Liu Chiao Yi; Cristina D Sartor; Francis Trombini Souza; Isabel C. N. Sacco
2016-01-01
Aim Diabetes Mellitus progressively leads to impairments in stability and joint motion and might affect coordination patterns, mainly due to neuropathy. This study aims to describe changes in intralimb joint coordination in healthy individuals and patients with absent, mild and, severe stages of neuropathy. Methods Forty-seven diabetic patients were classified into three groups of neuropathic severity by a fuzzy model: 18 without neuropathy (DIAB), 7 with mild neuropathy (MILD), and 22 with m...
Liu Chiao Yi
Full Text Available Diabetes Mellitus progressively leads to impairments in stability and joint motion and might affect coordination patterns, mainly due to neuropathy. This study aims to describe changes in intralimb joint coordination in healthy individuals and patients with absent, mild and, severe stages of neuropathy.Forty-seven diabetic patients were classified into three groups of neuropathic severity by a fuzzy model: 18 without neuropathy (DIAB, 7 with mild neuropathy (MILD, and 22 with moderate to severe neuropathy (SVRE. Thirteen healthy subjects were included as controls (CTRL. Continuous relative phase (CRP was calculated at each instant of the gait cycle for each pair of lower limb joints. Analysis of Variance compared each frame of the CRP time series and its standard deviation among groups (α = 5%.For the ankle-hip CRP, the SVRE group presented increased variability at the propulsion phase and a distinct pattern at the propulsion and initial swing phases compared to the DIAB and CTRL groups. For the ankle-knee CRP, the 3 diabetic groups presented more anti-phase ratios than the CTRL group at the midstance, propulsion, and terminal swing phases, with decreased variability at the early stance phase. For the knee-hip CRP, the MILD group showed more in-phase ratio at the early stance and terminal swing phases and lower variability compared to all other groups. All diabetic groups were more in-phase at early the midstance phase (with lower variability than the control group.The low variability and coordination differences of the MILD group showed that gait coordination might be altered not only when frank evidence of neuropathy is present, but also when neuropathy is still incipient. The ankle-knee CRP at the initial swing phase showed distinct patterns for groups from all degrees of neuropathic severity and CTRLs. The ankle-hip CRP pattern distinguished the SVRE patients from other diabetic groups, particularly in the transitional phase from stance to
Exploration and selection of intralimb coordination patterns in 3-month-old infants.
Angulo-Kinzler, R M
2001-12-01
Through the exploration of their own capacities and the selection of adaptive responses, infants learn new motor solutions. Using a conjugate reinforcement mobile procedure, previous researchers have repeatedly shown that infants increase their leg kick frequency to control a mobile that is connected to their ankles. That traditional experimental design allows multiple motor solutions to the task and therefore provides limited information about the infants' capacity to explore and select specific motor solutions. The author designed a new experimental procedure to study infants' capacity to discover and adopt specific motor solutions. The new, constraining mobile reinforcement procedure requires a specific motor response and therefore the development of a more finely tuned perception-action map than has previously been experimentally demonstrated. To gain reinforcement from the mobile, infants had to produce a coordinated hip and knee extension within the same leg. The results from the 13 infant participants showed that they were capable of increasing their frequency of coordinated movements to make the mobile move. Those results suggest that infants at the age of 89-106 days are sensitive to intralimb coordination task requirements and are capable of mapping their own limb dynamics to the environmental information. PMID:11734411
Intra-limb coordination while walking is affected by cognitive load and walking speed.
Ghanavati, Tabassom; Salavati, Mahyar; Karimi, Noureddin; Negahban, Hossein; Ebrahimi Takamjani, Ismail; Mehravar, Mohammad; Hessam, Masumeh
2014-07-18
Knowledge about intra-limb coordination (ILC) during challenging walking conditions provides insight into the adaptability of central nervous system (CNS) for controlling human gait. We assessed the effects of cognitive load and speed on the pattern and variability of the ILC in young people during walking. Thirty healthy young people (19 female and 11 male) participated in this study. They were asked to perform 9 walking trials on a treadmill, including walking at three paces (preferred, slower and faster) either without a cognitive task (single-task walking) or while subtracting 1׳s or 3׳s from a random three-digit number (simple and complex dual-task walking, respectively). Deviation phase (DP) and mean absolute relative phase (MARP) values-indicators of variability and phase dynamic of ILC, respectively-were calculated using the data collected by a motion capture system. We used a two-way repeated measure analysis of variance for statistical analysis. The results showed that cognitive load had a significant main effect on DP of right shank-foot and thigh-shank, left shank-foot and pelvis-thigh (peffect of walking speed was significant on DP of all segments in each side and MARP of both thigh-shank and pelvis-thigh segments (pcognitive load and walking speed was only significant for MARP values of left shank-foot and right pelvis-thigh (pcognitive load and speed could significantly affect the ILC and variability and phase dynamic during walking. PMID:24861632
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. PMID:26341152
Sahoo, Raghunath
2016-01-01
This lecture note covers Relativistic Kinematics, which is very useful for the beginners in the field of high-energy physics. A very practical approach has been taken, which answers "why and how" of the kinematics useful for students working in the related areas.
Angeles, Jorge
1988-01-01
A rational study of kinematics is a treatment of the subject based on invariants, i.e., quantities that remain essentially unchanged under a change of observer. An observer is understood to be a reference frame supplied with a clock (Truesdell 1966). This study will therefore include an introduction to invariants. The language of these is tensor analysis and multilinear algebra, both of which share many isomorphic relations, These subjects are treated in full detail in Ericksen (1960) and Bowen and Wang (1976), and hence will not be included here. Only a short account of notation and definitions will be presented. Moreover, definitions and basic concepts pertaining to the kinematics of rigid bodies will be also included. Although the kinematics of rigid bodies can be regarded as a particular case of the kinematics of continua, the former deserves attention on its own merits for several reasons. One of these is that it describes locally the motions undergone by continua. Another reason is that a whole area of ...
This paper reports that Title IV of the Clean Air Act Amendments of 1990 (CAAA) calls for a reduction of 10 million tons of sulfur dioxide (SO2) emissions per year from 1989 levels. Since utilities are the largest single group of emitters of SO2, Title IV concentrates on utilities. Rather than dictate which utilities will reduce emission, the CAAA calls for a system of allowances. Each allowance will permit a utility to emit 1 ton of SO2 in a given calendar year. Utilities will be issued allowances based on their average consumption of fossil fuel in 1985, 1986, and 1987. If a utility is able to reduce emissions below the level at which they are allowed to emit, they may bank, trade, or sell the extra allowances If a utility is unable to reduce emissions to their allowed level, they must buy allowances. new utilities which were not assigned allowances must buy them. In addition to free market trading, EPA will hold auctions and direct sales to provide allowances for utilities unable to obtain them on the open market
Joint kinematic calculation based on clinical direct kinematic versus inverse kinematic gait models.
Kainz, H; Modenese, L; Lloyd, D G; Maine, S; Walsh, H P J; Carty, C P
2016-06-14
Most clinical gait laboratories use the conventional gait analysis model. This model uses a computational method called Direct Kinematics (DK) to calculate joint kinematics. In contrast, musculoskeletal modelling approaches use Inverse Kinematics (IK) to obtain joint angles. IK allows additional analysis (e.g. muscle-tendon length estimates), which may provide valuable information for clinical decision-making in people with movement disorders. The twofold aims of the current study were: (1) to compare joint kinematics obtained by a clinical DK model (Vicon Plug-in-Gait) with those produced by a widely used IK model (available with the OpenSim distribution), and (2) to evaluate the difference in joint kinematics that can be solely attributed to the different computational methods (DK versus IK), anatomical models and marker sets by using MRI based models. Eight children with cerebral palsy were recruited and presented for gait and MRI data collection sessions. Differences in joint kinematics up to 13° were found between the Plug-in-Gait and the gait 2392 OpenSim model. The majority of these differences (94.4%) were attributed to differences in the anatomical models, which included different anatomical segment frames and joint constraints. Different computational methods (DK versus IK) were responsible for only 2.7% of the differences. We recommend using the same anatomical model for kinematic and musculoskeletal analysis to ensure consistency between the obtained joint angles and musculoskeletal estimates. PMID:27139005
Human Resources Division
2001-01-01
HR Division wishes to clarify to members of the personnel that the allowance for a dependent child continues to be paid during all training courses ('stages'), apprenticeships, 'contrats de qualification', sandwich courses or other courses of similar nature. Any payment received for these training courses, including apprenticeships, is however deducted from the amount reimbursable as school fees. HR Division would also like to draw the attention of members of the personnel to the fact that any contract of employment will lead to the suppression of the child allowance and of the right to reimbursement of school fees.
Aero-optimum hovering kinematics.
Nabawy, Mostafa R A; Crowther, William J
2015-08-01
Hovering flight for flapping wing vehicles requires rapid and relatively complex reciprocating movement of a wing relative to a stationary surrounding fluid. This note develops a compact analytical aero-kinematic model that can be used for optimization of flapping wing kinematics against aerodynamic criteria of effectiveness (maximum lift) and efficiency (minimum power for a given amount of lift). It can also be used to make predictions of required flapping frequency for a given geometry and basic aerodynamic parameters. The kinematic treatment is based on a consolidation of an existing formulation that allows explicit derivation of flapping velocity for complex motions whereas the aerodynamic model is based on existing quasi-steady analysis. The combined aero-kinematic model provides novel explicit analytical expressions for both lift and power of a hovering wing in a compact form that enables exploration of a rich kinematic design space. Good agreement is found between model predictions of flapping frequency and observed results for a number of insects and optimal hovering kinematics identified using the model are consistent with results from studies using higher order computational models. For efficient flight, the flapping angle should vary using a triangular profile in time leading to a constant velocity flapping motion, whereas for maximum effectiveness the shape of variation should be sinusoidal. For both cases the wing pitching motion should be rectangular such that pitch change at stroke reversal is as rapid as possible. PMID:26248884
Are kinematics of the walk related to the locomotion of a warmblood horse at the trot?
Back, W; Schamhardt, H C; Barneveld, A
1996-10-01
Summary In purchase examinations or at studbook selection sales the locomotor apparatus of horses is judged both at walk and trot. To evaluate whether kinematics of the walk are related to the locomotion at the trot, fore and hind limb movements of a group of 24 26-month-old warmbloods were recorded at walk and trot on a treadmill (1.6 and 4 m/s) using a modified CODA-3 gait analysis system. The intralimb coordination patterns at walk and trot were compared, and temporal and spatial variables of these gaits were related. Stride and stance durations (s) were shorter at the trot, while the stance distance (m) and swing duration (s) remained the same. Moreover, the pattern of the joint angle-time curves at walk and trot looked rather similar, though shifted to the left at trot because of the shorter relative stance duration. During the stance phase, the shoulder, stifle and tarsal joints were more flexed throughout, while the carpal and fetlock joints were more maximally extended in the trot than in the walk. In the swing phase, the elbow, carpal, stifle, and tarsal joints were more flexed because of the higher 'operating' speed at the trot compared to the walk. All other kinematic variables at the trot could be predicted from the mean ± 1sd of the values recorded at the walk. Moreover, nearly all kinematic variables at the walk correlated well with those at the trot, while variables indicating gait quality of the walk were similar to the ones identified previously for the trot. In conclusion, kinematics recorded at the walk in a group of horses were similar to and thus predictive for locomotion at the trot providing the decreased stance duration and the increased speed of the trot are taken into consideration. PMID:22070841
Parallel kinematics type, kinematics, and optimal design
Liu, Xin-Jun
2014-01-01
Parallel Kinematics- Type, Kinematics, and Optimal Design presents the results of 15 year's research on parallel mechanisms and parallel kinematics machines. This book covers the systematic classification of parallel mechanisms (PMs) as well as providing a large number of mechanical architectures of PMs available for use in practical applications. It focuses on the kinematic design of parallel robots. One successful application of parallel mechanisms in the field of machine tools, which is also called parallel kinematics machines, has been the emerging trend in advanced machine tools. The book describes not only the main aspects and important topics in parallel kinematics, but also references novel concepts and approaches, i.e. type synthesis based on evolution, performance evaluation and optimization based on screw theory, singularity model taking into account motion and force transmissibility, and others. This book is intended for researchers, scientists, engineers and postgraduates or above with interes...
无
2007-01-01
In this article, some kinematic formulas for dual quermassintegral of star bodies and for chord power integrals of convex bodies are established by using dual mixed volumes. These formulas are the extensions of the fundamental kinematic formula involving quermassintegral to the case of dual quermassintegral and chord power integrals.
Inverse Kinematics using Quaternions
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....
Kinematics theory and applications
Wittenburg, Jens
2016-01-01
The book deals with kinematics of mechanisms. It focuses on a solid theoretical foundation and on mathematical methods applicable to the solution of problems of very diverse nature. Applications are demonstrated in a large number of fully worked-out problems. In kinematics a wide variety of mathematical tools is applicable. In this book, wherever possible vector equations are formulated instead of lengthy scalar coordinate equations. The principle of transference is applied to problems of very diverse nature. 15 chapters of the book are devoted to spatial kinematics and three chapters to planar kinematics. In Chapt. 19 nonlinear dynamics equations of motion are formulated for general spatial mechanisms. Nearly one half of the book is dealing with position theory and the other half with motion. The book is intended for use as reference book for researchers and as textbook in advanced courses on kinematics of mechanisms.
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.
Kinematic transitions and streams in galaxy halos
Romanowsky, A J; Brodie, J P; Foster, C; Forbes, D A; Lux, H; Martinez-Delgado, D; Strader, J; Zibetti, S
2014-01-01
The chemo-dynamics of galaxy halos beyond the Local Group may now be mapped out through the use of globular clusters and planetary nebulae as bright tracer objects, along with deep multi-slit spectroscopy of the integrated stellar light. We present results from surveying nearby early-type galaxies, including evidence for kinematically distinct halos that may reflect two-phase galaxy assembly. We also demonstrate the utility of the tracer approach in measuring the kinematics of stellar substructures around the Umbrella Galaxy, which allow us to reconstruct the progenitor properties and stream orbit.
H$\\alpha$ kinematics of KPG 390
Repetto, P; Fuentes-Carrera, R Gabbasov I
2009-01-01
In this work we present scanning Fabry-Perot H$\\alpha$ observations of the isolated interacting galaxy pair NGC 5278/79 obtained with the PUMA Fabry-Perot interferometer. We derived velocity fields, various kinematic parameters and rotation curves for both galaxies. Our kinematical results together with the fact that dust lanes have been detected in both galaxies, as well as the analysis of surface brightness profiles along the minor axis, allowed us to determine that both components of the interacting pair are trailing spirals.
Biquaternions and relativistic kinematics
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
Claudiu Pozna
2007-08-01
Full Text Available The present paper intention is to develop a kinematical foundation for our nextworks in industrial robots (IR modular design. The goal of this works is todevelop cheap and improved robots which are adapted to the costumer needs. Inorder to achieve the mentioned goal, in [43], we have started a bibliographicalresearch of the main modular design aspects. The mentioned analyze of the actualresults in modular robots design gives us the possibility to establish our researchprogram. The idea of this paper is to develop a kinematical formalism which willbe use in the next dedicated to this subject.
Probing the kinematics of early-type galaxy halos using planetary nebulae
Coccato, L.; Gerhard, O.; Arnaboldi, M.; Das, P.; Douglas, N. G.; Kuijken, K.; Merrifield, M. R.; Napolitano, N. R.; Noordermeer, E.; Romanowsky, A. J.; Capaccioli, M.; Cortesi, A.; De Lorenzi, F.; Freeman, K. C.
2008-01-01
We present first results of a study of the halo kinematics for a sample of early type galaxies using planetary nebulae (PNe) as kinematical tracers. PNe allow to extend up to several effective radii (R(e)) the information from absorption line kinematics (confined to within 1 or 2R(e)), providing val
The Kinematic Analysis of a Symmetrical Three-Degree-of-Freedom Planar Parallel Manipulator
Chablat, Damien; Wenger, Philippe
2007-01-01
Presented in this paper is the kinematic analysis of a symmetrical three-degree-of-freedom planar parallel manipulator. In opposite to serial manipulators, parallel manipulators can admit not only multiple inverse kinematic solutions, but also multiple direct kinematic solutions. This property produces more complicated kinematic models but allows more flexibility in trajectory planning. To take into account this property, the notion of aspects, i.e. the maximal singularity-free domains, was i...
Barrera-Ballesteros, J K; Falcón-Barroso, J; van de Ven, G; Lyubenova, M; Wild, V; Méndez-Abreu, J; Sánchez, S F; Marquez, I; Masegosa, J; Monreal-Ibero, A; Ziegler, B; del Olmo, A; Verdes-Montenegro, L; García-Benito, R; Husemann, B; Mast, D; Kehrig, C; Iglesias-Paramo, J; Marino, R A; Aguerri, J A L; Walcher, C J; Vílchez, J M; Bomans, D J; Cortijo-Ferrero, C; Delgado, R M González; Bland-Hawthorn, J; McIntosh, D H; Bekeraite, Simona
2015-01-01
We present spatially resolved stellar and/or ionized gas kinematic properties for a sample of 103 interacting galaxies, tracing all merger stages: close companions, pairs with morphological signatures of interaction, and coalesced merger remnants. We compare our sample with 80 non-interacting galaxies. We measure for the stellar and the ionized gas components the major (projected) kinematic position angles (PA$_{\\mathrm{kin}}$, approaching and receding) directly from the velocity fields with no assumptions on the internal motions. This method allow us to derive the deviations of the kinematic PAs from a straight line ($\\delta$PA$_{\\mathrm{kin}}$). Around half of the interacting objects show morpho-kinematic PA misalignments that cannot be found in the control sample. Those misalignments are present mostly in galaxies with morphological signatures of interaction. Alignment between the kinematic sides for both samples is similar, with most of the galaxies displaying small misalignments. Radial deviations of the...
Quantum gravity kinematics from extended TQFTs
Dittrich, Bianca
2016-01-01
We show how extended topological quantum field theories (TQFTs) can be used to obtain a kinematical setup for quantum gravity, i.e. a kinematical Hilbert space together with a representation of the observable algebra including operators of quantum geometry. In particular, we consider the holonomy-flux algebra of (2+1)-dimensional Euclidean loop quantum gravity, and construct a new representation of this algebra that incorporates a positive cosmological constant. The vacuum state underlying our representation is defined by the Turaev-Viro TQFT. We therefore construct here a generalization, or more precisely a quantum deformation at root of unity, of the previously-introduced SU(2) BF representation. The extended Turaev-Viro TQFT provides a description of the excitations on top of the vacuum, which are essential to allow for a representation of the holonomies and fluxes. These excitations agree with the ones induced by massive and spinning particles, and therefore the framework presented here allows automatical...
Kinematical Properties of Planetary Nebulae with WR-type Nuclei
Danehkar, Ashkbiz; Parker, Quentin A
2014-01-01
We have carried out integral field unit (IFU) spectroscopy of H$\\alpha$, [N II] and [O III] emission lines for a sample of Galactic planetary nebulae (PNe) with Wolf-Rayet (WR) stars and weak emission-line stars (wels). Comparing their spatially-resolved kinematic observations with morpho-kinematic models allowed us to disentangle their three-dimensional gaseous structures. Our results indicate that these PNe have axisymmetric morphologies, either bipolar or elliptical. In many cases the associated kinematic maps for the PNe around hot central stars also reveal the presence of so-called fast low-ionization emission regions.
Shotput kinematics made simple
We show that some results in the kinematics of a point particle can be easily recalled by introducing simple definitions. In particular, in the parabolic motion of a particle thrown from a height h above the origin O at an angle θ from the horizontal direction, the optimum angle θ* for reaching the maximum distance Rmax on the ground, measured from the origin, can be found by calculating the inverse tangent of the ratio between the initial velocity V0 and the final velocity Vf. The value of Rmax is itself found to be easily expressed as V0Vf/g, g being the acceleration due to gravity. (paper)
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
Neda, Zoltan
2015-01-01
The space-time of modern physics is tailored on light. We rigorously construct the basic entities needed by kinematics: geometry of the physical space and time, using as tool electromagnetic waves, and particularly light-rays. After such a mathematically orthodox construction, the special theory of relativity will result naturally. One will clearly understand and easily accept all those puzzling consequences that makes presently the special theory of relativity hard to digest. Such an approach is extremely rewarding in teaching the main ideas of Einstein's relativity theory for high-school and/or university students. Interesting speculations regarding the fundaments and future of physics are made.
Kinematics of Strong Discontinuities
Peterson, K.; Nguyen, G.; Sulsky, D.
2006-01-01
Synthetic Aperture Radar (SAR) provides a detailed view of the Arctic ice cover. When processed with the RADARSAT Geophysical Processor System (RGPS), it provides estimates of sea ice motion and deformation over large regions of the Arctic for extended periods of time. The deformation is dominated by the appearance of linear kinematic features that have been associated with the presence of leads. The RGPS deformation products are based on the assumption that the displacement and velocity are smooth functions of the spatial coordinates. However, if the dominant deformation of multiyear ice results from the opening, closing and shearing of leads, then the displacement and velocity can be discontinuous. This presentation discusses the kinematics associated with strong discontinuities that describe possible jumps in displacement or velocity. Ice motion from SAR data are analyzed using this framework. It is assumed that RGPS cells deform due to the presence of a lead. The lead orientation is calculated to optimally account for the observed deformation. It is shown that almost all observed deformation can be represented by lead opening and shearing. The procedure used to reprocess motion data to account for leads will be described and applied to regions of the Beaufort Sea. The procedure not only provides a new view of ice deformation, it can be used to obtain information about the presence of leads for initialization and/or validation of numerical simulations.
Kinematically Detected Halo Streams
Smith, Martin C
2016-01-01
Clues to the origins and evolution of our Galaxy can be found in the kinematics of stars around us. Remnants of accreted satellite galaxies produce over- densities in velocity-space, which can remain coherent for much longer than spatial over-densities. This chapter reviews a number of studies that have hunted for these accretion relics, both in the nearby solar-neighborhood and the more-distant stellar halo. Many observational surveys have driven this field forwards, from early work with the Hipparcos mission, to contemporary surveys like RAVE & SDSS. This active field continues to flourish, providing many new discoveries, and will be revolutionised as the Gaia mission delivers precise proper motions for a billion stars in our Galaxy.
How realistic are flat-ramp-flat fault kinematic models? Comparing mechanical and kinematic models
Cruz, L.; Nevitt, J. M.; Hilley, G. E.; Seixas, G.
2015-12-01
Rock within the upper crust appears to deform according to elasto-plastic constitutive rules, but structural geologists often employ kinematic descriptions that prescribe particle motions irrespective of these physical properties. In this contribution, we examine the range of constitutive properties that are approximately implied by kinematic models by comparing predicted deformations between mechanical and kinematic models for identical fault geometric configurations. Specifically, we use the ABAQUS finite-element package to model a fault-bend-fold geometry using an elasto-plastic constitutive rule (the elastic component is linear and the plastic failure occurs according to a Mohr-Coulomb failure criterion). We varied physical properties in the mechanical model (i.e., Young's modulus, Poisson ratio, cohesion yield strength, internal friction angle, sliding friction angle) to determine the impact of each on the observed deformations, which were then compared to predictions of kinematic models parameterized with identical geometries. We found that a limited sub-set of physical properties were required to produce deformations that were similar to those predicted by the kinematic models. Specifically, mechanical models with low cohesion are required to allow the kink at the bottom of the flat-ramp geometry to remain stationary over time. Additionally, deformations produced by steep ramp geometries (30 degrees) are difficult to reconcile between the two types of models, while lower slope gradients better conform to the geometric assumptions. These physical properties may fall within the range of those observed in laboratory experiments, suggesting that particle motions predicted by kinematic models may provide an approximate representation of those produced by a physically consistent model under some circumstances.
Voigt kinematics and electrodynamic consequences
Gluckman, A.G.
1976-06-01
It was established that the kinematics of the Voigt transformation, which lacks group structure, is different from that of the Lorentz transformation, and that the apparent kinematic asymmetry of the Voigt coordinate transformations may be understood as a conformally symmetric kinematics. Phenomena such as the kinetic energy of a moving body and the Doppler effect are not quite the same under the conformal Voigt transformation as they are for the usual theory developed with respect to the Lorentz group. Yet the mass-energy conservation law under the Voigt coordinate transformations and the mass-energy conservation law under the group of Lorentz transformations are identically the same.
Kinematics of Haro11 - the miniature Antennae
Östlin, Göran; Cumming, Robert; Fathi, Kambiz; Bergvall, Nils; Adamo, Angela; Amram, Philippe; Hayes, Matthew
2015-01-01
(abridged) Luminous blue compact galaxies are among the most active galaxies in the local universe in terms of their star formation rate per unit mass. They may be seen as the local analogs of higher redshift Lyman Break Galaxies. Studies of their kinematics is key to understanding what triggers their unusually active star formation In this work we investigate the kinematics of stars and ionised gas in Haro11, one of the most luminous blue compact galaxies in the local universe. Previous works have indicated that many such galaxies may be triggered by galaxy mergers. We have employed Fabry-Perot interferometry, long-slit spectroscopy and Integral Field Unit (IFU) spectroscopy to explore the kinematics of Haro11. We target the near infrared Calcium triplet to derive the stellar velocity field and velocity dispersion. Ionised gas is analysed through emission lines from hydrogen, [OIII] , and [SIII]. When spectral resolution and signal to noise allows we investigate the the line profile in detail and identify mu...
Tachyon Kinematics and causality
The chronological order of the events along a space-like path is not invariant under Lorentz transformations, as wellknown. This led to an early conviction that tachyons would give rise to causal anomalies. A relativistic version of the Stuckelberg-Feynman switching procedure (SWP) has been invoked as the suitable tool to eliminate those anomalies. The application of the SWP does eliminate the motions backwards in time, but interchanges the roles of source and dector. This fact triggered the proposal of a host of causal paradoxes. Till now, however, it has not been recognized that such paradoxes can be sensibly discussed (and completely solved, at least in microphysics) only after having properly developed the tachyon relativistic mechanics. We start by showing how to apply the SWP, both in the case of ordiry Special Relativity, and in the case with tachyons. Then, we carefully exploit the kinematics of the tachyon-exchange between to (ordinary) bodies. Being finally able to tackle the tachyon-causality problem, we successively solve the paradoxes: (i) by Tolman-Regge; (ii) by Pirani; (iii) by Edmonds; (iv) by Bell. At last, we discuss a further, new paradox associated with the transmission of signals by modulated tachyon beams
Dykstra, Dewey
2002-05-01
The development of two new units for the Powerful Ideas in Physical Science (PIPS) Project of the American Association of Physics Teachers, funded by the National Science Foundation has motivated another look at the learning and teaching of kinematics and force. These and some of the other units of the PIPS Project are unique in that they advocate and model a particular student understanding driven approach to instruction as opposed to the more common content driven approach. Several novel ways to view the results of using these new motion and force materials are introduced and made possible by a diagnostic capable of indicating the degree of presence of multiple views (the Force and Motion Conceptual Evaluation by Thornton and Sokoloff). The performance of individuals on pre and post diagnostic measures ranges widely from almost no change to more than 6 standard deviations. Factors are identified which appear to differentiate the student performances. The identification of these factors motivated additional rounds of modifications to the materials, departing even further from a content driven orientation toward an even more student understanding driven approach. The resulting instruction appears to induce routinely even under adverse teaching and learning conditions 2.5 standard deviations change in the class average on the pre to the post instruction diagnostic scores.
Elementary introduction to relativistic kinematics
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
Tensor Networks from Kinematic Space
Czech, Bartlomiej; McCandlish, Samuel; Sully, James
2015-01-01
We point out that the MERA network for the ground state of a 1+1-dimensional conformal field theory has the same structural features as kinematic space---the geometry of CFT intervals. In holographic theories kinematic space becomes identified with the space of bulk geodesics studied in integral geometry. We argue that in these settings MERA is best viewed as a discretization of the space of bulk geodesics rather than of the bulk geometry itself. As a test of this kinematic proposal, we compare the MERA representation of the thermofield-double state with the space of geodesics in the two-sided BTZ geometry, obtaining a detailed agreement which includes the entwinement sector. We discuss how the kinematic proposal can be extended to excited states by generalizing MERA to a broader class of compression networks.
GPS kinematics measurements accuracy testing
Miroslav Šimčák; Vladimír Sedlák; Gabriela Nemcová
2007-01-01
In the paper accuracy of GPS kinematics measurements is analyzed. GPS (Global Positioning System) apparatus Stratus (Sokkia) and Pro Mark2 (Aschtech) were tested. Testing was realized on the points of the geodetic network – the testing station Badín stabilized in the Central Slovak Region nearby Banská Bystrica. The semikinematics method STOP and GO was realized from the kinematics GPS methods. The terrestrial geodetic measurements by means of using the total station Nicon 352 were also reali...
Quantum simulation of noncausal kinematic transformations.
Alvarez-Rodriguez, U; Casanova, J; Lamata, L; Solano, E
2013-08-30
We propose the implementation of Galileo group symmetry operations or, in general, linear coordinate transformations in a quantum simulator. With an appropriate encoding, unitary gates applied to our quantum system give rise to Galilean boosts or spatial and time parity operations in the simulated dynamics. This framework provides us with a flexible toolbox that enhances the versatility of quantum simulation theory, allowing the direct access to dynamical quantities that would otherwise require full tomography. Furthermore, this method enables the study of noncausal kinematics and phenomena beyond special relativity in a quantum controllable system. PMID:24033011
Trading sulfur dioxide allowances
The 1990 Clean Air Act is aimed at generators larger than 25 MW, as these are the largest polluters. Market incentives give each source an emissions allocation but also flexibility. If a plant has lower emissions than the target, it can sell the 'surplus' emissions as allowances to plants that fail to meet the target. Only a few trades have occurred to date. Market-based incentives should lower the costs of improving environmental quality significantly. However, currently institutional dificulties hamper implementation
Mg II & C IV Kinematics vs. Stellar Kinematics in Galaxies
Churchill, C W; Churchill, Chris; Steidel, Chuck
2002-01-01
Comparisons of the kinematics of Mg II absorbing gas and the stellar rotation curves in 0.5 < z < 1.0 spiral galaxies suggests that, at least in some cases, the extended gaseous envelopes may be dynamically coupled to the stellar matter. A strong correlation exists between the overall kinematic spread of Mg II absorbing gas and C IV absorption strength, and therefore kinematics of the higher-ionization gas. Taken together, the data may suggest a "halo/disk connection" between z~1 galaxies and their extended gaseous envelopes. Though the number of galaxies in our sample are few, there are no clear examples that suggest the gas is accreting/infalling isotropically about the galaxies from the intergalactic medium.
Kinematic Measures of Imitation Fidelity in Primary School Children
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…
Galileo's kinematical paradox and the role of resistive forces
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)
Bayesian Kinematic Finite Fault Source Models (Invited)
Minson, S. E.; Simons, M.; Beck, J. L.
2010-12-01
Finite fault earthquake source models are inherently under-determined: there is no unique solution to the inverse problem of determining the rupture history at depth as a function of time and space when our data are only limited observations at the Earth's surface. Traditional inverse techniques rely on model constraints and regularization to generate one model from the possibly broad space of all possible solutions. However, Bayesian methods allow us to determine the ensemble of all possible source models which are consistent with the data and our a priori assumptions about the physics of the earthquake source. Until now, Bayesian techniques have been of limited utility because they are computationally intractable for problems with as many free parameters as kinematic finite fault models. We have developed a methodology called Cascading Adaptive Tempered Metropolis In Parallel (CATMIP) which allows us to sample very high-dimensional problems in a parallel computing framework. The CATMIP algorithm combines elements of simulated annealing and genetic algorithms with the Metropolis algorithm to dynamically optimize the algorithm's efficiency as it runs. We will present synthetic performance tests of finite fault models made with this methodology as well as a kinematic source model for the 2007 Mw 7.7 Tocopilla, Chile earthquake. This earthquake was well recorded by multiple ascending and descending interferograms and a network of high-rate GPS stations whose records can be used as near-field seismograms.
Clifford Fibrations and Possible Kinematics
Alan S. McRae
2009-07-01
Full Text Available Following Herranz and Santander [Herranz F.J., Santander M., Mem. Real Acad. Cienc. Exact. Fis. Natur. Madrid 32 (1998, 59-84, physics/9702030] we will construct homogeneous spaces based on possible kinematical algebras and groups [Bacry H., Levy-Leblond J.-M., J. Math. Phys. 9 (1967, 1605-1614] and their contractions for 2-dimensional spacetimes. Our construction is different in that it is based on a generalized Clifford fibration: Following Penrose [Penrose R., Alfred A. Knopf, Inc., New York, 2005] we will call our fibration a Clifford fibration and not a Hopf fibration, as our fibration is a geometrical construction. The simple algebraic properties of the fibration describe the geometrical properties of the kinematical algebras and groups as well as the spacetimes that are derived from them. We develop an algebraic framework that handles all possible kinematic algebras save one, the static algebra.
Cosmological Applications of the Gaussian Kinematic Formula
Fantaye, Yabebal; Maino, Davide; Marinucci, Domenico
2014-01-01
The Gaussian Kinematic Formula (GKF, see Adler and Taylor (2007,2011)) is an extremely powerful tool allowing for explicit analytic predictions of expected values of Minkowski functionals under realistic experimental conditions for cosmological data collections. In this paper, we implement Minkowski functionals on multipoles and needlet components of CMB fields, thus allowing a better control of cosmic variance and extraction of information on both harmonic and real domains; we then exploit the GKF to provide their expected values on spherical maps, in the presence of arbitrary sky masks, and under nonGaussian circumstances. All our results are validated by numerical experiments, which show a perfect agreement between theoretical predictions and Monte Carlo simulations.
General expression of manipulator kinematics
In this paper, a general description for kinematic modelling of all types of manipulators is presented by expanding the concept of the homogeneous transformation (Ai-matrix) based on Denavit-Hartenberg notation. Unlike the previous matrix method, the expression of recursive relationships which is suitable for computer-aided design makes it possible to derive automatically the position and orientation of manipulator hand. Two algorithms which take into consideration of the order of operation result in identical relations with respect to the kinematics between the reference system and the final link, which was proved by an application to a six-link manipulator. (author)
Latest Advances in Robot Kinematics
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.
Massless scattering at special kinematics as Jacobi polynomials
We study the scattering equations recently proposed by Cachazo, He and Yuan in the special kinematics where their solutions can be identified with the zeros of the Jacobi polynomials. This allows for a non-trivial two-parameter family of kinematics. We present explicit and compact formulas for the n-gluon and n-graviton partial scattering amplitudes for our special kinematics in terms of Jacobi polynomials. We also provide alternative expressions in terms of gamma functions. We give an interpretation of the common reduced determinant appearing in the amplitudes as the product of the squares of the eigenfrequencies of small oscillations of a system whose equilibrium is the solutions of the scattering equations. (paper)
pynoddy 1.0: an experimental platform for automated 3-D kinematic and potential field modelling
J. F. Wellmann
2015-11-01
Full Text Available We present a novel methodology for performing experiments with subsurface structural models using a set of flexible and extensible Python modules. We utilise 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.
pynoddy 1.0: an experimental platform for automated 3-D kinematic and potential field modelling
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.
Kinematic Parameters of Signed Verbs
Malaia, Evie; Wilbur, Ronnie B.; Milkovic, Marina
2013-01-01
Purpose: 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…
Barberis, Emanuela; /Northeastern U.
2006-05-01
A summary of the results on the measurement of the Top Quark mass and the study of the kinematics of the t{bar t} system at the Tevatron collider is presented here. Results from both the CDF and D0 collaborations are reported.
A new concept of modular kinematics to design ultra-high precision flexure-based robots
Richard, Murielle; Clavel, Reymond
2010-01-01
This work deals with the kinematic conception and the mechanical design of ultra-high precision robots, which are at present costly to develop, both in time and money. The aim of this paper is thus to introduce a new modular concept of kinematics which allows to significantly reduce the time-to-market and a new double-stage flexure-based pivot. Regarding the modular concept of kinematics, this ‘robotic Lego’ consists in a finite number of building bricks allowing to rapidly design a high prec...
Exploring MaNGA's kinematic maps
Weijmans, Anne-Marie; MaNGA Team
2016-01-01
Different galaxy formation processes leave different imprints on the gas and stellar kinematic patterns for a galaxy. With MaNGA, we now have after one year of observations an unprecedented sample of 1400 nearby galaxies for which we can study gas and stellar kinematics in much detail, based on integral-field spectroscopy. We are measuring kinematic quantities such as LambdaR (angular momentum) and their (possible) correlations with other galaxy properties such as mass, morphology and environment. By quantifying the kinematic (sub)structures in velocity and dispersion maps, we will construct a kinematic galaxy classification that can be linked to their formation processes.
SPACEBAR: Kinematic design by computer graphics
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.
Sex Differences in Tibiocalcaneal Kinematics
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.
Contact kinematics of biomimetic scales
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
Measurement of reed valve kinematics
Fenkl Michael
2016-01-01
Full Text Available The measurement of key kinematic parameters of a reed valve movement is necessary for the further development of the reed valve system. These parameters are dependent on the geometry and material properties of the valve. As they directly affect the quantity of air flowing around the valve, a simple and easy to implement measurement of various valve configuration based on the air flow has been devised and is described in this paper, along with its technical parameters and drawbacks when evaluating reed valves used in reciprocating air compressors. Results are presented for a specimen of a compressor under examination. All kinematic parameters, and timing of the opening and closing of the valve, obtained from the measurement are presented and discussed.
Measurement of reed valve kinematics
Fenkl, Michael; Dvořák, Václav; Vít, Tomáš
2016-03-01
The measurement of key kinematic parameters of a reed valve movement is necessary for the further development of the reed valve system. These parameters are dependent on the geometry and material properties of the valve. As they directly affect the quantity of air flowing around the valve, a simple and easy to implement measurement of various valve configuration based on the air flow has been devised and is described in this paper, along with its technical parameters and drawbacks when evaluating reed valves used in reciprocating air compressors. Results are presented for a specimen of a compressor under examination. All kinematic parameters, and timing of the opening and closing of the valve, obtained from the measurement are presented and discussed.
Kinematic Fitting of Detached Vertices
Paul Mattione
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.
Simons, Raymond C; Trump, Jonathan R; Weiner, Benjamin J; Heckman, Timothy M; Barro, Guillermo; Koo, David C; Guo, Yicheng; Pacifici, Camilla; Koekemoer, Anton; Stephens, Andrew W
2016-01-01
We present results from a survey of the internal kinematics of 49 star-forming galaxies at z$\\,\\sim\\,$2 in the CANDELS fields with the Keck/MOSFIRE spectrograph (SIGMA, Survey in the near-Infrared of Galaxies with Multiple position Angles). Kinematics (rotation velocity $V_{rot}$ and integrated gas velocity dispersion $\\sigma_g$) are measured from nebular emission lines which trace the hot ionized gas surrounding star-forming regions. We find that by z$\\,\\sim\\,$2, massive star-forming galaxies ($\\log\\,M_*/M_{\\odot}\\gtrsim10.2$) have assembled primitive disks: their kinematics are dominated by rotation, they are consistent with a marginally stable disk model, and they form a Tully-Fisher relation. These massive galaxies have values of $V_{rot}/\\sigma_g$ which are factors of 2-5 lower than local well-ordered galaxies at similar masses. Such results are consistent with findings by other studies. We find that low mass galaxies ($\\log\\,M_*/M_{\\odot}\\lesssim10.2$) at this epoch are still in the early stages of disk...
Decoupled Closed-Form Solution for Humanoid Lower Limb Kinematics
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.
Invariant feedback control for the kinematic car on the sphere
Collon, Carsten
2012-01-01
The design of an invariant tracking control law for the kinematic car driving on a sphere is discussed. Using a Lie group framework a left-invariant description on SO(3) is derived. Basic geometric considerations allow a direct comparison of the model with the usual planar case. Exploiting the Lie group structure an invariant tracking error is defined and a feedback is designed. Finally, one possible design of an invariant asymptotic observer is sketched.
An Extensible, Kinematically-Based Gesture Annotation Scheme
Martell, Craig H.
2002-01-01
Chapter 1 in the book: Advances in Natural Multimodal Dialogue Systems Annotated corpora have played a critical role in speech and natural language research; and, there is an increasing interest in corpora-based research in sign language and gesture as well. We present a non-semantic, geometrically-based annotation scheme, FORM, which allows an annotator to capture the kinematic information in a gesture just from videos of speakers. In addition, FORM stores this gestural in...
Kinematics Analysis of Two Parallel Locomotion Mechanisms
Ren, Ping
2010-01-01
This dissertation presents the kinematics study on two cases of parallel locomotion mechanisms. A parallel locomotion mechanism can be defined as â a mechanism with parallel configuration and discrete contact with respect to the ground which renders a platform the ability to moveâ . The first case is a tripedal robot and the second case is an actuated spoke wheel robot. The kinematics study on these two mobile robots mainly includes mobility, inverse and forward kinematics, i...
Interactive inverse kinematics for human motion estimation
Engell-Nørregård, Morten Pol; Hauberg, Søren; Lapuyade, Jerome; Erleben, Kenny; Pedersen, Kim Steenstrup
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...... estimation system uses a single camera to estimate the motion of a human. The results show that inverse kinematics can significantly speed up the estimation process, while retaining a quality comparable to a full pose motion estimation system. Our novelty lies primarily in use of inverse kinematics to...
Kinematics of the free throw in basketball
Tan, A.; Miller, G.
1981-06-01
The kinematics of the two basic styles of free throw in basketball are discussed. It is shown that from a purely kinematic and trajectory point of view, the overhand push shot is preferable to the underhand loop shot. The advantages of the underhand shot lie in the actual execution of the shot.
New Methods for Kinematic Modelling and Calibration of Robots
Søe-Knudsen, Rune
2014-01-01
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...... 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...
Overcoming obstacles to colour-kinematics duality at two loops
Mogull, Gustav; O'Connell, Donal
2015-12-01
The discovery of colour-kinematics duality has allowed great progress in our understanding of the UV structure of gravity. However, it has proven difficult to find numerators which satisfy colour-kinematics duality in certain cases. We discuss obstacles to building a set of such numerators in the context of the five-gluon amplitude with all helicities positive at two loops. We are able to overcome the obstacles by adding more loop momentum to our numerator to accommodate tension between the values of certain cuts and the symmetries of certain diagrams. At the same time, we maintain control over the size of our ansatz by identifying a highly constraining but desirable symmetry property of our master numerator. The resulting numerators have twelve powers of loop momenta rather than the seven one would expect from the Feynman rules.
Kinematics of multigrid Monte Carlo
We study the kinematics of multigrid Monte Carlo algorithms by means of acceptance rates for nonlocal Metropolis update proposals. An approximation formula for acceptance rates is derived. We present a comparison of different coarse-to-fine interpolation schemes in free field theory, where the formula is exact. The predictions of the approximation formula for several interacting models are well confirmed by Monte Carlo simulations. The following rule is found: For a critical model with fundametal Hamiltonian Η(φ), absence of critical slowing down can only be expected if the expansion of (Η(φ+ψ)) in terms of the shift ψ contains no relevant (mass) term. We also introduce a multigrid update procedure for nonabelian lattice gauge theory and study the acceptance rates for gauge group SU(2) in four dimensions. (orig.)
Bayesian kinematic earthquake source models
Minson, S. E.; Simons, M.; Beck, J. L.; Genrich, J. F.; Galetzka, J. E.; Chowdhury, F.; Owen, S. E.; Webb, F.; Comte, D.; Glass, B.; Leiva, C.; Ortega, F. H.
2009-12-01
Most coseismic, postseismic, and interseismic slip models are based on highly regularized optimizations which yield one solution which satisfies the data given a particular set of regularizing constraints. This regularization hampers our ability to answer basic questions such as whether seismic and aseismic slip overlap or instead rupture separate portions of the fault zone. We present a Bayesian methodology for generating kinematic earthquake source models with a focus on large subduction zone earthquakes. Unlike classical optimization approaches, Bayesian techniques sample the ensemble of all acceptable models presented as an a posteriori probability density function (PDF), and thus we can explore the entire solution space to determine, for example, which model parameters are well determined and which are not, or what is the likelihood that two slip distributions overlap in space. Bayesian sampling also has the advantage that all a priori knowledge of the source process can be used to mold the a posteriori ensemble of models. Although very powerful, Bayesian methods have up to now been of limited use in geophysical modeling because they are only computationally feasible for problems with a small number of free parameters due to what is called the "curse of dimensionality." However, our methodology can successfully sample solution spaces of many hundreds of parameters, which is sufficient to produce finite fault kinematic earthquake models. Our algorithm is a modification of the tempered Markov chain Monte Carlo (tempered MCMC or TMCMC) method. In our algorithm, we sample a "tempered" a posteriori PDF using many MCMC simulations running in parallel and evolutionary computation in which models which fit the data poorly are preferentially eliminated in favor of models which better predict the data. We present results for both synthetic test problems as well as for the 2007 Mw 7.8 Tocopilla, Chile earthquake, the latter of which is constrained by InSAR, local high
Automated kinematic generator for surgical robotic systems.
Jung, David L; Dixon, Warren E; Pin, François G
2004-01-01
Unlike traditional assembly line robotic systems that have a fixed kinematic structure associated with a single tool for a structured task, next-generation robotic surgical assist systems will be required to use an array of end-effector tools. Once a robot is connected with a tool, the kinematic equations of motion are altered. Given the need to accommodate evolving surgical challenges and to alleviate the restrictions imposed by the confined minimally invasive environment, new surgical tools may resemble small flexible snakes rather than rigid, cable driven instruments. Connecting to these developing articulated tools will significantly alter the overall kinematic structure of a robotic system. In this paper we present a technique for real-time automated generation and evaluation of manipulator kinematic equations that exhibits the combined advantages of existing methods-speed and flexibility to kinematic change--without their disadvantages. PMID:15544260
Efficient kinematics for jet-propelled swimming
Alben, Silas; Miller, Laura; Peng, Jifeng
2013-11-01
We use vortex sheet and viscous simulations and an analytical model to search for efficient jet-propelled swimming kinematics at large Reynolds numbers (1000 and above). We prescribe different power-law kinematics for the bell contraction and expansion. In the simulations, two types of efficient kinematics are found: a bell radius velocity which is a nearly linear function of time, and a ``burst-and-coast'' kinematics. The analytical model studies the contraction phase only, and finds that the efficiency-optimizing kinematics transition from a nearly linear bell radius velocity (similar to the numerics) for small-to-moderate output power to an exponentially-decaying bell radius velocity for large output power.
Kinematic modelling of disc galaxies using graphics processing units
Bekiaris, G.; Glazebrook, K.; Fluke, C. J.; Abraham, R.
2016-01-01
With large-scale integral field spectroscopy (IFS) surveys of thousands of galaxies currently under-way or planned, the astronomical community is in need of methods, techniques and tools that will allow the analysis of huge amounts of data. We focus on the kinematic modelling of disc galaxies and investigate the potential use of massively parallel architectures, such as the graphics processing unit (GPU), as an accelerator for the computationally expensive model-fitting procedure. We review the algorithms involved in model-fitting and evaluate their suitability for GPU implementation. We employ different optimization techniques, including the Levenberg-Marquardt and nested sampling algorithms, but also a naive brute-force approach based on nested grids. We find that the GPU can accelerate the model-fitting procedure up to a factor of ˜100 when compared to a single-threaded CPU, and up to a factor of ˜10 when compared to a multithreaded dual CPU configuration. Our method's accuracy, precision and robustness are assessed by successfully recovering the kinematic properties of simulated data, and also by verifying the kinematic modelling results of galaxies from the GHASP and DYNAMO surveys as found in the literature. The resulting GBKFIT code is available for download from: http://supercomputing.swin.edu.au/gbkfit.
Edge-driven microplate kinematics
Schouten, Hans; Klitgord, Kim D.; Gallo, David G.
1993-01-01
It is known from plate tectonic reconstructions that oceanic microplates undergo rapid rotation about a vertical axis and that the instantaneous rotation axes describing the microplate's motion relative to the bounding major plates are frequently located close to its margins with those plates, close to the tips of propagating rifts. We propose a class of edge-driven block models to illustrate how slip across the microplate margins, block rotation, and propagation of rifting may be related to the relative motion of the plates on either side. An important feature of these edge-driven models is that the instantaneous rotation axes are always located on the margins between block and two bounding plates. According to those models the pseudofaults or traces of disrupted seafloor resulting from the propagation of rifting between microplate and major plates may be used independently to approximately trace the continuous kinematic evolution of the microplate back in time. Pseudofault geometries and matching rotations of the Easter microplate show that for most of its 5 m.y. history, block rotation could be driven by the drag of the Nazca and Pacific plates on the microplate's edges rather than by a shear flow of mantle underneath.
Star cluster kinematics with AAOmega
Kiss, L L; Szabo, Gy M; Parker, Q A; Frew, D J
2008-01-01
The high-resolution setup of the AAOmega spectrograph on the Anglo-Australian Telescope makes it a beautiful radial velocity machine, with which one can measure velocities of up to 350-360 stars per exposure to +/-1--2 km/s in a 2-degree field of view. Here we present three case studies of star cluster kinematics, each based on data obtained on three nights in February 2008. The specific aims included: (i) cluster membership determination for NGC 2451A and B, two nearby open clusters in the same line-of-sight; (ii) a study of possible membership of the planetary nebula NGC 2438 in the open cluster M46; and (iii) the radial velocity dispersion of M4 and NGC 6144, a pair of two globular clusters near Antares. The results which came out of only three nights of AAT time illustrate very nicely the potential of the instrument and, for example, how quickly one can resolve decades of contradiction in less than two hours of net observing time.
Robot Kinematics, using Dual Quaternions
Mahmoud Gouasmi
2012-03-01
Full Text Available From the point of view of classical mechanics, deriving the equations of motion for systems of coupled rigid bodies is regarded as a straightforward procedure: once a suitable set of generalized coordinates and reference frames have been chosen, what remains is to either apply Lagrange’s equations or Newton and Euler’s equations to obtain the differential equations of motion. As the complexity of multibody system increases, the need for more elegant formulation of the equation of motion becomes an issue of paramount importance. Our primary focus is on the kinematic analysis of rigid bodies and serial manipulators (robotic systems using simultaneously, both homogeneous transformations (4x4 matrices and Dual Quaternions, for the sake of results comparisons (cost,complexity,storage capacity etc. . This paper has been done mainly for educational and peadagogical purposes, hoping that the scientific community will finally adopt and use Dual Quaternions at least when dealing with multibody systems and specially robotics.
Interactive scan control for kinematic study in open MRI
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)
Kinematics and Dynamics of Roller Chain Drives
Fuglede, Niels
There are two main subjects of this work: Kinematic and dynamic modeling and analysis of roller chain drives. In the kinematic analysis we contribute first with a complete treatment of the roller chain drive modeled as a four-bar mechanism. This includes a general, exact and approximate analysis...... parameters which is useful for predicting the characteristic loading of the roller chain drive. As a completely novel contribution, a kinematic model and analysis is presented which includes both spans and sprockets in a simple chain drive system. A general procedure for determination of the total wrapping...... conditions for real chain drives. Examples are presented of both decoupled and coupled motion. Together, the kinematic and dynamic model and analytical results provides a framework for numerical and experimental investigations of roller chain drive motion and deepens the understanding of roller chain drive...
Kinematic analysis of spatial parallel manipulator
In this work we analyses a particularly spatial manipulator, establish initial data and based on fixed geometrical link parameters we conduct a kinematic analysis of manipulator by Denavit-Hartenberg matrix way. (author)
Heavy baryon spectroscopy with relativistic kinematics
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 Analysis Of Tricept Parallel Manipulator
2012-01-01
Parallel manipulators consist of fixed and moving platforms connected to each other with some actuated links. They have some significant advantages over their serial counterparts. While, they suffer from relatively small workspaces, complex kinematics relations and highly singular points within their workspaces. In this paper, forward kinematics of Tricept parallel manipulator is solved analytically and its workspace optimization is performed. This parallel manipulator has a complex degree of...
Quantum gravity kinematics from extended TQFTs
Dittrich, Bianca; Geiller, Marc
2016-01-01
We show how extended topological quantum field theories (TQFTs) can be used to obtain a kinematical setup for quantum gravity, i.e. a kinematical Hilbert space together with a representation of the observable algebra including operators of quantum geometry. In particular, we consider the holonomy-flux algebra of (2+1)-dimensional Euclidean loop quantum gravity, and construct a new representation of this algebra that incorporates a positive cosmological constant. The vacuum state underlying ou...
DIDACTIC AUTOMATED STATION OF COMPLEX KINEMATICS
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.
DIDACTIC AUTOMATED STATION OF COMPLEX KINEMATICS
Mariusz Sosnowski; Jędrzej Jaskowski
2014-01-01
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 reaso...
Kinematical coincidence method in transfer reactions
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.
Kinematical coincidence method in transfer reactions
Acosta, L; Auditore, L; Berceanu, I; Cardella, G; Chatterjiee, M B; De Filippo, E; FrancalanzA, L; Gianì, R; Grassi, L; Grzeszczuk, A; La Guidara, E; Lanzalone, G; Lombardo, I; Loria, D; Minniti, T; Pagano, E V; Papa, M; Pirrone, S; Politi, G; Pop, A; Porto, F; Rizzo, F; Rosato, E; Russotto, P; Santoro, S; Trifirò, A; Trimarchi, M; Verde, G; Vigilante, M
2012-01-01
A new method to extract high resolution angular distributions from kinematical coincidence measurements in binary reactions is presented. Kinematic is used to extract the center of mass angular distribution from the measured energy spectrum of light particles. Results obtained in the case of 10Be+p-->9Be+d reaction measured with the CHIMERA detector are shown. An angular resolution of few degrees in the center of mass is obtained.
A kinematical analysis of NGC 2992
Marquez, I.; Boisson, C.; Durret, F.; P. Petitjean
1998-01-01
We present long slit spectroscopy for the [OIII] and H$\\alpha$ wavelength ranges along nine different position angles for the Sa Seyfert 1.9 galaxy NGC 2992. Double profiles are present in several regions, suggesting that the gas is not simply following galaxy rotation. A simple kinematical model, which takes into account circular rotation together with a constant radial outflow, seems to be a good approximation to account for the observed kinematics.
Dynamic Control of Kinematically Redundant Robotic Manipulators
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.
Kinematic Deviations In Children With Cerebral Palsy
Sangeux, Morgan; ARMAND, Stéphane
2015-01-01
In gait analysis, a large portion of the work consists in finding the underlying causes of the abnormal movement observed during walking. The patient’s kinematics of walking is compared to that of typically developed children and the deviations are further analysed. Over the years, clinicians have observed multiple-joints kinematics deviations that were frequent in children with cerebral palsy and devised gait patterns in order to group patients and support management algorithms. However, the...
Relevant Explanations: Allowing Disjunctive Assignments
Shimony, Solomon Eyal
2013-01-01
Relevance-based explanation is a scheme in which partial assignments to Bayesian belief network variables are explanations (abductive conclusions). We allow variables to remain unassigned in explanations as long as they are irrelevant to the explanation, where irrelevance is defined in terms of statistical independence. When multiple-valued variables exist in the system, especially when subsets of values correspond to natural types of events, the over specification problem, alleviated by inde...
Avian wing geometry and kinematics of a free-flying barn owl in flapping flight
Wolf, Thomas; Konrath, Robert
2015-02-01
This paper presents results of high-resolution three-dimensional wing shape measurements performed on free-flying barn owls in flapping flight. The applied measurement technique is introduced together with a moving camera set-up, allowing for an investigation of the free flapping flight of birds with high spatial and temporal resolution. Based on the three-dimensional surface data, a methodology for parameterizing the wing profile along with wing kinematics during flapping flight has been developed. This allowed a description of the spanwise varying kinematics and aerodynamic parameters (e.g. effective angles of attack, camber, thickness) of the wing in dependence on the flapping phase. The results are discussed in detail using the data of a single flight, whereas a comparison of some kinematic parameters obtained from different flights is given too.
Clifford algebras geometric modelling and chain geometries with application in kinematics
Klawitter, Daniel
2015-01-01
After revising known representations of the group of Euclidean displacements Daniel Klawitter gives a comprehensive introduction into Clifford algebras. The Clifford algebra calculus is used to construct new models that allow descriptions of the group of projective transformations and inversions with respect to hyperquadrics. Afterwards, chain geometries over Clifford algebras and their subchain geometries are examined. The author applies this theory and the developed methods to the homogeneous Clifford algebra model corresponding to Euclidean geometry. Moreover, kinematic mappings for special Cayley-Klein geometries are developed. These mappings allow a description of existing kinematic mappings in a unifying framework. Contents Models and representations of classical groups Clifford algebras, chain geometries over Clifford algebras Kinematic mappings for Pin and Spin groups Cayley-Klein geometries Target Groups Researchers and students in the field of mathematics, physics, and mechanical engineering About...
Sergi, Fabrizio; Accoto, Dino; Tagliamonte, Nevio L.; Carpino, Giorgio; Guglielmelli, Eugenio
2011-03-01
The choice of non-anthropomorphic kinematic solutions for wearable robots is motivated both by the necessity of improving the ergonomics of physical Human-Robot Interaction and by the chance of exploiting the intrinsic dynamical properties of the robotic structure so to improve its performances. Under these aspects, this new class of robotic solutions is potentially advantageous over the one of anthropomorphic robotic orthoses. However, the process of kinematic synthesis of non-anthropomorphic wearable robots can be too complex to be solved uniquely by relying on conventional synthesis methods, due to the large number of open design parameters. A systematic approach can be useful for this purpose, since it allows to obtain the complete list of independent kinematic solutions with desired properties. In this perspective, this paper presents a method, which allows to generalize the problem of kinematic synthesis of a non-anthropomorphic wearable robot for the assistance of a specified set of contiguous body segments. The methodology also includes two novel tests, specifically devised to solve the problem of enumeration of kinematic structures of wearable robots: the HR-isomorphism and the HR-degeneracy tests. This method has been implemented to derive the atlas of independent kinematic solutions suitable to be used for the kinematic design of a planar wearable robot for the lower limbs.
Computing broadband accelerograms using kinematic rupture modeling
In order to make the broadband kinematic rupture modeling more realistic with respect to dynamic modeling, physical constraints are added to the rupture parameters. To improve the slip velocity function (SVF) modeling, an evolution of the k-2 source model is proposed, which consists to decompose the slip as a sum of sub-events by band of k. This model yields to SVF close to the solution proposed by Kostrov for a crack, while preserving the spectral characteristics of the radiated wave field, i.e. a w2 model with spectral amplitudes at high frequency scaled to the coefficient of directivity Cd. To better control the directivity effects, a composite source description is combined with a scaling law defining the extent of the nucleation area for each sub-event. The resulting model allows to reduce the apparent coefficient of directivity to a fraction of Cd, as well as to reproduce the standard deviation of the new empirical attenuation relationships proposed for Japan. To make source models more realistic, a variable rupture velocity in agreement with the physics of the rupture must be considered. The followed approach that is based on an analytical relation between the fracture energy, the slip and the rupture velocity, leads to higher values of the peak ground acceleration in the vicinity of the fault. Finally, to better account for the interaction of the wave field with the geological medium, a semi-empirical methodology is developed combining a composite source model with empirical Green functions, and is applied to the Yamaguchi, Mw 5.9 earthquake. The modeled synthetics reproduce satisfactorily well the observed main characteristics of ground motions. (author)
Emission allowances stall in marketplace
Misinformation and public misunderstanding have given emissions trading a bad reputation in the public marketplace, says William F. Malec, executive vice president of the Tennessee Valley Authority (TVA), in Knoxville, Tennessee. Media coverage of a May 1992 emissions-allowance trade between TVA and Wisconsin Power and Light open-quotes focused on the agreement's pollution-trading aspects, not its overall potential economic and environmental benefits,close quotes Malec says. Such negative portrayal of TVA's transaction sparked severe public criticism and charges that emissions trading gives utilities the right to pollute. open-quotes The fact is that TVA sought the emissions-trading agreement as a means to reduce overall emissions in the most cost-effective way,close quotes Malec explains. Emissions trading allows a company with emission levels lower than clean-air standards to earn open-quotes credits.close quotes These credits then may be purchased by a company with emission levels that exceed federal standards. Under this arrangement, the environment is protected and companies that buy credits save money because they do not have to purchase expensive emissions-control devices or reduce their production levels. Malec says TVA decided to enter into the emissions-allowance market, not only to cut costs, but also to publicize the existence and benefits of emissions trading. However, TVA's experience proves that open-quotes people will not accept what they do not understand,close quotes concludes Malec, open-quotes especially when complex environmental issues are involved.close quotes
Galactic kinematics with RAVE data - I. The distribution of stars towards the Galactic poles
Veltz, L.; Bienayme, O.; Freeman, K. C.; Binney, J.; Bland-Hawthorn, J.; Gibson, B. K.; Gilmore, G.; Grebel, E. K.; Helmi, A.; Munari, U.; Navarro, J. F.; Parker, Q. A.; Seabroke, G. M.; Siebert, A.; Steinmetz, M.; Watson, F. G.; Williams, M.; Wyse, R. F. G.; Zwitter, T.
2008-01-01
We analyze the distribution of G and K type stars towards the Galactic poles using RAVE and ELODIE radial velocities, 2MASS photometric star counts, and UCAC2 proper motions. The combination of photometric and 3D kinematic data allows us to disentangle and describe the vertical distribution of dwarf
Kinematics of Electrons in the Volume of a Planar Vacuum Diode
Stoyanov, Dimitar G
2011-01-01
The kinematics laws of electrons motion in the volume of planar vacuum diode are obtained. The physically acceptable initial and boundary conditions for the regime of changing of current are presented. A new solution allowing diode self-clogging is suggested.
Energy dependence of 238U fission yields investigated in inverse kinematics
Veselsky M.
2010-03-01
Full Text Available The production cross sections of neutron-rich fission residues produced in reactions induced by a 238U beam impinging onto Pb and Be targets were investigated at the Fragment Separator (FRS at GSI using the inverse kinematic technique. These data allowed us to discuss the optimum energies in fission for producing the most neutron-rich residues.
Inverse kinematic-based robot control
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.
Morpho-kinematic of distant galaxies with JWST and MOSAIC
Rodrigues, M.; Hammer, F.; Puech, M.; Flores, H.
2015-12-01
The combination of high spatial resolution from space imagery and 3D spectroscopy from ground is a remarkable tool to dissect distant galaxies and their internal motions. Using HST and VLT observations, we have captured the strong evolution of disk galaxies over the past 8 billion years (z˜1), which suggests disk (re)formation after gas rich mergers. At higher lookback time, the morpho-kinmatics of galaxies is strongly limited by the lower signal-to-noise and coarse spatial resolution of the observations. In the next decade, the synergy between JWST/NIRCAM and MOSAIC the futur MOS at the E-ELT will allow us to capture the morpho-kinematics up to the first galaxies and unveil the physical processes dominating their formation. The lesson learned at intermediate redshift will allow us to optimize the specification for MOSAIC to achieve the morpho-kinematics follow-up of galaxies from z˜4 to z=0.
Computer Assisted Mechanical Axis and Kinematic TKA
McEwen, Peter; Mahoharan, Varaguna
2016-01-01
Introduction: Total knee arthroplasty (TKA) has traditionally been and largely continues to be aligned mechanically, that being with a neutral coronal plane mechanical tibiofemoral axis and a joint line orientated at 900 to this axis. Femoral component rotation is set by gap balancing or by externally rotating 30 from any of a number femoral reference lines. This produces a rectangular flexion gap and relaxes patellar tracking. Kinematic alignment (KA) is an alternative technique that aims to restore premorbid alignment, joint orientation and ligament tension. The basic premise for this technique is based on evidence that the medial and lateral femoral condyles consistently equate to cylinders of equal or near equal size and that therefore with a fixed radius, cruciate retaining implant, matched distal femoral, posterior femoral and proximal tibial resections, accounting for bone and cartilage already lost will reproduce the premorbid joint line and restore native premorbid kinematics. Femoral rotation is therefore referenced off the prearthritic posterior condylar axis (PCA) that is on average internally rotated to the AP axis. Kinematic alignment therefore has the potential to challenge patellar tracking, increase patellar load and potentially increase patellar complications. Method: Case control study – level of evidence III-2. Between November 2012 and June 2013 the senior author completed 104 consecutive computer assisted (CAS) kinematically aligned total knee arthroplasties (TKA) with a cruciate retaining, fixed bearing, single radius implant. The results of these surgeries were compared with the results of 91 consecutive CAS mechanically aligned TKA done between November 2011 and October 2012 using the same navigation system and implant Implant sizing and positioning as well as gap measurement and ligament balance was done with computer assistance in all cases. Data was collected prospectively and analysed retrospectively. Results: The Oxford Knee Score
Highly damped kinematic coupling for precision instruments
Hale, Layton C. (Livermore, CA); Jensen, Steven A. (Livermore, CA)
2001-01-01
A highly damped kinematic coupling for precision instruments. The kinematic coupling provides support while causing essentially no influence to its nature shape, with such influences coming, for example, from manufacturing tolerances, temperature changes, or ground motion. The coupling uses three ball-cone constraints, each combined with a released flexural degree of freedom. This arrangement enables a gain of higher load capacity and stiffness, but can also significantly reduce the friction level in proportion to the ball radius divided by the distance between the ball and the hinge axis. The blade flexures reduces somewhat the stiffness of the coupling and provides an ideal location to apply constrained-layer damping which is accomplished by attaching a viscoelastic layer and a constraining layer on opposite sides of each of the blade flexures. The three identical ball-cone flexures provide a damped coupling mechanism to kinematically support the projection optics system of the extreme ultraviolet lithography (EUVL) system, or other load-sensitive apparatus.
Ilya Tyapin
2009-04-01
Full Text Available One of the main advantages of the Gantry-Tau machine is a large accessible workspace/footprint ratio compared to many other parallel machines. The Gantry-Tau improves this ration further by allowing a change of assembly mode without internal link collisions or collisions between the links and end-effector. The reconfigurable Gantry-Tau kinematic design obtained by multi-objective optimisation according to this paper gives the following features: 3-D workspace/footprint ratio is more than 3.19, lowest Cartesian stiffness in the workspace is $5N/mu m$ and no link collisions detected. The optimisation parameters are the support frame lengths, the actuator positions and the robot's arm lengths. The results comparison between the evolutionary complex search algorithm and gradient-based method used for the Gantry-Tau design in the past is also presented in this paper. The detailed statics model analysis of the Gantry-Tau based on a functionally dependency is presented in this paper for the first time. Both the statics model and complex search algorithm may be applied for other 3-DOF Hexapods without major changes. The existing lab prototype of the Gantry-Tau was assembled and completed at the University of Agder, Norway.
Kinematics and Control of Robot Manipulators
Paden, Bradley Evan
This dissertation focuses on the kinematics and control of robot manipulators. The contribution to kinematics is a fundamental theorem on the design of manipulators with six revolute joints. The theorem states, roughly speaking, that manipulators which have six revolute joints and are modeled after the human arm are optimal and essentially unique. In developing the mathematical framework to prove this theorem, we define precisely the notions of length of a manipulator, well-connected-workspace, and work-volume. We contribute to control a set of analysis techniques for the design of variable structure (sliding mode) controllers for manipulators. The organization of the dissertation is the following. After introductory remarks in chapter one, the group of proper rigid motions, G, is introduced in chapter two. The tangent bundle of G is introduced and it is shown that the velocity of a rigid body can be represented by an element in the Lie algebra of G (commonly called a twist). Further, rigid motions which are exponentials of twists are used to describe four commonly occurring subproblems in robot kinematics. In chapter three, the exponentials of twists are used to write the forward kinematic map of robot manipulators and the subproblems of chapter two are used to solve the Stanford manipulator and an elbow manipulator. Chapter four focuses on manipulator singularities. Twist coordinates are used to find critical points of the forward kinematic map. The contribution to kinematics is contained in chapter five where a mathematical framework for studying the relationship between the design of 6R manipulators and their performance is developed. Chapter seven contains the contribution to control. The work of A. F. Filippov on differential equations with discontinuous right-hand-side and the work of F. H. Clarke on generalized gradients are combined to obtain a calculus for analyzing nonsmooth gradient systems. The techniques developed are applied to design a simple
Kinematic Issues of GPDs in DVCS
Generalized Parton Distributions (GPDs) in Deeply Virtual Compton Scattering (DVCS) have been widely recognized and used as a useful tool to explore the quark and gluon structure of the target hadrons. However, we recently pointed out treacherous kinematic issues in analyzing DVCS in terms of GPDs. We present our key findings in the simplest possible level of complete amplitude including the lepton current. We also discuss an implication on theoretical frameworks to cover the kinematic region of DVCS experiment with the 12 GeV upgrade at Jefferson Lab
Controlling chaotic robots with kinematical redundancy
Li, Li; Liu, Zhaohui; Zhang, Dengcai; Zhang, H.
2006-03-01
Robots with kinematical redundancy under the pseudoinverse control exhibit undesirable chaotic joint motion, which leads to erratic behaviors. In this study, we used the delayed feedback method to control chaotic motions of a planar 3R rigid and a planar 3R flexible redundant robot under the pseudoinverse control when the end-effector traces a closed-path repeatedly in the work space. It was demonstrated that chaotic motions of robots with kinematical redundancy can be turned into regular motion when the delayed feedback method was applied with some appropriate parameters. This study provides a new insight helpful to solve the repeatability problem of redundant manipulators.
Inverse Kinematics of a Serial Robot
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.
The Kinematic Theory of Solar Dynamo
无
2003-01-01
Generation of the Sun's magnetic fields by self-inductive processes inthe solar electrically conducting interior, the solar dynamo theory, is a fundamen-tally important subject in astrophysics. The kinematic dynamo theory concernshow the magnetic fields are produced by kinematically possible flows without beingconstrained by the dynamic equation. We review a number of basic aspects of thekinematic dynamo theory, including the magnetohydrodynamic approximation forthe dynamo equation, the impossibility of dynamo action with the solar differentialrotation, the Cowling's anti-dynamo theorem in the solar context, the turbulent al-pha effect and recently constructed three-dimensional interface dynamos controlledby the solar tachocline at the base of the convection zone.
Kinematic restoration of the Mediterranean region since the Triassic
van Hinsbergen, Douwe; Torsvik, Trond; Matenco, Liviu; Schmid, Stefan; Maffione, Marco; Spakman, Wim
2014-05-01
platform for kinematic reconstructions is the freely available GPlates plate kinematic reconstruction software (http://www.gplates.org). We provide the first fully quantitatively described GPlates-based kinematic reconstruction of the Mediterranean region back to Triassic time. Classic plate reconstructions assume plate rigidity, and motion concentrated along discrete plate boundaries. Convergence between Africa-Europe plate boundary in the Mediterranean region is, however, associated with regionally distributed deformation. In this reconstruction, we attempt to restore this distributed deformation, which in practice means that we allow for polygons to change shape and area over time. This reconstruction may (i) be used as input for numerical models that aim to constrain the geodynamic evolution of (parts of) the Mediterranean history, (ii) allow comparing relative tectonic motions of the Mediterranean region to the mantle using mantle reference frames, and (iii) provide regional kinematic context for future geological studies. Upon final publication, all shape and rotation files of this reconstruction will be made publically available, which may serve as a platform for further improvement when new constraints demand so, or when the reader wishes to test different tectonic scenarios.
Calibration of parallel kinematic devices using sequential determination of kinematic parameters
JOKIEL JR.,BERNHARD; BIEG,LOTHAR F.; ZIEGERT,JOHN C.
2000-04-06
In PKM Machines, the Cartesian position and orientation of the tool point carried on the platform is obtained from a kinematic model of the particular machine. Accurate positioning of these machines relies on the accurate knowledge of the parameters of the kinematic model unique to the particular machine. The parameters in the kinematic model include the spatial locations of the joint centers on the machine base and moving platform, the initial strut lengths, and the strut displacements. The strut displacements are readily obtained from sensors on the machine. However, the remaining kinematic parameters (joint center locations, and initial strut lengths) are difficult to determine when these machines are in their fully assembled state. The size and complexity of these machines generally makes it difficult and somewhat undesirable to determine the remaining kinematic parameters by direct inspection such as in a coordinate measuring machine. In order for PKMs to be useful for precision positioning applications, techniques must be developed to quickly calibrate the machine by determining the kinematic parameters without disassembly of the machine. A number of authors have reported techniques for calibration of PKMs (Soons, Masory, Zhuang et. al., Ropponen). In two other papers, the authors have reported on work recently completed by the University of Florida and Sandia National Laboratories on calibration of PKMs, which describes a new technique to sequentially determine the kinematic parameters of an assembled parallel kinematic device. The technique described is intended to be used with a spatial coordinate measuring device such as a portable articulated CMM measuring arm (Romer, Faro, etc.), a Laser Ball Bar (LBB), or a laser tracker (SMX< API, etc.). The material to be presented is as follows: (1) methods to identify the kinematic parameters of 6--6 variant Stewart platform manipulators including joint center locations relative to the workable and spindle nose
A kinematic study on (unintentional imitation in bottlenose dolphins
Luisa Sartori
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.
The influence of binarity on the morpho-kinematics of planetary nebulae
Jones, David; Lloyd, Myfanwy; Santander-Garcia, Miguel
2011-01-01
The role of central star binarity in the shaping of planetary nebulae (PNe) has been the subject of much debate, with single stars believed to be incapable of producing the most highly collimated morphologies. However, observational support for binary-induced shaping has been sadly lacking. Here, we highlight the results of a continuing programme to spatio-kinematically model the morphologies of all PNe known to contain a close binary central star. Spatio-kinematical modelling is imperative for these objects, as it circumvents the degeneracy between morphology and orientation which can adversely affect determinations of morphology based on imaging alone. Furthermore, spatio-kinematical modelling accurately determines the orientation of the nebular shell, allowing the theoretically predicted perpendicular alignment, between nebular symmetry axis and binary orbital plane, to be tested. To date, every PN subjected to this investigation has displayed the predicted alignment, indicating that binarity has played an...
Rotational laxity after anterior cruciate ligament injury by kinematic evaluation of clinical tests.
Zaffagnini, S; Martelli, S; Falcioni, B; Motta, M; Marcacci, M
2000-01-01
Despite the numerous studies on anterior cruciate ligament biomechanics and clinical tests, some disagreements still exist in the literature on the role of ACL in restraining rotations and which kinematic test after ACL injuries is the most suitable to evaluate this instability. This work analyses the capability of passive clinical and stress tests to detect an ACL state quantifying rotational instability. The study was conducted on animal knees with a new protocol. We found that an internal-external stress test can give a useful indication on the ACL state when used to estimate the side to side differences while varus-valgus laxity and secondary motions in standard kinematic tests did not seem to be affected by ACL injury. The kinematic protocol performed could be used intra-operatively to quantify rotations, allowing a more accurate evaluation of knee instability to guide surgical reconstruction and improve its final outcome. PMID:11204247
Garcia-Lorenzo, B; Barrera-Ballesteros, J K; Masegosa, J; Husemann, B; Falcón-Barroso, J; Lyubenova, M; Sanchez, S F; Walcher, J; Mast, D; Garcia-Benito, R; Mendez-Abreu, J; van de Ven, G; Spekkens, K; Holmes, L; Monreal-Ibero, A; del Olmo, A; Ziegler, B; Bland-Hawthorn, J; Sanchez-Blazquez, P; Iglesias-Paramo, J; Aguerri, J A L; Papaderos, P; Gomes, J M; Marino, R A; Delgado, R M Gonzalez; Cortijo-Ferrero, C; Lopez-Sanchez, A R; Bekeraite, S; Wisotzki, L; Bomans, D
2014-01-01
This work provides an overall characterization of the kinematic behavior of the ionized gas of the galaxies included in the Calar Alto Legacy Integral field Area (CALIFA), offering kinematic clues to potential users of this survey for including kinematical criteria for specific studies. From the first 200 galaxies observed by CALIFA, we present the 2D kinematic view of the 177 galaxies satisfying a gas detection threshold. After removing the stellar contribution, we used the cross-correlation technique to obtain the radial velocity of the dominant gaseous component. The main kinematic parameters were directly derived from the radial velocities with no assumptions on the internal motions. Evidence of the presence of several gaseous components with different kinematics were detected by using [OIII] profiles. Most objects in the sample show regular velocity fields, although the ionized-gas kinematics are rarely consistent with simple coplanar circular motions. 35% of the objects present evidence of a displacemen...
The stellar halos of massive elliptical galaxies. III. Kinematics at large radius
We present a two-dimensional kinematic analysis out to ∼2-5 effective radii (Re ) of 33 massive elliptical galaxies with stellar velocity dispersions σ > 150 km s–1. Our observations were taken using the Mitchell Spectrograph (formerly VIRUS-P), a spectrograph with a large 107 × 107 arcsec2 field of view that allows us to construct robust, spatially resolved kinematic maps of V and σ for each galaxy extending to at least 2 Re . Using these maps, we study the radial dependence of the stellar angular momentum and other kinematic properties. We see the familiar division between slow and fast rotators persisting out to a large radius in our sample. Centrally slow rotating galaxies, which are almost universally characterized by some form of kinematic decoupling or misalignment, remain slowly rotating in their halos. The majority of fast-rotating galaxies show either increases in specific angular momentum outward or no change beyond Re . The generally triaxial nature of the slow rotators suggests that they formed through mergers, consistent with a 'two-phase' picture of elliptical galaxy formation. However, we do not observe the sharp transitions in kinematics proposed in the literature as a signpost of moving from central dissipationally formed components to outer accretion-dominated halos.
Compton Effect with Non-Relativistic Kinematics
Shivalingaswamy, T.; Kagali, B. A.
2011-01-01
In deducing the change of wavelength of x-rays scattered by atomic electrons, one normally makes use of relativistic kinematics for electrons. However, recoiling energies of the electrons are of the order of a few keV which is less than 0.2% of their rest energies. Hence the authors may ask whether relativistic formulae are really necessary. In…
KINEMATICS OF STELLAR POPULATIONS IN POSTSTARBURST GALAXIES
Poststarburst galaxies host a population of early-type stars (A or F) but simultaneously lack indicators of ongoing star formation such as [O II] emission. Two distinct stellar populations have been identified in these systems: a young poststarburst population superimposed on an older host population. We present a study of nine poststarburst galaxies with the following objectives: (1) to investigate whether and how kinematical differences between the young and old populations of stars can be measured, and (2) to gain insight into the formation mechanism of the young population in these systems. We fit high signal-to-noise spectra with two independent populations in distinct spectral regions: the Balmer region, the Mg IB region, and the Ca triplet when available. We show that the kinematics of the two populations largely track one another if measured in the Balmer region with high signal-to-noise data. Results from examining the Faber-Jackson relation and the fundamental plane indicate that these objects are not kinematically disturbed relative to more evolved spheroids. A case study of the internal kinematics of one object in our sample shows it to be pressure supported and not rotationally dominated. Overall our results are consistent with merger-induced starburst scenarios where the young population is observed during the later stages of the merger
Compton's Kinematics and Einstein - Ehrenfest's radiation theory
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)
Planet Host Stars: Mass, Age and Kinematics
无
2002-01-01
We determine the mass, age and kinematics of 51 extra-solar planet host stars. The results are then used to search for signs of connection of the data with metallicity and to investigate the population nature. We find that the increase in mean metallicity with stellar mass is similar to that in normal field stars, so it seems unsuitable to use this relation as a constraint on the theory of planet formation. The age and kinematic distributions seem to favour the metallicity of extra-solar planet host stars being initial. Although the kinematic data of these stars indicate their origin from two populations - the thin and the thick disks, kinematics may not help in the maintenance of the planet around the host. Stars with planets, brown dwarfs or stellar companions are sorted into three groups and re-investigated separately for their formation mechanism. The main results indicate that stars with M2 ＜ 25MJ have [Fe/H] ＞ -0.1 and a wide period range, but there are no other differences.Thus, there does not seem to be any physically distinguishable characteristics among the three star groups.
The kinematic algebras from the scattering equations
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
Multiplanar breast kinematics during different exercise modalities
Risius, Debbie; Milligan, Alexandra; Mills, Chris; Scurr, Joanna
2015-01-01
Multiplanar breast movement reduction is crucial to increasing physical activity participation amongst women. To date, research has focused on breast movement during running, but until breast movement is understood during different exercise modalities, the breast support requirements for specific activities are unknown. To understand breast support requirements during different exercise modalities, this study aimed to determine multiplanar breast kinematics during running, jumping and agility...
About the kinematics of spinning particles
Inserting the correct Lorentz factor into the definition of the 4-velocity vμ for spinning particles entails new kinematical properties for v2. The well-know constraint (identically true for scalar particles, but entering also the Dirac theory, and assumed a priori in all spinning particle models) Pμvμ=m is here derived in a self-consistent way
Geometric configuration in robot kinematic design
Rooney, Joe
2006-01-01
A lattice of geometries is presented and compared for representing some geometrical aspects of the kinematic design of robot systems and subsystems. Three geometries (set theory, topology and projective geometry) are briefly explored in more detail in the context of three geometric configurations in robotics (robot groupings, robot connectivities and robot motion sensor patterns).
Kinematic Measurements from YouTube Videos
Ruiz, Michael J.
2009-01-01
Video analysis of motion has been in use now for some time. However, some teachers may not have video equipment or may be looking for innovative ways to engage students with interesting applications at no cost. The recent advent of YouTube offers opportunities for students to measure kinematic properties of real-life events using their computers.…
Action experience changes attention to kinematic cues
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.
Modelling of kinematics of biped robot
Grepl, Robert; Zezula, P.
Prague: Institute of Thermomechanics AS CR, 2006 - (Pešek, L.), s. 17-23 ISBN 80-85918-97-8. [Dynamics of machines 2006 : colloquium. Praha (CZ), 07.02.2006-08.02.2006] Institutional research plan: CEZ:AV0Z20760514 Keywords : biped robot * spatial kinematics * simmechanics Subject RIV: JD - Computer Applications, Robot ics
The Maiden Voyage of a Kinematics Robot
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).
Age Effects on Upper Limb Kinematics Assessed by the REAplan Robot in Healthy School-Aged Children.
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. PMID:25413362
Small Scale Parallel Manipulator Kinematics for Flexible Snake Robot Application
Raisuddin Khan
2014-01-01
Full Text Available A small-scale parallel manipulator is designed in this paper. The kinematic analysis of the manipulator is also elucidated for the development of multilinked snake robot. A compliant central colum is used to connect two parallel platforms of Incompletely Restrained Positioning Mechanism (IRPM. The compliant column allows the configuration to achieve 3 DOFs with 3 tendons of active materials connected between the upper and loer platform of the mechanism. In particular, this investigation focuses on the angular deflection of the upper platform with respect to the lower platform. The application here is aimed at developing an active linkable module that can be connected to one another so as to form a “snake robot” of sorts. For an arbitrary angular displacement of the platforms, the corresponding length of each tendon can be determined through inverse kinematics. From the experimental result, the extreme bending of the central column plane of 30° angular displacement with the of the horizontal axis.
Motor resonance facilitates movement execution: an ERP and kinematic study
Mathilde Ménoret
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.
Kinematics in galactic tidal tails - A source for Hypervelocity stars?
Piffl, Tilmann; Steinmetz, Matthias
2011-01-01
[abridged] In this work we study in detail the kinematics of tidal debris stars to investigate the implications of the new scenario that the observed sample of Hypervelocity stars could partly originate from a dwarf-host galaxy collision. We use a suite of N-body simulations following the encounter of a satellite galaxy with its Milky Way-type host galaxy to gather statistics on the properties of stripped-off stars. We study especially the orbital energy distribution of this population. We quantify the typical pattern in angular and phase space formed by the debris stars. We further develop a simple stripping model predicting the kinematics of stripped-off stars. We show that the distribution of orbital energies in the tidal debris has a typical form which can be described quite accurately by a simple function. Based on this we develop a method to predict the energy distribution which allows us to evaluate the significance and the implications of high velocity stars in satellite tidal debris. Generally tidal ...
A New Topological Description Method of Kinematic Chain
Ding Huafeng; Huang Zhen; Cao Yi
2004-01-01
This paper presents a novel method for the description of kinematic chains, namely the canonical description of kinematic chains including the synthetic degree-sequences and the canonical adjacency matrices sets of kinematic chains. The most important characteristic of this new description method is its uniqueness. Based on the new principle the isomorphism identification becomes easy and the structures of all kinds of kinematic chains can be stored in computer for the benefits of the realization of automation and intelligence of machine design.
Upper Limb Assessment in Tetraplegia: Clinical, Functional and Kinematic Correlations
Cacho, Enio Walker Azevedo; de Oliveira, Roberta; Ortolan, Rodrigo L.; Varoto, Renato; Cliquet, Alberto
2011-01-01
The aim of this study was to correlate clinical and functional evaluations with kinematic variables of upper limp reach-to-grasp movement in patients with tetraplegia. Twenty chronic patients were selected to perform reach-to-grasp kinematic assessment using a target placed at a distance equal to the arm's length. Kinematic variables (hand peak…
KINEMATICS AND DYNAMICS MODELS OF CYLINDRICAL ROLLER BEARING OF RAILWAY TRANSPORT
A. V. Gaydamaka
2014-05-01
Full Text Available Purpose. Lack of kinematics models and imperfection of the known dynamics models of the roller bearings of railway rolling stock axle-boxes do not allow designing the optimal structure of bearing cages, providing the required service life and reliability of bearing units of wheel sets for cars and locomotives. The studies of kinematics and dynamics of roller bearings of axle boxes for cars and locomotives and modeling of their parts interaction to create the analytical method of bearing cages calculation are necessary. Methodology. This purpose has been achieved due to the modeling of kinematics of the ideal (without gaps and real (taking account the gaps, manufacturing and installation errors bearings, substantiation of the transfer mechanism of motion from the rollers to bearing cage, modeling the dynamics of rolling, research of interaction forces of the rollers with bearing cage. Findings. It is established that the kinematics of ideal bearing is determined by the contact deformations of the rollers and rings, when the kinematics of real bearing depends mainly on the side gaps in the windows of the bearing cage. On the basis of studies of the real bearing kinematics the dynamics models of the rollers and bearing cage interaction were constructed. The conducted studies of kinematics and dynamics of rolling bearings have changed our view of them as of the planetary mechanism, explained the reason of bearing cage loading, and confirmed the possibility of destruction during operation. Originality. It was first proposed a mechanism for motion transfer from the rollers to the bearing cage of roller bearings, consisting in that the side gap in the bearing cage window is reduced gradually multiple of the number of rollers of radial loading area according to the bearing cage motion. The models of roller bearing dynamics, which allow calculating the interaction forces of parts for all modes of operation, were improved. Practical value. Use of the
System reliability analysis for kinematic performance of planar mechanisms
ZHANG YiMin; HUANG XianZhen; ZHANG XuFang; HE XiangDong; WEN BangChun
2009-01-01
Based on the reliability and mechanism kinematic accuracy theories, we propose a general methodology for system reliability analysis of kinematic performance of planar mechanisms. The loop closure equations are used to estimate the kinematic performance errors of planar mechanisms. Reliability and system reliability theories are introduced to develop the limit state functions (LSF) for failure of kinematic performance qualities. The statistical fourth moment method and the Edgeworth series technique are used on system reliability analysis for kinematic performance of planar mechanisms, which relax the restrictions of probability distribution of design variables. Finally, the practicality, efficiency and accuracy of the proposed method are demonstrated by numerical examples.
The spallation in reverse kinematics: what for a coincidence measurement?
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: Fe56 + 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.)
Multiple populations in globular clusters: constraints from kinematics and dynamics
Hénault-Brunet, Vincent
2015-01-01
We discuss constraints on the formation of multiple populations in globular clusters (GCs) imposed by their present-day kinematics (velocity dispersion and anisotropy) and spatial distribution. We argue that the observational evidence collected so far in the outer parts of clusters is generally consistent with an enriched population forming more centrally concentrated compared to the primordial population, in agreement with all the scenarios proposed to date (in some cases by design), but not sufficient to favour a particular scenario. We highlight that the differential rotation of subpopulations is a signature that may provide crucial new constraints and allow us to distinguish between various scenarios. Finally, we discuss the spatial distribution of subpopulations in the central regions of GCs and speculate that mass segregation between subpopulations may be due to a difference in their binary fraction.
The interacting galaxy pair KPG 390: H$\\alpha$ kinematics
Repetto, P; Gabbasov, R; Fuentes-Carrera, I
2010-01-01
In this work we present scanning Fabry-Perot H$\\alpha$ observations of the isolated interacting galaxy pair NGC 5278/79 obtained with the PUMA Fabry-Perot interferometer. We derived velocity fields and rotation curves for both galaxies. For NGC 5278 we also obtained the residual velocity map to investigate the non-circular motions, and estimated its mass by fitting the rotation curve with a disk+halo components. We test three different types of halo (pseudo-isothermal, Hernquist and Navarro Frenk White) and obtain satisfactory fits to the rotation curve for all profiles. The amount of dark matter required by pseudo-isothermal profile is about ten times smaller than, that for the other two halo distributions. Finally, our kinematical results together with the analysis of dust lanes distribution and of surface brightness profiles along the minor axis allowed us to determine univocally that both components of the interacting pair are trailing spirals.
Time-Dependent Kinematics of Complex Human Structures
Shaibani, Saami J.
2013-03-01
The human body can be arranged in numerous geometrical configurations, including many interesting scenarios from the sport of gymnastics. One particularly challenging analytical example among these is the forward flip with maximum separation from the ground at the apex of the flight. The temporal aspects of this move involve the evaluation of multiple different positions during the trajectory, which adds significantly to the effort required. When a forward flip was executed during a football game, ready access to the recording of this allowed a detailed kinematic examination to be performed. Careful application of highly intricate protocols produces results which are consistent with similar athletic environments. The emphasis in this research is to transcend standard approaches elsewhere, which are severely limited to generic athletes and/or generic circumstances. Pedagogical benefits of the rigorous methodology adopted here are explored beyond what was introduced in a recent related study.
Kinematic measurements using an infrared sensor
Marinho, F
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 data acquisition and control device. These are versatile sensors that offer advantages over the 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 $\\rm 4-30~cm$ range. As proof of concept we also present the application of a prototype designed to record the kinematics of mass-spring systems.
6th International Workshop on Computational Kinematics
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).
The kinematic advantage of electric cars
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.
Plasma electron-hole kinematics: momentum conservation
Hutchinson, I H
2016-01-01
We analyse the kinematic properties of a plasma electron hole: a non-linear self-sustained localized positive electric potential perturbation, trapping electrons, that 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 it, 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.
A Kinematical Calibration of the Galactocentric Distance
Ming Shen; Zi Zhu
2007-01-01
We present a new determination of the Galactocentric distance by a pure kinematical model. Two subgroups of components from the Galactic thin disk, the O-B5 stars and the Galactic open clusters, were selected for our analysis. On the basis of kinematical data of around 1200 O-B5 stars, we obtained an estimated value of R0=8.25±0.79 kpc, while a similar evaluation from 270 Galactic open clusters gives R0=7.95±0.62 kpc. Considering the scatter of R0 given by individual investigators with different methods, our present determinations agree well with the best value proposed by Reid.
Kinematic Analysis of a Hybrid Structure
Duan Q.J.
2012-11-01
Full Text Available This paper presents a kinematic analysis and simulation of a hybrid structure applied to the new design cable‐suspended feed structure (CSFS for the next generation of large spherical radio telescopes. First, considering the requirement that feeds should be tilted from 40° to 60° and that the tracking precision in steady state is 4mm, a novel design of the feed supporting structure including a cable‐cabin structure, an AB axis structure and a Stewart platform is performed. Next, kinematic analysis and the simulation of the CSFS are done. Simulations have been developed in combination with the 50m CSFS model, which demonstrate the effectiveness and feasibility of the proposed three‐level cable‐suspended feed system.
The kinematic component of the cosmological redshift
Chodorowski, Michał
2009-01-01
It is widely believed that the cosmological redshift is not a Doppler shift. However, Bunn & Hogg have recently pointed out that to settle properly this problem, one has to transport parallelly the velocity four-vector of a distant galaxy to the observer's position. Performing such a transport along the null geodesic of photons arriving from the galaxy, they found that the cosmological redshift is purely kinematic. Here we argue that one should rather transport the velocity four-vector along the geodesic connecting the points of intersection of the world-lines of the galaxy and the observer with the hypersurface of constant COSMIC TIME. We find that the resulting relation between the transported velocity and the redshift of arriving photons is NOT given by a relativistic Doppler formula. Instead, for small redshifts it coincides with the well known non-relativistic decomposition of the redshift into a Doppler (kinematic) component and a gravitational component. We perform such a decomposition for arbitrar...
Surface growth kinematics via local curve evolution
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.
A classification of finite quantum kinematics
Quantum mechanics in Hilbert spaces of finite dimension N is reviewed from the number theoretic point of view. For composite numbers N possible quantum kinematics are classified on the basis of Mackey's Imprimitivity Theorem for finite Abelian groups. This yields also a classification of finite Weyl-Heisenberg groups and the corresponding finite quantum kinematics. Simple number theory gets involved through the fundamental theorem describing all finite discrete Abelian groups of order N as direct products of cyclic groups, whose orders are powers of not necessarily distinct primes contained in the prime decomposition of N. The representation theoretic approach is further compared with the algebraic approach, where the basic object is the corresponding operator algebra. The consideration of fine gradings of this associative algebra then brings a fresh look on the relation between the mathematical formalism and physical realizations of finite quantum systems
The kinematic origin of the cosmological redshift
Bunn, Emory F
2008-01-01
A common belief among cosmologists is that the cosmological redshift cannot be properly viewed as a Doppler shift (that is, as evidence for a recession velocity), but must instead be viewed in terms of the stretching of space. We argue that the most natural interpretation of the redshift is in fact as a Doppler shift, or rather as the accumulation of many infinitesimal Doppler shifts. The stretching-of-space interpretation obscures a central idea of relativity, namely that of coordinate freedom, specifically the idea that it is always valid to choose a coordinate system that is locally Minkowski. We show that, in any spacetime, an observed frequency shift can be interpreted either as a kinematic (Doppler) shift or a gravitational shift by imagining a family of observers along the photon's path. In the context of the expanding Universe, the kinematic interpretation corresponds to a family of comoving observers and hence seems to be the more natural one.
Kinematical uniqueness of homogeneous isotropic LQC
Engle, Jonathan
2016-01-01
In a paper by Ashtekar and Campiglia, invariance under volume preserving residual diffeomorphisms has been used to single out the standard representation of the reduced holonomy-flux algebra in homogeneous loop quantum cosmology (LQC). In this paper, we use invariance under all residual diffeomorphisms to single out the standard kinematical Hilbert space of homogeneous isotropic LQC for both the standard configuration space $\\mathbb{R}_{\\mathrm{Bohr}}$, as well as for the Fleischhack one $\\mathbb{R} \\sqcup \\mathbb{R}_{\\mathrm{Bohr}}$. We first determine the scale invariant Radon measures on these spaces, and then show that the Haar measure on $\\mathbb{R}_{\\mathrm{Bohr}}$ is the only such measure for which the momentum operator is hermitian w.r.t. the corresponding inner product. In particular, the measure is forced to be identically zero on $\\mathbb{R}$ in the Fleischhack case, so that for both approaches, the standard kinematical LQC-Hilbert space is singled out.
Kinematic Analysis Of Tricept Parallel Manipulator
Mir Amin Hosseini
2012-01-01
Full Text Available Parallel manipulators consist of fixed and moving platforms connected to each other with some actuated links. They have some significant advantages over their serial counterparts. While, they suffer from relatively small workspaces, complex kinematics relations and highly singular points within their workspaces. In this paper, forward kinematics of Tricept parallel manipulator is solved analytically and its workspace optimization is performed. This parallel manipulator has a complex degree of freedom, therefore leads to dimensional in-homogeneous Jacobian matrices. Thus, we divide some entries of the Jacobian by units of length, thereby producing a new Jacobian that is dimensionally homogeneous. Moreover, its workspace is parameterized using some design parameters. Then, using GA method, the workspace is optimized subjects to some geometric constraints. Finally, dexterity of the design is evaluated. Keywords- Kinematic, Workspace, Singularity, TriceptABSTRAK - Manipulator selari terdiri daripada platform tetap dan bergerak yang bersambung antara satu sama lain dengan beberapa pautan bergerak. Manipulator selari mempunyai beberapa kebaikan tertentu dibandingkan dengan yang bersamaan dengannya. Walaupun ia mempunyai ruang kerja yang sempit, hubungan kinematik kompleks dan titik tunggal tinggi dalam linkungan ruang kerjanya. Dalam kajian ini, kinematik ke hadapan manipulator selari Tricept diselesaikan secara analisa dan pengoptimuman ruang kerja dijalankan. Manipulator selari ini mempunyai darjah kebebasan yang kompleks, yang menyebabkan ia mendorong kepada kehomogenan dimensi matriks Jacobian. Catatan Jacobian dibahagikan kepada unit panjang, dimana ia menghasilkan Jacobian baru yang homogen dimensinya. Tambahan, ruang kerjanya diparameterkan dengan menggunakan beberapa parameter reka bentuk. Kemudian, dengan kaedah GA, ruang kerja mengoptimakan subjek kepada beberapa kekangan geometrik. Akhirnya, kecakatan reka bentuk dinilaikan
Terrain modelling by kinematical GPS survey
Nico, G.; P. Rutigliano; Benedetto, C.; F. Vespe
2005-01-01
This work presents the first results of an experiment aiming to derive a high resolution Digital Terrain Model (DTM) by kinematic GPS surveying. The accuracy of the DTM depends on both the operational GPS precision and the density of GPS samples. The operational GPS precision, measured in the field, is about 10cm. A Monte Carlo analysis is performed to study the dependence of the DTM error on the sampling procedure. The outcome of this analysis is that the accuracy of the to...
About the kinematics of spinning particles
Salesi, Giovanni; Recami, Erasmo
1996-01-01
Inserting the correct Lorentz factor into the definition of the 4-velocity v^mu for spinning particles entails new kinematical properties for v^2. The well-known constraint (identically true for scalar particles, but entering also the Dirac theory, and assumed a priori in all spinning particle models) p_mu v^mu = m is here derived in a self-consistent way.
Analyzing Robotic Kinematics Via Computed Simulations
Carnahan, Timothy M.
1992-01-01
Computing system assists in evaluation of kinematics of conceptual robot. Displays positions and motions of robotic manipulator within work cell. Also displays interactions between robotic manipulator and other objects. Results of simulation displayed on graphical computer workstation. System includes both off-the-shelf software originally developed for automotive industry and specially developed software. Simulation system also used to design human-equivalent hand, to model optical train in infrared system, and to develop graphical interface for teleoperator simulation system.
Scapulothoracic kinematics during tennis forehand drive
ROGOWSKI, Isabelle; Creveaux, Thomas; CHEZE, Laurence; Dumas, Raphaël
2014-01-01
Scapular dyskinesis is recognized as an abnormality in the kinetic chain; yet, there has been little research quantifying scapular motion during sport tasks. Tennis forehand drives of eight highly skilled tennis players were studied to assess the scapulothoracic kinematics and evaluate repeatability using video-based motion analysis. Scapulothoracic downward/upward rotation, posterior/anterior tilt, and internal/external rotation were computed using an acromial marker cluster. On average, the...
Kinematics of Hooke universal joint robot wrists
Mckinney, William S., Jr.
1988-01-01
The singularity problem associated with wrist mechanisms commonly found on industrial manipulators can be alleviated by redesigning the wrist so that it functions as a three-axis gimbal system. This paper discussess the kinematics of gimbal robot wrists made of one and two Hooke universal joints. Derivations of the resolved rate motion control equations for the single and double Hooke universal joint wrists are presented using the three-axis gimbal system as a theoretical wrist model.
Modelling of Bipedal Robot : Kinematical Numerical Models
Grepl, Robert
Brno: VUT Brno, FSI ÚMTMB, 2005 - (Houfek, L.; Šlechtová, M.; Náhlík, L.; Fuis, V.), s. 27-29 ISBN 80-214-2373-0. [International Scientific Conference Applied mechanics 2005 /7./. Hrotovice (CZ), 29.03.2005-01.04.2005] Institutional research plan: CEZ:AV0Z20760514 Keywords : kinematics of robot * walking robot Subject RIV: JD - Computer Applications, Robot ics
Kinematics of Straight Right Punch in Boxing
Mahdi Cheraghi
2014-07-01
Full Text Available The purpose of this study was to describe biomechanical parameters of head, upper and lower body extremities during a straight right punch throw related to performance and injury mechanism. Subjects were eight elite right-handed male (age 20.4 ± 2.1yrs; height 177.4 ± 8.5 cm; mass 70.4 ± 16.8 kg amateur boxers. 3D motion analysis was used to assess the kinematics of the right side extremities and head. Ensemble averaging of time normalized kinematic parameters was used to have better visual inspection. Results showed a similar pattern between subjects with some considerable variation in some parameters that pointed out to individualized pattern in elite boxers. Investigation of lower body joints kinematics explained boxers throw punch using leg drive. Stretch-shortening cycle detected in the technique implies potential for performance enhancing using plyometrics. Head velocity measured in anterior-posterior and medial-lateral direction would intensify potential head injuries.
Kinematic gait analyses in healthy Golden Retrievers
Gabriela C.A. Silva
2014-12-01
Full Text Available 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, aged between 2 and 4 years, weighing 21.5 to 28 kg, clinically normal. Flexion and extension were described for shoulder, elbow, carpal, hip, femorotibialis and tarsal joints. The gait was characterized lateral and had accepted hypothesis of normality for all variables, except for the stance of hip and elbow, considering a confidence level of 95%, significance level α = 0.05. Variations have been attributed to displacement of the stripes during movement and the duplicated number of reviews. The kinematic analysis proved to be a consistent method of evaluation of the movement during canine gait and the data can be used in the diagnosis and evaluation of canine gait in comparison to other studies and treatment of dogs with musculoskeletal disorders.
Brain dopamine and kinematics of graphomotor functions.
Lange, Klaus W; Mecklinger, Lara; Walitza, Susanne; Becker, Georg; Gerlach, Manfred; Naumann, Markus; Tucha, Oliver
2006-10-01
Three experiments were performed in an attempt to achieve a better understanding of the effect of dopamine on handwriting. In the first experiment, kinematic aspects of handwriting movements were compared between healthy participants and patients with Parkinson's disease (PD) on their usual dopaminergic treatment and following withdrawal of dopaminergic medication. In the second experiment, the writing performance of healthy participants with a hyperechogenicity of the substantia nigra as detected by transcranial sonography (TCS) was compared with the performance of healthy participants with low echogenicity of the substantia nigra. The third experiment examined the effect of central dopamine reduction on kinematic aspects of handwriting movements in healthy adults using acute phenylalanine and tyrosine depletion (APTD). A digitising tablet was used for the assessment of handwriting movements. Participants were asked to perform a simple writing task. Movement time, distance, velocity, acceleration and measures of fluency of handwriting movements were measured. The kinematic analysis of handwriting movements revealed that alterations of central dopaminergic neurotransmission adversely affect movement execution during handwriting. In comparison to the automatic processing of handwriting movements displayed by control participants, participants with an altered dopaminergic neurotransmission shifted from an automatic to a controlled processing of movement execution. Central dopamine appears to be of particular importance with regard to the automatic execution of well-learned movements. PMID:16859791
A CP-Violating Kinematic Structure
Ahluwalia, D V
2000-01-01
A CP violating kinematic structure is presented. The essential physical input is to question the textbook wisdom, ``Now when a particle is at rest, one cannot define its spin as either left- or right-handed, so phi_R(0) = phi_L(0),'' as found, e.g., in Lewis Ryder's Quantum Field Theory, and in many other books on the representations of the Lorentz group. It is suggested that this equality is true only up to a phase. The demand of C, P, and T covariances, separately, fixes this phase to be pm 1. If these conditions are relaxed, a natural CP-violating kinematic structure emerges. Having established a CP-violating kinematic structure, we then discuss how Planck scale physics necessarily invokes non-commutative space-time and that such changes in the structure of space-time will force upon us additional violations/deformations of the CPT structure of space-time, and a violation of the principle of equivalence via a violation of the Lorentz symmetries. The latter may carry significant consequences for understandi...
Scapula Kinematics of Youth Baseball Players
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.
Conserved quantities in kinematic dynamo theory
Using a Lagrangian approach to the magnetic induction equation in an infinite medium, it is demonstrated that there exist seven conserved quantities which, by analogy with classical mechanics, labeled as ''energy,'' ''momentum,'' and ''angular momentum.'' For prescribed fluid motions the detailed conservation equations are spelled out. For a fluid motion which is turbulent one also gives the average conserved quantities. In a pragmatic sense it is expected that these conservation laws will be of use in attempts to obtain numerically accurate solutions to the turbulent kinematic dynamo equations. Since the magnetic induction equation is not self-adjoint, numerical attempts to date have to impose some extraneous ad hoc ''criteria of goodness'' at any given level of numerical truncation. The conserved quantities given provide an internal check of the accuracy of any numerical calculation without the necessity for arbitrarily imposed external criteria of accuracy. As such they should be a powerful tool in rapidly increasing the accuracy of numerical solutions to the kinematic dynamo equations. It is also pointed out that the conserved quantities can be used to indicate the possibility of kinematic dynamo activity ahead of any detailed calculations
Material technical regulation on allowable stress
It starts with applicability. Next it tell about setting regulation of allowable stress in general examination, allowable stress of steel material and nonferrous metals and allowable stress of blot material. It has three charts of the text.
The Stellar Kinematic Fields of NGC 3379
Statler, Thomas S.; Smecker-Hane, Tammy
1999-02-01
We have measured the stellar kinematic profiles of NGC 3379 along four position angles, using absorption lines in spectra obtained with the Multiple Mirror Telescope. We derive a far more detailed description of the kinematic fields through the main body of the galaxy than could be obtained from previous work. Our data extend 90" from the center, at essentially seeing-limited resolution out to 17". The derived mean velocities and dispersions have total errors (internal and systematic) better than +/-10 km s^-1, and frequently better than 5 km s^-1, out to 55". We find very weak (3 km s^-1) rotation on the minor axis interior to 12" and no detectable rotation above 6 km s^-1 from 12" to 50" or above 16 km s^-1 out to 90" (95% confidence limits). However, a Fourier reconstruction of the mean velocity field from all four sampled PAs does indicate a ~5 deg twist of the kinematic major axis, in the direction opposite to the known isophotal twist. The h_3 and h_4 parameters are found to be generally small over the entire observed region. The azimuthally averaged dispersion profile joins smoothly at large radii with the velocity dispersions of planetary nebulae. Unexpectedly, we find sharp bends in the major axis rotation curve, also visible (though less pronounced) on the diagonal position angles. The outermost bend closely coincides in position with other sharp kinematic features: an abrupt flattening of the dispersion profile, and local peaks in h_3 and h_4. All of these features are in a photometrically interesting region in which the surface brightness profile departs significantly from an r^1/4 law. Features such as these are not generally known in elliptical galaxies owing to a lack of data at comparable resolution. Very similar behavior, however, is seen the kinematics of the edge-on S0 galaxy NGC 3115. We discuss the suggestion that NGC 3379 could be a misclassified S0 galaxy; preliminary results from dynamical modeling indicate that it may be a flattened, weakly
Jarque-Bou, N; Gracia-Ibáñez, V; Sancho-Bru, J L; Vergara, M; Pérez-González, A; Andrés, F J
2016-09-01
The kinematic analysis of human grasping is challenging because of the high number of degrees of freedom involved. The use of principal component and factorial analyses is proposed in the present study to reduce the hand kinematics dimensionality in the analysis of posture for ergonomic purposes, allowing for a comprehensive study without losing accuracy while also enabling velocity and acceleration analyses to be performed. A laboratory study was designed to analyse the effect of weight and diameter in the grasping posture for cylinders. This study measured the hand posture from six subjects when transporting cylinders of different weights and diameters with precision and power grasps. The hand posture was measured using a Vicon(®) motion-tracking system, and the principal component analysis was applied to reduce the kinematics dimensionality. Different ANOVAs were performed on the reduced kinematic variables to check the effect of weight and diameter of the cylinders, as well as that of the subject. The results show that the original twenty-three degrees of freedom of the hand were reduced to five, which were identified as digit arching, closeness, palmar arching, finger adduction and thumb opposition. Both cylinder diameter and weight significantly affected the precision grasping posture: diameter affects closeness, palmar arching and opposition, while weight affects digit arching, palmar arching and closeness. The power-grasping posture was mainly affected by the cylinder diameter, through digit arching, closeness and opposition. The grasping posture was largely affected by the subject factor and this effect couldn't be attributed only to hand size. In conclusion, this kinematic reduction allowed identifying the effect of the diameter and weight of the cylinders in a comprehensive way, being diameter more important than weight. PMID:27184310
APOGEE Kinematics I: Overview of the Kinematics of the Galactic Bulge as Mapped by APOGEE
Ness, M; Johnson, J A; Athanassoula, E; Majewski, S R; Perez, A E Garcia; Bird, J; Nidever, D; Schneider, Donald P; Sobeck, J; Frinchaboy, P; Pan, Kaike; Bizyaev, Dmitry; Oravetz, Daniel; Simmons, Audrey
2015-01-01
We present the stellar kinematics across the Galactic bulge and into the disk at positive longitudes from the SDSS-III APOGEE spectroscopic survey of the Milky Way. APOGEE includes extensive coverage of the stellar populations of the bulge along the mid-plane and near-plane regions. From these data, we have produced kinematic maps of 10,000 stars across longitudes 0 deg -0.5 have dispersion and rotation profiles that are similar to that of N-body models of boxy/peanut bulges. There is a smooth kinematic transition from the thin bar and boxy bulge (l,|b|) -1.0, and the chemodynamics across (l,b) suggests the stars in the inner Galaxy with [Fe/H] > -1.0 have an origin in the disk.
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
Step kinematic calibration of a 3-DOF planar parallel kinematic machine tool
2008-01-01
This paper presents a novel step kinematic calibration method for a 3 degree-of-freedom(DOF) planar parallel kinematic machine tool,based on the minimal linear combinations(MLCs) of error parameters.The method using mapping of linear combinations of parameters in error transfer multi-parameters coupling system changes the modeling,identification and error compensation of geometric parameters in the general kinematic calibration into those of linear combinations of parameters.By using the four theorems of the MLCs,the sets of the MLCs that are respectively related to the relative precision and absolute precision are determined.All simple and feasible measurement methods in practice are given,and identification analysis of the set of the MLCs for each measurement is carried out.According to the identification analysis results,a step calibration including step measurement,step identification and step error compensation is determined by taking into account both measurement costs and observability.The experiment shows that the proposed method has the following merits:(1) the parameter errors that cannot influence precision are completely avoided;(2) it reflects the mapping of linear combinations of parameters more accurately and enhances the precision of identification;and(3) the method is robust,efficient and effective,so that the errors in position and orientation are kept at the same order of the measurement noise.Due to these merits,the present method is attractive for the 3-DOF planar parallel kinematic machine tool and can be also applied to other parallel kinematic machine tools with weakly nonlinear kinematics.
46 CFR 154.421 - Allowable stress.
2010-10-01
... 46 Shipping 5 2010-10-01 2010-10-01 false Allowable stress. 154.421 Section 154.421 Shipping COAST... § 154.421 Allowable stress. The allowable stress for the integral tank structure must meet the American Bureau of Shipping's allowable stress for the vessel's hull published in “Rules for Building and...
46 CFR 154.440 - Allowable stress.
2010-10-01
... 46 Shipping 5 2010-10-01 2010-10-01 false Allowable stress. 154.440 Section 154.440 Shipping COAST... Tank Type A § 154.440 Allowable stress. (a) The allowable stresses for an independent tank type A must... Commandant (CG-522). (b) A greater allowable stress than required in paragraph (a)(1) of this section may...
Wave kinematics and response of slender offshore structures. Vol 4: Wave kinematics
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)
Topological grounds for the fast kinematic dynamo origin in a knotted thermonuclear reactor
The paper deals with the topological grounds for the possibility of effective fast kinematic dynamo origin in socalled knotted thermonuclear reactors. On the basis of the utilization of the topologic spirality invariant the additional arguments in favour of plasma strings stability raise in such reactors are given. It is supposed that in the reactors with cavities like linking torical knots plasma confinement characteristics may be essentially improved that would allow carrying out thermonuclear synthesis.
Reifarth René; Litvinov Yuri A.; Endres Anne; Göbel Kathrin; Heftrich Tanja; Glorius Jan; Koloczek Alexander; Sonnabend Kerstin; Travaglio Claudia; Weigand Mario
2015-01-01
Neutron capture cross sections of unstable isotopes are important for neutron-induced nucleosynthesis as well as for technological applications. A combination of a radioactive beam facility, an ion storage ring and a high flux reactor would allow a direct measurement of neutron induced reactions over a wide energy range on isotopes with half lives down to minutes. The idea is to measure neutron-induced reactions on radioactive ions in inverse kinematics. This means, the radioactive ions will ...
The SOFIA experiment: Measurement of 236U fission fragment yields in inverse kinematics
Grente L.
2016-01-01
Full Text Available The SOFIA (Studies On FIssion with Aladin experiment aims at measuring fission-fragments isotopic yields with high accuracy using inverse kinematics at relativistic energies. This experimental technique allows to fully identify the fission fragments in nuclear charge and mass number, thus providing very accurate isotopic yields for low energy fission of a large variety of fissioning systems. This report focuses on the latest results obtained with this set-up concerning electromagnetic-induced fission of 236U.
State Estimation for Legged Robots, Consistent Fusion of Leg Kinematics and IMU
Bloesch, Michael; Hutter, Marco; Hoepflinger, Mark A.; Leutenegger, Stefan; Gehring, Christian; Remy, C. David; Siegwart, Roland
2012-01-01
This paper introduces a state estimation framework for legged robots that allows estimating the full pose of the robot without making any assumptions about the geometrical structure of its environment. This is achieved by means of an Observability Constrained Extended Kalman Filter that fuses kinematic encoder data with on-board IMU measurements. By including the absolute position of all footholds into the filter state, simple model equations can be formulated which accurately capture the unc...
A black-hole mass measurement from molecular gas kinematics in NGC4526.
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. PMID:23364690
Kinematics modeling and simulation of an autonomous omni-directional mobile robot
Daniel Garcia Sillas
2015-08-01
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.
Farget, F.; Caamaño, M.; Ramos, D.; Rodrıguez-Tajes, C.; Schmidt, K.-H.; Audouin, L.; Benlliure, J.; Casarejos, E.; Clément, E.; Cortina, D.; Delaune, O.; Derkx, X.; Dijon, A.; Doré, D.; Fernández-Domınguez, B.; Gaudefroy, L.; Golabek, C.; Heinz, A.; Jurado, B.; Lemasson, A.; Paradela, C.; Roger, T.; Salsac, M. D.; Schmitt, C.
2015-12-01
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 250Cf 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.
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 250Cf 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.)
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.)
Kinematics of transition during human accelerated sprinting
Ryu Nagahara
2014-07-01
Full Text Available This study investigated kinematics of human accelerated sprinting through 50 m and examined whether there is transition and changes in acceleration strategies during the entire acceleration phase. Twelve male sprinters performed a 60-m sprint, during which step-to-step kinematics were captured using 60 infrared cameras. To detect the transition during the acceleration phase, the mean height of the whole-body centre of gravity (CG during the support phase was adopted as a measure. Detection methods found two transitions during the entire acceleration phase of maximal sprinting, and the acceleration phase could thus be divided into initial, middle, and final sections. Discriminable kinematic changes were found when the sprinters crossed the detected first transition—the foot contacting the ground in front of the CG, the knee-joint starting to flex during the support phase, terminating an increase in step frequency—and second transition—the termination of changes in body postures and the start of a slight decrease in the intensity of hip-joint movements, thus validating the employed methods. In each acceleration section, different contributions of lower-extremity segments to increase in the CG forward velocity—thigh and shank for the initial section, thigh, shank, and foot for the middle section, shank and foot for the final section—were verified, establishing different acceleration strategies during the entire acceleration phase. In conclusion, there are presumably two transitions during human maximal accelerated sprinting that divide the entire acceleration phase into three sections, and different acceleration strategies represented by the contributions of the segments for running speed are employed.
Locomotion of Gymnarchus Niloticus: Experiment and Kinematics
Li Fei; Hu Tian-jiang; Wang Guang-ming; Shen Lin-cheng
2005-01-01
In addition to forward undulatory swimming, Gymnarchus niloticus can swim via undulations of the dorsal fin while the body axis remains straight; furthermore, it swims forward and backward in a similar way, which indicates that the undulation of the dorsal fin can simultaneously provide bidirectional propulsive and maneuvering forces with the help of the tail fin. A high-resolution Charge-Coupled Device (CCD) imaging camera system is used to record kinematics of steady swimming as well as maneuvering in G. niloticus. Based on experimental data, this paper discusses the kinematics ( cruising speed, wave speed, cycle frequency, amplitude, lateral displacement) of forward as well as backward swimming and maneuvering.During forward swimming, the propulsive force is generated mainly by undulations of the dorsal fin while the body axis remains straight. The kinematic parameters (wave speed, wavelength, cycle frequency, amplitude ) have statistically significant correlations with cruising speed. In addition, the yaw at the head is minimal during steady swimming. From experimental data, the maximal lateral displacement of head is not more than 1% of the body length, while the maximal lateral displacement of the whole body is not more than 5% of the body length. Another important feature is that G. niloticus swims backwards using an undulatory mechanism that resembles the forward undulatory swimming mechanism. In backward swimming, the increase of lateral displacement of the head is comparatively significant; the amplitude profiles of the propulsive wave along the dorsal fin are significantly different from those in forward swimming. When G. niloticus does fast maneuvering, its body is first bent into either a C shape or an S shape, then it is rapidly unwound in a travelling wave fashion. It rarely maneuvers without the help of the tail fin and body bending.
Kinematic and chemical components in the solar neighbourhood
Navarro J.F.
2012-02-01
Full Text Available Abundance data on solar neighbourhood stars suggest the presence of chemically-distinct stellar components in the solar neighbourhood. When the abundances of Fe, α elements, and the r-process element Eu are considered together, stars separate neatly into two groups that delineate the thin and thick disk components of the Milky Way. The group akin to the thin disk is traced by stars of relatively high Fe content and low [α/Fe] ratios. The thick disk-like group overlaps the thin disk in [Fe/H] but has higher abundances of α elements and Eu. Fe-poor stars with low [α/Fe] ratios, however, seem to belong to a separate, dynamically-cold, non-rotating component likely associated with debris from past accretion events. The kinematically-hot stellar halo dominates the sample at the metal-poor end. These results suggest that it may be possible to define the main dynamical components of the solar neighbourhood using only their chemistry, an approach with a number of interesting consequences. For example, the average rotation speed and velocity dispersion of thin disk stars is roughly independent of metallicity, a result unexpected in most current theories of thin-disk formation. In this scenario, the familiar increase in the velocity dispersion of disk stars with decreasing metallicity is the result of the increasing prevalence of the thick disk at lower metallicities, rather than of the sustained operation of a dynamical heating mechanism. The substantial overlap in [Fe/H] and, likely, stellar age, of the various components might affect other reported trends in the properties of stars in the solar neighbourhood. A purely chemical characterization of these components allows the use of their kinematics to assess their origin, an powerful approach denied to traditional ways of apportioning stars to the various Galactic components.
The influence of limited kinematic hardening in shakedown analysis
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)
A Novel Algorithm for the Generation of Distinct Kinematic Chain
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.
Theory of gearing kinematics, geometry, and synthesis
Radzevich, Stephen P
2012-01-01
The first book of its kind, Theory of Gearing: Kinematics, Geometry, and Synthesis systematically develops a scientific theory of gearing that makes it possible to synthesize novel gears with the desired performance. Written by a leading gearing expert who holds more than 200 patents, it presents a modern methodology for gear design. The proposed theory is based on a key postulate: all the design parameters for an optimal gear pair for a particular application can be derived from (a) a given configuration of the rotation vectors of the driving and driven shafts and (b) the power transmitted by
Spectral gaps, inertial manifolds and kinematic dynamos
Nunez, Manuel [Departamento de Analisis Matematico, Universidad de Valladolid, 47005 Valladolid (Spain)]. E-mail: mnjmhd@am.uva.es
2005-10-17
Inertial manifolds are desirable objects when ones wishes a dynamical process to behave asymptotically as a finite-dimensional ones. Recently [Physica D 194 (2004) 297] these manifolds are constructed for the kinematic dynamo problem with time-periodic velocity. It turns out, however, that the conditions imposed on the fluid velocity to guarantee the existence of inertial manifolds are too demanding, in the sense that they imply that all the solutions tend exponentially to zero. The inertial manifolds are meaningful because they represent different decay rates, but the classical dynamos where the magnetic field is maintained or grows are not covered by this approach, at least until more refined estimates are found.
Geneva University - Kinematics at Hadron Colliders - POSTPONED!!!
2007-01-01
The seminar is postponed.Ecole de physique - Département de physique nucléaire et corspusculaire 24, Quai Ernest-Ansermet 1211 GENEVE 4 Tél: (022) 379 62 73 - Fax: (022) 379 69 92 Wednesday 12 décembre 2007 PARTICLE PHYSICS SEMINAR at 17:00 – Stückelberg Auditorium Kinematics at Hadron Colliders by Prof. Drew Baden, University of Maryland Information: http://dpnc.unige.ch/seminaire/annonce.html Organizer: J.-S. Graulich
JFKengine: A Jacobian and Forward Kinematics Generator
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
A kinematical approach to dark energy studies
Rapetti, David; Allen, Steven W.; Amin, Mustafa A.; Blandford, Roger D.
2006-01-01
We present and employ a new kinematical approach to cosmological `dark energy' studies. We construct models in terms of the dimensionless second and third derivatives of the scale factor a(t) with respect to cosmic time t, namely the present-day value of the deceleration parameter q_0 and the cosmic jerk parameter, j(t). An elegant feature of this parameterization is that all LCDM models have j(t)=1 (constant), which facilitates simple tests for departures from the LCDM paradigm. Applying our...
Static And Kinematic Formulation Of Planar Reciprocal Assemblies
Parigi, Dario; Kirkegaard, Poul Henning
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...... Pellegrino & Calladine [1986]. This formulation is used to evaluate the static and kinematic determinacy of reciprocal assemblies from the properties of their equilibrium and kinematic matrices....
Static and kinematic formulation of planar reciprocal assemblies
Parigi, Dario; Sassone, Mario; Kirkegaard, Poul Henning; Napoli, Paolo
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...
Kinematic Modeling, Linearization and First-Order Error Analysis
Pott, Andreas; Hiller, Manfred
2008-01-01
The contribution describes a general method for kinematic modeling of many wide-spread parallel kinematic machines, i.e. for the Stewart-Gough-platform, the Delta-robot, and Linaglide machines. The kinetostatic method is applied for a comprehensive kinematic analysis of these machines. Based on that model, a general method is proposed to compute the linearization of the transmission behaviour from geometric parameters to the endeffector motion of these machines. By applying the force transmis...
THE KINEMATIC AND INERTIAL SOIL-PILE INTERACTIONS: CENTRIFUGE MODELLING
Chenaf, Nawel; CHAZELAS, Jean-Louis
2008-01-01
International audience Piles supporting superstructures undergo with the soil two interactions during an earthquake: the kinematic interaction and the inertial interaction. The kinematic soil-pile interaction is the pile loading by the soil displacement produced by the seismic waves propagating. Inertial superstructure-pile-soil interaction results from forces due to the superstructure actuation by the kinematic interaction. These two interactions are superimposed in seismic events and the...
Direct Kinematic modeling of 6R Robot using Robotics Toolbox
Prashant Badoni
2016-01-01
Full Text Available The traditional approaches are insufficient to solve the complex kinematics problems of the redundant robotic manipulators. To overcome such intricacy, Peter Corke’s Robotics Toolbox [1] is utilized in the present study. This paper aims to model the direct kinematics of a 6 degree of freedom (DOF Robotic arm. The Toolbox uses the Denavit-Hartenberg (DH Methodology [2] to compute the kinematic model of the robot.
Kinematic Analysis of 3-UCR Parallel Robot Leg
Gang, Cheng; Shi-rong, Ge
2010-01-01
Based on principal screw theory and imaginary manipulator method, the kinematic characteristics of 3-UCR spatial parallel robot leg with three DOF were analyzed. According to the topologic structure of limbs, the screw coordinate system was obtained and the kinematics of limbs was studied. By the relation of the matrices of influence coefficient between limbs and moving platform, the kinematic model with the screw coordinates was established. It shows that the matrices of influence coefficien...
Direct Kinematic modeling of 6R Robot using Robotics Toolbox
Prashant Badoni
2016-01-01
The traditional approaches are insufficient to solve the complex kinematics problems of the redundant robotic manipulators. To overcome such intricacy, Peter Corke’s Robotics Toolbox [1] is utilized in the present study. This paper aims to model the direct kinematics of a 6 degree of freedom (DOF) Robotic arm. The Toolbox uses the Denavit-Hartenberg (DH) Methodology [2] to compute the kinematic model of the robot.
Kinematics and Workspace of a 4-DOF Hybrid Palletizing Robot
Yong Tao; Fang Chen; Hegen Xiong
2014-01-01
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.
Gorwa, Joanna; Dworak, Lechosław B.; Michnik, Robert; Jurkojć, Jacek
2014-01-01
Background This paper presents a case study of kinematic analysis of the modern dance movement known as the “stag jump”. Detailed analysis of the kinematic structure of this movement as performed by the dancers, accompanied by measurements of impact forces during landing, will allow the authors to determine, in subsequent model-based research phases, the forces acting in knee joints of the lower landing limb. Material/Methods Two professional modern dancers participated in the study: a male a...
Bender, John A.; Simpson, Elaine M.; Tietz, Brian R.; Daltorio, Kathryn A.; Roger D. Quinn; Ritzmann, Roy E.
2011-01-01
Earlier observations had suggested that cockroaches might show multiple patterns of leg coordination, or gaits, but these were not followed by detailed behavioral or kinematic measurements that would allow a definite conclusion. We measured the walking speeds of cockroaches exploring a large arena and found that the body movements tended to cluster at one of two preferred speeds, either very slow (
Kinematical analysis on the several linkage drives for mechanical presses
Ham, Kyung Chun; Jang, Dong Hwan [Inha Technical College, Incheon (Korea, Republic of)
2009-02-15
In this paper, a kinematical analysis is preformed to see mechanical characteristics of various linkage drives for a mechanical press. Mechanical characteristics of conventional and newly designed drives are investigated and compared in terms of slide velocity, productivity, load capacity and possible work-piece size. A crank-slider mechanism with arc crank-pin guide is introduced and analyzed particularly for kinematical performance using kinematical analysis software. The new linkage drive turns out to be effective in terms of load and velocity characteristics and productivity. Kinematical performance also provides a basis for the proper selection of mechanical presses
Allowance Holdings and Transfers Data Inventory
U.S. Environmental Protection Agency — The Allowance Holdings and Transfers Data Inventory contains measured data on holdings and transactions of allowances under the NOx Budget Trading Program (NBP), a...
Kinematics of M51-type interacting galaxies
Gunthardt, G; Aguero, M P
2016-01-01
We present a kinematic catalogue for 21 M51-type galaxies. It consists of radial velocity distributions both from main and satellite components, along different position angles, which we obtained from long-slit spectroscopy. We detect deviations from circular motion in most of the main galaxies of each pair, due to the gravitational perturbation produced by the satellite galaxy. However somesystems do not show significant distortions in their radial velocity curves. We found some differences between the directions of photometric and kinematic major axes in main galaxies with a bar subsystem. The Tully-Fisher relation in the B-band and Ks-band for the present sample of M51-type systems is flatter when compared with isolated galaxies. Using the radial velocity data set, we built a synthetic normalized radial velocity distribution, as a reference for future modeling of these peculiar systems. The relative position angles between main galaxy major axis and companion location, as well as the velocity difference am...
Kinematics of novel 6-HTRT parallel robot
无
2002-01-01
A parallel robot featwes low inertia moment of end effector,high mechanical rigitity,high mobility,no accumulation of motion error at end effector and high capacity of load,and it has found a wide applications in various fields such as automobile assembly line,earth-digging machine,conjuncture of aircraft and flight simulator.In this paper the kinematics of a novel style 6-HTRT Parallel Robot is studied.The algorithm for an inverse kinematic problem of the parallel robot considering the constraint condition is presented.By the use of vector cross product method,the comprehensive coefficient of the parallel mechanism is introduced and the Jacobian matrix of a 6-HTRT parallel robot is presented.The relationship between the velocity of end manipulator and the generalized velocity is also studied with the method of Jacobian matrix.Using the result of study in mechanical dimension synthesis,better performance is achieved with the parallel robot.In motion control,it will be helpful for us to simplify the control algorithm and make more efficient trajectory planning.
Terrain modelling by kinematical GPS survey
G. Nico
2005-01-01
Full Text Available This work presents the first results of an experiment aiming to derive a high resolution Digital Terrain Model (DTM by kinematic GPS surveying. The accuracy of the DTM depends on both the operational GPS precision and the density of GPS samples. The operational GPS precision, measured in the field, is about 10cm. A Monte Carlo analysis is performed to study the dependence of the DTM error on the sampling procedure. The outcome of this analysis is that the accuracy of the topographic reconstruction is less than 1m even in areas with a density of samples as low as one sample per 100m2, and becomes about 30cm in areas with at least one sample per 10m2. The kinematic GPS technique gives a means for a fast and accurate mapping of terrain surfaces with an extension of a few km2. Examples of application are the investigation of archaeological sites and the stability analysis of landslide prone areas.
A mechanical simulator of cardiac wall kinematics.
Cutrì, Elena; Bagnoli, Paola; Marcelli, Emanuela; Biondi, Federico; Cercenelli, Laura; Costantino, Maria Laura; Plicchi, Gianni; Fumero, Roberto
2010-01-01
Aim of this study is to develop a mechanical simulator (MS) reproducing cardiac wall kinematics [i.e., radial (R), longitudinal (L) and rotational (RT) motions] to test piezoelectric gyroscopic sensors (GS) that are able to measure cardiac torsion that has proved to be a sensitive index of cardiac performance. The MS consists of three brushless motors controlled by a dedicated software either separately or simultaneously reproducing the three main cardiac wall movements (R, L, RT) obtained by implementing different physiologic or pathologic velocity profiles derived from in vivo data. GS accuracy (max % error) was experimentally tested by connecting it to the MS driven in velocity in different working conditions [i.e., cardiac period (515-1030 ms), RT angle (4-16 degrees), GS axis inclination (0-90 degrees) with respect to the cardiac rotation axis]. The MS reproduced the tested velocity profiles well. The GS showed high accuracy in measuring both physiologic and pathologic RT velocity profiles, whereas they proved insensitive to R and L motions. GS axis inclination influenced measurements; however, it was possible to correct this taking the inclination angle cosine into account. The MS proved to be a useful tool to study cardiac wall kinematics and test GS reliability with a view to in vivo application. PMID:20404720
Friction Stir Welding at MSFC: Kinematics
Nunes, A. C., Jr.
2001-01-01
In 1991 The Welding Institute of the United Kingdom patented the Friction Stir Welding (FSW) process. In FSW a rotating pin-tool is inserted into a weld seam and literally stirs the faying surfaces together as it moves up the seam. By April 2000 the American Welding Society International Welding and Fabricating Exposition featured several exhibits of commercial FSW processes and the 81st Annual Convention devoted a technical session to the process. The FSW process is of interest to Marshall Space Flight Center (MSFC) as a means of avoiding hot-cracking problems presented by the 2195 aluminum-lithium alloy, which is the primary constituent of the Lightweight Space Shuttle External Tank. The process has been under development at MSFC for External Tank applications since the early 1990's. Early development of the FSW process proceeded by cut-and-try empirical methods. A substantial and complex body of data resulted. A theoretical model was wanted to deal with the complexity and reduce the data to concepts serviceable for process diagnostics, optimization, parameter selection, etc. A first step in understanding the FSW process is to determine the kinematics, i.e., the flow field in the metal in the vicinity of the pin-tool. Given the kinematics, the dynamics, i.e., the forces, can be targeted. Given a completed model of the FSW process, attempts at rational design of tools and selection of process parameters can be made.
Kinematics and Aerodynamics of Backward Flying Dragonflies
Bode-Oke, Ayodeji; Zeyghami, Samane; Dong, Haibo
2015-11-01
Highly maneuverable insects such as dragonflies have a wide range of flight capabilities; precise hovering, fast body reorientations, sideways flight and backward takeoff are only a few to mention. In this research, we closely examined the kinematics as well as aerodynamics of backward takeoff in dragonflies and compared them to those of forward takeoff. High speed videography and accurate 3D surface reconstruction techniques were employed to extract details of the wing and body motions as well as deformations during both flight modes. While the velocities of both forward and backward flights were similar, the body orientation as well as the wing kinematics showed large differences. Our results indicate that by tilting the stroke plane angle of the wings as well as changing the orientation of the body relative to the flight path, dragonflies control the direction of the flight like a helicopter. In addition, our detailed analysis of the flow in these flights shows important differences in the wake capture phenomena among these flight modes. This work is supported by NSF CBET-1313217.
Kinematical Structure of the Magellanic System
van der Marel, Roeland P; Besla, Gurtina
2008-01-01
We review our understanding of the kinematics of the LMC and the SMC, and their orbit around the Milky Way. The line-of-sight velocity fields of both the LMC and SMC have been mapped with high accuracy using thousands of discrete traces, as well as HI gas. The LMC is a rotating disk for which the viewing angles have been well-established using various methods. The disk is elliptical in its disk plane. The disk thickness varies depending on the tracer population, with V/sigma ranging from 2-10 from the oldest to the youngest population. For the SMC, the old stellar population resides in a spheroidal distribution with considerable line-of-sight depth and low V/sigma. Young stars and HI gas reside in a more irregular rotating disk. Mass estimates based on the kinematics indicate that each Cloud is embedded in a dark halo. Proper motion measurements with HST show that both galaxies move significantly more rapidly around the Milky Way than previously believed. This indicates that for a canonical 10^12 solar mass M...
Application of vector spherical harmonics for kinematic analysis of stars from zonal catalogues
Vityazev, V. V.; Tsvetkov, A. S.
2011-12-01
We solve the problem on a kinematic analysis of the three-dimensional velocity field of stars from zonal catalogues, i.e., catalogues in which the stars are presented at all right ascensions in some declination zones. We have constructed a system of vector spherical harmonics with the properties of completeness and orthogonality for a chosen declination zone. We suggest a method that allows the Ogorodnikov-Milne model parameters in the Galactic coordinate system to be estimated by analyzing the proper motions and radial velocities of stars in the equatorial coordinate system. The vector spherical harmonics are shown to have the following advantages over the standard approach based on a direct leastsquares estimation of the parameters for a specific model. First, in contrast to the standard approach, the new method can reveal all systematic components of the velocity field irrespective of a particular model. Second, it allows one to get rid of the correlation between the sought-for parameters, which presents a serious problem for the conventional method in the case of zonal catalogues. Third, the method of vector spherical harmonics allows the kinematic parameters to be estimated at least by two techniques. Comparison of these two solutions makes it possible to test the standard kinematic model for compatibility with the observational data. The developed method has been tested on the basis of numerical experiments and applied for a kinematic analysis of the proper motions of Tycho-2 stars in the southern hemisphere for which the parallaxes can be estimated using data from the Tycho-2 Spectral Type Catalogue.
46 CFR 154.428 - Allowable stress.
2010-10-01
... 46 Shipping 5 2010-10-01 2010-10-01 false Allowable stress. 154.428 Section 154.428 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) CERTAIN BULK DANGEROUS CARGOES SAFETY STANDARDS FOR... § 154.428 Allowable stress. The membrane tank and the supporting insulation must have allowable...
46 CFR 154.447 - Allowable stress.
2010-10-01
... 46 Shipping 5 2010-10-01 2010-10-01 false Allowable stress. 154.447 Section 154.447 Shipping COAST... Tank Type B § 154.447 Allowable stress. (a) An independent tank type B designed from bodies of revolution must have allowable stresses 3 determined by the following formulae: 3 See Appendix B for...
Rate effects on timing, key velocity, and finger kinematics in piano performance.
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. PMID:21731615
Rate effects on timing, key velocity, and finger kinematics in piano performance.
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.
Study of actinides fission induced by multi-nucleon transfer reactions in inverse kinematics
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 238U beam and a 12C 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)
A Kinematical Approach to Dark Energy Studies
Rapetti, David; Allen, Steven W.; Amin, Mustafa A.; Blandford, Roger D.; /KIPAC, Menlo Park
2006-06-06
We present and employ a new kinematical approach to cosmological ''dark energy'' studies. We construct models in terms of the dimensionless second and third derivatives of the scale factor a(t) with respect to cosmic time t, namely the present-day value of the deceleration parameter q{sub 0} and the cosmic jerk parameter, j(t). An elegant feature of this parameterization is that all {Lambda}CDM models have j(t) = 1 (constant), which facilitates simple tests for departures from the {Lambda}CDM paradigm. Applying our model to the three best available sets of redshift-independent distance measurements, from type Ia supernovae and X-ray cluster gas mass fraction measurements, we obtain clear statistical evidence for a late time transition from a decelerating to an accelerating phase. For a flat model with constant jerk, j(t) = j, we measure q{sub 0} = -0.81 {+-} 0.14 and j = 2.16{sub -0.75}{sup +0.81}, results that are consistent with {Lambda}CDM at about the 1{sigma} confidence level. A standard ''dynamical'' analysis of the same data, employing the Friedmann equations and modeling the dark energy as a fluid with an equation of state parameter, w (constant), gives {Omega}{sub m} = 0.306{sub -0.040}{sup +0.042} and w = -1.15{sub -0.18}{sup +0.14}, also consistent with {Lambda}CDM at about the 1{sigma} level. In comparison to dynamical analyses, the kinematical approach uses a different model set and employs a minimum of prior information, being independent of any particular gravity theory. The results obtained with this new approach therefore provide important additional information and we argue that both kinematical and dynamical techniques should be employed in future dark energy studies, where possible. Our results provide further interesting support for the concordance {Lambda}CDM paradigm.
Kinematics of the South Atlantic rift
C. Heine
2013-01-01
Full Text Available The South Atlantic rift basin evolved as branch of a large Jurassic-Cretaceous intraplate rift zone between the African and South American plates during the final breakup of western Gondwana. While the relative motions between South America and Africa for post-breakup times are well resolved, many issues pertaining to the fit reconstruction and particular the relation between kinematics and lithosphere dynamics during pre-breakup remain unclear in currently published plate models. We have compiled and assimilated data from these intraplated rifts and constructed a revised plate kinematic model for the pre-breakup evolution of the South Atlantic. Based on structural restoration of the conjugate South Atlantic margins and intracontinental rift basins in Africa and South America, we achieve a tight fit reconstruction which eliminates the need for previously inferred large intracontinental shear zones, in particular in Patagonian South America. By quantitatively accounting for crustal deformation in the Central and West African rift zone, we have been able to indirectly construct the kinematic history of the pre-breakup evolution of the conjugate West African-Brazilian margins. Our model suggests a causal link between changes in extension direction and velocity during continental extension and the generation of marginal structures such as the enigmatic Pre-salt sag basin and the São Paulo High. We model an initial E–W directed extension between South America and Africa (fixed in present-day position at very low extensional velocities until Upper Hauterivian times (≈126 Ma when rift activity along in the equatorial Atlantic domain started to increase significantly. During this initial ≈17 Myr-long stretching episode the Pre-salt basin width on the conjugate Brazilian and West African margins is generated. An intermediate stage between 126.57 Ma and Base Aptian is characterised by strain localisation, rapid lithospheric weakening in the
Kinematic Signatures of Telic and Atelic Events in ASL Predicates
Malaia, Evie; Wilbur, Ronnie B.
2012-01-01
This article presents an experimental investigation of kinematics of verb sign production in American Sign Language (ASL) using motion capture data. The results confirm that event structure differences in the meaning of the verbs are reflected in the kinematic formation: for example, in the telic verbs (throw, hit), the end-point of the event is…
Lingual Kinematics during Rapid Syllable Repetition in Parkinson's Disease
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…
Zero-Inertial Recession for a Kinematic Wave Model
Kinematic-wave models of surface irrigation assume a fixed relationship between depth and discharge (typically, normal depth). When surface irrigation inflow is cut off, the calculated upstream flow depth goes to zero, since the discharge is zero. For short time steps, use of the Kinematic Wave mode...
Kinematic synthesis of a new 3D printing solution
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.
A School Experiment in Kinematics: Shooting from a Ballistic Cart
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…
SOLVING INVERSE KINEMATICS OF REDUNDANT MANIPULATOR BASED ON NEURAL NETWORK
无
2003-01-01
For the redundant manipulators, neural network is used to tackle the velocity inverse kinematics of robot manipulators. The neural networks utilized are multi-layered perceptions with a back-propagation training algorithm. The weight table is used to save the weights solving the inverse kinematics based on the different optimization performance criteria. Simulations verify the effectiveness of using neural network.
Kinematic analysis of the 3-RPR parallel manipulator
Chablat, Damien; Bonev, Ilian
2007-01-01
The aim of this paper is the kinematic study of a 3-RPR planar parallel manipulator where the three fixed revolute joints are actuated. The direct and inverse kinematic problem as well as the singular configuration is characterized. On parallel singular configurations, the motion produce by the mobile platform can be compared to the Reuleaux straight-line mechanism.
Space reconstruction of the morphology and kinematics of axisymmetric radio sources
Diep, P N; Hoai, D T; Nhung, P T; Thao, N T; Tuan-Anh, P; Darriulat, P
2016-01-01
The unprecedented quality of the observations available from the Atacama Large Millimetre/sub-millimetre Array (ALMA) calls for analysis methods making the best of them. Reconstructing in space the morphology and kinematics of radio sources is an underdetermined problem that requires imposing additional constraints for its solution. The hypothesis of rotational invariance about a well-defined star axis, which is a good approximation to the description of the gas envelopes of many evolved stars and protostars, is particularly efficient in this role. In the first part of the article, a systematic use of simulated observations allows for identifying the main problems and for constructing quantities aimed at solving them. In particular the evaluation of the orientation of the star axis in space and the differentiation between expansion along the star axis and rotation about it are given special attention. The use of polar rather than Cartesian sky coordinates is shown to better match the morphology and kinematics...
Kinematic imprints from the bar and spiral structures in the galatic disk
Figueras, F.; Antoja, T.; Valenzuela, O.; Romero-Gómez, M.; Pichardo, B.; Moreno, E.
2011-12-01
At 140 years of the discovery of the moving groups, these stellar streams are emerging as powerful tools to constrain the models for the spiral arms and the Galactic bar in the Gaia era. From the kinematic-age-metallicity analysis in the solar neighbourhood it is now well established that some of these kinematic structures have a dynamical origin, different from the classical cluster disruption hypothesis. Test particle simulations allow us to definitively establish that these local structures can be created by the dynamical resonances of material spiral arms and not exclusively by the Galactic bar. First studies to evaluate the capabilities of the future Gaia data to detect and characterize moving groups at 2-6 kpc from the solar neighborhood are discussed.
Constraint Study for a Hand Exoskeleton: Human Hand Kinematics and Dynamics
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.
Kinematic numerators and a double-copy formula for N=4 super-Yang-Mills residues
Litsey, Sean; Stankowicz, James
2014-07-01
Recent work by Cachazo et al.arXiv:1309.0885 shows that connected prescription residues obey the global identities of N=4 super-Yang-Mills amplitudes. In particular, they obey the Bern-Carrasco-Johansson (BCJ) amplitude identities. Here we offer a new way of interpreting this result via objects that we call residue numerators. These objects behave like the kinematic numerators introduced by BCJ except that they are associated with individual residues. In particular, these new objects satisfy a double-copy formula relating them to the residues appearing in recently discovered analogs of the connected prescription integrals for N=8 supergravity. Along the way, we show that the BCJ amplitude identities are equivalent to the consistency condition that allows kinematic numerators to be expressed as amplitudes using a generalized inverse.
Kinematic Solar Dynamo with Spot Deposition
Karak, Bidya Binay; Miesch, Mark S.
2016-05-01
We have recently developed a kinematic dynamo model by including the observed differential rotation and the meridional flow. This model includes the emergence of sunspots from the deep-seated toroidal field and their subsequent decay at the surface, i.e., the Babcock-Leighton process for the generation of poloidal field.We shall show that this model reproduces most of the basic features of the solar magnetic cycle including the polarity reversals, 11 years periodicity, equatorward migration of sunspots at low latitudes and the poleward migration of the radial field at the surface. This model also produces the observed cycle variations when the fluctuations in the active-region tilt are included. North-south asymmetries of cycles from this model will also be demonstrated.
Elbow joint instability: A kinematic model.
Olsen, B S; Henriksen, M G; Søjbjerg, J O; Helmig, P; Sneppen, O
1994-05-01
The effect of simultaneous ulnar and radial collateral ligament division on the kinematics of the elbow joint is studied in a cadaveric model. Severance of the anterior part of the ulnar collateral ligament and the annular ligament led to significant elbow joint instability in valgus and varus stress and in forced external and internal rotation. The mean maximum laxity in valgus stress and forced external rotation were 5.7° and 13.2°. The forearms of the elbow joint specimens were transfixed in maximum pronation. During valgus and varus stress the corresponding spontaneous ulnar rotation of the specimens was recorded. The reproducibility of the instability pattern suggests that this model is suitable for evaluating stabilizing procedures aimed at correction of elbow joint instability before these procedures are introduced into patient care. PMID:22959690
Internal kinematics of modelled interacting disc galaxies
Kronberger, T; Schindler, S; Böhm, A; Kutdemir, E; Ziegler, B L
2006-01-01
We present an investigation of galaxy-galaxy interactions and their effects on the velocity fields of disc galaxies in combined N-body/hydrodynamic simulations, which include cooling, star formation with feedback, and galactic winds. Rotation curves (RCs) of the gas are extracted from these simulations in a way that follows the procedure applied in observations of distant, small, and faint galaxies as closely as possible. We show that galaxy-galaxy mergers and fly-bys significantly disturb the velocity fields and hence the RCs of the interacting galaxies, leading to asymmetries and distortions in the RCs. Typical features of disturbed kinematics are rising or falling profiles in direction to the companion galaxy and bumps in the RCs. In addition, tidal tails can leave strong imprints on the rotation curve. All these features are observable for intermediate redshift galaxies, on which we focus our investigations. The appearance of these distortions depends, however, strongly on the viewing angle. The velocity ...
Color-kinematic duality for form factors
Boels, Rutger H.; Kniehl, Bernd A.; Tarasov, Oleg V.; Yang, Gang [Hamburg Univ. (Germany). 2. Inst. fuer Theoretische Physik
2012-12-15
Recently a powerful duality between color and kinematics has been proposed for integrands of scattering amplitudes in quite general gauge theories. In this paper the duality proposal is extended to the more general class of gauge theory observables formed by form factors. After a discussion of the general setup the existence of the duality is verified in two and three loop examples in four dimensional maximally supersymmetric Yang-Mills theory which involve the stress energy tensor multiplet. In these cases the duality reproduces known results in a particularly transparent and uniform way. As a non-trivial application we obtain a very simple form of the integrand of the four-loop two-point (Sudakov) form factor which passes a large set of unitarity cut checks.
A quantum kinematics for asymptotically flat spacetimes
Campiglia, Miguel
2014-01-01
We construct a quantum kinematics for asymptotically flat spacetimes based on the Koslowski-Sahlmann (KS) representation. The KS representation is a generalization of the representation underlying Loop Quantum Gravity (LQG) which supports, in addition to the usual LQG operators, the action of `background exponential operators' which are connection dependent operators labelled by `background' $su(2)$ electric fields. KS states have, in addition to the LQG state label corresponding to 1 dimensional excitations of the triad, a label corresponding to a `background' electric field which describes 3 dimensional excitations of the triad. Asymptotic behaviour in quantum theory is controlled through asymptotic conditions on the background electric fields which label the {\\em states} and the background electric fields which label the {\\em operators}. Asymptotic conditions on the triad are imposed as conditions on the background electric field state label while confining the LQG spin net graph labels to compact sets. We...
Color-kinematic duality for form factors
Recently a powerful duality between color and kinematics has been proposed for integrands of scattering amplitudes in quite general gauge theories. In this paper the duality proposal is extended to the more general class of gauge theory observables formed by form factors. After a discussion of the general setup the existence of the duality is verified in two and three loop examples in four dimensional maximally supersymmetric Yang-Mills theory which involve the stress energy tensor multiplet. In these cases the duality reproduces known results in a particularly transparent and uniform way. As a non-trivial application we obtain a very simple form of the integrand of the four-loop two-point (Sudakov) form factor which passes a large set of unitarity cut checks.
Galaxy simulations: Kinematics and mock observations
Moody, Christopher E.
2013-08-01
There are six topics to my thesis, which are: (1) slow rotator production in varied simulation schemes and kinematically decoupled cores and twists in those simulations, (2) the change in number of clumps in radiation pressure and no-radiation pressure simulations, (3) Sunrise experiments and failures including UVJ color-color dust experiments and UVbeta slopes, (4) the Sunrise image pipeline and algorithms. Cosmological simulations of have typically produced too many stars at early times. We find that the additional radiation pressure (RP) feedback suppresses star formation globally by a factor of ~ 3. Despite this reduction, the simulation still overproduces stars by a factor of ~ 2 with respect to the predictions provided by abundance matching methods. In simulations with RP the number of clumps falls dramatically. However, only clumps with masses Mclump/Mdisk ≤ 8% are impacted by the inclusion of RP, and clump counts above this range are comparable. Above this mass, the difference between and RP and no-RP contrast ratios diminishes. If we restrict our selection to galaxies hosting at least a single clump above this mass range then clump numbers, contrast ratios, survival fractions and total clump masses show little discrepancy between RP and no-RP simulations. By creating mock Hubble Space Telescope observations we find that the number of clumps is slightly reduced in simulations with RP. We demonstrate that clumps found in any single gas, stellar, or mock observation image are not necessarily clumps found in another map, and that there are few clumps common to multiple maps. New kinematic observations from ATLAS3D have highlighted the need to understand the evolutionary mechanism leading to a spectrum of fast-rotator and slow-rotators in early-type galaxies. We address the formation of slow and fast rotators through a series of controlled, comprehensive hydrodynamic simulations sampling idealized galaxy merger formation scenarios constructed from model
Kinematical Analysis of an Articulated Mechanism
Fleischfresser, Luciano
2015-01-01
The purpose of this work is twofold: to present mathematical expressions for the kinematics of an articulated mechanism and to perform numerical experiments with the implemented Fortran code. The system of rigid parts is made of two slender bars and a disk. A constant 2 rad/s counterclockwise rotation rate is imposed on the disk triggering the planar motion of the longer bar (link) and the rotation of the shorter one (output). Angular relations, velocities and accelerations are analyzed for a 90-degree turn of the disk. The inversion of the linking bar sense of rotation is well captured by the simulation, and the paper and pencil solutions that may lead to wrong conclusions are explained. Equations are derived from first principles and the Fortran code is placed under version control (currently, v.0.8-beta). This computer project is relevant for those in charge of vector dynamics courses and wishing to expose students to project-based learning activities.
Parton Shower with NLO Kinematic Power Corrections
Baumgart, Matthew; Stewart, Iain W
2010-01-01
We carry out a systematic classification and computation of next-to-leading order kinematic power corrections to the fully differential cross section in the parton shower. To do this we devise a map between ingredients in a parton shower and operators in a traditional effective field theory framework using a chain of soft-collinear effective theories. Our approach overcomes several difficulties including avoiding double counting and distinguishing approximations that are coordinate choices from true power corrections. Branching corrections can be classified as hard-scattering, that occur near the top of the shower, and jet-structure, that can occur at any point inside it. Hard-scattering corrections include matrix elements with additional hard partons, as well as power suppressed contributions to the branching for the leading jet. Jet-structure corrections require simultaneous consideration of potential 1 -> 2 and 1 -> 3 branchings. The interference structure induced by collinear terms with subleading powers ...
Kinematics of chiropteran shoulder girdle in flight.
Panyutina, A A; Kuznetsov, A N; Korzun, L P
2013-03-01
New data on the mechanisms of movements of the shoulder girdle and humerus of bats are described; potential mobility is compared to the movements actually used in flight. The study was performed on the basis of morphological and functional analysis of anatomical specimens of 15 species, high speed and high definition filming of two species and X-ray survey of Rousettus aegyptiacus flight. Our observations indicate that any excursions of the shoulder girdle in bats have relatively small input in the wing amplitude. Shoulder girdle movements resemble kinematics of a crank mechanism: clavicle plays the role of crank, and scapula-the role of connecting rod. Previously described osseous "locking mechanisms" in shoulder joint of advanced bats do not affect the movements, actually used in flight. The wing beats in bats are performed predominantly by movements of humerus relative to shoulder girdle, although these movements occupy the caudal-most sector of available shoulder mobility. PMID:23381941
Feeding kinematics of juvenile swellsharks, Cephaloscyllium ventriosum
Ferry-Graham
1997-01-01
To investigate how feeding behaviors change with prey size, high-speed video recording was used to examine the kinematics of prey capture and transport in 1-year-old swellsharks Cephaloscyllium ventriosum (Scyliorhinidae: Carchariniformes) feeding on two differently sized prey items. Prey capture in these sharks generally consisted of an initially ram-dominated capture bite, one or more manipulation bites, a holding phase during which the food was held in the teeth of the shark, and then suction-dominated prey transport. During initial capture and transport, most of the water taken in is forced back out of the mouth anteriorly rather than continuing posteriorly out through the gill openings. Dye experiments in which dye-perfused prey items were ingested by the sharks confirm this observation; distinct jets of colored water were video-taped as they were ejected from the mouth. Very late in prey transport, a bolus of water is ejected through the gill slits; however, by this time, the majority of water appears already to have exited the buccal cavity through the mouth. Such patterns were observed for sharks feeding on both small and large prey items. Although a basic pattern of prey capture and transport was regularly repeated among strikes, kinematic patterns during prey capture and transport were variable both within and among individuals, indicating that prey acquisition is not tightly controlled. However, the amount of variability was similar among prey sizes. In addition, there were no detectable changes in behavior due to prey item size. Ram-suction index values confirmed that similar capture modes were being utilized for both prey sizes. PMID:9319118
21st Century Kinematics : The 2012 NSF Workshop
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...
2nd Conference on Interdisciplinary Applications in Kinematics
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...
Expressions of manipulator kinematic equations via symbolic computation
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)
Numerical analysis of kinematic soil—pile interaction
Castelli, Francesco; Maugeri, Michele; Mylonakis, George
2008-07-01
In the present study, the response of singles pile to kinematic seismic loading is investigated using the computer program SAP2000@. The objectives of the study are: (1) to develop a numerical model that can realistically simulate kinematic soil-structure interaction for piles accounting for discontinuity conditions at the pile-soil interface, energy dissipation and wave propagation; (2) to use the model for evaluating kinematic interaction effects on pile response as function of input ground motion; and (3) to present a case study in which theoretical predictions are compared with results obtained from other formulations. To evaluate the effects of kinematic loading, the responses of both the free-field soil (with no piles) and the pile were compared. Time history and static pushover analyses were conducted to estimate the displacement and kinematic pile bending under seismic loadings.
Forward and inverse kinematics of double universal joint robot wrists
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.
BATMAV: a biologically inspired micro air vehicle for flapping flight: kinematic modeling
Bunget, Gheorghe; Seelecke, Stefan
2008-03-01
The overall objective of the BATMAV project is the development of a biologically inspired bat-like Micro-Aerial Vehicle (MAV) with flexible and foldable wings, capable of flapping flight. This first phase of the project focuses particularly on the kinematical analysis of the wing motion in order to build an artificial-muscle-driven actuation system in the future. While flapping flight in MAV has been previously studied and a number of models were realized using light-weight nature-inspired rigid wings, this paper presents a first model for a platform that features bat-inspired wings with a number of flexible joints which allows mimicking the kinematics of the real flyer. The bat was chosen after an extensive analysis of the flight physics of small birds, bats and large insects characterized by superior gust rejection and obstacle avoidance. Typical engineering parameters such as wing loading, wing beat frequency etc. were studied and it was concluded that bats are a suitable platform that can be actuated efficiently using artificial muscles. Also, due to their wing camber variation, they can operate effectively at a large range of speeds and allow remarkably maneuverable flight. In order to understand how to implement the artificial muscles on a bat-like platform, the analysis was followed by a study of bat flight kinematics. Due to their obvious complexity, only a limited number of degrees of freedom (DOF) were selected to characterize the flexible wing's stroke pattern. An extended analysis of flight styles in bats based on the data collected by Norberg and the engineering theory of robotic manipulators resulted in a 2 and 4-DOF models which managed to mimic the wingbeat cycle of the natural flyer. The results of the kinematical model can be used to optimize the lengths and the attachment locations of the wires such that enough lift, thrust and wing stroke are obtained.
42 CFR 61.8 - Benefits: Stipends; dependency allowances; travel allowances; vacation.
2010-10-01
... 42 Public Health 1 2010-10-01 2010-10-01 false Benefits: Stipends; dependency allowances; travel...; dependency allowances; travel allowances; vacation. Individuals awarded regular fellowships shall be entitled...) Stipend. (b) Dependency allowances. (c) When authorized in advance, separate allowances for travel....