Casimir of a quantum deformed two-dimensional kinematical symmetry, E_q(1,1). The quantum deformed symmetry algebra is generated by the momentum, energy and boost, with deformation parameter q=e^{2\\pi i/\\lambda}. Representing the boost as the infinitesimal generator for translations on the rapidity space leads to an elliptic uniformization with crossing transformations implemented through translations by t...

The gait standard deviation, a single measure of kinematic variability.

Science.gov (United States)

Sangeux, Morgan; Passmore, Elyse; Graham, H Kerr; Tirosh, Oren

2016-05-01

Measurement of gait kinematic variability provides relevant clinical information in certain conditions affecting the neuromotor control of movement. In this article, we present a measure of overall gait kinematic variability, GaitSD, based on combination of waveforms' standard deviation. The waveform standard deviation is the common numerator in established indices of variability such as Kadaba's coefficient of multiple correlation or Winter's waveform coefficient of variation. Gait data were collected on typically developing children aged 6-17 years. Large number of strides was captured for each child, average 45 (SD: 11) for kinematics and 19 (SD: 5) for kinetics. We used a bootstrap procedure to determine the precision of GaitSD as a function of the number of strides processed. We compared the within-subject, stride-to-stride, variability with the, between-subject, variability of the normative pattern. Finally, we investigated the correlation between age and gait kinematic, kinetic and spatio-temporal variability. In typically developing children, the relative precision of GaitSD was 10% as soon as 6 strides were captured. As a comparison, spatio-temporal parameters required 30 strides to reach the same relative precision. The ratio stride-to-stride divided by normative pattern variability was smaller in kinematic variables (the smallest for pelvic tilt, 28%) than in kinetic and spatio-temporal variables (the largest for normalised stride length, 95%). GaitSD had a strong, negative correlation with age. We show that gait consistency may stabilise only at, or after, skeletal maturity. Copyright © 2016 Elsevier B.V. All rights reserved.

Kinematic trajectories while walking within the Lokomat robotic gait-orthosis.

Science.gov (United States)

Hidler, Joseph; Wisman, Wessel; Neckel, Nathan

2008-12-01

Background One of the most popular robot assisted rehabilitation devices used is the Lokomat. Unfortunately, not much is known about the behaviors exhibited by subjects in this device. The goal of this study was to evaluate the kinematic patterns of individuals walking inside the Lokomat compared to those demonstrated on a treadmill. Methods Six healthy subjects walked on a treadmill and inside the Lokomat while the motions of the subject and Lokomat were tracked. Joint angles and linear motion were determined for Lokomat and treadmill walking. We also evaluated the variability of the patterns, and the repeatability of measuring techniques. Findings The overall kinematics in the Lokomat are similar to those on a treadmill, however there was significantly more hip and ankle extension, and greater hip and ankle range of motion in the Lokomat (P<0.05). Additionally, the linear movement of joints was reduced in the Lokomat. Subjects tested on repeated sessions presented consistent kinematics, demonstrating the ability to consistently setup and test subjects. Interpretation The reduced degrees of freedom in the Lokomat are believed to be the reason for the specific kinematic differences. We found that despite being firmly attached to the device there was still subject movement relative to the Lokomat. This led to variability in the patterns, where subjects altered their gait pattern from step to step. These results are clinically important as a variable step pattern has been shown to be a more effective gait training strategy than one which forces the same kinematic pattern in successive steps.

Finite-correlation-time effects in the kinematic dynamo problem

International Nuclear Information System (INIS)

Schekochihin, Alexander A.; Kulsrud, Russell M.

2001-01-01

Most of the theoretical results on the kinematic amplification of small-scale magnetic fluctuations by turbulence have been confined to the model of white-noise-like (δ-correlated in time) advecting turbulent velocity field. In this work, the statistics of the passive magnetic field in the diffusion-free regime are considered for the case when the advecting flow is finite-time correlated. A new method is developed that allows one to systematically construct the correlation-time expansion for statistical characteristics of the field such as its probability density function or the complete set of its moments. The expansion is valid provided the velocity correlation time is smaller than the characteristic growth time of the magnetic fluctuations. This expansion is carried out up to first order in the general case of a d-dimensional arbitrarily compressible advecting flow. The growth rates for all moments of the magnetic-field strength are derived. The effect of the first-order corrections due to the finite correlation time is to reduce these growth rates. It is shown that introducing a finite correlation time leads to the loss of the small-scale statistical universality, which was present in the limit of the δ-correlated velocity field. Namely, the shape of the velocity time-correlation profile and the large-scale spatial structure of the flow become important. The latter is a new effect, that implies, in particular, that the approximation of a locally-linear shear flow does not fully capture the effect of nonvanishing correlation time. Physical applications of this theory include the small-scale kinematic dynamo in the interstellar medium and protogalactic plasmas

A general approach for optimal kinematic design of 6-DOF parallel ...

Indian Academy of Sciences (India)

Optimal kinematic design of parallel manipulators is a challenging problem. In this work, an attempt has been made to present a generalized approach of kinematic design for a 6-legged parallel manipulator, by considering only the minimally required design parameters. The same approach has been used to design a ...

Studying the Kinematic Behavior of Coronal Mass Ejections and Other Solar Phenomena using the Time-Convolution Mapping Method

Science.gov (United States)

Hess Webber, Shea A.; Thompson, Barbara J.; Kwon, Ryun Young; Ireland, Jack

2018-01-01

An improved understanding of the kinematic properties of CMEs and CME-associated phenomena has several impacts: 1) a less ambiguous method of mapping propagating structures into their inner coronal manifestations, 2) a clearer view of the relationship between the “main” CME and CME-associated brightenings, and 3) an improved identification of the heliospheric sources of shocks, Type II bursts, and SEPs. We present the results of a mapping technique that facilitates the separation of CMEs and CME-associated brightenings (such as shocks) from background corona. The Time Convolution Mapping Method (TCMM) segments coronagraph data to identify the time history of coronal evolution, the advantage being that the spatiotemporal evolution profiles allow users to separate features with different propagation characteristics. For example, separating “main” CME mass from CME-associated brightenings or shocks is a well-known obstacle, which the TCMM aids in differentiating. A TCMM CME map is made by first recording the maximum value each individual pixel in the image reaches during the traversal of the CME. Then the maximum value is convolved with an index to indicate the time that the pixel reached that value. The TCMM user is then able to identify continuous “kinematic profiles,” indicating related kinematic behavior, and also identify breaks in the profiles that indicate a discontinuity in kinematic history (i.e. different structures or different propagation characteristics). The maps obtained from multiple spacecraft viewpoints (i.e., STEREO and SOHO) can then be fit with advanced structural models to obtain the 3D properties of the evolving phenomena. We will also comment on the TCMM's further applicability toward the tracking of prominences, coronal hole boundaries and coronal cavities.

Variability of dynamic source parameters inferred from kinematic models of past earthquakes

KAUST Repository

Causse, M.

2013-12-24

We analyse the scaling and distribution of average dynamic source properties (fracture energy, static, dynamic and apparent stress drops) using 31 kinematic inversion models from 21 crustal earthquakes. Shear-stress histories are computed by solving the elastodynamic equations while imposing the slip velocity of a kinematic source model as a boundary condition on the fault plane. This is achieved using a 3-D finite difference method in which the rupture kinematics are modelled with the staggered-grid-split-node fault representation method of Dalguer & Day. Dynamic parameters are then estimated from the calculated stress-slip curves and averaged over the fault plane. Our results indicate that fracture energy, static, dynamic and apparent stress drops tend to increase with magnitude. The epistemic uncertainty due to uncertainties in kinematic inversions remains small (ϕ ∼ 0.1 in log10 units), showing that kinematic source models provide robust information to analyse the distribution of average dynamic source parameters. The proposed scaling relations may be useful to constrain friction law parameters in spontaneous dynamic rupture calculations for earthquake source studies, and physics-based near-source ground-motion prediction for seismic hazard and risk mitigation.

Dynamic characteristics of mirrors' kinematic mount

International Nuclear Information System (INIS)

Wu Wenkai; Du Qiang; Li Jingze; Chen Gang; Chen Xiaojuan; Xu Yuanli

2002-01-01

Applying exact constrain design principles, kinematic mount for precision positioning large aperture mirrors is designed; theoretical method is introduced to analyze its dynamic characteristics and the result of the experiment for mirrors, stability; accordingly, the methods to improve design are put forward

Online Kinematic and Dynamic-State Estimation for Constrained Multibody Systems Based on IMUs

Directory of Open Access Journals (Sweden)

José Luis Torres-Moreno

2016-03-01

Full Text Available This article addresses the problems of online estimations of kinematic and dynamic states of a mechanism from a sequence of noisy measurements. In particular, we focus on a planar four-bar linkage equipped with inertial measurement units (IMUs. Firstly, we describe how the position, velocity, and acceleration of all parts of the mechanism can be derived from IMU signals by means of multibody kinematics. Next, we propose the novel idea of integrating the generic multibody dynamic equations into two variants of Kalman filtering, i.e., the extended Kalman filter (EKF and the unscented Kalman filter (UKF, in a way that enables us to handle closed-loop, constrained mechanisms, whose state space variables are not independent and would normally prevent the direct use of such estimators. The proposal in this work is to apply those estimators over the manifolds of allowed positions and velocities, by means of estimating a subset of independent coordinates only. The proposed techniques are experimentally validated on a testbed equipped with encoders as a means of establishing the ground-truth. Estimators are run online in real-time, a feature not matched by any previous procedure of those reported in the literature on multibody dynamics.

Exploring the impact of constraints in quantum optimal control through a kinematic formulation

International Nuclear Information System (INIS)

Donovan, Ashley; Beltrani, Vincent; Rabitz, Herschel

2013-01-01

Highlights: • This work lays a foundation for studying constraints in quantum control simulations. • The underlying quantum control landscape in the presence of constraints is explored. • Constrained controls can encounter suboptimal traps in the landscape. • The controls are kinematic stand-ins for dynamic time-dependent controls. • A method is developed to transfer between constrained kinematic and dynamic controls. - Abstract: The control of quantum dynamics with tailored laser fields is finding growing experimental success. In practice, experiments will be subject to constraints on the controls that may prevent full optimization of the objective. A framework is presented for systematically investigating the impact of constraints in quantum optimal control simulations using a two-stage process starting with simple time-independent kinematic controls, which act as stand-ins for the traditional dynamic controls. The objective is a state-to-state transition probability, and constraints are introduced by restricting the kinematic control variables during optimization. As a second stage, the means to map from kinematic to dynamic controls is presented, thus enabling a simplified overall procedure for exploring how limited resources affect the ability to optimize the objective. A demonstration of the impact of imposing several types of kinematic constraints is investigated, thereby offering insight into constrained quantum controls

3-D subduction dynamics in the western Pacific: Mantle pressure, plate kinematics, and dynamic topography.

Science.gov (United States)

Holt, A. F.; Royden, L.; Becker, T. W.; Faccenna, C.

2017-12-01

While it is well established that the slab pull of negatively buoyant oceanic plates is the primary driving force of plate tectonics, the dynamic "details" of subduction have proved difficult to pin down. We use the Philippine Sea Plate region of the western Pacific as a site to explore links between kinematic observables (e.g. topography and plate motions) and the dynamics of the subduction system (e.g. mantle flow, mantle pressure). To first order, the Philippine Sea Plate can be considered to be the central plate of a double slab system containing two slabs that dip in the same direction, to the west. This subduction configuration presents the opportunity to explore subduction dynamics in a setting where two closely spaced slabs interact via subduction-induced mantle flow and stresses transmitted through the intervening plate. We use a 3-D numerical approach (e.g. Holt et al., 2017), augmented by semi-analytical models (e.g. Jagoutz et al., 2017), to develop relationships between dynamic processes and kinematic properties, including plate velocities, lithospheric stress state, slab dip angles, and topography. When combined with subduction zone observables, this allows us to isolate the first order dynamic processes that are in operation in the Philippine Sea Plate region. Our results suggest that positive pressure build-up occurs in the asthenosphere between the two slabs (Izu-Bonin-Mariana and Ryukyu-Nankai), and that this is responsible for producing much of the observed kinematic variability in the region, including the steep dip of the Pacific slab at the Izu-Bonin-Mariana trench, as compared to the flat dip of the Pacific slab north of Japan. We then extend our understanding of the role of asthenospheric pressure to examine the forces responsible for the plate kinematics and dynamic topography of the entire Western Pacific subduction margin(s). References:Holt, A. F., Royden, L. H., Becker, T. W., 2017. Geophys. J. Int., 209, 250-265Jagoutz, O., Royden, L

Knee Kinematic Improvement After Total Knee Replacement Using a Simplified Quantitative Gait Analysis Method

Directory of Open Access Journals (Sweden)

Hassan Sarailoo

2013-10-01

Full Text Available Objectives: The aim of this study was to extract suitable spatiotemporal and kinematic parameters to determine how Total Knee Replacement (TKR alters patients’ knee kinematics during gait, using a rapid and simplified quantitative two-dimensional gait analysis procedure. Methods: Two-dimensional kinematic gait pattern of 10 participants were collected before and after the TKR surgery, using a 60 Hz camcorder in sagittal plane. Then, the kinematic parameters were extracted using the gait data. A student t-test was used to compare the group-average of spatiotemporal and peak kinematic characteristics in the sagittal plane. The knee condition was also evaluated using the Oxford Knee Score (OKS Questionnaire to ensure thateach subject was placed in the right group. Results: The results showed a significant improvement in knee flexion during stance and swing phases after TKR surgery. The walking speed was increased as a result of stride length and cadence improvement, but this increment was not statistically significant. Both post-TKR and control groups showed an increment in spatiotemporal and peak kinematic characteristics between comfortable and fast walking speeds. Discussion: The objective kinematic parameters extracted from 2D gait data were able to show significant improvements of the knee joint after TKR surgery. The patients with TKR surgery were also able to improve their knee kinematics during fast walking speed equal to the control group. These results provide a good insight into the capabilities of the presented method to evaluate knee functionality before and after TKR surgery and to define a more effective rehabilitation program.

Analysis and optimization of kinematic pair force in control rod drive mechanism

International Nuclear Information System (INIS)

Sun Zhenguo; Liu Sen; Ran Xiaobing; Dai Changnian; Li Yuezhong

2015-01-01

Function expressions of kinematic pair force with latch dimensions, friction coefficient, link angle and external load was obtained by theoretical analysis, and the expression was verified by the motion analysis software. Key parameters of kinematic pair were confirmed, and their effect trends with force of parts were obtained. They show that the available method of kinematic pair optimization is increasing the space of latch holes. Using the motion analysis software, the forces of parts before and after optimization was compared. The result shows that the forces of parts were improved after the optimization. (authors)

Inverse kinematics algorithm for a six-link manipulator using a polynomial expression

International Nuclear Information System (INIS)

Sasaki, Shinobu

1987-01-01

This report is concerned with the forward and inverse kinematics problem relevant to a six-link robot manipulator. In order to derive the kinematic relationships between links, the vector rotation operator was applied instead of the conventional homogeneous transformation. The exact algorithm for solving the inverse problem was obtained by transforming kinematics equations into a polynomial. As shown in test calculations, the accuracies of numerical solutions obtained by means of the present approach are found to be quite high. The algorithm proposed permits to find out all feasible solutions for the given inverse problem. (author)

Three-dimensional spin-3 theories based on general kinematical algebras

Energy Technology Data Exchange (ETDEWEB)

Bergshoeff, Eric [Van Swinderen Institute for Particle Physics and Gravity, University of Groningen,Nijenborgh 4, 9747 AG Groningen (Netherlands); Grumiller, Daniel; Prohazka, Stefan [Institute for Theoretical Physics, TU Wien,Wiedner Hauptstrasse 8-10/136, A-1040 Vienna (Austria); Rosseel, Jan [Albert Einstein Center for Fundamental Physics, University of Bern,Sidlerstrasse 5, 3012 Bern (Switzerland); Faculty of Physics, University of Vienna,Boltzmanngasse 5, A-1090 Vienna (Austria)

2017-01-25

We initiate the study of non- and ultra-relativistic higher spin theories. For sake of simplicity we focus on the spin-3 case in three dimensions. We classify all kinematical algebras that can be obtained by all possible Inönü-Wigner contraction procedures of the kinematical algebra of spin-3 theory in three dimensional (anti-) de Sitter space-time. We demonstrate how to construct associated actions of Chern-Simons type, directly in the ultra-relativistic case and by suitable algebraic extensions in the non-relativistic case. We show how to give these kinematical algebras an infinite-dimensional lift by imposing suitable boundary conditions in a theory we call “Carroll Gravity”, whose asymptotic symmetry algebra turns out to be an infinite-dimensional extension of the Carroll algebra.

Amount of kinematic feedback affects learning of speech motor skills.

Science.gov (United States)

Ballard, Kirrie J; Smith, Heather D; Paramatmuni, Divija; McCabe, Patricia; Theodoros, Deborah G; Murdoch, Bruce E

2012-01-01

Knowledge of Performance (KP) feedback, such as biofeedback or kinematic feedback, is used to provide information on the nature and quality of movement responses for the purpose of guiding active learning or rehabilitation of motor skills. It has been proposed that KP feedback may interfere with long-term learning when provided throughout training. Here, twelve healthy English-speaking adults were trained to produce a trilled Russian [r] in words with KP kinematic feedback using electropalatography (EPG) and without KP (noKP). Five one-hour training sessions were provided over one week with testing pretraining and one day and one week posttraining. No group differences were found at pretraining or one day post training for production accuracy. A group by time interaction supported the hypothesis that providing kinematic feedback continually during skill acquisition interferes with retention.

Inverse Kinematics for Industrial Robots using Conformal Geometric Algebra

Directory of Open Access Journals (Sweden)

Adam L. Kleppe

2016-01-01

Full Text Available This paper shows how the recently developed formulation of conformal geometric algebra can be used for analytic inverse kinematics of two six-link industrial manipulators with revolute joints. The paper demonstrates that the solution of the inverse kinematics in this framework relies on the intersection of geometric objects like lines, circles, planes and spheres, which provides the developer with valuable geometric intuition about the problem. It is believed that this will be very useful for new robot geometries and other mechanisms like cranes and topside drilling equipment. The paper extends previous results on inverse kinematics using conformal geometric algebra by providing consistent solutions for the joint angles for the different configurations depending on shoulder left or right, elbow up or down, and wrist flipped or not. Moreover, it is shown how to relate the solution to the Denavit-Hartenberg parameters of the robot. The solutions have been successfully implemented and tested extensively over the whole workspace of the manipulators.

Kinematic analysis of parallel manipulators by algebraic screw theory

CERN Document Server

Gallardo-Alvarado, Jaime

2016-01-01

This book reviews the fundamentals of screw theory concerned with velocity analysis of rigid-bodies, confirmed with detailed and explicit proofs. The author additionally investigates acceleration, jerk, and hyper-jerk analyses of rigid-bodies following the trend of the velocity analysis. With the material provided in this book, readers can extend the theory of screws into the kinematics of optional order of rigid-bodies. Illustrative examples and exercises to reinforce learning are provided. Of particular note, the kinematics of emblematic parallel manipulators, such as the Delta robot as well as the original Gough and Stewart platforms are revisited applying, in addition to the theory of screws, new methods devoted to simplify the corresponding forward-displacement analysis, a challenging task for most parallel manipulators. Stands as the only book devoted to the acceleration, jerk and hyper-jerk (snap) analyses of rigid-body by means of screw theory; Provides new strategies to simplify the forward kinematic...

KIN-Nav navigation system for kinematic assessment in anterior cruciate ligament reconstruction: features, use, and perspectives.

Science.gov (United States)

Martelli, S; Zaffagnini, S; Bignozzi, S; Lopomo, N F; Iacono, F; Marcacci, M

2007-10-01

In this paper a new navigation system, KIN-Nav, developed for research and used during 80 anterior cruciate ligament (ACL) reconstructions is described. KIN-Nav is a user-friendly navigation system for flexible intraoperative acquisitions of anatomical and kinematic data, suitable for validation of biomechanical hypotheses. It performs real-time quantitative evaluation of antero-posterior, internal-external, and varus-valgus knee laxity at any degree of flexion and provides a new interface for this task, suitable also for comparison of pre-operative and post-operative knee laxity and surgical documentation. In this paper the concept and features of KIN-Nav, which represents a new approach to navigation and allows the investigation of new quantitative measurements in ACL reconstruction, are described. Two clinical studies are reported, as examples of clinical potentiality and correct use of this methodology. In this paper a preliminary analysis of KIN-Nav's reliability and clinical efficacy, performed during blinded repeated measures by three independent examiners, is also given. This analysis is the first assessment of the potential of navigation systems for evaluating knee kinematics.

Kinematic control of walking.

Science.gov (United States)

Lacquaniti, F; Ivanenko, Y P; Zago, M

2002-10-01

The planar law of inter-segmental co-ordination we described may emerge from the coupling of neural oscillators between each other and with limb mechanical oscillators. Muscle contraction intervenes at variable times to re-excite the intrinsic oscillations of the system when energy is lost. The hypothesis that a law of coordinative control results from a minimal active tuning of the passive inertial and viscoelastic coupling among limb segments is congruent with the idea that movement has evolved according to minimum energy criteria (1, 8). It is known that multi-segment motion of mammals locomotion is controlled by a network of coupled oscillators (CPGs, see 18, 33, 37). Flexible combination of unit oscillators gives rise to different forms of locomotion. Inter-oscillator coupling can be modified by changing the synaptic strength (or polarity) of the relative spinal connections. As a result, unit oscillators can be coupled in phase, out of phase, or with a variable phase, giving rise to different behaviors, such as speed increments or reversal of gait direction (from forward to backward). Supra-spinal centers may drive or modulate functional sets of coordinating interneurons to generate different walking modes (or gaits). Although it is often assumed that CPGs control patterns of muscle activity, an equally plausible hypothesis is that they control patterns of limb segment motion instead (22). According to this kinematic view, each unit oscillator would directly control a limb segment, alternately generating forward and backward oscillations of the segment. Inter-segmental coordination would be achieved by coupling unit oscillators with a variable phase. Inter-segmental kinematic phase plays the role of global control variable previously postulated for the network of central oscillators. In fact, inter-segmental phase shifts systematically with increasing speed both in man (4) and cat (38). Because this phase-shift is correlated with the net mechanical power

SDSS-IV MaNGA: properties of galaxies with kinematically decoupled stellar and gaseous components

Science.gov (United States)

Jin, Yifei; Chen, Yanmei; Shi, Yong; Tremonti, C. A.; Bershady, M. A.; Merrifield, M.; Emsellem, E.; Fu, Hai; Wake, D.; Bundy, K.; Lin, Lihwai; Argudo-Fernandez, M.; Huang, Song; Stark, D. V.; Storchi-Bergmann, T.; Bizyaev, D.; Brownstein, J.; Chisholm, J.; Guo, Qi; Hao, Lei; Hu, Jian; Li, Cheng; Li, Ran; Masters, K. L.; Malanushenko, E.; Pan, Kaike; Riffel, R. A.; Roman-Lopes, A.; Simmons, A.; Thomas, D.; Wang, Lan; Westfall, K.; Yan, Renbin

2016-11-01

We study the properties of 66 galaxies with kinematically misaligned gas and stars from MaNGA survey. The fraction of kinematically misaligned galaxies varies with galaxy physical parameters, I.e. M*, SFR and sSFR. According to their sSFR, we further classify these 66 galaxies into three categories, 10 star-forming, 26 `Green Valley' and 30 quiescent ones. The properties of different types of kinematically misaligned galaxies are different in that the star-forming ones have positive gradient in Dn4000 and higher gas-phase metallicity, while the green valley/quiescent ones have negative Dn4000 gradients and lower gas-phase metallicity on average. There is evidence that all types of the kinematically misaligned galaxies tend to live in more isolated environment. Based on all these observational results, we propose a scenario for the formation of star-forming galaxies with kinematically misaligned gas and stars - the progenitor accretes misaligned gas from a gas-rich dwarf or cosmic web, the cancellation of angular momentum from gas-gas collisions between the pre-existing gas and the accreted gas largely accelerates gas inflow, leading to fast centrally concentrated star formation. The higher metallicity is due to enrichment from this star formation. For the kinematically misaligned green valley and quiescent galaxies, they might be formed through gas-poor progenitors accreting kinematically misaligned gas from satellites which are smaller in mass.

Effect of trapezius muscle strength on three-dimensional scapular kinematics

OpenAIRE

Turgut, Elif; Duzgun, Irem; Baltaci, Gul

2016-01-01

[Purpose] This study aimed to investigate the effect of trapezius muscle isometric strength on three-dimensional scapular kinematics in asymptomatic shoulders. [Subjects and Methods] Thirty asymptomatic subjects were included to the study. Isometric strengths of the upper, middle, and lower trapezius muscle were measured using a handheld dynamometer. Three-dimensional scapular kinematics was recorded by an electromagnetic tracking device during frontal and sagittal plane elevation. For each m...

Input relegation control for gross motion of a kinematically redundant manipulator

Energy Technology Data Exchange (ETDEWEB)

Unseren, M.A.

1992-10-01

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

A Neural Network Approach for Inverse Kinematic of a SCARA Manipulator

Directory of Open Access Journals (Sweden)

Panchanand Jha

2014-07-01

Full Text Available Inverse kinematic is one of the most interesting problems of industrial robot. The inverse kinematics problem in robotics is about the determination of joint angles for a desired Cartesian position of the end effector. It comprises of the computation need to find the joint angles for a given Cartesian position and orientation of the end effectors to control a robot arm. There is no unique solution for the inverse kinematics thus necessitating application of appropriate predictive models from the soft computing domain. Artificial neural network is one such technique which can be gainfully used to yield the acceptable results. This paper proposes a structured artificial neural network (ANN model to find the inverse kinematics solution of a 4-dof SCARA manipulator. The ANN model used is a multi-layered perceptron neural network (MLPNN, wherein gradient descent type of learning rules is applied. An attempt has been made to find the best ANN configuration for the problem. It is found that multi-layered perceptron neural network gives minimum mean square error.

Pa2 kinematic bond in translational parallel manipulators

Directory of Open Access Journals (Sweden)

A. Hernández

2018-01-01

Full Text Available The Pa2 pair is composed of two intertwined articulated parallelograms connecting in parallel two links of a kinematic chain. This pair has two translational degrees of freedom leading to a translational plane variable with the position. Currently, the Pa2 pair appears in conceptual designs presented in recent papers. However, its practical application is very limited. One of the reasons for this can be the high number of redundant constraints it has. But, it has to be considered that most of them can be eliminated by replacing wisely the revolute joints by spherical joints. On the other side, the structure of the Pa2 pair contributes to increase the global stiffness of the kinematic chain in which it is mounted. Also, its implementation is a promising alternative to the problematic passive prismatic joints. In this paper, the Pa2 pairs are used in the design of a 3 − P Pa2 parallel manipulator. The potentiality of this design is evaluated and proven after doing the following analyses: direct and inverse kinematics, singularity study, and workspace computation and assessment.

Forward kinematics solutions of a special six-degree-of-freedom parallel manipulator with three limbs

Directory of Open Access Journals (Sweden)

Jianxun Fu

2015-05-01

Full Text Available This article presents a special 6-degree-of freedom parallel manipulator, and the mechanical structure of this robot has been introduced; with this structure, the kinematic constrain equations are decoupled. Based on this character, the polynomial solutions of the forward kinematics problem are also presented. In this method, the closed-loop kinematic chain of the manipulator is divided into two parts, the solution forward position kinematics is obtained by a first-degree polynomial equation first, and then an eighth-degree polynomial equation in a single variable for the forward orientation kinematics is obtained. Based on those solutions, the configurations of the robot, including position and orientation of the end-effector, are graphically displayed. A numerical simulation is given to verify the algorithm, and the result implies that for a given set of input values, the manipulator can be assembled in eight different configurations at most. And a set of experiments illustrate the motion ability for forward kinematics of the prototype of this manipulator.

The spallation in reverse kinematics: what for a coincidence measurement?

International Nuclear Information System (INIS)

Ducret, J.E.

2006-07-01

The Spaladin installation has been designed to study spallation reactions in reverse kinematics. Furthermore, the heavy and light fragments are detected by coincidence which allows us to get an instantaneous picture of the reaction at a level of accuracy better than that obtained through inclusive measurement. The first part is dedicated to the theoretical description of the different mechanisms involved in the spallation reactions. In the second part we describe the Spaladin installation and report some results on the reaction: Fe 56 + p at an energy of 1 GeV/nucleon. In the third part we expose the performance of the installation through its simulation with the Geant-IV model. We present a study about the sensitivity of the Spaladin installation to theoretical predictions. The fourth part is dedicated to the future experiments that will be performed with the Spaladin installation. (A.C.)

Quantifying kinematic differences between land and water during squats, split squats, and single-leg squats in a healthy population.

Science.gov (United States)

Severin, Anna C; Burkett, Brendan J; McKean, Mark R; Wiegand, Aaron N; Sayers, Mark G L

2017-01-01

Aquatic exercises can be used in clinical and sporting disciplines for both rehabilitation and sports training. However, there is limited knowledge on the influence of water immersion on the kinematics of exercises commonly used in rehabilitation and fitness programs. The aim of this study was to use inertial sensors to quantify differences in kinematics and movement variability of bodyweight squats, split squats, and single-leg squats performed on dry land and whilst immersed to the level of the greater trochanter. During two separate testing sessions, 25 active healthy university students (22.3±2.9 yr.) performed ten repetitions of each exercise, whilst tri-axial inertial sensors (100 Hz) recorded their trunk and lower body kinematics. Repeated-measures statistics tested for differences in segment orientation and speed, movement variability, and waveform patterns between environments, while coefficient of variance was used to assess differences in movement variability. Between-environment differences in segment orientation and speed were portrayed by plotting the mean difference ±95% confidence intervals (CI) throughout the tasks. The results showed that the depth of the squat and split squat were unaffected by the changed environment while water immersion allowed for a deeper single leg squat. The different environments had significant effects on the sagittal plane orientations and speeds for all segments. Water immersion increased the degree of movement variability of the segments in all exercises, except for the shank in the frontal plane, which showed more variability on land. Without compromising movement depth, the aquatic environment induces more upright trunk and shank postures during squats and split squats. The aquatic environment allows for increased squat depth during the single-leg squat, and increased shank motions in the frontal plane. Our observations therefore support the use of water-based squat tasks for rehabilitation as they appear to

Quantifying kinematic differences between land and water during squats, split squats, and single-leg squats in a healthy population.

Directory of Open Access Journals (Sweden)

Anna C Severin

Full Text Available Aquatic exercises can be used in clinical and sporting disciplines for both rehabilitation and sports training. However, there is limited knowledge on the influence of water immersion on the kinematics of exercises commonly used in rehabilitation and fitness programs. The aim of this study was to use inertial sensors to quantify differences in kinematics and movement variability of bodyweight squats, split squats, and single-leg squats performed on dry land and whilst immersed to the level of the greater trochanter. During two separate testing sessions, 25 active healthy university students (22.3±2.9 yr. performed ten repetitions of each exercise, whilst tri-axial inertial sensors (100 Hz recorded their trunk and lower body kinematics. Repeated-measures statistics tested for differences in segment orientation and speed, movement variability, and waveform patterns between environments, while coefficient of variance was used to assess differences in movement variability. Between-environment differences in segment orientation and speed were portrayed by plotting the mean difference ±95% confidence intervals (CI throughout the tasks. The results showed that the depth of the squat and split squat were unaffected by the changed environment while water immersion allowed for a deeper single leg squat. The different environments had significant effects on the sagittal plane orientations and speeds for all segments. Water immersion increased the degree of movement variability of the segments in all exercises, except for the shank in the frontal plane, which showed more variability on land. Without compromising movement depth, the aquatic environment induces more upright trunk and shank postures during squats and split squats. The aquatic environment allows for increased squat depth during the single-leg squat, and increased shank motions in the frontal plane. Our observations therefore support the use of water-based squat tasks for rehabilitation as

Wide-field kinematic structure of early-type galaxy halos

Science.gov (United States)

Arnold, Jacob Antony

2013-12-01

The stellar halos of nearby galaxies bare the signatures of the mass-assembly processes that have driven galaxy evolution over the last ˜10 Gyr. Finding and interpreting these relict clues in galaxies within and beyond the local group offers one of the most promising avenues for understanding how galaxies accumulate their stars over time. To tackle this problem we have performed a systematic study of the wide-field kinematic structure of nearby (Dspectroscopy out to several effective radii (˜3 R e). The 22 galaxies presented here span a range of environments (field, group, and cluster), intrinsic luminosities (-22.4 infrared Calcium II triplet. For each spectrum, we parameterize the line-of-sight velocity distribution (LOSVD) as a truncated Gauss-Hermite series convolved with an optimally weighted combination of stellar templates. These kinematic measurements (V, sigma, h3, and h4) are combined with literature values to construct spatially resolved maps of large-scale kinematic structure. A variety of kinematic behaviors are observed beyond ~1 Re, potentially reflecting the stochastic and chaotic assembly of stellar bulges and halos in early-type galaxies. Next, we describe a global analysis (out to 5 Re) of kinematics and metallicity in the nearest S0 galaxy, NGC 3115, along with implications for its assembly history. The data include high-quality wide-field imaging and multi-slit spectra of the field stars and globular clusters (GCs). Within two effective radii, the bulge (as traced by the stars and metal-rich GCs) is flattened and rotates rapidly. At larger radii, the rotation declines dramatically, while the characteristic GC metallicities also decrease with radius. We argue that this pattern is not naturally explained by a binary major merger, but instead by a two-phase assembly process where the inner regions have formed in an early violent, dissipative phase, followed by the protracted growth of the outer parts via minor mergers. To test this hypothesis

Jefferson Lab E89-044 experiment: study of the quasi-elastic He3(e,e'p)d reaction in parallel kinematics

International Nuclear Information System (INIS)

Penel-Nottaris, E.

2004-07-01

The Jefferson Lab Hall A E89-044 experiment has measured the He 3 (e,e'p) reaction cross-sections. The extraction of the longitudinal and transverse response functions for the two-body break-up He 3 (e,e'p)d reaction in parallel kinematics allows the study of the bound proton electromagnetic properties inside the He 3 nucleus and the involved nuclear mechanisms beyond plane waves approximations, for missing momenta of 0 and +- 300 MeV/c and transferred momenta from 0.8 to 4.1 GeV 2 . Preliminary cross-sections have been obtained after calibration of the experimental setup by fitting theoretical models averaged over the experimental phase-space using a Monte-Carlo simulation. The 8% systematic error on cross-sections is linked mainly to the absolute normalization of the target density: the elastic scattering data analysis will allow to reduce this error. The preliminary results show some disagreement with theoretical predictions for the forward angles kinematics around 0 MeV/c missing momenta and sensitivity to final state interactions and He 3 waves functions for missing momenta of 300 MeV/c. The longitudinal and transverse separation should constraint theoretical models more strongly. (author)

PERFORMANCE AND KINEMATICS OF VARIOUS THROWING TECHNIQUES IN TEAM-HANDBALL

Directory of Open Access Journals (Sweden)

Herbert Wagner

2011-03-01

Full Text Available In team-handball competition, the players utilize various throwing techniques that differ in the lower body movements (with and without run-up or jump. These different lower body movements influence changes in the upper body movements and thus also affect the performance. A comprehensive analysis of 3D-kinematics of team-handball throws that may explain these differences in performance is lacking. Consequently, the purpose of this study was (1 to compare performance (ball velocity and throwing accuracy between the jump throw, standing throw with and without run-up, and the pivot throw; (2 to calculate the influence of kinematic parameters to ball velocity; and (3 to determine if these four throwing techniques differ significantly in kinematics. Three-dimensional kinematic data (angles, angular velocities and their timing, ball velocity and velocity of the center of mass of 14 elite team-handball players were measured using an 8 camera Vicon MX13 motion capture system (Vicon, Oxford, UK, at 250 Hz. Significant difference was found between the four throwing techniques for ball velocity (p < 0. 001, maximal velocity of the center of mass in goal-directed movement (p < 0.001, and 15 additional kinematic variables (p < 0.003. Ball velocity was significant impacted by the run-up and the pelvis and trunk movements. Depending on floor contact (standing vs. jump throws, elite players in the study used two different strategies (lead leg braces the body vs. opposed leg movements during flight to accelerate the pelvis and trunk to yield differences in ball velocity. However, these players were able to utilize the throwing arm similarly in all four throwing techniques.

Kinematic Mechanisms of How Power Training Improves Healthy Old Adults' Gait Velocity.

Science.gov (United States)

Beijersbergen, Chantal M I; Granacher, Urs; Gäbler, Martijn; Devita, Paul; Hortobágyi, Tibor

2017-01-01

Slow gait predicts many adverse clinical outcomes in old adults, but the mechanisms of how power training can minimize the age-related loss of gait velocity is unclear. We examined the effects of 10 wk of lower extremity power training and detraining on healthy old adults' lower extremity muscle power and gait kinematics. As part of the Potsdam Gait Study, participants started with 10 wk of power training followed by 10 wk of detraining (n = 16), and participants started with a 10-wk control period followed by 10 wk of power training (n = 16). We measured gait kinematics (stride characteristic and joint kinematics) and isokinetic power of the ankle plantarflexor (20°·s, 40°·s, and 60°·s) and knee extensor and flexor (60°·s, 120°·s, and 180°·s) muscles at weeks 0, 10, and 20. Power training improved isokinetic muscle power by ~30% (P ≤ 0.001) and fast (5.9%, P kinematics did not correlate with increases in fast gait velocity. The mechanisms that increased fast gait velocity involved higher cadence (r = 0.86, P ≤ 0.001) rather than longer strides (r = 0.49, P = 0.066). Detraining did not reverse the training-induced increases in muscle power and fast gait velocity. Because increases in muscle power and modifications in joint kinematics did not correlate with increases in fast gait velocity, kinematic mechanisms seem to play a minor role in improving healthy old adults' fast gait velocity after power training.

Differences in ball speed and three-dimensional kinematics between male and female handball players during a standing throw with run-up.

Science.gov (United States)

Serrien, Ben; Clijsen, Ron; Blondeel, Jonathan; Goossens, Maggy; Baeyens, Jean-Pierre

2015-01-01

The purpose of this paper was to examine differences in ball release speed and throwing kinematics between male and female team-handball players in a standing throw with run-up. Other research has shown that this throwing type produces the highest ball release speeds and comparing groups with differences in ball release speed can suggest where this difference might come from. If throwing technique differs, perhaps gender-specific coordination- and strength-training guidelines are in order. Measurements of three-dimensional kinematics were performed with a seven-camera VICON motion capture system and subsequent joint angles and angular velocities calculations were executed in Mathcad. Data-analysis with Statistical Parametric Mapping allowed us to examine the entire time-series of every variable without having to reduce the data to certain scalar values such as minima/maxima extracted from the time-series. Statistical Parametric Mapping enabled us to detect several differences in the throwing kinematics (12 out of 20 variables had one or more differences somewhere during the motion). The results indicated two distinct strategies in generating and transferring momentum through the kinematic chain. Male team-handball players showed more activity in the transverse plane (pelvis and trunk rotation and shoulder horizontal abduction) whereas female team-handball players showed more activity in the sagital plane (trunk flexion). Also the arm cocking maneuver was quite different. The observed differences between male and female team handball players in the motions of pelvis, trunk and throwing arm can be important information for coaches to give feedback to athletes. Whether these differences contribute to the observed difference in ball release speed is at the present unclear and more research on the relation with anthropometric profile needs to be done. Kinematic differences might suggest gender-specific training guidelines in team-handball.

A digital database of wrist bone anatomy and carpal kinematics.

Science.gov (United States)

Moore, Douglas C; Crisco, Joseph J; Trafton, Theodore G; Leventhal, Evan L

2007-01-01

The skeletal wrist consists of eight small, intricately shaped carpal bones. The motion of these bones is complex, occurs in three dimensions, and remains incompletely defined. Our previous efforts have been focused on determining the in vivo three-dimensional (3-D) kinematics of the normal and abnormal carpus. In so doing we have developed an extensive database of carpal bone anatomy and kinematics from a large number of healthy subjects. The purpose of this paper is to describe that database and to make it available to other researchers. CT volume images of both wrists from 30 healthy volunteers (15 males and 15 females) were acquired in multiple wrist positions throughout the normal range of wrist motion. The outer cortical surfaces of the carpal bones, radius and ulna, and proximal metacarpals were segmented and the 3-D motion of each bone was calculated for each wrist position. The database was constructed to include high-resolution surface models, measures of bone volume and shape, and the 3-D kinematics of each segmented bone. The database does not include soft tissues of the wrist. While there are numerous digital anatomical databases, this one is unique in that it includes a large number of subjects and it contains in vivo kinematic data as well as the bony anatomy.

Kinematic control of redundant robots and the motion optimizability measure.

Science.gov (United States)

Li, L; Gruver, W A; Zhang, Q; Yang, Z

2001-01-01

This paper treats the kinematic control of manipulators with redundant degrees of freedom. We derive an analytical solution for the inverse kinematics that provides a means for accommodating joint velocity constraints in real time. We define the motion optimizability measure and use it to develop an efficient method for the optimization of joint trajectories subject to multiple criteria. An implementation of the method for a 7-dof experimental redundant robot is present.

THE EFFECTS OF THREE DIFFERENT REAR KNEE ANGLES ON KINEMATICS IN THE SPRINT START

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C. Milanese

2014-08-01

Full Text Available The purpose of this study was to investigate the rear knee angle range in the set position that allows sprinters to reach greater propulsion on the rear block during the sprint start. Eleven university-track team sprinters performed the sprint start using three rear knee angle conditions: 90°, 115° and 135°. A motion capture system consisting of 8 digital cameras (250 Hz was used to record kinematic parameters at the starting block phase and the acceleration phase. The following variables were considered: horizontal velocity of the centre of mass (COM, COM height, block time, pushing time on the rear block, percentage of pushing time on the rear block, force impulse, push-off angle and length of the first two strides. The main results show that first, horizontal block velocity is significantly greater at 90° vs 115° and 135° rear knee angle (p<0.05 and p<0.001 respectively at block clearance and the first two strides; second, during the pushing phase, the percentage of pushing time of the rear leg is significantly greater at 90° vs 135° rear knee angle (p<0.01. No significant difference was found for block time among the conditions. These results indicate that block velocity is the main kinematic parameter affected by rear knee angle during the starting block phase and acceleration phase. Furthermore, the 90° rear knee angle allows for a better push-off of the rear leg than larger angles at the set position. The findings of this study provide some direction and useful practical advice in defining an efficient rear leg biomechanical configuration at the set position.

Ballistic representation for kinematic access

Science.gov (United States)

Alfano, Salvatore

2011-01-01

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

Digital Hardware Realization of Forward and Inverse Kinematics for a Five-Axis Articulated Robot Arm

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Bui Thi Hai Linh

2015-01-01

Full Text Available When robot arm performs a motion control, it needs to calculate a complicated algorithm of forward and inverse kinematics which consumes much CPU time and certainty slows down the motion speed of robot arm. Therefore, to solve this issue, the development of a hardware realization of forward and inverse kinematics for an articulated robot arm is investigated. In this paper, the formulation of the forward and inverse kinematics for a five-axis articulated robot arm is derived firstly. Then, the computations algorithm and its hardware implementation are described. Further, very high speed integrated circuits hardware description language (VHDL is applied to describe the overall hardware behavior of forward and inverse kinematics. Additionally, finite state machine (FSM is applied for reducing the hardware resource usage. Finally, for verifying the correctness of forward and inverse kinematics for the five-axis articulated robot arm, a cosimulation work is constructed by ModelSim and Simulink. The hardware of the forward and inverse kinematics is run by ModelSim and a test bench which generates stimulus to ModelSim and displays the output response is taken in Simulink. Under this design, the forward and inverse kinematics algorithms can be completed within one microsecond.

COMPARISON STUDY OF EXPERIMENTS AND PREDICTIONS OF WAVE KINEMATICS FOR ROGUE WAVE

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Hae Jin Choi

2018-01-01

Full Text Available To investigate the wave kinematics under the rogue wave crest, a series of experiments were performed in 2-D wave tank with the application of PIV technique to measure the velocities under the free surface. Three different prediction methods of linear extrapolation, Wheeler stretching, and modified stretching were applied to estimate water wave kinematics and compared with PIV experimental results under the highest wave crest of irregular wave trains satisfying with rogue wave criteria. Also, the cut-off frequency dependence for three prediction methods was investigated with varying spectral peak frequencies to estimate wave kinematics including velocities and accelerations in horizontal and vertical directions. It was suggested that the cut-off frequency for the reasonable prediction of the wave kinematics under the rogue wave crest could be chosen three times of spectral peak wave frequency for the linear extrapolation and higher frequency than four times of spectral peak wave frequency for Wheeler stretching and modified stretching method.

Compound nucleus studies withy reverse kinematics

International Nuclear Information System (INIS)

Moretto, L.G.

1985-06-01

Reverse kinematics reactions are used to demonstrate the compound nucleus origin of intermediate mass particles at low energies and the extension of the same mechanism at higher energies. No evidence has appeared in our energy range for liquid-vapor equilibrium or cold fragmentation mechanisms. 11 refs., 12 figs

Study of the 6Li + p → 3He + 4He reaction in inverse kinematics

International Nuclear Information System (INIS)

Betsou, C.; Pakou, A.; Aslanoglou, X.; Nicolis, N.G.; Sgouros, O.; Soukeras, V.; Cappuzzello, F.; Acosta, L.; Agodi, C.; Carbone, D.; Cavallaro, M.; Di Pietro, A.; Fernandez-Garcia, J.P.; Figuera, P.; Fisichella, M.; Foti, A.; Keeley, N.; Marquinez-Duran, G.; Martel, I.; Mazzocco, M.; Strano, E.; Torresi, D.; Pierroutsakou, D.; Rusek, K.; Stiliaris, E.

2015-01-01

Angular distribution measurements were performed for the 6 Li + p → 3 He + 4 He reaction in inverse kinematics at incident energies of 2.7, 3.3, 4.2 and 4.8 MeV/u. The detection of both recoils ( 3 He and 4 He) over the laboratory angle range θ lab = 16 circle to 34 circle allowed the determination of the angular distribution over a wide angular range in the center-of-mass frame (θ c.m. ∝ 40 circle to 140 circle ). The results clarify inconsistencies between existing data sets and are consistent with compound nucleus model calculations. (orig.)

Workspace optimization and kinematic performance evaluation of 2-DOF parallel mechanisms

International Nuclear Information System (INIS)

Nam, Yun Joo; Park, Myeong Kwan

2006-01-01

This paper presents the kinematics and workspace optimization of the two different 2-DOF (Degrees-of-Freedom) planar parallel mechanisms: one (called 2-RPR mechanism) with translational actuators and the other (called 2-RRR mechanism) with rotational ones. First of all, the inverse kinematics and Jacobian matrix for each mechanism are derived analytically. Then, the workspace including the output-space and the joint-space is systematically analyzed in order to determine the geometric parameters and the operating range of the actuators. Finally, the kinematic optimization of the mechanisms is performed in consideration of their dexterity and rigidity. It is expected that the optimization results can be effectively used as a basic material for the applications of the presented mechanisms to more industrial fields

End-Effector Position Analysis Using Forward Kinematics For 5 Dof Pravak Robot Arm

OpenAIRE

Jolly Atit Shah; S.S. Rattan; B.C. Nakra

2013-01-01

Automatic control of the robotic manipulator involves study of kinematics and dynamics as a major issue. This paper involves the kinematic analysis of a Pravak Robot arm which is used for doing successful robotic manipulation task in its workspace. The Pravak Robot Arm is a 5-DOF robot having all the joints revolute. The kinematics problem is defined as the transformation from the Cartesian space to the joint space and vice versa. In this study the Denavit- Hartenberg (D-H) model is used to m...

STUDY OF THE flat die pellet mills kinematic diagram with active cylindrical press rolLS

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Osokin Anton Vladislavovich

2017-03-01

Full Text Available Though being widely spread, the designs of such machines as flat die pellet mills have hardly been comprehensively theoretically studied. At the same time, the kinematic motion of the ring die pellet mill executive parts have been studied quite thoroughly. The machine executive parts kinematics determines the nature of their motion and velocity parameters, as well as the energy costs for the unit operation of the assembly. In addition, a detailed analysis of the facility kinematic diagram enables a rational approach to the design process for a new equipment. In view of this, this paper proposes a classification of flat matrix granulators over the kinematic diagrams of the executive parts interactions. We performed an analytical study of the kinematic diagram flat matrix granulator with active cylindrical press rolls. We considered the forces acting on the press roll during its operation. We determined the kinematic parameters and their interrelation with the design parameters of the press roll. We obtained the analytical equations for the of the neutral cross-section determination - the most characteristic section of the press-roll granulator

Wheel skid correction is a prerequisite to reliably measure wheelchair sports kinematics based on inertial sensors

NARCIS (Netherlands)

Van der Slikke, R.M.A.; Berger, M.A.M.; Bregman, D.J.J.; Veeger, H.E.J.

2015-01-01

Accurate knowledge of wheelchair kinematics during a match could be a significant factor in performance improvement in wheelchair basketball. To date, most systems for measuring wheelchair kinematics are not suitable for match applications or lack detail in key kinematic outcomes. This study

Anatomical kinematic constraints: consequences on muscular forces and joint reactions

OpenAIRE

MOISSENET, F; CHEZE, L; DUMAS, R

2011-01-01

This paper presents a method to determine musculo-tendon forces and joint reactions during gait, using a 3D right leg model with 5 DoFs: spherical joint at the hip and parallel mechanisms at both knee and ankle. A typical set of natural coordinates is used to obtain the dynamic equations. First, using a global optimization method, "anatomical" kinematic constraints (i.e., parallel mechanisms) are applied on the kinematics obtained from motion capture data. Consistent derivatives are computed ...

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

Science.gov (United States)

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

2013-11-01

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

Kinematic anharmonicity of internal rotation of molecules

International Nuclear Information System (INIS)

Bataev, V.A.; Pupyshev, V.I.; Godunov, I.A.

2017-01-01

The methods of analysis the strongly coupled vibrations are proposed for a number of molecules of aromatic and heterocyclic carbonyl (and some others) compounds. The qualitative principles are formulated for molecular systems with a significant kinematic anharmonicity.

Distances, Kinematics, And Structure Of The Orion Complex

Science.gov (United States)

Kounkel, Marina; Hartmann, Lee

2018-01-01

I present an analysis of the structure and kinematics of the Orion Molecular Cloud Complex in an effort to better characterize the dynamical state of the closest region of ongoing massive star formation. I measured stellar parallax and proper motions with Orion Complex. This includes the first direct distance measurements for sources that are located outside of the Orion Nebula. I identified a number of binary systems in the VLBI dataset and fitted their orbital motion, which allows for the direct measurement of the masses of the individual components. Additionally, I have identified several stars that have been ejected from the Orion Nebula due to strong gravitational interactions with the most massive members. I complemented the parallax and proper motion measurements with the observations of optical radial velocities of the stars toward the Orion Complex, probing the histories of both dynamic evolution and star formation in the region, providing a 6-dimensional model of the Complex. These observations can serve as a baseline for comparison of the upcoming results from the Gaia space telescope

Response (re-)programming in aging: a kinematic analysis.

Science.gov (United States)

Bellgrove, M A; Phillips, J G; Bradshaw, J L; Gallucci, R M

1998-05-01

Age-related motor slowing may reflect either motor programming deficits, poorer movement execution, or mere strategic preferences for online guidance of movement. We controlled such preferences, limiting the extent to which movements could be programmed. Twenty-four young and 24 older adults performed a line drawing task that allowed movements to be prepared in advance in one case (i.e., cue initially available indicating target location) and not in another (i.e., no cue initially available as to target location). Participants connected large or small targets illuminated by light-emitting diodes upon a graphics tablet that sampled pen tip position at 200 Hz. Older adults had a disproportionate difficulty initiating movement when prevented from programming in advance. Older adults produced slower, less efficient movements, particularly when prevented from programming under greater precision requirements. The slower movements of older adults do not simply reflect a preference for online control, as older adults have less efficient movements when forced to reprogram their movements. Age-related motor slowing kinematically resembles that seen in patients with cerebellar dysfunction.

Three-dimensional optical reconstruction of vocal fold kinematics using high-speed video with a laser projection system

Science.gov (United States)

Luegmair, Georg; Mehta, Daryush D.; Kobler, James B.; Döllinger, Michael

2015-01-01

Vocal fold kinematics and its interaction with aerodynamic characteristics play a primary role in acoustic sound production of the human voice. Investigating the temporal details of these kinematics using high-speed videoendoscopic imaging techniques has proven challenging in part due to the limitations of quantifying complex vocal fold vibratory behavior using only two spatial dimensions. Thus, we propose an optical method of reconstructing the superior vocal fold surface in three spatial dimensions using a high-speed video camera and laser projection system. Using stereo-triangulation principles, we extend the camera-laser projector method and present an efficient image processing workflow to generate the three-dimensional vocal fold surfaces during phonation captured at 4000 frames per second. Initial results are provided for airflow-driven vibration of an ex vivo vocal fold model in which at least 75% of visible laser points contributed to the reconstructed surface. The method captures the vertical motion of the vocal folds at a high accuracy to allow for the computation of three-dimensional mucosal wave features such as vibratory amplitude, velocity, and asymmetry. PMID:26087485

Kinematic analysis of a televised medial ankle sprain

Directory of Open Access Journals (Sweden)

Francesca E. Wade

2018-04-01

Full Text Available Ankle sprains are one of the most prevalent athletic injuries. Prior work has investigated lateral ankle sprains, but research on generally more severe medial sprains is lacking. This case report performs a kinematic analysis using novel motion analysis methods on a non-contact medial ankle sprain. Peak eversion (50° occurred 0.2 seconds following ground contact, maximum velocity of 426°/s, while peak dorsiflexion (64° occurred with a greater maximum velocity (573°/s. The combination of dorsiflexion at ground contact and rapid eversion is associated with a non-contact eversion sprain. This study provides a quantitative analysis of the eversion ankle sprain injury mechanism. Keywords: Athletic injury, Biomechanics, Ankle injury, Kinematics

A system to measure the kinematics during the entire ski jump sequence using inertial sensors.

Science.gov (United States)

Chardonnens, Julien; Favre, Julien; Cuendet, Florian; Gremion, Gérald; Aminian, Kamiar

2013-01-04

Three-dimensional analysis of the entire sequence in ski jumping is recommended when studying the kinematics or evaluating performance. Camera-based systems which allow three-dimensional kinematics measurement are complex to set-up and require extensive post-processing, usually limiting ski jumping analyses to small numbers of jumps. In this study, a simple method using a wearable inertial sensors-based system is described to measure the orientation of the lower-body segments (sacrum, thighs, shanks) and skis during the entire jump sequence. This new method combines the fusion of inertial signals and biomechanical constraints of ski jumping. Its performance was evaluated in terms of validity and sensitivity to different performances based on 22 athletes monitored during daily training. The validity of the method was assessed by comparing the inclination of the ski and the slope at landing point and reported an error of -0.2±4.8°. The validity was also assessed by comparison of characteristic angles obtained with the proposed system and reference values in the literature; the differences were smaller than 6° for 75% of the angles and smaller than 15° for 90% of the angles. The sensitivity to different performances was evaluated by comparing the angles between two groups of athletes with different jump lengths and by assessing the association between angles and jump lengths. The differences of technique observed between athletes and the associations with jumps length agreed with the literature. In conclusion, these results suggest that this system is a promising tool for a generalization of three-dimensional kinematics analysis in ski jumping. Copyright © 2012 Elsevier Ltd. All rights reserved.

Simulation, experimental validation and kinematic optimization of a Stirling engine using air and helium

International Nuclear Information System (INIS)

Bert, Juliette; Chrenko, Daniela; Sophy, Tonino; Le Moyne, Luis; Sirot, Frédéric

2014-01-01

A Stirling engine with nominal output power of 1 kW is tested using air and helium as working gases. The influence of working pressure, engine speed and temperature of the hot source is studied, analyzing instantaneous gas pressure as well as instantaneous and stationary temperature at different positions to derive the effective power. A zero dimensional finite-time thermodynamic, three zones model of a generic Stirling engine is developed and successfully validated against experimental gas temperature and pressure in each zone, providing the effective power. This validation underlines the interest of different working gases as well as different geometric configurations for different applications. Furthermore, the validated model allows parametric studies of the engine, with regard to geometry, working gas and engine kinematics. It is used in order to optimize the kinematic of a Stirling engine for different working points and gases. - Highlights: • A Stirling engine of 1 kW is tested using air and helium as working gas. • Effects of working pressure, speed and temperature on power are studied. • A zero dimensional finite-time thermodynamic, three zones model of it is validated. • The validated model is used for parametric studies and optimization of the engine

Electromiographic and kinematic characteristics of Kung Fu Yau-Man palm strike.

Science.gov (United States)

Neto, O P; Magini, Marcio

2008-12-01

A kinematic and electromyographic analysis of Kung Fu (KF) Yau-Man palm strikes without impact is presented. An empirical model applied to data obtained by a high-speed camera describes the kinematic characteristics of the movement. The electromyographic patterns of the biceps brachii, brachioradialis and triceps brachii muscles were studied during the strike in the time (root mean square) and frequency (wavelet transform) domains. Eight KF practitioners participated in the investigation. A wooden board was placed in front of the subjects, and they were asked to perform the strike imagining a target above the board. The results show that the Yau-Man KF palm strike has very similar kinematic characteristics to a simple moderate speed elbow extension movement. All practitioners positioned themselves in relation to the wooden board in a way to achieve their highest hand speeds in the instant their hands crossed the board. The analyses of the electromyography data shows a well developed muscle coordination of the practitioners in agreement with kinematic results. The results of this paper are important not only for improving the performance of practitioners but also to demonstrate the applicability of KF in the process of motor control development.

Circadian rhythms in handwriting kinematics and legibility.

Science.gov (United States)

Jasper, Isabelle; Gordijn, Marijke; Häussler, Andreas; Hermsdörfer, Joachim

2011-08-01

The aim of the present study was to analyze the circadian rhythmicity in handwriting kinematics and legibility and to compare the performance between Dutch and German writers. Two subject groups underwent a 40 h sleep deprivation protocol under Constant Routine conditions either in Groningen (10 Dutch subjects) or in Berlin (9 German subjects). Both groups wrote every 3h a test sentence of similar structure in their native language. Kinematic handwriting performance was assessed with a digitizing tablet and evaluated by writing speed, writing fluency, and script size. Writing speed (frequency of strokes and average velocity) revealed a clear circadian rhythm, with a parallel decline during night and a minimum around 3:00 h in the morning for both groups. Script size and movement fluency did not vary with time of day in neither group. Legibility of handwriting was evaluated by intra-individually ranking handwriting specimens of the 13 sessions by 10 German and 10 Dutch raters. Whereas legibility ratings of the German handwriting specimens deteriorated during night in parallel with slower writing speed, legibility of the Dutch handwriting deteriorated not until the next morning. In conclusion, the circadian rhythm of handwriting kinematics seems to be independent of script language at least among the two tested western countries. Moreover, handwriting legibility is also subject to a circadian rhythm which, however, seems to be influenced by variations in the assessment protocol. Copyright © 2010 Elsevier B.V. All rights reserved.

Kinematic classification of iliotibial band syndrome in runners.

Science.gov (United States)

Grau, S; Krauss, I; Maiwald, C; Axmann, D; Horstmann, T; Best, R

2011-04-01

Several inconsistent causative biomechanical factors are considered to be crucial in the occurrence of iliotibial band syndrome (ITBS). The focus of this study was on assessing differences in the kinematic characteristics between healthy runners [control group (CO)] and runners with ITBS in order to recommend treatment strategies to deal with this injury. Three-dimensional kinematics of barefoot running was used in the biomechanical setup. Both groups were matched with respect to gender, height and weight. After determining drop outs, the final population comprised 36 subjects (26 male and 10 female): 18 CO and 18 ITBS (13 male and five female, each). Kinematic evaluations indicate less hip adduction and frontal range of motion at the hip joint in runners with ITBS. Furthermore, maximum hip flexion velocity and maximum knee flexion velocity were lower in runners with ITBS. Lack of joint coordination, expressed as earlier hip flexion and a tendency toward earlier knee flexion, was found to be another discriminating variable in subjects with ITBS compared with CO subjects. We assume that an increase in range of motion at the hip joint, stretching of the hip abductors, as well as stretching the hamstrings, calf muscles and hip flexors will help treat ITBS. © 2009 John Wiley & Sons A/S.

Bone growth, limb proportions and non-specific stress in archaeological populations from Croatia.

Science.gov (United States)

Pinhasi, R; Timpson, A; Thomas, M; Slaus, M

2014-01-01

The effect of environmental factors and, in particular, non-specific stress on the growth patterns of limbs and other body dimensions of children from past populations is not well understood. This study assesses whether growth of mediaeval and post-mediaeval children aged between 0-11.5 years from Adriatic (coastal) and continental Croatia varies by region and by the prevalence and type of non-specific stress. Dental ages were estimated using the Moorrees, Fanning and Hunt (MFH) scoring method. Growth of long bone diaphyses (femur, tibia, humerus, radius and ulna) was assessed by using a composite Z-score statistic (CZS). Clavicular length was measured as a proxy for upper trunk width, distal metaphyseal width of the femur was measured as a proxy for body mass and upper and lower intra-limb indices were calculated. Differences between sub-sets sampled by (a) region and (b) active vs healed non-specific stress indicators and (c) intra-limb indices were tested by Mann--Whitney U-tests and Analysis of Covariance (ANCOVA). Adriatic children attained larger dimensions-per-age than continental children. Children with healed stress lesions had larger dimensions-per-age than those with active lesions. No inter-regional difference was found in intra-limb indices. These findings highlight the complexity of growth patterns in past populations and indicate that variation in environmental conditions such as diet and differences in the nature of non-specific stress lesions both exert a significant effect on long bone growth.

Effects of load on good morning kinematics and EMG activity

Directory of Open Access Journals (Sweden)

Andrew David Vigotsky

2015-01-01

Full Text Available Many strength and conditioning coaches utilize the good morning (GM to strengthen the hamstrings and spinal erectors. However, little research exists on its electromyography (EMG activity and kinematics, and how these variables change as a function of load. The purpose of this investigation was to examine how estimated hamstring length, integrated EMG (IEMG activity of the hamstrings and spinal erectors, and kinematics of the lumbar spine, hip, knee, and ankle are affected by changes in load. Fifteen trained male participants (age = 24.6 ± 5.3 years; body mass = 84.7 ± 11.3 kg; height = 180.9 ± 6.8 cm were recruited for this study. Participants performed five sets of the GM, utilizing 50, 60, 70, 80, and 90% of one-repetition maximum (1RM in a randomized fashion. IEMG activity of hamstrings and spinal erectors tended to increase with load. Knee flexion increased with load on all trials. Estimated hamstring length decreased with load. However, lumbar flexion, hip flexion, and plantar flexion experienced no remarkable changes between trials. These data provide insight as to how changing the load of the GM affects EMG activity, kinematic variables, and estimated hamstring length. Implications for hamstring injury prevention are discussed. More research is needed for further insight as to how load affects EMG activity and kinematics of other exercises.

Inverse kinematic solution for near-simple robots and its application to robot calibration

Science.gov (United States)

Hayati, Samad A.; Roston, Gerald P.

1986-01-01

This paper provides an inverse kinematic solution for a class of robot manipulators called near-simple manipulators. The kinematics of these manipulators differ from those of simple-robots by small parameter variations. Although most robots are by design simple, in practice, due to manufacturing tolerances, every robot is near-simple. The method in this paper gives an approximate inverse kinematics solution for real time applications based on the nominal solution for these robots. The validity of the results are tested both by a simulation study and by applying the algorithm to a PUMA robot.

Locomotion mode identification for lower limbs using neuromuscular and joint kinematic signals.

Science.gov (United States)

Afzal, Taimoor; White, Gannon; Wright, Andrew B; Iqbal, Kamran

2014-01-01

Recent development in lower limb prosthetics has seen an emergence of powered prosthesis that have the capability to operate in different locomotion modes. However, these devices cannot transition seamlessly between modes such as level walking, stair ascent and descent and up slope and down slope walking. They require some form of user input that defines the human intent. The purpose of this study was to develop a locomotion mode detection system and evaluate its performance for different sensor configurations and to study the effect of locomotion mode detection with and without electromyography (EMG) signals while using kinematic data from hip joint of non-dominant/impaired limb and an accelerometer. Data was collected from four able bodied subjects that completed two circuits that contained standing, level-walking, ramp ascent and descent and stair ascent and descent. By using only the kinematic data from the hip joint and accelerometer data the system was able to identify the transitions, stance and swing phases with similar performance as compared to using only EMG and accelerometer data. However, significant improvement in classification error was observed when EMG, kinematic and accelerometer data were used together to identify the locomotion modes. The higher recognition rates when using the kinematic data along with EMG shows that the joint kinematics could be beneficial in intent recognition systems of locomotion modes.

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

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

2016-02-01

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

Surface growth kinematics via local curve evolution

KAUST Repository

Moulton, Derek E.; Goriely, Alain

2012-01-01

of increasing complexity are provided, and we demonstrate how biologically relevant structures such as logarithmic shells and horns emerge as analytical solutions of the kinematics equations with a small number of parameters that can be linked to the underlying

Pythagoras Theorem and Relativistic Kinematics

Science.gov (United States)

Mulaj, Zenun; Dhoqina, Polikron

2010-01-01

In two inertial frames that move in a particular direction, may be registered a light signal that propagates in an angle with this direction. Applying Pythagoras theorem and principles of STR in both systems, we can derive all relativistic kinematics relations like the relativity of simultaneity of events, of the time interval, of the length of objects, of the velocity of the material point, Lorentz transformations, Doppler effect and stellar aberration.

A kinematic view of loop closure.

Science.gov (United States)

Coutsias, Evangelos A; Seok, Chaok; Jacobson, Matthew P; Dill, Ken A

2004-03-01

We consider the problem of loop closure, i.e., of finding the ensemble of possible backbone structures of a chain segment of a protein molecule that is geometrically consistent with preceding and following parts of the chain whose structures are given. We reduce this problem of determining the loop conformations of six torsions to finding the real roots of a 16th degree polynomial in one variable, based on the robotics literature on the kinematics of the equivalent rotator linkage in the most general case of oblique rotators. We provide a simple intuitive view and derivation of the polynomial for the case in which each of the three pair of torsional axes has a common point. Our method generalizes previous work on analytical loop closure in that the torsion angles need not be consecutive, and any rigid intervening segments are allowed between the free torsions. Our approach also allows for a small degree of flexibility in the bond angles and the peptide torsion angles; this substantially enlarges the space of solvable configurations as is demonstrated by an application of the method to the modeling of cyclic pentapeptides. We give further applications to two important problems. First, we show that this analytical loop closure algorithm can be efficiently combined with an existing loop-construction algorithm to sample loops longer than three residues. Second, we show that Monte Carlo minimization is made severalfold more efficient by employing the local moves generated by the loop closure algorithm, when applied to the global minimization of an eight-residue loop. Our loop closure algorithm is freely available at http://dillgroup. ucsf.edu/loop_closure/. Copyright 2004 Wiley Periodicals, Inc. J Comput Chem 25: 510-528, 2004

A nonlinear dynamics of trunk kinematics during manual lifting tasks.

Science.gov (United States)

Khalaf, Tamer; Karwowski, Waldemar; Sapkota, Nabin

2015-01-01

Human responses at work may exhibit nonlinear properties where small changes in the initial task conditions can lead to large changes in system behavior. Therefore, it is important to study such nonlinearity to gain a better understanding of human performance under a variety of physical, perceptual, and cognitive tasks conditions. The main objective of this study was to investigate whether the human trunk kinematics data during a manual lifting task exhibits nonlinear behavior in terms of determinist chaos. Data related to kinematics of the trunk with respect to the pelvis were collected using Industrial Lumbar Motion Monitor (ILMM), and analyzed applying the nonlinear dynamical systems methodology. Nonlinear dynamics quantifiers of Lyapunov exponents and Kaplan-Yorke dimensions were calculated and analyzed under different task conditions. The study showed that human trunk kinematics during manual lifting exhibits chaotic behavior in terms of trunk sagittal angular displacement, velocity and acceleration. The findings support the importance of accounting for nonlinear dynamical properties of biomechanical responses to lifting tasks.

THE DiskMass SURVEY. III. STELLAR KINEMATICS VIA CROSS-CORRELATION

International Nuclear Information System (INIS)

Westfall, Kyle B.; Bershady, Matthew A.; Verheijen, Marc A. W.

2011-01-01

We describe a new cross-correlation (CC) approach used by our survey to derive stellar kinematics from galaxy-continuum spectroscopy. This approach adopts the formal error analysis derived by Statler, but properly handles spectral masks. Thus, we address the primary concerns regarding application of the CC method to censored data, while maintaining its primary advantage by consolidating kinematic and template-mismatch information toward different regions of the CC function. We identify a systematic error in the nominal CC method of approximately 10% in velocity dispersion incurred by a mistreatment of detector-censored data, which is eliminated by our new method. We derive our approach from first principles, and we use Monte Carlo simulations to demonstrate its efficacy. An identical set of Monte Carlo simulations performed using the well-established penalized-pixel-fitting code of Cappellari and Emsellem compares favorably with the results from our newly implemented software. Finally, we provide a practical demonstration of this software by extracting stellar kinematics from SparsePak spectra of UGC 6918.

Do Running Kinematic Characteristics Change over a Typical HIIT for Endurance Runners?

Science.gov (United States)

García-Pinillos, Felipe; Soto-Hermoso, Víctor M; Latorre-Román, Pedro Á

2016-10-01

García-Pinillos, F, Soto-Hermoso, VM, and Latorre-Román, PÁ. Do running kinematic characteristics change over a typical HIIT for endurance runners?. J Strength Cond Res 30(10): 2907-2917, 2016-The purpose of this study was to describe kinematic changes that occur during a common high-intensity intermittent training (HIIT) session for endurance runners. Twenty-eight male endurance runners participated in this study. A high-speed camera was used to measure sagittal-plane kinematics at the first and the last run during a HIIT (4 × 3 × 400 m). The dependent variables were spatial-temporal variables, joint angles during support and swing, and foot strike pattern. Physiological variables, rate of perceived exertion, and athletic performance were also recorded. No significant changes (p ≥ 0.05) in kinematic variables were found during the HIIT session. Two cluster analyses were performed, according to the average running pace-faster vs. slower, and according to exhaustion level reached-exhausted group vs. nonexhausted group (NEG). At first run, no significant differences were found between groups. As for the changes induced by the running protocol, significant differences (p ≤ 0.05) were found between faster and slower athletes at toe-off in θhip and θknee, whereas some changes were found in NEG in θhip during toe-off (+4.3°) and θknee at toe-off (-5.2°) during swing. The results show that a common HIIT session for endurance runners did not consistently or substantially perturb the running kinematics of trained male runners. Additionally, although some differences between groups have been found, neither athletic performance nor exhaustion level reached seems to be determinant in the kinematic response during a HIIT, at least for this group of moderately trained endurance runners.

Instantaneous Kinematics Analysis via Screw-Theory of a Novel 3-CRC Parallel Mechanism

Directory of Open Access Journals (Sweden)

Hussein de la Torre

2016-06-01

Full Text Available This paper presents the mobility and kinematics analysis of a novel parallel mechanism that is composed by one base, one platform and three identical limbs with CRC joints. The paper obtains closed-form solutions to the direct and inverse kinematics problems, and determines the mobility of the mechanism and instantaneous kinematics by applying screw theory. The obtained results show that this parallel robot is part of the family 2R1T, since the platform shows 3 DOF, i.e.: one translation perpendicular to the base and two rotations about skew axes. In order to calculate the direct instantaneous kinematics, this paper introduces the vector mh, which is part of the joint velocity vector that multiplies the overall inverse Jacobian matrix. This paper compares the results between simulations and numerical examples using Mathematica and SolidWorks in order to prove the accuracy of the analytical results.

Lower Extremity Kinematics Differed Between a Controlled Drop-Jump and Volleyball-Takeoffs.

Science.gov (United States)

Beardt, Bradley S; McCollum, Myranda R; Hinshaw, Taylour J; Layer, Jacob S; Wilson, Margaret A; Zhu, Qin; Dai, Boyi

2018-04-03

Previous studies utilizing jump-landing biomechanics to predict anterior cruciate ligament injuries have shown inconsistent findings. The purpose of this study was to quantify the differences and correlations in jump-landing kinematics between a drop-jump, a controlled volleyball-takeoff, and a simulated-game volleyball-takeoff. Seventeen female volleyball players performed these three tasks on a volleyball court while three-dimensional kinematic data were collected by three calibrated camcorders. Participants demonstrated significantly increased jump height, shorter stance time, increased time differences in initial contact between two feet, increased knee and hip flexion at initial contact and decreased peak knee and hip flexion for both left and right legs, and decreased knee-ankle distance ratio at the lowest height of mid-hip for the two volleyball-takeoffs compared with the drop-jump (p jump and two volleyball-takeoffs. Controlled drop-jump kinematics may not represent jump-landing kinematics exhibited during volleyball competition. Jump-landing mechanics during sports-specific tasks may better represent those exhibited during sports competition and their associated risk of ACL injury compared with the drop-jump.

Difference in kinematical behavior between two landing tasks in male volleyball athletes

Directory of Open Access Journals (Sweden)

Glauber Ribeiro Pereira

2010-09-01

Full Text Available Anterior cruciate ligament (ACL injuries are common in sports. Studies investigating injury mechanisms have demonstrated that most injuries arise from landing tasks. Despite the demonstration of differences between male and female kinematics, there are no studies showing how males behave during different landing tasks. The objective of this study was to compare the angular and temporal kinematics of the lower limbs between two different landing tasks. Double leg and single leg landings were recorded in the frontal and sagittal plane in 15 male volleyball athletes by videogrammetry. Reduced hip and knee flexion and increased knee valgus were observed in the single leg landing task compared to the double leg landing task. No significant difference in landing time was observed between the two tasks. In conclusion, the results support the premise that lower limb kinematics change according to the task performed. Further studies are necessary to explore the impact of these kinematic differences on knee loading and to relate them to ACL injury mechanisms in men.

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

Science.gov (United States)

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

2013-01-01

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

Kinematic and kinetic analysis of overhand, sidearm and underhand lacrosse shot techniques.

Science.gov (United States)

Macaulay, Charles A J; Katz, Larry; Stergiou, Pro; Stefanyshyn, Darren; Tomaghelli, Luciano

2017-12-01

Lacrosse requires the coordinated performance of many complex skills. One of these skills is shooting on the opponents' net using one of three techniques: overhand, sidearm or underhand. The purpose of this study was to (i) determine which technique generated the highest ball velocity and greatest shot accuracy and (ii) identify kinematic and kinetic variables that contribute to a high velocity and high accuracy shot. Twelve elite male lacrosse players participated in this study. Kinematic data were sampled at 250 Hz, while two-dimensional force plates collected ground reaction force data (1000 Hz). Statistical analysis showed significantly greater ball velocity for the sidearm technique than overhand (P  0.05). Kinematic and kinetic variables were not significantly correlated to shot accuracy or velocity across all shot types; however, when analysed independently, the lead foot horizontal impulse showed a negative correlation with underhand ball velocity (P = 0.042). This study identifies the technique with the highest ball velocity, defines kinematic and kinetic predictors related to ball velocity and provides information to coaches and athletes concerned with improving lacrosse shot performance.

Analysis and experimental kinematics of a skid-steering wheeled robot based on a laser scanner sensor.

Science.gov (United States)

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

2015-04-24

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

Estimation of uncertainty of measurements of 3D mechanisms after kinematic calibration

International Nuclear Information System (INIS)

Takamasu, K; Sato, O; Shimojima, K; Takahashi, S; Furutani, R

2005-01-01

Calibration methods for 3D mechanisms are necessary to use the mechanisms as coordinate measuring machines. The calibration method of coordinate measuring machine using artifacts, the artifact calibration method, is proposed in taking account of traceability of the mechanism. There are kinematic parameters and form-deviation parameters in geometric parameters for describing the forward kinematic of the mechanism. In this article, the estimation methods of uncertainties using the calibrated coordinate measuring machine after the calibration are formulated. Firstly, the calculation method which takes out the values of kinematic parameters using least squares method is formulated. Secondly, the estimation value of uncertainty of the measuring machine is calculated using the error propagation method

Kinematical Compatibility Conditions for Vorticity Across Shock Waves

Science.gov (United States)

Baty, Roy

2015-11-01

This work develops the general kinematical compatibility conditions for vorticity across arbitrary shock waves in compressible, inviscid fluids. The vorticity compatibility conditions are derived from the curl of the momentum equation using singular distributions defined on two-dimensional shock wave surfaces embedded in three-dimensional flow fields. The singular distributions are represented as generalized differential operators concentrated on moving shock wave surfaces. The derivation of the compatibility conditions for vorticity requires the application of second-order generalized derivatives and elementary tensor algebra. The well-known vorticity jump conditions across a shock wave are then shown to follow from the general kinematical compatibility conditions for vorticity by expressing the flow field velocity in vectorial components normal and tangential to a shock surface.

Kinematical analysis of the data from three-particle reactions by statistical methods

International Nuclear Information System (INIS)

Krug, J.; Nocken, U.

1976-01-01

A statistical procedure to unfold the kinematics of coincidence spectra from three-particle reactions is presented which is used to protect the coincidence events on the kinematical curve. The width of the projection intervals automatically matches the experimental resolution.. The method is characterized by its consistency thus also permitting a reasonable projection of sum-coincidences. (Auth.)

Improved Inverse Kinematics Algorithm Using Screw Theory for a Six-DOF Robot Manipulator

Directory of Open Access Journals (Sweden)

Qingcheng Chen

2015-10-01

Full Text Available Based on screw theory, a novel improved inverse-kinematics approach for a type of six-DOF serial robot, “Qianjiang I”, is proposed in this paper. The common kinematics model of the robot is based on the Denavit-Hartenberg (D-H notation method while its inverse kinematics has inefficient calculation and complicated solution, which cannot meet the demands of online real-time application. To solve this problem, this paper presents a new method to improve the efficiency of the inverse kinematics solution by introducing the screw theory. Unlike other methods, the proposed method only establishes two coordinates, namely the inertial coordinate and the tool coordinate; the screw motion of each link is carried out based on the inertial coordinate, ensuring definite geometric meaning. Furthermore, we adopt a new inverse kinematics algorithm, developing an improved sub-problem method along with Paden-Kahan sub-problems. This method has high efficiency and can be applied in real-time industrial operation. It is convenient to select the desired solutions directly from among multiple solutions by examining clear geometric meaning. Finally, the effectiveness and reliability performance of the new algorithm are analysed and verified in comparative experiments carried out on the six-DOF serial robot “Qianjiang I”.

Effects of Kinesio taping on scapular kinematics of overhead athletes following muscle fatigue.

Science.gov (United States)

Zanca, Gisele Garcia; Grüninger, Bruno; Mattiello, Stela Márcia

2016-08-01

Scapular kinematics alterations have been found following muscle fatigue. Considering the importance of the lower trapezius in coordinated scapular movement, this study aimed to investigate the effects of elastic taping (Kinesio taping, KT) for muscle facilitation on scapular kinematics of healthy overhead athletes following muscle fatigue. Twenty-eight athletes were evaluated in a crossover, single-blind, randomized design, in three sessions: control (no taping), KT (KT with tension) and sham (KT without tension). Scapular tridimensional kinematics and EMG of clavicular and acromial portions of upper trapezius, lower trapezius and serratus anterior were evaluated during arm elevation and lowering, before and after a fatigue protocol involving repetitive throwing. Median power frequency decline of serratus anterior was significantly lower in KT session compared to sham, possibly indicating lower muscle fatigue. However, the effects of muscle fatigue on scapular kinematics were not altered by taping conditions. Although significant changes were found in scapular kinematics following muscle fatigue, they were small and not considered relevant. It was concluded that healthy overhead athletes seem to present an adaptive mechanism that avoids the disruption of scapular movement pattern following muscle fatigue. Therefore, these athletes do not benefit from the use of KT to assist scapular movement under the conditions tested. Copyright © 2015 Elsevier Ltd. All rights reserved.

The coupling between gaze behavior and opponent kinematics during anticipation of badminton shots.

Science.gov (United States)

Alder, David; Ford, Paul R; Causer, Joe; Williams, A Mark

2014-10-01

We examined links between the kinematics of an opponent's actions and the visual search behaviors of badminton players responding to those actions. A kinematic analysis of international standard badminton players (n = 4) was undertaken as they completed a range of serves. Video of these players serving was used to create a life-size temporal occlusion test to measure anticipation responses. Expert (n = 8) and novice (n = 8) badminton players anticipated serve location while wearing an eye movement registration system. During the execution phase of the opponent's movement, the kinematic analysis showed between-shot differences in distance traveled and peak acceleration at the shoulder, elbow, wrist and racket. Experts were more accurate at responding to the serves compared to novice players. Expert players fixated on the kinematic locations that were most discriminating between serve types more frequently and for a longer duration compared to novice players. Moreover, players were generally more accurate at responding to serves when they fixated vision upon the discriminating arm and racket kinematics. Findings extend previous literature by providing empirical evidence that expert athletes' visual search behaviors and anticipatory responses are inextricably linked to the opponent action being observed. Copyright © 2014 Elsevier B.V. All rights reserved.

Surface growth kinematics via local curve evolution

KAUST Repository

Moulton, Derek E.

2012-11-18

A mathematical framework is developed to model the kinematics of surface growth for objects that can be generated by evolving a curve in space, such as seashells and horns. Growth is dictated by a growth velocity vector field defined at every point on a generating curve. A local orthonormal basis is attached to each point of the generating curve and the velocity field is given in terms of the local coordinate directions, leading to a fully local and elegant mathematical structure. Several examples of increasing complexity are provided, and we demonstrate how biologically relevant structures such as logarithmic shells and horns emerge as analytical solutions of the kinematics equations with a small number of parameters that can be linked to the underlying growth process. Direct access to cell tracks and local orientation enables for connections to be made to the underlying growth process. © 2012 Springer-Verlag Berlin Heidelberg.

Foot kinematics in patients with two patterns of pathological plantar hyperkeratosis

Directory of Open Access Journals (Sweden)

Bowker Peter

2011-02-01

Full Text Available Abstract Background The Root paradigm of foot function continues to underpin the majority of clinical foot biomechanics practice and foot orthotic therapy. There are great number of assumptions in this popular paradigm, most of which have not been thoroughly tested. One component supposes that patterns of plantar pressure and associated hyperkeratosis lesions should be associated with distinct rearfoot, mid foot, first metatarsal and hallux kinematic patterns. Our aim was to investigate the extent to which this was true. Methods Twenty-seven subjects with planter pathological hyperkeratosis were recruited into one of two groups. Group 1 displayed pathological plantar hyperkeratosis only under metatarsal heads 2, 3 and 4 (n = 14. Group 2 displayed pathological plantar hyperkeratosis only under the 1st and 5th metatarsal heads (n = 13. Foot kinematics were measured using reflective markers on the leg, heel, midfoot, first metatarsal and hallux. Results The kinematic data failed to identify distinct differences between these two groups of subjects, however there were several subtle (generally Conclusions There was some evidence of small differences between planter pathological hyperkeratosis groups. Nevertheless, there was too much similarity between the kinematic data displayed in each group to classify them as distinct foot types as the current clinical paradigm proposes.

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

Science.gov (United States)

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

2018-06-01

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

Evidence for halo kinematics among cool carbon-rich dwarfs

Science.gov (United States)

Farihi, J.; Arendt, A. R.; Machado, H. S.; Whitehouse, L. J.

2018-04-01

This paper reports preliminary yet compelling kinematical inferences for N ≳ 600 carbon-rich dwarf stars that demonstrate around 30% to 60% are members of the Galactic halo. The study uses a spectroscopically and non-kinematically selected sample of stars from the SDSS, and cross-correlates these data with three proper motion catalogs based on Gaia DR1 astrometry to generate estimates of their 3-D space velocities. The fraction of stars with halo-like kinematics is roughly 30% for distances based on a limited number of parallax measurements, with the remainder dominated by the thick disk, but close to 60% of the sample lie below an old, metal-poor disk isochrone in reduced proper motion. An ancient population is consistent with an extrinsic origin for C/O >1 in cool dwarfs, where a fixed mass of carbon pollution more readily surmounts lower oxygen abundances, and with a lack of detectable ultraviolet-blue flux from younger white dwarf companions. For an initial stellar mass function that favors low-mass stars as in the Galactic disk, the dC stars are likely to be the dominant source of carbon-enhanced, metal-poor stars in the Galaxy.

Nozzle Mounting Method Optimization Based on Robot Kinematic Analysis

Science.gov (United States)

Chen, Chaoyue; Liao, Hanlin; Montavon, Ghislain; Deng, Sihao

2016-08-01

Nowadays, the application of industrial robots in thermal spray is gaining more and more importance. A desired coating quality depends on factors such as a balanced robot performance, a uniform scanning trajectory and stable parameters (e.g. nozzle speed, scanning step, spray angle, standoff distance). These factors also affect the mass and heat transfer as well as the coating formation. Thus, the kinematic optimization of all these aspects plays a key role in order to obtain an optimal coating quality. In this study, the robot performance was optimized from the aspect of nozzle mounting on the robot. An optimized nozzle mounting for a type F4 nozzle was designed, based on the conventional mounting method from the point of view of robot kinematics validated on a virtual robot. Robot kinematic parameters were obtained from the simulation by offline programming software and analyzed by statistical methods. The energy consumptions of different nozzle mounting methods were also compared. The results showed that it was possible to reasonably assign the amount of robot motion to each axis during the process, so achieving a constant nozzle speed. Thus, it is possible optimize robot performance and to economize robot energy.

Restraining approach for the spurious kinematic modes in hybrid equilibrium element

Science.gov (United States)

Parrinello, F.

2013-10-01

The present paper proposes a rigorous approach for the elimination of spurious kinematic modes in hybrid equilibrium elements, for three well known mesh patches. The approach is based on the identification of the dependent equations in the set of inter-element and boundary equilibrium equations of the sides involved in the spurious kinematic mode. Then the kinematic variables related to the dependent equations are reciprocally constrained and, by application of master slave elimination method, the set of inter-element equilibrium equations is reduced to full rank. The elastic solutions produced by means of the proposed approach verify the homogeneous, the inter-element and the boundary equilibrium equations. Hybrid stress formulation is developed in a rigorous mathematical setting. The results of linear elastic analysis obtained by the proposed approach and by classical displacement based method are compared for some structural examples.

Suspension kinematic analysis of UTeM’s FV Malaysia electric vehicle racing car

NARCIS (Netherlands)

Abdul Manaf, M.Z.; Latif, M.F.A.; Razak, M.S.A.; Hassan, M.Z.B.; Rosley, M.I.F.

2016-01-01

The purpose of this paper is to investigate the kinematic performance of students’ racing car, namely UTeM’s FV Malaysia Electric Vehicle. An elasto-kinematic analysis approach is used to predict the car’s performance during straight line drive and curvature drive. Two suspension design factors

A self-centering active probing technique for kinematic parameter identification and verification of articulated arm coordinate measuring machines

International Nuclear Information System (INIS)

Santolaria, J; Brau, A; Velázquez, J; Aguilar, J J

2010-01-01

A crucial task in the procedure of identifying the parameters of a kinematic model of an articulated arm coordinate measuring machine (AACMM) or robot arm is the process of capturing data. In this paper a capturing data method is analyzed using a self-centering active probe, which drastically reduces the capture time and the required number of positions of the gauge as compared to the usual standard and manufacturer methods. The mathematical models of the self-centering active probe and AACMM are explained, as well as the mathematical model that links the AACMM global reference system to the probe reference system. We present a self-calibration method that will allow us to determine a homogeneous transformation matrix that relates the probe's reference system to the AACMM last reference system from the probing of a single sphere. In addition, a comparison between a self-centering passive probe and self-centering active probe is carried out to show the advantages of the latter in the procedures of kinematic parameter identification and verification of the AACMM

Parametric Method to Define Area of Allowable Configurations while Changing Position of Restricted Zones

Science.gov (United States)

Pritykin, F. N.; Nefedov, D. I.; Rogoza, Yu A.; Zinchenko, Yu V.

2018-03-01

The article presents the findings related to the development of the module for automatic collision detection of the manipulator with restricted zones for virtual motion modeling. It proposes the parametric method for specifying the area of allowable joint configurations. The authors study the cases when restricted zones are specified using the horizontal plane or front-projection planes. The joint coordinate space is specified by rectangular axes in the direction of which the angles defining the displacements in turning pairs are laid off. The authors present the results of modeling which enabled to develop a parametric method for specifying a set of cross-sections defining the shape and position of allowable configurations in different positions of a restricted zone. All joint points that define allowable configurations refer to the indicated sections. The area of allowable configurations is specified analytically by using several kinematic surfaces that limit it. A geometric analysis is developed based on the use of the area of allowable configurations characterizing the position of the manipulator and reported restricted zones. The paper presents numerical calculations related to virtual simulation of the manipulator path performed by the mobile robot Varan when using the developed algorithm and restricted zones. The obtained analytical dependencies allow us to define the area of allowable configurations, which is a knowledge pool to ensure the intelligent control of the manipulator path in a predefined environment. The use of the obtained region to synthesize a joint trajectory makes it possible to correct the manipulator path to foresee and eliminate deadlocks when synthesizing motions along the velocity vector.

A Kinematic, Kevlar(registered) Suspension System for an ADR

Science.gov (United States)

Voellmer, George M.; Jackson, Michael L.; Shirron, Peter J.; Tuttle, James G.

2003-01-01

The High Resolution Airborne Wideband Camera (HAWC) and the Submillimeter And Far Infrared Experiment (SAFIRE) will use identical Adiabatic Demagnetization Refrigerators (ADR) to cool their bolometer detectors to 200mK and 100mK, respectively. In order to minimize thermal loads on the salt pill, a Kevlar@ suspension system is used to hold it in place. An innovative, kinematic suspension system is presented. The suspension system is unique in that it consists or two parts that can be assembled and tensioned offline, and later bolted onto the salt pill. The resulting assembly constrains each degree of freedom only once, yielding a kinematic, tensile structure.

Plastic limit analysis with non linear kinematic strain hardening for metalworking processes applications

International Nuclear Information System (INIS)

Chaaba, Ali; Aboussaleh, Mohamed; Bousshine, Lahbib; Boudaia, El Hassan

2011-01-01

Limit analysis approaches are widely used to deal with metalworking processes analysis; however, they are applied only for perfectly plastic materials and recently for isotropic hardening ones excluding any kind of kinematic hardening. In the present work, using Implicit Standard Materials concept, sequential limit analysis approach and the finite element method, our objective consists in extending the limit analysis application for including linear and non linear kinematic strain hardenings. Because this plastic flow rule is non associative, the Implicit Standard Materials concept is adopted as a framework of non standard plasticity modeling. The sequential limit analysis procedure which considers the plastic behavior with non linear kinematic strain hardening as a succession of perfectly plastic behavior with yielding surfaces updated after each sequence of limit analysis and geometry updating is applied. Standard kinematic finite element method together with a regularization approach is used for performing two large compression cases (cold forging) in plane strain and axisymmetric conditions

Running in ostriches (Struthio camelus): three-dimensional joint axes alignment and joint kinematics.

Science.gov (United States)

Rubenson, Jonas; Lloyd, David G; Besier, Thor F; Heliams, Denham B; Fournier, Paul A

2007-07-01

Although locomotor kinematics in walking and running birds have been examined in studies exploring many biological aspects of bipedalism, these studies have been largely limited to two-dimensional analyses. Incorporating a five-segment, 17 degree-of-freedom (d.f.) kinematic model of the ostrich hind limb developed from anatomical specimens, we quantified the three-dimensional (3-D) joint axis alignment and joint kinematics during running (at approximately 3.3 m s(-1)) in the largest avian biped, the ostrich. Our analysis revealed that the majority of the segment motion during running in the ostrich occurs in flexion/extension. Importantly, however, the alignment of the average flexion/extension helical axes of the knee and ankle are rotated externally to the direction of travel (37 degrees and 21 degrees , respectively) so that pure flexion and extension at the knee will act to adduct and adbuct the tibiotarsus relative to the plane of movement, and pure flexion and extension at the ankle will act to abduct and adduct the tarsometatarsus relative to the plane of movement. This feature of the limb anatomy appears to provide the major lateral (non-sagittal) displacement of the lower limb necessary for steering the swinging limb clear of the stance limb and replaces what would otherwise require greater adduction/abduction and/or internal/external rotation, allowing for less complex joints, musculoskeletal geometry and neuromuscular control. Significant rotation about the joints' non-flexion/extension axes nevertheless occurs over the running stride. In particular, hip abduction and knee internal/external and varus/valgus motion may further facilitate limb clearance during the swing phase, and substantial non-flexion/extension movement at the knee is also observed during stance. Measurement of 3-D segment and joint motion in birds will be aided by the use of functionally determined axes of rotation rather than assumed axes, proving important when interpreting the

MALT90 Kinematic Distances to Dense Molecular Clumps

Energy Technology Data Exchange (ETDEWEB)

Whitaker, J. Scott [Physics Department, Boston University, 590 Commonwealth Avenue, Boston, MA 02215 (United States); Jackson, James M.; Sanhueza, Patricio; Stephens, Ian W. [Institute for Astrophysical Research, Boston University, Boston, MA 02215 (United States); Rathborne, J. M. [CSIRO Astronomy and Space Science, P.O. Box 76, Epping NSW 1710 (Australia); Foster, J. B. [Department of Astronomy, Yale University, P.O. Box 28101, New Haven, CT 06520-8101 (United States); Contreras, Y. [Leiden Observatory, Leiden University, P.O. Box 9513, 2300 RA Leiden (Netherlands); Longmore, S. N., E-mail: scott@bu.edu [Astrophysics Research Institute, Liverpool John Moores University, Egerton Wharf, Birkenhead CH41 1LD (United Kingdom)

2017-10-01

Using molecular-line data from the Millimetre Astronomy Legacy Team 90 GHz Survey (MALT90), we have estimated kinematic distances to 1905 molecular clumps identified in the ATLASGAL 870 μ m continuum survey over the longitude range 295° <  l  < 350°. The clump velocities were determined using a flux-weighted average of the velocities obtained from Gaussian fits to the HCO{sup +}, HNC, and N{sub 2}H{sup +} (1–0) transitions. The near/far kinematic distance ambiguity was addressed by searching for the presence or absence of absorption or self-absorption features in 21 cm atomic hydrogen spectra from the Southern Galactic Plane Survey. Our algorithm provides an estimation of the reliability of the ambiguity resolution. The Galactic distribution of the clumps indicates positions where the clumps are bunched together, and these locations probably trace the locations of spiral arms. Several clumps fall at the predicted location of the far side of the Scutum–Centaurus arm. Moreover, a number of clumps with positive radial velocities are unambiguously located on the far side of the Milky Way at galactocentric radii beyond the solar circle. The measurement of these kinematic distances, in combination with continuum or molecular-line data, now enables the determination of fundamental parameters such as mass, size, and luminosity for each clump.

Circadian rhythms in handwriting kinematics and legibility

NARCIS (Netherlands)

Jasper, Isabelle; Gordijn, Marijke; Haeussler, Andreas; Hermsdoerfer, Joachim

The aim of the present study was to analyze the circadian rhythmicity in handwriting kinematics and legibility and to compare the performance between Dutch and German writers. Two subject groups underwent a 40 h sleep deprivation protocol under Constant Routine conditions either in Groningen (10

Assessment of multi class kinematic wave models

NARCIS (Netherlands)

Van Wageningen-Kessels, F.L.M.; Van Lint, J.W.C.; Vuik, C.; Hoogendoorn, S.P.

2012-01-01

In the last decade many multi class kinematic wave (MCKW) traffic ow models have been proposed. MCKW models introduce heterogeneity among vehicles and drivers. For example, they take into account differences in (maximum) velocities and driving style. Nevertheless, the models are macroscopic and the

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

Science.gov (United States)

Saupe, Florian; Knoblach, Andreas

2015-02-01

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

Kinematics of a relativistic particle with de Sitter momentum space

International Nuclear Information System (INIS)

Arzano, Michele; Kowalski-Glikman, Jerzy

2011-01-01

We discuss kinematical properties of a free relativistic particle with deformed phase space in which momentum space is given by (a submanifold of) de Sitter space. We provide a detailed derivation of the action, Hamiltonian structure and equations of motion for such a free particle. We study the action of deformed relativistic symmetries on the phase space and derive explicit formulae for the action of the deformed Poincare group. Finally we provide a discussion on parametrization of the particle worldlines stressing analogies and differences with ordinary relativistic kinematics.

A Direct Kinematics Problem Solution for the Three-degree-of-freedom Parallel Structure Manipulator Based on Crank Mechanism

Directory of Open Access Journals (Sweden)

V. N. Paschenko

2015-01-01

Full Text Available The paper describes a mechanism representing a kind of mechanisms of parallel kinematics with three degrees of freedom based on the crank mechanism. This mechanism consists of two platforms, namely: the lower fixed and the upper movable. The upper platform is connected to the lower one by six movable elements, three of which are rods attached to the bases by means of spherical joints, and another three have a crank structure.The paper shows an approach to the solution of a direct task of kinematics based on mathematical modeling. The inverse problem of kinematics is formulated as follows: at specified angles of rotation drive (the values of generalized coordinates to determine the position of the top mobile platform.To solve this problem has been used a mathematical model describing the proposed system. On the basis of the constructed model were made the necessary calculations that allowed us using the values of crank angles connected with the engines to determine the position of the platform in space. To solve the problem we used the method of virtual points to reduce the number of equations and unknowns, which determine the position of the upper platform in space, at a crucial system from eighteen to nine, thus simplifying the solution.To check the solution correctness was carried out numerical experiment. Each generalized coordinate took on values in the range from -30 ° to 30 °; for them a direct positional problem was solved, and its result was inserted, as initial data, in the previous solved and proven inverse problem on the position of the platform under study.The paper presents comparative results of measurements with the calculated values of the generalized coordinates and draws the appropriate conclusions, that this model is in good compliance with the results observed in practice. One of the distinctive features of the proposed approach is that rotation angles of engines are used as the generalized coordinates. This allowed us

Exploratory study of mechanical kinematic innovation design based on gene recombination operation

Energy Technology Data Exchange (ETDEWEB)

Feng, Yixiong; Gao, Yicong; Tan, Jianrong [Zhejiang University, Hangzhou (China); Hagiwara, Ichiro [Tokyo Institute of Technology, Tokyo (Korea, Republic of)

2013-03-15

This paper analyzes the influencing factor of motion output of the inspired mechanism under the premise that the motion input is invariant. These factors are respectively expressed as kinematic pair chromosome number, kinematic pair feature gene and distance relationship vector gene by virtue of several concepts and principles in genetics, and then they are encoded. Mechanism chromosome model is established, which is constituted by mechanism chromosome relationship graph and mechanism chromosome matrix. Three kinematic pair chromosome gene recombination operations on mechanism chromosome model (dominance, translocation and metastasis), are proposed by using meiosis and chromosome variance in genetics for reference. Finally the paper takes shaper as the original mechanism and acquires its inspired mechanism, which proves the convenience and practicality of the methods.

Exploratory study of mechanical kinematic innovation design based on gene recombination operation

International Nuclear Information System (INIS)

Feng, Yixiong; Gao, Yicong; Tan, Jianrong; Hagiwara, Ichiro

2013-01-01

This paper analyzes the influencing factor of motion output of the inspired mechanism under the premise that the motion input is invariant. These factors are respectively expressed as kinematic pair chromosome number, kinematic pair feature gene and distance relationship vector gene by virtue of several concepts and principles in genetics, and then they are encoded. Mechanism chromosome model is established, which is constituted by mechanism chromosome relationship graph and mechanism chromosome matrix. Three kinematic pair chromosome gene recombination operations on mechanism chromosome model (dominance, translocation and metastasis), are proposed by using meiosis and chromosome variance in genetics for reference. Finally the paper takes shaper as the original mechanism and acquires its inspired mechanism, which proves the convenience and practicality of the methods.

Electron beam gun with kinematic coupling for high power RF vacuum devices

Science.gov (United States)

Borchard, Philipp

2016-11-22

An electron beam gun for a high power RF vacuum device has components joined by a fixed kinematic coupling to provide both precise alignment and high voltage electrical insulation of the components. The kinematic coupling has high strength ceramic elements directly bonded to one or more non-ductile rigid metal components using a high temperature active metal brazing alloy. The ceramic elements have a convex surface that mates with concave grooves in another one of the components. The kinematic coupling, for example, may join a cathode assembly and/or a beam shaping focus electrode to a gun stem, which is preferably composed of ceramic. The electron beam gun may be part of a high power RF vacuum device such as, for example, a gyrotron, klystron, or magnetron.

On use of radial evanescence remain term in kinematic hardening

International Nuclear Information System (INIS)

Geyer, P.

1995-10-01

A fine modelling of the material' behaviour can be necessary to study the mechanical strength of nuclear power plant' components under cyclic loads. Ratchetting is one of the last phenomena for which numerical models have to be improved. We discuss in this paper on use of radial evanescence remain term in kinematic hardening to improve the description of ratchetting in biaxial loading tests. It's well known that Chaboche elastoplastic model with two non linear kinematic hardening variables initially proposed by Armstrong and Frederick, usually over-predicts accumulation of ratchetting strain. Burlet and Cailletaud proposed in 1987 a non linear kinematic rule with a radial evanescence remain term. The two models lead to identical formulation for proportional loadings. In the case of a biaxial loading test (primary+secondary loading), Burlet and Cailletaud model leads to accommodation, when Chaboche one's leads to ratchetting with a constant increment of strain. So we can have an under-estimate with the first model and an over-estimate with the second. An easy method to improve the description of ratchetting is to combine the two kinematic rules. Such an idea is already used by Delobelle in his model. With analytical results in the case of tension-torsion tests, we show in a first part of the paper, the interest of radial evanescence remain term in the non linear kinematic rule to describe ratchetting: we give the conditions to get adaptation, accommodation or ratchetting and the value of the strain increment in the last case. In the second part of the paper, we propose to modify the elastoplastic Chaboche model by coupling the two types of hardening by means of two scalar parameters which can be identified independently on biaxial loading tests. Identification of these two parameters returns to speculate on the directions of strain in order to adjust the ratchetting to experimental observations. We use the experimental results on the austenitic steel 316L at room

Medial stabilized and posterior stabilized TKA affect patellofemoral kinematics and retropatellar pressure distribution differently.

Science.gov (United States)

Glogaza, Alexander; Schröder, Christian; Woiczinski, Matthias; Müller, Peter; Jansson, Volkmar; Steinbrück, Arnd

2018-06-01

Patellofemoral kinematics and retropatellar pressure distribution change after total knee arthroplasty (TKA). It was hypothesized that different TKA designs will show altered retropatellar pressure distribution patterns and different patellofemoral kinematics according to their design characteristics. Twelve fresh-frozen knee specimens were tested dynamically in a knee rig. Each specimen was measured native, after TKA with a posterior stabilized design (PS) and after TKA with a medial stabilized design (MS). Retropatellar pressure distribution was measured using a pressure sensitive foil which was subdivided into three areas (lateral and medial facet and patellar ridge). Patellofemoral kinematics were measured by an ultrasonic-based three-dimensional motion system (Zebris CMS20, Isny Germany). Significant changes in patellofemoral kinematics and retropatellar pressure distribution were found in both TKA types when compared to the native situation. Mean retropatellar contact areas were significantly smaller after TKA (native: 241.1 ± 75.6 mm 2 , MS: 197.7 ± 74.5 mm 2 , PS: 181.2 ± 56.7 mm 2 , native vs. MS p patellofemoral kinematics were found in both TKA designs when compared to the native knee during flexion and extension with a more medial patella tracking. Patellofemoral kinematics and retropatellar pressure change after TKA in different manner depending on the type of TKA used. Surgeons should be aware of influencing the risks of patellofermoral complications by the choice of the prosthesis design.

Kinematic Optimization of Robot Trajectories for Thermal Spray Coating Application

Science.gov (United States)

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.

Body weight support during robot-assisted walking: influence on the trunk and pelvis kinematics.

Science.gov (United States)

Swinnen, Eva; Baeyens, Jean-Pierre; Hens, Gerrit; Knaepen, Kristel; Beckwée, David; Michielsen, Marc; Clijsen, Ron; Kerckhofs, Eric

2015-01-01

Efficacy studies concerning robot assisted gait rehabilitation showed limited clinical benefits. A changed kinematic pattern might be responsible for this. Little is known about the kinematics of the trunk and pelvis during robot assisted treadmill walking (RATW). The aim of this study was to assess the trunk and pelvis kinematics of healthy subjects during RATW, with different amounts of body weight support (BWS) compared to regular treadmill walking (TW). Eighteen healthy participants walked on a treadmill, while kinematics were registered by an electromagnetic tracking device. Hereafter, the kinematics of pelvis and trunk were registered during RATW (guidance force 30%) with 0%, 30% and 50% BWS. Compared to TW, RATW showed a decrease in the following trunk movements: axial rotation, anteroposterior flexion, lateral and anteroposterior translation. Besides, a decrease in lateral tilting and all translation of the pelvis was found when comparing RATW with TW. Furthermore, the anteroposterior tilting of the pelvis increased during RATW. In general, there was a decrease in trunk and pelvis movement amplitude during RATW compared with regular TW. Though, it is not known if these changes are responsible for the limited efficacy of robot assisted gait rehabilitation. Further research is indicated.

VRACK: measuring pedal kinematics during stationary bike cycling.

Science.gov (United States)

Farjadian, Amir B; Kong, Qingchao; Gade, Venkata K; Deutsch, Judith E; Mavroidis, Constantinos

2013-06-01

Ankle impairment and lower limb asymmetries in strength and coordination are common symptoms for individuals with selected musculoskeletal and neurological impairments. The virtual reality augmented cycling kit (VRACK) was designed as a compact mechatronics system for lower limb and mobility rehabilitation. The system measures interaction forces and cardiac activity during cycling in a virtual environment. The kinematics measurement was added to the system. Due to the constrained problem definition, the combination of inertial measurement unit (IMU) and Kalman filtering was recruited to compute the optimal pedal angular displacement during dynamic cycling exercise. Using a novel benchmarking method the accuracy of IMU-based kinematics measurement was evaluated. Relatively accurate angular measurements were achieved. The enhanced VRACK system can serve as a rehabilitation device to monitor biomechanical and physiological variables during cycling on a stationary bike.

Distribution and Kinematics of Classical Cepheids in the Galactic Outer Ring

Directory of Open Access Journals (Sweden)

Mel’nik A. M.

2015-03-01

Full Text Available The existence of an outer ring in the Galaxy can explain the kinematics of OB associations in the Perseus and Sagittarius stellar-gas complexes. Moreover, it can also explain the orientation of the Carina arm with respect to the major axis of the bar. We show in this paper that the morphological and kinematical features of the sample of classical Cepheids are consistent with the presence of an R1R′2 ring in the Galaxy.

About the kinematics of spinning particles

International Nuclear Information System (INIS)

Salesi, G.; Recami, E.; Istituto Nazionale di Fisica Nucleare, Milan; Campinas State Univ., SP

1995-06-01

Inserting the correct Lorentz factor into the definition of the 4-velocity vμ for spinning particles entails new kinematical properties for v 2 . The well-know constraint (identically true for scalar particles, but entering also the Dirac theory, and assumed a priori in all spinning particle models) P μ v μ =m is here derived in a self-consistent way

Kinematic evolution of fold and thrust belts. Insights from experimental modeling

International Nuclear Information System (INIS)

Ueta, Keiichi

2011-01-01

Physical experiments were performed to gain a better understanding on the kinematic evolution of fold and thrust belts. The present study focuses on deformation of sedimentary cover caused by thrust and reverse movements along the basement fault. Our physical models comprise dry quartz sand representing brittle sedimentary rock and viscous silicone polymer representing overpressured mudstone. Computerized X-ray tomography was applied to the experiments to analyze the kinematic evolution of fold and thrust belts. In the sand models, the width of deformation zone above thrust was wider than that above reverse fault, because back thrust developed on the hanging wall of reverse fault. Within the physical models composed of dry sand and silicone polymer, minor folds and thrusts with minor displacement developed on the footwall of the major monoclinal flexure. These results compare well with the geometry and kinematic evolution of the fold and thrust belts in Japan. (author)

Kinematic analysis of in situ measurement during chemical mechanical planarization process

Energy Technology Data Exchange (ETDEWEB)

Li, Hongkai; Wang, Tongqing; Zhao, Qian; Meng, Yonggang; Lu, Xinchun, E-mail: xclu@tsinghua.edu.cn [State Key Laboratory of Tribology, Tsinghua University, Beijing 100084 (China)

2015-10-15

Chemical mechanical planarization (CMP) is the most widely used planarization technique in semiconductor manufacturing presently. With the aid of in situ measurement technology, CMP tools can achieve good performance and stable productivity. However, the in situ measurement has remained unexplored from a kinematic standpoint. The available related resources for the kinematic analysis are very limited due to the complexity and technical secret. In this paper, a comprehensive kinematic analysis of in situ measurement is provided, including the analysis model, the measurement trajectory, and the measurement time of each zone of wafer surface during the practical CMP process. In addition, a lot of numerical calculations are performed to study the influences of main parameters on the measurement trajectory and the measurement velocity variation of the probe during the measurement process. All the efforts are expected to improve the in situ measurement system and promote the advancement in CMP control system.

Kinematics and Application of a Hybrid Industrial Robot – Delta-RST

Directory of Open Access Journals (Sweden)

Ning Liu

2014-04-01

Full Text Available Serial robots and parallel robots have their own pros and cons. While hybrid robots consisting of both of them are possible and expected to retain their merits and minimize the disadvantages. The Delta-RST presented here is such a hybrid robot built up by integrating a 3-DoFs traditional Delta parallel structure and a 3-DoFs RST robotic wrist. In this paper, we focus on its kinematics analysis and its applications in industry. Firstly, the robotic system of the Delta-RST will be described briefly. Then the complete and systemic kinematics of this kind of robot will be presented in detail, followed by simulations and applications to demonstrate the correctness of the analysis, as well as the effectiveness of the developed robotic system. The closed-form kinematic analysis results are universal for similar hybrid robots constructing with the Delta parallel mechanism and serial chains.

Kinematic geometry of gearing

CERN Document Server

Dooner, David B

2012-01-01

Building on the first edition published in 1995 this new edition of Kinematic Geometry of Gearing has been extensively revised and updated with new and original material. This includes the methodology for general tooth forms, radius of torsure', cylinder of osculation, and cylindroid of torsure; the author has also completely reworked the '3 laws of gearing', the first law re-written to better parallel the existing 'Law of Gearing" as pioneered by Leonard Euler, expanded from Euler's original law to encompass non-circular gears and hypoid gears, the 2nd law of gearing describing a unique relat

Kinematic and ground reaction force accommodation during weighted walking.

Science.gov (United States)

James, C Roger; Atkins, Lee T; Yang, Hyung Suk; Dufek, Janet S; Bates, Barry T

2015-12-01

Weighted walking is a functional activity common in daily life and can influence risks for musculoskeletal loading, injury and falling. Much information exists about weighted walking during military, occupational and recreational tasks, but less is known about strategies used to accommodate to weight carriage typical in daily life. The purposes of the study were to examine the effects of weight carriage on kinematics and peak ground reaction force (GRF) during walking, and explore relationships between these variables. Twenty subjects walked on a treadmill while carrying 0, 44.5 and 89 N weights in front of the body. Peak GRF, sagittal plane joint/segment angular kinematics, stride length and center of mass (COM) vertical displacement were measured. Changes in peak GRF and displacement variables between weight conditions represented accommodation. Effects of weight carriage were tested using analysis of variance. Relationships between peak GRF and kinematic accommodation variables were examined using correlation and regression. Subjects were classified into sub-groups based on peak GRF responses and the correlation analysis was repeated. Weight carriage increased peak GRF by an amount greater than the weight carried, decreased stride length, increased vertical COM displacement, and resulted in a more extended and upright posture, with less hip and trunk displacement during weight acceptance. A GRF increase was associated with decreases in hip extension (|r|=.53, p=.020) and thigh anterior rotation (|r|=.57, p=.009) displacements, and an increase in foot anterior rotation displacement (|r|=.58, p=.008). Sub-group analysis revealed that greater GRF increases were associated with changes at multiple sites, while lesser GRF increases were associated with changes in foot and trunk displacement. Weight carriage affected walking kinematics and revealed different accommodation strategies that could have implications for loading and stability. Copyright © 2015 Elsevier B

Seeing the World Topsy-Turvy: The Primary Role of Kinematics in Biological Motion Inversion Effects

Directory of Open Access Journals (Sweden)

Sue-Anne Fitzgerald

2014-04-01

Full Text Available Physical inversion of whole or partial human body representations typically has catastrophic consequences on the observer's ability to perform visual processing tasks. Explanations usually focus on the effects of inversion on the visual system's ability to exploit configural or structural relationships, but more recently have also implicated motion or kinematic cue processing. Here, we systematically tested the role of both on perceptions of sex from upright and inverted point-light walkers. Our data suggest that inversion results in systematic degradations of the processing of kinematic cues. Specifically and intriguingly, they reveal sex-based kinematic differences: Kinematics characteristic of females generally are resistant to inversion effects, while those of males drive systematic sex misperceptions. Implications of the findings are discussed.

Kinematic measures for upper limb motor assessment during robot-mediated training in patients with severe sub-acute stroke.

Science.gov (United States)

Duret, Christophe; Courtial, Ophélie; Grosmaire, Anne Gaelle

2016-01-01

Kinematic assessments are increasingly used as motor outcome measures during upper limb robot-assisted training, in addition to clinical scales. However, their relevance has not been evaluated much. Thirty-eight patients with severe sub-acute stroke (age 56 ± 17 [19-87] years; time since stroke, 55 ± 22 days) carried out 16 sessions (average 3/week, 35 ± 15 days) of upper limb robot-assisted training combined with standard therapy. Pre/post motor performance was evaluated using the Fugl-Meyer Assessment scale, Motor Status Scale (MSS) and kinematic measures. Motor outcomes were compared and relationships between clinical and kinematic outcomes were analyzed. All clinical and kinematic outcomes improved after training (p kinematic measures were strongly correlated with clinical scores. Correlations between clinical and kinematic changes were moderate (r = -0.65 for change in FM Proximal score and change in accuracy measure). However, smoothness and accuracy indicators were shown to be responsive measures. This study demonstrated that baseline kinematic measures and their pre/post training changes were significantly correlated with clinical motor outcome measures. However, even if kinematic measures are valid for the evaluation of motor impairment we cannot propose to substitute common clinical measures of motor function which also evaluate functional abilities of the upper limb.

Analytical kinematics analysis and synthesis of planar mechanisms

CERN Document Server

Gans, Deborah

2013-01-01

Using computational techniques and a complex variable formulation, this book teaches the student of kinematics to handle increasingly difficult problems in both the analysis and design of mechanisms all based on the fundamental loop closure equation.

Cervical kinematics in patients with vestibular pathology vs. patients with neck pain: A pilot study.

Science.gov (United States)

Williams, Grace; Sarig-Bahat, Hilla; Williams, Katrina; Tyrrell, Ryan; Treleaven, Julia

2017-01-01

Research has consistently shown cervical kinematic impairments in subjects with persistent neck pain (NP). It could be reasoned that those with vestibular pathology (VP) may also have altered kinematics since vestibular stimulation via head movement can cause dizziness and visual disturbances. However, this has not been examined to date. This pilot study investigated changes in cervical kinematics between asymptomatic control, NP and VP subjects using a Virtual Reality (VR) system. It was hypothesised that there would be altered kinematics in VP subjects, which might be associated with dizziness and visual symptoms. Pilot cross sectional observational study. Twenty control, 14 VP and 20 NP subjects. Not applicable. Measures included questionnaires (neck disability index, pain on movement, dizziness and pain intensity, visual disturbances) and cervical kinematics (range, peak and mean velocity, smoothness, symmetry, and accuracy of cervical motion) using a virtual reality system. Results revealed significantly decreased mean velocity and symmetry of motion in both planes in those with NP but no differences in accuracy or range of motion. No significant differences were seen between VP subjects and asymptomatic controls. However, correlation analysis showed some moderate correlations between dizziness to selected kinematics in both the NP and the VP groups. These results support that cervical kinematics are altered in NP patients, with velocity most affected. There is potential for VP subjects to also have altered kinematics, especially those who experience dizziness. More research is required.

Clinical evaluation of shoulder kinematic MRI using an open-type system

International Nuclear Information System (INIS)

Ohno, Seiichiro; Togami, Izumi; Sasai, Nobuya

2000-01-01

Previous studies on kinematic MRI of the shoulder using cylindrical-type MRI systems were limited to internal or external rotation. The open-type MRI system enables kinematic MRI to be carried out for the abductive position, and is expected to permit evaluation of the superior and inferior glenoid labrum. It is important to evaluate the superior and inferior glenoid labrum in cases of sports injuries (baseball, tennis, etc.). We evaluated the superior and inferior glenoid labrum for abductive motion in asymptomatic healthy volunteers as a preliminary study. As the abduction angle increased, the superior labrum moved into the joint space. Its shape changed from round or triangular to crescent (p<0.0001), and there was increased signal for larger abduction angles (p<0.0001). On the other hand, the shape of the inferior labrum tended to change from crescent to triangular or round (p<0.0001). Increased signal was seen in the inferior labrum on about half the shoulders (N.P.). This did not change as the abduction angle increased. Our results define normal patterns for the superior and inferior glenoid labrum on abductive kinematic MRI in healthy volunteers. Abductive kinematic studies using an open-type MRI system, which permits dynamic evaluation of the superior and inferior glenoid labrum, are expected to be useful for various patients with sports injuries. (author)

Kinematic method for beam energy determination at electrostatic generators

International Nuclear Information System (INIS)

Thomas, H.J.; Gersch, H.U.; Hentschel, E.; Wohlfahrt, D.

1975-06-01

The applicability of the kinematics of nuclear reactions to the energy determination of a particle beam is discussed. Most favourable conditions are obtained for the kinematic cross over of particles elastically and inelastically scattered at targets with different masses. At tandem energies between 4 and 15 MeV this method permits an exact determination with a precision of about 1 keV. The scattered particles must be measured at about 170 0 with a precision of the scattering angle of 0.1 0 . For the energy determination of a proton beam the compounds LiF, LiCl, or deuterium enriched hydrocarbons are found to be proper target materials. Experimental results with a LiF-target are described. (author)

An investigation into the kinematics of 2 cervical manipulation techniques.

Science.gov (United States)

Williams, Jonathan M; Cuesta-Vargas, Antonio I

2013-01-01

The purpose of this study was to quantify the kinematics of the premanipulative position, the angular displacement, and velocity of thrust of 2 commonly used cervical spine manipulative procedures using inertial sensor technology. Thirteen asymptomatic subjects (7 females; mean age, 25.3 years; mean height, 170.9 cm; mean weight, 65.3 kg) received a right-handed and left-handed downslope and upslope manipulation, aimed at C4/5 while cervical kinematics were measured using an inertial sensor mounted on the forehead of the subject. One therapist used the upslope, and another therapist, the downslope, as was their preferred method. t tests were used to compare techniques and handiness. The results demonstrated differences in the kinematics between the 2 techniques. The downslope manipulation was associated with a mean premanipulative position of 24.8° side bending and 2.7° rotation, thrust displacement magnitude comprising of 4.5° side bending and 5.4° rotation with thrust velocity comprising, on average, of 57.5°/s side bending and 74.8°/s rotation. Upslope premanipulation was on average comprised of 30.1° side bending and 8.4° rotation, thrust displacement comprised of 4.5° side bending and 12.7° rotation with thrust velocity comprising of 75.9°/s side bending and 194.7°/s rotation. The results of this study demonstrate that there are different kinematic patterns for these 2 manipulative techniques. Copyright © 2013 National University of Health Sciences. Published by Mosby, Inc. All rights reserved.

THE KINEMATICS OF THE NEBULAR SHELLS AROUND LOW MASS PROGENITORS OF PNe WITH LOW METALLICITY

Energy Technology Data Exchange (ETDEWEB)

Pereyra, Margarita; López, José Alberto; Richer, Michael G., E-mail: mally@astrosen.unam.mx, E-mail: jal@astrosen.unam.mx, E-mail: richer@astrosen.unam.mx [Instituto de Astronomía, Universidad Nacional Autónoma de México, Apartado Postal 106, C.P. 22800 Ensenada, BC, México (Mexico)

2016-03-15

We analyze the internal kinematics of 26 planetary nebulae (PNe) with low metallicity that appear to derive from progenitor stars of the lowest masses, including the halo PN population. Based upon spatially resolved, long-slit, echelle spectroscopy drawn from the San Pedro Mártir Kinematic Catalog of PNe, we characterize the kinematics of these PNe measuring their global expansion velocities based upon the largest sample used to date for this purpose. We find kinematics that follow the trends observed and predicted in other studies, but also find that most of the PNe studied here tend to have expansion velocities less than 20 km s{sup −1} in all of the emission lines considered. The low expansion velocities that we observe in this sample of low metallicity PNe with low mass progenitors are most likely a consequence of a weak central star (CS) wind driving the kinematics of the nebular shell. This study complements previous results that link the expansion velocities of the PN shells with the characteristics of the CS.

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

Science.gov (United States)

Childers, W Lee; Kogler, Géza F

2014-01-01

People with amputation move asymmetrically with regard to kinematics (joint angles) and kinetics (joint forces and moments). Clinicians have traditionally sought to minimize kinematic asymmetries, assuming kinetic asymmetries would also be minimized. A cycling model evaluated locomotor asymmetries. Eight individuals with unilateral transtibial amputation pedaled with 172 mm-length crank arms on both sides (control condition) and with the crank arm length shortened to 162 mm on the amputated side (CRANK condition). Pedaling kinetics and limb kinematics were recorded. Joint kinetics, joint angles (mean and range of motion [ROM]), and pedaling asymmetries were calculated from force pedals and with a motion capture system. A one-way analysis of variance with tukey post hoc compared kinetics and kinematics across limbs. Statistical significance was set to p Pedaling asymmetries did not differ and were 23.0% +/= 9.8% and 23.2% +/= 12% for the control and CRANK conditions, respectively. Our results suggest that minimizing kinematic asymmetries does not relate to kinetic asymmetries as clinically assumed. We propose that future research should concentrate on defining acceptable asymmetry.

Distribution and kinematics of atomic and molecular gas inside the solar circle

Science.gov (United States)

Marasco, A.; Fraternali, F.; van der Hulst, J. M.; Oosterloo, T.

2017-11-01

The detailed distribution and kinematics of the atomic and the CO-bright molecular hydrogen in the disc of the Milky Way inside the solar circle are derived under the assumptions of axisymmetry and pure circular motions. We divide the Galactic disc into a series of rings, and assume that the gas in each ring is described by four parameters: its rotation velocity, velocity dispersion, midplane density and its scale height. We fit these parameters to the Galactic H I and 12CO (J = 1-0) data by producing artificial H I and CO line-profiles and comparing them with the observations. Our approach allows us to fit all parameters to the data simultaneously without assuming a-priori a radial profile for one of the parameters. We present the distribution and kinematics of the H I and H2 in both the approaching (QIV) and the receding (QI) regions of the Galaxy. Our best-fit models reproduces remarkably well the observed H I and CO longitude-velocity diagrams up to a few degrees of distance from the midplane. With the exception of the innermost 2.5 kpc, QI and QIV show very similar kinematics. The rotation curves traced by the H I and H2 follow each other closely, flattening beyond R = 6.5 kpc. Both the H I and the H2 surface densities show a) a deep depression at 0.5 < R < 2.5 kpc, analogous to that shown by some nearby barred galaxies, b) local overdensities that can be interpreted in terms of spiral arms or ring-like features in the disc. The H I (H2) properties are fairly constant in the region outside the depression, with typical velocity dispersion of 8.9 ± 1.1 (4.4 ± 1.2) km s-1, density of 0.43 ± 0.11 (0.42 ± 0.22) cm-3 and HWHM scale height of 202 ± 28 (64 ± 12) pc. We also show that the H I opacity in the LAB data can be accounted for by using an "effective" spin temperature of 150 K: assuming an optically thin regime leads to an underestimate of the H I mass by about 30%.

Kinematical analysis with the Emulsion Cloud Chamber in the OPERA experiment

CERN Document Server

Di Capua, F

2010-01-01

The OPERA experiment aims at measuring for the first time neutrino oscil- lation in appearance mode through the detection of ni-tau in an almost pure niμ beam produced at CERN SPS (CNGS), 730 km far from the detector. The ni-tau appearance signal is identified through the measurement of the decay daughter particles of the " lepton produced in CC ni-tau interactions. Since the short-lived " particle has, at the energy of the beam, an average decay length shorter than a 1 mm, a micrometric detection resolution is needed. The OPERA appara- tus is hybrid, using nuclear emulsion as high precision tracker and electronic detectors for the time stamp, event localization in the target and muon recon- struction. The Emulsion Cloud Chamber technique fulfils the requirement of a microscopic resolution together with a large target mass. The kinematical analysis allowed by this technique is described.

No stabilizing effect of the elbow joint capsule. A kinematic study

DEFF Research Database (Denmark)

Nielsen, K K; Olsen, Bo Sanderhoff

1999-01-01

We dissected 7 cadaveric elbow specimens, leaving the collateral ligaments and the joint capsule intact. The anterior and the posterior capsule were sequentially transected, followed by kinematic testings. We found no change in joint laxity after total transection of the capsule.......We dissected 7 cadaveric elbow specimens, leaving the collateral ligaments and the joint capsule intact. The anterior and the posterior capsule were sequentially transected, followed by kinematic testings. We found no change in joint laxity after total transection of the capsule....

KINEMATIC AND KINETIC VARIABLES DIFFER BETWEEN KETTLEBELL SWING STYLES.

Science.gov (United States)

Bullock, Garrett S; Schmitt, Abigail C; Shutt, Jason M; Cook, Gray; Butler, Robert J

2017-06-01

Kettlebell (KB) and indian club swings (ICS) are used diversely for developing strength and power. It has been proposed that multiple swing techniques can be used interchangeably to elicit similar adaptations within performance training. Hypothesis/Purpose: It was hypothesized that there will be not be a difference in peak joint angles between types of swings. Furthermore, given the nature of the overhead kettlebell swing (OKS), it was hypothesized that the OKS will be associated with a greater cycle time and a greater vertical impulse compared to shoulder height swing (SKS) and ICS. The purpose of this study was to analyze the kinematics and kinetics of the SKS, OKS, and ICS. Cross-sectional cohort. Fifteen healthy subjects underwent 3D biomechanical analysis for assessment of kinematic and kinetic data. Subjects performed two trials of ten repetitions at full effort for each swing in a randomized order using either a standard set of 0.45 kg indian clubs or sex specific KB loads (Female = 12kg, Male = 20kg). Lower extremity sagittal plane kinematics and kinetics were analyzed for peak values during the down and up portions of the swing patterns. Statistical analyses were carried out utilizing one-way ANOVAs ( p power training. 2.

Using the Microsoft Kinect™ to assess 3-D shoulder kinematics during computer use.

Science.gov (United States)

Xu, Xu; Robertson, Michelle; Chen, Karen B; Lin, Jia-Hua; McGorry, Raymond W

2017-11-01

Shoulder joint kinematics has been used as a representative indicator to investigate musculoskeletal symptoms among computer users for office ergonomics studies. The traditional measurement of shoulder kinematics normally requires a laboratory-based motion tracking system which limits the field studies. In the current study, a portable, low cost, and marker-less Microsoft Kinect™ sensor was examined for its feasibility on shoulder kinematics measurement during computer tasks. Eleven healthy participants performed a standardized computer task, and their shoulder kinematics data were measured by a Kinect sensor and a motion tracking system concurrently. The results indicated that placing the Kinect sensor in front of the participants would yielded a more accurate shoulder kinematics measurements then placing the Kinect sensor 15° or 30° to one side. The results also showed that the Kinect sensor had a better estimate on shoulder flexion/extension, compared with shoulder adduction/abduction and shoulder axial rotation. The RMSE of front-placed Kinect sensor on shoulder flexion/extension was less than 10° for both the right and the left shoulder. The measurement error of the front-placed Kinect sensor on the shoulder adduction/abduction was approximately 10° to 15°, and the magnitude of error is proportional to the magnitude of that joint angle. After the calibration, the RMSE on shoulder adduction/abduction were less than 10° based on an independent dataset of 5 additional participants. For shoulder axial rotation, the RMSE of front-placed Kinect sensor ranged between approximately 15° to 30°. The results of the study suggest that the Kinect sensor can provide some insight on shoulder kinematics for improving office ergonomics. Copyright © 2017 Elsevier Ltd. All rights reserved.

Kinematic Analysis and Performance Evaluation of Novel PRS Parallel Mechanism

Science.gov (United States)

Balaji, K.; Khan, B. Shahul Hamid

2018-02-01

In this paper, a 3 DoF (Degree of Freedom) novel PRS (Prismatic-Revolute- Spherical) type parallel mechanisms has been designed and presented. The combination of striaght and arc type linkages for 3 DOF parallel mechanism is introduced for the first time. The performances of the mechanisms are evaluated based on the indices such as Minimum Singular Value (MSV), Condition Number (CN), Local Conditioning Index (LCI), Kinematic Configuration Index (KCI) and Global Conditioning Index (GCI). The overall reachable workspace of all mechanisms are presented. The kinematic measure, dexterity measure and workspace analysis for all the mechanism have been evaluated and compared.

Whole analogy between Daniel Bernoulli solution and direct kinematics solution

Directory of Open Access Journals (Sweden)

Filipović Mirjana

2010-01-01

Full Text Available In this paper, the relationship between the original Euler-Bernoulli's rod equation and contemporary knowledge is established. The solution which Daniel Bernoulli defined for the simplest conditions is essentially the solution of 'direct kinematics'. For this reason, special attention is devoted to dynamics and kinematics of elastic mechanisms configuration. The Euler-Bernoulli equation and its solution (used in literature for a long time should be expanded according to the requirements of the mechanisms motion complexity. The elastic deformation is a dynamic value that depends on the total mechanism movements dynamics. Mathematical model of the actuators comprises also elasticity forces.

ELEMENTS OF KINEMATICS SPECIFIC TO THE JUMP OF THE MALE TRIPLE JUMP EVENT

Directory of Open Access Journals (Sweden)

MIHAI ILIE

2010-12-01

Full Text Available The quality of results obtained in competitions is based on the use of the most efficient technologies and conducting systems in the sportive training process, all embedded in operational strategies to enable the efficient filtering of the information exchange between coaches and athletes in order to ensure all the resources needed for an optimal monitoring and conveyance training process. The purpose of this study was to examine the kinematic point of view the main technical aspects of specific proof of triple last step - the long jump. Research was conducted on athletes who specialize in thissample, and components of the National Olympic Lot Romanian Athletics Federation. Using kinematic analysis software movement - Dartfish © I obtained a series of kinematic parameters (time, position, angles discussed specific issues in research, processing and interpretation leading to the general conclusion according to which: kinematic analysis of the key features approach specific technical triple last step of the sample by use of IT leads to useful information specific to this test in monitoring technique

Contact Kinematics Correlates to Tibial Component Migration Following Single Radius Posterior Stabilized Knee Replacement.

Science.gov (United States)

Teeter, Matthew G; Perry, Kevin I; Yuan, Xunhua; Howard, James L; Lanting, Brent A

2018-03-01

Contact kinematics between total knee arthroplasty components is thought to affect implant migration; however, the interaction between kinematics and tibial component migration has not been thoroughly examined in a modern implant system. A total of 24 knees from 23 patients undergoing total knee arthroplasty with a single radius, posterior stabilized implant were examined. Patients underwent radiostereometric analysis at 2 and 6 weeks, 3 and 6 months, and 1 and 2 years to measure migration of the tibial component in all planes. At 1 year, patients also had standing radiostereometric analysis examinations acquired in 0°, 20°, 40°, and 60° of flexion, and the location of contact and magnitude of any condylar liftoff was measured for each flexion angle. Regression analysis was performed between kinematic variables and migration at 1 year. The average magnitude of maximum total point motion across all patients was 0.671 ± 0.270 mm at 1 year and 0.608 ± 0.359 mm at 2 years (P = .327). Four implants demonstrated continuous migration of >0.2 mm between the first and second year of implantation. There were correlations between the location of contact and tibial component anterior-posterior tilt, varus-valgus tilt, and anterior-posterior translation. The patients with continuous migration demonstrated atypical kinematics and condylar liftoff in some instances. Kinematics can influence tibial component migration, likely through alterations of force transmission. Abnormal kinematics may play a role in long-term implant loosening. Copyright © 2017 Elsevier Inc. All rights reserved.

JFKengine: A Jacobian and Forward Kinematics Generator

Energy Technology Data Exchange (ETDEWEB)

Fischer, K.N.

2003-02-13

During robot path planning and control the equations that describe the robot motions are determined and solved. Historically these expressions were derived analytically off-line. For robots that must adapt to their environment or perform a wide range of tasks, a way is needed to rapidly re-derive these expressions to take into account the robot kinematic changes, such as when a tool is added to the end-effector. The JFKengine software was developed to automatically produce the expressions representing the manipulator arm motion, including the manipulator arm Jacobian and the forward kinematic expressions. Its programming interface can be used in conjunction with robot simulation software or with robot control software. Thus, it helps to automate the process of configuration changes for serial robot manipulators. If the manipulator undergoes a geometric change, such as tool acquisition, then JFKengine can be invoked again from the control or simulation software, passing it parameters for the new arm configuration. This report describes the automated processes that are implemented by JFKengine to derive the kinematic equations and the programming interface by which it is invoked. Then it discusses the tree data structure that was chosen to store the expressions, followed by several examples of portions of expressions as represented in the tree. The C++ classes and their methods that implement the expression differentiation and evaluation operations are described. The algorithms used to construct the Jacobian and forward kinematic equations using these basic building blocks are then illustrated. The activity described in this report is part of a larger project entitled ''Multi-Optimization Criteria-Based Robot Behavioral Adaptability and Motion Planning'' that focuses on the development of a methodology for the generalized resolution of robot motion equations with time-varying configurations, constraints, and task objective criteria. A specific

Are human hands and feet affected by climate? A test of Allen's rule.

Science.gov (United States)

Betti, Lia; Lycett, Stephen J; von Cramon-Taubadel, Noreen; Pearson, Osbjorn M

2015-09-01

In recent years, several studies have shown that populations from cold, high-latitude regions tend to have relatively shorter limbs than populations from tropical regions, with most of the difference due to the relative length of the zeugopods (i.e., radius, ulna, tibia, fibula). This pattern has been explained either as the consequence of long-term climatic selection or of phenotypic plasticity, with temperature having a direct effect on bone growth during development. The aims of this study were to test whether this pattern of intra-limb proportions extended to the bones of the hands and feet, and to determine whether the pattern remained significant after taking into account the effects of neutral evolutionary processes related to population history. Measurements of the limb bones, including the first metatarsal and metacarpal, were collected for 393 individuals from 10 globally distributed human populations. The relationship between intra-limb indices and minimum temperature was tested using generalized least squares regression, correcting for spatial autocorrelation. The results confirmed previous observations of a temperature-related gradient in intra-limb proportions, even accounting for population history. This pattern extends to the hands, with populations from cold regions displaying a relatively shorter and stockier first metacarpal; however, the first metatarsal appears to be wider but not shorter in cold-adapted populations. The results suggest that climatic adaptation played a role in shaping variation in limb proportions between human populations. The different patterns shown by the hands and feet might be due to the presence of evolutionary constraints on the foot to maintain efficient bipedal locomotion. © 2015 Wiley Periodicals, Inc.

Compton's Kinematics and Einstein - Ehrenfest's radiation theory

International Nuclear Information System (INIS)

Barranco, A.V.; Franca, H.M.

1988-09-01

The Compton Kinematic relations are obtained from entirely classical arguments, that is, without the corpuscular concept of the photon. The calculations are nonrelativistic and result from Einstein and Ehrenfest's radiation theory modified in order to introduce the effects of the classical zero-point fileds characteristic of Stochastic Electrodynamics. (author) [pt

The preliminary of software development for the kinematics analysis of 5 DOF Nuclear Malaysia robot arm v2

International Nuclear Information System (INIS)

Mohd Zaid Hassan; Anwar Abdul Rahman; Rosli Darmawan; Mohd Arif Hamzah

2010-01-01

This paper presents the preliminary software development for the kinematics analysis of 5 DOF rescue robot. The kinematics analysis is the study of relationship between the individual joints of the robot manipulator, the position and orientation of the end-effector. The Denavit-Hartenberg (DH) model is used to model the robot links and joints. Both forward and inverse kinematic are presented. The simulation software has been developed by using MATLAB to solve the robot arms kinematic behavior. (author)

Hummingbirds control turning velocity using body orientation and turning radius using asymmetrical wingbeat kinematics.

Science.gov (United States)

Read, Tyson J G; Segre, Paolo S; Middleton, Kevin M; Altshuler, Douglas L

2016-03-01

Turning in flight requires reorientation of force, which birds, bats and insects accomplish either by shifting body position and total force in concert or by using left-right asymmetries in wingbeat kinematics. Although both mechanisms have been observed in multiple species, it is currently unknown how each is used to control changes in trajectory. We addressed this problem by measuring body and wingbeat kinematics as hummingbirds tracked a revolving feeder, and estimating aerodynamic forces using a quasi-steady model. During arcing turns, hummingbirds symmetrically banked the stroke plane of both wings, and the body, into turns, supporting a body-dependent mechanism. However, several wingbeat asymmetries were present during turning, including a higher and flatter outer wingtip path and a lower more deviated inner wingtip path. A quasi-steady analysis of arcing turns performed with different trajectories revealed that changes in radius were associated with asymmetrical kinematics and forces, and changes in velocity were associated with symmetrical kinematics and forces. Collectively, our results indicate that both body-dependent and -independent force orientation mechanisms are available to hummingbirds, and that these kinematic strategies are used to meet the separate aerodynamic challenges posed by changes in velocity and turning radius. © 2016 The Author(s).

The kinematic determinants of anuran swimming performance: an inverse and forward dynamics approach.

Science.gov (United States)

Richards, Christopher T

2008-10-01

The aims of this study were to explore the hydrodynamic mechanism of Xenopus laevis swimming and to describe how hind limb kinematics shift to control swimming performance. Kinematics of the joints, feet and body were obtained from high speed video of X. laevis frogs (N=4) during swimming over a range of speeds. A blade element approach was used to estimate thrust produced by both translational and rotational components of foot velocity. Peak thrust from the feet ranged from 0.09 to 0.69 N across speeds ranging from 0.28 to 1.2 m s(-1). Among 23 swimming strokes, net thrust impulse from rotational foot motion was significantly higher than net translational thrust impulse, ranging from 6.1 to 29.3 N ms, compared with a range of -7.0 to 4.1 N ms from foot translation. Additionally, X. laevis kinematics were used as a basis for a forward dynamic anuran swimming model. Input joint kinematics were modulated to independently vary the magnitudes of foot translational and rotational velocity. Simulations predicted that maximum swimming velocity (among all of the kinematics patterns tested) requires that maximal translational and maximal rotational foot velocity act in phase. However, consistent with experimental kinematics, translational and rotational motion contributed unequally to total thrust. The simulation powered purely by foot translation reached a lower peak stroke velocity than the pure rotational case (0.38 vs 0.54 m s(-1)). In all simulations, thrust from the foot was positive for the first half of the power stroke, but negative for the second half. Pure translational foot motion caused greater negative thrust (70% of peak positive thrust) compared with pure rotational simulation (35% peak positive thrust) suggesting that translational motion is propulsive only in the early stages of joint extension. Later in the power stroke, thrust produced by foot rotation overcomes negative thrust (due to translation). Hydrodynamic analysis from X. laevis as well as forward

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

Science.gov (United States)

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

2016-01-01

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

Axial loaded stress views and kinematic MR imaging evaluation of patellar alignment and tracking

International Nuclear Information System (INIS)

Shellock, F.G.; Mink, J.H.; Deutsch, A.; Meeks, T.; Fox, J.; Molnar, T.

1990-01-01

This paper evaluates patellar alignment and tracking in patients with suspected abnormalities by obtaining axial loaded stress views to assess dynamic stabilizers and kinematic MR images to assess static stabilizers of the patellofemoral joint. Ninety-eight symptomatic joints were studied; 21 joints had prior realignment surgery. Axial loaded stress views were achieved with a device that simulated weight bearing. Images were obtained with knees flexed at 20 degrees ± 5 degrees while the patient resisted with an isometric contraction. Kinematic MR imaging was performed according to previously described methods. Kinematic MR imaging showed normal findings in six joints, lateral subluxation in 22, medial subluxation in 58, lateral tilt in two, and lateral to medial subluxation in 10. Axial stress views showed normal findings in 30, lateral subluxation in 18, and medial subluxation in 50. Both tests agreed on abnormalities for 63% of the joints, while kinematic MR imaging showed abnormalities for an additional 32%

Kinematics, dynamics and control design of 4WIS4WID mobile robots

Directory of Open Access Journals (Sweden)

Ming-Han Lee

2015-01-01

Full Text Available Kinematic and dynamic modelling and corresponding control design of a four-wheel-independent steering and four-wheel-independent driving (4WIS4WID mobile robot are presented in this study. Different from the differential or car-like mobile robot, the 4WIS4WID mobile robot is controlled by four steering and four driving motors, so the control scheme should possess the ability to integrate and manipulate the four independent wheels. A trajectory tracking control scheme is developed for the 4WIS4WID mobile robot, where both non-linear kinematic control and dynamic sliding-mode control are designed. All of the stabilities of the kinematic and dynamic control laws are proved by Lyapunov stability analysis. Finally, the feasibility and validity of the proposed trajectory tracking control scheme are confirmed through computer simulations.

Experiments and kinematics analysis of a hand rehabilitation exoskeleton with circuitous joints.

Science.gov (United States)

Zhang, Fuhai; Fu, Yili; Zhang, Qinchao; Wang, Shuguo

2015-01-01

Aiming at the hand rehabilitation of stroke patients, a wearable hand exoskeleton with circuitous joint is proposed. The circuitous joint adopts the symmetric pinion and rack mechanism (SPRM) with the parallel mechanism. The exoskeleton finger is a serial mechanism composed of three closed-chain SPRM joints in series. The kinematic equations of the open chain of the finger and the closed chains of the SPRM joints were built to analyze the kinematics of the hand rehabilitation exoskeleton. The experimental setup of the hand rehabilitation exoskeleton was built and the continuous passive motion (CPM) rehabilitation experiment and the test of human-robot interaction force measurement were conducted. Experiment results show that the mechanical design of the hand rehabilitation robot is reasonable and that the kinematic analysis is correct, thus the exoskeleton can be used for the hand rehabilitation of stroke patients.

Kinematic Constraints Associated with the Acquisition of Overarm Throwing Part II: Upper Extremity Actions

Science.gov (United States)

Stodden, David F.; Langendorfer, Stephen J.; Fleisig, Glenn S.; Andrews, James R.

2006-01-01

The purposes of this study were to: (a) examine the differences within 11 specific kinematic variables and an outcome measure (ball velocity) associated with component developmental levels of humerus and forearm action (Roberton & Halverson, 1984), and (b) if the differences in kinematic variables were significantly associated with the differences…

Performance and Kinematics of Various Throwing Techniques in Team-Handball

Science.gov (United States)

Wagner, Herbert; Pfusterschmied, Jürgen; von Duvillard, Serge P.; Müller, Erich

2011-01-01

In team-handball competition, the players utilize various throwing techniques that differ in the lower body movements (with and without run-up or jump). These different lower body movements influence changes in the upper body movements and thus also affect the performance. A comprehensive analysis of 3D-kinematics of team-handball throws that may explain these differences in performance is lacking. Consequently, the purpose of this study was (1) to compare performance (ball velocity and throwing accuracy) between the jump throw, standing throw with and without run-up, and the pivot throw; (2) to calculate the influence of kinematic parameters to ball velocity; and (3) to determine if these four throwing techniques differ significantly in kinematics. Three-dimensional kinematic data (angles, angular velocities and their timing, ball velocity and velocity of the center of mass) of 14 elite team-handball players were measured using an 8 camera Vicon MX13 motion capture system (Vicon, Oxford, UK), at 250 Hz. Significant difference was found between the four throwing techniques for ball velocity (p handball players achieved the greatest ball velocity in the standing throw with run-up (100%), followed by the standing throw without run-up (93%), jump throw (92%) and pivot throw (85%). Depending on the floor contact (standing vs. jump throws) the elite players of the study used two different strategies (lead leg braces the body vs. opposed leg movements during flight) to accelerate the pelvis and trunk that caused differences in ball velocity. Elite team-handball players were able to utilize the throwing arm similarly in all four throwing techniques. PMID:24149298

Mathematical model for studying cyclist kinematics in vehicle-bicycle frontal collisions

Science.gov (United States)

Condrea, OA; Chiru, A.; Chiriac, RL; Vlase, S.

2017-10-01

For the development of effective vehicle related safety solutions to improve cyclist protection, kinematic predictions are essential. The objective of the paper was the elaboration of a simple mathematical model for predicting cyclist kinematics, with the advantage of yielding simple results for relatively complicated impact situations. Thus, the use of elaborated math software is not required and the calculation time is shortened. The paper presents a modelling framework to determine cyclist kinematic behaviour for the situations in which a M1 category vehicle frontally hits the rear part of a bicycle. After the primary impact between the vehicle front bumper and the bicycle, the cyclist hits the vehicle’s bonnet, the windscreen or both the vehicle’s bonnet and the windscreen in short succession. The head-windshield impact is often the most severe impact, causing serious and potentially lethal injuries. The cyclist is represented by a rigid segment and the equations of motion for the cyclist after the primary impact are obtained by applying Newton’s second law of motion. The impact time for the contact between the vehicle and the cyclist is yielded afterwards by formulating and intersecting the trajectories for two points positioned on the cyclist’s head/body and the vehicle’s windscreen/bonnet while assuming that the cyclist’s equations of motion after the primary impact remain the same. Postimpact kinematics for the secondary impact are yielded by applying linear and angular momentum conservation laws.

THE INFLUENCE OF EXTERNAL PERTURBATIONS ON RUNNING KINEMATICS AND MUSCLE ACTIVITY BEFORE AND AFTER ACCOMMODATION

Directory of Open Access Journals (Sweden)

Anita Haudum

2012-12-01

Full Text Available In the current study, the running pattern of the lower extremity was examined while being perturbed through tubes attached between the ankles and the lower back to analyze influences on the running pattern variability before and after a varied running intervention. 3D-kinematics, joint coupling and electromyography (EMG, as well as their variability, were analyzed in ten healthy male participants during treadmill running (10.5 km·h-1. Pre- and post-tests each consisted of 2 x 30 min treadmill running (one with and one without tubes. The results showed major acute effects on EMG and kinematics, as well as joint coordination variability, due to the constraints (p < 0.05. After the intervention, a process of normalization of most kinematic and EMG parameters occurred; however, EMG variability, kinematic variability and joint coordination variability were reduced during tube running below normal running level (p < 0.05. The findings further indicate rapid kinematic adaptations while muscle activity appears to require longer practice to adapt. The constraint serves to acutely increase variability, but may lead to reduced variability when applied for a longer period of time

Hierarchical Kinematic Modelling and Optimal Design of a Novel Hexapod Robot with Integrated Limb Mechanism

Directory of Open Access Journals (Sweden)

Guiyang Xin

2015-09-01

Full Text Available This paper presents a novel hexapod robot, hereafter named PH-Robot, with three degrees of freedom (3-DOF parallel leg mechanisms based on the concept of an integrated limb mechanism (ILM for the integration of legged locomotion and arm manipulation. The kinematic model plays an important role in the parametric optimal design and motion planning of robots. However, models of parallel mechanisms are often difficult to obtain because of the implicit relationship between the motions of actuated joints and the motion of a moving platform. In order to derive the kinematic equations of the proposed hexapod robot, an extended hierarchical kinematic modelling method is proposed. According to the kinematic model, the geometrical parameters of the leg are optimized utilizing a comprehensive objective function that considers both dexterity and payload. PH-Robot has distinct advantages in accuracy and load ability over a robot with serial leg mechanisms through the former's comparison of performance indices. The reachable workspace of the leg verifies its ability to walk and manipulate. The results of the trajectory tracking experiment demonstrate the correctness of the kinematic model of the hexapod robot.

Gas Content and Kinematics in Clumpy, Turbulent Star-forming Disks

International Nuclear Information System (INIS)

White, Heidi A.; Abraham, Roberto G.; Fisher, David B.; Glazebrook, Karl; Murray, Norman; Bolatto, Alberto D.; Green, Andrew W.; Mentuch Cooper, Erin; Obreschkow, Danail

2017-01-01

We present molecular gas-mass estimates for a sample of 13 local galaxies whose kinematic and star-forming properties closely resemble those observed in z ≈ 1.5 main-sequence galaxies. Plateau de Bure observations of the CO[1-0] emission line and Herschel Space Observatory observations of the dust emission both suggest molecular gas-mass fractions of ∼20%. Moreover, dust emission modeling finds T dust < 30 K, suggesting a cold dust distribution compared to their high infrared luminosity. The gas-mass estimates argue that z ∼ 0.1 DYNAMO galaxies not only share similar kinematic properties with high- z disks, but they are also similarly rich in molecular material. Pairing the gas-mass fractions with existing kinematics reveals a linear relationship between f gas and σ / v c , consistent with predictions from stability theory of a self-gravitating disk. It thus follows that high gas-velocity dispersions are a natural consequence of large gas fractions. We also find that the systems with the lowest t dep (∼0.5 Gyr) have the highest ratios of σ / v c and more pronounced clumps, even at the same high molecular gas fraction.

Foot and Ankle Kinematics During Descent From Varying Step Heights.

Science.gov (United States)

Gerstle, Emily E; O'Connor, Kristian; Keenan, Kevin G; Cobb, Stephen C

2017-12-01

In the general population, one-third of incidences during step negotiation occur during the transition to level walking. Furthermore, falls during curb negotiation are a common cause of injury in older adults. Distal foot kinematics may be an important factor in determining injury risk associated with transition step negotiation. The purpose of this study was to identify foot and ankle kinematics of uninjured individuals during descent from varying step heights. A 7-segment foot model was used to quantify kinematics as participants walked on a level walkway, stepped down a single step (heights: 5 cm, 15 cm, 25 cm), and continued walking. As step height increased, landing strategy transitioned from the rearfoot to the forefoot, and the rearfoot, lateral and medial midfoot, and medial forefoot became more plantar flexed. During weight acceptance, sagittal plane range of motion of the rearfoot, lateral midfoot, and medial and lateral forefoot increased as step height increased. The changes in landing strategy and distal foot function suggest a less stable ankle position at initial contact and increased demand on the distal foot at initial contact and through the weight acceptance phase of transition step negotiation as step height increases.

Gas Content and Kinematics in Clumpy, Turbulent Star-forming Disks

Energy Technology Data Exchange (ETDEWEB)

White, Heidi A.; Abraham, Roberto G. [Department of Astronomy and Astrophysics, University of Toronto, 50 St. George Street, Toronto, ON, M5S 3H8 (Canada); Fisher, David B.; Glazebrook, Karl [Centre for Astrophysics and Supercomputing, Swinburne University of Technology, P.O. Box 218, Hawthorn, VIC 3122 (Australia); Murray, Norman [Canadian Institute for Theoretical Astrophysics, 60 St. George Street, University of Toronto, Toronto ON M5S 3H8 (Canada); Bolatto, Alberto D. [Department of Astronomy and Joint Space Institute, University of Maryland, College Park, MD 20642 (United States); Green, Andrew W. [Australian Astronomical Observatory, P.O. Box 970, North Ryde, NSW 1670 (Australia); Mentuch Cooper, Erin [Astronomy Department, University of Texas at Austin, Austin, TX 78712 (United States); Obreschkow, Danail [International Centre for Radio Astronomy Research (ICRAR), University of Western Australia, M468, Crawley, WA 6009 (Australia)

2017-09-01

We present molecular gas-mass estimates for a sample of 13 local galaxies whose kinematic and star-forming properties closely resemble those observed in z ≈ 1.5 main-sequence galaxies. Plateau de Bure observations of the CO[1-0] emission line and Herschel Space Observatory observations of the dust emission both suggest molecular gas-mass fractions of ∼20%. Moreover, dust emission modeling finds T {sub dust} < 30 K, suggesting a cold dust distribution compared to their high infrared luminosity. The gas-mass estimates argue that z ∼ 0.1 DYNAMO galaxies not only share similar kinematic properties with high- z disks, but they are also similarly rich in molecular material. Pairing the gas-mass fractions with existing kinematics reveals a linear relationship between f {sub gas} and σ / v {sub c}, consistent with predictions from stability theory of a self-gravitating disk. It thus follows that high gas-velocity dispersions are a natural consequence of large gas fractions. We also find that the systems with the lowest t {sub dep} (∼0.5 Gyr) have the highest ratios of σ / v{sub c} and more pronounced clumps, even at the same high molecular gas fraction.

Kinematical Test Theories for Special Relativity

Science.gov (United States)

Lämmerzahl, Claus; Braxmaier, Claus; Dittus, Hansjörg; Müller, Holger; Peters, Achim; Schiller, Stephan

A comparison of certain kinematical test theories for Special Relativity including the Robertson and Mansouri-Sext test theories is presented and the accuracy of the experimental results testing Special Relativity are expressed in terms of the parameters appearing in these test theories. The theoretical results are applied to the most precise experimental results obtained recently for the isotropy of light propagation and the constancy of the speed of light.

Functional Ability Improved in Essential Tremor by IncobotulinumtoxinA Injections Using Kinematically Determined Biomechanical Patterns - A New Future.

Directory of Open Access Journals (Sweden)

Olivia Samotus

Full Text Available Effective treatment for functional disability caused by essential tremor is a significant unmet need faced by many clinicians today. Current literature regarding focal therapy by botulinum toxin type A (BoNT-A injections uses fixed dosing regimens, which cannot be individualized, provides only limited functional benefit and unacceptable muscle weakness commonly occurs. This 38-week open label study, the longest to-date, demonstrates how kinematic technology addressed all these issues by guiding muscle selection.Participants (n = 24 were assessed at weeks 0, 6, 16, 22, 32, and 38 and injected with incobotulinumtoxinA at weeks 0, 16, and 32. Clinical assessments including UPDRS tremor items, Fahn-Tolosa-Marin (FTM tremor rating scale assessing tremor severity, writing and functional ability, quality of life questionnaire (QUEST and objective kinematic assessments were completed at every visit. Participants performed two postural and two weight-bearing scripted tasks with motion sensors placed over the wrist, elbow and shoulder joints. These sensors captured angular tremor amplitude (RMS units and acceleration joint motion that was segmented into directional components: flexion-extension (F/E, pronation-supination and radial-ulnar at the wrist, F/E at the elbow, and F/E and adduction-abduction at the shoulder. Injection parameters were determined using kinematics, followed by the clinician's determination of which muscles would contribute to the specific upper limb tremor biomechanics and dosing per participant.Multi-joint biomechanical recordings allowed individualized muscle selection and showed significant improvement in whole-arm function, FTM parts A-C scores, at week 6 which continued throughout the study. By week 38, the total FTM score statistically significantly reduced from 16.2±4.6 at week 0 to 9.5±6.3 (p<0.0005. UPDRS item 21 score rating action tremor was significantly reduced from 2.6±0.5 at week 0 to 1.6±1.1 (p = 0.01 at week 32

Kinematics and optimization of 2-DOF parallel manipulator with revolute actuators and a passive leg

International Nuclear Information System (INIS)

Nam, Yun Joo; Park, Myeong Kwan

2006-01-01

In this paper, a 2-DOF planar parallel manipulator with two revolute actuators and one passive constraining leg. The kinematic analysis of the mechanism is analytically performed : the inverse and forward kinematics problems are solved in closed forms, the workspace is derived systematically, and the three kinds of singular configurations are found. The optimal design to determine the geometric parameters and the operating limits of the actuated legs is performed considering the kinematic manipulability and workspace size. These results of the paper show the effectiveness of the presented manipulator

Effects of tibial plateau angle and spacer thickness applied during in vitro canine total knee replacement on three-dimensional kinematics and collateral ligament strain.

Science.gov (United States)

Baker, Katherine M; Foutz, Timothy L; Johnsen, Kyle J; Budsberg, Steven C

2014-09-01

To quantify the 3-D kinematics and collateral ligament strain of stifle joints in cadaveric canine limbs before and after cranial cruciate ligament transection followed by total knee replacement (TKR) involving various tibial plateau angles and spacer thicknesses. 6 hemi-pelvises collected from clinically normal nonchondrodystrophic dogs (weight range, 25 to 35 kg). Hemi-pelvises were mounted on a modified Oxford knee rig that allowed 6 degrees of freedom of the stifle joint but prevented mechanical movement of the hip and tarsal joints. Kinematics and collateral ligament strain were measured continuously while stifle joints were flexed. Data were again collected after cranial cruciate ligament transection and TKR with combinations of 3 plateau angles (0°, 4°, and 8°) and spacer thicknesses (5, 7, and 9 mm). Presurgical (ie, normal) stifle joint rotations were comparable to those previously documented for live dogs. After TKR, kinematics recorded for the 8°, 5-mm implant most closely resembled those of unaltered stifle joints. Decreasing the plateau angle and increasing spacer thickness altered stifle joint adduction, internal rotation, and medial translation. Medial collateral ligament strain was minimal in unaltered stifle joints and was unaffected by TKR. Lateral collateral ligament strain decreased with steeper plateau angles but returned to a presurgical level at the flattest plateau angle. Among the constructs tested, greatest normalization of canine stifle joint kinematics in vitro was achieved with the steepest plateau angle paired with the thinnest spacer. Furthermore, results indicated that strain to the collateral ligaments was not negatively affected by TKR.

Real-time estimation of helicopter rotor blade kinematics through measurement of rotation induced acceleration

Science.gov (United States)

Allred, C. Jeff; Churchill, David; Buckner, Gregory D.

2017-07-01

This paper presents a novel approach to monitoring rotor blade flap, lead-lag and pitch using an embedded gyroscope and symmetrically mounted MEMS accelerometers. The central hypothesis is that differential accelerometer measurements are proportional only to blade motion; fuselage acceleration and blade bending are inherently compensated for. The inverse kinematic relationships (from blade position to acceleration and angular rate) are derived and simulated to validate this hypothesis. An algorithm to solve the forward kinematic relationships (from sensor measurement to blade position) is developed using these simulation results. This algorithm is experimentally validated using a prototype device. The experimental results justify continued development of this kinematic estimation approach.

A novel mechanism for emulating insect wing kinematics

International Nuclear Information System (INIS)

Seshadri, Pranay; Benedict, Moble; Chopra, Inderjit

2012-01-01

A novel dual-differential four-bar flapping mechanism that can accurately emulate insect wing kinematics in all three degrees of freedom (translation, rotation and stroke plane deviation) is developed. The mechanism is specifically designed to be simple and scalable such that it can be utilized on an insect-based flapping wing micro air vehicle. Kinematic formulations for the wing stroke position, pitch angle and coning angle for this model are derived from first principles and compared with a 3D simulation. A benchtop flapping mechanism based on this model was designed and built, which was also equipped with a balance for force measurements. 3D motion capture tests were conducted on this setup to demonstrate the capability of generating complex figure-of-eight flapping motions along with dynamic pitching. The dual-differential four-bar mechanism was implemented on a light-weight vehicle that demonstrated tethered hover. (paper)

A constrained extended Kalman filter for the optimal estimate of kinematics and kinetics of a sagittal symmetric exercise.

Science.gov (United States)

Bonnet, V; Dumas, R; Cappozzo, A; Joukov, V; Daune, G; Kulić, D; Fraisse, P; Andary, S; Venture, G

2017-09-06

This paper presents a method for real-time estimation of the kinematics and kinetics of a human body performing a sagittal symmetric motor task, which would minimize the impact of the stereophotogrammetric soft tissue artefacts (STA). The method is based on a bi-dimensional mechanical model of the locomotor apparatus the state variables of which (joint angles, velocities and accelerations, and the segments lengths and inertial parameters) are estimated by a constrained extended Kalman filter (CEKF) that fuses input information made of both stereophotogrammetric and dynamometric measurement data. Filter gains are made to saturate in order to obtain plausible state variables and the measurement covariance matrix of the filter accounts for the expected STA maximal amplitudes. We hypothesised that the ensemble of constraints and input redundant information would allow the method to attenuate the STA propagation to the end results. The method was evaluated in ten human subjects performing a squat exercise. The CEKF estimated and measured skin marker trajectories exhibited a RMS difference lower than 4mm, thus in the range of STAs. The RMS differences between the measured ground reaction force and moment and those estimated using the proposed method (9N and 10Nm) were much lower than obtained using a classical inverse dynamics approach (22N and 30Nm). From the latter results it may be inferred that the presented method allows for a significant improvement of the accuracy with which kinematic variables and relevant time derivatives, model parameters and, therefore, intersegmental moments are estimated. Copyright © 2016 Elsevier Ltd. All rights reserved.

Getting in shape: Reconstructing three-dimensional long-track speed skating kinematics by comparing several body pose reconstruction techniques.

Science.gov (United States)

van der Kruk, E; Schwab, A L; van der Helm, F C T; Veeger, H E J

2018-03-01

In gait studies body pose reconstruction (BPR) techniques have been widely explored, but no previous protocols have been developed for speed skating, while the peculiarities of the skating posture and technique do not automatically allow for the transfer of the results of those explorations to kinematic skating data. The aim of this paper is to determine the best procedure for body pose reconstruction and inverse dynamics of speed skating, and to what extend this choice influences the estimation of joint power. The results show that an eight body segment model together with a global optimization method with revolute joint in the knee and in the lumbosacral joint, while keeping the other joints spherical, would be the most realistic model to use for the inverse kinematics in speed skating. To determine joint power, this method should be combined with a least-square error method for the inverse dynamics. Reporting on the BPR technique and the inverse dynamic method is crucial to enable comparison between studies. Our data showed an underestimation of up to 74% in mean joint power when no optimization procedure was applied for BPR and an underestimation of up to 31% in mean joint power when a bottom-up inverse dynamics method was chosen instead of a least square error approach. Although these results are aimed at speed skating, reporting on the BPR procedure and the inverse dynamics method, together with setting a golden standard should be common practice in all human movement research to allow comparison between studies. Copyright © 2018 Elsevier Ltd. All rights reserved.

Kinematic measures for upper limb robot-assisted therapy following stroke and correlations with clinical outcome measures: A review.

Science.gov (United States)

Tran, Vi Do; Dario, Paolo; Mazzoleni, Stefano

2018-03-01

This review classifies the kinematic measures used to evaluate post-stroke motor impairment following upper limb robot-assisted rehabilitation and investigates their correlations with clinical outcome measures. An online literature search was carried out in PubMed, MEDLINE, Scopus and IEEE-Xplore databases. Kinematic parameters mentioned in the studies included were categorized into the International Classification of Functioning, Disability and Health (ICF) domains. The correlations between these parameters and the clinical scales were summarized. Forty-nine kinematic parameters were identified from 67 articles involving 1750 patients. The most frequently used parameters were: movement speed, movement accuracy, peak speed, number of speed peaks, and movement distance and duration. According to the ICF domains, 44 kinematic parameters were categorized into Body Functions and Structure, 5 into Activities and no parameters were categorized into Participation and Personal and Environmental Factors. Thirteen articles investigated the correlations between kinematic parameters and clinical outcome measures. Some kinematic measures showed a significant correlation coefficient with clinical scores, but most were weak or moderate. The proposed classification of kinematic measures into ICF domains and their correlations with clinical scales could contribute to identifying the most relevant ones for an integrated assessment of upper limb robot-assisted rehabilitation treatments following stroke. Increasing the assessment frequency by means of kinematic parameters could optimize clinical assessment procedures and enhance the effectiveness of rehabilitation treatments. Copyright © 2018 IPEM. Published by Elsevier Ltd. All rights reserved.

Relationship between running kinematic changes and time limit at vVO2max

Directory of Open Access Journals (Sweden)

Leonardo De Lucca

2012-06-01

Exhaustive running at maximal oxygen uptake velocity (vVO2max can alter running kinematic parameters and increase energy cost along the time. The aims of the present study were to compare characteristics of ankle and knee kinematics during running at vVO2max and to verify the relationship between changes in kinematic variables and time limit (Tlim. Eleven male volunteers, recreational players of team sports, performed an incremental running test until volitional exhaustion to determine vVO2max and a constant velocity test at vVO2max. Subjects were filmed continuously from the left sagittal plane at 210 Hz for further kinematic analysis. The maximal plantar flexion during swing (p<0.01 was the only variable that increased significantly from beginning to end of the run. Increase in ankle angle at contact was the only variable related to Tlim (r=0.64; p=0.035 and explained 34% of the performance in the test. These findings suggest that the individuals under study maintained a stable running style at vVO2max and that increase in plantar flexion explained the performance in this test when it was applied in non-runners.

Integrating concepts and skills: Slope and kinematics graphs

Science.gov (United States)

Tonelli, Edward P., Jr.

The concept of force is a foundational idea in physics. To predict the results of applying forces to objects, a student must be able to interpret data representing changes in distance, time, speed, and acceleration. Comprehension of kinematics concepts requires students to interpret motion graphs, where rates of change are represented as slopes of line segments. Studies have shown that majorities of students who show proficiency with mathematical concepts fail accurately to interpret motion graphs. The primary aim of this study was to examine how students apply their knowledge of slope when interpreting kinematics graphs. To answer the research questions a mixed methods research design, which included a survey and interviews, was adopted. Ninety eight (N=98) high school students completed surveys which were quantitatively analyzed along with qualitative information collected from interviews of students (N=15) and teachers ( N=2). The study showed that students who recalled methods for calculating slopes and speeds calculated slopes accurately, but calculated speeds inaccurately. When comparing the slopes and speeds, most students resorted to calculating instead of visual inspection. Most students recalled and applied memorized rules. Students who calculated slopes and speeds inaccurately failed to recall methods of calculating slopes and speeds, but when comparing speeds, these students connected the concepts of distance and time to the line segments and the rates of change they represented. This study's findings will likely help mathematics and science educators to better assist their students to apply their knowledge of the definition of slope and skills in kinematics concepts.

Analysis of kinematically redundant reaching movements using the equilibrium-point hypothesis.

Science.gov (United States)

Cesari, P; Shiratori, T; Olivato, P; Duarte, M

2001-03-01

Six subjects performed a planar reaching arm movement to a target while unpredictable perturbations were applied to the endpoint; the perturbations consisted of pulling springs having different stiffness. Two conditions were applied; in the first, subjects had to reach for the target despite the perturbation, in the second condition, the subjects were asked to not correct the motion as a perturbation was applied. We analyzed the kinematics profiles of the three arm segments and, by means of inverse dynamics, calculated the joint torques. The framework of the equilibrium-point (EP) hypothesis, the lambda model, allowed the reconstruction of the control variables, the "equilibrium trajectories", in the "do not correct" condition for the wrist and the elbow joints as well as for the end point final position, while for the other condition, the reconstruction was less reliable. The findings support and extend to a multiple-joint planar movement, the paradigm of the EP hypothesis along with the "do not correct" instruction.

Effects of Geometry and Kinematics on Animals Leaping Out of Water

Science.gov (United States)

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

2017-11-01

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

Prediction of Equilibrium States of Kinematic and Thermal Fields in Homogeneous Turbulence Submitted To the Rotation

International Nuclear Information System (INIS)

Chebbi, Besma; Bouzaiane, Mounir; Lili, Taieb

2009-01-01

In this work, effects of rotation on the evolution of kinematic and thermal fields in homogeneous sheared turbulence are investigated using second order closure modeling. The Launder-Reece-Ro di models, the Speziale-Sarkar-Gatski model and the Shih-Lumley models are retained for pressure-strain correlation and pressure-temperature correlation. Whereas classic models are retained for time evolution equations of kinematic and thermal dissipation rates. The fourth order Runge-Kutta method is used to resolve three non linear differential systems obtained after modeling. The numerical integration is carried out separately for several values of the dimensionless rotation number R equal to 0, 0.25 and 0.5. The obtained results are compared to the recent results of Direct Numerical Simulations of G.Brethouwer. The results have confirmed the asymptotic equilibrium behaviors of kinematic and thermal dimensionless parameters. Furthermore they have shown that rotation affects not only kinematic field but also thermal field. The coupling between the Speziale-Sarkar-Gatski model and the Launder-Reece-Rodi model is of a big contribution on the prediction of kinematic and thermal fields

Kinematics/statics analysis of a novel serial-parallel robotic arm with hand

Energy Technology Data Exchange (ETDEWEB)

Lu, Yi; Dai, Zhuohong; Ye, Nijia; Wang, Peng [Yanshan University, Hebei (China)

2015-10-15

A robotic arm with fingered hand generally has multi-functions to complete various complicated operations. A novel serial-parallel robotic arm with a hand is proposed and its kinematics and statics are studied systematically. A 3D prototype of the serial-parallel robotic arm with a hand is constructed and analyzed by simulation. The serial-parallel robotic arm with a hand is composed of an upper 3RPS parallel manipulator, a lower 3SPR parallel manipulator and a hand with three finger mechanisms. Its kinematics formulae for solving the displacement, velocity, acceleration of are derived. Its statics formula for solving the active/constrained forces is derived. Its reachable workspace and orientation workspace are constructed and analyzed. Finally, an analytic example is given for solving the kinematics and statics of the serial-parallel robotic arm with a hand and the analytic solutions are verified by a simulation mechanism.

Kinematics/statics analysis of a novel serial-parallel robotic arm with hand

International Nuclear Information System (INIS)

Lu, Yi; Dai, Zhuohong; Ye, Nijia; Wang, Peng

2015-01-01

A robotic arm with fingered hand generally has multi-functions to complete various complicated operations. A novel serial-parallel robotic arm with a hand is proposed and its kinematics and statics are studied systematically. A 3D prototype of the serial-parallel robotic arm with a hand is constructed and analyzed by simulation. The serial-parallel robotic arm with a hand is composed of an upper 3RPS parallel manipulator, a lower 3SPR parallel manipulator and a hand with three finger mechanisms. Its kinematics formulae for solving the displacement, velocity, acceleration of are derived. Its statics formula for solving the active/constrained forces is derived. Its reachable workspace and orientation workspace are constructed and analyzed. Finally, an analytic example is given for solving the kinematics and statics of the serial-parallel robotic arm with a hand and the analytic solutions are verified by a simulation mechanism.

Earth tide effects on kinematic/static GPS positioning in Denmark and Greenland

DEFF Research Database (Denmark)

Xu, G.C.; Knudsen, Per

2000-01-01

A detailed Study of the Earth tide effects on the GPS kinematic/static positioning is presented in this paper by using theoretical Earth tide computation and practical GPS data processing. Tidal effects could reach up to 30 cm in Denmark and Greenland depending on the measuring time...... and the position of reference station. With a baseline less than 80 km, the difference of the Earth tide effects could reach more than 5 mm. So, in precise applications of GPS positioning, the Earth tide effect has to be taken into account even for a relative small local GPS network. Several examples are given...... for demonstrating that the Earth tide effects can be viewed by GPS surveying. They are given through static GPS data static processing, static GPS data kinematic processing, and airborne kinematic GPS data processing. In these cases, the Earth tide effects can be subtracted from the GPS results. The determination...

Kinematic parameters that influence the aesthetic perception of beauty in contemporary dance.

Science.gov (United States)

Torrents, Carlota; Castañer, Marta; Jofre, Toni; Morey, Gaspar; Reverter, Ferran

2013-01-01

Some experiments have stablished that certain kinematic parameters can influence the subjective aesthetic perception of the dance audience. Neave, McCarty, Freynik, Caplan, Hönekopp, and Fink (2010, Biology Letters 7 221-224) reported eleven movement parameters in non-expert male dancers, showing a significant positive correlation with perceived dance quality. We aim to identify some of the kinematic parameters of expert dancers' movements that influence the subjective aesthetic perception of observers in relation to specific skills of contemporary dance. Four experienced contemporary dancers performed three repetitions of four dance-related motor skills. Motion was captured by a VICON-MX system. The resulting 48 animations were viewed by 108 observers. The observers judged beauty using a semantic differential. The data were then subjected to multiple factor analysis. The results suggested that there were strong associations between higher beauty scores and certain kinematic parameters, especially those related to amplitude of movement.

Accurate 3D kinematic measurement of temporomandibular joint using X-ray fluoroscopic images

Science.gov (United States)

Yamazaki, Takaharu; Matsumoto, Akiko; Sugamoto, Kazuomi; Matsumoto, Ken; Kakimoto, Naoya; Yura, Yoshiaki

2014-04-01

Accurate measurement and analysis of 3D kinematics of temporomandibular joint (TMJ) is very important for assisting clinical diagnosis and treatment of prosthodontics and orthodontics, and oral surgery. This study presents a new 3D kinematic measurement technique of the TMJ using X-ray fluoroscopic images, which can easily obtain the TMJ kinematic data in natural motion. In vivo kinematics of the TMJ (maxilla and mandibular bone) is determined using a feature-based 2D/3D registration, which uses beads silhouette on fluoroscopic images and 3D surface bone models with beads. The 3D surface models of maxilla and mandibular bone with beads were created from CT scans data of the subject using the mouthpiece with the seven strategically placed beads. In order to validate the accuracy of pose estimation for the maxilla and mandibular bone, computer simulation test was performed using five patterns of synthetic tantalum beads silhouette images. In the clinical applications, dynamic movement during jaw opening and closing was conducted, and the relative pose of the mandibular bone with respect to the maxilla bone was determined. The results of computer simulation test showed that the root mean square errors were sufficiently smaller than 1.0 mm and 1.0 degree. In the results of clinical application, during jaw opening from 0.0 to 36.8 degree of rotation, mandibular condyle exhibited 19.8 mm of anterior sliding relative to maxillary articular fossa, and these measurement values were clinically similar to the previous reports. Consequently, present technique was thought to be suitable for the 3D TMJ kinematic analysis.

UPPER EXTREMITY KINEMATICS OF FLAT SERVE IN TENNIS ...

African Journals Online (AJOL)

Brian McAllister

kinematics on the ball velocity at the impact phase of a tennis flat serve. 15 elite male tennis players were recruited to participate in this study (mean age 18.4±3.3 .... For field calibration, a Direct Linear Transformation technique, developed by ...

Static And Kinematic Formulation Of Planar Reciprocal Assemblies

DEFF Research Database (Denmark)

Parigi, Dario; Kirkegaard, Poul Henning

2013-01-01

Planar reciprocal frames are two dimensional structures formed by elements joined together according to the principle of structural reciprocity. In this paper a rigorous formulation of the static and kinematic problem is proposed and developed by extending the work on pin-jointed assemblies by Pe...

Null-strut calculus. I. Kinematics

International Nuclear Information System (INIS)

Kheyfets, A.; LaFave, N.J.; Miller, W.A.

1990-01-01

This paper describes the kinematics of null-strut calculus---a 3+1 Regge calculus approach to general relativity. We show how to model the geometry of spacetime with simplicial spacelike three-geometries (TET's) linked to ''earlier'' and ''later'' momentumlike lattice surfaces (TET * ) entirely by light rays or ''null struts.'' These three-layered lattice spacetime geometries are defined and analyzed using combinatorial formulas for the structure of polytopes. The following paper in this series describes how these three-layered spacetime lattices are used to model spacetimes in full conformity with Einstein's theory of gravity

The Emotional Modulation of Facial Mimicry: A Kinematic Study

Directory of Open Access Journals (Sweden)

Antonella Tramacere

2018-01-01

Full Text Available It is well-established that the observation of emotional facial expression induces facial mimicry responses in the observers. However, how the interaction between emotional and motor components of facial expressions can modulate the motor behavior of the perceiver is still unknown. We have developed a kinematic experiment to evaluate the effect of different oro-facial expressions on perceiver's face movements. Participants were asked to perform two movements, i.e., lip stretching and lip protrusion, in response to the observation of four meaningful (i.e., smile, angry-mouth, kiss, and spit and two meaningless mouth gestures. All the stimuli were characterized by different motor patterns (mouth aperture or mouth closure. Response Times and kinematics parameters of the movements (amplitude, duration, and mean velocity were recorded and analyzed. Results evidenced a dissociated effect on reaction times and movement kinematics. We found shorter reaction time when a mouth movement was preceded by the observation of a meaningful and motorically congruent oro-facial gesture, in line with facial mimicry effect. On the contrary, during execution, the perception of smile was associated with the facilitation, in terms of shorter duration and higher velocity of the incongruent movement, i.e., lip protrusion. The same effect resulted in response to kiss and spit that significantly facilitated the execution of lip stretching. We called this phenomenon facial mimicry reversal effect, intended as the overturning of the effect normally observed during facial mimicry. In general, the findings show that both motor features and types of emotional oro-facial gestures (conveying positive or negative valence affect the kinematics of subsequent mouth movements at different levels: while congruent motor features facilitate a general motor response, motor execution could be speeded by gestures that are motorically incongruent with the observed one. Moreover, valence

The Emotional Modulation of Facial Mimicry: A Kinematic Study.

Science.gov (United States)

Tramacere, Antonella; Ferrari, Pier F; Gentilucci, Maurizio; Giuffrida, Valeria; De Marco, Doriana

2017-01-01

It is well-established that the observation of emotional facial expression induces facial mimicry responses in the observers. However, how the interaction between emotional and motor components of facial expressions can modulate the motor behavior of the perceiver is still unknown. We have developed a kinematic experiment to evaluate the effect of different oro-facial expressions on perceiver's face movements. Participants were asked to perform two movements, i.e., lip stretching and lip protrusion, in response to the observation of four meaningful (i.e., smile, angry-mouth, kiss, and spit) and two meaningless mouth gestures. All the stimuli were characterized by different motor patterns (mouth aperture or mouth closure). Response Times and kinematics parameters of the movements (amplitude, duration, and mean velocity) were recorded and analyzed. Results evidenced a dissociated effect on reaction times and movement kinematics. We found shorter reaction time when a mouth movement was preceded by the observation of a meaningful and motorically congruent oro-facial gesture, in line with facial mimicry effect. On the contrary, during execution, the perception of smile was associated with the facilitation, in terms of shorter duration and higher velocity of the incongruent movement, i.e., lip protrusion. The same effect resulted in response to kiss and spit that significantly facilitated the execution of lip stretching. We called this phenomenon facial mimicry reversal effect , intended as the overturning of the effect normally observed during facial mimicry. In general, the findings show that both motor features and types of emotional oro-facial gestures (conveying positive or negative valence) affect the kinematics of subsequent mouth movements at different levels: while congruent motor features facilitate a general motor response, motor execution could be speeded by gestures that are motorically incongruent with the observed one. Moreover, valence effect depends on

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

Science.gov (United States)

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

1990-01-01

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

Local galactic kinematics: an isothermal model

International Nuclear Information System (INIS)

Nunez, J.

1983-01-01

The kinematical parameters of galactic rotation in the solar neighborhood and the corrections to the precession have been calculated. For this purpose, an isothermal model for the solar neighborhood has been used together with the high order momenta of the local stellar velocity distribution and the Ogorodnikov-Milne model. Both have been calculated using some samples of the ''512 Distant FK4/FK4 Sup. Stars'' of Fricke (1977) and of Gliese's Gatalogue. (author)

Basic Simulation Environment for Highly Customized Connected and Autonomous Vehicle Kinematic Scenarios.

Science.gov (United States)

Chai, Linguo; Cai, Baigen; ShangGuan, Wei; Wang, Jian; Wang, Huashen

2017-08-23

To enhance the reality of Connected and Autonomous Vehicles (CAVs) kinematic simulation scenarios and to guarantee the accuracy and reliability of the verification, a four-layer CAVs kinematic simulation framework, which is composed with road network layer, vehicle operating layer, uncertainties modelling layer and demonstrating layer, is proposed in this paper. Properties of the intersections are defined to describe the road network. A target position based vehicle position updating method is designed to simulate such vehicle behaviors as lane changing and turning. Vehicle kinematic models are implemented to maintain the status of the vehicles when they are moving towards the target position. Priorities for individual vehicle control are authorized for different layers. Operation mechanisms of CAVs uncertainties, which are defined as position error and communication delay in this paper, are implemented in the simulation to enhance the reality of the simulation. A simulation platform is developed based on the proposed methodology. A comparison of simulated and theoretical vehicle delay has been analyzed to prove the validity and the creditability of the platform. The scenario of rear-end collision avoidance is conducted to verify the uncertainties operating mechanisms, and a slot-based intersections (SIs) control strategy is realized and verified in the simulation platform to show the supports of the platform to CAVs kinematic simulation and verification.

Variability of leg kinematics during overground walking in persons with chronic incomplete spinal cord injury.

Science.gov (United States)

Sohn, Won Joon; Tan, Andrew Q; Hayes, Heather B; Pochiraju, Saahith; Deffeyes, Joan; Trumbower, Randy D

2018-03-20

Incomplete spinal cord injury (iSCI) often leads to partial disruption of spinal pathways that are important for motor control of walking. Persons with iSCI present with deficits in walking ability due, in part, to inconsistent leg kinematics during stepping. While kinematic variability is important for normal walking, growing evidence indicates that excessive variability may limit walking ability and increase reliance on assistive devices (AD) after iSCI. The purpose of this study was to assess the effects of iSCI-induced impairments on kinematic variability during overground walking. We hypothesized that iSCI results in greater variability of foot and joint displacement during overground walking compared to controls. We further hypothesized that variability is larger in persons with limited walking speed and greater reliance on ADs. To test these hypotheses, iSCI and control subjects walked overground. Kinematic variability was quantified as step-to-step foot placement variability (endpoint), and variability in hip-knee, hip-ankle, and knee-ankle joint space (angular coefficient of correspondence; ACC). We characterized sensitivity of kinematic variability to cadence, auditory cue, and AD. Supporting our hypothesis, persons with iSCI exhibited greater kinematic variability than controls, which scaled with deficits in overground walking speed (pvariability, and with walking speed, indicates both are markers of walking performance. Moreover, hip-knee and hip-ankle ACC discriminated between AD use, indicating that ACC may capture AD-specific control strategies. We conclude that increased variability of foot and joint displacement are indicative of motor impairment severity and may serve as therapeutic targets to restore walking after iSCI.

KINEMATIC CLASSIFICATIONS OF LOCAL INTERACTING GALAXIES: IMPLICATIONS FOR THE MERGER/DISK CLASSIFICATIONS AT HIGH-z

International Nuclear Information System (INIS)

Hung, Chao-Ling; Larson, Kirsten L.; Sanders, D. B.; Rich, Jeffrey A.; Yuan, Tiantian; Kewley, Lisa J.; Casey, Caitlin M.; Smith, Howard A.; Hayward, Christopher C.

2015-01-01

The classification of galaxy mergers and isolated disks is key for understanding the relative importance of galaxy interactions and secular evolution during the assembly of galaxies. Galaxy kinematics as traced by emission lines have been used to suggest the existence of a significant population of high-z star-forming galaxies consistent with isolated rotating disks. However, recent studies have cautioned that post-coalescence mergers may also display disk-like kinematics. To further investigate the robustness of merger/disk classifications based on kinematic properties, we carry out a systematic classification of 24 local (U)LIRGs spanning a range of morphologies: from isolated spiral galaxies, ongoing interacting systems, to fully merged remnants. We artificially redshift the Wide Field Spectrograph observations of these local (U)LIRGs to z = 1.5 to make a realistic comparison with observations at high-z, and also to ensure that all galaxies have the same spatial sampling of ∼900 pc. Using both kinemetry-based and visual classifications, we find that the reliability of kinematic classification shows a strong trend with the interaction stage of galaxies. Mergers with two nuclei and tidal tails have the most distinct kinematics compared to isolated disks, whereas a significant population of the interacting disks and merger remnants are indistinguishable from isolated disks. The high fraction of mergers displaying disk-like kinematics reflects the complexity of the dynamics during galaxy interactions. Additional merger indicators such as morphological properties traced by stars or molecular gas are required to further constrain the merger/disk classifications at high-z

Wingbeat kinematics and motor control of yaw turns in Anna's hummingbirds (Calypte anna).

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Altshuler, Douglas L; Quicazán-Rubio, Elsa M; Segre, Paolo S; Middleton, Kevin M

2012-12-01

The biomechanical and neuromuscular mechanisms used by different animals to generate turns in flight are highly variable. Body size and body plan exert some influence, e.g. birds typically roll their body to orient forces generated by the wings whereas insects are capable of turning via left-right wingbeat asymmetries. Turns are also relatively brief and have low repeatability, with almost every wingbeat serving a different function throughout the change in heading. Here we present an analysis of Anna's hummingbirds (Calypte anna) as they fed continuously from an artificial feeder revolving around the outside of the animal. This setup allowed for examination of sustained changes in yaw without requiring any corresponding changes in pitch, roll or body position. Hummingbirds sustained yaw turns by expanding the wing stroke amplitude of the outer wing during the downstroke and by altering the deviation of the wingtip path during both downstroke and upstroke. The latter led to a shift in the inner-outer stroke plane angle during the upstroke and shifts in the elevation of the stroke plane and in the deviation of the wingtip path during both strokes. These features are generally more similar to how insects, as opposed to birds, turn. However, time series analysis also revealed considerable stroke-to-stroke variation. Changes in the stroke amplitude and the wingtip velocity were highly cross-correlated, as were changes in the stroke deviation and the elevation of the stroke plane. As was the case for wingbeat kinematics, electromyogram recordings from pectoral and wing muscles were highly variable, but no correlations were found between these two features of motor control. The high variability of both kinematic and muscle activation features indicates a high level of wingbeat-to-wingbeat adjustments during sustained yaw. The activation timing of the muscles was more repeatable than the activation intensity, which suggests that the former may be constrained by harmonic

Kinematic Analysis of the Standing Long Jump in Children 6- to 12-Years-Old

Science.gov (United States)

Fernandez-Santos, Jorge R.; Gonzalez-Montesinos, Jose Luis; Ruiz, Jonatan R.; Jiménez-Pavón, David; Castro-Piñero, Jose

2018-01-01

The purpose of this study was to analyze the kinematic variables that determine the performance of the standing long jump in children 6- to 12-years-old. There were 121 healthy children (58 girls) recorded while they performed the standing long jump test. All kinematic variables showed a significant correlation with calculated jump distance and…

Three-dimensional trunk kinematics in golf: between-club differences and relationships to clubhead speed.

Science.gov (United States)

Joyce, Christopher; Burnett, Angus; Cochrane, Jodie; Ball, Kevin

2013-06-01

The aims of this study were (i) to determine whether significant three-dimensional (3D) trunk kinematic differences existed between a driver and a five-iron during a golf swing; and (ii) to determine the anthropometric, physiological, and trunk kinematic variables associated with clubhead speed. Trunk range of motion and golf swing kinematic data were collected from 15 low-handicap male golfers (handicap = 2.5 +/- 1.9). Data were collected using a 10-camera motion capture system operating at 250 Hz. Data on clubhead speed and ball velocity were collected using a real-time launch monitor. Paired t-tests revealed nine significant (p golf swing kinematics, namely trunk and lower trunk flexion/extension and lower trunk axial rotation. Multiple regression analyses explained 33.7-66.7% of the variance in clubhead speed for the driver and five-iron, respectively, with both trunk and lower trunk variables showing associations with clubhead speed. Future studies should consider the role of the upper limbs and modifiable features of the golf club in developing clubhead speed for the driver in particular.

A Three-Dimensional Kinematic and Kinetic Study of the College-Level Female Softball Swing

Directory of Open Access Journals (Sweden)

Monica Milanovich, Steven M. Nesbit

2014-03-01

Full Text Available This paper quantifies and discusses the three-dimensional kinematic and kinetic characteristics of the female softball swing as performed by fourteen female collegiate amateur subjects. The analyses were performed using a three-dimensional computer model. The model was driven kinematically from subject swings data that were recorded with a multi-camera motion analysis system. Each subject used two distinct bats with significantly different inertial properties. Model output included bat trajectories, subject/bat interaction forces and torques, work, and power. These data formed the basis for a detailed analysis and description of fundamental swing kinematic and kinetic quantities. The analyses revealed that the softball swing is a highly coordinated and individual three-dimensional motion and subject-to-subject variations were significant in all kinematic and kinetic quantities. In addition, the potential effects of bat properties on swing mechanics are discussed. The paths of the hands and the centre-of-curvature of the bat relative to the horizontal plane appear to be important trajectory characteristics of the swing. Descriptions of the swing mechanics and practical implications are offered based upon these findings.

Bat flight: aerodynamics, kinematics and flight morphology.

Science.gov (United States)

Hedenström, Anders; Johansson, L Christoffer

2015-03-01

Bats evolved the ability of powered flight more than 50 million years ago. The modern bat is an efficient flyer and recent research on bat flight has revealed many intriguing facts. By using particle image velocimetry to visualize wake vortices, both the magnitude and time-history of aerodynamic forces can be estimated. At most speeds the downstroke generates both lift and thrust, whereas the function of the upstroke changes with forward flight speed. At hovering and slow speed bats use a leading edge vortex to enhance the lift beyond that allowed by steady aerodynamics and an inverted wing during the upstroke to further aid weight support. The bat wing and its skeleton exhibit many features and control mechanisms that are presumed to improve flight performance. Whereas bats appear aerodynamically less efficient than birds when it comes to cruising flight, they have the edge over birds when it comes to manoeuvring. There is a direct relationship between kinematics and the aerodynamic performance, but there is still a lack of knowledge about how (and if) the bat controls the movements and shape (planform and camber) of the wing. Considering the relatively few bat species whose aerodynamic tracks have been characterized, there is scope for new discoveries and a need to study species representing more extreme positions in the bat morphospace. © 2015. Published by The Company of Biologists Ltd.

Dancers with achilles tendinopathy demonstrate altered lower extremity takeoff kinematics.

Science.gov (United States)

Kulig, Kornelia; Loudon, Janice K; Popovich, John M; Pollard, Christine D; Winder, Brooke R

2011-08-01

Controlled laboratory study using a cross-sectional design. To analyze lower extremity kinematics during takeoff of a "saut de chat" (leap) in dancers with and without a history of Achilles tendinopathy (AT). We hypothesized that dancers with AT would demonstrate different kinematic strategies compared to dancers without pathology, and that these differences would be prominent in the transverse and frontal planes. AT is a common injury experienced by dancers. Dance leaps such as the saut de chat place a large demand on the Achilles tendon. Sixteen female dancers with and without a history of AT (mean ± SD age, 18.8 ± 1.2 years) participated. Three-dimensional kinematics at the hip, knee, and ankle were quantified for the takeoff of the saut de chat, using a motion analysis system. A force platform was used to determine braking and push-off phases of takeoff. Peak sagittal, frontal, and transverse plane joint positions during the braking and push-off phases of the takeoff were examined statistically. Independent samples t tests were used to evaluate group differences (α = .05). The dancers in the tendinopathy group demonstrated significantly higher peak hip adduction during the braking phase of takeoff (mean ± SD, 13.5° ± 6.1° versus 7.7° ± 4.2°; P = .046). During the push-off phase, dancers with AT demonstrated significantly more internal rotation at the knee (13.2° ± 5.2° versus 6.9° ± 4.9°; P = .024). Dancers with AT demonstrate increased peak transverse and frontal plane kinematics when performing the takeoff of a saut de chat. These larger displacements may be either causative or compensatory factors in the development of AT.

Scapular kinematics during manual wheelchair propulsion in able-bodied participants.

Science.gov (United States)

Bekker, Michel J; Vegter, Riemer J K; van der Scheer, Jan W; Hartog, Johanneke; de Groot, Sonja; de Vries, Wiebe; Arnet, Ursina; van der Woude, Lucas H V; Veeger, Dirkjan H E J

2018-05-01

Altered scapular kinematics have been associated with shoulder pain and functional limitations. To understand kinematics in persons with spinal cord injury during manual handrim wheelchair propulsion, a description of normal scapular behaviour in able-bodied persons during this specific task is a prerequisite for accurate interpretation. The primary aim of this study is to describe scapular kinematics in able-bodied persons during manual wheelchair propulsion. Sixteen able-bodied, novice wheelchair users without shoulder complaints participated in the study. Kinematic and kinetic data were collected during a standardized pose in the anatomic posture, frontal-plane arm elevation and low-intensity steady-state handrim wheelchair propulsion and upper-body Euler angles were calculated. Scapulothoracic joint orientations in a static position were 36.7° (SD 5.4°), 6.4° (SD 9.1°) and 9.1° (SD 5.7°) for respectively protraction, lateral rotation and anterior tilt. At 80° of arm elevation in the frontal plane, the respective values of 33.4° (SD 8.0°), 23.9° (SD 5.4°) and 4.1° (SD 11.3°) were found. During the push phase of manual wheelchair propulsion, the mean scapular rotations were respectively 32.7° (SD 7.1°), 7.1° (SD 9.2°) and 9.8° (SD 8.3°). The orientation of the scapula in a static pose, during arm elevation and in manual wheelchair propulsion in able-bodied participants showed similar patterns to a previous study in persons with para- and tetraplegia. These values provide a reference for the investigation of the scapular movement pattern in wheelchair-dependent persons and its relation to shoulder complex abnormalities. Copyright © 2018. Published by Elsevier Ltd.

The kinematics of the white dwarf population from the SDSS DR12

Science.gov (United States)

Anguiano, B.; Rebassa-Mansergas, A.; García-Berro, E.; Torres, S.; Freeman, K.; Zwitter, T.

2018-04-01

We use the Sloan Digital Sky Survey Data Release 12, which is the largest available white dwarf catalog to date, to study the evolution of the kinematical properties of the population of white dwarfs in the Galactic disc. We derive masses, ages, photometric distances and radial velocities for all white dwarfs with hydrogen-rich atmospheres. For those stars for which proper motions from the USNO-B1 catalog are available the true three-dimensional components of the stellar space velocity are obtained. This subset of the original sample comprises 20,247 objects, making it the largest sample of white dwarfs with measured three-dimensional velocities. Furthermore, the volume probed by our sample is large, allowing us to obtain relevant kinematical information. In particular, our sample extends from a Galactocentric radial distance R G = 7.8 kpc to 9.3 kpc, and vertical distances from the Galactic plane ranging from Z = -0.5 kpc to 0.5 kpc. We examine the mean components of the stellar three-dimensional velocities, as well as their dispersions with respect to the Galactocentric and vertical distances. We confirm the existence of a mean Galactocentric radial velocity gradient, ∂/∂R G = -3 +/- 5 km s-1 kpc-1. We also confirm North-South differences in . Specifically, we find that white dwarfs with Z > 0 (in the North Galactic hemisphere) have reverse is true for white dwarfs with Z < 0. The age-velocity dispersion relation derived from the present sample indicates that the Galactic population of white dwarfs may have experienced an additional source of heating, which adds to the secular evolution of the Galactic disc.

Reproducibility of kinematic measures of the thoracic spine, lumbar spine and pelvis during fast running.

Science.gov (United States)

Mason, D L; Preece, S J; Bramah, C A; Herrington, L C

2016-01-01

This study evaluated the reproducibility of the angular rotations of the thoracic spine, lumbar spine, pelvis and lower extremity during running. In addition, the study compared kinematic reproducibility between two methods for calculating kinematic trajectories: a six degrees of freedom (6DOF) approach and a global optimisation (GO) approach. With the first approach segments were treated independently, however with GO approach joint constraints were imposed to stop translation of adjacent segments. A total of 12 athletes were tested on two separate days whilst running over ground at a speed of 5.6ms(-1). The results demonstrated good between-day reproducibility for most kinematic parameters in the frontal and transverse planes with typical angular errors of 1.4-3°. Acceptable repeatability was also found in the sagittal plane. However, in this plane, although kinematic waveform shape was preserved between testing session, there were sometimes shifts in curve offset which lead to slightly higher angular errors, typically ranging from 1.9° to 3.5°. In general, the results demonstrated similar levels of reproducibility for both computational approaches (6DOF and, GO) and therefore suggest that GO may not lead to improved kinematic reproducibility during running. Copyright © 2013 Elsevier B.V. All rights reserved.

SHORT LITERATURE REVIEW ON THE KINEMATICS AND DYNAMICS OF THE INDUSTRIAL ROBOTS

OpenAIRE

RATIU Mariana

2016-01-01

This paper is the result of a short literature review on the kinematics and dynamics of the industrial robots, a first study conducted in a wider research that will be further developed in the field of the trajectory generating mechanisms of the industrial robots. After an introduction about the importance of the robots in the industrial processes and about the necessity to streamline and optimize the robot`s motion, are presented some recent approaches related to the kinematic and dynamic an...

A School Experiment in Kinematics: Shooting from a Ballistic Cart

Science.gov (United States)

Kranjc, T.; Razpet, N.

2011-10-01

Many physics textbooks start with kinematics. In the lab, students observe the motions, describe and make predictions, and get acquainted with basic kinematics quantities and their meaning. Then they can perform calculations and compare the results with experimental findings. In this paper we describe an experiment that is not often done, but is interesting and attractive to students—the ballistic cart, i.e., the shooting of a ball from a cart moving along a slope. For that, one has to be familiar with one-dimensional uniform motion and one-dimensional motion with constant acceleration, as well as curvilinear motion that is a combination of such motions.1,2 The experimental results confirm theoretical predictions.

40 CFR 35.2025 - Allowance and advance of allowance.

Science.gov (United States)

2010-07-01

... advance of allowance. (a) Allowance. Step 2+3 and Step 3 grant agreements will include an allowance for facilities planning and design of the project and Step 7 agreements will include an allowance for facility... 40 Protection of Environment 1 2010-07-01 2010-07-01 false Allowance and advance of allowance. 35...

Kinematic Modelling and Simulation of a 2-R Robot Using SolidWorks and Verification by MATLAB/Simulink

Directory of Open Access Journals (Sweden)

Mahmoud Gouasmi

2012-12-01

Full Text Available The simulation of robot systems is becoming very popular, especially with the lowering of the cost of computers, and it can be used for layout evaluation, feasibility studies, presentations with animation and off-line programming. The trajectory planning of redundant manipulators is a very active area since many tasks require special characteristics to be satisfied. The importance of redundant manipulators has increased over the last two decades because of the possibility of avoiding singularities as well as obstacles within the course of motion. The angle that the last link of a 2 DOF manipulator makes with the x-axis is required in order to find the solution for the inverse kinematics problem. This angle could be optimized with respect to a given specified key factor (time, velocity, torques while the end-effector performs a chosen trajectory (i.e., avoiding an obstacle in the task space. Modeling and simulation of robots could be achieved using either of the following models: the geometrical model (positions, postures, the kinematic model and the dynamic model. To do so, the modelization of a 2-R robot type is implemented. Our main tasks are comparing two robot postures with the same trajectory (path and for the same length of time, and establishing a computing code to obtain the kinematic and dynamic parameters. SolidWorks and MATLAB/Simulink softwares are used to check the theory and the robot motion simulation. This could be easily generalized to a 3-R robot and possibly therefore to any serial robot (Scara, Puma, etc.. The verification of the obtained results by both softwares allows us to qualitatively evaluate and underline the validityof the chosen model and obtain the right conclusions. The results of the simulations are discussed and an agreement between the two softwares is certainly obtained.

Kinematic characteristics of the ski jump inrun: a 10-year longitudinal study.

Science.gov (United States)

Janura, Miroslav; Cabell, Lee; Elfmark, Milan; Vaverka, Frantisek

2010-05-01

The athlete's inrun position affects the outcome for take-off in ski jumping. The purpose of this study was to examine the kinematic parameters between skiers' adjacent body segments during their first straight path of the inrun. Elite ski jumpers participated in the study at the World Cup events in Innsbruck, Austria, during the years 1992 through 2001. A video image was taken at a right angle to the tracks of the K-110 (meter) jumping hill. Kinematic data were collected from the lower extremities and trunk of the athletes. Findings indicated that jumpers had diminished ankle and knee joint angles and increased trunk and hip angles over the 10 years. In recent years, the best athletes achieved a further length of their jumps, while they experienced slower inrun average velocity. These results are perhaps explained by several possible contributing factors, such as new technique of the jumper's body kinematics, advancements in equipment technology, and somatotype of the jumpers.

Kinematics of Laying an Automated Weapon System

Science.gov (United States)

2017-07-19

UNCLASSIFIED UNCLASSIFIED AD-E403 899 Technical Report ARWSE-TR-16024 KINEMATICS OF LAYING AN AUTOMATED WEAPON SYSTEM...information is estimated to average 1 hour per response, including the time for reviewing instructions, searching existing data sources, gathering and...maintaining the data needed, and completing and reviewing the collection of information. Send comments regarding this burden estimate or any other aspect of

Autonomous Kinematic Calibration of the Robot Manipulator with a Linear Laser-Vision Sensor

Science.gov (United States)

Kang, Hee-Jun; Jeong, Jeong-Woo; Shin, Sung-Weon; Suh, Young-Soo; Ro, Young-Schick

This paper presents a new autonomous kinematic calibration technique by using a laser-vision sensor called "Perceptron TriCam Contour". Because the sensor measures by capturing the image of a projected laser line on the surface of the object, we set up a long, straight line of a very fine string inside the robot workspace, and then allow the sensor mounted on a robot to measure the point intersection of the line of string and the projected laser line. The data collected by changing robot configuration and measuring the intersection points are constrained to on a single straght line such that the closed-loop calibration method can be applied. The obtained calibration method is simple and accurate and also suitable for on-site calibration in an industrial environment. The method is implemented using Hyundai VORG-35 for its effectiveness.

Comparison of trunk kinematics in trunk training exercises and throwing.

Science.gov (United States)

Stodden, David F; Campbell, Brian M; Moyer, Todd M

2008-01-01

Strength and conditioning professionals, as well as coaches, have emphasized the importance of training the trunk and the benefits it may have on sport performance and reducing the potential for injury. However, no data on the efficacy of trunk training support such claims. The purpose of this study was to examine the maximum differential trunk rotation and maximum angular velocities of the pelvis and upper torso of participants while they performed 4 trunk exercises (seated band rotations, cross-overs, medicine ball throws, and twisters) and compare these trunk exercise kinematics with the trunk kinematics demonstrated in actual throwing performance. Nine NCAA Division I baseball players participated in this study. Each participant's trunk kinematics was analyzed while he performed 5 repetitions of each exercise in both dominant and nondominant rotational directions. Results indicated maximum differentiated rotation in all 4 trunk exercises was similar to maximum differentiated rotation (approximately 50-60 degrees) demonstrated in throwing performance. Maximum angular velocities of the pelvis and upper torso in the trunk exercises were appreciably slower (approximately 50% or less) than the angular velocities demonstrated during throwing performance. Incorporating trunk training exercises that demonstrate sufficient trunk ranges of motion and velocities into a strength and conditioning program may help to increase ball velocity and/or decrease the risk injury.

Improving vertex position determination by using a kinematic fit

International Nuclear Information System (INIS)

Forden, G.E.; Saxon, D.H.

1985-05-01

A method is developed for improving decay vertex reconstruction by using kinematic fits. This is applied to generated charm meson decays. An improvement of 16% in the vertex position measurement along the flight path is achieved. (author)

A method to investigate the effect of shoe-hole size on surface marker movement when describing in-shoe joint kinematics using a multi-segment foot model.

Science.gov (United States)

Bishop, Chris; Arnold, John B; Fraysse, Francois; Thewlis, Dominic

2015-01-01

To investigate in-shoe foot kinematics, holes are often cut in the shoe upper to allow markers to be placed on the skin surface. However, there is currently a lack of understanding as to what is an appropriate size. This study aimed to demonstrate a method to assess whether different diameter holes were large enough to allow free motion of marker wands mounted on the skin surface during walking using a multi-segment foot model. Eighteen participants underwent an analysis of foot kinematics whilst walking barefoot and wearing shoes with different size holes (15 mm, 20mm and 25 mm). The analysis was conducted in two parts; firstly the trajectory of the individual skin-mounted markers were analysed in a 2D ellipse to investigate total displacement of each marker during stance. Secondly, a geometrical analysis was conducted to assess cluster deformation of the hindfoot and midfoot-forefoot segments. Where movement of the markers in the 15 and 20mm conditions were restricted, the marker movement in the 25 mm condition did not exceed the radius at any anatomical location. Despite significant differences in the isotropy index of the medial and lateral calcaneus markers between the 25 mm and barefoot conditions, the differences were due to the effect of footwear on the foot and not a result of the marker wands hitting the shoe upper. In conclusion, the method proposed and results can be used to increase confidence in the representativeness of joint kinematics with respect to in-shoe multi-segment foot motion during walking. Crown Copyright © 2014. Published by Elsevier B.V. All rights reserved.

Exclusive measurements of quasi-free proton scattering reactions in inverse and complete kinematics

Directory of Open Access Journals (Sweden)

V. Panin

2016-02-01

Full Text Available Quasi-free scattering reactions of the type (p,2p were measured for the first time exclusively in complete and inverse kinematics, using a 12C beam at an energy of ∼400 MeV/u as a benchmark. This new technique has been developed to study the single-particle structure of exotic nuclei in experiments with radioactive-ion beams. The outgoing pair of protons and the fragments were measured simultaneously, enabling an unambiguous identification of the reaction channels and a redundant measurement of the kinematic observables. Both valence and deeply-bound nucleon orbits are probed, including those leading to unbound states of the daughter nucleus. Exclusive (p,2p cross sections of 15.8(18 mb, 1.9(2 mb and 1.5(2 mb to the low-lying 0p-hole states overlapping with the ground state (3/2− and with the bound excited states of 11B at 2.125 MeV (1/2− and 5.02 MeV (3/2−, respectively, were determined via γ-ray spectroscopy. Particle-unstable deep-hole states, corresponding to proton removal from the 0s-orbital, were studied via the invariant-mass technique. Cross sections and momentum distributions were extracted and compared to theoretical calculations employing the eikonal formalism. The obtained results are in a good agreement with this theory and with direct-kinematics experiments. The dependence of the proton–proton scattering kinematics on the internal momentum of the struck proton and on its separation energy was investigated for the first time in inverse kinematics employing a large-acceptance measurement.