WorldWideScience

Sample records for allowing intralimb kinematic

  1. Intralimb Coordination Patterns in Absent, Mild, and Severe Stages of Diabetic Neuropathy: Looking Beyond Kinematic Analysis of Gait Cycle

    OpenAIRE

    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...

  2. Intralimb Coordination Patterns in Absent, Mild, and Severe Stages of Diabetic Neuropathy: Looking Beyond Kinematic Analysis of Gait Cycle.

    Directory of Open Access Journals (Sweden)

    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

  3. Intra-limb coordination in karate kicking: Effect of impacting or not impacting a target.

    Science.gov (United States)

    Quinzi, Federico; Sbriccoli, Paola; Alderson, Jacqueline; Di Mario, Alberto; Camomilla, Valentina

    2014-02-01

    This study aimed to investigate the kicking limb coordinative patterns adopted by karate practitioners (karateka) when impacting (IRK), or not impacting (NIRK) a target during a roundhouse kick. Six karateka performed three repetitions of both kicks while kicking limb kinematics were recorded using a stereophotogrammetric system. Intra-limb coordination was quantified for hip and knee flexion-extension from toe-off to kick completion, using the Continuous relative phase (CRP). Across the same time interval, thigh and shank angular momentum about the vertical axis of the body was calculated. For all trials, across all participants, CRP curve peaks and maximum and minimum angular momentum were determined. A RM-ANOVA was performed to test for differences between kicking conditions. The CRP analysis highlighted, during the central portion of both kicks, a delayed flexion of the hip with respect to the knee. Conversely, during the terminal portion of the CRP curves, the NIRK is performed with a more in-phase action, caused by a higher hip angular displacement. The NIRK is characterized by a lower angular momentum which may enhance control of the striking limb. It would seem that the issue of no impact appears to be solved through the control of all segments of the kicking limb, in contrast to the primary control of the lower leg only observed during the IRK.

  4. Exploration and selection of intralimb coordination patterns in 3-month-old infants.

    Science.gov (United States)

    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

  5. Intra-limb coordination while walking is affected by cognitive load and walking speed.

    Science.gov (United States)

    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

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

    Science.gov (United States)

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

    2015-11-15

    We are developing a novel intradural spinal cord (SC) stimulator designed to improve the treatment of intractable pain and the sequelae of SC injury. In-vivo ovine models of neuropathic pain and moderate SC injury are being implemented for pre-clinical evaluations of this device, to be carried out via gait analysis before and after induction of the relevant condition. We extend previous studies on other quadrupeds to extract the three-dimensional kinematics of the limbs over the gait cycle of sheep walking on a treadmill. Quantitative measures of thoracic and pelvic limb movements were obtained from 17 animals. We calculated the total-error values to define the analytical performance of our motion capture system for these kinematic variables. The post- vs. pre-injury time delay between contralateral thoracic and pelvic-limb steps for normal and SC-injured sheep increased by ~24s over 100 steps. The pelvic limb hoof velocity during swing phase decreased, while range of pelvic hoof elevation and distance between lateral pelvic hoof placements increased after SC injury. The kinematics measures in a single SC-injured sheep can be objectively defined as changed from the corresponding pre-injury values, implying utility of this method to assess new neuromodulation strategies for specific deficits exhibited by an individual. PMID:26341152

  7. Relativistic Kinematics

    CERN Document Server

    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.

  8. Rational kinematics

    CERN Document Server

    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 ...

  9. CHILD ALLOWANCE

    CERN Multimedia

    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.

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

    Science.gov (United States)

    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

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

    Science.gov (United States)

    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.

  12. Parallel kinematics type, kinematics, and optimal design

    CERN Document Server

    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...

  13. Estimation of kinematic parameters in CALIFA galaxies: no-assumption on internal dynamics

    Science.gov (United States)

    García-Lorenzo, B.; Barrera-Ballesteros, J.; CALIFA Team

    2016-06-01

    We propose a simple approach to homogeneously estimate kinematic parameters of a broad variety of galaxies (elliptical, spirals, irregulars or interacting systems). This methodology avoids the use of any kinematical model or any assumption on internal dynamics. This simple but novel approach allows us to determine: the frequency of kinematic distortions, systemic velocity, kinematic center, and kinematic position angles which are directly measured from the two dimensional-distributions of radial velocities. We test our analysis tools using the CALIFA Survey

  14. SOME DUAL KINEMATIC FORMULAS

    Institute of Scientific and Technical Information of China (English)

    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.

  15. Kinematically lopsided spiral galaxies

    NARCIS (Netherlands)

    Swaters, RA; Schoenmakers, RHM; Sancisi, R; van Albada, TS

    1999-01-01

    Asymmetries in the distribution of light and neutral hydrogen are often observed in spiral galaxies, Here, attention is drawn to the presence of large-scale asymmetries in their kinematics. Two examples of kinematically lopsided galaxies are presented and discussed. The shape of the rotation curve -

  16. Kinematic Space and Wormholes

    CERN Document Server

    Zhang, Jian-dong

    2016-01-01

    The kinematic space could play a key role in constructing the bulk geometry from dual CFT. In this paper, we study the kinematic space from geometric points of view, without resorting to differential entropy. We find that the kinematic space could be intrinsically defined in the embedding space. For each oriented geodesic in the Poincar\\'e disk, there is a corresponding point in the kinematic space. This point is the tip of the causal diamond of the disk whose intersection with the Poincar\\'e disk determines the geodesic. In this geometric construction, the causal structure in the kinematic space can be seen clearly. Moreover, we find that every transformation in the $SL(2,\\mathbb{R})$ leads to a geodesic in the kinematic space. In particular, for a hyperbolic transformation defining a BTZ black hole, it is a timelike geodesic in the kinematic space. We show that the horizon length of the static BTZ black hole could be computed by the geodesic length of corresponding points in the kinematic space. Furthermore...

  17. Advances in robot kinematics

    CERN Document Server

    Khatib, Oussama

    2014-01-01

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

  18. Inverse Kinematics using Quaternions

    DEFF Research Database (Denmark)

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

    In this project I describe the status of inverse kinematics research, with the focus firmly on the methods that solve the core problem. An overview of the different methods are presented Three common methods used in inverse kinematics computation have been chosen as subject for closer inspection....... suite, developed in this project and in [4]. Source code developed for this project includes the CCD method , improvements on the BFGS method and Jacobian inverse originally developed in [4]....

  19. Kinematic transitions and streams in galaxy halos

    CERN Document Server

    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.

  20. H$\\alpha$ kinematics of KPG 390

    CERN Document Server

    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.

  1. Probing the kinematics of early-type galaxy halos using planetary nebulae

    NARCIS (Netherlands)

    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

  2. The Modular Robots Kinematics

    Directory of Open Access Journals (Sweden)

    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.

  3. The Kinematic Analysis of a Symmetrical Three-Degree-of-Freedom Planar Parallel Manipulator

    OpenAIRE

    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...

  4. Tracing kinematic (mis)alignments in CALIFA merging galaxies: Stellar and ionized gas kinematic orientations at every merger stage

    CERN Document Server

    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...

  5. Quantum gravity kinematics from extended TQFTs

    CERN Document Server

    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...

  6. Graph Models of Automobile Gears - Kinematics

    Directory of Open Access Journals (Sweden)

    Drewniak J.

    2014-08-01

    Full Text Available In the present paper, kinematical analysis of an automotive gear is described. Versatile graph based methods have been utilized for this purpose. An application of mixed, contour and bond graphs gives the same results. It allows the detection of possible mistakes as well as a deeper insight into the designed artifact. The graphs can also be used for further analyses which will be published in a separate document

  7. Kinematical Properties of Planetary Nebulae with WR-type Nuclei

    CERN Document Server

    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.

  8. Kinematic geometry of gearing

    CERN Document Server

    Dooner, David B

    2012-01-01

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

  9. Kinematics grounded on light

    CERN Document Server

    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.

  10. Kinematics of Strong Discontinuities

    Science.gov (United States)

    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.

  11. How realistic are flat-ramp-flat fault kinematic models? Comparing mechanical and kinematic models

    Science.gov (United States)

    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.

  12. Increase in family allowances.

    Science.gov (United States)

    1989-01-01

    In July 1989 the family allowance structure in Australia was changed from a 4-rate to a 2-rate structure. The new rates were increased to $A9 a week for the 1st 3 children and $A12 for each additional child. The Family Allowance Supplment rate for children 13-15 years old was raised from $A31 to $A34.10/week. PMID:12344544

  13. Kinematically Detected Halo Streams

    CERN Document Server

    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.

  14. Rattlesnake strike behavior: kinematics

    Science.gov (United States)

    Kardong; v

    1998-03-01

    The predatory behavior of rattlesnakes includes many distinctive preparatory phases leading to an extremely rapid strike, during which venom is injected. The rodent prey is then rapidly released, removing the snake's head from retaliation by the prey. The quick action of the venom makes possible the recovery of the dispatched prey during the ensuing poststrike period. The strike is usually completed in less than 0.5 s, placing a premium on an accurate strike that produces no significant errors in fang placement that could result in poor envenomation and subsequent loss of the prey. To clarify the basis for effective strike performance, we examined the basic kinematics of the rapid strike using high-speed film analysis. We scored numerous strike variables. Four major results were obtained. (1) Neurosensory control of the strike is based primarily upon sensory inputs via the eyes and facial pits to launch the strike, and upon tactile stimuli after contact. Correction for errors in targeting occurs not by a change in strike trajectory, but by fang repositioning after the jaws have made contact with the prey. (2) The rattlesnake strike is based upon great versatility and variation in recruitment of body segments and body postures. (3) Forces generated during acceleration of the head are transferred to posterior body sections to decelerate the head before contact with the prey, thereby reducing impact forces upon the snake's jaws. (4) Body acceleration is based on two patterns of body displacement, one in which acute sections of the body open like a gate, the other in which body segments flow around postural curves similar to movements seen during locomotion. There is one major implication of these results: recruitment of body segments, launch postures and kinematic features of the strike may be quite varied from strike to strike, but the overall predatory success of each strike by a rattlesnake is very consistent.

  15. Kinematics of Haro11 - the miniature Antennae

    CERN Document Server

    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...

  16. Voigt kinematics and electrodynamic consequences

    Energy Technology Data Exchange (ETDEWEB)

    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.

  17. Tachyon Kinematics and causality

    International Nuclear Information System (INIS)

    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

  18. Elementary introduction to relativistic kinematics

    International Nuclear Information System (INIS)

    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

  19. Tensor Networks from Kinematic Space

    CERN Document Server

    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.

  20. Tensor networks from kinematic space

    Science.gov (United States)

    Czech, Bartlomiej; Lamprou, Lampros; McCandlish, Samuel; Sully, James

    2016-07-01

    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.

  1. Quantum simulation of noncausal kinematic transformations.

    Science.gov (United States)

    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

  2. Color-Kinematics Duality in Multi-Regge Kinematics and Dimensional Reduction

    CERN Document Server

    Johansson, Henrik; Campillo, Eduardo Serna; Vazquez-Mozo, Miguel A

    2013-01-01

    In this note we study the applicability of the color-kinematics duality to the scattering of two distinguishable scalar matter particles with gluon emission in QCD, or graviton emission in Einstein gravity. Previous analysis suggested that direct use of the Bern-Carrasco-Johansson double-copy prescription to matter amplitudes does not reproduce the gravitational amplitude in multi-Regge kinematics. This situation, however, can be avoided by extensions to the gauge theory, while maintaning the same Regge limit. Here we present two examples of these extensions: the introduction of a scalar contact interaction and the relaxation of the distinguishability of the scalars. In both cases new diagrams allow for a full reconstruction of the correct Regge limit on the gravitational side. Both modifications correspond to theories obtained by dimensional reduction from higher-dimensional gauge theories.

  3. Galileo's kinematical paradox and the role of resistive forces

    International Nuclear Information System (INIS)

    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)

  4. Mg II & C IV Kinematics vs. Stellar Kinematics in Galaxies

    CERN Document Server

    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.

  5. Bayesian Kinematic Finite Fault Source Models (Invited)

    Science.gov (United States)

    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.

  6. KINEMATIC DESIGN OF A RECONFIGURABLE MINIATURE PARALLEL KINEMATIC MACHINE

    Institute of Scientific and Technical Information of China (English)

    2003-01-01

    The kinematic design of a reconfigurable miniature parallel kinematic machine is dealt with. It shows that the reconfigurability may be realized by packaging a tripod-based parallel mechanism with fixed length struts into a compact and rigid frame with which the different configurations can be formed. Utilizing a dual parameter model, the influences of the geometrical parameters on the dexterous performance and the workspace/machine volume ratio are investigated. A novel global performance index for the dimensional synthesis is proposed and optimized, resulting in a set of dimensionless geometrical parameters.

  7. Latest Advances in Robot Kinematics

    CERN Document Server

    Husty, Manfred

    2012-01-01

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

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Science.gov (United States)

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

    2016-03-01

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

  10. Kinematic groups across the MW disc: Insights from models and from the RAVE catalogue

    Directory of Open Access Journals (Sweden)

    Romero-Gómez M.

    2012-02-01

    Full Text Available With the advent of the Gaia data, the unprecedented kinematic census of great part of the Milky Way disc will allow us to characterise the local kinematic groups and new groups in different disc neighbourhoods. First, we show here that the models predict a stellar kinematic response to the spiral arms and bar strongly dependent on disc position. For example, we find that the kinematic groups induced by the spiral arm models change significantly if one moves only ~0.6kpc in galactocentric radius, but ~2kpc in azimuth. There are more and stronger groups as one approaches the spiral arms. Depending on the spiral pattern speed, the kinematic imprints are more intense in nearby vicinities or far from the Sun. Secondly, we present a preliminary study of the kinematic groups observed by RAVE. This sample will allow us, for the first time, to study the dependence on Galactic position of the (thin and thick disc moving groups. In the solar neighbourhood, we find the same kinematics groups as detected in previous surveys, but now with better statistics and over a larger spatial volume around the Sun. This indicates that these structures are indeed large scale kinematic features.

  11. Kinematic Parameters of Signed Verbs

    Science.gov (United States)

    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…

  12. SPACEBAR: Kinematic design by computer graphics

    Science.gov (United States)

    Ricci, R. J.

    1975-01-01

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

  13. FRACTAL KINEMATICS OF CRACK PROPAGATION IN GEOMATERIALS

    Institute of Scientific and Technical Information of China (English)

    谢和平

    1995-01-01

    Experimental results indicate that propagation paths of cracks in geomaterials are often irregular, producing rough fracture surfaces which are fractal. A formula is derived for the fractal kinematics of crack propagation in geomaterials. The formula correlates the dynamic and static fracture toughnesses with crack velocity, crack length and a microstructural parameter, and allows the fractal dimension to be obtained. From the equations for estimating crack velocity and fractal dimension it can be shown that the measured crack velocity, Vo , should be much smaller than the fractal crack velocity, V. It can also be shown that the fractal dimension of the crack propagation path can be calculated directly from Vo and from the fracture toughness.

  14. Exploring MaNGA's kinematic maps

    Science.gov (United States)

    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.

  15. Measurement of reed valve kinematics

    Science.gov (United States)

    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.

  16. Sex Differences in Tibiocalcaneal Kinematics

    Directory of Open Access Journals (Sweden)

    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.

  17. Kinematic Fitting of Detached Vertices

    Energy Technology Data Exchange (ETDEWEB)

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

    2007-05-01

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

  18. Measurement of reed valve kinematics

    Directory of Open Access Journals (Sweden)

    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.

  19. Pythagoras Theorem and Relativistic Kinematics

    Science.gov (United States)

    Mulaj, Zenun; Dhoqina, Polikron

    2010-01-01

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

  20. Kinematic Downsizing at z~2

    CERN Document Server

    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...

  1. Decoupled Closed-Form Solution for Humanoid Lower Limb Kinematics

    Directory of Open Access Journals (Sweden)

    Alejandro Said

    2015-01-01

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

  2. Invariant feedback control for the kinematic car on the sphere

    CERN Document Server

    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.

  3. An Extensible, Kinematically-Based Gesture Annotation Scheme

    OpenAIRE

    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...

  4. Deployable antenna kinematics using tensegrity structure design

    Science.gov (United States)

    Knight, Byron Franklin

    With vast changes in spacecraft development over the last decade, a new, cheaper approach was needed for deployable kinematic systems such as parabolic antenna reflectors. Historically, these mesh-surface reflectors have resembled folded umbrellas, with incremental redesigns utilized to save packaging size. These systems are typically over-constrained designs, the assumption being that high reliability necessary for space operations requires this level of conservatism. But with the rapid commercialization of space, smaller launch platforms and satellite buses have demanded much higher efficiency from all space equipment than can be achieved through this incremental approach. This work applies an approach called tensegrity to deployable antenna development. Kenneth Snelson, a student of R. Buckminster Fuller, invented Tensegrity structures in 1948. Such structures use a minimum number of compression members (struts); stability is maintain using tension members (ties). The novelty introduced in this work is that the ties are elastic, allowing the struts to extend or contract, and in this way changing the surface of the antenna. Previously, the University of Florida developed an approach to quantify the stability and motion of parallel manipulators. This approach was applied to deployable, tensegrity, antenna structures. Based on the kinematic analyses for the 3-3 (octahedron) and 4-4 (square anti-prism) structures, the 6-6 (hexagonal anti-prism) analysis was completed which establishes usable structural parameters. The primary objective for this work was to prove the stability of this class of deployable structures, and their potential application to space structures. The secondary objective is to define special motions for tensegrity antennas, to meet the subsystem design requirements, such as addressing multiple antenna-feed locations. This work combines the historical experiences of the artist (Snelson), the mathematician (Ball), and the space systems engineer

  5. The Tangle of Student Allowances.

    Science.gov (United States)

    Thomson, Norman J.

    1980-01-01

    A discussion of the distribution of student financial aid in Australia focuses on these issues: direct vs. indirect payment to students; inequality in living allowances given to secondary and postsecondary students; and distribution of expense allowances by state government and living allowances by the Commonwealth. (MSE)

  6. Calibration of a Parallel Kinematic Machine Tool

    Institute of Scientific and Technical Information of China (English)

    HE Xiao-mei; DING Hong-sheng; FU Tie; XIE Dian-huang; XU Jin-zhong; LI Hua-feng; LIU Hui-lin

    2006-01-01

    A calibration method is presented to enhance the static accuracy of a parallel kinematic machine tool by using a coordinate measuring machine and a laser tracker. According to the established calibration model and the calibration experiment, the factual 42 kinematic parameters of BKX-I parallel kinematic machine tool are obtained. By circular tests the comparison is made between the calibrated and the uncalibrated parameters and shows that there is 80% improvement in accuracy of this machine tool.

  7. Kinematics Analysis of Two Parallel Locomotion Mechanisms

    OpenAIRE

    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...

  8. Proximal arm kinematics affect grip force-load force coordination.

    Science.gov (United States)

    Vermillion, Billy C; Lum, Peter S; Lee, Sang Wook

    2015-10-01

    During object manipulation, grip force is coordinated with load force, which is primarily determined by object kinematics. Proximal arm kinematics may affect grip force control, as proximal segment motion could affect control of distal hand muscles via biomechanical and/or neural pathways. The aim of this study was to investigate the impact of proximal kinematics on grip force modulation during object manipulation. Fifteen subjects performed three vertical lifting tasks that involved distinct proximal kinematics (elbow/shoulder), but resulted in similar end-point (hand) trajectories. While temporal coordination of grip and load forces remained similar across the tasks, proximal kinematics significantly affected the grip force-to-load force ratio (P = 0.042), intrinsic finger muscle activation (P = 0.045), and flexor-extensor ratio (P joint cannot fully explain the observed changes, as task-related changes in intrinsic hand muscle activation were greater than in extrinsic hand muscles. Rather, between-task variation in grip force (highest during task 3) appears to contrast to that in shoulder joint velocity/acceleration (lowest during task 3). These results suggest that complex neural coupling between the distal and proximal upper extremity musculature may affect grip force control during movements, also indicated by task-related changes in intermuscular coherence of muscle pairs, including intrinsic finger muscles. Furthermore, examination of the fingertip force showed that the human motor system may attempt to reduce variability in task-relevant motor output (grip force-to-load force ratio), while allowing larger fluctuations in output less relevant to task goal (shear force-to-grip force ratio). PMID:26289460

  9. A Novel Kinematic Model for Rough Terrain Robots

    Science.gov (United States)

    Auchter, Joseph; Moore, Carl A.; Ghosal, Ashitava

    We describe in detail a novel kinematic simulation of a three—wheeled mo bile robot moving on extremely uneven terrain. The purpose of this simulation is to test a new concept, called Passive Variable Camber (PVC), for reducing undesir able wheel slip. PVC adds an extra degree of freedom at each wheel/platform joint, thereby allowing the wheel to tilt laterally. This extra motion allows the vehicle to better adapt to uneven terrain and reduces wheel slip, which is harmful to vehicle efficiency and performance.

  10. KINEMATIC ANALYSIS OF MODULAR, TRUSS-BASED MANIPULATOR UNITS

    Energy Technology Data Exchange (ETDEWEB)

    Salerno, R. J.

    1994-06-01

    Decontamination and Dismantling (D&D) activities within the U.S. Department of Energy (DOE) require a long reach manipulator with a large load capacity. Variable Geometry Trusses (VGTs) are a unique class of mechanical structures which allow the advantages of truss structures for large scale applications to be applied to large robotic manipulators. Individual VGT units may be assembled to create a modular, long-reach, truss-type manipulator. Each module of such a manipulator system is either a static truss section or one of several possible VGT geometries. While many potential applications exist for this technology, the present work is largely motivated by the need for generic robotic systems for remote manipulation. A manipulator system based on VGT modules provides several advantages. The reconfigurable nature of the manipulator system allows it to be adapted on site to unforeseen conditions. The kinematic redundancy of the manipulator enables it to work effectively even in a highly obstructed workspace. The parallel structure of the truss modules enables the manipulator to be withdrawn in the event of a structural failure. Finally, the open framework of the modules provides a clear, protected passageway for control and power cabling, waste conveyance, or other services required at the end effector. As is implied in a truss structure, all primary members of a VGT are ideally loaded in pure tension or compression. This results in an extremely stiff and strong manipulator system with minimal overall weight. Careful design of the joints of a VGT is very important to the overall stiffness and accuracy of the structure, as several links (as many as six) are joined together at each joint. The greatest disadvantage to this approach to manipulator design has traditionally been that the kinematics of VGT structures are complex and poorly understood. This report specifically addresses the kinematics of several possible geometries for the individual VGT units. Equations and

  11. Overcoming Obstacles to Colour-Kinematics Duality at Two Loops

    CERN Document Server

    Mogull, Gustav

    2015-01-01

    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.

  12. Kinematic correlates of walking cadence in the foot.

    Science.gov (United States)

    Caravaggi, Paolo; Leardini, Alberto; Crompton, Robin

    2010-08-26

    Evidence has frequently been reported of modifications in gait patterns within the lower limb related to the cadence of walking. Most reports have concerned relationships between cadence and kinematic and the kinetic changes occurring in the main joints and muscles of the lower limb as a whole. The aim of the present study was to assess whether significant changes are also measurable in kinematics of the foot segments. An existing 15 marker-set protocol allowed a four-segment foot and shank model to be defined for relative rotations between the segments to be calculated. Stereophotogrammetry was employed to record marker position data from ten subjects walking at three cadences. The slow- and normal cadence datasets showed similar profiles of joint rotation in three anatomical planes, but significant differences were found between these and the fast cadence. At all joints, frame-by-frame statistical analysis revealed increased dorsiflexion from heel-strike to midstance (p walking.

  13. Interactive inverse kinematics for human motion estimation

    DEFF Research Database (Denmark)

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

    2009-01-01

    We present an application of a fast interactive inverse kinematics method as a dimensionality reduction for monocular human motion estimation. The inverse kinematics solver deals efficiently and robustly with box constraints and does not suffer from shaking artifacts. The presented motion estimat...

  14. Kinematics of the free throw in basketball

    Science.gov (United States)

    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.

  15. Off-shell Color-Kinematics Duality

    CERN Document Server

    Mastrolia, Pierpaolo; Schubert, Ulrich; Bobadilla, William J Torres

    2015-01-01

    We elaborate on the color-kinematics duality for off-shell diagrams in gauge theories coupled to matter, by investigating the scattering process $gg\\to ss, q\\bar q, gg$, and show that the Jacobi relations for the kinematic numerators of off-shell diagrams, built with Feynman rules in axial gauge, reduces to a color-kinematics violating term due to the contributions of sub-graphs only. Such anomaly vanishes when the four particles connected by the Jacobi relation are on their mass shell with vanishing squared momenta, being either external or cut particles, where the validity of the color-kinematics duality is recovered. We discuss the role of this off-shell decomposition in the direct construction of higher-multiplicity numerators satisfying color-kinematics identity, providing an explicit example for the QCD process $gg\\to q\\bar{q}g$.

  16. Efficient kinematics for jet-propelled swimming

    Science.gov (United States)

    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.

  17. Inclusive distributions near kinematic thresholds

    CERN Document Server

    Gardi, E

    2006-01-01

    The main challenge in computing inclusive cross sections and decay spectra in QCD is posed by kinematic thresholds. The threshold region is characterized by stringent phase-space constraints that are reflected in large perturbative corrections due to soft and collinear radiation as well as large non-perturbative effects. Major progress in addressing this problem was made in recent years by Dressed Gluon Exponentiation (DGE), a formalism that combines Sudakov and renormalon resummation in moment space. DGE has proven effective in extending the range of applicability of perturbation theory well into the threshold region and in identifying the relevant non-perturbative corrections. Here we review the method from a general perspective using examples from deep inelastic structure functions, event-shape distributions, heavy-quark fragmentation and inclusive decay spectra. A special discussion is devoted to the applications of DGE to radiative and semileptonic B decays that have proven valuable for the interpretatio...

  18. Kinematics of multigrid Monte Carlo

    International Nuclear Information System (INIS)

    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.)

  19. Bayesian kinematic earthquake source models

    Science.gov (United States)

    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

  20. Stellar kinematics across the Hubble sequence in the CALIFA survey: General properties and aperture corrections

    CERN Document Server

    Falcón-Barroso, J; van de Ven, G; Méndez-Abreu, J; Aguerri, J A L; García-Lorenzo, B; Bekeraite, S; Sánchez, S F; Husemann, B; García-Benito, R; Mast, D; Walcher, C J; Zibetti, S; Barrera-Ballesteros, J K; Galbany, L; Sánchez-Blázquez, P; Singh, R; Bosch, R C E van den; Wild, V; Zhu, L; Bland-Hawthorn, J; Fernandes, R Cid; de Lorenzo-Cáceres, A; Gallazzi, A; Delgado, R M González; Marino, R A; Márquez, I; Pérez, E; Pérez, I; Roth, M M; Rosales-Ortega, F F; Ruíz-Lara, T; Wisotzki, L; Ziegler, B

    2016-01-01

    We present the stellar kinematic maps of a large sample of galaxies from the integral-field spectroscopic survey CALIFA. The sample comprises 300 galaxies displaying a wide range of morphologies across the Hubble sequence, from ellipticals to late-type spirals. This dataset allows us to homogeneously extract stellar kinematics up to several effective radii. In this paper, we describe the level of completeness of this subset of galaxies with respect to the full CALIFA sample, as well as the virtues and limitations of the kinematic extraction compared to other well-known integral-field surveys. In addition, we provide averaged integrated velocity dispersion radial profiles for different galaxy types, which are particularly useful to apply aperture corrections for single aperture measurements or poorly resolved stellar kinematics of high-redshift sources. The work presented in this paper sets the basis for the study of more general properties of galaxies that will be explored in subsequent papers of the survey.

  1. Inverse Kinematics With Closed Form Solution For Denso Robot Manipulator

    Directory of Open Access Journals (Sweden)

    Ikhsan Eka Prasetia

    2015-03-01

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

  2. Interactive scan control for kinematic study in open MRI

    International Nuclear Information System (INIS)

    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)

  3. Robot Kinematics, using Dual Quaternions

    Directory of Open Access Journals (Sweden)

    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.

  4. Edge-driven microplate kinematics

    Science.gov (United States)

    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.

  5. Kinematic analysis of spatial parallel manipulator

    International Nuclear Information System (INIS)

    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)

  6. A Model of Parallel Kinematics for Machine Calibration

    DEFF Research Database (Denmark)

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

    2016-01-01

    Parallel kinematics have been adopted by more than 25 manufacturers of high-end desktop 3D printers [Wohlers Report (2015), p.118] as well as by research projects such as the WASP project [WASP (2015)], a 12 meter tall linear delta robot for Additive Manufacture of large-scale components...... developed in order to decompose the different types of geometrical errors into 6 elementary cases. Deliberate introduction of errors to the virtual machine has subsequently allowed for the generation of deviation plots that can be used as a strong tool for the identification and correction of geometrical...... errors on a physical machine tool....

  7. Kinematic Analysis Of Tricept Parallel Manipulator

    OpenAIRE

    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...

  8. Non-equilibrium Kinematics in Merging Galaxies

    Science.gov (United States)

    Mihos, J. C.

    Measurements of the kinematics of merging galaxies are often used to derive dynamical masses, study evolution onto the fundamental plane, or probe relaxation processes. These measurements are often compromised to some degree by strong non-equilibrium motions in the merging galaxies. This talk focuses on the evolution of the kinematics of merging galaxies, and highlights some pitfalls which occur when studying non-equilibrium systems.

  9. Chiral quark model with relativistic kinematics

    CERN Document Server

    Garcilazo, H

    2003-01-01

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

  10. Kinematic Deviations In Children With Cerebral Palsy

    OpenAIRE

    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...

  11. Quantum gravity kinematics from extended TQFTs

    OpenAIRE

    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...

  12. Kinematical coincidence method in transfer reactions

    Energy Technology Data Exchange (ETDEWEB)

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

    2013-07-01

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

  13. Kinematical coincidence method in transfer reactions

    CERN Document Server

    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.

  14. Dynamic Control of Kinematically Redundant Robotic Manipulators

    Directory of Open Access Journals (Sweden)

    Erling Lunde

    1987-07-01

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

  15. Avian wing geometry and kinematics of a free-flying barn owl in flapping flight

    Science.gov (United States)

    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.

  16. Clifford algebras geometric modelling and chain geometries with application in kinematics

    CERN Document Server

    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...

  17. Collecting shoulder kinematics with electromagnetic tracking systems and digital inclinometers: A review.

    Science.gov (United States)

    Hannah, Daniel C; Scibek, Jason S

    2015-11-18

    The shoulder complex presents unique challenges for measuring motion as the scapula, unlike any other bony segment in the body, glides and rotates underneath layers of soft tissue and skin. The ability for clinicians and researchers to collect meaningful kinematic data is dependent on the reliability and validity of the instrumentation utilized. The aim of this study was to review the relevant literature pertaining to the reliability and validity of electromagnetic tracking systems (ETS) and digital inclinometers for assessing shoulder complex motion. Advances in technology have led to the development of biomechanical instrumentation, like ETS, that allow for the collection of three-dimensional kinematic data. The existing evidence has demonstrated that ETS are reliable and valid instruments for collecting static and dynamic kinematic data of the shoulder complex. Similarly, digital inclinometers have become increasingly popular among clinicians due to their cost effectiveness and practical use in the clinical setting. The existing evidence supports the use of digital inclinometers for the collection of shoulder complex kinematics as these instruments have been demonstrated to yield acceptable reliability and validity. While digital inclinometers pose a disadvantage to ETS regarding accuracy, precision, and are limited to two-dimensional and static measurements, this instrument provides clinically meaningful data that allow clinicians and researchers the ability to measure, monitor, and compare shoulder complex kinematics.

  18. Computing broadband accelerograms using kinematic rupture modeling

    International Nuclear Information System (INIS)

    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)

  19. Galactic kinematics with RAVE data - I. The distribution of stars towards the Galactic poles

    NARCIS (Netherlands)

    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

  20. Energy dependence of 238U fission yields investigated in inverse kinematics

    Directory of Open Access Journals (Sweden)

    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.

  1. KINEMATIC AND SPATIAL SUBSTRUCTURE IN NGC 2264

    Energy Technology Data Exchange (ETDEWEB)

    Tobin, John J. [Hubble Fellow, National Radio Astronomy Observatory, Charlottesville, VA 22903 (United States); Hartmann, Lee; Hsu, Wen-Hsin; Mateo, Mario [Department of Astronomy, University of Michigan, Ann Arbor, MI 48109 (United States); Fűrész, Gabor, E-mail: tobin@strw.leidenuniv.nl [Center for Astrophysics, 60 Garden Street, Cambridge, MA 02138 (United States)

    2015-04-15

    We present an expanded kinematic study of the young cluster NGC 2264 based upon optical radial velocities measured using multi-fiber echelle spectroscopy at the 6.5 m MMT and Magellan telescopes. We report radial velocities for 695 stars, of which approximately 407 stars are confirmed or very likely members. Our results more than double the number of members with radial velocities from Fűrész et al., resulting in a much better defined kinematic relationship between the stellar population and the associated molecular gas. In particular, we find that there is a significant subset of stars that are systematically blueshifted with respect to the molecular ({sup 13}CO) gas. The detection of Lithium absorption and/or infrared excesses in this blueshifted population suggests that at least some of these stars are cluster members; we suggest some speculative scenarios to explain their kinematics. Our results also more clearly define the redshifted population of stars in the northern end of the cluster; we suggest that the stellar and gas kinematics of this region are the result of a bubble driven by the wind from O7 star S Mon. Our results emphasize the complexity of the spatial and kinematic structure of NGC 2264, important for eventually building up a comprehensive picture of cluster formation.

  2. Inverse kinematic-based robot control

    Science.gov (United States)

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

    1987-01-01

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

  3. A Framework to Illustrate Kinematic Behavior of Mechanisms by Haptic Feedback

    CERN Document Server

    Zhang, Qinqin; Bennis, Fouad; Zhang, Wei

    2007-01-01

    The kinematic properties of mechanisms are well known by the researchers and teachers. The theory based on the study of Jacobian matrices allows us to explain, for example, the singular configuration. However, in many cases, the physical sense of such properties is difficult to explain to students. The aim of this article is to use haptic feedback to render to the user the signification of different kinematic indices. The framework uses a Phantom Omni and a serial and parallel mechanism with two degrees of freedom. The end-effector of both mechanisms can be moved either by classical mouse, or Phantom Omni with or without feedback.

  4. Counter-rotating disks in galaxies: dissecting kinematics and stellar populations with 3D spectroscopy

    CERN Document Server

    Coccato, Lodovico; Pizzella, Alessandro; Corsini, Enrico Maria; Bonta', Elena Dalla; Fabricius, Maximilian

    2014-01-01

    We present a spectral decomposition technique that separates the contribution of different kinematic components in galaxies from the observed spectrum. This allows to study the kinematics and properties of the stellar populations of the individual components (e.g., bulge, disk, counter-rotating cores, orthogonal structures). Here, we discuss the results of this technique for galaxies that host counter-rotating stellar disks of comparable size. In all the studied cases, the counter-rotating stellar disk is the less massive, the youngest and has different chemical content (metallicity and alpha-elements abundance ratio) than the main galaxy disk. Further applications of the spectral decomposition technique are also discussed.

  5. The movement kinematics of manipulator with elastic joints in the curvilinear coordinate system

    Directory of Open Access Journals (Sweden)

    A.A. Ghukasyan

    2007-09-01

    Full Text Available Movement kinematics of the multi-link manipulator with elastic joints in the curvilinear coordinate system is studied. Within the bounds of the linear theory of elasticity by generalized Lame matrix general expressions for speed and acceleration of the characteristic points of the links and manipulator handle are received. The received formulas allow to easily determine the kinematics of different constructions of the manipulators with elastic joints in the curvilinear coordinates. As an example movement velocity of a two-link manipulator with one elastic joint is determined in the cylindrical coordinate system.

  6. Computer Assisted Mechanical Axis and Kinematic TKA

    Science.gov (United States)

    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

  7. Highly damped kinematic coupling for precision instruments

    Energy Technology Data Exchange (ETDEWEB)

    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.

  8. Kinematics of the most efficient cilium

    CERN Document Server

    Eloy, Christophe

    2012-01-01

    In a variety of biological processes, eukaryotic cells use cilia to transport flow. Although cilia have a remarkably conserved internal molecular structure, experimental observations report very diverse kinematics. To address this diversity, we determine numerically the kinematics and energetics of the most efficient cilium. Specifically, we compute the time-periodic deformation of a wall-bound elastic filament leading to transport of a surrounding fluid at minimum energetic cost, where the cost is taken to be the positive work done by all internal molecular motors. The optimal kinematics are found to strongly depend on the cilium bending rigidity through a single dimensionless number, the Sperm number, and closely resemble the two-stroke ciliary beating pattern observed experimentally.

  9. Kinematic and Elastostatic Design Optimisation of the 3-DOF Gantry-Tau Parallel Kinematic Manipulator

    Directory of Open Access Journals (Sweden)

    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.

  10. The Inverse Kinematics Analysis of Six-DOF Robots

    Institute of Scientific and Technical Information of China (English)

    WEI Xiao

    2016-01-01

    The kinematics of robots mainly analyses the transformational relation between links and the end-actuator position and orientation of robots, its two kinds of topics mainly include:direct kinematics topic and inverse kinematics topic[1]. This paper mainly researched the inverse kinematics of Six-DOF robots, built Six-DOF robots inverse kinematics model with D-H parameter model, and worked out the robot’s homogeneous transformation matrix[2]. Now we will build the model and study to the inverse kinematics of RBT-6SO3S which from Jiang Su Hui-Bo Robots Company.

  11. The Kinematic Theory of Solar Dynamo

    Institute of Scientific and Technical Information of China (English)

    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.

  12. Kinematic Distance of Galactic Planetary Nebulae

    CERN Document Server

    Yang, A Y; Zhu, H; Leahy, D A; Wu, D

    2016-01-01

    We construct \\HI~absorption spectra for 18 planetary nebulae (PNe) and their background sources using the data from the International Galactic Plane Survey. We estimate the kinematic distances of these PNe, among which 15 objects' kinematic distances are obtained for the first time. The distance uncertainties of 13 PNe range from 10% to 50%, which is a significant improvement with uncertainties of a factor two or three smaller than most of previous distance measurements. We confirm that PN G030.2-00.1 is not a PN because of its large distance found here.

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

    Directory of Open Access Journals (Sweden)

    Jolly Atit Shah

    2013-03-01

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

  14. Rotational laxity after anterior cruciate ligament injury by kinematic evaluation of clinical tests.

    Science.gov (United States)

    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

  15. The influence of binarity on the morpho-kinematics of planetary nebulae

    CERN Document Server

    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...

  16. A self-calibrating robot based upon a virtual machine model of parallel kinematics

    DEFF Research Database (Denmark)

    Pedersen, David Bue; Eiríksson, Eyþór Rúnar; Hansen, Hans Nørgaard;

    2016-01-01

    A delta-type parallel kinematics system for Additive Manufacturing has been created, which through a probing system can recognise its geometrical deviations from nominal and compensate for these in the driving inverse kinematic model of the machine. Novelty is that this model is derived from...... a virtual machine of the kinematics system, built on principles from geometrical metrology. Relevant mathematically non-trivial deviations to the ideal machine are identified and decomposed into elemental deviations. From these deviations, a routine is added to a physical machine tool, which allows...... it to recognise its own geometry by probing the vertical offset from tool point to the machine table, at positions in the horizontal plane. After automatic calibration the positioning error of the machine tool was reduced from an initial error after its assembly of ±170 µm to a calibrated error of ±3 µm...

  17. Calibration of parallel kinematic devices using sequential determination of kinematic parameters

    Energy Technology Data Exchange (ETDEWEB)

    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

  18. The Kinematic Connection Between QSO-Absorbing Gas and Galaxies at Intermediate Redshift

    CERN Document Server

    Steidel, C C; Shapley, A E; Churchill, C W; Dickinson, M; Pettini, M

    2002-01-01

    We present complementary data on 5 intermediate redshift (0.44 < z < 0.66) MgII absorbing galaxies, combining high spatial resolution imaging from HST, high--resolution QSO spectroscopy from Keck/HIRES, and galaxy kinematics from intermediate resolution spectroscopy using Keck/LRIS. These data allow a direct comparison of the kinematics of gas at large galactocentric impact parameters with the galaxy kinematics obtained from the faint galaxy spectroscopy. All 5 galaxies appear to be relatively normal spirals, with measured rotation curves yielding circular velocities in the range 100 < v_c < 260 km/s. We find that in 4 of the 5 cases examined, the velocities of all of the Mg II absorption components lie entirely to one side of the galaxy systemic redshift. These observations are consistent with rotation being dominant for the absorbing gas kinematics; however, the total range of velocities observed is inconsistent with simple disk rotation in every case. Simple kinematic models that simultaneously...

  19. Ionized gas kinematics of galaxies in the CALIFA survey I: Velocity fields, kinematic parameters of the dominant component, and presence of kinematically distinct gaseous systems

    CERN Document Server

    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...

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

    Science.gov (United States)

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

    2015-05-01

    The use of kinematics is recommended to quantitatively evaluate upper limb movements. The aims of this study were to determine the age effects on upper limb kinematics and establish norms in healthy children. Ninety-three healthy children, aged 3-12 years, participated in this study. Twenty-eight kinematic indices were computed from four tasks. Each task was performed with the REAplan, a distal effector robotic device that allows upper limb displacements in the horizontal plane. Twenty-four of the 28 indices showed an improvement during childhood. Indeed, older children showed better upper limb movements. This study was the first to use a robotic device to show the age effects on upper limb kinematics and establish norms in healthy children. PMID:25413362

  1. Action experience changes attention to kinematic cues

    Directory of Open Access Journals (Sweden)

    Courtney eFilippi

    2016-02-01

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

  2. Compton Effect with Non-Relativistic Kinematics

    Science.gov (United States)

    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…

  3. Kinematics of luminous blue compact galaxies

    Science.gov (United States)

    Östlin, Göran; Amram, Philippe; Boulesteix, Jaques; Bergvall, Nils; Masegosa, Josefa; Márquez, Isabel

    We present results from a Fabry-Perot study of the Hα velocity fields and morphologies of a sample of luminous blue compact galaxies. We estimate masses from photometry and kinematics and show that many of these BCGs are not rotationally supported. Mergers or strong interactions appear to be the triggering mechanism of the extreme starbursts seen in these galaxies.

  4. Galaxy kinematics from counter-dispersed imaging

    NARCIS (Netherlands)

    Douglas, NG; Taylor, K

    1999-01-01

    Determining the internal kinematics of a galaxy from planetary nebulae (PN) is usually a two-step process in which the candidate PN are first identified in a target galaxy and then, in a follow-up run, spectra are obtained. We have implemented a new technique in which two dispersed images at the wav

  5. Planet Host Stars: Mass, Age and Kinematics

    Institute of Scientific and Technical Information of China (English)

    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.

  6. Geometric configuration in robot kinematic design

    OpenAIRE

    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).

  7. The kinematic algebras from the scattering equations

    International Nuclear Information System (INIS)

    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

  8. Kinematics of shot-geophone migration

    NARCIS (Netherlands)

    C.C. Stolk; M.V. de Hoop; W.W. Symes

    2009-01-01

    Recent analysis and synthetic examples have shown that many prestack depth migration methods produce nonflat image gathers containing spurious events, even when provided with a kinematically correct migration velocity field, if this velocity field is highly refractive. This pathology occurs in all m

  9. Multiplanar breast kinematics during different exercise modalities

    OpenAIRE

    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...

  10. Small Scale Parallel Manipulator Kinematics for Flexible Snake Robot Application

    Directory of Open Access Journals (Sweden)

    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.

  11. Motor resonance facilitates movement execution: an ERP and kinematic study

    Directory of Open Access Journals (Sweden)

    Mathilde eMénoret

    2013-10-01

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

  12. Kinematics in galactic tidal tails - A source for Hypervelocity stars?

    CERN Document Server

    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 ...

  13. Loop theory and applications to some key problems of kinematic structure of kinematic chains

    Institute of Scientific and Technical Information of China (English)

    Huafeng DING; Zhen HUANG

    2009-01-01

    Structure synthesis of mechanisms is a pivotal issue in the field of mechanical innovation and mechanical conceptual design. In this paper, a new loop theory of kinematic chains is proposed. Based on this theory, some key problems that hamper computer-based automatic synthesis of mechanisms are solved. 1) The open problem of isomorphism of kinematic chains that has lasted for more than four decades is successfully solved. 2) A new rigid sub-chain detection method that is especially suitable for complex chains is proposed. 3) The characteristic representation code remains the same even if the drawing modes and labeling ways of a chain are changed, and an atlas database of kinematic chains is established. The multi-value problem for the representation of kinematic chains is solved. The results in this paper will benefit the digitization and computerization of mechanical conceptual design.

  14. A New Topological Description Method of Kinematic Chain

    Institute of Scientific and Technical Information of China (English)

    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.

  15. The Maiden Voyage of a Kinematics Robot

    Science.gov (United States)

    Greenwolfe, Matthew L.

    2015-04-01

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

  16. KINEMATICS AND DYNAMICS MODELS OF CYLINDRICAL ROLLER BEARING OF RAILWAY TRANSPORT

    Directory of Open Access Journals (Sweden)

    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

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

    International Nuclear Information System (INIS)

    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.)

  18. Multiple populations in globular clusters: constraints from kinematics and dynamics

    CERN Document Server

    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.

  19. The interacting galaxy pair KPG 390: H$\\alpha$ kinematics

    CERN Document Server

    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.

  20. Time-Dependent Kinematics of Complex Human Structures

    Science.gov (United States)

    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.

  1. KINEMATIC WAVE PROPERTIES OF ANISOTROPIC DYNAMICS MODEL FOR TRAFFIC FLOW

    Institute of Scientific and Technical Information of China (English)

    姜锐; 吴清松; 朱祚金

    2002-01-01

    The analyses of kinematic wave properties of a new dynamics model for traffic flow are carried out. The model does not exhibit the problem that one characteristic speed is always greater than macroscopic traffic speed, and therefore satisfies the requirement that traffic flow is anisotropic. Linear stability analysis shows that the model is stable under certain condition and the condition is obtained. The analyses also indicate that the model has a hierarchy of first-and second-order waves, and allows the existence of both smooth traveling wave and shock wave. However, the model has a distinctive criterion of shock wave compared with other dynamics models, and the distinction makes the model more realistic in dealing with some traffic problems such as wrong-way travel analysis.

  2. System reliability analysis for kinematic performance of planar mechanisms

    Institute of Scientific and Technical Information of China (English)

    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.

  3. The kinematic component of the cosmological redshift

    CERN Document Server

    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...

  4. Surface growth kinematics via local curve evolution

    KAUST Repository

    Moulton, Derek E.

    2012-11-18

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

  5. 6th International Workshop on Computational Kinematics

    CERN Document Server

    Gracia, Alba

    2014-01-01

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

  6. A Kinematical Calibration of the Galactocentric Distance

    Institute of Scientific and Technical Information of China (English)

    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.

  7. The kinematic advantage of electric cars

    Science.gov (United States)

    Meyn, Jan-Peter

    2015-11-01

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

  8. A classification of finite quantum kinematics

    International Nuclear Information System (INIS)

    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

  9. Kinematics of the symbiotic system R Aqr

    Science.gov (United States)

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

    2014-04-01

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

  10. Plasma electron-hole kinematics: momentum conservation

    CERN Document Server

    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.

  11. Kinematic Analysis of a Hybrid Structure

    Directory of Open Access Journals (Sweden)

    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.

  12. Foot kinematics and kinetics during adolescent gait.

    Science.gov (United States)

    MacWilliams, Bruce A; Cowley, Matthew; Nicholson, Diane E

    2003-06-01

    Gait analysis models typically analyze the ankle joint complex and treat the foot as a rigid segment. Such models are inadequate for clinical decision making for patients with foot impairments. While previous multisegment foot models have been presented, no comprehensive kinematic and kinetic databases for normal gait exist. This study provides normative foot joint angles, moments and powers during adolescent gait. Eighteen subjects were evaluated using 19 retroreflective markers, six cameras, a pressure platform and a force plate. A nine-segment model determined 3D angles, 3D moments, and powers in eight joints or joint complexes. A complete sets of sagittal, coronal and frontal plane results are presented. Results indicate that single link models of the foot significantly overestimate ankle joint powers during gait. Understanding normal joint kinematics and kinetics during gait will provide a baseline for documenting impairments in patients with foot disorders.

  13. Kinematic measurements using an infrared sensor

    CERN Document Server

    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.

  14. Kinematical uniqueness of homogeneous isotropic LQC

    CERN Document Server

    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.

  15. On the kinematic age of RZ Psc

    Science.gov (United States)

    Potravnov, I. S.; Grinin, V. P.

    2013-11-01

    RZ Psc belongs to the family of young UX Ori stars whose photometric activity is due to strong extinction variations in the circumstellar disks surrounding them. However, in contrast to all the remaining stars of this type, no evidence of youth has been detected for RZ Psc until recently. A rough estimate of the star's kinematic age was made for the first time in our previous paper (Grinin et al. 2010). It shows that RZ Psc is intermediate in its evolutionary status between young stars in Orion and stars with debris disks. In this paper, we provide a refined estimate of the kinematic age for the star confirming this conclusion. According to this estimate, the age of RZ Psc is approximately 25 ± 5 Myr at M * = 1 M ⊙.

  16. Kinematic measurements using an infrared sensor

    Science.gov (United States)

    Marinho, F.; Paulucci, L.

    2016-03-01

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

  17. Kinematic Analysis Of Tricept Parallel Manipulator

    Directory of Open Access Journals (Sweden)

    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

  18. Scapulothoracic kinematics during tennis forehand drive

    OpenAIRE

    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...

  19. Kinematics of Straight Right Punch in Boxing

    Directory of Open Access Journals (Sweden)

    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.

  20. A CP-Violating Kinematic Structure

    CERN Document Server

    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...

  1. Kinematic gait analyses in healthy Golden Retrievers

    Directory of Open Access Journals (Sweden)

    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.

  2. Brain dopamine and kinematics of graphomotor functions.

    Science.gov (United States)

    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

  3. Scapula Kinematics of Youth Baseball Players

    Directory of Open Access Journals (Sweden)

    Oliver Gretchen

    2015-12-01

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

  4. Computational tool for comparison of kinematic mechanisms and commonly used kinematic models

    Energy Technology Data Exchange (ETDEWEB)

    Hollerbach, K.; Hollister, A.M.; Van Vorhis, R.L.

    1997-03-01

    Accurate, reliable, and reproducible methods to measure the movements of human joints have been elusive. Currently, three-dimensional recording methods are used to track the motion of one segment relative to another as the joint moves. Six parameters describe the moving segment`s location and orientation relative to the reference segment: three translations (x, y, and z) and three rotations (yaw, pitch and roll) in the reference frame. The raw data can be difficult to interpret. For this reason, several methods have been developed to measure the motion of human joints and to describe the resulting data. For example, instant helical axes or screw deviation axes (Kinzell et al., 1972), the Joint Coordinate System of Grood and Suntay (1983), and the Euler angle method have been used to describe the movements of bones relative to each other. None of these methods takes into account the physical kinematic mechanism producing the joint motion. More recently, Lupichuk (1995) has developed an algorithm to find, for an arbitrary revolute, the axis` position and orientation in three- dimensional space. Each of these methods has advantages and disadvantages in analyzing joint kinematics. The authors have developed software to provide a means of comparing these methods for arbitrary, single degree of freedom, kinematic mechanisms. Our objective is to demonstrate the software and to show how it can be used to compare the results from the different kinematic models as they are applied to specific kinematic mechanisms.

  5. Pelvis and torso kinematics and their relationship to shoulder kinematics in high-school baseball pitchers.

    Science.gov (United States)

    Oliver, Gretchen D; Keeley, David W

    2010-12-01

    It was the purpose of our study to examine the kinematics of the pelvis and torso and determine their relationship to the kinematics of the shoulder in high-school baseball pitchers. A single group, repeated-measures design was used to collect pelvis, torso, and shoulder kinematics throughout the pitching motion. Subjects threw a series of maximal effort fastballs to a catcher located the regulation distance (18.44m) from the pitching mound, and those data from the fastest pitch passing through the strike zone were analyzed. After test trials, kinematic data were analyzed using a series of descriptive statistics to identify outliers and determine the nature of the distribution before testing for the presence of relationships between the various parameters. Results indicated that for several parameters, the actions at and about the shoulder are strongly related to the actions of the pelvis and torso throughout the pitching motion. However, although pelvis and torso kinematics throughout the pitching motion were inversely related to both shoulder elevation and the plane of shoulder elevation, only the rate of axial torso rotation was significantly related to these shoulder parameters. More importantly, the rate of axial torso rotation is significantly related to these shoulder parameters in a way that may help explain the high rate of shoulder injury in high-school pitchers. Therefore, strength training should focus on developing a strong stable core including the gluteal musculature in an attempt to control the rate of torso rotation during the pitch. PMID:20703168

  6. 49 CFR 266.11 - Allowable costs.

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 4 2010-10-01 2010-10-01 false Allowable costs. 266.11 Section 266.11... TRANSPORTATION ACT § 266.11 Allowable costs. Allowable costs include only the following costs which are properly allocable to the work performed: Planning and program operation costs which are allowed under...

  7. Using kinematic reduction for studying grasping postures. An application to power and precision grasp of cylinders.

    Science.gov (United States)

    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

  8. The Stellar Kinematic Fields of NGC 3379

    Science.gov (United States)

    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

  9. Kinematic and dynamic modeling and approximate analysis of a roller chain drive

    DEFF Research Database (Denmark)

    Fuglede, Niels; Thomsen, Jon Juel

    2016-01-01

    A simple roller chain drive consisting of two sprockets connected by tight chain spans is investigated. First, a kinematic model is presented which include both spans and sprockets. An approach for calculating the chain wrapping length is presented, which also allows for the exact calculation...... of sprocket center positions for a given chain length. The kinematic analysis demonstrates that the total length of the chain wrapped around the sprockets generally varies during one tooth period. Analytical predictions for the wrapping length are compared to multibody simulation results and show very good...... agreement. It is thereby demonstrated that chain drives with tight chain spans must include compliant components to function. Second, a dynamic model is presented which includes the two spans and the driven sprocket. Assuming the presence of a stationary operating state, the presented dynamic model allows...

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

    Science.gov (United States)

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

    2016-04-01

    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.

  11. APOGEE Kinematics I: Overview of the Kinematics of the Galactic Bulge as Mapped by APOGEE

    CERN Document Server

    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.

  12. Measurements of neutron-induced reactions in inverse kinematics and applications to nuclear astrophysics

    OpenAIRE

    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 ...

  13. Dissecting Kinematics and Stellar Populations of Counter-Rotating Galaxies with 2-Dimensional Spectroscopy

    CERN Document Server

    Coccato, L; Pizzella, A; Corsini, E M; Bonta', E Dalla; Buson, L M

    2014-01-01

    We present a spectral decomposition technique and its applications to a sample of galaxies hosting large-scale counter-rotating stellar disks. Our spectral decomposition technique allows to separate and measure the kinematics and the properties of the stellar populations of both the two counter-rotating disks in the observed galaxies at the same time. Our results provide new insights on the epoch and mechanism of formation of these galaxies.

  14. The SOFIA experiment: Measurement of 236U fission fragment yields in inverse kinematics

    Directory of Open Access Journals (Sweden)

    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.

  15. Step kinematic calibration of a 3-DOF planar parallel kinematic machine tool

    Institute of Scientific and Technical Information of China (English)

    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.

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

    Science.gov (United States)

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

    2013-02-21

    The masses of the supermassive black holes found in galaxy bulges are correlated with a multitude of galaxy properties, leading to suggestions that galaxies and black holes may evolve together. The number of reliably measured black-hole masses is small, and the number of methods for measuring them is limited, holding back attempts to understand this co-evolution. Directly measuring black-hole masses is currently possible with stellar kinematics (in early-type galaxies), ionized-gas kinematics (in some spiral and early-type galaxies) and in rare objects that have central maser emission. Here we report that by modelling the effect of a black hole on the kinematics of molecular gas it is possible to fit interferometric observations of CO emission and thereby accurately estimate black-hole masses. We study the dynamics of the gas in the early-type galaxy NGC 4526, and obtain a best fit that requires the presence of a central dark object of 4.5(+4.2)(-3.1) × 10(8) solar masses (3σ confidence limit). With the next-generation millimetre-wavelength interferometers these observations could be reproduced in galaxies out to 75 megaparsecs in less than 5 hours of observing time. The use of molecular gas as a kinematic tracer should thus allow one to estimate black-hole masses in hundreds of galaxies in the local Universe, many more than are accessible with current techniques. PMID:23364690

  17. A physiologically based hypothesis for learning proprioception and in approximating inverse kinematics.

    Science.gov (United States)

    Simkins, Matt

    2016-05-01

    A long-standing problem in muscle control is the "curse of dimensionality". In part, this problem relates to the fact that coordinated movement is only achieved through the simultaneous contraction and extension of multitude muscles to specific lengths. Couched in robotics terms, the problem includes the determination of forward and inverse kinematics. Of the many neurophysiological discoveries in cortex is the existence of position gradients. Geometrically, position gradients are described by planes in Euclidean space whereby neuronal activity increases as the hand approaches locations that lie in a plane. This work demonstrates that position gradients, when coupled with known physiology in the spinal cord, allows for a way to approximate proprioception (forward kinematics) and to specify muscle lengths for goal-directed postures (inverse kinematics). Moreover, position gradients provide a means to learn and adjust kinematics as animals learn to move and grow. This hypothesis is demonstrated using computer simulation of a human arm. Finally, experimental predictions are described that might confirm or falsify the hypothesis.

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

    Directory of Open Access Journals (Sweden)

    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.

  19. Foot bone kinematics as measured in a cadaveric robotic gait simulator.

    Science.gov (United States)

    Whittaker, Eric C; Aubin, Patrick M; Ledoux, William R

    2011-04-01

    The bony motion of the foot during the stance phase of gait is useful to further our understanding of joint function, disease etiology, injury prevention and surgical intervention. In this study, we used a 10-segment in vitro foot model with anatomical coordinate systems and a robotic gait simulator (RGS) to measure the kinematics of the tibia, talus, calcaneus, cuboid, navicular, medial cuneiform, first metatarsal, hallux, third metatarsal, and fifth metatarsal from six cadaveric feet. The RGS accurately reproduced in vivo vertical ground reaction force (5.9% body weight RMS error) and tibia to ground kinematics. The kinematic data from the foot model generally agree with invasive in vivo descriptions of bony motion and provides the most realistic description of bony motion currently available for an in vitro model. These data help to clarify the function of several joints that are difficult to study in vivo; for example, the combined range of motion of the talonavicular, naviculocuneiform, metatarsocuneiform joints provided more sagittal plane mobility (27.4°) than the talotibial joint alone (23.2°). Additionally, the anatomical coordinate systems made it easier to meaningfully determine bone-to-bone motion, describing uniplanar motion as rotation about a single axis rather than about three. The data provided in this study allow for many kinematic interpretations to be made about dynamic foot bone motion, and the methodology presents a means to explore many invasive foot biomechanics questions under near-physiologic conditions.

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

    Science.gov (United States)

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

    2013-02-21

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

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

    International Nuclear Information System (INIS)

    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.)

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

    Science.gov (United States)

    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.

  3. Structure and Kinematics of the Indo-Burmese Wedge

    Science.gov (United States)

    Maurin, T.; Rangin, C.

    2007-12-01

    The Burma subduction trench and the associated Indo Burmese wedge mark the present eastern boundary of the Indian plate in the northern Bengal area. The initiation, duration and history of the Bengal crust subduction beneath Burma is still debated. The aim of this paper is to provide a structural and kinematic analysis of the Indo- Burmese wedge in order to better constraints the Bengal crust subduction history beneath Burma. On the basis of field observations, seismic reflection data interpretation and well logs data we present a structural analysis of the Outer Indo-Burmese Wedge. We also constrain the onset of this Outer Wedge to be younger than 2Ma, implying a recent and fast westward growth (~10cm/yr) since Late Pliocene in close relationship with the onset of the Shillong plateau. Restoration process of a synthetic cross section through the Outer Wedge allowed us to estimate the amount of EW shortening accommodated in the Outer Wedge to be 5.1mm/yr since 2Ma. These results combined with previous available GPS data from central Myanmar suggest strain partitioning at wedge scale. The core of the wedge is affected by shear deformation and acts as a buttress for a frontal wedge that accommodates a more compressive strain component. Finally we propose that the main characteristic of the Indo-Burmese wedge growth mechanism is the progressive incorporation of the most internal part of the wedge, formerly affected by transpressive thin-skinned tectonics, to the buttress where they are subsequently affected by shear deformation. The crustal structure boarding the newly formed buttress seems to be guided by the subducting crust fabrics. We are in favour of a very recent (Late Miocene) onset of the present Indian crust subduction beneath Burma coeval with the global plate kinematics reorganisation related to the Indian/Australian plate spliting. This subduction postdates the Indo Burmese range onset that must have started in early Miocene. This range first began to

  4. Kinematic and chemical components in the solar neighbourhood

    Directory of Open Access Journals (Sweden)

    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.

  5. Kinematic analysis of modern dance movement “stag jump” within the context of impact loads, injury to the locomotor system and its prevention

    OpenAIRE

    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...

  6. Allowance Holdings and Transfers Data Inventory

    Data.gov (United States)

    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...

  7. A Novel Algorithm for the Generation of Distinct Kinematic Chain

    Science.gov (United States)

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

    2016-07-01

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

  8. Locomotion of Gymnarchus Niloticus: Experiment and Kinematics

    Institute of Scientific and Technical Information of China (English)

    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.

  9. Kinematics of transition during human accelerated sprinting

    Directory of Open Access Journals (Sweden)

    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.

  10. JFKengine: A Jacobian and Forward Kinematics Generator

    Energy Technology Data Exchange (ETDEWEB)

    Fischer, K.N.

    2003-02-13

    During robot path planning and control the equations that describe the robot motions are determined and solved. Historically these expressions were derived analytically off-line. For robots that must adapt to their environment or perform a wide range of tasks, a way is needed to rapidly re-derive these expressions to take into account the robot kinematic changes, such as when a tool is added to the end-effector. The JFKengine software was developed to automatically produce the expressions representing the manipulator arm motion, including the manipulator arm Jacobian and the forward kinematic expressions. Its programming interface can be used in conjunction with robot simulation software or with robot control software. Thus, it helps to automate the process of configuration changes for serial robot manipulators. If the manipulator undergoes a geometric change, such as tool acquisition, then JFKengine can be invoked again from the control or simulation software, passing it parameters for the new arm configuration. This report describes the automated processes that are implemented by JFKengine to derive the kinematic equations and the programming interface by which it is invoked. Then it discusses the tree data structure that was chosen to store the expressions, followed by several examples of portions of expressions as represented in the tree. The C++ classes and their methods that implement the expression differentiation and evaluation operations are described. The algorithms used to construct the Jacobian and forward kinematic equations using these basic building blocks are then illustrated. The activity described in this report is part of a larger project entitled ''Multi-Optimization Criteria-Based Robot Behavioral Adaptability and Motion Planning'' that focuses on the development of a methodology for the generalized resolution of robot motion equations with time-varying configurations, constraints, and task objective criteria. A specific

  11. Geneva University - Kinematics at Hadron Colliders - POSTPONED!!!

    CERN Multimedia

    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

  12. Spectral gaps, inertial manifolds and kinematic dynamos

    Energy Technology Data Exchange (ETDEWEB)

    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.

  13. Theory of gearing kinematics, geometry, and synthesis

    CERN Document Server

    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

  14. 46 CFR 154.447 - Allowable stress.

    Science.gov (United States)

    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...

  15. 46 CFR 154.428 - Allowable stress.

    Science.gov (United States)

    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...

  16. 45 CFR 1180.56 - Allowable costs.

    Science.gov (United States)

    2010-10-01

    ... 45 Public Welfare 3 2010-10-01 2010-10-01 false Allowable costs. 1180.56 Section 1180.56 Public... by a Grantee General Administrative Responsibilities § 1180.56 Allowable costs. (a) Determination of costs allowable under a grant is made in accordance with government-wide cost principles in...

  17. 34 CFR 80.22 - Allowable costs.

    Science.gov (United States)

    2010-07-01

    ... CFR part 31. Contract Cost Principles and Procedures, or uniform cost accounting standards that comply... 34 Education 1 2010-07-01 2010-07-01 false Allowable costs. 80.22 Section 80.22 Education Office... Allowable costs. (a) Limitation on use of funds. Grant funds may be used only for: (1) The allowable...

  18. 42 CFR 417.802 - Allowable costs.

    Science.gov (United States)

    2010-10-01

    ... 42 Public Health 3 2010-10-01 2010-10-01 false Allowable costs. 417.802 Section 417.802 Public... PLANS Health Care Prepayment Plans § 417.802 Allowable costs. (a) General rule. The costs that are considered allowable for HCPP reimbursement are the same as those for reasonable cost HMOs and CMPs...

  19. 42 CFR 417.534 - Allowable costs.

    Science.gov (United States)

    2010-10-01

    ... 42 Public Health 3 2010-10-01 2010-10-01 false Allowable costs. 417.534 Section 417.534 Public... PLANS Medicare Payment: Cost Basis § 417.534 Allowable costs. (a) Definition—Allowable costs means the direct and indirect costs, including normal standby costs incurred by the HMO or CMP, that are proper...

  20. 45 CFR 1157.22 - Allowable costs.

    Science.gov (United States)

    2010-10-01

    ... named in OBM Circular A-122 as not subject to that circular 48 CFR part 31. Contract Cost Principles and... 45 Public Welfare 3 2010-10-01 2010-10-01 false Allowable costs. 1157.22 Section 1157.22 Public... Allowable costs. (a) Limitation on use of funds. Grant funds may be used only for: (1) The allowable...

  1. 50 CFR 85.41 - Allowable costs.

    Science.gov (United States)

    2010-10-01

    ... applicable Federal cost principles in 43 CFR 12.60(b). Purchase of informational signs, program signs, and... 50 Wildlife and Fisheries 6 2010-10-01 2010-10-01 false Allowable costs. 85.41 Section 85.41... Use/Acceptance of Funds § 85.41 Allowable costs. (a) Allowable grant costs are limited to those...

  2. 34 CFR 304.21 - Allowable costs.

    Science.gov (United States)

    2010-07-01

    ... Grantee § 304.21 Allowable costs. In addition to the allowable costs established in the Education Department General Administrative Regulations in 34 CFR 75.530 through 75.562, the following items are... 34 Education 2 2010-07-01 2010-07-01 false Allowable costs. 304.21 Section 304.21...

  3. 50 CFR 80.15 - Allowable costs.

    Science.gov (United States)

    2010-10-01

    ..., see 5 CFR 1310.3.). (b) What is required to determine the allowability of costs? Source documents or... 50 Wildlife and Fisheries 6 2010-10-01 2010-10-01 false Allowable costs. 80.15 Section 80.15... WILDLIFE RESTORATION AND DINGELL-JOHNSON SPORT FISH RESTORATION ACTS § 80.15 Allowable costs. (a) What...

  4. 44 CFR 295.21 - Allowable compensation.

    Science.gov (United States)

    2010-10-01

    ... 44 Emergency Management and Assistance 1 2010-10-01 2010-10-01 false Allowable compensation. 295... OF HOMELAND SECURITY CERRO GRANDE FIRE ASSISTANCE CERRO GRANDE FIRE ASSISTANCE Compensation Available Under the CGFAA § 295.21 Allowable compensation. (a) Allowable compensation. The CGFAA provides for...

  5. THE KINEMATIC AND INERTIAL SOIL-PILE INTERACTIONS: CENTRIFUGE MODELLING

    OpenAIRE

    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...

  6. STUDY OF ROBOTIZATION FOREXCAVATOR ON THE KINEMATICS AND DYNAMICS

    Institute of Scientific and Technical Information of China (English)

    ZhuXiangji; XuShifan

    1996-01-01

    From the view of robotics, kinematical and dynamical analyses of the WD-400 Mechanical Forward Excavator are carried out in this paper. Transformation of the manipulator abstracted from the excavator is determined. Forward and Inverse kinematical analyses are given and the trajectories of bucket movement and their mathematic descriptions are derived. The kinematical and dynamical models as well as the excavating resistance along the trajectories are obtained. The computer simulations areincluded in this paper.

  7. Direct Kinematic modeling of 6R Robot using Robotics Toolbox

    OpenAIRE

    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.

  8. Static and kinematic formulation of planar reciprocal assemblies

    DEFF Research Database (Denmark)

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

    2014-01-01

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

  9. Kinematic Analysis of 3-UCR Parallel Robot Leg

    OpenAIRE

    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...

  10. Kinematics and Workspace of a 4-DOF Hybrid Palletizing Robot

    OpenAIRE

    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.

  11. Kinematic Analysis and Experimental Verification on the Locomotion of Gecko

    Institute of Scientific and Technical Information of China (English)

    Woochul Nam; TaeWon Seo; Byungwook Kim; Dongsu Jeon; Kyu-Jin Cho; Jongwon Kim

    2009-01-01

    This paper presents a kinematic analysis of the locomotion of a gecko, and experimental verification of the kinematic model. Kinematic analysis is important for parameter design, dynamic analysis, and optimization in biomimetic robot research. The proposed kinematic analysis can simulate, without iteration, the locomotion of gecko satisfying the constraint conditions that maintain the position of the contacted feet on the surface. So the method has an advantage for analyzing the climbing motion of the quadruped mechanism in a real time application. The kinematic model of a gecko consists of four legs based on 7-degrees of freedom spherical-revolute-spherical joints and two revolute joints in the waist. The motion of the kinematic model is simulated based on measurement data of each joint. The motion of the kinematic model simulates the investigated real gecko's motion by using the experimental results. The analysis solves the forward kinematics by considering the model as a combination of closed and open serial mechanisms under the condition that maintains the contact positions of the attached feet on the ground. The motions of each joint are validated by comparing with the experimental results. In addition to the measured gait, three other gaits are simulated based on the kinematic model. The maximum strides of each gait are calculated by workspace analysis. The result can be used in biomimetic robot design and motion planning.

  12. Kinematical analysis on the several linkage drives for mechanical presses

    Energy Technology Data Exchange (ETDEWEB)

    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

  13. Verification of predicted knee replacement kinematics during simulated gait in the Kansas knee simulator.

    Science.gov (United States)

    Halloran, Jason P; Clary, Chadd W; Maletsky, Lorin P; Taylor, Mark; Petrella, Anthony J; Rullkoetter, Paul J

    2010-08-01

    Evaluating total knee replacement kinematics and contact pressure distributions is an important element of preclinical assessment of implant designs. Although physical testing is essential in the evaluation process, validated computational models can augment these experiments and efficiently evaluate perturbations of the design or surgical variables. The objective of the present study was to perform an initial kinematic verification of a dynamic finite element model of the Kansas knee simulator by comparing predicted tibio- and patellofemoral kinematics with experimental measurements during force-controlled gait simulation. A current semiconstrained, cruciate-retaining, fixed-bearing implant mounted in aluminum fixtures was utilized. An explicit finite element model of the simulator was developed from measured physical properties of the machine, and loading conditions were created from the measured experimental feedback data. The explicit finite element model allows both rigid body and fully deformable solutions to be chosen based on the application of interest. Six degrees-of-freedom kinematics were compared for both tibio- and patellofemoral joints during gait loading, with an average root mean square (rms) translational error of 1.1 mm and rotational rms error of 1.3 deg. Model sensitivity to interface friction and damping present in the experimental joints was also evaluated and served as a secondary goal of this paper. Modifying the metal-polyethylene coefficient of friction from 0.1 to 0.01 varied the patellar flexion-extension and tibiofemoral anterior-posterior predictions by 7 deg and 2 mm, respectively, while other kinematic outputs were largely insensitive. PMID:20670059

  14. Kinematics of novel 6-HTRT parallel robot

    Institute of Scientific and Technical Information of China (English)

    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.

  15. Kinematics and Aerodynamics of Backward Flying Dragonflies

    Science.gov (United States)

    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.

  16. Friction Stir Welding at MSFC: Kinematics

    Science.gov (United States)

    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.

  17. Kinematic landslide monitoring with Kalman filtering

    Directory of Open Access Journals (Sweden)

    M. Acar

    2008-03-01

    Full Text Available Landslides are serious geologic disasters that threat human life and property in every country. In addition, landslides are one of the most important natural phenomena, which directly or indirectly affect countries' economy. Turkey is also the country that is under the threat of landslides. Landslides frequently occur in all of the Black Sea region as well as in many parts of Marmara, East Anatolia, and Mediterranean regions. Since these landslides resulted in destruction, they are ranked as the second important natural phenomenon that comes after earthquake in Turkey. In recent years several landslides happened after heavy rains and the resulting floods. This makes the landslide monitoring and mitigation techniques an important study subject for the related professional disciplines in Turkey. The investigations on surface deformations are conducted to define the boundaries of the landslide, size, level of activity and direction(s of the movement, and to determine individual moving blocks of the main slide.

    This study focuses on the use of a kinematic deformation analysis based on Kalman Filtering at a landslide area near Istanbul. Kinematic deformation analysis has been applied in a landslide area, which is located to the north of Istanbul city. Positional data were collected using GPS technique. As part of the study, conventional static deformation analysis methodology has also been applied on the same data. The results and comparisons are discussed in this paper.

  18. Feeding kinematics of phyllomedusine tree frogs.

    Science.gov (United States)

    Gray, L A; Nishikawa, K C

    1995-02-01

    Previous studies have demonstrated that the phyllomedusine hylids possess highly protrusible tongues, a derived characteristic within the family Hylidae. In the present study, the kinematics of the feeding behavior of a phyllomedusine species, Pachymedusa dacnicolor, was analyzed using high-speed video (180 frames s-1). Its behavior was compared with that of Hyla cinerea, a species with a weakly protrusible tongue. P. dacnicolor exhibits a faster rate of tongue protraction, a longer gape cycle and more variable feeding kinematics than H. cinerea. In addition, the tongue is used in a unique 'fly-swatter' fashion, to pin the prey to the substratum as the frog completes the lunge. The rapid tongue protraction, extended gape cycle and fly-swatter action may have evolved in response to a diet of large, rapidly moving insects. In addition, several duration variables of the feeding cycle were greater for misses than for captures and drops, which suggests that sensory feedback rather than biomechanics controls gape cycle duration.

  19. A KINEMATIC STUDY OF FINSWIMMING AT SURFACE

    Directory of Open Access Journals (Sweden)

    Pier-Giorgio Zanone

    2004-06-01

    Full Text Available Finswimming is a sport of speed practiced on the surface or underwater, in which performance is based on whole-body oscillations. The present study investigated the undulatory motion performed by finswimmers at the surface. This study aiming to analyze the influence of the interaction of gender, practice level, and race distance on selected kinematic parameters. Six elite and six novices finswimmers equipped with joints markers (wrist, elbow, shoulder, hip, knee, and ankle were recorded in the sagittal plane. The position of these anatomical marks was digitized at 50 Hz. An automated motion analysis software yielded velocity, vertical amplitude, frequency, and angular position. Results showed that stroke frequency decreased whereas the mean amplitude of all joints increased with increasing race distance (p < 0.01. Mean joint amplitude for the upper limbs (wrist, elbow and shoulder was smaller for experts than for novices. Whereas that of the ankle was larger, so that the oscillation amplitude increased from shoulder to ankle. Elite male finswimmers were pitching more acutely than female. Moreover, elite male finswimmers showed a smaller knee bending than novices and than elite females (p < 0.01. This indicated that elite male finswimmers attempt to reduce drag forces thanks to a weak knee bending and a low upper limbs pitch. To sum up, gender, expertise, and race distance affect the performance and its kinematics in terms frontal drag. Expertise in finswimming requires taking advantage of the mechanical constraints pertaining to hydrodynamic constraints in order to optimize performance

  20. A multi-epoch VLBI survey of the kinematics of CFJ sources. II. Analysis of the kinematics

    Science.gov (United States)

    Britzen, S.; Vermeulen, R. C.; Campbell, R. M.; Taylor, G. B.; Pearson, T. J.; Readhead, A. C. S.; Xu, W.; Browne, I. W.; Henstock, D. R.; Wilkinson, P.

    2008-06-01

    Context: This is the second in a series of papers presenting VLBI observations of the 293 Caltech-Jodrell Bank Flat-spectrum (hereafter CJF) sources and their analysis. Aims: We obtain a consistent motion dataset large enough to allow the systematic properties of the population to be studied. Methods: We present detailed kinematic analysis of the complete flux-density limited CJF survey. We computed 2D kinematic models based on the optimal model-fitting parameters of multi-epoch VLBA observations. This allows us to calculate not only radial, but also orthogonal motions, and thus to study curvature and acceleration. Statistical tests of the motions measured and their reliability were performed. A correlation analysis between the derived apparent motions, luminosities, spectral indices, and core dominance and the resulting consequences is described. Results: With at least one velocity in each of the 237 sources, this sample is much larger than any available before, so it allows a meaningful statistical investigation of apparent motions and any possible correlations with other parameters in AGN jets. The main results to emerge are as follows: - In general motions are not consistent with a single uniform velocity applicable to all components along a jet. - We find a slight trend towards a positive outward acceleration and also adduce some evidence for greater acceleration in the innermost regions. - We find a lack of fast components at physical distances less than a few pc from the reference feature. - Only ~4% of the components from galaxies and ratio could be roughly a factor of 1.5-2. This supports the observed trend toward increasing apparent velocity with increasing observing frequency. Conclusions: This AGN survey provides the basis for any statistical analysis of jet and jet-component properties. Complete Table [see full textsee full text]. and Fig. [see full textsee full text] are only available in electronic form at the CDS via anonymous ftp to cdsarc

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

    Directory of Open Access Journals (Sweden)

    Hadi Kalani

    2016-04-01

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

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

    Science.gov (United States)

    Bella, Simone Dalla; Palmer, Caroline

    2011-01-01

    We examined the effect of rate on finger kinematics in goal-directed actions of pianists. In addition, we evaluated whether movement kinematics can be treated as an indicator of personal identity. Pianists' finger movements were recorded with a motion capture system while they performed melodies from memory at different rates. Pianists' peak finger heights above the keys preceding keystrokes increased as tempo increased, and were attained about one tone before keypress. These rate effects were not simply due to a strategy to increase key velocity (associated with tone intensity) of the corresponding keystroke. Greater finger heights may compensate via greater tactile feedback for a speed-accuracy tradeoff that underlies the tendency toward larger temporal variability at faster tempi. This would allow pianists to maintain high temporal accuracy when playing at fast rates. In addition, finger velocity and accelerations as pianists' fingers approached keys were sufficiently unique to allow pianists' identification with a neural-network classifier. Classification success was higher in pianists with more extensive musical training. Pianists' movement "signatures" may reflect unique goal-directed movement kinematic patterns, leading to individualistic sound. PMID:21731615

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

    Directory of Open Access Journals (Sweden)

    Simone Dalla Bella

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

  4. A complete kinematics approach to study multi-particle final state reactions

    Energy Technology Data Exchange (ETDEWEB)

    Alcorta, M. [Instituto de Estructura de la Materia, CSIC, Serrano 113 bis, Madrid E-28006 (Spain)], E-mail: alcorta@iem.cfmac.csic.es; Kirsebom, O. [Department of Physics and Astronomy, University of Aarhus, DK-8000 Aarhus C (Denmark); Borge, M.J.G. [Instituto de Estructura de la Materia, CSIC, Serrano 113 bis, Madrid E-28006 (Spain); Fynbo, H.O.U.; Riisager, K. [Department of Physics and Astronomy, University of Aarhus, DK-8000 Aarhus C (Denmark); Tengblad, O. [Instituto de Estructura de la Materia, CSIC, Serrano 113 bis, Madrid E-28006 (Spain)

    2009-07-01

    Detection in complete kinematics using highly segmented detectors can provide detailed information on the structure of excited nuclear states and their decay mechanisms. The detection of final states consisting of several particles gives rise to many challenges. We present here new techniques that allow for the extraction of physics from the many open channels. In particular this complete kinematic analysis technique has been applied to data from low-energy, high Q-value, light-ion reactions {sup 10}B({sup 3}He,p{alpha}{alpha}{alpha}), {sup 11}B({sup 3}He,d{alpha}{alpha}{alpha}), and {sup 7}Li({sup 3}He,p{alpha}{alpha})n, all of them performed at the CMAM tandem accelerator in Madrid.

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

    Directory of Open Access Journals (Sweden)

    Fai Chen Chen

    2013-01-01

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

  6. Space reconstruction of the morphology and kinematics of axisymmetric radio sources

    CERN Document Server

    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...

  7. 42 CFR 61.9 - Payments: Stipends; dependency allowances; travel allowances.

    Science.gov (United States)

    2010-10-01

    ... 42 Public Health 1 2010-10-01 2010-10-01 false Payments: Stipends; dependency allowances; travel allowances. 61.9 Section 61.9 Public Health PUBLIC HEALTH SERVICE, DEPARTMENT OF HEALTH AND HUMAN SERVICES... allowances; travel allowances. Payments for stipends, dependency allowances, and the travel...

  8. Kinematics of the South Atlantic rift

    Directory of Open Access Journals (Sweden)

    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

  9. A Kinematical Approach to Dark Energy Studies

    Energy Technology Data Exchange (ETDEWEB)

    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.

  10. SOLVING INVERSE KINEMATICS OF REDUNDANT MANIPULATOR BASED ON NEURAL NETWORK

    Institute of Scientific and Technical Information of China (English)

    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.

  11. A School Experiment in Kinematics: Shooting from a Ballistic Cart

    Science.gov (United States)

    Kranjc, T.; Razpet, N.

    2011-01-01

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

  12. Volunteer kinematics and reaction in lateral emergency maneuver tests

    NARCIS (Netherlands)

    Rooij, L. van; Elrofai, H.B.H.; Philippens, M.M.G.M.; Daanen, H.A.M.

    2013-01-01

    It is important to understand human kinematics and muscle activation patterns in emergency maneuvers for the design of safety systems and for the further development of human models. The objective of this study was to quantify kinematic behavior and muscle activation in simulated steering tests in s

  13. Kinematic synthesis of a new 3D printing solution

    Directory of Open Access Journals (Sweden)

    Giberti Hermes

    2016-01-01

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

  14. Kinematic analysis of the 3-RPR parallel manipulator

    CERN Document Server

    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.

  15. Force generation of bio-inspired hover kinematics

    NARCIS (Netherlands)

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

    2012-01-01

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

  16. Lingual Kinematics during Rapid Syllable Repetition in Parkinson's Disease

    Science.gov (United States)

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

    2012-01-01

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

  17. 75 FR 4098 - Utility Allowance Adjustments

    Science.gov (United States)

    2010-01-26

    ... URBAN DEVELOPMENT Utility Allowance Adjustments AGENCY: Office of the Chief Information Officer, HUD... are required to advise the Secretary of the need for and request of a new utility allowance for... whether the information will have practical utility; (2) Evaluate the accuracy of the agency's estimate...

  18. Allocation of Allowances and Associated Family Practices.

    Science.gov (United States)

    Kerr, M. Kaye; Cheadle, Tannis

    This study gathered information on general family practices concerning allowances given to children, parental reasons for the provision of allowances, the bases for their administration, and the frequency of conflicts generated around them. The subjects were 81 parents of elementary school children in a midwest Canadian city. Subjects completed…

  19. 45 CFR 602.22 - Allowable costs.

    Science.gov (United States)

    2010-10-01

    ... CFR part 31. Contract Cost Principles and Procedures, or uniform cost accounting standards that comply... 45 Public Welfare 3 2010-10-01 2010-10-01 false Allowable costs. 602.22 Section 602.22 Public... Requirements § 602.22 Allowable costs. (a) Limitation on use of funds. Grant funds may be used only for:...

  20. 45 CFR 1174.22 - Allowable costs.

    Science.gov (United States)

    2010-10-01

    ... than a hospital and an organization named in OBM Circular A-122 as not subject to that circular 48 CFR... 45 Public Welfare 3 2010-10-01 2010-10-01 false Allowable costs. 1174.22 Section 1174.22 Public....22 Allowable costs. (a) Limitation on use of funds. Grant funds may be used only for: (1)...

  1. 24 CFR 85.22 - Allowable costs.

    Science.gov (United States)

    2010-04-01

    ... Circular A-122 as not subject to that circular 48 CFR part 31. Contract Cost Principles and Procedures, or... 24 Housing and Urban Development 1 2010-04-01 2010-04-01 false Allowable costs. 85.22 Section 85... TRIBAL GOVERNMENTS Post-Award Requirements Financial Administration § 85.22 Allowable costs....

  2. 45 CFR 1183.22 - Allowable costs.

    Science.gov (United States)

    2010-10-01

    ... than a hospital and an organization named in OBM Circular A-122 as not subject to that circular 48 CFR... 45 Public Welfare 3 2010-10-01 2010-10-01 false Allowable costs. 1183.22 Section 1183.22 Public....22 Allowable costs. (a) Limitation on use of funds. Grant funds may be used only for: (1)...

  3. 2 CFR 215.27 - Allowable costs.

    Science.gov (United States)

    2010-01-01

    ... CFR part 230, “Cost Principles for Non-Profit Organizations (OMB Circular A-122).” The allowability of... CFR part 220, “Cost Principles for Educational Institutions (OMB Circular A-21).” The allowability of costs incurred by hospitals is determined in accordance with the provisions of appendix E of 45 CFR...

  4. 5 CFR 180.104 - Allowable claims.

    Science.gov (United States)

    2010-01-01

    ... mobile homes may be allowed only in cases of collision, theft, or vandalism. (5) Money. Claims for money... claimant's supervisor. (4) Mobile homes. Claims may be allowed for damage to or loss of mobile homes and their contents under the provisions of § 180.104(c)(2). Claims for structural damage to mobile...

  5. 45 CFR 2543.27 - Allowable costs.

    Science.gov (United States)

    2010-10-01

    ... GRANTS AND AGREEMENTS WITH INSTITUTIONS OF HIGHER EDUCATION, HOSPITALS, AND OTHER NON-PROFIT ORGANIZATIONS Post-Award Requirements Financial and Program Management § 2543.27 Allowable costs. For each kind... Organizations.” The allowability of costs incurred by institutions of higher education is determined...

  6. 38 CFR 49.27 - Allowable costs.

    Science.gov (United States)

    2010-07-01

    ... ADMINISTRATIVE REQUIREMENTS FOR GRANTS AND AGREEMENTS WITH INSTITUTIONS OF HIGHER EDUCATION, HOSPITALS, AND OTHER NON-PROFIT ORGANIZATIONS Post-Award Requirements Financial and Program Management § 49.27 Allowable...-Profit Organizations.” The allowability of costs incurred by institutions of higher education...

  7. 20 CFR 435.27 - Allowable costs.

    Science.gov (United States)

    2010-04-01

    ... AGREEMENTS WITH INSTITUTIONS OF HIGHER EDUCATION, HOSPITALS, OTHER NON-PROFIT ORGANIZATIONS, AND COMMERCIAL ORGANIZATIONS Post-Award Requirements Financial and Program Management § 435.27 Allowable costs. For each kind... Organizations.” (c) Allowability of costs incurred by institutions of higher education is determined...

  8. 28 CFR 70.27 - Allowable costs.

    Science.gov (United States)

    2010-07-01

    ... AND AGREEMENTS (INCLUDING SUBAWARDS) WITH INSTITUTIONS OF HIGHER EDUCATION, HOSPITALS AND OTHER NON-PROFIT ORGANIZATIONS Post-Award Requirements Financial and Program Management § 70.27 Allowable costs. (a... Organizations.” The allowability of costs incurred by institutions of higher education is determined...

  9. 15 CFR 14.27 - Allowable costs.

    Science.gov (United States)

    2010-01-01

    ... GRANTS AND AGREEMENTS WITH INSTITUTIONS OF HIGHER EDUCATION, HOSPITALS, OTHER NON-PROFIT, AND COMMERCIAL ORGANIZATIONS Post-Award Requirements Financial and Program Management § 14.27 Allowable costs. For each kind of... Organizations.” The allowability of costs incurred by institutions of higher education is determined...

  10. 40 CFR 30.27 - Allowable costs.

    Science.gov (United States)

    2010-07-01

    ... ADMINISTRATIVE REQUIREMENTS FOR GRANTS AND AGREEMENTS WITH INSTITUTIONS OF HIGHER EDUCATION, HOSPITALS, AND OTHER NON-PROFIT ORGANIZATIONS Post-Award Requirements Financial and Program Management § 30.27 Allowable...-Profit Organizations.” The allowability of costs incurred by institutions of higher education...

  11. 27 CFR 28.334 - Credit allowance.

    Science.gov (United States)

    2010-04-01

    ... 27 Alcohol, Tobacco Products and Firearms 1 2010-04-01 2010-04-01 false Credit allowance. 28.334... OF THE TREASURY LIQUORS EXPORTATION OF ALCOHOL Action on Claims § 28.334 Credit allowance. Where the credit relates to internal revenue taxes on beer that have been determined but not yet paid by...

  12. 45 CFR 92.22 - Allowable costs.

    Science.gov (United States)

    2010-10-01

    ... to that circular 48 CFR Part 31. Contract Cost Principles and Procedures, or uniform cost accounting... grantee or subgrantee. (b) Applicable cost principles. For each kind of organization, there is a set of Federal principles for determining allowable costs. Allowable costs will be determined in accordance...

  13. 29 CFR 1470.22 - Allowable costs.

    Science.gov (United States)

    2010-07-01

    ... to that circular 48 CFR part 31. Contract Cost Principles and Procedures, or uniform cost accounting... grantee or subgrantee. (b) Applicable cost principles. For each kind of organization, there is a set of Federal principles for determining allowable costs. Allowable costs will be determined in accordance...

  14. 15 CFR 24.22 - Allowable costs.

    Science.gov (United States)

    2010-01-01

    ... Part 31. Contract Cost Principles and Procedures, or uniform cost accounting standards that comply with...) Applicable cost principles. For each kind of organization, there is a set of Federal principles for determining allowable costs. Allowable costs will be determined in accordance with the cost...

  15. 42 CFR 405.2468 - Allowable costs.

    Science.gov (United States)

    2010-10-01

    ... to the limit on the all-inclusive rate for allowable costs. (3) Allowable graduate medical education.... (f) Graduate medical education. (1) Effective for that portion of cost reporting periods occurring on... receive direct graduate medical education payment for those residents. (2) Direct graduate...

  16. Freeing the Serial Mechanism Designer from Inverse Kinematic Solvability Constraints

    Directory of Open Access Journals (Sweden)

    Diana C. W. Friedman

    2010-01-01

    Full Text Available This paper presents a fast numerical solution for the inverse kinematics of a serial manipulator. The method is implemented on the C-arm, a manipulator designed for use in robotic surgery. The inverse kinematics solution provides all possible solutions for any six degree-of-freedom serial manipulator, assuming that the forward kinematics are known and that it is possible to solve for the remaining joint angles if one joint angle’s value is known. With a fast numerical method and the current levels of computing power, designing a manipulator with closed-form inverse kinematics is no longer necessary. When designing the C-arm, we therefore chose to weigh other factors, such as actuator size and patient safety, more heavily than the ability to find a closed-form inverse kinematics solution.

  17. Cluster algebras in Scattering Amplitudes with special 2D kinematics

    CERN Document Server

    Torres, Marcus A C

    2013-01-01

    We study the cluster algebra of the kinematic configuration space $Conf_n(\\mathbb{P}^3)$ of a n-particle scattering amplitude restricted to the special 2D kinematics. We found that the n-points two loop MHV remainder function found in special 2D kinematics depend on a selection of \\XX-coordinates that are part of a special structure of the cluster algebra related to snake triangulations of polygons. This structure forms a necklace of hypercubes beads in the corresponding Stasheff polytope. Furthermore in $n = 12$, the cluster algebra and the selection of \\XX-coordinates in special 2D kinematics replicates the cluster algebra and the selection of \\XX-coordinates of $n=6$ two loop MHV amplitude in 4D kinematics.

  18. Numerical analysis of kinematic soil—pile interaction

    Science.gov (United States)

    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.

  19. Expressions of manipulator kinematic equations via symbolic computation

    International Nuclear Information System (INIS)

    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)

  20. 21st Century Kinematics : The 2012 NSF Workshop

    CERN Document Server

    2013-01-01

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

  1. 2nd Conference on Interdisciplinary Applications in Kinematics

    CERN Document Server

    Flores, Francisco

    2015-01-01

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

  2. Differential Kinematics Of Contemporary Industrial Robots

    Directory of Open Access Journals (Sweden)

    Szkodny T.

    2014-08-01

    Full Text Available The paper presents a simple method of avoiding singular configurations of contemporary industrial robot manipulators of such renowned companies as ABB, Fanuc, Mitsubishi, Adept, Kawasaki, COMAU and KUKA. To determine the singular configurations of these manipulators a global form of description of the end-effector kinematics was prepared, relative to the other links. On the basis of this description , the formula for the Jacobian was defined in the end-effector coordinates. Next, a closed form of the determinant of the Jacobian was derived. From the formula, singular configurations, where the determinant’s value equals zero, were determined. Additionally, geometric interpretations of these configurations were given and they were illustrated. For the exemplary manipulator, small corrections of joint variables preventing the reduction of the Jacobian order were suggested. An analysis of positional errors, caused by these corrections, was presented

  3. Kinematic characteristics of hailstorms in Northern Greece

    Directory of Open Access Journals (Sweden)

    D. V. Foris

    2006-01-01

    Full Text Available The purpose of this study is the analysis of radar data, digitally recorded, during an operational hail suppression program in the region of Central Macedonia, Greece, for the warm period of the years 1997–2001. Kinematic characteristics, such as lifetime and distance traveled by hailstorms, as well as direction of motion and speed, have been related to type of storms and season. It has been found that singlecells are short-lived and travel short distances, while multicells are long-lived and travel long distances. On the contrary, their corresponding speed distributions are similar. The deviation of the direction of motion from mean wind is smaller for singlecells than for multicells. September and July exhibit the maximum and minimum average storm speeds as a direct implication of synoptic disturbances passage and convection, prevailing respectively. Finally, storms overcoming orographic barriers decelerate in general on the windward side and accelerate on the lee side of mountains.

  4. Color-kinematic duality for form factors

    Energy Technology Data Exchange (ETDEWEB)

    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.

  5. Kinematic Solar Dynamo with Spot Deposition

    Science.gov (United States)

    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.

  6. Kinematics of chiropteran shoulder girdle in flight.

    Science.gov (United States)

    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

  7. Galactic kinematics derived from classical cepheids

    Science.gov (United States)

    Zhu, Zi

    On the basis of radial velocity and Hipparcos proper motion data, we have analyzed the galactic kinematics of classical Cepheids. Using the 3-D Ogorodnikov-Milne model we have determined the rotational velocity of the Galaxy to be V0 = 240.5 ± 10.2 km/s, on assuming a glactocentric distance of the Sun of R0 = 8.5 kpc. The results clearly indicate a contracting motion in the solar neighbourhood of (∂V θ∂θ)/R = -2.60 ± 1.07 km s -1 kpc -1, along the direction of galactic rotation. Possible reason for this motion is discussed. The solar motion found here is S⊙ = 18.78 ± 0.86 km/s in the direction l⊙ = 54.4° ± 2.9° and b⊙ = +26.6° ± 2.6°.

  8. Stiffness estimation of a parallel kinematic machine

    Institute of Scientific and Technical Information of China (English)

    2001-01-01

    This paper presents a simple yet comprehensive approach to quickly estimating the stiff-ness of a tripod-based parallel kinematic machine. This approach can be implemented in two steps. Inthe first step, the machine structure is decomposed into two substructures associated with the machineframe and parallel mechanism. The stiffness models of these two substructures are formulated bymeans of virtual work principle. This is followed by the second step that enables the stiffness model ofthe machine structure as a whole to be achieved by linear superposition. The 3D representations of themachine stiffness within the usable workspace are depicted and the contributions of different componentrigidities to the machine stiffness are discussed. The result is compared with that obtained through finiteelement analysis.

  9. Internal kinematics of modelled interacting disc galaxies

    CERN Document Server

    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 ...

  10. SHIELD: Neutral Gas Kinematics and Dynamics

    CERN Document Server

    McNichols, Andrew T; Nims, Elise; Cannon, John M; Adams, Elizabeth A K; Bernstein-Cooper, Elijah Z; Giovanelli, Riccardo; Haynes, Martha P; Józsa, Gyula I G; McQuinn, Kristen B W; Salzer, John J; Skillman, Evan D; Warren, Steven R; Dolphin, Andrew; Elson, E C; Haurberg, Nathalie; Ott, Jürgen; Saintonge, Amelie; Cave, Ian; Hagen, Cedric; Huang, Shan; Janowiecki, Steven; Marshall, Melissa V; Thomann, Clara M; Van Sistine, Angela

    2016-01-01

    We present kinematic analyses of the 12 galaxies in the "Survey of HI in Extremely Low-mass Dwarfs" (SHIELD). We use multi-configuration interferometric observations of the HI 21cm emission line from the Karl G. Jansky Very Large Array (VLA) to produce image cubes at a variety of spatial and spectral resolutions. Both two- and three-dimensional fitting techniques are employed in an attempt to derive inclination-corrected rotation curves for each galaxy. In most cases, the comparable magnitudes of velocity dispersion and projected rotation result in degeneracies that prohibit unambiguous circular velocity solutions. We thus make spatially resolved position-velocity cuts, corrected for inclination using the stellar components, to estimate the circular rotation velocities. We find circular velocities <30 km/s for the entire survey population. Baryonic masses are calculated using single-dish HI fluxes from Arecibo and stellar masses derived from HST and Spitzer imaging. Comparison is made with total dynamical ...

  11. Galaxy simulations: Kinematics and mock observations

    Science.gov (United States)

    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

  12. Elbow joint instability: A kinematic model.

    Science.gov (United States)

    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

  13. Mg II Absorbing Galaxies: Morphologies and Kinematics

    CERN Document Server

    Churchill, C; Kacprzak, G G; Churchill, Chris; Steidel, Chuck; Kacprzak, Glenn

    2004-01-01

    In this contribution, we review our current knowledge of the properties of galaxies, and their extended halos, selected by MgII absorption in the spectra of background quasars. We then describe recent efforts to quantify the morphologies and orientations of galaxies and explore how these relate to the gas kinematics. In a sample of 26 galaxies, we find no clear connection between the orientation of the quasar line of sight through the galaxy and the velocity spread of the gas. However, it appears that the quantity of gas "stirred up" in the halo may be correlated to asymmetry in the galaxy morphology. Since the galaxies have fairly normal morphologies, this connection may suggest that galaxies with extended halos experienced an interaction or merging event a few dynamical times prior to the epoch of observation.

  14. Kinematical Analysis of an Articulated Mechanism

    CERN Document Server

    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.

  15. Feeding kinematics of juvenile swellsharks, Cephaloscyllium ventriosum

    Science.gov (United States)

    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

  16. Utility allowed returns and market extremes

    International Nuclear Information System (INIS)

    In recent years interest rates have fluctuated from exceptionally high levels in the early 1980s to their current levels, the lowest in two decades. Observers and analysts generally have assumed that allowed returns by regulatory commissions follow the movement of interest rates; indeed some analysts use a risk premium method to estimate the cost of common equity, assuming a constant and linear relationship between interest rates and the cost of common equity. That suggests we could expect a relatively stable relationship between interest rates and allowed returns, as well. However, a simple comparison of allowed returns and interest rates shows that this is not the case in recent years. The relationship between market interest rates and the returns allowed by commissions varies and is obviously a great deal more complicated. Empirically, there appears to be only a narrow range where market interest rates significantly affect the allowed returns on common stock set by state commissions, at least for electric and combination utilities. If rates are at historically low levels, allowed returns based largely on market rates will hasten subsequent rate filings, and commissions appear to look beyond the low rate levels. Conversely, it appears that regulators do not let historically high market rates determine allowed returns either. At either high or low interest levels, caution seems to be the policy

  17. 24 CFR 17.43 - Allowable claims.

    Science.gov (United States)

    2010-04-01

    ... by the negligent or wrongful act of the claimant, his agent, the members of his family, or his..., superior authority. (6) Clothing and accessories. Claims may be allowed for damage to, or loss of,...

  18. 46 CFR 154.421 - Allowable stress.

    Science.gov (United States)

    2010-10-01

    ... SELF-PROPELLED VESSELS CARRYING BULK LIQUEFIED GASES Design, Construction and Equipment Integral Tanks... Bureau of Shipping's allowable stress for the vessel's hull published in “Rules for Building and Classing Steel Vessels”, 1981. Membrane Tanks...

  19. 45 CFR 34.4 - Allowable claims.

    Science.gov (United States)

    2010-10-01

    .... Damage or loss of personal property, including baggage and household items, while being transported by a carrier, agent or agency of the government, or private conveyance, may be allowed only if the property...

  20. Sign Patterns That Allow the Given Matrix

    Institute of Scientific and Technical Information of China (English)

    邵燕灵; 孙良

    2003-01-01

    Let P be a property referring to a real matrix. For a sign pattern A, if there exists a real matrix B in the qualitative class of A such that B has property P, then we say A allows P. Three cases that A allows an M-matrix, an inverse M-matrix and a P0-matrix are considered. The complete characterizations are obtained.

  1. FINANCIAL-ACCOUNTING ASPECTS REGARDING FAMILY ALLOWANCES

    OpenAIRE

    Iuliana Cenar

    2010-01-01

    The importance of family and ensuring its social protection are indisputable in any society. It is the reason why in this paper we plan to create an overall picture of how social protection is achieved through family allowances and other social benefits, as well as the role of accounting in this process. Thus, we considered appropriate to present the institutional and legal frameworks for the social protection of the family thorough family allowances and additional social benefits related to ...

  2. Child Allowances, Educational Subsidies and Economic Growth

    OpenAIRE

    Chen, Hung-Ju

    2013-01-01

    This paper examines the effects on economic growth attributable to government policies of child allowances and educational subsidies. We show that multiple steady states may arise under these two policies, with club convergence occurring, and the initial condition being of relevance, if the tax rate is fairly high. Under a policy of child allowances, an increase in the tax rate is found to raise the quantity of children, but lower the quality of adults; however, under a policy of educational ...

  3. Regulatory treatment of allowances and compliance costs

    Energy Technology Data Exchange (ETDEWEB)

    Rose, K. [National Regulatory Research Institute, Columbus, OH (United States)

    1993-07-01

    The Clean Air Act Amendments of 1990 (CAAA) established a national emission allowance trading system, a market-based form of environmental regulation designed to reduce and limit sulfur dioxide emissions. However, the allowance trading system is being applied primarily to an economically regulated electric utility industry. The combining of the new form of environmental regulation and economic regulation of electric utilities has raised a number of questions including what the role should be of the federal and state utility regulating commissions and how those actions will affect the decision making process of the utilities and the allowance market. There are several dimensions to the regulatory problems that commissions face. Allowances and utility compliance expenditures have implications for least-cost/IPR (integrated resource planning), prudence review procedures, holding company and multistate utility regulation and ratemaking treatment. The focus of this paper is on the ratemaking treatment. The following topics are covered: ratemaking treatment of allowances and compliance costs; Traditional cost-recovery mechanisms; limitations to the traditional approach; traditional approach and the allowance trading market; market-based cost recovery mechanisms; methods of determining the benchmark; determining the split between ratepayers and the utility; other regulatory approaches; limitations of incentive mechanisms.

  4. Complex, Quiescent Kinematics in a Highly Filamentary Infrared Dark Cloud

    CERN Document Server

    Henshaw, Jonathan D; Fontani, Francesco; Jimenez-Serra, Izaskun; Tan, Jonathan C; Hernandez, Audra K

    2012-01-01

    Infrared Dark Clouds (IRDCs) host the initial conditions under which massive stars and stellar clusters form. We have obtained high sensitivity and high spectral resolution observations with the IRAM 30m antenna, which allowed us to perform detailed analysis of the kinematics within one IRDC, G035.39-00.33. We focus on the 1-0 and 3-2 transitions of N2H+, C18O (1-0), and make comparison with SiO (2-1) observations and extinction mapping. Three interacting filaments of gas are found. We report large-scale velocity coherence throughout the cloud, evidenced through small velocity gradients and relatively narrow line widths. This suggests that the merging of these filaments is somewhat "gentle", possibly regulated by magnetic fields. This merging of filaments may be responsible for the weak parsec-scale SiO emission detected by Jimenez-Serra et al. 2010, via grain mantle vaporization. A systematic velocity shift between the N2H+ (1-0) and C18O (1-0) gas throughout the cloud of 0.18 +/- 0.04 kms^{-1} is also found...

  5. Kinematical Analysis along Maximal Lactate Steady State Swimming Intensity

    Directory of Open Access Journals (Sweden)

    Pedro Figueiredo, Rafael Nazario, Marisa Sousa, Jailton Gregório Pelarigo, João Paulo Vilas-Boas, Ricardo Fernandes

    2014-09-01

    Full Text Available The purpose of this study was to conduct a kinematical analysis during swimming at the intensity corresponding to maximal lactate steady state (MLSS. Thirteen long distance swimmers performed, in different days, an intermittent incremental protocol of n x 200 m until exhaustion and two to four 30-min submaximal constant speed bouts to determine the MLSS. The video analysis, using APAS System (Ariel Dynamics Inc., USA, allowed determining the following relevant swimming determinants (in five moments of the 30-min test: 0, 25, 50, 75, and 100%: stroke rate, stroke length, trunk incline, intracyclic velocity variation, propelling efficiency, index of coordination and the time allotted to propulsion per distance unit. An ANOVA for repeated measures was used to compare the parameters mean values along each moment of analysis. Stoke rate tended to increase and stroke length to decrease along the test; a tendency to decrease was also found for intracyclic velocity variation and propelling efficiency whereas the index of coordination and the propulsive impulse remained stable during the MLSS test. It can be concluded that the MLSS is not only an intensity to maintain without a significant increase of blood lactate concentration, but a concomitant stability for some biomechanical parameters exists (after an initial adaptation. However, efficiency indicators seem to be more sensitive to changes occurring during swimming at this threshold intensity.

  6. The First Estimates of Kinematically Forbidden D Meson Decays

    CERN Document Server

    Verma, R C; Odagiri, Kosuke

    2015-01-01

    The weak hadronic decay D^+ -> K^0\\bar a_1^+ is kinematically forbidden at the peak mass values of the particles involved. However, occurrence of this decay has been reported with branching fraction (9.1 \\plusminus 1.8) \\cross 10^{-3} in the analysis of D^+ -> K^\\bar0 4 \\pi decay data. This is due to smearing effects on this decay caused mainly by the large width of a_1-resonance, which extends the phase space and allows this decay. Using a factorization model to evaluate decay amplitudes for external and internal W-emission diagrams, and incorporating Breit-Wigner smearing using the total a_1 width of 400 MeV, we obtain the first estimate for branching fraction of this decay to be 3.3 \\cross 10^{-3} and 7.0 \\cross 10^{-3}, for |V_1^{Da1} (0)|=0.40 and 1.50 respectively corresponding to different theoretical models, where |V_1^{Da1} (q^2)| is the vector form factor appearing in the D -> a_1 s-wave transition. The estimates are of the desired order of magnitude. We also predict branching fractions of its count...

  7. Complete 3D kinematics of upper extremity functional tasks.

    Science.gov (United States)

    van Andel, Carolien J; Wolterbeek, Nienke; Doorenbosch, Caroline A M; Veeger, DirkJan H E J; Harlaar, Jaap

    2008-01-01

    Upper extremity (UX) movement analysis by means of 3D kinematics has the potential to become an important clinical evaluation method. However, no standardized protocol for clinical application has yet been developed, that includes the whole upper limb. Standardization problems include the lack of a single representative function, the wide range of motion of joints and the complexity of the anatomical structures. A useful protocol would focus on the functional status of the arm and particularly the orientation of the hand. The aim of this work was to develop a standardized measurement method for unconstrained movement analysis of the UX that includes hand orientation, for a set of functional tasks for the UX and obtain normative values. Ten healthy subjects performed four representative activities of daily living (ADL). In addition, six standard active range of motion (ROM) tasks were executed. Joint angles of the wrist, elbow, shoulder and scapula were analyzed throughout each ADL task and minimum/maximum angles were determined from the ROM tasks. Characteristic trajectories were found for the ADL tasks, standard deviations were generally small and ROM results were consistent with the literature. The results of this study could form the normative basis for the development of a 'UX analysis report' equivalent to the 'gait analysis report' and would allow for future comparisons with pediatric and/or pathologic movement patterns.

  8. Kinematic Modelling of Disc Galaxies using Graphics Processing Units

    CERN Document Server

    Bekiaris, Georgios; Fluke, Christopher J; Abraham, Roberto

    2015-01-01

    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 multi-threaded dual CPU configuration. Our method's accuracy, precision and robustness a...

  9. 42 CFR 61.8 - Benefits: Stipends; dependency allowances; travel allowances; vacation.

    Science.gov (United States)

    2010-10-01

    ... 42 Public Health 1 2010-10-01 2010-10-01 false Benefits: Stipends; dependency allowances; travel allowances; vacation. 61.8 Section 61.8 Public Health PUBLIC HEALTH SERVICE, DEPARTMENT OF HEALTH AND HUMAN...; dependency allowances; travel allowances; vacation. Individuals awarded regular fellowships shall be...

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

    Science.gov (United States)

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

    2009-12-01

    amount. This model allows also: (i) to easily explain folds with wide variety of geometries; (ii) to understand the deep architecture of anticlines; and (iii) to deduce the kinematic evolution of folding with time. Mitra, S., 1990, Fault-propagation folds: geometry, kinematic evolution, and hydrocarbon traps. AAPG Bulletin, v. 74, no. 6, p. 921-945.

  11. Gait Kinematic Analysis in Water Using Wearable Inertial Magnetic Sensors.

    Directory of Open Access Journals (Sweden)

    Silvia Fantozzi

    Full Text Available Walking is one of the fundamental motor tasks executed during aquatic therapy. Previous kinematics analyses conducted using waterproofed video cameras were limited to the sagittal plane and to only one or two consecutive steps. Furthermore, the set-up and post-processing are time-consuming and thus do not allow a prompt assessment of the correct execution of the movements during the aquatic session therapy. The aim of the present study was to estimate the 3D joint kinematics of the lower limbs and thorax-pelvis joints in sagittal and frontal planes during underwater walking using wearable inertial and magnetic sensors. Eleven healthy adults were measured during walking both in shallow water and in dry-land conditions. Eight wearable inertial and magnetic sensors were inserted in waterproofed boxes and fixed to the body segments by means of elastic modular bands. A validated protocol (Outwalk was used. Gait cycles were automatically segmented and selected if relevant intraclass correlation coefficients values were higher than 0.75. A total of 704 gait cycles for the lower limb joints were normalized in time and averaged to obtain the mean cycle of each joint, among participants. The mean speed in water was 40% lower than that of the dry-land condition. Longer stride duration and shorter stride distance were found in the underwater walking. In the sagittal plane, the knee was more flexed (≈ 23° and the ankle more dorsiflexed (≈ 9° at heel strike, and the hip was more flexed at toe-off (≈ 13° in water than on land. On the frontal plane in the underwater walking, smoother joint angle patterns were observed for thorax-pelvis and hip, and ankle was more inversed at toe-off (≈ 7° and showed a more inversed mean value (≈ 7°. The results were mainly explained by the effect of the speed in the water as supported by the linear mixed models analysis performed. Thus, it seemed that the combination of speed and environment triggered

  12. Gait Kinematic Analysis in Water Using Wearable Inertial Magnetic Sensors.

    Science.gov (United States)

    Fantozzi, Silvia; Giovanardi, Andrea; Borra, Davide; Gatta, Giorgio

    2015-01-01

    Walking is one of the fundamental motor tasks executed during aquatic therapy. Previous kinematics analyses conducted using waterproofed video cameras were limited to the sagittal plane and to only one or two consecutive steps. Furthermore, the set-up and post-processing are time-consuming and thus do not allow a prompt assessment of the correct execution of the movements during the aquatic session therapy. The aim of the present study was to estimate the 3D joint kinematics of the lower limbs and thorax-pelvis joints in sagittal and frontal planes during underwater walking using wearable inertial and magnetic sensors. Eleven healthy adults were measured during walking both in shallow water and in dry-land conditions. Eight wearable inertial and magnetic sensors were inserted in waterproofed boxes and fixed to the body segments by means of elastic modular bands. A validated protocol (Outwalk) was used. Gait cycles were automatically segmented and selected if relevant intraclass correlation coefficients values were higher than 0.75. A total of 704 gait cycles for the lower limb joints were normalized in time and averaged to obtain the mean cycle of each joint, among participants. The mean speed in water was 40% lower than that of the dry-land condition. Longer stride duration and shorter stride distance were found in the underwater walking. In the sagittal plane, the knee was more flexed (≈ 23°) and the ankle more dorsiflexed (≈ 9°) at heel strike, and the hip was more flexed at toe-off (≈ 13°) in water than on land. On the frontal plane in the underwater walking, smoother joint angle patterns were observed for thorax-pelvis and hip, and ankle was more inversed at toe-off (≈ 7°) and showed a more inversed mean value (≈ 7°). The results were mainly explained by the effect of the speed in the water as supported by the linear mixed models analysis performed. Thus, it seemed that the combination of speed and environment triggered modifications in the

  13. Kinematic, workspace and singularity analysis of a new parallel robot used in minimally invasive surgery

    Science.gov (United States)

    Stoica, Alin; Pisla, Doina; Andras, Szilaghyi; Gherman, Bogdan; Gyurka, Bela-Zoltan; Plitea, Nicolae

    2013-03-01

    In the last ten years, due to development in robotic assisted surgery, the minimally invasive surgery has greatly changed. Until now, the vast majority of robots used in surgery, have serial structures. Due to the orientation parallel module, the structure is able to reduce the pressure exerted on the entrance point in the patient's abdominal wall. The parallel robot can also handle both a laparoscope as well an active instrument for different surgical procedures. The advantage of this parallel structure is that the geometric model has been obtained through an analytical approach. The kinematic modelling of a new parallel architecture, the inverse and direct geometric model and the inverse and direct kinematic models for velocities and accelerations are being determined. The paper will demonstrate that with this parallel structure, one can obtain the necessary workspace required for a minimally invasive operation. The robot workspace was generated using the inverse geometric model. An indepth study of different types of singularity is performed, allowing the development of safe control algorithms of the experimental model. Some kinematic simulation results and the experimental model of the robot are presented in the paper.

  14. Understanding the spiral structure of the Milky Way using the local kinematic groups

    CERN Document Server

    Antoja, T; Romero-Gómez, M; Pichardo, B; Valenzuela, O; Moreno, E

    2011-01-01

    We study the spiral arm influence on the solar neighbourhood stellar kinematics. As the nature of the Milky Way (MW) spiral arms is not completely determined, we study two models: the Tight-Winding Approximation (TWA) model, which represents a local approximation, and a model with self-consistent material arms named PERLAS. This is a mass distribution with more abrupt gravitational forces. We perform test particle simulations after tuning the two models to the observational range for the MW spiral arm properties. We explore the effects of the arm properties and find that a significant region of the allowed parameter space favours the appearance of kinematic groups. The velocity distribution is mostly sensitive to the relative spiral arm phase and pattern speed. In all cases the arms induce strong kinematic imprints for pattern speeds around 17 km/s/kpc (close to the 4:1 inner resonance) but no substructure is induced close to corotation. The groups change significantly if one moves only ~0.6 kpc in galactocen...

  15. Development of a Microcontroller-based Wireless Accelerometer for Kinematic Analysis

    Directory of Open Access Journals (Sweden)

    Maria Clarissa Alvarez Carasco

    2015-06-01

    Full Text Available Wireless sensor networks (WSNs allow real-time measurement and monitoring with less complexity and more efficient in terms of obtaining data when the subject is in motion. It eliminates the limitations introduced by wired connections between the sensors and the central processing unit. Although wireless technology is widely used around the world, not much has been applied for education. Through VISSER, a low cost WSN using nRF24L01+ RF transceiver that is developed to observe and analyze the kinematics of a moving object is discussed in this paper. Data acquisition and transmission is realized with the use of a low power and low cost microcontroller ATtiny85 that obtains data from the ADXL345 three-axis accelerometer. An ATtiny85 also controls the receiving module with a UART connection to the computer. Data gathered are then processed in an open-source programming language to determine properties of an object’s motion such as pitch and roll (tilt, acceleration and displacement. This paper discusses the application of the developed WSN for the kinematics analysis of a toy car moving on flat and inclined surfaces along the three axes. The developed system can be used in various motion detection and other kinematics applications, as well as physics laboratory activities for educational purposes.

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

    Science.gov (United States)

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

    2016-04-01

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

  17. Kinematics of symmetric Galactic longitudes to probe the spiral arms of the Milky Way with Gaia

    CERN Document Server

    Antoja, T; de Bruijne, J; Prusti, T

    2016-01-01

    We model the effects of the spiral arms on the disk stellar kinematics by using both controlled orbital integrations in analytic potentials and self-consistent simulations. We compare the stellar kinematics of symmetric Galactic longitudes (+l and -l). This approach does not require the assumption of an axisymmetric model. The differences of the median transverse velocity, i.e. from parallaxes and proper motions, show clear trends that depend strongly on the properties of the spiral arms. Thus, this method can be used to quantify the importance of the spiral arms effects on the stellar orbits in the different regions of the disk and also constrain the location of the arms, their main resonances and, thus, their pattern speed. Moreover, the method give us indications of the dynamical nature of the spiral structure (e.g. grand-design versus transient multiple arms) and, therefore, allow us to test different origin scenarios of spiral arms. The typical differences of the measured kinematics in symmetric longitud...

  18. Proper motion survey and kinematic analysis of the Rho Ophiuchi embedded cluster

    CERN Document Server

    Ducourant, C; Krone-Martins, A; Bontemps, S; Despois, D; Galli, P A B; Bouy, H; Campion, J F Le; Rapaport, M; Cuillandre, J C

    2016-01-01

    We aim at performing a kinematic census of young stellar objects (YSOs) in the Rho Ophiuchi F core and partially in the E core of the L1688 dark cloud. We run a proper motion program at the ESO New Technology Telescope (NTT) with the Son of ISAAC (SOFI) instrument over nine years in the near-infrared. We complemented these observations with various public image databases to enlarge the time base of observations and the field of investigation to 0.5 deg X 0.5 deg. We derived positions and proper motions for 2213 objects. From these, 607 proper motions were derived from SOFI observations with a ~1.8 mas/yr accuracy while the remaining objects were measured only from auxiliary data with a mean precision of about ~3 mas/yr. We performed a kinematic analysis of the most accurate proper motions derived in this work, which allowed us to separate cluster members from field stars and to derive the mean properties of the cluster. From the kinematic analysis we derived a list of 68 members and 14 candidate members, comp...

  19. Ankle Kinematics Described By Means Of Stereophotogrammetry And Mathematical Modelling

    Science.gov (United States)

    Allard, Paul; Nagata, Susan D.; Duhaime, Morris; Labelle, Hubert; Murphy, Norman

    1986-07-01

    The ankle is a complex structure allowing foot mobility while providing stability. In an attempt to improve the knowledge of the kinematics of the ankle, an approach incorporating both experimental and analytical techniques was developed. Stereophotogrammetry combined with the Direct Linear Transformation (DLT) technique, was used to quantify the spatial displacements of the foot. Four motorized cameras were fixed on a baseboard 0.62 m from a support frame so as to obtain two stereopairs, one medial and one lateral. For a pair, the cameras were 0.52 m apart and maintained a convergent angle of 21.5°. The support frame was designed to fix the tibia while allowing foot motion. A device comprised of 76 markers, 38 of which were visible to each pair of cameras was used for the calibration. The spatial position of each marker was measured to a precision of 0.05 mm whereas their computed spatial position using the DLT technique was accurate to 0.4 mm. For the experiment, two embalmed cadaver legs and feet, amputated at midshank and of normal appearance were used. After a partial dissection, three pin markers were embedded into each of the medial and lateral sides of the talus permitting the calculation of its center of rotation. Each foot was photographed in 5 positions at 10° intervals, ranging from 30 ° of plantarflexion to 10° of dorsiflexion. An analytical model was developed to spatially describe the rotation of the foot about the ankle. The model calculates the plane of motion and the orientation of the axis of rotation relative to the sagittal, frontal and transverse planes. These were found respectively to be for foot one: 100°, 86°, 15° and for foot two: 91°, 69°, 21°.

  20. FORWARD KINEMATICS ANALYSIS OF 6-DOF ARC WELDING ROBOT

    Directory of Open Access Journals (Sweden)

    DR. ANURAG VERMA

    2010-09-01

    Full Text Available The forward kinematics problem is concerned with the relationship between the individual joints of the robot manipulator and the position and orientation of the tool or end-effector. Stated more formally, the forward kinematics problem is to determine the position and orientation of the end-effector, given the values for the jointvariables of the robot. Present work is an attempt to develop kinematic model of a 6 DOF robot which is used for arc welding operation. Developed model will determine position and orientation of the end-effector with respect to various joint variables. The said analysis is carried out in Matlab.

  1. Forward position kinematics of a parallel manipulator with new architecture

    International Nuclear Information System (INIS)

    The forward position kinematics of a parallel manipulator with new architecture supposed to be used as a moving mechanism in a flight simulator project is discussed in this paper. The closed form solution for the forward position kinematics problem of the manipulator is first determined. It has, then, been shown that there are at most 24 solutions for forward position kinematics problem. This result has been verified by using other techniques such as geometric approach and a numerical method known as polynomial continuation. Numerical examples are performed to display all possible solutions available for the devised manipulator

  2. Quantum theory allows for absolute maximal contextuality

    Science.gov (United States)

    Amaral, Barbara; Cunha, Marcelo Terra; Cabello, Adán

    2015-12-01

    Contextuality is a fundamental feature of quantum theory and a necessary resource for quantum computation and communication. It is therefore important to investigate how large contextuality can be in quantum theory. Linear contextuality witnesses can be expressed as a sum S of n probabilities, and the independence number α and the Tsirelson-like number ϑ of the corresponding exclusivity graph are, respectively, the maximum of S for noncontextual theories and for the theory under consideration. A theory allows for absolute maximal contextuality if it has scenarios in which ϑ /α approaches n . Here we show that quantum theory allows for absolute maximal contextuality despite what is suggested by the examination of the quantum violations of Bell and noncontextuality inequalities considered in the past. Our proof is not constructive and does not single out explicit scenarios. Nevertheless, we identify scenarios in which quantum theory allows for almost-absolute-maximal contextuality.

  3. Kinematic, finite strain and vorticity analysis of the Sisters Shear Zone, Stewart Island, New Zealand

    Science.gov (United States)

    Ring, Uwe; Bernet, Matthias; Tulloch, Andy

    2015-04-01

    The Sisters Shear Zone (SSZ) on Stewart Island, New Zealand, is a greenschist-facies extensional shear zone active prior to and possibly during the development of the Pacific-Antarctica spreading ridge at ∼76 Ma. We report quantitative kinematic and rotation data as well as apatite fission-track (AFT) ages from the SSZ. Early kinematic indicators associated with the NNE-trending stretching lineation formed under upper greenschist-facies metamorphism and show alternating top-to-the-NNW and top-to-the-SSE senses of shear. During progressive exhumation lowermost greenschist-facies and brittle-ductile kinematic indicators depict a more uniform top-to-the-SSE sense of shear in the topmost SSZ just below the detachment plane. Deformed metagranites in the SSZ allow the reconstruction of deformation and flow parameters. The mean kinematic vorticity number (Wm) ranges from 0.10 to 0.89; smaller numbers prevail in the deeper parts of the shear zone with a higher degree of simple shear deformation in the upper parts of the shear zone (deeper and upper parts relate to present geometry). High finite strain intensity correlates with low Wm and high Wm numbers near the detachment correlate with relatively weak strain intensity. Finite strain shows oblate geometries. Overall, our data indicate vertical and possibly temporal variations in deformation of the SSZ. Most AFT ages cluster around 85-75 Ma. We interpret the AFT ages to reflect the final stages of continental break-up just before and possibly during the initiation of sea-floor spreading between New Zealand and Antarctica.

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

    Science.gov (United States)

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

    2016-01-01

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

  5. Kinematic simulation of turbulent dispersion of triangles.

    Science.gov (United States)

    Khan, M A I; Pumir, A; Vassilicos, J C

    2003-08-01

    As three particles are advected by a turbulent flow, they separate from each other and develop nontrivial geometries, which effectively reflect the structure of the turbulence. We investigate here the geometry, in a statistical sense, of three Lagrangian particles advected, in two dimensions, by kinematic simulation (KS). KS is a Lagrangian model of turbulent diffusion that makes no use of any delta correlation in time at any level. With this approach, situations with a very large range of inertial scales and varying persistence of spatial flow structure can be studied. We first demonstrate that the model flow reproduces recent experimental results at low Reynolds numbers. The statistical properties of the shape distribution at a much higher Reynolds number is then considered. The numerical results support the existence of nontrivial shape statistics, with a high probability of having elongated triangles. Even at the highest available inertial range of scales, corresponding to a ratio between large and small scale L/eta=17,000, a perfect self-similar regime is not found. The effects of the parameters of the synthetic flow, such as the exponent of the spectrum and the effect of the sweeping affect our results, are also discussed. Special attention is given to the effects of persistence of spatial flow structure. PMID:14525111

  6. Virtual sine arm kinematic mount system

    International Nuclear Information System (INIS)

    A novel kinematic mount system for a vertical focusing mirror of the soft x-ray spectroscopy beamline at the Advanced Photon Source is described. The system contains three points in a horizontal plane. Each point consists of two horizontal linear precision stages, a spherical ball bearing, and a vertical precision stage. The horizontal linear stages are aligned orthogonally and are conjoined by a spherical ball bearing, supported by the vertical linear stage at each point. The position of each confined horizontal stage is controlled by a motorized micrometer head by spring-loading the flat tip of the micrometer head onto a tooling ball fixing on the carriage of the stage. A virtual sine arm is formed by tilting the upstream horizontal stage down and the two downstream horizontal stages up by a small angle. The fine pitch motion is achieved by adjusting the upstream stage. This supporting structure is extremely steady due to a relatively large span across the supporting points and yields extremely high resolution on the pitch motion. With a one degree tilt and a microstepping motor, the authors achieved a 0.4 nanoradian resolution on the mirror pitch motion

  7. Kinematics of the South Atlantic rift

    CERN Document Server

    Heine, Christian; Müller, R Dietmar

    2013-01-01

    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. By quantitatively accounting for crustal deformation in the Central and West African rift zone, we 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 S\\~ao 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 ($\\approx$126 Ma) when rift activity along in the equatorial Atlantic domain started to increase significantly. During this initial $\\approx$17 Myr-long stretching episode the Pre-salt basin width on the conjugate Br...

  8. SHIELD: Neutral Gas Kinematics and Dynamics

    Science.gov (United States)

    McNichols, Andrew; Teich, Yaron; Cannon, John M.; SHIELD Team

    2016-01-01

    The "Survey of HI in Extremely Low-mass Dwarfs" (SHIELD) is a multiwavelength, legacy-class observational study of 12 low-mass dwarf galaxies discovered in Arecibo Legacy Fast ALFA (ALFALFA) survey data products. Here we present new results of detailed kinematic analyses of these systems using multi-configuration, high spatial (˜300 pc) and spectral (0.82 - 2.46 km s-1 ch-1) resolution HI observations from the Karl G. Jansky Very Large Array. For each source, we produce velocity fields and dispersion maps using different spatial and spectral resolution representations of the data in order to attempt derivation of an inclination-corrected rotation curve. While both two- and three-dimensional fitting techniques are employed, the comparable magnitudes of velocity dispersion and projected rotation result in degeneracies that prohibit unambiguous circular velocity solutions. We thus make multiple position-velocity cuts across each galaxy to determine the maximum circular rotation velocity (≤ 30 km-1 for the survey population). Baryonic masses are calculated using single-dish H I fluxes from Arecibo and stellar masses derived from HST and Spitzer imaging. Comparison is made with total dynamical masses estimated from the position-velocity analysis. The SHIELD galaxies are contextualized on the baryonic Tully-Fisher relation.Support for this work was provided by NSF grant AST-1211683 to JMC at Macalester College.

  9. HI kinematics and dynamics of Messier 31

    CERN Document Server

    Chemin, Laurent; Foster, Tyler

    2009-01-01

    [Abridged] We present a new deep 21-cm survey of the Andromeda galaxy, based on high resolution observations performed with the Synthesis Telescope and the 26-m antenna at DRAO. The HI distribution and kinematics of the disc are analyzed and basic dynamical properties are given. The rotation curve is measured out to 38 kpc, showing a nuclear peak, a dip around 4 kpc, two distinct flat parts and an increase in the outermost regions. Except for the innermost regions, the axisymmetry of the gas rotation is very good. A very strong warp of the HI disc is evidenced. The central regions appear less inclined than the average disc inclination, while the outer regions appear more inclined. Mass distribution models by LCDM NFW, Einasto or pseudo-isothermal dark matter halos with baryonic components are presented. They fail to reproduce the exact shape of the rotation curve. No significant differences are measured between the various shapes of halo. The dynamical mass of M31 enclosed within a radius of 38 kpc is (4.7 +/...

  10. Kinematic dynamo, supersymmetry breaking, and chaos

    Science.gov (United States)

    Ovchinnikov, Igor V.; Enßlin, Torsten A.

    2016-04-01

    The kinematic dynamo (KD) describes the growth of magnetic fields generated by the flow of a conducting medium in the limit of vanishing backaction of the fields onto the flow. The KD is therefore an important model system for understanding astrophysical magnetism. Here, the mathematical correspondence between the KD and a specific stochastic differential equation (SDE) viewed from the perspective of the supersymmetric theory of stochastics (STS) is discussed. The STS is a novel, approximation-free framework to investigate SDEs. The correspondence reported here permits insights from the STS to be applied to the theory of KD and vice versa. It was previously known that the fast KD in the idealistic limit of no magnetic diffusion requires chaotic flows. The KD-STS correspondence shows that this is also true for the diffusive KD. From the STS perspective, the KD possesses a topological supersymmetry, and the dynamo effect can be viewed as its spontaneous breakdown. This supersymmetry breaking can be regarded as the stochastic generalization of the concept of dynamical chaos. As this supersymmetry breaking happens in both the diffusive and the nondiffusive cases, the necessity of the underlying SDE being chaotic is given in either case. The observed exponentially growing and oscillating KD modes prove physically that dynamical spectra of the STS evolution operator that break the topological supersymmetry exist with both real and complex ground state eigenvalues. Finally, we comment on the nonexistence of dynamos for scalar quantities.

  11. Kinematics analysis of a robotic rock grinder

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    With the aim to discover water, life and resources in other planets, robotic sampling instrument is a crucial part of the space exploration robot. To remove dusty and weathered surfaces and expose the fresh rock underneath the planetary surface, a robotic rock grinder is considered to replace the geologist's rock hammer to carry out the geological investigation. A primary prototype of the robotic rock grinder with three degrees of freedom has been developed in this paper. Planetary transmission system is used in the grinding driving system with two inputs (rotation motor and revolution motor) and two outputs (grinding wheel and cutting brush). The grinding wheel with two teeth has been used to abrade the rock. The cutting brush is used to sweep the debris. The third actuator is to feed the grinding system. Kinematics of the grinding system has been analyzed. To get a continuous and smooth fresh face over the rock, grinding trajectory of the grinding wheel has been discussed and planned. Lastly, abrasion experiments have been made to testify the feasibility and the basic function of this system.

  12. Kinematics of Chinese toad Bufo gargarizans

    Institute of Scientific and Technical Information of China (English)

    2010-01-01

    A three-dimensional motion force tester for animal was used to measure the reaction forces of the feet of a Chinese toad (B. gargarizans) against a horizontal solid surface on which it crawled. The motion behavior of the Chinese toad was recorded by a high-speed camera on line. The motor function of every foot was analyzed. It was found that the lateral force represents the control ability of side-to-side locomotion, controls the lateral movement, and maintains a stable state for the sustainable creeping gesture. The forefeet play the assistant role and the hind feet play the main role in driving. The normal force of the forefeet is significantly greater than that of the hind feet, so the forefeet play the main role in supporting the body and the hind feet play the assistant role. The normal force is significantly greater than the lateral force and the driving force as well. There is little change for the friction force and the support angle of the all four feet. The average value of the support angle is 70°–80°. The Chinese toad’s vola friction coefficient of the forefeet is less than that of the hind feet. The above results indicate that the difference in kinematics and the material characteristic of the contact skin of the Chinese toad. The results could be useful to the structure design and gait optimization of some robots.

  13. Kinematic analysis of rope skipper's stability

    Science.gov (United States)

    Ab Ghani, Nor Atikah; Rambely, Azmin Sham

    2014-06-01

    There are various kinds of jumping that can be done while performing rope skipping activity. This activity was always associated with injury. But, if the rope skipper can perform the activity in a right way, it is believed that the injury might be reduced. The main purpose of this paper is to observe the stability of rope skipper from a biomechanics perspective, which are the centre of mass, angle at the ankle, knee and hip joints and also the trajectory for the ipsilateral leg between the two types of skip which is one leg and two legs. Six healthy, physically active subject, two males and four females (age: 8.00±1.25 years, weight: 17.90±6.85 kg and height: 1.22±0.08 m) participated in this study. Kinematic data of repeated five cycles of rope skipping activity was captured by using Vicon Nexus system. Based on the data collected, skipping with two legs shows more stable behavior during preparation, flight and landing phases. It is concluded that landing on the balls of the feet, lowering the trajectory positions of the feet from the ground as well as flexion of each joint which would reduce the injury while landing.

  14. Virtual human hand: model and kinematics.

    Science.gov (United States)

    Peña-Pitarch, Esteban; Falguera, Neus Ticó; Yang, Jingzhou James

    2014-04-01

    The human hand plays an important role in daily life. It is the interface between the human and the exterior world by positioning, orienting, touching and grasping objects. The human hand has multiple degrees of freedom (DOFs) to enable mobility and dexterity. A virtual human hand model can be inserted into CAD (Computer Aided Design) models to assess the manipulation capabilities in the early design stage to reduce design time and cost. Joystick assessment is one of the important design cases. This study is a first step towards a comprehensive hand simulation tool to simulate the manipulation and grasping of objects. This paper presents a novel 25 DOFs' hand skeletal model based on hand anatomy and hand kinematics: (1) joint range of motion, (2) Denavit-Hartenberg method to define the joint relationship and (3) finger workspace determination. Novelty for this hand model includes arching the palm with the four DOFs added in the carpometacarpal and wrist joints for the ring and small fingers.

  15. Kinematical Diagrams for Conical Relativistic Jets

    Indian Academy of Sciences (India)

    Gopal-Krishna; Pronoy Sircar; Samir Dhurde

    2007-03-01

    We present diagrams depicting the expected inter-dependences of two key kinematical parameters of radio knots in the parsec-scale jets of blazars, deduced from VLBI observations. The two parameters are the apparent speed (app = capp) and the effective Doppler boosting factor (eff) of the relativistically moving radio knot. A novel aspect of these analytical computations of – diagrams is that they are made for parsecscale jets having a conical shape, with modest opening angles ( up to 10°), in accord with the VLBI observations of the nuclei of the nearest radio galaxies. Another motivating factor is the recent finding that consideration of a conical geometry can have important implications for the interpretation of a variety of radio observations of blazar jets. In addition to uniform jet flows (i.e., those having a uniform bulk Lorentz factor, ), computational results are also presented for stratified jets where an ultra-relativistic central spine along the jet axis is surrounded by a slower moving sheath, possibly arising from a velocity shear.

  16. 19 CFR 191.101 - Drawback allowance.

    Science.gov (United States)

    2010-04-01

    ... Preparations (Including Perfumery) Manufactured From Domestic Tax-Paid Alcohol § 191.101 Drawback allowance. (a... perfumery) manufactured or produced in the United States in part from the domestic tax-paid alcohol. (b... tax on flavoring extracts or medicinal or toilet preparations (including perfumery) manufactured...

  17. 77 FR 46987 - Utility Allowances Submetering

    Science.gov (United States)

    2012-08-07

    ... published in the Federal Register amendments to Sec. 1.42-10 (73 FR 43863). If gross rent includes a utility... containing final regulations under section 42 (59 FR 10067). Among these regulations was Sec. 1.42- 10, which... Internal Revenue Service 26 CFR Part 1 RIN 1545-BI91 Utility Allowances Submetering AGENCY:...

  18. 24 CFR 84.27 - Allowable costs.

    Science.gov (United States)

    2010-04-01

    ... of Appendix E of 45 CFR part 74, “Principles for Determining Costs Applicable to Research and... accordance with the provisions of the Federal Acquisition Regulation (FAR) at 48 CFR part 31. ... 24 Housing and Urban Development 1 2010-04-01 2010-04-01 false Allowable costs. 84.27 Section...

  19. 22 CFR 145.27 - Allowable costs.

    Science.gov (United States)

    2010-04-01

    ... Relations DEPARTMENT OF STATE CIVIL RIGHTS GRANTS AND AGREEMENTS WITH INSTITUTIONS OF HIGHER EDUCATION, HOSPITALS, AND OTHER NON-PROFIT ORGANIZATIONS Post-Award Requirements Financial and Program Management § 145...-Profit Organizations.” The allowability of costs incurred by institutions of higher education...

  20. 22 CFR 518.27 - Allowable costs.

    Science.gov (United States)

    2010-04-01

    ... INSTITUTIONS OF HIGHER EDUCATION, HOSPITALS, AND OTHER NON-PROFIT ORGANIZATIONS Post-Award Requirements Financial and Program Management § 518.27 Allowable costs. For each kind of recipient, there is a set of... by institutions of higher education is determined in accordance with the provisions of OMB Circular...

  1. 45 CFR 74.27 - Allowable costs.

    Science.gov (United States)

    2010-10-01

    ... FOR AWARDS AND SUBAWARDS TO INSTITUTIONS OF HIGHER EDUCATION, HOSPITALS, OTHER NONPROFIT ORGANIZATIONS, AND COMMERCIAL ORGANIZATIONS Post-Award Requirements Financial and Program Management § 74.27... Organizations” and paragraph (b) of this section. The allowability of costs incurred by institutions of...

  2. 34 CFR 74.27 - Allowable costs.

    Science.gov (United States)

    2010-07-01

    ... OF HIGHER EDUCATION, HOSPITALS, AND OTHER NON-PROFIT ORGANIZATIONS Post-Award Requirements Financial...— Private nonprofit organization other than (1) An institution of higher education; (2) a hospital; or (3... 34 Education 1 2010-07-01 2010-07-01 false Allowable costs. 74.27 Section 74.27 Education...

  3. 36 CFR 1210.27 - Allowable costs.

    Science.gov (United States)

    2010-07-01

    ... RULES UNIFORM ADMINISTRATIVE REQUIREMENTS FOR GRANTS AND AGREEMENTS WITH INSTITUTIONS OF HIGHER EDUCATION, HOSPITALS, AND OTHER NON-PROFIT ORGANIZATIONS Post-Award Requirements Financial and Program Management § 1210.27 Allowable costs. For each kind of recipient, there is a set of Federal principles...

  4. Allowance trading: Market operations and regulatory response

    Energy Technology Data Exchange (ETDEWEB)

    Bailey, K.A.; South, D.W.; McDermott, K.A.

    1992-12-31

    The use of the SO{sub 2} allowance system as defined by Title IV of the 1990 Clean Air Act Amendments offers utilities greater compliance flexibility than EPA technology standards, State Implementation Plan (SEP) performance standards, or EPA bubble/offset strategies. Traditional methods at best offered the utility the ability to trade emissions between different units at a particular plant. The SO{sub 2} emissions trading system advocated under Title IV will allow a utility to trade emissions across its utility system, and/or trade emissions between utilities to take advantage of interfirm control cost differences. The use of transferable emission allowances offers utilities greater flexibility in the choice of how to control emissions: the choices include fuel switching, flue gas scrubbing, environmental dispatch, repowering, and even the choice not to control emissions [as long as the New Source Performance Standards (NSPS) and Prevention of Significant Deterioration (PSD) requirements are met]. The added flexibility allows utilities to choose the least cost manner of compliance with Title IV requirements. It is hoped (intended) that pollution control cost-minimization by individual utilities will in turn reduce the cost of controlling SO{sub 2} for the electric utility industry in aggregate. In addition, through the use of NO{sub x} emission averaging, the utility would average NO{sub x} emissions from different point sources in order to comply with the prescribed emission standard.

  5. Allowance trading: Market operations and regulatory response

    Energy Technology Data Exchange (ETDEWEB)

    Bailey, K.A.; South, D.W.; McDermott, K.A.

    1992-01-01

    The use of the SO[sub 2] allowance system as defined by Title IV of the 1990 Clean Air Act Amendments offers utilities greater compliance flexibility than EPA technology standards, State Implementation Plan (SEP) performance standards, or EPA bubble/offset strategies. Traditional methods at best offered the utility the ability to trade emissions between different units at a particular plant. The SO[sub 2] emissions trading system advocated under Title IV will allow a utility to trade emissions across its utility system, and/or trade emissions between utilities to take advantage of interfirm control cost differences. The use of transferable emission allowances offers utilities greater flexibility in the choice of how to control emissions: the choices include fuel switching, flue gas scrubbing, environmental dispatch, repowering, and even the choice not to control emissions [as long as the New Source Performance Standards (NSPS) and Prevention of Significant Deterioration (PSD) requirements are met]. The added flexibility allows utilities to choose the least cost manner of compliance with Title IV requirements. It is hoped (intended) that pollution control cost-minimization by individual utilities will in turn reduce the cost of controlling SO[sub 2] for the electric utility industry in aggregate. In addition, through the use of NO[sub x] emission averaging, the utility would average NO[sub x] emissions from different point sources in order to comply with the prescribed emission standard.

  6. 20 CFR 617.46 - Travel allowance.

    Science.gov (United States)

    2010-04-01

    ... mile at the prevailing mileage rate authorized under the Federal travel regulations (see 41 CFR part... prevailing per diem allowance rate authorized under the Federal travel regulations (see 41 CFR part 101-7... limited to reasons related to the family member's health, schooling or economic circumstances....

  7. Making It Personal: Per Capita Carbon Allowances

    DEFF Research Database (Denmark)

    Fawcett, Tina; Hvelplund, Frede; Meyer, Niels I

    2009-01-01

    The Chapter highligts the importance of introducing new, efficient schemes for mitigation of global warming. One such scheme is Personal Carbon Allowances (PCA), whereby individuals are allotted a tradable ration of CO2 emission per year.This chapter reviews the fundamentals of PCA and analyzes its...

  8. 33 CFR 136.205 - Compensation allowable.

    Science.gov (United States)

    2010-07-01

    ... 33 Navigation and Navigable Waters 2 2010-07-01 2010-07-01 false Compensation allowable. 136.205...) MARINE POLLUTION FINANCIAL RESPONSIBILITY AND COMPENSATION OIL SPILL LIABILITY TRUST FUND; CLAIMS PROCEDURES; DESIGNATION OF SOURCE; AND ADVERTISEMENT Procedures for Particular Claims § 136.205...

  9. 33 CFR 136.241 - Compensation allowable.

    Science.gov (United States)

    2010-07-01

    ... 33 Navigation and Navigable Waters 2 2010-07-01 2010-07-01 false Compensation allowable. 136.241...) MARINE POLLUTION FINANCIAL RESPONSIBILITY AND COMPENSATION OIL SPILL LIABILITY TRUST FUND; CLAIMS PROCEDURES; DESIGNATION OF SOURCE; AND ADVERTISEMENT Procedures for Particular Claims § 136.241...

  10. 33 CFR 136.235 - Compensation allowable.

    Science.gov (United States)

    2010-07-01

    ... 33 Navigation and Navigable Waters 2 2010-07-01 2010-07-01 false Compensation allowable. 136.235...) MARINE POLLUTION FINANCIAL RESPONSIBILITY AND COMPENSATION OIL SPILL LIABILITY TRUST FUND; CLAIMS PROCEDURES; DESIGNATION OF SOURCE; AND ADVERTISEMENT Procedures for Particular Claims § 136.235...

  11. 33 CFR 136.229 - Compensation allowable.

    Science.gov (United States)

    2010-07-01

    ... 33 Navigation and Navigable Waters 2 2010-07-01 2010-07-01 false Compensation allowable. 136.229...) MARINE POLLUTION FINANCIAL RESPONSIBILITY AND COMPENSATION OIL SPILL LIABILITY TRUST FUND; CLAIMS PROCEDURES; DESIGNATION OF SOURCE; AND ADVERTISEMENT Procedures for Particular Claims § 136.229...

  12. 33 CFR 136.211 - Compensation allowable.

    Science.gov (United States)

    2010-07-01

    ... 33 Navigation and Navigable Waters 2 2010-07-01 2010-07-01 false Compensation allowable. 136.211...) MARINE POLLUTION FINANCIAL RESPONSIBILITY AND COMPENSATION OIL SPILL LIABILITY TRUST FUND; CLAIMS PROCEDURES; DESIGNATION OF SOURCE; AND ADVERTISEMENT Procedures for Particular Claims § 136.211...

  13. 33 CFR 136.217 - Compensation allowable.

    Science.gov (United States)

    2010-07-01

    ... 33 Navigation and Navigable Waters 2 2010-07-01 2010-07-01 false Compensation allowable. 136.217...) MARINE POLLUTION FINANCIAL RESPONSIBILITY AND COMPENSATION OIL SPILL LIABILITY TRUST FUND; CLAIMS PROCEDURES; DESIGNATION OF SOURCE; AND ADVERTISEMENT Procedures for Particular Claims § 136.217...

  14. 33 CFR 136.223 - Compensation allowable.

    Science.gov (United States)

    2010-07-01

    ... 33 Navigation and Navigable Waters 2 2010-07-01 2010-07-01 false Compensation allowable. 136.223...) MARINE POLLUTION FINANCIAL RESPONSIBILITY AND COMPENSATION OIL SPILL LIABILITY TRUST FUND; CLAIMS PROCEDURES; DESIGNATION OF SOURCE; AND ADVERTISEMENT Procedures for Particular Claims § 136.223...

  15. Manpower Training Allowances: Financial Assistance or Investment?

    Science.gov (United States)

    Latour, Georges

    1975-01-01

    The author compares the differing approaches of Germany, Sweden, France, and Australia for providing financial support to adults enrolled in vocational training programs, focusing on training allowances for recurrent education. He concludes that without some governmental maintenance program, it is unlikely that adults can utilize even tuition-free…

  16. 32 CFR 33.22 - Allowable costs.

    Science.gov (United States)

    2010-07-01

    ... not subject to that circular 48 CFR part 31. Contract Cost Principles and Procedures, or uniform cost accounting standards that comply with cost principles acceptable to the Federal agency. ... allowable costs) to the grantee or subgrantee. (b) Applicable cost principles. For each kind of...

  17. Analytical kinematics analysis and synthesis of planar mechanisms

    CERN Document Server

    Gans, Deborah

    2013-01-01

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

  18. STAR CLUSTERS IN M31: OLD CLUSTERS WITH BAR KINEMATICS

    International Nuclear Information System (INIS)

    We analyze our accurate kinematical data for the old clusters in the inner regions of M31. These velocities are based on high signal-to-noise Hectospec data. The data are well suited for analysis of M31's inner regions because we took particular care to correct for contamination by unresolved field stars from the disk and bulge in the fibers. The metal-poor clusters show kinematics that are compatible with a pressure-supported spheroid. The kinematics of metal-rich clusters, however, argue for a disk population. In particular the innermost region (inside 2 kpc) shows the kinematics of the x2 family of bar periodic orbits, arguing for the existence of an inner Lindblad resonance in M31.

  19. Global-local optimization of flapping kinematics in hovering flight

    KAUST Repository

    Ghommem, Mehdi

    2013-06-01

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

  20. Enhancement of Kinematic Accelerations by Wavenumber Correlation Filtering.

    Science.gov (United States)

    Hong, Chang-Ki; Kwon, Jay Hyoun

    2016-01-01

    To obtain kinematic accelerations with high accuracy and reliability, multiple Global Positioning System (GPS) receivers with a single antenna can be used for airborne gravimetry. The data collected from each receiver can be processed for kinematic accelerations that may be combined using simple averaging. Here, however, uncorrelated errors from instrument errors in each receiver also will be included that degrade the final solutions. Therefore, in this study, the wavenumber correlation filter (WCF) is applied to extract only the higher positively correlated wavenumber components of the kinematic accelerations for the enhancement of the final solution. The in situ airborne GPS data from two receivers were wavenumber-correlation-filtered to show about 0.07835 Gal improvement in accuracy relative to the solution from the raw kinematic accelerations. PMID:27608026

  1. Exploiting Bird Locomotion Kinematics Data for Robotics Modeling

    CERN Document Server

    Hugel, Vincent; Abourachid, Anick

    2008-01-01

    We present here the results of an analysis carried out by biologists and roboticists with the aim of modeling bird locomotion kinematics for robotics purposes. The aim was to develop a bio-inspired kinematic model of the bird leg from biological data. We first acquired and processed kinematic data for sagittal and top views obtained by X-ray radiography of quails walking. Data processing involved filtering and specific data reconstruction in three dimensions, as two-dimensional views cannot be synchronized. We then designed a robotic model of a bird-like leg based on a kinematic analysis of the biological data. Angular velocity vectors were calculated to define the number of degrees of freedom (DOF) at each joint and the orientation of the rotation axes.

  2. The Kinematics of the Lag-Luminosity Relationship

    Energy Technology Data Exchange (ETDEWEB)

    Salmonson, J D

    2004-03-17

    Herein I review the argument that kinematics, i.e. relativistic motions of the emitting source in gamma-ray bursts (GRBs), are the cause of the lag-luminosity relationship observed in bursts with known redshifts.

  3. Kinematics, Dynamics, and the Structure of Physical Theory

    CERN Document Server

    Curiel, Erik

    2016-01-01

    Every physical theory has (at least) two different forms of mathematical equations to represent its target systems: the dynamical (equations of motion) and the kinematical (kinematical constraints). Kinematical constraints are differentiated from equations of motion by the fact that their particular form is fixed once and for all, irrespective of the interactions the system enters into. By contrast, the particular form of a system's equations of motion depends essentially on the particular interaction the system enters into. All contemporary accounts of the structure and semantics of physical theory treat dynamics, i.e., the equations of motion, as the most important feature of a theory for the purposes of its philosophical analysis. I argue to the contrary that it is the kinematical constraints that determine the structure and empirical content of a physical theory in the most important ways: they function as necessary preconditions for the appropriate application of the theory; they differentiate types of p...

  4. Kinematics and Dynamics of a Tensegrity-Based Water Wave Energy Harvester

    Directory of Open Access Journals (Sweden)

    Min Lin

    2016-01-01

    Full Text Available A tensegrity-based water wave energy harvester is proposed. The direct and inverse kinematic problems are investigated by using a geometric method. Afterwards, the singularities and workspaces are discussed. Then, the Lagrangian method was used to develop the dynamic model considering the interaction between the harvester and water waves. The results indicate that the proposed harvester allows harvesting 13.59% more energy than a conventional heaving system. Therefore, tensegrity systems can be viewed as one alternative solution to conventional water wave energy harvesting systems.

  5. A numerical and experimental study of the kinematics of a tennis ball

    Science.gov (United States)

    Navarro Sorroche, Juan

    A numerical and experimental study of the kinematics of a tennis ball. An experimental apparatus to collect data of the tennis ball in motion is designed and constructed. Data collected by the experimental apparatus is corrected by the intrinsic and extrinsic camera distortions before numeric calculation predictions of the ball's point of impact with the court are made. The experimental apparatus constructed together with comprehensive numeric computations including atmospheric conditions and spin decay, allowed making predictions of the ball's point of impact with the court with and errors <0.029%

  6. The kinematics of the redundant $N-1$ wire driven parallel robot

    OpenAIRE

    Merlet, Jean-Pierre

    2013-01-01

    We address the kinematics of the redundant $N-1$ wire-driven parallel robot, i.e. a robot with $N > 3$ wires connected at the same point on the platform. The redundancy allows one to increase the workspace size. But we show, both theoretically and experimentally that if the wires are not elastic, then the redundancy cannot be used to control the wire tensions. Indeed we show that whatever are the number of wires there will always be only at most 3 wires in tension, while th...

  7. Kinematic analysis of platform-type robotic manipulators

    Science.gov (United States)

    Shi, Xiaolun

    New methods are developed for the kinematic analysis of serial and platform-type parallel robotic manipulators, including forward and inverse kinematic solutions, singularity identifications and workspace evaluation. Differences between serial and platform-type parallel manipulators, which can provide substantially improved end-point rigidity compared with the conventional serial robotic arms, are addressed. The problem of determining the screw parameters of rigid body motion from initial and final position data is discussed, as a basis to search for a general and efficient procedure to solve the complex forward kinematics problem of platform-type manipulators. Several Screw-Theory based approaches for solving the inverse instantaneous problem of 6 DOF serial manipulators are studied and compared in terms of their computational efficiency, accuracy, sensitivity to data error and capability of dealing with singularities. A modified Vector Decomposition method is then proposed for solving the IIK problem and for singularity analysis of serial kinematic chains, the method is especially effective when applied to the wrist partitioned serial manipulators, which are essential components to any platform-type parallel manipulators. By using the data of three point positions, velocities, and accelerations of the end effector a general method is developed for solving the forward kinematics problem, including position, velocity and acceleration kinematics, of platform-type manipulators. The solution procedure can be applied to a wide variety of platform-type manipulators such as the 6 DOF Steward Platform manipulator and other models. It is found that while the solution for the forward position kinematics of a platform-type manipulator can be obtained by solving a non-linear system of equations, the closed-form solutions for forward rate and acceleration kinematics can be found by solving a system of linear equations. Based on the proposed kinematic formulations, an algorithm

  8. Numerical kinematic transformation calculations for a parallel link manipulator

    International Nuclear Information System (INIS)

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

  9. Kinematics and Load Formulation of Engine Crank Mechanism

    OpenAIRE

    Nigus, Hailemariam

    2015-01-01

    International audience This paper presents the kinematics formulation of an internal combustion engine crank mechanism. The kinematics formulation of the crank mechanism is done using vector loop method and cosine rule are applied to describe the position of the piston. Following the velocity of piston and connecting rod is performed by differentiating the position in terms of the crank angle and connecting rod angle respectively. The acceleration equation with brief form is derived from t...

  10. Improving the kinematic control of robots with computer vision

    OpenAIRE

    Fallon, J. Barry

    1995-01-01

    This dissertation describes the development and application of a computer vision system for improving the performance of robots. The vision-based approach determines position and orientation (pose) parameters more directly than conventional approaches that are based on kinematics and joint feedback. Traditional robot control systems rely on kinematic models, measured joint variables, knowledge of objects in the workspace, and the calibrated robot base pose to correctly position...

  11. Kinematic Analysis of the vertebra of an eel like robot

    CERN Document Server

    Chablat, Damien

    2008-01-01

    The kinematic analysis of a spherical wrist with parallel architecture is the object of this article. This study is part of a larger French project, which aims to design and to build an eel like robot to imitate the eel swimming. To implement direct and inverse kinematics on the control law of the prototype, we need to evaluate the workspace without any collisions between the different bodies. The tilt and torsion parameters are used to represent the workspace.

  12. Kinematics and kinetics of an accidental lateral ankle sprain

    OpenAIRE

    Kristianslund, Eirik; Bahr, Roald; Krosshaug, Tron

    2011-01-01

    Ankle sprains are common during sporting activities and can have serious consequences. Understanding of injury mechanisms is essential to prevent injuries, but only two previous studies have provided detailed descriptions of the kinematics of lateral ankle sprains and measures of kinetics are missing. In the present study a female handball player accidentally sprained her ankle during sidestep cutting in a motion analysis laboratory. Kinematics and kinetics were calculated from 240 Hz recordi...

  13. Singular divergence instability thresholds of kinematically constrained circulatory systems

    International Nuclear Information System (INIS)

    Static instability or divergence threshold of both potential and circulatory systems with kinematic constraints depends singularly on the constraints' coefficients. Particularly, the critical buckling load of the kinematically constrained Ziegler's pendulum as a function of two coefficients of the constraint is given by the Plücker conoid of degree n=2. This simple mechanical model exhibits a structural instability similar to that responsible for the Velikhov–Chandrasekhar paradox in the theory of magnetorotational instability.

  14. Kinematics of A 3-PRP planar parallel robot

    OpenAIRE

    Chablat, Damien; Staicu, Stefan

    2009-01-01

    Recursive modelling for the kinematics of a 3-PRP planar parallel robot is presented in this paper. Three planar chains connecting to the moving platform of the manipulator are located in a vertical plane. Knowing the motion of the platform, we develop the inverse kinematics and determine the positions, velocities and accelerations of the robot. Several matrix equations offer iterative expressions and graphs for the displacements, velocities and accelerations of three prismatic actuators.

  15. An in-vitro study of rotator cuff tear and repair kinematics using single- and double-row suture anchor fixation

    Directory of Open Access Journals (Sweden)

    Angela E Kedgley

    2013-01-01

    Full Text Available Purpose: Double-row suture anchor fixation of the rotator cuff was developed to reduce repair failure rates. The purpose of this study was to determine the effects of simulated rotator cuff tears and subsequent repairs using single- and double-row suture anchor fixation on three-dimensional shoulder kinematics. It was hypothesized that both single- and double-row repairs would be effective in restoring active intact kinematics of the shoulder. Materials and Methods: Sixteen fresh-frozen cadaveric shoulder specimens (eight matched pairs were tested using a custom loading apparatus designed to simulate unconstrained motion of the shoulder. In each specimen, the rotator cuff was sectioned to create a medium-sized (2 cm tear. Within each pair, one specimen was randomized to a single-row suture anchor repair, while the contralateral side underwent a double-row suture anchor repair. Joint kinematics were recorded for intact, torn, and repaired scenarios using an electromagnetic tracking device. Results: Active kinematics confirmed that a medium-sized rotator cuff tear affected glenohumeral kinematics when compared to the intact state. Single- and double-row suture anchor repairs restored the kinematics of the intact specimen. Conclusions: This study illustrates the effects of medium-sized rotator cuff tears and their repairs on active glenohumeral kinematics. No significant difference ( P ≥ 0.10 was found between the kinematics of single- and double-row techniques in medium-sized rotator cuff repairs. Clinical Relevance: Determining the relative effects of single- and double-row suture anchor repairs of the rotator cuff will allow physicians to be better equipped to treat patients with rotator cuff disease.

  16. Allowable Differential Settlement of Oil Pipelines

    Directory of Open Access Journals (Sweden)

    Zahra Faeli

    2010-10-01

    Full Text Available Abstract The allowable settlement of pipelines has been mentioned rarely in design references and codes. The present paper studies the effects of differential settlement of pipeline bed on resulted forces and deformations and then determines the allowable differential settlement of pipelines in two conditions as follows: (i heterogeneous soil bed and (ii adjacent to steel tanks. To accomplish the studies, numerical simulation of pipeline is used. The pipeline bed is idealized by Winkler springs and four-element standard viscoelastic Burger model. Also, the use of geosynthetic reinforcement is studied in heterogeneous soil beds and the effect of geosynthetics on decreasing the settlement is investigated. The pipeline-tank joints in two cases of fixed and flexible joints are investigated and the results for two kinds of joints are compared.

  17. Realization of allowable qeneralized quantum gates

    Institute of Scientific and Technical Information of China (English)

    2010-01-01

    The most general duality gates were introduced by Long,Liu and Wang and named allowable generalized quantum gates (AGQGs,for short).By definition,an allowable generalized quantum gate has the form of U=YfkjsckUK,where Uk’s are unitary operators on a Hilbert space H and the coefficients ck’s are complex numbers with |Yfijo ck\\ ∧ 1 an d 1ck| <1 for all k=0,1,...,d-1.In this paper,we prove that an AGQG U=YfkZo ck∧k is realizable,i.e.there are two d by d unitary matrices W and V such that ck=W0kVk0 (0

  18. The Relationships between Logical Thinking, Gender, and Kinematics Graph Interpretation Skills

    Science.gov (United States)

    Bektasli, Behzat; White, Arthur L.

    2012-01-01

    Problem Statement: Kinematics is one of the topics in physics where graphs are used broadly. Kinematics includes many abstract formulas, and students usually try to solve problems with those formulas. However, using a kinematics graph instead of formulas might be a better option for problem solving in kinematics. Graphs are abstract…

  19. Kinematic Chains in Ski Jumping In-run Posture.

    Science.gov (United States)

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

    2013-12-18

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

  20. From nearby to distant galaxies: kinematical and dynamical studies

    CERN Document Server

    Epinat, Benoit

    2009-01-01

    Kinematical studies of low and high redshift galaxies enables to probe galaxy formation and evolution scenarios. Integral field spectroscopy is a powerful tool to study with accuracy nearby galaxies kinematics. Recent observations also gives a new 2D vision of high redshift galaxies kinematics. This work mostly relies on the kinematical sample of galaxies GHASP. This control sample, composed of 203 local spiral and irregular galaxies in low density environments observed with Fabry-Perot techniques in the Ha line (6563 A), is by now the largest sample of Fabry-Perot data. After a revue on Fabry-Perot interferometry and a presentation of new data reduction procedures, my implications on both 3D-NTT Fabry-Perot instrument and the wide field spectrograph project (WFSpec) for galaxy evolution study with the european ELT are developed. The second section is dedicated to GHASP data. This sample have been fully reduced and analysed using new methods. The kinematical analysis of 2D kinematical maps has been undertaken...

  1. A New Decoupling Method for Explicit Stiffness Analysis of Kinematically Redundant Planar Parallel Kinematic Mechanism

    Directory of Open Access Journals (Sweden)

    Hyun-Pyo Shin

    2015-01-01

    Full Text Available Optimization and control of stiffness for parallel kinematic mechanisms (PKM are critical issues because stiffness is directly related to the precision and response characteristics of the end-effector of PKMs. Unlike nonredundant PKMs, redundant PKMs have additional actuators exceeding their essential degrees-of-freedom (DOF, resulting in an increase in the redundancy of control. The stiffness of redundant PKMs is divided into passive and active stiffness. Active stiffness is changeable even in cases of fixed kinematic parameters and end-effector posture. However, it is not easy and intuitive to control the active stiffness of redundant PKMs for the complexity of Hessian matrix operations. This paper describes a new decoupling method for explicit stiffness analysis of redundant PKM with the well-known two-DOF and one-redundant planar five-bar PKM. Three actuating joints are decoupled to three groups containing two actuating joints. With this mathematical configuration, the stiffness matrix for one-redundant actuation is also divided into three stiffness matrices for nonredundant actuation, and the contribution of each actuator can be intuitively investigated. Stiffness matrices for the original and decoupled cases are compared in detail. In particular, this decoupling method is applicable to redundant PKMs with many passive joints. Finding optimal joints for one- or two-redundant actuation with various candidates is more intuitive with this decoupling method.

  2. The complexity of South China Sea kinematics

    Science.gov (United States)

    Sibuet, Jean-Claude; Gao, Jinyao; Zhao, Minghui; Wu, Jonny; Ding, Weiwei; Yeh, Yi-Ching; Lee, Chao-Shing

    2016-04-01

    Magnetic modeling shows that the age of the youngest South China Sea (SCS) oceanic crust is controversial (e.g. 15.5 Ma, Briais et al., JGR 1993 and 20.5 Ma, Barckhausen et al., MPG 2014). Close to the rift axis of the East sub-basin, Ar-Ar age dating of oceanic crustal rocks collected during IODP Leg 349 gives ages of 15 and 15.2 +/- 0.2 Ma (Koppers, Fall AGU meeting, 2014), which seems to favor the 15.5 Ma age given by Briais et al. modeling. However, basaltic samples might belong to a sill and not to the typical oceanic crust. As post-spreading magmatic activity (~8-13 Ma) largely masks the spreading fabric, in particular near the previously identified E-W portion of the extinct ridge axis of the East sub-basin, the published locations of the axial magnetic anomaly and spreading rates are incorrect. The compilation of available swath bathymetric data shows that if post-spreading volcanics hide the seafloor spreading magnetic fabric mostly along and near the extinct spreading axis, the whole SCS is globally characterized by rift directions following three directions: N055°in the youngest portion of the SCS, N065° and N085° in the oldest portions of the SCS (Sibuet et al., Tectonophysics 2016) suggesting the extinct ridge axis is N055° trending instead of E-W. We present an updated version of the whole SCS structural sketch based on previously published swath bathymetric trends and new detailed magnetic lineations trends compiled from an extremely dense set of magnetic data. The new structural sketch shows: - The distribution of conjugate kinematic domains, - The early opening of the NW and East sub-basins, before a jump of the rift axis, - A second ridge jump in the East basin, - The different expressions of the post-spreading magmatism in the East and SW sub-basins. In the East sub-basin, crustal magmatic intrusions led to the formation of extrusive basalts associated with the presence of numerous volcanoes (Wang et al., Geological Journal 2016). In the SW

  3. Chemical abundances and kinematics of barium stars

    Science.gov (United States)

    de Castro, D. B.; Pereira, C. B.; Roig, F.; Jilinski, E.; Drake, N. A.; Chavero, C.; Sales Silva, J. V.

    2016-07-01

    In this paper, we present an homogeneous analysis of photospheric abundances based on high-resolution spectroscopy of a sample of 182 barium stars and candidates. We determined atmospheric parameters, spectroscopic distances, stellar masses, ages, luminosities and scaleheight, radial velocities, abundances of the Na, Al, α-elements, iron-peak elements, and s-process elements Y, Zr, La, Ce, and Nd. We employed the local thermodynamic equilibrium model atmospheres of Kurucz and the spectral analysis code MOOG. We found that the metallicities, the temperatures and the surface gravities for barium stars cannot be represented by a single Gaussian distribution. The abundances of α-elements and iron peak elements are similar to those of field giants with the same metallicity. Sodium presents some degree of enrichment in more evolved stars that could be attributed to the NeNa cycle. As expected, the barium stars show overabundance of the elements created by the s-process. By measuring the mean heavy-element abundance pattern as given by the ratio [s/Fe], we found that the barium stars present several degrees of enrichment. We also obtained the [hs/ls] ratio by measuring the photospheric abundances of the Ba-peak and the Zr-peak elements. Our results indicated that the [s/Fe] and the [hs/ls] ratios are strongly anticorrelated with the metallicity. Our kinematical analysis showed that 90 per cent of the barium stars belong to the thin disc population. Based on their luminosities, none of the barium stars are luminous enough to be an asymptotic giant branch star, nor to become self-enriched in the s-process elements. Finally, we determined that the barium stars also follow an age-metallicity relation.

  4. Fundamental Principles of Proper Space Kinematics

    Science.gov (United States)

    Wade, Sean

    It is desirable to understand the movement of both matter and energy in the universe based upon fundamental principles of space and time. Time dilation and length contraction are features of Special Relativity derived from the observed constancy of the speed of light. Quantum Mechanics asserts that motion in the universe is probabilistic and not deterministic. While the practicality of these dissimilar theories is well established through widespread application inconsistencies in their marriage persist, marring their utility, and preventing their full expression. After identifying an error in perspective the current theories are tested by modifying logical assumptions to eliminate paradoxical contradictions. Analysis of simultaneous frames of reference leads to a new formulation of space and time that predicts the motion of both kinds of particles. Proper Space is a real, three-dimensional space clocked by proper time that is undergoing a densification at the rate of c. Coordinate transformations to a familiar object space and a mathematical stationary space clarify the counterintuitive aspects of Special Relativity. These symmetries demonstrate that within the local universe stationary observers are a forbidden frame of reference; all is in motion. In lieu of Quantum Mechanics and Uncertainty the use of the imaginary number i is restricted for application to the labeling of mass as either material or immaterial. This material phase difference accounts for both the perceived constant velocity of light and its apparent statistical nature. The application of Proper Space Kinematics will advance more accurate representations of microscopic, oscopic, and cosmological processes and serve as a foundation for further study and reflection thereafter leading to greater insight.

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

    Energy Technology Data Exchange (ETDEWEB)

    Andersen, David R. [NRC Herzberg Institute of Astrophysics, 5071 W Saanich Road, Victoria, BC V9E 2E7 (Canada); Bershady, Matthew A., E-mail: david.andersen@nrc-cnrc.gc.ca, E-mail: mab@astro.wisc.edu [Department of Astronomy, University of Wisconsin, 475 N Charter Street, Madison, WI 53706 (United States)

    2013-05-01

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

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

    Directory of Open Access Journals (Sweden)

    Joel C. Perry

    2009-01-01

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

  7. Configuration space control of a parallel delta robot with a neural network based inverse kinematics

    OpenAIRE

    Uzunovic, Tarik; Golubovic, Edin; Baran, Eray Abdurrahman; Şabanoviç, Asif; SABANOVIC, Asif

    2013-01-01

    This paper describes configuration space control of a Delta robot with a neural network based kinematics. Mathematical model of the kinematics for parallel Delta robot used for manipulation purposes in microfactory was validated, and experiments showed that this model is not describing “real” kinematics properly. Therefore a new solution for kinematics mapping had to be investigated. Solution was found in neural network utilization, and it was used to model robot's inverse kinematics. It show...

  8. Kinematical Analysis along Maximal Lactate Steady State Swimming Intensity

    Science.gov (United States)

    Figueiredo, Pedro; Nazario, Rafael; Sousa, Marisa; Pelarigo, Jailton Gregório; Vilas-Boas, João Paulo; Fernandes, Ricardo

    2014-01-01

    The purpose of this study was to conduct a kinematical analysis during swimming at the intensity corresponding to maximal lactate steady state (MLSS). Thirteen long distance swimmers performed, in different days, an intermittent incremental protocol of n x 200 m until exhaustion and two to four 30-min submaximal constant speed bouts to determine the MLSS. The video analysis, using APAS System (Ariel Dynamics Inc., USA), allowed determining the following relevant swimming determinants (in five moments of the 30-min test: 0, 25, 50, 75, and 100%): stroke rate, stroke length, trunk incline, intracyclic velocity variation, propelling efficiency, index of coordination and the time allotted to propulsion per distance unit. An ANOVA for repeated measures was used to compare the parameters mean values along each moment of analysis. Stoke rate tended to increase and stroke length to decrease along the test; a tendency to decrease was also found for intracyclic velocity variation and propelling efficiency whereas the index of coordination and the propulsive impulse remained stable during the MLSS test. It can be concluded that the MLSS is not only an intensity to maintain without a significant increase of blood lactate concentration, but a concomitant stability for some biomechanical parameters exists (after an initial adaptation). However, efficiency indicators seem to be more sensitive to changes occurring during swimming at this threshold intensity. Key Points In MLSS swimming intensity, stability of the stroke length and stroke frequency occurs after an initial adaptation. Efficiency indicators seem to be more sensitive to possible changes occurring through time at MLSS intensity. MLSS is a useful and practical swimming intensity to be maintained for a long period of time, but some constraints in technique can occur. PMID:25177189

  9. Disc and halo kinematic populations from HIPPARCOS and Geneva-Copenhagen surveys of the solar neighbourhood

    Science.gov (United States)

    Cubarsi, R.; Alcobé, S.; Vidojević, S.; Ninković, S.

    2010-02-01

    Discontinuities in the local velocity distribution associated with stellar populations are studied using the Maximum Entropy of the Mixture Probability from HIerarchical Segregation (MEMPHIS) improved statistical method, by combining a sampling parameter, an optimisation of the mixture approach, and a maximisation of the partition entropy for the constituent populations of the stellar sample. The sampling parameter is associated with isolating integrals of the stellar motion and is used to build a hierarchical family of subsamples. We provide an accurate characterisation of the entropy graph, in which a local maximum of entropy takes place simultaneously with a local minimum of the χ^2 error. By analysing different sampling parameters, the method is applied to samples from the HIPPARCOS and Geneva-Copenhagen survey (GCS) to determine the kinematic parameters and the stellar population mixture of the thin disc, thick disc, and halo. The sampling parameter P=|(U,V,W)|, which is the absolute heliocentric velocity, allows us to build an optimal subsample containing both thin and thick disc stars, omitting most of the halo population. The sampling parameter P=|W|, which is absolute perpendicular velocity, allows us to create an optimal subsample of all disc and halo stars, although it does not allow an optimal differentiation of thin and thick discs. Other sampling parameters, such as P=|(U,W)| or P=|V|, are found to provide less information about the populations. By comparing both samples, HIPPARCOS provides more accurate estimates for the thick disc and halo, and GCS for the total disc. In particular, the radial velocity dispersion of the halo fits perfectly into the empirical Titius-Bode-like law σU = 6.6 (4/3)3n+2, previously proposed for discrete kinematical components, where the values n=0,1,2,3 represent early-type stars, thin disc, thick disc, and halo populations, respectively. The kinematic parameters are used to segregate thin disc, thick disc, and halo

  10. Landslide Kinematical Analysis through Inverse Numerical Modelling and Differential SAR Interferometry

    Science.gov (United States)

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

    2015-11-01

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

  11. [In vivo study of kinematics of the elbow using electromagnetic goniometer].

    Science.gov (United States)

    Chantelot, C; Fontaine, C; Diop, A; Migaud, H; Lavaste, F; Duquennoy, A

    1998-01-01

    We used an electromagnetic goniometer to study the angular and translations displacements between the humerus and the 2 bones of the forearm. The electromagnetic gionometer allows acquisition of the coordinates and analysis of the 6 degrees of motion. To validate our external fixation apparatus, we used a fresh body upper limb. At first, a series of measurements was conducted with the apparatus. We then performed a series of measurements, by fixing the transmitter and receiver with external fixation pins directly inserted into the bones of the arm and forearm. To assess the reproducibility of our method, we chose a healthy subject. We performed 20 measurements over his right and left elbows. In order to study normal elbow kinematics, we performed measurements on 10 healthy subjects. The study of rotation showed that the apparatus was adapted to measure flexion-extension. It limited pronation-supination movement to about 26.7 degrees. Abduction was increased by 19.7 degrees by our apparatus during flexion-extension, but abduction was reliable within a 2 degrees range for pronation-supination. The sliding movements recorded during flexion-extension were reliable within approximately 3 mm for frontal translations, 6 mm for fitting, and 1 mm for external translations. For the sliding movements recorded in pronation-supination, frontal translations were reliable within about 7 mm, fitting was reliable within 1.9 mm and external translations were reliable within about 2.9 mm. During flexion-extension of the elbow, flexion-extension, frontal translations and external translations were reproducible. The reproducibility test showed that only 6 measurements were reproducible. The kinematic elbow study of a healthy subject showed that the average amplitude of flexion-extension was close to the measurement observed with the manual goniometer. The results in the healthy subject showed that the elbow is more stable during pronation-supination than during flexion-extension. This

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2014-09-20

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

  13. Kinematic Analysis of a Posterior-stabilized Knee Prosthesis

    Directory of Open Access Journals (Sweden)

    Zhi-Xin Zhao

    2015-01-01

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

  14. Kinematic Analysis of a Posterior-stabilized Knee Prosthesis

    Institute of Scientific and Technical Information of China (English)

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

    2015-01-01

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

  15. The Kinematics of Treadmill Locomotion in Space

    Science.gov (United States)

    Thornton, W. E.; Cavanagh, P. R.; Buczek, F. L.; Burgess-Milliron, M. J.; Davis, B. L.

    1997-01-01

    Locomotion on a treadmill in 0 G will probably remain a centerpiece of NASA's exercise countermeasures programme. This form of physical activity has the potential to cause large bone and muscle forces as well as loading during a period of continuous treadmill exercise. A critical concern is the provision of a treadmill which can approximate 1 G performance in space. At this point, no adequate objective measurements of in-flight treadmill kinetics or of the human response to this activity have been made. Interpretation of the results obtained in the present study is limited by the following: (1) bungee tensions were not measured; (2) ground reaction forces were not measured in parallel with the kinematic measurements; and (3) the instrumentation used to film the astronauts could itself have been affected by microgravity. Despite these shortcomings, what is apparent is that exercise during NASA missions STS 7 and STS 8 resulted in leg motions that were similar to those found during 1 G locomotion on an inclined passive treadmill and on an active treadmill at an even steeper grade. In addition, it was apparent that the majority of the loads were transmitted through the forefoot, and one can surmise that this style of running would result in physiologically significant tensions in the calf musculature and resultant ankle compressive loading. Further speculation regarding limb loading is complicated by the fact that varying amounts of force are transmitted through (1) the treadmill handle and (2) bungee cords that act as a tether. New generations of treadmills are being manufactured that could provide I important information for planners of long-duration space missions. If these types of treadmill are flown on future missions, it will be possible to control bungee tensions more precisely, control for grade and speed, and, most importantly, provide data on the rates and magnitudes of limb loading. These data could then be incorporated into biomechanical models of the

  16. Morphologically complex protostellar envelopes : structure and kinematics

    Science.gov (United States)

    Tobin, John J.

    must be considered when interpreting the velocity field. To more definitively probe rotation, the kinematic structure on sub-1000 AU scales must be studied, where rotation will certainly be a more prominent component of the velocity field.

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

    CERN Multimedia

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

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

  18. 75 FR 14442 - Federal Travel Regulation (FTR); Relocation Allowances-Relocation Income Tax Allowance (RITA) Tables

    Science.gov (United States)

    2010-03-25

    ... Amendment 2008-04 in the Federal Register (73 FR 35952) specifying that GSA would no longer publish the RITA... ADMINISTRATION Federal Travel Regulation (FTR); Relocation Allowances-- Relocation Income Tax Allowance (RITA...: Mr. Ed Davis, Office of Governmentwide Policy (M), Office of Travel, Transportation, and...

  19. 78 FR 26637 - Federal Travel Regulation (FTR); Relocation Allowance-Relocation Income Tax (RIT) Allowable Tables

    Science.gov (United States)

    2013-05-07

    ... June 25, 2008 (73 FR 35952), specifying that GSA would no longer publish the RIT Allowance tables in... From the Federal Register Online via the Government Publishing Office GENERAL SERVICES ADMINISTRATION Federal Travel Regulation (FTR); Relocation Allowance--Relocation Income Tax (RIT)...

  20. 76 FR 16629 - Federal Travel Regulation (FTR); Relocation Allowances-Relocation Income Tax Allowance (RITA) Tables

    Science.gov (United States)

    2011-03-24

    ... http://www.gsa.gov/relocationpolicy . Dated: March 21, 2011. Janet Dobbs, Director, Office of Travel... ADMINISTRATION Federal Travel Regulation (FTR); Relocation Allowances-- Relocation Income Tax Allowance (RITA... effective March 24, 2011. FOR FURTHER INFORMATION CONTACT: Mr. Ed Davis, Office of Governmentwide Policy...

  1. Spacecraft Maximum Allowable Concentrations for Airborne Contaminants

    Science.gov (United States)

    James, John T.

    2008-01-01

    The enclosed table lists official spacecraft maximum allowable concentrations (SMACs), which are guideline values set by the NASA/JSC Toxicology Group in cooperation with the National Research Council Committee on Toxicology (NRCCOT). These values should not be used for situations other than human space flight without careful consideration of the criteria used to set each value. The SMACs take into account a number of unique factors such as the effect of space-flight stress on human physiology, the uniform good health of the astronauts, and the absence of pregnant or very young individuals. Documentation of the values is given in a 5 volume series of books entitled "Spacecraft Maximum Allowable Concentrations for Selected Airborne Contaminants" published by the National Academy Press, Washington, D.C. These books can be viewed electronically at http://books.nap.edu/openbook.php?record_id=9786&page=3. Short-term (1 and 24 hour) SMACs are set to manage accidental releases aboard a spacecraft and permit risk of minor, reversible effects such as mild mucosal irritation. In contrast, the long-term SMACs are set to fully protect healthy crewmembers from adverse effects resulting from continuous exposure to specific air pollutants for up to 1000 days. Crewmembers with allergies or unusual sensitivity to trace pollutants may not be afforded complete protection, even when long-term SMACs are not exceeded. Crewmember exposures involve a mixture of contaminants, each at a specific concentration (C(sub n)). These contaminants could interact to elicit symptoms of toxicity even though individual contaminants do not exceed their respective SMACs. The air quality is considered acceptable when the toxicity index (T(sub grp)) for each toxicological group of compounds is less than 1, where T(sub grp), is calculated as follows: T(sub grp) = C(sub 1)/SMAC(sub 1) + C(sub 2/SMAC(sub 2) + ...+C(sub n)/SMAC(sub n).

  2. Kinematics and Dynamics of Roller Chain Drives

    DEFF Research Database (Denmark)

    Fuglede, Niels

    with a clear derivation of the seating and release configurations, as well as the driven sprocket angular position, velocity and discontinuous acceleration. The approximate analysis allows for simple expressions describing the seating and release configurations and shows the influence of main design parameters...... is presented, which also allows for exact sprocket center positions for a chain with a given number of links. Results show that the total chain wrapping length varies periodically with the tooth frequency. These results are of practical importance to both the design, installation and operation of roller chain...

  3. Kinematic characterization and optimization of vehicle front-suspension design based on ADAMS

    Institute of Scientific and Technical Information of China (English)

    YU Hai-bo; LI You-de; MEN Yu-zhuo

    2008-01-01

    To improve the suspension performance and steering stability of light vehicles, we built a kinematic simulation model of a whole independent double-wishbone suspension system by using ADAMS software, created random excitations of the test platforms of respectively the left and the right wheels according to actual running conditions of a vehicle, and explored the changing patterns of the kinematic characteristic parameters in the process of suspension motion. The irrationality of the suspension guiding mechanism design was pointed out through simulation and analysis, and the existent problems of the guiding mechanism were optimized and calculated. The results show that all the front-wheel alignment parameters, including the camber, the toe, the caster and the inclination, only slightly change within corresponding allowable ranges in design before and after optimization. The optimization reduces the variation of the wheel-center distance from 47.01 mm to a change of 8.28 mm within the allowable range of -10 mm to 10 mm, promising an improvement of the vehicle steering stability. The optimization also confines the front-wheel sideways slippage to a much smaller change of 2.23 mm; this helps to greatly reduce the wear of tires and assure the straight running stability of the vehicle.

  4. Kinematic Evolution of Simulated Star-Forming Galaxies

    CERN Document Server

    Kassin, Susan A; Governato, Fabio; Weiner, Benjamin J; Gardner, Jonathan P

    2014-01-01

    Recent observations have shown that star-forming galaxies like our own Milky Way evolve kinematically into ordered thin disks over the last ~8 billion years since z=1.2, undergoing a process of "disk settling." For the first time, we study the kinematic evolution of a suite of four state of the art "zoom in" hydrodynamic simulations of galaxy formation and evolution in a fully cosmological context and compare with these observations. Until now, robust measurements of the internal kinematics of simulated galaxies were lacking as the simulations suffered from low resolution, overproduction of stars, and overly massive bulges. The current generation of simulations has made great progress in overcoming these difficulties and is ready for a kinematic analysis. We show that simulated galaxies follow the same kinematic trends as real galaxies: they progressively decrease in disordered motions (sigma_g) and increase in ordered rotation (Vrot) with time. The slopes of the relations between both sigma_g and Vrot with r...

  5. ON THE KINEMATIC GEOMETRY OF MANY BODY SYSTEMS

    Institute of Scientific and Technical Information of China (English)

    Wu-YIHSIANG

    1999-01-01

    In mechanics, both classical and quantum, one studies the profound interaction between two types of energy, namely, the kinetic energy and the potential energy. The former can be organized as the kinematic metric on the configuration space while the latter can be represented by a suitable potential function, such as the Newtonian potential in celestial mechanics and the Coulomb potential in quantum mechanics of atomic and molecular physics. In this paper, the author studies the kinematic geometry of n-body systems. The main results axe (i) the introduction of a canonical coordinate system which reveals the total amount of kinematic symmetry by an SO(З) × O(n - 1) action in such a canonieal coordinate representation; (ii) an in depth analysis of the above kinematic system both in the setting of classical invariant theory and by the technique of equivarjant Riemannian geometry; (iii) a remarkably simple formula for the potential function in such a canonical coordinate system which reveals the well-fitting between the kinematic symmetry and the potential energy.

  6. Kinematic Evolution of Simulated Star-Forming Galaxies

    Science.gov (United States)

    Kassin, Susan A.; Brooks, Alyson; Governato, Fabio; Weiner, Benjamin J.; Gardner, Jonathan P.

    2014-01-01

    Recent observations have shown that star-forming galaxies like our own Milky Way evolve kinematically into ordered thin disks over the last approximately 8 billion years since z = 1.2, undergoing a process of "disk settling." For the first time, we study the kinematic evolution of a suite of four state of the art "zoom in" hydrodynamic simulations of galaxy formation and evolution in a fully cosmological context and compare with these observations. Until now, robust measurements of the internal kinematics of simulated galaxies were lacking as the simulations suffered from low resolution, overproduction of stars, and overly massive bulges. The current generation of simulations has made great progress in overcoming these difficulties and is ready for a kinematic analysis. We show that simulated galaxies follow the same kinematic trends as real galaxies: they progressively decrease in disordered motions (sigma(sub g)) and increase in ordered rotation (V(sub rot)) with time. The slopes of the relations between both sigma(sub g) and V(sub rot) with redshift are consistent between the simulations and the observations. In addition, the morphologies of the simulated galaxies become less disturbed with time, also consistent with observations. This match between the simulated and observed trends is a significant success for the current generation of simulations, and a first step in determining the physical processes behind disk settling.

  7. Inverse Kinematic Analysis of a Redundant Hybrid Climbing Robot

    Directory of Open Access Journals (Sweden)

    Adrian Peidro

    2015-11-01

    Full Text Available This paper presents the complete inverse kinematic analysis of a novel redundant truss climbing robot with 10 degrees of freedom. The robot is bipedal and has a hybrid serial-parallel architecture, where each leg consists of two parallel mechanisms connected in series. By separating the equation for inverse kinematics into two parts - with each part associated with a different leg - an analytic solution to the inverse kinematics is derived. In the obtained solution, all the joint coordinates are calculated in terms of four or five decision variables (depending on the desired orientation whose values can be freely decided due to the redundancy of the robot. Next, the constrained inverse kinematic problem is also solved, which consists of finding the values of the decision variables that yield a desired position and orientation satisfying the joint limits. Taking the joint limits into consideration, it is shown that all the feasible solutions that yield a given desired position and orientation can be represented as 2D and 3D sets in the space of the decision variables. These sets provide a compact and complete solution to the inverse kinematics, with applications for motion planning.

  8. General analytical shakedown solution for structures with kinematic hardening materials

    Science.gov (United States)

    Guo, Baofeng; Zou, Zongyuan; Jin, Miao

    2016-04-01

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

  9. Off-shell currents and color–kinematics duality

    Directory of Open Access Journals (Sweden)

    Pierpaolo Mastrolia

    2016-02-01

    Full Text Available We elaborate on the color–kinematics duality for off-shell diagrams in gauge theories coupled to matter, by investigating the scattering process gg→ss,qq¯,gg, and show that the Jacobi relations for the kinematic numerators of off-shell diagrams, built with Feynman rules in axial gauge, reduce to a color–kinematics violating term due to the contributions of sub-graphs only. Such anomaly vanishes when the four particles connected by the Jacobi relation are on their mass shell with vanishing squared momenta, being either external or cut particles, where the validity of the color–kinematics duality is recovered. We discuss the role of the off-shell decomposition in the direct construction of higher-multiplicity numerators satisfying color–kinematics identity in four as well as in d dimensions, for the latter employing the Four Dimensional Formalism variant of the Four Dimensional Helicity scheme. We provide explicit examples for the QCD process gg→qq¯g.

  10. A kinematics analysis of three best 100 m performances ever.

    Science.gov (United States)

    Krzysztof, Maćkała; Mero, Antti

    2013-03-01

    The purpose of this investigation was to compare and determine the relevance of the morphological characteristics and variability of running speed parameters (stride length and stride frequency) between Usain Bolt's three best 100 m performances. Based on this, an attempt was made to define which factors determine the performance of Usain Bolt's sprint and, therefore, distinguish him from other sprinters. We analyzed the previous world record of 9.69 s set in the 2008 Beijing Olympics, the current record of 9.58 s set in the 2009 Berlin World Championships in Athletics and the O lympic record of 9.63 s set in 2012 London Olympics Games by Usain Bolt. The application of VirtualDub Programme allowed the acquisition of basic kinematical variables such as step length and step frequency parameters of 100 m sprint from video footage provided by NBC TV station, BBC TV station. This data was compared with other data available on the web and data published by the Scientific Research Project Office responsible on behalf of IAAF and the German Athletics Association (DVL). The main hypothesis was that the step length is the main factor that determines running speed in the 10 and 20 m sections of the entire 100 m distance. Bolt's anthropometric advantage (body height, leg length and liner body) is not questionable and it is one of the factors that makes him faster than the rest of the finalists from each three competitions. Additionally, Bolt's 20 cm longer stride shows benefit in the latter part of the race. Despite these factors, he is probably able to strike the ground more forcefully than rest of sprinters, relative to their body mass, therefore, he might maximize his time on the ground and to exert the same force over this period of time. This ability, combined with longer stride allows him to create very high running speed - over 12 m/s (12.05 - 12.34 m/s) in some 10 m sections of his three 100 m performances. These assumption confirmed the application of Ballerieich

  11. ISS Squat and Deadlift Kinematics on the Advanced Resistive Exercise Device

    Science.gov (United States)

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

    2014-01-01

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

  12. Cluster approach allows budgeting, planning with DRGs.

    Science.gov (United States)

    Grimaldi, P L

    1984-01-01

    Measuring costs and revenues on a diagnosis related group (DRG) basis allows health care managers to define product lines, identify market shares, and examine the effects of case mix and physician behavior on profitability. It also enables public agencies to predict bed needs and evaluate certificate-of-need applications. The large number of DRGs, however, and other managerial considerations may discourage the use of DRG-based budgeting and planning. To save time and enhance data usefulness, financial officers may consolidate the DRGs into fewer groups. Revenue, for example, can be estimated by grouping the DRGs into 23 major diagnostic categories or by clustering them according to cost weight or into one group. Comparisons of payment rates and costs will identify the DRGs that lose money and will determine whether departmental costs are excessive. Strategic planning units formed from the 468 DRGs will help health care managers analyze and project performance. Product lines for this purpose may be clustered according to major diagnostic category, physician specialty, or clinical department. Since a potentially enormous amount of DRG-based clinical and financial information could be generated, hospitals should create data committees to ensure that managers receive only the information they need. PMID:10310693

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

    Science.gov (United States)

    Thelen, Michael P.; Moore, Donald M.

    2009-01-01

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

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

    CERN Document Server

    Broedel, Johannes

    2015-01-01

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

  15. A KBE tool for solving the mechanisms kinematics

    Science.gov (United States)

    Rusu, C.; Tiuca, T. L.; Noveanu, S.; Mândru, D.

    2016-08-01

    Knowledge-Based-Engineering (KBE) is a research field in which the methodologies and technologies for capturing and re-using the engineering knowledge are studied. Nowadays, the mechanisms design is accomplished by using various CAD software. Since, every CAD system includes KBE tools, those can be used to reduce time and simplify the mechanism's design process.One step in the design of the mechanisms with more than one degree of freedom is the direct and inverse kinematic analysis. This step can be difficult, because many calculations are involved and usually more than one solution exists. The geometrical constraints defined in the CAD system for the mechanism linkage's assembling, offer a simple solution for the kinematics analysis.This paper presents a KBE tool useful for kinematics analysis.The automation of repetitive tasks is implemented in an external application written in C# that it is also presented.

  16. Kinematic Performances of a Novel TLPM Parallel Robot

    Directory of Open Access Journals (Sweden)

    Fu Jianxun

    2016-01-01

    Full Text Available This paper investigates the kinematic performances of kinematics, Jacobian, singularity and interferences of a novel six-degree-of freedom (DOF parallel manipulator. Analytical solutions of the forward position kinematics have been worked out. Three-dimensional Cartesian space generated by a stroke interval from lmin to lmax fulfils the point workspace are illustrated, and the reachable workspaces are obtained. The notion of pure translational Jacobian of constraint matrix is introduced, and two types of conventional singularities are analyzed. Finally, auxiliary vectors are introduced to determine the link interferences, shown that there are two kinds of interferences in the system, one is angle-interference in one limb, and the other is distance-interference in adjacent limbs.

  17. Kinematics of roller chain drives - Exact and approximate analysis

    DEFF Research Database (Denmark)

    Fuglede, Niels; Thomsen, Jon Juel

    2016-01-01

    An exact and approximate kinematic analysis of a roller chain drive modeled as a four-bar mechanism is presented. The span connects the sprockets such that they rotate in the same direction, and the sprocket size, number of teeth, and shaft center distance can be arbitrary. The driven sprocket...... angular position, velocity and acceleration, as well as span length, are calculated and their (discontinuous) variation with driver angular position and main design parameters is illustrated. Kinematic predictions for the chain span motion are compared to results of multibody simulation, and there is seen...... to be very good agreement. All together this gives new insights into the characteristics of chain drive kinematics and the influence of main design parameters....

  18. Kinematics of Hipparcos Visual Binaries. I. Stars with Orbital Solutions

    Science.gov (United States)

    Bartkevicius, A.; Gudas, A.

    A sample consisting of 570 binary systems is compiled from several sources of visual binary stars with well-known orbital elements. High-precision trigonometric parallaxes (mean relative error about 5%) and proper motions (mean relative error about 3%) are extracted from the Hipparcos Catalogue or from the reprocessed Hipparcos data. However, 13% of the sample stars lack radial velocity measurements. Computed galactic velocity components and other kinematic parameters are used to divide the sample stars into kinematic age groups. The majority (89%) of the sample stars, with known radial velocities, are the thin disk stars, 9.5% binaries have thick disk kinematics and only 1.4% are halo stars. 85% of thin disk binaries are young or medium age stars and almost 15% are old thin disk stars. There is an urgent need to increase the number of the identified halo binary stars with known orbits and substantially improve the situation with their radial velocity data.

  19. Kinematic Characteristics Analysis of 3-PRS Parallel Manipulator

    Institute of Scientific and Technical Information of China (English)

    ZHANG Fan; YANG Jiang-guo; LI Bei-zhi

    2008-01-01

    The 3-PRS parallel mechanisms, whose kinematic chain is connected by prismatic joint P, revolute joint R and spherical joint S, have two rotational and one translational DOF. But the DOF of 3-PRS parallel mechanism cannot be explained by the Grubler-Kutzbach method or Herve method. To illuminate the special kinematic characteristics of 3-PRS parallel mechanism, a novel analytical approach is proposed in this paper. All the feasible instantaneous motions of 3-PRS mechanism are studied by using this method. The analysis of kinematic characteristics of 3-PRS mechanism help to understand the mechanism and estimate the motion capacity of mechanism. Finally, it is also helpful to optimize the topology of the mechanism and the trajectory for desired performance.

  20. Detailed HI kinematics of Tully-Fisher calibrator galaxies

    CERN Document Server

    Ponomareva, Anastasia A; Bosma, Albert

    2016-01-01

    We present spatially-resolved HI kinematics of 32 spiral galaxies which have Cepheid or/and Tip of the Red Giant Branch distances, and define a calibrator sample for the Tully-Fisher relation. The interferometric HI data for this sample were collected from available archives and supplemented with new GMRT observations. This paper describes an uniform analysis of the HI kinematics of this inhomogeneous data set. Our main result is an atlas for our calibrator sample that presents global HI profiles, integrated HI column-density maps, HI surface density profiles and, most importantly, detailed kinematic information in the form of high-quality rotation curves derived from highly-resolved, two-dimensional velocity fields and position-velocity diagrams.

  1. Effect of environmental pH on sperm kinematic characteristics

    DEFF Research Database (Denmark)

    Alipour, Hiva; Dardmeh, Fereshteh; Dissing, Marianne Charlotte;

    2015-01-01

    differences in the details of the sperm movement (kinematics) of human sperm provided by computerized sperm analysis systems. This study was designed to assess the effect of two different media pH levels on kinematic parameters of the human sperm. Samples were prepared using the 40%/80% Pureception (Sage, USA......) density gradient and resuspended in customized sperm culture media with pH levels of 7.9 and 8.3 (Origio, Denmark). Kinematic parameters of the sperm in both groups were analyzed using the Sperm Class Analyzer (Microptic S.L., Spain) at 0, 6 and 24 hours following the addition of media. Results....... Linearity and Wobble showed significant difference after 24 hours. This study demonstrated a difference in the sperm motion pattern and velocity in different environmental pH levels. Based on these findings, further investigations are required to elucidate knowledge about possible effect of marginal pH...

  2. Nonlinear kinematics for piezoelectricity in ALEGRA-EMMA.

    Energy Technology Data Exchange (ETDEWEB)

    Mitchell, John Anthony; Fuller, Timothy Jesse

    2013-09-01

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

  3. Scaling of Hadronic Form Factors in Point Form Kinematics

    CERN Document Server

    Coester, F

    2003-01-01

    The general features of baryon form factors calculated with point form kinematics are derived. With point form kinematics and spectator currents hadronic form factors are functions of $\\eta:={1\\over 4}(v_{out}-v_{in})^2$ and, over a range of $\\eta$ values are insensitive to unitary scale transformations of the model wave functions when the extent of the wave function is small compared to the scale defined by the constituent mass, $ \\ll 1/m^2$. The form factors are sensitive to the shape of such compact wave functions. Simple 3-quark proton wave functions are employed to illustrate these features. Rational and algebraic model wave functions lead to a reasonable representation of the empirical form factors, while Gaussian wave functions fail. For large values of $\\eta$ point form kinematics with spectator currents leads to power law behavior of the wave functions.

  4. Kinematic classification of non-interacting spiral galaxies

    CERN Document Server

    Wiegert, Theresa

    2013-01-01

    Using neutral hydrogen (HI) rotation curves of 79 galaxies, culled from the literature, as well as measured from HI data, we present a method for classifying disk galaxies by their kinematics. In order to investigate fundamental kinematic properties we concentrate on non-interacting spiral galaxies. We employ a simple parameterized form for the rotation curve in order to derive the three parameters: the maximum rotational velocity, the turnover radius and a measure of the slope of the rotation curve beyond the turnover radius. Our approach uses the statistical Hierarchical Clustering method to guide our division of the resultant 3D distribution of galaxies into five classes. Comparing the kinematic classes in this preliminary classification scheme to a number of galaxy properties we find that our class containing galaxies with the largest rotational velocities has a mean morphological type of Sb/Sbc while the other classes tend to later types. Other trends also generally agree with those described by previous...

  5. Kinematic analysis of parallel manipulators by algebraic screw theory

    CERN Document Server

    Gallardo-Alvarado, Jaime

    2016-01-01

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

  6. Inverse Kinematics of a New Quadruped Robot Control Method

    Directory of Open Access Journals (Sweden)

    Cai RunBin

    2013-01-01

    Full Text Available Design of redudant joints has been widely used in quadruped robots, so new kinds of techniques for sloving inverse kinematics are needed. In this paper we propose a new control method called Time‐Pose control method and choose the enhanced extended jacobian matrix method for inverse kinematics. We deduce extended jacobian matrix method again so that it can be applicable for arbitrary joint length. It is argued that because the method can generate close joint angle path. With Time‐Pose control method, such kind of inverse kinematics method has been used for trot gait on the flat ground. Simulations and experiments are performed, which prove the extended jacobian matrix method to be realizable for the quadruped robot.

  7. Quantifying Dragonfly Kinematics During Unsteady Free-Flight Maneuvers

    Science.gov (United States)

    Melfi, James; Lin, Huai-Ti; Mischiati, Matteo; Leonardo, Anthony; Wang, Z. Jane

    2012-11-01

    What make dragonflies such interesting fliers are the unsteady high-speed aerial maneuvers they perform. Until recently, the study of dragonflies in mid-flight has been limited to steady-state motions such as hovering and forward flight. In this talk, we report our kinematic analyses of the dragonfly flight recorded in a custom dragonfly arena at HHMI, Janelia Farm. Dragonfly's turning motions often involve all three degrees of freedom about its body axes: yaw, roll, and pitch. We examine the wing kinematics changes associated with different turning maneuvers, and seek the key variables in the wing kinematics that are responsible for each specific maneuver. This work is supported by a grant to ZJW and AL through the visitor program at Janelia Farm, HHMI.

  8. The Kinematic design of a 3-dof Hybrid Manipulator

    CERN Document Server

    Chablat, Damien; Angeles, Jorge

    1998-01-01

    This paper focuses on the kinematic properties of a new three-degree-of-freedom hybrid manipulator. This manipulator is obtained by adding in series to a five-bar planar mechanism (similar to the one studied by Bajpai and Roth) a third revolute passing through the line of centers of the two actuated revolute joints of the above linkage. The resulting architecture is hybrid in that it has both serial and parallel links. Fully-parallel manipulators are known for the existence of particularly undesirable singularities (referred to as parallel singularities) where control is lost [4] and [6]. On the other hand, due to their cantilever type of kinematic arrangement, fully serial manipulators suffer from a lack of stiffness and from relatively large positioning errors. The hybrid manipulator studied is intrinsically stiffer and more accurate. Furthermore, since all actuators are located on the first axis, the inertial effects are considerably reduced. In addition, it is shown that the special kinematic structure of...

  9. Generation of closed-form inverse kinematics for reconfigurable robots

    Institute of Scientific and Technical Information of China (English)

    Jie ZHAO; Weizhong WANG; Yongsheng GAO; Hegao CAI

    2008-01-01

    For reconfigurable robots, the automatic gen-eration of inverse kinematics is a key problem, because such robots may assume various configurations. In this paper, the screw and product-of-exponentials (POE) formula are used to model the kinematics of reconfigurable robots. The POE formula can be converted to canonical subproblems through decomposition and adjoint transfor-mation. Three classes and 28 types of subproblems containing geometric or algebraic solutions are identified and solved, which can be reused in different configurations. A generalized, decomposable, and reusable approach for close-form inverse kinematics of reconfigurable robots is developed based on POE and subproblems. The effective-ness of this method is shown in an example.

  10. Assessing allowable take of migratory birds

    Science.gov (United States)

    Runge, M.C.; Sauer, J.R.; Avery, M.L.; Blackwell, B.F.; Koneff, M.D.

    2009-01-01

    Legal removal of migratory birds from the wild occurs for several reasons, including subsistence, sport harvest, damage control, and the pet trade. We argue that harvest theory provides the basis for assessing the impact of authorized take, advance a simplified rendering of harvest theory known as potential biological removal as a useful starting point for assessing take, and demonstrate this approach with a case study of depredation control of black vultures (Coragyps atratus) in Virginia, USA. Based on data from the North American Breeding Bird Survey and other sources, we estimated that the black vulture population in Virginia was 91,190 (95% credible interval = 44,520?212,100) in 2006. Using a simple population model and available estimates of life-history parameters, we estimated the intrinsic rate of growth (rmax) to be in the range 7?14%, with 10.6% a plausible point estimate. For a take program to seek an equilibrium population size on the conservative side of the yield curve, the rate of take needs to be less than that which achieves a maximum sustained yield (0.5 x rmax). Based on the point estimate for rmax and using the lower 60% credible interval for population size to account for uncertainty, these conditions would be met if the take of black vultures in Virginia in 2006 was <3,533 birds. Based on regular monitoring data, allowable harvest should be adjusted annually to reflect changes in population size. To initiate discussion about how this assessment framework could be related to the laws and regulations that govern authorization of such take, we suggest that the Migratory Bird Treaty Act requires only that take of native migratory birds be sustainable in the long-term, that is, sustained harvest rate should be

  11. The Kinematics of Completely-Faceted Surfaces

    OpenAIRE

    Norris, Scott A.; Watson, Stephen J.

    2009-01-01

    We fully generalize a previously-developed computational geometry tool [1] to perform large-scale simulations of arbitrary two-dimensional faceted surfaces $z = h(x,y)$. Our method uses a three-component facet/edge/junction storage model, which by naturally mirroring the intrinsic surface structure allows both rapid simulation and easy extraction of geometrical statistics. The bulk of this paper is a comprehensive treatment of topological events, which are detected and performed explicitly. I...

  12. Of gluons and gravitons. Exploring color-kinematics duality

    Energy Technology Data Exchange (ETDEWEB)

    Isermann, Reinke Sven

    2013-06-15

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

  13. Freeform correction polishing for optics with semi-kinematic mounting

    Science.gov (United States)

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

    2015-10-01

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

  14. Kinematic variables of table vault on artistic gymnastics

    Directory of Open Access Journals (Sweden)

    Sarah Maria Boldrini FERNANDES

    2016-03-01

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

  15. Inverse kinematics model of parallel macro-micro manipulator system

    Institute of Scientific and Technical Information of China (English)

    2000-01-01

    An improved design, which employs the integration of optic, mechanical and electronic technologies for the next generation large radio telescope, is presented in this note. The authors propose the concept of parallel macro-micro manipulator system from the feed support structure with a rough tuning subsystem based on a cable structure and a fine tuning subsystem based on the Stewart platform. According to the requirement of astronomical observation, the inverse kinematics model of this parallel macro-micro manipulator system is deduced. This inverse kinematics model is necessary for the computer-controlled motion of feed.

  16. Kinematics of a relativistic particle with de Sitter momentum space

    Energy Technology Data Exchange (ETDEWEB)

    Arzano, Michele [Institute for Theoretical Physics and Spinoza Institute, Utrecht University, Leuvenlaan 4, Utrecht 3584 TD (Netherlands); Kowalski-Glikman, Jerzy, E-mail: marzano@uu.nl, E-mail: jkowalskiglikman@ift.uni.wroc.pl [Institute for Theoretical Physics, University of Wroclaw, Pl. Maxa Borna 9, Pl-50-204 Wroclaw (Poland)

    2011-05-21

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

  17. On the Motion of a Free Particle in Kinematic Relativity

    Science.gov (United States)

    Popescu, Ioan Antoniu

    From the viewpoint that Milne's Kinematic Relativity is a fundamental theory of matter in all domain, from elementary particle physics tocosmology, we study the problem of a free particle in the presence of the Universe at large, in the classical and quantum pictures. We formulate the Hamilton-Jacobi, Dirac, and Kelin-Gordon equations for a free particle in the presence of the Universe at large. The form of these equations suggests that Kinematic Relativity is more suitable to serve as a basis for a description of the Early Universe than the ordinary relativistic and quantum theories of contemporary physics.

  18. Optimal Kinematic Design of a 2-DOF Planar Parallel Manipulator

    Institute of Scientific and Technical Information of China (English)

    WU Jun; LI Tiemin; LIU Xinjun; WANG Liping

    2007-01-01

    Closed-form solutions were developed to optimize kinematics design of a 2-degree-of-freedom (2-DOF) planar parallel manipulator. The optimum design based on the workspace was presented. Meanwhile,a global, comprehensive conditioning index was introduced to evaluate the kinematic designs. The optimal parallel manipulator is incorporated into a 5-DOF hybrid machine tool which includes a 2-DOF rotational milling head and a long movement worktable. The results show that the planar parallel manipulator-based machine tool can be successfully used to machine blades and guide vanes for a hydraulic turbine.

  19. Whole analogy between Daniel Bernoulli solution and direct kinematics solution

    Directory of Open Access Journals (Sweden)

    Filipović Mirjana

    2010-01-01

    Full Text Available In this paper, the relationship between the original Euler-Bernoulli's rod equation and contemporary knowledge is established. The solution which Daniel Bernoulli defined for the simplest conditions is essentially the solution of 'direct kinematics'. For this reason, special attention is devoted to dynamics and kinematics of elastic mechanisms configuration. The Euler-Bernoulli equation and its solution (used in literature for a long time should be expanded according to the requirements of the mechanisms motion complexity. The elastic deformation is a dynamic value that depends on the total mechanism movements dynamics. Mathematical model of the actuators comprises also elasticity forces.

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

    Science.gov (United States)

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

    2003-01-01

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

  1. Kinematic Analysis of a New Parallel Machine Tool: the Orthoglide

    CERN Document Server

    Wenger, Philippe

    2007-01-01

    This paper describes a new parallel kinematic architecture for machining applications: the orthoglide. This machine features three fixed parallel linear joints which are mounted orthogonally and a mobile platform which moves in the Cartesian x-y-z space with fixed orientation. The main interest of the orthoglide is that it takes benefit from the advantages of the popular PPP serial machines (regular Cartesian workspace shape and uniform performances) as well as from the parallel kinematic arrangement of the links (less inertia and better dynamic performances), which makes the orthoglide well suited to high-speed machining applications. Possible extension of the orthoglide to 5-axis machining is also investigated.

  2. Kinematic and Dynamic Analyses of the Orthoglide 5-axis

    CERN Document Server

    Ur-Rehman, Raza; Chablat, Damien; Wenger, Philippe

    2008-01-01

    This paper deals with the kinematic and dynamic analyses of the Orthoglide 5-axis, a five-degree-of-freedom manipulator. It is derived from two manipulators: i) the Orthoglide 3-axis; a three dof translational manipulator and ii) the Agile eye; a parallel spherical wrist. First, the kinematic and dynamic models of the Orthoglide 5-axis are developed. The geometric and inertial parameters of the manipulator are determined by means of a CAD software. Then, the required motors performances are evaluated for some test trajectories. Finally, the motors are selected in the catalogue from the previous results.

  3. A submillimetre survey of the kinematics of the Perseus molecular cloud - III. Clump kinematics

    Science.gov (United States)

    Curtis, Emily I.; Richer, John S.

    2011-01-01

    We explore the kinematic properties of dense continuum clumps in the Perseus molecular cloud, derived from our wide-field C18O J = 3 → 2 data across four regions - NGC 1333, IC 348/HH 211, L1448 and L1455. Two distinct populations are examined, identified using the automated algorithms CLFIND (85 clumps) and GAUSSCLUMPS (122 clumps) on existing SCUBA 850-μm data. These kinematic signatures are compared to the clumps' dust continuum properties. We calculate each clump's non-thermal linewidth and virial mass from the associated C18O J = 3 → 2 spectrum. The clumps have supersonic linewidths, = 1.76 ± 0.09 (CLFIND population) and 1.71 ± 0.05 (with GAUSSCLUMPS). The linewidth distributions suggest the C18O line probes a lower density `envelope' rather than a dense inner core. Similar linewidth distributions for protostellar and starless clumps imply protostars do not have a significant impact on their immediate environment. The proximity to an active young stellar cluster seems to affect the linewidths: those in NGC 1333 are greater than elsewhere. In IC 348 the proximity to the old infrared cluster has little influence, with the linewidths being the smallest of all. The virial analysis suggests that the clumps are bound and close to equipartition, with virial masses similar to the masses derived from the continuum emission. In particular, the starless clumps occupy the same parameter space as the protostars, suggesting they are true stellar precursors and will go on to form stars. We also search for ordered C18O velocity gradients across the face of each core. Approximately one-third have significant detections, which we mainly interpret in terms of rotation. However, we note a correlation between the directions of the identified gradients and outflows across the protostars, indicating we may not have a purely rotational signature. The fitted gradients are in the range ? to 16 km s-1 pc-1, larger than found in previous work, probably as a result of the higher

  4. Rotating gravitational lenses: a kinematic approach

    CERN Document Server

    Walters, Steve

    2014-01-01

    This paper uses the Kerr geodesic equations for massless particles to derive an acceleration vector in both Boyer-Lindquist and Cartesian coordinates. As a special case, the Schwarzschild acceleration due to a non-rotating mass has a particularly simple and elegant form in Cartesian coordinates. Using forward integration, these equations are used to plot the caustic pattern due to a system consisting of a rotating point mass with a smaller non-rotating planet. Additionally, first and second order approximations to the paths are identified, which allows for fast approximations of paths, deflection angles and travel-time delays.

  5. ANALYSIS METHOD OF AUTOMATIC PLANETARY TRANSMISSION KINEMATICS

    Directory of Open Access Journals (Sweden)

    Józef DREWNIAK

    2014-06-01

    Full Text Available In the present paper, planetary automatic transmission is modeled by means of contour graphs. The goals of modeling could be versatile: ratio calculating via algorithmic equation generation, analysis of velocity and accelerations. The exemplary gears running are analyzed, several drives/gears are consecutively taken into account discussing functional schemes, assigned contour graphs and generated system of equations and their solutions. The advantages of the method are: algorithmic approach, general approach where particular drives are cases of the generally created model. Moreover, the method allows for further analyzes and synthesis tasks e.g. checking isomorphism of design solutions.

  6. Effects of load on good morning kinematics and EMG activity

    Directory of Open Access Journals (Sweden)

    Andrew David Vigotsky

    2015-01-01

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

  7. KINEMATICS OF 3-DOF PYRAMID MANIPULATOR BY PRINCIPAL SCREWS

    Institute of Scientific and Technical Information of China (English)

    2001-01-01

    Kinematics of a 3-RPS parallel pyramid manipulator are investigated by principal screw. Firstly, the principal screws are identified by quadric degeneration. The planar conics representing the relations between the pitches and the three linear inputs are described, and the three-dimensional distribution of the axes of all the twists is illustrated. Finally, a numerical example is given successfully.

  8. Statics and kinematics of discrete Cosserat-type granular materials

    NARCIS (Netherlands)

    Kruyt, N.P.

    2003-01-01

    A theoretical framework is presented for the statics and kinematics of discrete Cosserat-type granular materials. In analogy to the force and moment equilibrium equations for particles, compatibility equations for closed loops are formulated in the two-dimensional case for relative displacements and

  9. Scapular kinematic is altered after electromyography biofeedback training.

    Science.gov (United States)

    San Juan, Jun G; Gunderson, Samantha R; Kane-Ronning, Kai; Suprak, David N

    2016-06-14

    Electromyography (EMG) biofeedback training affords patients a better sense of the different muscle activation patterns involved in the movement of the shoulder girdle. It is important to address scapular kinematics with labourers who have daily routines involving large amounts of lifting at shoulder level or higher. This population is at a heightened risk of developing subacromial impingement syndrome (SAIS). The purpose of this study was to investigate the acute effects of scapular stabilization exercises with EMG biofeedback training on scapular kinematics. Twenty-three healthy subjects volunteered for the study. Electrodes were placed on the upper and lower trapezius, serratus anterior, and lumbar paraspinals to measure EMG activity. Subjects underwent scapular kinematic testing, which consisted of humeral elevation in the scapular plane, before and after biofeedback training. The latter consisted of 10 repetitions of the I, W, T, and Y scapular stabilization exercises. Subjects were told to actively reduce the muscle activation shown on the screen for the upper trapezius during the exercises. The scapular external rotation had a statistically significant difference at all humeral elevation angles (porientation with a mean difference of 6.5°. There were no significant differences found with scapular upward rotation, or posterior tilt at all humeral elevation angles following biofeedback. Scapular kinematics are altered by EMG biofeedback training utilizing scapular stabilization exercises. However, only scapular external rotation was affected by the exercises. PMID:27161990

  10. Statistical Shape Model-Based Femur Kinematics from Biplane Fluoroscopy

    DEFF Research Database (Denmark)

    Baka, N.; de Bruijne, Marleen; Walsum, T. van;

    2012-01-01

    Studying joint kinematics is of interest to improve prosthesis design and to characterize postoperative motion. State of the art techniques register bones segmented from prior computed tomography or magnetic resonance scans with X-ray fluoroscopic sequences. Elimination of the prior 3D acquisition...

  11. Differential Cross Section Kinematics for 3-dimensional Transport Codes

    Science.gov (United States)

    Norbury, John W.; Dick, Frank

    2008-01-01

    In support of the development of 3-dimensional transport codes, this paper derives the relevant relativistic particle kinematic theory. Formulas are given for invariant, spectral and angular distributions in both the lab (spacecraft) and center of momentum frames, for collisions involving 2, 3 and n - body final states.

  12. The principle of relativity, kinematics and algebraic relations

    Institute of Scientific and Technical Information of China (English)

    2010-01-01

    Based on the relativistic principle and the postulate of universal invariant constants (c, l), all kinematic symmetries can be set up as the subsets of the Umov-Weyl-Fock-Hua transformations for the inertial motions. These symmetries are connected to each other via combinations rather than via contractions and deformations.

  13. Iberian plate kinematics and Alpine collision in the Pyrenees

    NARCIS (Netherlands)

    Vissers, R.L.M.; Meijer, P.Th.

    2012-01-01

    With the aim to unravel first-order motions associated with the Alpine collisional history of the Pyrenees in SW Europe, we perform a plate-kinematic analysis of Iberia motion since the latest Mesozoic in a six-plate circuit. This analysis leads to reconstructions of the North Atlantic for the lates

  14. Adding Image Constraints to Inverse Kinematics for Human Motion Capture

    Directory of Open Access Journals (Sweden)

    Jaume-i-Capó Antoni

    2010-01-01

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

  15. Primate Anatomy, Kinematics, and Principles for Humanoid Design

    Science.gov (United States)

    Ambrose, Robert O.; Ambrose, Catherine G.

    2004-01-01

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

  16. Kinematics and critical swimming speed of juvenile scalloped hammerhead sharks

    Science.gov (United States)

    Lowe

    1996-01-01

    Kinematics and critical swimming speed (Ucrit) of juvenile scalloped hammerhead sharks Sphyrna lewini were measured in a Brett-type flume (635 l). Kinematic parameters were also measured in sharks swimming in a large pond for comparison with those of sharks swimming in the flume. Sharks in the flume exhibited a mean Ucrit of 65±11 cm s-1 (± s.d.) or 1.17±0.21 body lengths per second (L s-1), which are similar to values for other species of sharks. In both the flume and pond, tailbeat frequency (TBF) and stride length (LS) increased linearly with increases in relative swimming speed (Urel=body lengths traveled per second). In the flume, tailbeat amplitude (TBA) decreased with increasing speed whereas TBA did not change with speed in the pond. Differences in TBF and LS between sharks swimming in the flume and the pond decreased with increases in Urel. Sharks swimming at slow speeds (e.g. 0.55 L s-1) in the pond had LS 19 % longer and TBF 21 % lower than sharks in the flume at the same Urel. This implies that sharks in the flume expended more energy while swimming at comparable velocities. Comparative measurements of swimming kinematics from sharks in the pond can be used to correct for effects of the flume on shark swimming kinematics and energetics. PMID:9320537

  17. Kinematic Analysis of Rotary Deep-Depth Turning Parameters

    Science.gov (United States)

    Gurtyakov, A. M.; Babaev, A. S.; Chudinova, A. I.

    2016-04-01

    This article offers a parameterization procedure for deep-depth turning without simplifying assumptions. In this paper the authors will show comparative results of researching parameters for rotary turning according to the developed methodology and according to the methodology of finish-machining conditions. A theoretically found kinematic coefficient of rotary cutting is presented in the paper

  18. 2D kinematics of simulated disc merger remnants

    NARCIS (Netherlands)

    Jesseit, Roland; Naab, Thorsten; Peletier, Reynier F.; Burkert, Andreas

    2007-01-01

    We present a 2D kinematic analysis for a sample of simulated binary disc merger remnants with mass ratios 1:1 and 3:1. For the progenitor discs we used pure stellar models as well as models with 10 per cent of their mass in gas. A multitude of phenomena also observed in real galaxies are found in th

  19. Soft tissue artifact in canine kinematic gait analysis

    NARCIS (Netherlands)

    Schwencke, M.; Smolders, L.A.; Bergknut, N.; Gustas, P.; Meij, B.P.; Hazewinkel, H.A.W.

    2012-01-01

    Vet Surg. 2012 Oct;41(7):829-37. doi: 10.1111/j.1532-950X.2012.01021.x. Soft tissue artifact in canine kinematic gait analysis. Schwencke M, Smolders LA, Bergknut N, Gustås P, Meij BP, Hazewinkel HA. Source Department of Clinical Sciences of Companion Animals,, Faculty of Veterinary Medicine, Utrech

  20. Pedestrian kinematics: a detailed study from the aspects project

    NARCIS (Netherlands)

    Rodarius, C.; Hair-Buijssen, S.H.H.M. de; Mottola, E.; Schaub, S.

    2013-01-01

    This study aims at providing insight on pedestrian kinematics during vehicle impact for the following variables: pedestrian size, position and posture as well as vehicle related variables like shape, speed and pre-crash braking. It is part of the work conducted within work package 3 “Injury assessme

  1. Kinematics Analysis Based on Screw Theory of a Humanoid Robot

    Institute of Scientific and Technical Information of China (English)

    MAN Cui-hua; FAN Xun; LI Cheng-rong; ZHAO Zhong-hui

    2007-01-01

    A humanoid robot is a complex dynamic system for its idiosyncrasy. This paper aims to provide a mathematical and theoretical foundation for the design of the configuration, kinematics analysis of a novel humanoid robot. It has a simplified configuration and design for entertainment purpose. The design methods, principle and mechanism are discussed. According to the design goals of this research, there are ten degrees of freedom in the two bionic arms.Modularization, concurrent design and extension theory methods were adopted in the configuration study and screw theory was introduced into the analysis of humanoid robot kinematics. Comparisons with other methods show that: 1) only two coordinates need to be established in the kinematics analysis of humanoid robot based on screw theory; 2) the spatial manipulator Jacobian obtained by using twist and exponential product formula is succinct and legible; 3) adopting screw theory to resolve the humanoid robot arms kinematics question can avoid singularities; 4) using screw theory can solve the question of specification insufficiency.

  2. Differences in Soccer Kick Kinematics between Blind Players and Controls

    Science.gov (United States)

    Giagazoglou, Paraskevi; Katis, Athanasios; Kellis, Eleftherios; Natsikas, Christos

    2011-01-01

    The purpose of the current study was to examine the kinematic differences during instep soccer kicks between players who were blind and sighted controls. Eleven male soccer players who were blind and nine male sighted performed instep kicks under static and dynamic conditions. The results indicated significantly higher (p less than 0.05) ball…

  3. Low Cost Computer Graphics Simulation of Basic Kinematic Linkages.

    Science.gov (United States)

    Smith, Donald A.; Jacquot, Raymond G.

    1984-01-01

    Presents algorithms for the simulation and motion display of the three basic kinematic devices: (1) four bar linkages; (2) the slider crank; and (3) the inverted slider crank mechanisms. The algorithms were implemented on a Commodore-VIC 20 microcomputer system with 6500 bytes of available memory. (Author/JN)

  4. Kinematics in the starbusting circumnuclear region of M100

    NARCIS (Netherlands)

    Allard, E. L.; Peletier, R. F.; Knapen, J. H.

    2004-01-01

    Abstract: We have obtained integral-field spectroscopic data, using the SAURON instrument, of the bar and starbursting circumnuclear region in the barred spiral galaxy M100. From our data we have derived kinematic maps of the mean velocity and velocity dispersion of the stars and the gas, which we p

  5. Effects of load on good morning kinematics and EMG activity.

    Science.gov (United States)

    Vigotsky, Andrew David; Harper, Erin Nicole; Ryan, David Russell; Contreras, Bret

    2015-01-01

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

  6. 76 FR 32340 - Federal Travel Regulation; Temporary Duty (TDY) Travel Allowances (Taxes); Relocation Allowances...

    Science.gov (United States)

    2011-06-06

    ... number of Federal agencies have made the WTA optional to the employee. Nothing in tax law or existing... state and local tax law. At the same time, this rule carries forward from the current 302-17 the... including Social Security tax, if applicable, and Medicare tax. Current law does not allow Federal...

  7. Functional clinical typology of the foot and kinematic gait parameters

    Directory of Open Access Journals (Sweden)

    Jitka Marenčáková

    2016-06-01

    Full Text Available Background: The foot plays a key role in a standing posture, walking and running performance. Changes in its structure or function may alter upper segments of kinematic chain which can lead to formation of musculoskeletal disorders. Although functional clinical typology provides a complex view of foot kinesiology there is a lack of knowledge and evidence about influences of different foot types on human gait. Objective: The aim of the study was to analyse differences of kinematic gait parameters of lower extremity joints and pelvis between functional clinical foot types in healthy young men. Methods: Three-dimensional kinematic analysis by the Vicon Motion Capture MX System device in synchronization with 2 Kistler force platforms was used to obtain kinematic data from 18 healthy men (mean age 23.2 ± 1.9 years. The functional clinical foot type was clinically examined and sorted into 3 basic foot type groups - forefoot varus (FFvar, rearfoot varus (RFvar and forefoot valgus (FFvalg. Peak angular values and range of an angular displacement in all of three movement planes were analysed for pelvis, hip, knee and ankle joint. For statistical analysis of kinematic gait parameters differences between foot types Mann Whitney U test at a statistical significance level p < .05 and Cohen's coefficient d for effect size were used. Results: This study showed that functional clinical foot type can affect kinematic parameters of gait in the joints of the lower limb and pelvis. Significant differences were presented in the FFvar in comparison with other two foot type groups with middle and high size of effect. The most alterations were observed in pelvis area and in a sagittal plane of movement. Nevertheless, significant differences between FFvalg and RFvar foot types were not noticed. Conclusions: Functional clinical foot typology provides one of the possible methods to describe foot structure and function. Our results showed that foot type could

  8. Kinematic synthesis of bevel-gear-type robotic wrist mechanisms

    Science.gov (United States)

    Lin, Chen-Chou

    Bevel-gear-type robotic wrist mechanisms are commonly used in industry. The reasons for their popularity are that they are compact, light-weight, and relatively inexpensive. However, there are singularities in their workspace, which substantially degrade their manipulative performance. The objective of this research is to develop an atlas of three-degree-of-freedom bevel-gear-type wrist mechanisms, and through dimensional synthesis to improve their kinematic performance. The dissertation contains two major parts: the first is structural analysis and synthesis, the other is kinematic analysis and dimensional synthesis. To synthesize the kinematic structures of bevel-gear-type wrist mechanisms, the kinematic structures are separated from their functional considerations. All kinematic structures which satisfy the mobility condition are enumerated in an unbiased, systematic manner. Then the bevel-gear-type wrist mechanisms are identified by applying the functional requirements. Structural analysis shows that a three-degree-of-freedom wrist mechanism usually consists of non-fractionated, two degree-of-freedom epicyclic gear train jointed with the base link. Therefore, the structural synthesis can be simplified into a problem of examining the atlas of non-fractionated, two-degree-of-freedom epicyclic gear trains. The resulting bevel-gear-type wrist mechanism has been categorized and evaluated. It is shown that three-degree-of-freedom, four-jointed wrist mechanisms are promising for further improving the kinematic performance. It is found that a spherical planetary gear train is necessarily imbedded in a three-degree-of-freedom, four-jointed wrist mechanism. Therefore, to study the workspace and singularity problems of three-degree-of-freedom four-jointed spherical wrist mechanisms, we have to study the trajectories of spherical planetary gear trains. The parametric equations of the trajectories and some useful geometric properties for the analysis and synthesis of

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

    Science.gov (United States)

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

    2015-09-01

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

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

    Science.gov (United States)

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

    2016-01-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2013-04-01

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

  12. Minor actinide fission induced by multi-nucleon transfer reaction in inverse kinematics

    Directory of Open Access Journals (Sweden)

    Taieb J.

    2010-03-01

    Full Text Available In the framework of nuclear waste incineration and design of new generation nuclear reactors, experimental data on fission probabilities and on fission fragment yields of minor actinides are crucial to design prototypes. Transfer-induced fission has proven to be an efficient method to study fission probabilities of actinides which cannot be investigated with standard techniques due to their high radioactivity. We report on the preliminary results of an experiment performed at GANIL that investigates fission probabilities with multi-nucleon transfer reactions in inverse kinematics between a 238U beam on a 12C target. Actinides from U to Cm were produced with an excitation energy range from 0 to 30 MeV. In addition, inverse kinematics allowed to characterize the fission fragments in mass and charge. A key point of the analysis resides in the identification of the actinides produced in the different transfer channels. The new annular telescope SPIDER was used to tag the target-like recoil nucleus of the transfer reaction and to determine the excitation energy of the actinide. The fission probability for each transfer channel is accessible and the preliminary results for 238U are promising.

  13. Space reconstruction of the morphology and kinematics of axisymmetric radio sources

    Science.gov (United States)

    Diep, P. N.; Phuong, N. T.; Hoai, D. T.; Nhung, P. T.; Thao, N. T.; Tuan-Anh, P.; Darriulat, P.

    2016-10-01

    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, which is a good approximation to, or at least a good reference for 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 us 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 to display the results of the analysis is shown to often better match the morphology and kinematics of actual stars. The radial dependence of the gas density and temperature and the possible presence of velocity gradients are briefly considered. In the second part, these results are applied to a few stars taken as examples with the aim of evaluating their usefulness when applied to concrete cases. A third part takes stock of what precedes and formulates some guidelines for modelling the radio emission of axisymmetric radio sources, limited however to the mathematics and geometry of the problem, physics considerations being generally ignored.

  14. Mechanical versus kinematical shortening reconstructions of the Zagros High Folded Zone (Kurdistan region of Iraq)

    Science.gov (United States)

    Frehner, Marcel; Reif, Daniel; Grasemann, Bernhard

    2012-06-01

    This paper compares kinematical and mechanical techniques for the palinspastic reconstruction of folded cross sections in collision orogens. The studied area and the reconstructed NE-SW trending, 55.5 km long cross section is located in the High Folded Zone of the Zagros fold-and-thrust belt in the Kurdistan region of Iraq. The present-day geometry of the cross section has been constructed from field as well as remote sensing data. In a first step, the structures and the stratigraphy are simplified and summarized in eight units trying to identify the main geometric and mechanical parameters. In a second step, the shortening is kinematically estimated using the dip domain method to 11%-15%. Then the same cross section is used in a numerical finite element model to perform dynamical unfolding simulations taking various rheological parameters into account. The main factor allowing for an efficient dynamic unfolding is the presence of interfacial slip conditions between the mechanically strong units. Other factors, such as Newtonian versus power law viscous rheology or the presence of a basement, affect the numerical simulations much less strongly. If interfacial slip is accounted for, fold amplitudes are reduced efficiently during the dynamical unfolding simulations, while welded layer interfaces lead to unrealistic shortening estimates. It is suggested that interfacial slip and decoupling of the deformation along detachment horizons is an important mechanical parameter that controlled the folding processes in the Zagros High Folded Zone.

  15. The kinematics of the California sea lion foreflipper during forward swimming

    International Nuclear Information System (INIS)

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

  16. Kinematic and Thermal Structure at the onset of high-mass star formation

    CERN Document Server

    Bihr, S; Linz, H; Ragan, S E; Hennemann, M; Tackenberg, J; Smith, R J; Krause, O; Henning, Th

    2015-01-01

    We want to understand the kinematic and thermal properties of young massive gas clumps prior to and at the earliest evolutionary stages of high-mass star formation. Do we find signatures of gravitational collapse? Do we find temperature gradients in the vicinity or absence of infrared emission sources? Do we find coherent velocity structures toward the center of the dense and cold gas clumps? To determine kinematics and gas temperatures, we used ammonia, because it is known to be a good tracer and thermometer of dense gas. We observed the NH$_3$(1,1) and (2,2) lines within seven very young high-mass star-forming regions with the VLA and the Effelsberg 100m telescope. This allows us to study velocity structures, linewidths, and gas temperatures at high spatial resolution of 3-5$"$, corresponding to $\\sim$0.05 pc. We find on average cold gas clumps with temperatures in the range between 10 K and 30 K. The observations do not reveal a clear correlation between infrared emission peaks and ammonia temperature peak...

  17. Spectroscopic properties of nearby late-type stars, members of stellar kinematic groups

    CERN Document Server

    Maldonado, J; Eiroa, C; Montes, D; Montesinos, B

    2010-01-01

    Nearby late-type stars are excellent targets to look for young objects in stellar associations and moving groups. The study of these groups goes back more than one century ago however, their origin is still misunderstood. Although their existence have been confirmed by statistical studies of large sample of stars, the identification of a group of stars as member of moving groups, is not an easy task, list of members often change with time and most members have been identified by means of kinematics criteria which is not sufficient since many old stars can share the same spatial motion of those stars in moving groups. In this contribution we attempt to identify unambiguous moving groups members, among a sample of nearby-late type stars. High resolution echelle spectra is used to i) derive accurate radial velocities which allow us to study the stars' kinematics and make a first selection of moving groups members; and ii) analyze several age-related properties for young late-type stars (i.e., lithium LiI 6707.8 ...

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

    Science.gov (United States)

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

    2016-01-01

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

  19. The kinematic preshaping of triggered self-adaptive linkage-driven robotic fingers

    Directory of Open Access Journals (Sweden)

    L. Birglen

    2011-02-01

    Full Text Available In this paper, the issue of the kinematic – as opposed to dynamic – preshaping of self-adaptive robotic fingers driven by linkages is discussed. A method to obtain designs of these fingers capable of various behaviours during their closing motions is presented. The method is based on using triggered passive elements in carefully selected joints of the finger and the selection or optimization of geometric parameters to obtain particular kinematic relationships between the motions of the phalanges. This method is very general and can be applied to any self-adaptive robotic finger in order to obtain many different types of closing motions. Examples given in this paper are focusing on two different preshaping motions, the first one aims at allowing pinch grasps while the second mimics a human finger. The fundamental aim of this paper is to show that various preshapings of self-adaptive fingers are possible, not just one, and to give two step-by-step examples.

    This paper was presented at the IFToMM/ASME International Workshop on Underactuated Grasping (UG2010, 19 August 2010, Montréal, Canada.

  20. Kinematics of intraoral transport and swallowing in the herbivorous lizard uromastix acanthinurus

    Science.gov (United States)

    Herrel; Vree

    1999-05-01

    The kinematics of intraoral transport and swallowing in lizards of the species Uromastix acanthinurus (Chamaeleonidae, Leiolepidinae) were investigated using cineradiography (50 frames s-1). Additional recordings were also made using high-speed (500 frames s-1) and conventional video systems (25 frames s-1). Small metal markers were inserted into different parts of the upper and lower jaw and the tongue. Cineradiographic images were digitised, and displacements of the body, head, upper and lower jaw and the tongue were quantified. Twenty additional variables depicting displacements and the timing of events were calculated. Multivariate analyses of variance indicated significant differences between feeding stages. Remarkably, only very few food-type-dependent differences were observed during intraoral transport, and no such differences could be demonstrated during swallowing. Using previously published data for the closely related insectivorous lizard Plocederma stellio, the effect of dietary specialisation in U. acanthinurus on the kinematic variables while eating locusts was examined. Species differed in a number of gape- and tongue-related variables. These differences may be related to differences in tongue structure between the species. Clearly, U. acanthinurus possesses a specialised gut and dental structure that allows them efficiently to cut pieces from whole leaves. However, a decrease in modulatory capacity seems to be a consequence of dietary specialisation in Uromastix acanthinurus. PMID:10101110

  1. A kinematic study and membership analysis of the Lupus star-forming region

    CERN Document Server

    Galli, P A B; Teixeira, R; Ducourant, C

    2013-01-01

    This paper is dedicated to investigating the kinematic properties of the Lupus moving group of young stars with the primary objective of deriving individual parallaxes for each group member. We identify those stars in the Lupus star-forming region that define the comoving association of young stars by utilizing our new and improved convergent point search method that allows us to derive the precise position of the convergent point of the comoving association from the stars' proper motions. We used published proper motion catalogs and searched the literature for radial velocities, which are needed to compute individual parallaxes. We supplemented the radial velocity data with new measurements from spectroscopic observations performed with the FEROS spectrograph mounted on the MPG/ESO 2.2m telescope at La Silla. We identify a comoving group with 109 pre-main sequence stars and candidates that define the kinematic properties of the Lupus low-mass star-forming region. We derive individual parallaxes for stars wit...

  2. Kinematics of the Orion Nebula Cluster: Velocity Substructure and Spectroscopic Binaries

    CERN Document Server

    Tobin, J J; Furesz, G; Mateo, M; Megeath, S T

    2009-01-01

    We present a kinematic study of the Orion Nebula Cluster based upon radial velocities measured by multi-fiber echelle spectroscopy at the 6.5 meter MMT and Magellan telescopes. Velocities are reported for 1613 stars, with multi-epoch data for 727 objects as part of our continuing effort to detect and analyze spectroscopic binaries. We confirm and extend the results of Furesz et al. showing that the ONC is not relaxed, consistent with its youth, and that the stars generally follow the position-velocity structure of the moderate density gas in the region, traced by $^{13}$CO. The additional radial velocities we have measured enable us to probe some discrepancies between stellar and gaseous structure which can be attributed to binary motion and the inclusion of non-members in our kinematic sample. Our multi-epoch data allow us to identify 89 spectroscopic binaries; more will be found as we continue monitoring. Our results reinforce the idea that the ONC is a cluster in formation, and thus provides a valuable tes...

  3. Smartphones as Integrated Kinematic and Dynamic Sensors for Amusement Park Physics Applications

    Science.gov (United States)

    Peterson, Stephanie; Dennison, J. R.

    2010-10-01

    USU has hosted Physics Day at Lagoon and has attracted more than 120,000 secondary educators and students over 21 years. During this educational day, students explore basic physics concepts and apply their classroom content outdoors, in real world applications. As part of the event, USU's Physics Department provides curriculum to be used at Lagoon, in similar outside venues, and in the classroom. One such educational instrument, which is a primary focus of this work, is student workbooks filled with activities ranging from very simple to more advanced topics. Workbooks cover the properties of waves, relative velocity, and acceleration, topics which have historically challenged students and future topics include kinematics, energy, and forces. The topics were selected based on requests from teachers throughout the Intermountain Region and identified deficiencies in student performance on core curriculum assessments. An innovative approach is to identify physical application of iPhone and Android smartphone software technologies, which make use of dynamic and kinematic sensors. These technologies will allow students to realize their ability to do quantitative physics calculations anywhere, anytime; a smart device which is highly salable to today's teenage learners. This also provides an exciting approach to more fully engage students in learning physics concepts.

  4. The Kinematic Signature of Face-On Peanut-Shaped Bulges

    CERN Document Server

    Debattista, V P; Mayer, L; Moore, B; Debattista, Victor P.; Mayer, Lucio

    2005-01-01

    We present a kinematic diagnostic for peanut-shaped bulges in nearly face-on galaxies. The face-on view provides a novel perspective on peanuts which would allow study of their relation to bars and disks in greater detail than hitherto possible. The diagnostic is based on the fact that peanut shapes are associated with a flat density distribution in the vertical direction. We show that the kinematic signature corresponding to such a distribution is a minimum in the fourth-order Gauss-Hermite moment $s_4$. We demonstrate our method on $N$-body simulations of varying peanut strength, showing that strong peanuts can be recognized to inclinations $i \\simeq 30\\degrees$, regardless of the strength of the bar. We also consider compound systems in which a bulge is present in the initial conditions as may happen if bulges form at high redshift through mergers. We show that in this case, because the vertical structure of the bulge is not derived from that of the disk, that the signature of a peanut in $s_4$ is weakened...

  5. Circular arc snakes and kinematic surface generation

    KAUST Repository

    Barton, Michael

    2013-05-01

    We discuss the theory, discretization, and numerics of curves which are evolving such that part of their shape, or at least their curvature as a function of arc length, remains unchanged. The discretization of a curve as a smooth sequence of circular arcs is well suited for such purposes, and allows us to reduce evolution of curves to the evolution of a control point collection in a certain finite-dimensional shape space. We approach this evolution by a 2-step process: linearized evolution via optimized velocity fields, followed by optimization in order to exactly fulfill all geometric side conditions. We give applications to freeform architecture, including "rationalization" of a surface by congruent arcs, form finding and, most interestingly, non-static architecture. © 2013 The Author(s) Computer Graphics Forum © 2013 The Eurographics Association and Blackwell Publishing Ltd.

  6. Updated Kinematic Constraints on a Dark Disk

    Science.gov (United States)

    Kramer, Eric David; Randall, Lisa

    2016-06-01

    We update the method of the Holmberg & Flynn study, including an updated model of the Milky Way’s interstellar gas, radial velocities, an updated reddening map, and a careful statistical analysis, to bound the allowed surface density and scale height of a dark disk. We pay careful attention to the self-consistency of the model, including the gravitational influence of the dark disk on other disk components, and to the net velocity of the tracer stars. We find that the data set exhibits a non-zero bulk velocity in the vertical direction as well as a displacement from the expected location at the Galactic midplane. If not properly accounted for, these features would bias the bound toward low dark disk mass. We therefore perform our analysis two ways. In the first, using the traditional method, we subtract the mean velocity and displacement from the tracers’ phase space distributions. In the second method, we perform a non-equilibrium version of the HF method to derive a bound on the dark disk parameters for an oscillating tracer distribution. Despite updates in the mass model and reddening map, the traditional method results remain consistent with those of HF2000. The second, non-equilibrium technique, however, allows a surface density as large as 14 {M}ȯ {{{pc}}}-2 (and as small as 0 {M}ȯ {{{pc}}}-2), demonstrating much weaker constraints. For both techniques, the bound on surface density is weaker for larger scale height. In future analyses of Gaia data it will be important to verify whether the tracer populations are in equilibrium.

  7. Towards a naturalistic brain-machine interface: hybrid torque and position control allows generalization to novel dynamics.

    Directory of Open Access Journals (Sweden)

    Pratik Y Chhatbar

    Full Text Available Realization of reaching and grasping movements by a paralytic person or an amputee would greatly facilitate her/his activities of daily living. Towards this goal, control of a computer cursor or robotic arm using neural signals has been demonstrated in rodents, non-human primates and humans. This technology is commonly referred to as a Brain-Machine Interface (BMI and is achieved by predictions of kinematic parameters, e.g. position or velocity. However, execution of natural movements, such as swinging baseball bats of different weights at the same speed, requires advanced planning for necessary context-specific forces in addition to kinematic control. Here we show, for the first time, the control of a virtual arm with representative inertial parameters using real-time neural control of torques in non-human primates (M. radiata. We found that neural control of torques leads to ballistic, possibly more naturalistic movements than position control alone, and that adding the influence of position in a hybrid torque-position control changes the feedforward behavior of these BMI movements. In addition, this level of control was achievable utilizing the neural recordings from either contralateral or ipsilateral M1. We also observed changed behavior of hybrid torque-position control under novel external dynamic environments that was comparable to natural movements. Our results demonstrate that inclusion of torque control to drive a neuroprosthetic device gives the user a more direct handle on the movement execution, especially when dealing with novel or changing dynamic environments. We anticipate our results to be a starting point of more sophisticated algorithms for sensorimotor neuroprostheses, eliminating the need of fully automatic kinematic-to-dynamic transformations as currently used by traditional kinematic-based decoders. Thus, we propose that direct control of torques, or other force related variables, should allow for more natural

  8. Studying upper-limb kinematic using inertial sensors embedded in smartphones

    OpenAIRE

    Cuesta Vargas, Antonio; Roldan Jimenez, Cristina; Bennett, Paul

    2014-01-01

    Background: In recent years, there have been investigations concerning upper-limbs kinematics by various devices. The latest generation of smartphones often includes inertial sensors with subunits which can detect inertial kinematics. The use of smartphones is presented as a convenient and portable analysis method for studying kinematics in terms of angular mobility and linear acceleration Objective: The aim of this study was to study humerus kinematics through six physical properties that...

  9. An explicit kinematic scenario for the Iapetus and Rheic Oceans

    Science.gov (United States)

    Domeier, Mat; Torsvik, Trond

    2015-04-01

    The opening of the Rheic Ocean by the rifting of Avalonia, and the subsequent closure of the Iapetus Ocean by means of the three-way continental collision between Laurentia, Baltica and Avalonia, together constitute the most dramatic, defining and well-studied tectonic events of the early Paleozoic. Despite this, modern kinematic models of those interrelated events are still schematic and/or spatiotemporally disjointed. This is in large part due to the fact that: 1.) many of the available models were originally built to explain a specific region (i.e. Northern Appalachians, Northern Ireland and Scotland, Norwegian Caledonides, etc.) and have only been expanded to neighboring regions as a speculative note, and 2.) the models were not constructed upon a rigorous plate tectonic framework, wherein plate boundaries are specified and the kinematics of the entire lithosphere within the domain are explicitly defined through time. Although the lithosphere of the Iapetus and Rheic Oceans was long ago destroyed, the kinematics of those basins can still be surmised through the careful consideration of paleomagnetic data from the continents and terranes formerly flanking those oceans, and from geological observables along their margins. It is thus possible to explore the tectonic evolution of those basins with kinematic models that strictly conform to plate tectonic rules, both in space and time. Such an approach can plainly identify existing kinematic concepts that are tectonically untenable and those that work only in isolation. Here we briefly elaborate on this approach and present the results of a developing full-plate model of the Iapetus and Rheic Oceans for Late Cambrian to end-Silurian time, with a particular focus on the development of the Caledonide margins.

  10. STRUCTURAL IDENTIFICATION OF DISTINCT INVERSIONS OF PLANAR KINEMATIC CHAINS

    Directory of Open Access Journals (Sweden)

    Dr. Shubhashis Sanyal

    2011-12-01

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

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

    NARCIS (Netherlands)

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

    2015-01-01

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

  12. Kinematic Identification of Parallel Mechanisms by a Divide and Conquer Strategy

    DEFF Research Database (Denmark)

    Durango, Sebastian; Restrepo, David; Ruiz, Oscar;

    2010-01-01

    This paper presents a Divide and Conquer strategy to estimate the kinematic parameters of parallel symmetrical mechanisms. The Divide and Conquer kinematic identification is designed and performed independently for each leg of the mechanism. The estimation of the kinematic parameters is performed...

  13. NGC 2440 : A morpho-kinematical model

    CERN Document Server

    Lago, Paulo J A

    2016-01-01

    This work describes the modelling of the 3D structure and position-velocity (P-V) diagrams of NGC 2440, a well known planetary nebula, aiming to describe the morphology of this object, specially its core. We have used high resolution spectra and P-V diagrams to reproduce the 3D structure of the nebula using SHAPE, a software that allows 3D modelling. HST high angular resolution images were used as reference to the model. The observational data point to a segmented core, and the simulations confirm this assumption; the best model for the nebula is a torus segmented in three pieces. The simulated P-V diagrams agree with the observations. We suggest that the torus was torn apart by interaction with the surrounding medium, either as winds or the radiation field. For the two bipolar lobes, orientation angles to the plane of the sky of $27\\pm$5 and $-5\\pm3$ degrees, respectively for the bipolar components with PA of 85 and 35 degrees, were derived. No additional bipolar lobes were required to model the observed fea...

  14. Kinematics and trajectory synthesis of manipulation robots

    CERN Document Server

    Vukobratović, Miomir

    1986-01-01

    A few words about the series "Scientific Fundamentals of Robotics" should be said on the occasion of publication of the present monograph. This six-volume series has been conceived so as to allow the readers to master a contemporary approach to the construction and synthesis of con­ trol for manipulation ~obots. The authors' idea was to show how to use correct mathematical models of the dynamics of active spatial mecha­ nisms for dynamic analysis of robotic systems, optimal design of their mechanical parts based on the accepted criteria and imposed constraints, optimal choice of actuators, synthesis of dynamic control algorithms and their microcomputer implementation. In authors' oppinion this idea has been relatively successfully realized within the six-volume mono­ graphic series. Let us remind the readers of the books of this series. Volumes 1 and 2 are devoted to the dynamics and control algorithms of manipulation ro­ bots, respectively. They form the first part of the series which has a certain topic...

  15. Updated Kinematic Constraints on a Dark Disk

    CERN Document Server

    Kramer, Eric David

    2016-01-01

    We update the method of the Holmberg & Flynn (2000) study, including an updated model of the Milky Way's interstellar gas, radial velocities, an updated reddening map, and a careful statistical analysis, to bound the allowed surface density and scale height of a dark disk. We pay careful attention to the self-consistency of the model, including the gravitational influence of the dark disk on other disk components, and to the net velocity of the tracer stars. We find that the data set exhibits a non-zero bulk velocity in the vertical direction as well as a displacement from the expected location at the Galactic midplane. If not properly accounted for, these features would bias the bound toward low dark disk mass. We therefore perform our analysis two ways. In the first, traditional method, we subtract the mean velocity and displacement from the tracers' phase space distributions. In the second method, we perform a non-equilibrium version of the HF method to derive a bound on the dark disk parameters for an...

  16. A cortically-inspired model for inverse kinematics computation of a humanoid finger with mechanically coupled joints.

    Science.gov (United States)

    Gentili, Rodolphe J; Oh, Hyuk; Kregling, Alissa V; Reggia, James A

    2016-06-01

    The human hand's versatility allows for robust and flexible grasping. To obtain such efficiency, many robotic hands include human biomechanical features such as fingers having their two last joints mechanically coupled. Although such coupling enables human-like grasping, controlling the inverse kinematics of such mechanical systems is challenging. Here we propose a cortical model for fine motor control of a humanoid finger, having its two last joints coupled, that learns the inverse kinematics of the effector. This neural model functionally mimics the population vector coding as well as sensorimotor prediction processes of the brain's motor/premotor and parietal regions, respectively. After learning, this neural architecture could both overtly (actual execution) and covertly (mental execution or motor imagery) perform accurate, robust and flexible finger movements while reproducing the main human finger kinematic states. This work contributes to developing neuro-mimetic controllers for dexterous humanoid robotic/prosthetic upper-extremities, and has the potential to promote human-robot interactions. PMID:27194213

  17. Automatic In Situ Calibration of a Spinning Beam LiDAR System in Static and Kinematic Modes

    Directory of Open Access Journals (Sweden)

    Ting On Chan

    2015-08-01

    Full Text Available The Velodyne LiDAR series is one of the most popular spinning beam LiDAR systems currently available on the market. In this paper, the temporal stability of the range measurements of the Velodyne HDL-32E LiDAR system is first investigated as motivation for the development of a new automatic calibration method that allows quick and frequent recovery of the inherent time-varying errors. The basic principle of the method is that the LiDAR’s internal systematic error parameters are estimated by constraining point clouds of some known and automatically detected cylindrical features such as lamp poles to fit to the 3D cylinder models. This is analogous to the plumb-line calibration method in which the lens distortion parameters are estimated by constraining the image points of straight lines to fit to the 2D line model. The calibration can be performed at every measurement epoch in both static and kinematic modes. Four real datasets were used to verify the method, two of which were captured in static mode and the other two in kinematic mode. The overall results indicate that up to approximately 72% and 41% accuracy improvement were realized as a result of the calibration for the static and kinematic datasets, respectively.

  18. Automated Kinematic Modelling of Warped Galaxy Discs in Large Hi Surveys: 3D Tilted Ring Fitting of HI Emission Cubes

    CERN Document Server

    Kamphuis, P; Oh, S- H; Spekkens, K; Urbancic, N; Serra, P; Koribalski, B S; Dettmar, R -J

    2015-01-01

    Kinematical parameterisations of disc galaxies, employing emission line observations, are indispensable tools for studying the formation and evolution of galaxies. Future large-scale HI surveys will resolve the discs of many thousands of galaxies, allowing a statistical analysis of their disc and halo kinematics, mass distribution and dark matter content. Here we present an automated procedure which fits tilted-ring models to Hi data cubes of individual, well-resolved galaxies. The method builds on the 3D Tilted Ring Fitting Code (TiRiFiC) and is called FAT (Fully Automated TiRiFiC). To assess the accuracy of the code we apply it to a set of 52 artificial galaxies and 25 real galaxies from the Local Volume HI Survey (LVHIS). Using LVHIS data, we compare our 3D modelling to the 2D modelling methods DiskFit and rotcur. A conservative result is that FAT accurately models the kinematics and the morphologies of galaxies with an extent of eight beams across the major axis in the inclination range 20$^{\\circ}$-90$^{...

  19. Allocation of CO2 emission allowances. Distribution of emission allowances in a European emissions trading scheme

    Energy Technology Data Exchange (ETDEWEB)

    Harmsen, H.; Van der Kolk, J. [KPMG Sustainability, Amstelveen (Netherlands); Kerssemeeckers, M.; De Beer, J. [Ecofys, Utrecht (Netherlands)

    2002-10-01

    The European Commission has submitted a draft directive on Emissions Trading on 23 October 2001. In this system, each Member State has to submit an allocation plan that describes the allowances that will be distributed, and how these will be distributed among the operators of each participating installation. In this study the possible allocation options and their consequences are investigated; the potential bottlenecks are assessed, which would occur if the Netherlands developed a national allocation plan; the criteria for national allocation plans are assessed (Annex III draft directive); and some possibilities for solutions are presented.

  20. Studying the Kinematics of Faint Stellar Populations with the Planetary Nebula Spectrograph

    CERN Document Server

    Merrifield, Michael R

    2015-01-01

    Galaxies are faint enough when one observes just their light distributions, but in studying their full dynamical structure the stars are spread over the six dimensions of phase space rather than just the three spatial dimensions, making their densities very low indeed. This low signal is unfortunate, as stellar dynamics hold important clues to these systems' life histories, and the issue is compounded by the fact that the most interesting information comes from the faintest outer parts of galaxies, where dynamical timescales (and hence memories of past history) are longest. To extract this information, we have constructed a special-purpose instrument, the Planetary Nebula Spectrograph, which observes planetary nebulae as kinematic tracers of the stellar population, and allows one to study the stellar dynamics of galaxies down to extremely low surface brightnesses. Here, we present results from this instrument that illustrate how it can uncover the nature of low surface-brightness features such as thick disks ...

  1. A gas bubble-based parallel micro manipulator: conceptual design and kinematics model

    International Nuclear Information System (INIS)

    The parallel mechanism has become an alternative solution when micro manipulators are demanded in the fields of micro manipulation and micro assembly. In this technical note, a three-degree-of-freedom (3-DOF) parallel micro manipulator is presented, which is directly driven by three micro gas bubbles. Since the micro gas bubbles are generated and maintained due to the surface tension between the gas and liquid media, the proposed novel system can be used in the liquid environment which allows for rotation about the X and Y axes and translation along the Z axis. In this technical note, the conceptual design of micro gas bubble-based parallel manipulator is introduced and the input/output characteristic of the actuator is analyzed in detail. The kinematics model of the parallel micro manipulator is also established, based on which the workspace and the system motion resolution are analyzed as a criterion and reference for future prototype development. (technical note)

  2. Probing Nuclear Effects at the T2K Near Detector Using Transverse Kinematic Imbalance

    CERN Document Server

    Dolan, Stephen

    2016-01-01

    In this work we utilise variables characterising kinematic imbalance in the plane transverse to an incoming neutrino, which have recently been shown to act as a direct probe of nuclear effects (such as final state interactions, Fermi motion and multi-nucleon processes) in $\\mathcal{O}$(GeV) neutrino scattering. We present a methodology to measure the charged current differential cross-section with no final state pions and at least one final state proton ($CC0\\pi+Np, N \\geq 1$) in these variables at the near detector of the T2K experiment (ND280), using the upstream Fine Grained Detector (FGD1) as a hydrocarbon target. Overall these measurements will allow us to better understand the impact of nuclear effects on the observables in neutrino scattering, providing valuable constraints on the systematic uncertainties associated with neutrino oscillation and scattering measurements for both T2K and other experiments with similar energy neutrino beams.

  3. The Effect of Body Weight Support on Kinetics and Kinematics of a Repetitive Plyometric Task.

    Science.gov (United States)

    Elias, Audrey R; Hammill, Curt D; Mizner, Ryan L

    2016-02-01

    Though essential to athletic performance, the ability to land from a jump often remains limited following injury. While recommended, jump training is difficult to include in rehabilitation programs due to high impact forces. Body weight support (BWS) is frequently used in rehabilitation of gait following neurological and orthopedic injury, and may also allow improved rehabilitation of high-impact tasks. There is a differential effect of BWS on walking and running gaits, and the effect of BWS on movements with relatively large vertical displacement is unknown. The current study evaluates the effect of BWS on a replicable single-leg hopping task. We posited that progressive BWS would decrease limb loading while maintaining the joint kinematics of the task. Twenty-eight participants repetitively hopped on and off a box at each of four BWS levels. Peak vertical ground reaction forces decreased by 22.5% between 0% and 30% BWS (P rehabilitation of jumping tasks. PMID:26398961

  4. Kinking in a Lamellar Diblock Copolymer: Step Strain Experiments and Kinematic Model

    Science.gov (United States)

    Polis, D. L.; Booker, G. R.; Winey, K. I.

    1997-03-01

    We explore kink formation in a lamellar poly(styrene-b-ethylene propylene) diblock copolymer. Previous studies produced kinks in an initially isotropic sample of this material by applying large amplitude oscillatory shear. In our current research, we use a new approach. First, the parallel orientation is produced and then kinks are induced using a step shear strain. This approach allows for a simplified kinematic model in which we assume two single slip systems: lamellar sliding in the matrix and lamellar sliding in the kinks. Kinks are studied via microscopy in order to measure the morphological characteristics which are used in the aforementioned model. Microscopy will also be used to establish the threshold conditions for kink formation.

  5. Students' reading images in kinematics: the case of real-time graphs

    Science.gov (United States)

    Testa, Italo; Monroy, Gabriella; Sassi, Elena

    2002-03-01

    Graphs of real-time experiments are useful tools in science education; their intrinsic features allow innovative didactic approaches. The use of such images is spreading and is likely to become common classroom practice. This paper describes a study in which secondary school students were called upon to read and interpret documents containing images of real-time kinematics graphs specially designed to address common learning problems and to minimize iconic difficulties. Both novice students and those with a little experience of real-time experiments were involved. The overall didactic intentions of the presented documents were fulfilled. Some reading difficulties related to specific features were detected and are discussed. Suggestions are made regarding the acquisition of some specific capabilities that are needed to avoid misinterpreting these images and are of transversal value across several contexts. Finally, some implications for teacher training and class activities are discussed.

  6. Extracting kinematic parameters for monkey bipedal walking from cortical neuronal ensemble activity

    Directory of Open Access Journals (Sweden)

    Nathan Fitzsimmons

    2009-03-01

    Full Text Available The ability to walk may be critically impacted as the result of neurological injury or disease. While recent advances in brain-machine interfaces (BMIs have demonstrated the feasibility of upper-limb neuroprostheses, BMIs have not been evaluated as a means to restore walking. Here, we demonstrate that chronic recordings from ensembles of cortical neurons can be used to predict the kinematics of bipedal walking in rhesus macaques – both offline and in real-time. Linear decoders extracted 3D coordinates of leg joints and leg muscle EMGs from the activity of hundreds of cortical neurons. As more complex patterns of walking were produced by varying the gait speed and direction, larger neuronal populations were needed to accurately extract walking patterns. Extraction was further improved using a switching decoder which designated a submodel for each walking paradigm. We propose that BMIs may one day allow severely paralyzed patients to walk again.

  7. Unveiling the structure and kinematics of B[e] stars' disks from FEROS and CRIRES spectra

    CERN Document Server

    Muratore, M F; Kraus, M; Aret, A; Cidale, L S; Fernandes, M Borges; Oudmaijer, R D; Wheelwright, H E

    2012-01-01

    We are investigating the circumstellar material for a sample of B[e] stars using high spectral resolution data taken in the optical and near-infrared regions with ESO/FEROS and ESO/CRIRES spectrographs, respectively. B[e] stars are surrounded by dense disks of still unknown origin. While optical emission lines from [O I] and [Ca II] reflect the disk conditions close to the star (few stellar radii), the near-infrared data, especially the CO band emission, mirror the characteristics in the molecular part of the disk farther away from the star (several AU). Based on our high resolution spectroscopic data, we seek to derive the density and temperature structure of the disks, as well as their kinematics. This will allow us to obtain a better understanding of their structure, formation history and evolution. Here we present our preliminary results.

  8. Canonical quantum gravity in the Vassiliev invariants arena; 1, Kinematical structure

    CERN Document Server

    Di Bartolo, C; Griego, J R; Pullin, J; Bartolo, Cayetano Di; Gambini, Rodolfo; Griego, Jorge; Pullin, Jorge

    2000-01-01

    We generalize the idea of Vassiliev invariants to the spin network context, with the aim of using these invariants as a kinematical arena for a canonical quantization of gravity. This paper presents a detailed construction of these invariants (both ambient and regular isotopic) requiring a significant elaboration based on the use of Chern-Simons perturbation theory which extends the work of Kauffman, Martin and Witten to four-valent networks. We show that this space of knot invariants has the crucial property -from the point of view of the quantization of gravity- of being loop differentiable in the sense of distributions. This allows the definition of diffeomorphism and Hamiltonian constraints. We show that the invariants are annihilated by the diffeomorphism constraint. In a companion paper we elaborate on the definition of a Hamiltonian constraint, discuss the constraint algebra, and show that the construction leads to a consistent theory of canonical quantum gravity.

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

    Science.gov (United States)

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

    2013-06-01

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

  10. Kinematical and nonlocality effects on the nonmesonic weak hypernuclear decay

    CERN Document Server

    Barbero, C; Galeao, A P; Krmpotic, F

    2003-01-01

    We derive in detail the transition potential for nonmesonic lambda-hypernuclear decay in a one-meson-exchange model involving the full pseudoscalar and vector meson octets and including two effects that have been systematically omitted in the literature, or, at best, only partially considered. These are the kinematical effects due to the difference between the lambda and nucleon masses, and the first-order nonlocality corrections, i.e., those involving up to first-order differential operators. Numerical results for $^{12}_\\Lambda$C are presented and they show that the kinematical plus nonlocal corrections have an appreciable influence on the partial decay rates. However, this is somewhat diminished in the total rate. Also the ratio of neutron-induced to proton-induced transitions is only slightly affected, and still cannot be reconciled with the available experimental data. We give indications that the combined effect should be most significant for observables that distinguish between parity-conserving and pa...

  11. Calibration of parallel kinematics machine using generalized distance error model

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    This paper focus on the accuracy enhancement of parallel kinematics machine through kinematics calibration. In the calibration processing, well-structured identification Jacobian matrix construction and end-effector position and orientation measurement are two main difficulties. In this paper, the identification Jacobian matrix is constructed easily by numerical calculation utilizing the unit virtual velocity method. The generalized distance errors model is presented for avoiding measuring the position and orientation directly which is difficult to be measured. At last, a measurement tool is given for acquiring the data points in the calibration processing.Experimental studies confirmed the effectiveness of method. It is also shown in the paper that the proposed approach can be applied to other typed parallel manipulators.

  12. Kinematics and Kinetics of Youth Baseball Catchers and Pitchers

    Directory of Open Access Journals (Sweden)

    Gretchen Oliver

    2015-09-01

    Full Text Available The purpose of this study was to compare the throwing kinematics and kinetics of youth catchers and pitchers. It was hypothesized that catchers and pitchers would exhibit differences throughout the throwing motion. Descriptive statistics were used to investigate kinematics during the four events of throwing: foot contact (FC, maximum shoulder external rotation (MER, ball release (BR and maximum shoulder internal rotation (MIR. Additionally, kinetics were investigated within phases of the events: Phase 1 (cocking; FC to MER, Phase 2 (acceleration; MER to BR and Phase 3 (deceleration; BR to MIR. Results revealed significant difference in torso flexion, lateral flexion, pelvis lateral flexion and segment velocities between the catchers and pitchers. Based on data from the current study, it appears that the youth catchers execute their throw as they have been instructed. It is unclear if the throwing mechanics displayed by these youth are efficient for a catcher, thus further investigation is needed to determine long-term injury susceptibility.

  13. Visualized kinematics code for two-body nuclear reactions

    Science.gov (United States)

    Lee, E. J.; Chae, K. Y.

    2016-05-01

    The one or few nucleon transfer reaction has been a great tool for investigating the single-particle properties of a nucleus. Both stable and exotic beams are utilized to study transfer reactions in normal and inverse kinematics, respectively. Because many energy levels of the heavy recoil from the two-body nuclear reaction can be populated by using a single beam energy, identifying each populated state, which is not often trivial owing to high level-density of the nucleus, is essential. For identification of the energy levels, a visualized kinematics code called VISKIN has been developed by utilizing the Java programming language. The development procedure, usage, and application of the VISKIN is reported.

  14. A Constrained Multibody System Dynamics Avoiding Kinematic Singularities

    Science.gov (United States)

    Huang, Chih-Fang; Yan, Chang-Dau; Jeng, Shyr-Long; Cheing, Wei-Hua

    In the analysis of constrained multibody systems, the constraint reaction forces are normally expressed in terms of the constraint equations and a vector of Lagrange multipliers. Because it fails to incorporate conservation of momentum, the Lagrange multiplier method is deficient when the constraint Jacobian matrix is singular. This paper presents an improved dynamic formulation for the constrained multibody system. In our formulation, the kinematic constraints are still formulated in terms of the joint constraint reaction forces and moments; however, the formulations are based on a second-order Taylor expansion so as to incorporate the rigid body velocities. Conservation of momentum is included explicitly in this method; hence the problems caused by kinematic singularities can be avoided. In addition, the dynamic formulation is general and applicable to most dynamic analyses. Finally the 3-leg Stewart platform is used for the example of analysis.

  15. Evolution of the gas kinematics of galaxies in cosmological simulations

    CERN Document Server

    De Rossi, Maria E

    2013-01-01

    We studied the evolution of the gas kinematics of galaxies by performing hydrodynamical simulations in a cosmological scenario. We paid special attention to the origin of the scatter of the Tully-Fisher relation and the features which could be associated with mergers and interactions. We extended the study by De Rossi et al. (2010) and analysed their whole simulated sample which includes both, gas disc-dominated and spheroid-dominated systems. We found that mergers and interactions can affect the rotation curves directly or indirectly inducing a scatter in the Tully-Fisher Relation larger than the simulated evolution since z=3. In agreement with previous works, kinematical indicators which combine the rotation velocity and dispersion velocity in their definitions lead to a tighter relation. In addition, when we estimated the rotation velocity at the maximum of the rotation curve, we obtained the best proxy for the potential well regardless of morphology.

  16. VRACK: measuring pedal kinematics during stationary bike cycling.

    Science.gov (United States)

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

    2013-06-01

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

  17. [Advances on biomechanics and kinematics of sprain of ankle joint].

    Science.gov (United States)

    Zhao, Yong; Wang, Gang

    2015-04-01

    Ankle sprains are orthopedic clinical common disease, accounting for joint ligament sprain of the first place. If treatment is not timely or appropriate, the joint pain and instability maybe develop, and even bone arthritis maybe develop. The mechanism of injury of ankle joint, anatomical basis has been fully study at present, and the diagnostic problem is very clear. Along with the development of science and technology, biological modeling and three-dimensional finite element, three-dimensional motion capture system,digital technology study, electromyographic signal study were used for the basic research of sprain of ankle. Biomechanical and kinematic study of ankle sprain has received adequate attention, combined with the mechanism research of ankle sprain,and to explore the the biomechanics and kinematics research progress of the sprain of ankle joint. PMID:26072625

  18. Workspace and Kinematics Analysis of Redundant Space Manipulator

    Directory of Open Access Journals (Sweden)

    Zhang Jian-xia

    2016-01-01

    Full Text Available In order to meet the requirements of tasks in the complex space environment, we designed a kind of 7 degrees of freedom redundant space manipulator in this paper. Its 3D modelling is based on SolidWorks 2015. The joint coordinate system of redundant space manipulator is described with the Denavit-Hartenberg (D-H method. And the kinematic model is established. The direct kinematic equations of redundant space manipulator are derived by the homogeneous coordinate transforming matrices. The workspace is simulated and analysed using the Monte Carlo method. The experimental results showed that the workspace of 7 degrees of freedom redundant space manipulator, which was designed in this paper, changed smoothly. What’s more, it had not the abrupt phenomenon, and the independent part is bigger. Thus it verifies the rationality of our designing about the redundant space manipulator. It provides a good reference for the path planning and obstacle avoidance planning.

  19. INSTANTANEOUS KINEMATIC CHARACTERISTICS OF ASPECIAL 3-UPU PARALLEL MANIPULATOR

    Institute of Scientific and Technical Information of China (English)

    Li Shihua; Huang Zhen

    2005-01-01

    The instantaneous kinematics of a special 3-UPU parallel platform manipulator is discussed. First, the instantaneous motions of the 3-UPU manipulator in four kinds of positions and a special manipulator are studied by reciprocal screw theory. Then, the principal screws in one of four positions are obtained. It is shown that the moving platform has five degrees of freedom (DOF) in the initial position or after a translation along the z-axis; In the generic position, the mechanism only has three DOF, moreover the three DOF characteristics are different in different position. The instantaneous kinematic characteristics of alike 3-UPU mechanisms are very different in different position and special structure. The results presented are important to the use of alike 3-UPU parallel manipulator and contribute to the mechanism theory

  20. Portal to non-MSSM models using kinematic edges

    CERN Document Server

    Iyer, Abhishek M

    2016-01-01

    A heavy Higgs like resonance ($H_1$) is a characteristic feature of many new physics scenarios beyond the Standard Model (SM). In the event of a discovery it is essential to identify the true nature of underlying theory. In this work we propose a channel, $H_1\\rightarrow t_2t$, where $t_2$ is a vector-like gauge singlet top-partner that decays into $Wb, Zt,ht$. We construct different invariant mass distributions which are characterized by the presence of kinematic edges, unique to the topology under consideration. Using these kinematic edges, the masses of the heavy resonances can be extracted upto a reasonable accuracy. Observation of these features are meant to serve as a trigger, thereby mandating a more detailed analysis in a particular direction of parameter space. The absence of these vector-like states in minimal versions of supersymmetric models (MSSM) also serves as a harbinger of such non MSSM-like scenarios.