International Nuclear Information System (INIS)
Bashkanov, M.; Clement, H.; Doroshkevich, E.; Khakimova, O.; Kren, F.; Meier, R.; Pricking, A.; Skorodko, T.; Wagner, G. J.; Bargholtz, C.; Geren, L.; Lindberg, K.; Tegner, P.-E.; Zartova, I.; Berlowski, M.; Stepaniak, J.; Bogoslawsky, D.; Ivanov, G.; Jiganov, E.; Morosov, B.
2009-01-01
The ABC effect--a puzzling low-mass enhancement in the ππ invariant mass spectrum, first observed by Abashian, Booth, and Crowe--is well known from inclusive measurements of two-pion production in nuclear fusion reactions. Here we report on the first exclusive and kinematically complete measurements of the most basic double-pionic fusion reaction pn→dπ 0 π 0 at beam energies of 1.03 and 1.35 GeV. The measurements, which have been carried out at CELSIUS-WASA, reveal the ABC effect to be a (ππ) I=L=0 channel phenomenon associated with both a resonancelike energy dependence in the integral cross section and the formation of a ΔΔ system in the intermediate state. A corresponding simple s-channel resonance ansatz provides a surprisingly good description of the data
Fission of highly excited nuclei investigated in complete kinematic measurements
International Nuclear Information System (INIS)
Rodriguez-Sanchez, J. L.; Benlliure, J.; Taieb, J.; Avarez-Pol, H.; Audouin, L.; Ayyad, Y.; Belier, G.; Boutoux, G.; Casarejos, E.; Chatillon, A.; Cortina-Gil, D.; Gorbinet, T.; Heinz, A.; Kelic-Heil, A.; Kurz, N.; Laurent, B.; Martin, J. F.; Paradela, C.; Pellereau, E.; Pietras, B.; Prochazka, A.; Ramos, D.; Rodriguez-Tajes, C.; Rossi, D.; Simon, H.; Tassan-Got, L.; Vargas, J.; Voss, B.
2013-01-01
Fission is an extremely complex mechanism that requires a dynamical approach to describe the evolution of the process in terms of intrinsic and collective excitations of the nuclear constituents. In order to determine these effects a complex experimental setup was mounted at GSI, which allowed us for the first time the full identification in charge and mass of all fission fragments thanks to a magnetic separation and the use of the inverse kinematic technique. Moreover, we also measured the neutron multiplicities and the light-charged particles emitted in coincidence with fission. These complete kinematic measurements will be used to define sensitive observables to dissipative and transient effects in fission. In this manuscript we present the first results for the total fission cross sections. (authors)
Probabilistic approach to manipulator kinematics and dynamics
International Nuclear Information System (INIS)
Rao, S.S.; Bhatti, P.K.
2001-01-01
A high performance, high speed robotic arm must be able to manipulate objects with a high degree of accuracy and repeatability. As with any other physical system, there are a number of factors causing uncertainties in the behavior of a robotic manipulator. These factors include manufacturing and assembling tolerances, and errors in the joint actuators and controllers. In order to study the effect of these uncertainties on the robotic end-effector and to obtain a better insight into the manipulator behavior, the manipulator kinematics and dynamics are modeled using a probabilistic approach. Based on the probabilistic model, kinematic and dynamic performance criteria are defined to provide measures of the behavior of the robotic end-effector. Techniques are presented to compute the kinematic and dynamic reliabilities of the manipulator. The effects of tolerances associated with the various manipulator parameters on the reliabilities are studied. Numerical examples are presented to illustrate the procedures
Complete kinematics study of the 11B+p→3α reaction
DEFF Research Database (Denmark)
Fynbo, H.O.U.; Laursen, K.L.; Riisager, K.
2012-01-01
The 11B(p,3α) reaction measured in complete kinematics is used to search for broad resonances in 12C. Evidence for natural parity states around 10 MeV and 12 MeV is presented. The most likely assignment is 2+. Measurements of Dalitz distributions from the 2+ and 2- states at 16.11 MeV and 16.57 Me...
Exclusive measurements of quasi-free proton scattering reactions in inverse and complete kinematics
Directory of Open Access Journals (Sweden)
V. Panin
2016-02-01
Full Text Available Quasi-free scattering reactions of the type (p,2p were measured for the first time exclusively in complete and inverse kinematics, using a 12C beam at an energy of ∼400 MeV/u as a benchmark. This new technique has been developed to study the single-particle structure of exotic nuclei in experiments with radioactive-ion beams. The outgoing pair of protons and the fragments were measured simultaneously, enabling an unambiguous identification of the reaction channels and a redundant measurement of the kinematic observables. Both valence and deeply-bound nucleon orbits are probed, including those leading to unbound states of the daughter nucleus. Exclusive (p,2p cross sections of 15.8(18 mb, 1.9(2 mb and 1.5(2 mb to the low-lying 0p-hole states overlapping with the ground state (3/2− and with the bound excited states of 11B at 2.125 MeV (1/2− and 5.02 MeV (3/2−, respectively, were determined via γ-ray spectroscopy. Particle-unstable deep-hole states, corresponding to proton removal from the 0s-orbital, were studied via the invariant-mass technique. Cross sections and momentum distributions were extracted and compared to theoretical calculations employing the eikonal formalism. The obtained results are in a good agreement with this theory and with direct-kinematics experiments. The dependence of the proton–proton scattering kinematics on the internal momentum of the struck proton and on its separation energy was investigated for the first time in inverse kinematics employing a large-acceptance measurement.
Do the kinematics of a baulked take-off in springboard diving differ from those of a completed dive.
Barris, Sian; Farrow, Damian; Davids, Keith
2013-01-01
Consistency and invariance in movements are traditionally viewed as essential features of skill acquisition and elite sports performance. This emphasis on the stabilization of action has resulted in important processes of adaptation in movement coordination during performance being overlooked in investigations of elite sport performance. Here we investigate whether differences exist between the movement kinematics displayed by five, elite springboard divers (age 17 ± 2.4 years) in the preparation phases of baulked and completed take-offs. The two-dimensional kinematic characteristics of the reverse somersault take-off phases (approach and hurdle) were recorded during normal training sessions and used for intra-individual analysis. All participants displayed observable differences in movement patterns at key events during the approach phase; however, the presence of similar global topological characteristics suggested that, overall, participants did not perform distinctly different movement patterns during completed and baulked dives. These findings provide a powerful rationale for coaches to consider assessing functional variability or adaptability of motor behaviour as a key criterion of successful performance in sports such as diving.
Zielke, Olaf; McDougall, Damon; Mai, Martin; Babuska, Ivo
2014-05-01
Seismic, often augmented with geodetic data, are frequently used to invert for the spatio-temporal evolution of slip along a rupture plane. The resulting images of the slip evolution for a single event, inferred by different research teams, often vary distinctly, depending on the adopted inversion approach and rupture model parameterization. This observation raises the question, which of the provided kinematic source inversion solutions is most reliable and most robust, and — more generally — how accurate are fault parameterization and solution predictions? These issues are not included in "standard" source inversion approaches. Here, we present a statistical inversion approach to constrain kinematic rupture parameters from teleseismic body waves. The approach is based a) on a forward-modeling scheme that computes synthetic (body-)waves for a given kinematic rupture model, and b) on the QUESO (Quantification of Uncertainty for Estimation, Simulation, and Optimization) library that uses MCMC algorithms and Bayes theorem for sample selection. We present Bayesian inversions for rupture parameters in synthetic earthquakes (i.e. for which the exact rupture history is known) in an attempt to identify the cross-over at which further model discretization (spatial and temporal resolution of the parameter space) is no longer attributed to a decreasing misfit. Identification of this cross-over is of importance as it reveals the resolution power of the studied data set (i.e. teleseismic body waves), enabling one to constrain kinematic earthquake rupture histories of real earthquakes at a resolution that is supported by data. In addition, the Bayesian approach allows for mapping complete posterior probability density functions of the desired kinematic source parameters, thus enabling us to rigorously assess the uncertainties in earthquake source inversions.
Kinematically complete study on electron impact ionisation of aligned hydrogen molecules
Energy Technology Data Exchange (ETDEWEB)
Senftleben, Arne
2009-10-28
Within the work presented here, single ionisation of spatially aligned hydrogen molecules by 200 eV electrons was studied in a kinematically complete experiment. For the first time, a comprehensive set of fully differential cross sections (FDCS) was obtained for this process on a molecular target. The direction of the internuclear axis was derived from the fragment emission of post-collision dissociation of the residual H{sub 2}{sup +} ion. Therefore, a protonic fragment was detected in coincidence with the two final-state electrons using a dedicated reaction microscope and sophisticated data analysis. For direct ionisation into the ionic ground state, existing theoretical cross sections for aligned molecules were tested. Additionally, we observed molecular frame angular distributions of Auger electrons emitted through dissociative autoionisation of H{sub 2}. Earlier findings of kinematically incomplete experiments were reproduced, but the FDCS reveal structures so far unknown. Furthermore, for random alignment, differential cross sections at two distinct values of the mean internuclear distance were obtained, providing new arguments in the current discussion on the nature of discrepancies observed between atomic and molecular collisions. (orig.)
Relativistic kinematics and dynamics: a new group theoretical approach
International Nuclear Information System (INIS)
Giovannini, N.
1983-01-01
The author reanalyzes the relationships between physical states and space-time symmetries with a view to describing relativistic extended and interacting systems. For this description he proposes to introduce, in space-time, an additional observable, related to a natural notion of simultaneity. The introduction of this new observable is justified on the basis of the operational meaning of the relations between state descriptions and symmetries in this case. The Poincare transformations are correspondingly split into two parts: the first one, kinematical, related to the symmetries of the description of the states, the other one, dynamical, related to the possible forms for the evolution. It is shown that the kinematical symmetries lead in a straightforward way to the expected classical and quantal state spaces for single particles of arbitrary spin and the author shows how the remaining symmetries can be related to the derivation of the possible forms for the dynamics. He finds as a particular case the usual dynamics of single particles in external fields (with some satisfactory improvements due to the corresponding new interpretation) and extends the method to the dynamics of N interacting particles. He also shows why this new approach and interpretation of relativistic states is necessary and how it allows a covariant description in the problems raised by the (recently measured) quantum correlations at-a-distance concerning the Einstein-Podolsky-Rosen paradox, something which seems quite impossible in the usual frameworks. (Auth.)
A general approach for optimal kinematic design of 6-DOF parallel ...
Indian Academy of Sciences (India)
Optimal kinematic design of parallel manipulators is a challenging problem. In this work, an attempt has been made to present a generalized approach of kinematic design for a 6-legged parallel manipulator, by considering only the minimally required design parameters. The same approach has been used to design a ...
An Inverse Kinematic Approach Using Groebner Basis Theory Applied to Gait Cycle Analysis
2013-03-01
AN INVERSE KINEMATIC APPROACH USING GROEBNER BASIS THEORY APPLIED TO GAIT CYCLE ANALYSIS THESIS Anum Barki AFIT-ENP-13-M-02 DEPARTMENT OF THE AIR...copyright protection in the United States. AFIT-ENP-13-M-02 AN INVERSE KINEMATIC APPROACH USING GROEBNER BASIS THEORY APPLIED TO GAIT CYCLE ANALYSIS THESIS...APPROACH USING GROEBNER BASIS THEORY APPLIED TO GAIT CYCLE ANALYSIS Anum Barki, BS Approved: Dr. Ronald F. Tuttle (Chairman) Date Dr. Kimberly Kendricks
Restraining approach for the spurious kinematic modes in hybrid equilibrium element
Parrinello, F.
2013-10-01
The present paper proposes a rigorous approach for the elimination of spurious kinematic modes in hybrid equilibrium elements, for three well known mesh patches. The approach is based on the identification of the dependent equations in the set of inter-element and boundary equilibrium equations of the sides involved in the spurious kinematic mode. Then the kinematic variables related to the dependent equations are reciprocally constrained and, by application of master slave elimination method, the set of inter-element equilibrium equations is reduced to full rank. The elastic solutions produced by means of the proposed approach verify the homogeneous, the inter-element and the boundary equilibrium equations. Hybrid stress formulation is developed in a rigorous mathematical setting. The results of linear elastic analysis obtained by the proposed approach and by classical displacement based method are compared for some structural examples.
International Nuclear Information System (INIS)
Witala, H.; Hueber, D.; Gloeckle, W.; Tornow, W.; Gonzalez Trotter, D.E.
1996-01-01
Data for the neutron-neutron final-state-interaction cross section obtained recently in a kinematically complete neutron-deuteron breakup experiment have been reanalyzed using rigorous solutions of the three-nucleon Faddeev equations with realistic nucleon-nucleon interactions. A discrepancy was found with respect to a recent analysis based on the W-matrix approximation to the Paris potential. We also estimate theoretical uncertainties in extracting the neutron-neutron scattering length resulting from the use of different nucleon-nucleon interactions and the possible action of the two pion-exchange three-nucleon force. We find that there exists a certain production angle for the interacting neutron-neutron pair where the uncertainties become minimal. (author)
a Kinematically Complete Measurement of Positive Pion Production from Protons Near Threshold.
Hardie, John George
The total cross section for the reaction pp to pnpi^+ was measured at 294, 300, 307, 314, and 320 MeV. Angular distributions for the same reaction were measured at 294, 300 and 320 MeV. This is the first measurement of this reaction channel within 50 MeV of threshold. Study of pion production near threshold allows examination of the short range parts of the NN interaction, particularly the non-resonant partial waves. The data indicates that the contribution of p-waves to the pp to pnpi^+ reaction remains smaller than 20% up to 320 MeV. The total cross section data is compared to the theoretical calculations of Schillaci, Silbar and Young (1969) and Lee and Matsuyama (1987). Both reproduce some features of the data, but neither theory completely explains all the features of the data. There are no angular distribution predictions for comparison, but the data is symmetric around 90 degrees and appears to follow a 1+bcos^2theta _pi distribution, with the parameter b being consistent with zero for 294 MeV, about 0.05 at 300 MeV and about 0.18 at 320 MeV. This indicates that the higher partial waves are still weak at 320 MeV, although they are beginning to come into the reaction.
Solving Inverse Kinematics – A New Approach to the Extended Jacobian Technique
Directory of Open Access Journals (Sweden)
M. Šoch
2005-01-01
Full Text Available This paper presents a brief summary of current numerical algorithms for solving the Inverse Kinematics problem. Then a new approach based on the Extended Jacobian technique is compared with the current Jacobian Inversion method. The presented method is intended for use in the field of computer graphics for animation of articulated structures.
Energy Technology Data Exchange (ETDEWEB)
Ames, Thomas L.; Farnsworth, Grant V.; Ketcheson, David Isaac; Robinson, Allen Conrad
2009-09-01
The modeling of solids is most naturally placed within a Lagrangian framework because it requires constitutive models which depend on knowledge of the original material orientations and subsequent deformations. Detailed kinematic information is needed to ensure material frame indifference which is captured through the deformation gradient F. Such information can be tracked easily in a Lagrangian code. Unfortunately, not all problems can be easily modeled using Lagrangian concepts due to severe distortions in the underlying motion. Either a Lagrangian/Eulerian or a pure Eulerian modeling framework must be introduced. We discuss and contrast several Lagrangian/Eulerian approaches for keeping track of the details of material kinematics.
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.
College physics with an integrated approach to forces and kinematics
Giambattista, Alan; Richardson, Robert C
2010-01-01
College Physics, Third Edition is the best solution for today's college physics market. With a unique, new, approach to physics that builds a conceptual framework as motivation for the physical principles, consistent problem solving coverage strategies, stunning art, extensive end-of-chapter material, and superior media support, Giambattista, Richardson, and Richardson delivers a product that addresses today's market needs with the best tools available.
Lagrangian approach to understanding the origin of the gill-kinematics switch in mayfly nymphs.
Chabreyrie, R; Balaras, E; Abdelaziz, K; Kiger, K
2014-12-01
The mayfly nymph breathes under water through an oscillating array of plate-shaped tracheal gills. As the nymph grows, the kinematics of these gills change abruptly from rowing to flapping. The classical fluid dynamics approach to consider the mayfly nymph as a pumping device fails in giving clear reasons for this switch. In order to shed some light on this switch between the two distinct kinematics, we analyze the problem under a Lagrangian viewpoint. We consider that a good Lagrangian transport that effectively distributes and stirs water and dissolved oxygen between and around the gills is the main goal of the gill motion. Using this Lagrangian approach, we are able to provide possible reasons behind the observed switch from rowing to flapping. More precisely, we conduct a series of in silico mayfly nymph experiments, where body shape, as well as gill shapes, structures, and kinematics are matched to those from in vivo. In this paper, we show both qualitatively and quantitatively how the change of kinematics enables better attraction, confinement, and stirring of water charged of dissolved oxygen inside the gills area. We reveal the attracting barriers to transport, i.e., attracting Lagrangian coherent structures, that form the transport skeleton between and around the gills. In addition, we quantify how well the fluid particles are stirred inside the gills area, which by extension leads us to conclude that it will increase the proneness of molecules of dissolved oxygen to be close enough to the gills for extraction.
Directory of Open Access Journals (Sweden)
Tatyana TRETYAK
2018-05-01
Full Text Available The structural approach stated in this paper allows to simulate the different plane kinematic curves without their concrete analytic equations. The summarized unified mapping system for rack gearing is used. The examples of plane kinematic curves received by the structural method on computer are adduced.
Directory of Open Access Journals (Sweden)
Joanna Scurr
2009-06-01
Full Text Available Kicking accuracy is an important component of successful penalty kicks, which may be influenced by the approach angle. The purpose of this study was to examine the effects of approach angle on kicking accuracy and three-dimensional kinematics of penalty kicks. Seven male amateur recreational soccer players aged (mean ± s 26 ± 3 years, body mass 74.0 ± 6.8 kg, stature 1.74 ± 0.06 m, who were right foot dominant, kicked penalties at a 0.6 x 0.6 m target in a full size goal from their self-selected approach angle, 30º, 45º and 60º (direction of the kick was 0º. Kicking accuracy and three-dimensional kinematics were recorded. Results revealed that there was no significant difference in kicking accuracy (p = 0.27 or ball velocity (p = 0.59 between the approach angles. Pelvic rotation was significantly greater under the 45º and the 60º approach angles than during the self-selected approach angle (p < 0.05. Thigh abduction of the kicking leg at impact using the 60º approach angle was significantly greater than during the self- selected approach (p = 0.01 and the 30º approach (p = 0.04. It was concluded that altering an individual's self-selected approach angle at recreational level did not improve kicking accuracy or ball velocity, despite altering aspects of underlying technique.
A Review of Parallel Processing Approaches to Robot Kinematics and Jacobian
Henrich, Dominik; Karl, Joachim; Wörn, Heinz
1997-01-01
Due to continuously increasing demands in the area of advanced robot control, it became necessary to speed up the computation. One way to reduce the computation time is to distribute the computation onto several processing units. In this survey we present different approaches to parallel computation of robot kinematics and Jacobian. Thereby, we discuss both the forward and the reverse problem. We introduce a classification scheme and class...
Kinematic approach to off-diagonal geometric phases of nondegenerate and degenerate mixed states
International Nuclear Information System (INIS)
Tong, D.M.; Oh, C.H.; Sjoeqvist, Erik; Filipp, Stefan; Kwek, L.C.
2005-01-01
Off-diagonal geometric phases have been developed in order to provide information of the geometry of paths that connect noninterfering quantal states. We propose a kinematic approach to off-diagonal geometric phases for pure and mixed states. We further extend the mixed-state concept proposed in [Phys. Rev. Lett. 90, 050403 (2003)] to degenerate density operators. The first- and second-order off-diagonal geometric phases are analyzed for unitarily evolving pairs of pseudopure states
The kinematic determinants of anuran swimming performance: an inverse and forward dynamics approach.
Richards, Christopher T
2008-10-01
The aims of this study were to explore the hydrodynamic mechanism of Xenopus laevis swimming and to describe how hind limb kinematics shift to control swimming performance. Kinematics of the joints, feet and body were obtained from high speed video of X. laevis frogs (N=4) during swimming over a range of speeds. A blade element approach was used to estimate thrust produced by both translational and rotational components of foot velocity. Peak thrust from the feet ranged from 0.09 to 0.69 N across speeds ranging from 0.28 to 1.2 m s(-1). Among 23 swimming strokes, net thrust impulse from rotational foot motion was significantly higher than net translational thrust impulse, ranging from 6.1 to 29.3 N ms, compared with a range of -7.0 to 4.1 N ms from foot translation. Additionally, X. laevis kinematics were used as a basis for a forward dynamic anuran swimming model. Input joint kinematics were modulated to independently vary the magnitudes of foot translational and rotational velocity. Simulations predicted that maximum swimming velocity (among all of the kinematics patterns tested) requires that maximal translational and maximal rotational foot velocity act in phase. However, consistent with experimental kinematics, translational and rotational motion contributed unequally to total thrust. The simulation powered purely by foot translation reached a lower peak stroke velocity than the pure rotational case (0.38 vs 0.54 m s(-1)). In all simulations, thrust from the foot was positive for the first half of the power stroke, but negative for the second half. Pure translational foot motion caused greater negative thrust (70% of peak positive thrust) compared with pure rotational simulation (35% peak positive thrust) suggesting that translational motion is propulsive only in the early stages of joint extension. Later in the power stroke, thrust produced by foot rotation overcomes negative thrust (due to translation). Hydrodynamic analysis from X. laevis as well as forward
A New Artificial Neural Network Approach in Solving Inverse Kinematics of Robotic Arm (Denso VP6242
Directory of Open Access Journals (Sweden)
Ahmed R. J. Almusawi
2016-01-01
Full Text Available This paper presents a novel inverse kinematics solution for robotic arm based on artificial neural network (ANN architecture. The motion of robotic arm is controlled by the kinematics of ANN. A new artificial neural network approach for inverse kinematics is proposed. The novelty of the proposed ANN is the inclusion of the feedback of current joint angles configuration of robotic arm as well as the desired position and orientation in the input pattern of neural network, while the traditional ANN has only the desired position and orientation of the end effector in the input pattern of neural network. In this paper, a six DOF Denso robotic arm with a gripper is controlled by ANN. The comprehensive experimental results proved the applicability and the efficiency of the proposed approach in robotic motion control. The inclusion of current configuration of joint angles in ANN significantly increased the accuracy of ANN estimation of the joint angles output. The new controller design has advantages over the existing techniques for minimizing the position error in unconventional tasks and increasing the accuracy of ANN in estimation of robot’s joint angles.
Almusawi, Ahmed R J; Dülger, L Canan; Kapucu, Sadettin
2016-01-01
This paper presents a novel inverse kinematics solution for robotic arm based on artificial neural network (ANN) architecture. The motion of robotic arm is controlled by the kinematics of ANN. A new artificial neural network approach for inverse kinematics is proposed. The novelty of the proposed ANN is the inclusion of the feedback of current joint angles configuration of robotic arm as well as the desired position and orientation in the input pattern of neural network, while the traditional ANN has only the desired position and orientation of the end effector in the input pattern of neural network. In this paper, a six DOF Denso robotic arm with a gripper is controlled by ANN. The comprehensive experimental results proved the applicability and the efficiency of the proposed approach in robotic motion control. The inclusion of current configuration of joint angles in ANN significantly increased the accuracy of ANN estimation of the joint angles output. The new controller design has advantages over the existing techniques for minimizing the position error in unconventional tasks and increasing the accuracy of ANN in estimation of robot's joint angles.
A New Artificial Neural Network Approach in Solving Inverse Kinematics of Robotic Arm (Denso VP6242)
Dülger, L. Canan; Kapucu, Sadettin
2016-01-01
This paper presents a novel inverse kinematics solution for robotic arm based on artificial neural network (ANN) architecture. The motion of robotic arm is controlled by the kinematics of ANN. A new artificial neural network approach for inverse kinematics is proposed. The novelty of the proposed ANN is the inclusion of the feedback of current joint angles configuration of robotic arm as well as the desired position and orientation in the input pattern of neural network, while the traditional ANN has only the desired position and orientation of the end effector in the input pattern of neural network. In this paper, a six DOF Denso robotic arm with a gripper is controlled by ANN. The comprehensive experimental results proved the applicability and the efficiency of the proposed approach in robotic motion control. The inclusion of current configuration of joint angles in ANN significantly increased the accuracy of ANN estimation of the joint angles output. The new controller design has advantages over the existing techniques for minimizing the position error in unconventional tasks and increasing the accuracy of ANN in estimation of robot's joint angles. PMID:27610129
Simple Kinematic Pathway Approach (KPA) to Catchment-scale Travel Time and Water Age Distributions
Soltani, S. S.; Cvetkovic, V.; Destouni, G.
2017-12-01
The distribution of catchment-scale water travel times is strongly influenced by morphological dispersion and is partitioned between hillslope and larger, regional scales. We explore whether hillslope travel times are predictable using a simple semi-analytical "kinematic pathway approach" (KPA) that accounts for dispersion on two levels of morphological and macro-dispersion. The study gives new insights to shallow (hillslope) and deep (regional) groundwater travel times by comparing numerical simulations of travel time distributions, referred to as "dynamic model", with corresponding KPA computations for three different real catchment case studies in Sweden. KPA uses basic structural and hydrological data to compute transient water travel time (forward mode) and age (backward mode) distributions at the catchment outlet. Longitudinal and morphological dispersion components are reflected in KPA computations by assuming an effective Peclet number and topographically driven pathway length distributions, respectively. Numerical simulations of advective travel times are obtained by means of particle tracking using the fully-integrated flow model MIKE SHE. The comparison of computed cumulative distribution functions of travel times shows significant influence of morphological dispersion and groundwater recharge rate on the compatibility of the "kinematic pathway" and "dynamic" models. Zones of high recharge rate in "dynamic" models are associated with topographically driven groundwater flow paths to adjacent discharge zones, e.g. rivers and lakes, through relatively shallow pathway compartments. These zones exhibit more compatible behavior between "dynamic" and "kinematic pathway" models than the zones of low recharge rate. Interestingly, the travel time distributions of hillslope compartments remain almost unchanged with increasing recharge rates in the "dynamic" models. This robust "dynamic" model behavior suggests that flow path lengths and travel times in shallow
A Smooth Tour Construction Approach for a Mobile Robot with Kinematic Constraints
Directory of Open Access Journals (Sweden)
Ahmet Yazici
2013-10-01
Full Text Available Mobile robots are increasingly used for service-like applications in which the service points are known and the mobile robot starts from a starting location, visits all the service points requested and returns to the starting location. The tour construction problem in these applications can be treated as a Travelling Salesman Problem (TSP. Classical tour construction algorithms that are proposed for the TSP find tours do not consider robot kinematic constraints. These tours may have sharp turns at some service points. When a mobile robot follows such a tour, it stops, turns and speeds up again. Therefore, the robots waste a considerable amount of power and time. In these cases, tour smoothing can be used to overcome this problem. However, smoothing an existing tour may result in unnecessarily long tours. In this study, a Smooth Tour Construction (STC approach is proposed for mobile robots with kinematic constraints. The STC approach considers tour construction and tour smoothing concurrently. The logic behind the tour construction part of the approach is based on the Savings Algorithm (SA. The tour smoothing is based on Dubins' arc-line approach. Experiments are conducted for P3-DX robots in a laboratory environment. Comparisons are also drawn with various tour smoothing algorithms in simulation environments to demonstrate the effectiveness of the proposed STC approach.
Resolving kinematic redundancy with constraints using the FSP (Full Space Parameterization) approach
International Nuclear Information System (INIS)
Pin, F.G.; Tulloch, F.A.
1996-01-01
A solution method is presented for the motion planning and control of kinematically redundant serial-link manipulators in the presence of motion constraints such as joint limits or obstacles. Given a trajectory for the end-effector, the approach utilizes the recently proposed Full Space Parameterization (FSP) method to generate a parameterized expression for the entire space of solutions of the unconstrained system. At each time step, a constrained optimization technique is then used to analytically find the specific joint motion solution that satisfies the desired task objective and all the constraints active during the time step. The method is applicable to systems operating in a priori known environments or in unknown environments with sensor-based obstacle detection. The derivation of the analytical solution is first presented for a general type of kinematic constraint and is then applied to the problem of motion planning for redundant manipulators with joint limits and obstacle avoidance. Sample results using planar and 3-D manipulators with various degrees of redundancy are presented to illustrate the efficiency and wide applicability of constrained motion planning using the FSP approach
International Nuclear Information System (INIS)
Rauprich, G.; Lemaitre, S.; Niessen, P.; Nyga, K.R.; Reckenfelderbaeumer, R.; Sydow, L.; Paetz genannt Schieck, H.; Witala, H.; Gloeckle, W.
1991-01-01
The breakup reaction 2 H(p vector,pp)n at E p =13.0 MeV has been measured in a kinematically complete experiment with polarized protons in four special kinematical situations: np final-state interaction, pp quasi-free scattering, collinearity and symmetric space star. These configurations are identical to those of a corresponding 2 H(n,nn) 1 H experiment. The cross sections d 3 σ/dΩ 3 dΩ 4 dS and the vector analyzing powers A y are presented as a function of the arclength of the relevant kinematical loci. They are compared to the rigorous Faddeev calculations using realistic meson-exchange NN potentials, i.e. the Paris and Bonn potential. Comparison with the cross section data of the analog neutron experiment is made. In the quasi-free scattering and the space-star cross sections marked discrepancies with the theoretical predictions, in the latter case also with the neutron results are found. In the collinear and final-state interaction situations the agreement is rather good as well as for all analyzing powers and is even improved by taking the finite angular spread into account. (orig.)
A kinematic approach for efficient and robust simulation of the cardiac beating motion.
Directory of Open Access Journals (Sweden)
Takashi Ijiri
Full Text Available Computer simulation techniques for cardiac beating motions potentially have many applications and a broad audience. However, most existing methods require enormous computational costs and often show unstable behavior for extreme parameter sets, which interrupts smooth simulation study and make it difficult to apply them to interactive applications. To address this issue, we present an efficient and robust framework for simulating the cardiac beating motion. The global cardiac motion is generated by the accumulation of local myocardial fiber contractions. We compute such local-to-global deformations using a kinematic approach; we divide a heart mesh model into overlapping local regions, contract them independently according to fiber orientation, and compute a global shape that satisfies contracted shapes of all local regions as much as possible. A comparison between our method and a physics-based method showed that our method can generate motion very close to that of a physics-based simulation. Our kinematic method has high controllability; the simulated ventricle-wall-contraction speed can be easily adjusted to that of a real heart by controlling local contraction timing. We demonstrate that our method achieves a highly realistic beating motion of a whole heart in real time on a consumer-level computer. Our method provides an important step to bridge a gap between cardiac simulations and interactive applications.
Inverse Kinematics of a Humanoid Robot with Non-Spherical Hip: A Hybrid Algorithm Approach
Directory of Open Access Journals (Sweden)
Rafael Cisneros Limón
2013-04-01
Full Text Available This paper describes an approach to solve the inverse kinematics problem of humanoid robots whose construction shows a small but non negligible offset at the hip which prevents any purely analytical solution to be developed. Knowing that a purely numerical solution is not feasible due to variable efficiency problems, the proposed one first neglects the offset presence in order to obtain an approximate “solution” by means of an analytical algorithm based on screw theory, and then uses it as the initial condition of a numerical refining procedure based on the Levenberg-Marquardt algorithm. In this way, few iterations are needed for any specified attitude, making it possible to implement the algorithm for real-time applications. As a way to show the algorithm's implementation, one case of study is considered throughout the paper, represented by the SILO2 humanoid robot.
Diphoton production at Tevatron in the quasi-multiple-Regge-kinematics approach
Energy Technology Data Exchange (ETDEWEB)
Saleev, V.A. [Hamburg Univ. (Germany). 2. Inst. fuer Theoretische Physik; Samarskij Gosudarstvennyj Univ., Samara (Russian Federation)
2009-12-15
We study the production of prompt diphotons in the central region of rapidity within the frame- work of the quasi-multi-Regge-kinematics approach applying the hypothesis of quark and gluon Reggeization. We describe accurately and without free parameters the experimental data which were obtained by the CDF Collaboration at the Tevatron Collider. It is shown that the main contribution to studied process is given by the direct fusion of two Reggeized gluons into a photon pair, which is described by the effective Reggeon-Reggeon to particle-particle vertex. The contribution from the annihilation of Reggeized quark-antiquark pair into a diphoton is also considered. At the stage of numerical calculations we use the Kimber-Martin-Ryskin prescription for unintegrated quark and gluon distribution functions, with the Martin-Roberts-Stirling-Thorne collinear parton densities for a proton as input. (orig.)
International Nuclear Information System (INIS)
Gonzalez Trotter, D. E.; Tornow, W.; Howell, C. R.; Salinas, F.; Walter, R. L.; Witalea, H.
1999-01-01
The 1 S 0 neutron-neutron (nn) scattering length's currently accepted value (a nn =-18.6±0.3 fm) is derived exclusively from two π - -d capture-reaction experiments, in disagreement with the average -16.7±0.5 fm extracted from kinematically-complete nd breakup experiments. This discrepancy may be due to deficiencies in the analyses of n-d breakup data and/or three-nucleon force (3NF) effects. A kinematically-complete n+d→n 1 +n 2 +p breakup experiment at an incident neutron energy of 13.0 MeV was performed recently at TUNL. The value of a nn was extracted from the direct comparison of experimental and rigorously-calculated theoretical nd breakup differential cross sections at four production angles of the nn pair. Using modern nucleon-nucleon potential models in the three-nucleon cross-section calculations we obtained a nn =-18.7±0.6 fm, in agreement with the π - -d result. We found no significant effect due to 3NFs on our a nn value
Integral equation approach to time-dependent kinematic dynamos in finite domains
International Nuclear Information System (INIS)
Xu Mingtian; Stefani, Frank; Gerbeth, Gunter
2004-01-01
The homogeneous dynamo effect is at the root of cosmic magnetic field generation. With only a very few exceptions, the numerical treatment of homogeneous dynamos is carried out in the framework of the differential equation approach. The present paper tries to facilitate the use of integral equations in dynamo research. Apart from the pedagogical value to illustrate dynamo action within the well-known picture of the Biot-Savart law, the integral equation approach has a number of practical advantages. The first advantage is its proven numerical robustness and stability. The second and perhaps most important advantage is its applicability to dynamos in arbitrary geometries. The third advantage is its intimate connection to inverse problems relevant not only for dynamos but also for technical applications of magnetohydrodynamics. The paper provides the first general formulation and application of the integral equation approach to time-dependent kinematic dynamos, with stationary dynamo sources, in finite domains. The time dependence is restricted to the magnetic field, whereas the velocity or corresponding mean-field sources of dynamo action are supposed to be stationary. For the spherically symmetric α 2 dynamo model it is shown how the general formulation is reduced to a coupled system of two radial integral equations for the defining scalars of the poloidal and toroidal field components. The integral equation formulation for spherical dynamos with general stationary velocity fields is also derived. Two numerical examples - the α 2 dynamo model with radially varying α and the Bullard-Gellman model - illustrate the equivalence of the approach with the usual differential equation method. The main advantage of the method is exemplified by the treatment of an α 2 dynamo in rectangular domains
Budgetary Approach to Project Management by Percentage of Completion Method
Directory of Open Access Journals (Sweden)
Leszek Borowiec
2011-07-01
Full Text Available Efficient and effective project management process is made possible by the use of methods and techniques of project management. The aim of this paper is to present the problems of project management by using Percentage of Completion method. The research material was gathered based on the experience in implementing this method by the Johnson Controls International Company. The article attempts to demonstrate the validity of the thesis that the POC project management method, allows for effective implementation and monitoring of the project and thus is an effective tool in the managing of companies which exploit the budgetary approach. The study presents planning process of basic parameters affecting the effectiveness of the project (such as costs, revenue, margin and characterized how the primary measurements used to evaluate it. The present theme is illustrating by numerous examples for showing the essence of the raised problems and the results are presenting by using descriptive methods, graphical and tabular.
Parallel kinematics type, kinematics, and optimal design
Liu, Xin-Jun
2014-01-01
Parallel Kinematics- Type, Kinematics, and Optimal Design presents the results of 15 year's research on parallel mechanisms and parallel kinematics machines. This book covers the systematic classification of parallel mechanisms (PMs) as well as providing a large number of mechanical architectures of PMs available for use in practical applications. It focuses on the kinematic design of parallel robots. One successful application of parallel mechanisms in the field of machine tools, which is also called parallel kinematics machines, has been the emerging trend in advanced machine tools. The book describes not only the main aspects and important topics in parallel kinematics, but also references novel concepts and approaches, i.e. type synthesis based on evolution, performance evaluation and optimization based on screw theory, singularity model taking into account motion and force transmissibility, and others. This book is intended for researchers, scientists, engineers and postgraduates or above with interes...
Complete Cranial Iliac Osteotomy to Approach the Lumbosacral Foramen
Directory of Open Access Journals (Sweden)
Barbara Dyall
2017-05-01
Full Text Available An approach using a complete cranial iliac osteotomy (CCIO to access the lumbosacral (LS foramen in dogs from lateral was developed using cadavers and applied in a clinical patient with degenerative lumbosacral stenosis (DLSS. The foraminal enlargement in the cadavers and the patient was documented on postoperative CT scans. The preoperative CT scan of the patient showed moderate cranial telescoping of the sacral roof and a moderate central disk protrusion, leading to moderate to severe compression of the cauda equina. In addition, there was lateral spondylosis with consequential stenosis of the right LS foramen. The right L7 nerve had lost its fat attenuation and appeared thickened. After a routine L7S1 dorsal laminectomy with a partial discectomy, a CCIO was performed, providing good access to the LS foramen and the adhesions around the proximal L7 nerve caudoventral to the foramen. The osteotomy was stabilized with a locking plate and a cerclage wire. The dog recovered well from the procedures and after 36 h, the dog walked normally and was discharged from the hospital. Eight and 16 weeks later, the signs of the DLSS had markedly improved. From these data, it can be concluded that the CCIO is a useful approach to the LS foramen and intervertebral disk in selected patients with DLSS, giving good access to the structures around the LS foramen.
Elderly complete denture wearers: a social approach to tooth loss.
Papadaki, Eftychia; Anastassiadou, Vassiliki
2012-06-01
To correlate emotional reactions to tooth loss with denture satisfaction attributes in elderly complete denture wearers. Total tooth loss is a serious life event, and poor oral health has an impact on daily life. Edentulism treated by rehabilitation with dentures can have a positive effect on patients' self-image and social behaviour. A group of 80 edentulous subjects undergoing routine prosthetic care in a Greek Department of Prosthetic Dentistry were interviewed using two structured questionnaires. The first questionnaire explored reactions to tooth loss, whereas the second measured their subjective experience of complete dentures. The responses to both questionnaires were compared using the statistical package SPSS v.17. The results showed significant correlation between aspects of tooth loss experience and complete denture satisfaction. Despite the fact that a substantial proportion of patients were satisfied with their complete dentures, some patients experienced increased social and psychological problems related to their edentulousness and the wearing of complete dentures. The aesthetic and functional aspects of complete dentures affected both patients' social behaviour and self-confidence. Total tooth loss was not only reflected in patient's social behaviour and self-image, but it had a complex and multifaceted impact on satisfaction from complete dentures. © 2011 The Gerodontology Society and John Wiley & Sons A/S.
A Neural Network Approach for Inverse Kinematic of a SCARA Manipulator
Directory of Open Access Journals (Sweden)
Panchanand Jha
2014-07-01
Full Text Available Inverse kinematic is one of the most interesting problems of industrial robot. The inverse kinematics problem in robotics is about the determination of joint angles for a desired Cartesian position of the end effector. It comprises of the computation need to find the joint angles for a given Cartesian position and orientation of the end effectors to control a robot arm. There is no unique solution for the inverse kinematics thus necessitating application of appropriate predictive models from the soft computing domain. Artificial neural network is one such technique which can be gainfully used to yield the acceptable results. This paper proposes a structured artificial neural network (ANN model to find the inverse kinematics solution of a 4-dof SCARA manipulator. The ANN model used is a multi-layered perceptron neural network (MLPNN, wherein gradient descent type of learning rules is applied. An attempt has been made to find the best ANN configuration for the problem. It is found that multi-layered perceptron neural network gives minimum mean square error.
International Nuclear Information System (INIS)
Sasaki, Shinobu
1987-01-01
This paper proposes a new approach to solve the inverse kinematics of a type of sixlink manipulator. Directing our attention to features of joint structures of the manipulator, the original problem is first formulated by a system of equations with four variables and solved by means of a minimization technique. The remaining two variables are determined from constrained conditions involved. This is the basic idea in the present approach. The results of computer simulation of the present algorithm showed that the accuracies of solutions and convergence speed are much higher and quite satisfactory for practical purposes, as compared with the linearization-iteration method based on the conventional inverse Jacobian matrix. (author)
Directory of Open Access Journals (Sweden)
Renate List
Full Text Available Videofluoroscopy has been shown to provide essential information in the evaluation of the functionality of total knee arthroplasties. However, due to the limitation in the field of view, most systems can only assess knee kinematics during highly restricted movements. To avoid the limitations of a static image intensifier, a moving fluoroscope has been presented as a standalone system that allows tracking of the knee during multiple complete cycles of level- and downhill-walking, as well as stair descent, in combination with the synchronous assessment of ground reaction forces and whole body skin marker measurements. Here, we assess the ability of the system to keep the knee in the field of view of the image intensifier. By measuring ten total knee arthroplasty subjects, we demonstrate that it is possible to maintain the knee to within 1.8 ± 1.4 cm vertically and 4.0 ± 2.6 cm horizontally of the centre of the intensifier throughout full cycles of activities of daily living. Since control of the system is based on real-time feedback of a wire sensor, the system is not dependent on repeatable gait patterns, but is rather able to capture pathological motion patterns with low inter-trial repeatability.
Postolka, Barbara; Schütz, Pascal; Hitz, Marco; Schwilch, Peter; Gerber, Hans
2017-01-01
Videofluoroscopy has been shown to provide essential information in the evaluation of the functionality of total knee arthroplasties. However, due to the limitation in the field of view, most systems can only assess knee kinematics during highly restricted movements. To avoid the limitations of a static image intensifier, a moving fluoroscope has been presented as a standalone system that allows tracking of the knee during multiple complete cycles of level- and downhill-walking, as well as stair descent, in combination with the synchronous assessment of ground reaction forces and whole body skin marker measurements. Here, we assess the ability of the system to keep the knee in the field of view of the image intensifier. By measuring ten total knee arthroplasty subjects, we demonstrate that it is possible to maintain the knee to within 1.8 ± 1.4 cm vertically and 4.0 ± 2.6 cm horizontally of the centre of the intensifier throughout full cycles of activities of daily living. Since control of the system is based on real-time feedback of a wire sensor, the system is not dependent on repeatable gait patterns, but is rather able to capture pathological motion patterns with low inter-trial repeatability. PMID:29016647
List, Renate; Postolka, Barbara; Schütz, Pascal; Hitz, Marco; Schwilch, Peter; Gerber, Hans; Ferguson, Stephen J; Taylor, William R
2017-01-01
Videofluoroscopy has been shown to provide essential information in the evaluation of the functionality of total knee arthroplasties. However, due to the limitation in the field of view, most systems can only assess knee kinematics during highly restricted movements. To avoid the limitations of a static image intensifier, a moving fluoroscope has been presented as a standalone system that allows tracking of the knee during multiple complete cycles of level- and downhill-walking, as well as stair descent, in combination with the synchronous assessment of ground reaction forces and whole body skin marker measurements. Here, we assess the ability of the system to keep the knee in the field of view of the image intensifier. By measuring ten total knee arthroplasty subjects, we demonstrate that it is possible to maintain the knee to within 1.8 ± 1.4 cm vertically and 4.0 ± 2.6 cm horizontally of the centre of the intensifier throughout full cycles of activities of daily living. Since control of the system is based on real-time feedback of a wire sensor, the system is not dependent on repeatable gait patterns, but is rather able to capture pathological motion patterns with low inter-trial repeatability.
A Monte Carlo approach to combating delayed completion of ...
African Journals Online (AJOL)
The objective of this paper is to unveil the relevance of Monte Carlo critical path analysis in resolving problem of delays in scheduled completion of development projects. Commencing with deterministic network scheduling, Monte Carlo critical path analysis was advanced by assigning probability distributions to task times.
The renovation of the Main Building is approaching completion
Anaïs Schaeffer
2011-01-01
The renovation work under way in the CERN Main Building should be completed by June. From the floors to the ceilings, everything has been done to give this historic building a new lease of life. Taken in the early 60s, this picture illustrates how light maintenance was a challenge for the auditorium in CERN’s main building. Nobody who has recently had to shimmy between the cables, ladders and toolboxes deposited around the main hall of Building 500 to get to the post office, the bank or Restaurant 1 can be oblivious to the fact that the ground floor of the Main Building has been getting a face-lift. The renovation work, which started with the first-floor concourse in June 2010, should be finished over the next couple of months. The first-floor renovations, now almost complete, set the tone for the rest of the project. The floor and ceiling, both fitted with special acoustic materials for efficient noise damping, have been completely refurbished and the Building ...
Complete super-sample lensing covariance in the response approach
Barreira, Alexandre; Krause, Elisabeth; Schmidt, Fabian
2018-06-01
We derive the complete super-sample covariance (SSC) of the matter and weak lensing convergence power spectra using the power spectrum response formalism to accurately describe the coupling of super- to sub-survey modes. The SSC term is completely characterized by the survey window function, the nonlinear matter power spectrum and the full first-order nonlinear power spectrum response function, which describes the response to super-survey density and tidal field perturbations. Generalized separate universe simulations can efficiently measure these responses in the nonlinear regime of structure formation, which is necessary for lensing applications. We derive the lensing SSC formulae for two cases: one under the Limber and flat-sky approximations, and a more general one that goes beyond the Limber approximation in the super-survey mode and is valid for curved sky applications. Quantitatively, we find that for sky fractions fsky ≈ 0.3 and a single source redshift at zS=1, the use of the flat-sky and Limber approximation underestimates the total SSC contribution by ≈ 10%. The contribution from super-survey tidal fields to the lensing SSC, which has not been included in cosmological analyses so far, is shown to represent about 5% of the total lensing covariance on multipoles l1,l2 gtrsim 300. The SSC is the dominant off-diagonal contribution to the total lensing covariance, making it appropriate to include these tidal terms and beyond flat-sky/Limber corrections in cosmic shear analyses.
Underbalance well completion - a modern approach for mature gas fields
Directory of Open Access Journals (Sweden)
Tătaru Argentina
2017-01-01
Full Text Available The exploitation of natural gas fields from Transylvanian Basin started a century ago. The majority of these fields were discovered and developed in the last century, from 1950 to 1970. So, these reservoirs have over 50 years of production historical. These are mature fields with a very low reservoir pressure. Now, for some of these reservoirs the pressure is 10 – 20 % of initial values. The biggest challenge for a production company is to make completions and recompletions in depleted reservoirs wells. At the beginning was not a problem to do a workover in these wells because the completion fluids were lost in the reservoir and the pressure helped the wells to clean up. Now, because the reservoir pressure is very low, it takes time for well to be cleaned. From time to time, some net pays have to be bypassed because the fluid can be lost in the reservoir. So the best method to do recompletion works in these wells is to work underbalance or even with the well under pressure. This paper presents some of the technologies used by Romgaz to accomplish this goal.
A Generic Approach to Self-localization and Mapping of Mobile Robots Without Using a Kinematic Model
DEFF Research Database (Denmark)
Kesper, Patrick; Berscheid, Lars; Wörgötter, Florentin
2015-01-01
and environment of a robot. Scan-matching is applied to compensate for noisy IMU measurements. This approach does not require any robot-specific characteristics, e.g. wheel encoders or kinematic models. In principle, this minimal sensory setup can be mounted on different robot systems without major modifications...... to the underlying algorithms. The sensory setup with the probabilistic algorithm is tested in real-world experiments on two different kinds of robots: a simple two-wheeled robot and the six-legged hexapod AMOSII. The obtained results indicate a successful implementation of the approach and confirm its generic...... nature. On both robots, the SLAM problem can be solved with reasonable accuracy....
Six-point remainder function in multi-Regge-kinematics: an efficient approach in momentum space
Energy Technology Data Exchange (ETDEWEB)
Broedel, Johannes [Institut für Theoretische Physik, Eidgenössische Technische Hochschule Zürich,Wolfgang-Pauli-Strasse 27, 8093 Zürich (Switzerland); Institut für Mathematik und Institut für Physik, Humboldt-Universität zu Berlin,IRIS Adlershof, Zum Großen Windkanal 6, 12489 Berlin (Germany); Sprenger, Martin [Institut für Theoretische Physik, Eidgenössische Technische Hochschule Zürich,Wolfgang-Pauli-Strasse 27, 8093 Zürich (Switzerland)
2016-05-10
Starting from the known all-order expressions for the BFKL eigenvalue and impact factor, we establish a formalism allowing the direct calculation of the six-point remainder function in N=4 super-Yang-Mills theory in momentum space to — in principle — all orders in perturbation theory. Based upon identities which relate different integrals contributing to the inverse Fourier-Mellin transform recursively, the formalism allows to easily access the full remainder function in multi-Regge kinematics up to 7 loops and up to 10 loops in the fourth logarithmic order. Using the formalism, we prove the all-loop formula for the leading logarithmic approximation proposed by Pennington and investigate the behavior of several newly calculated functions.
Inverse Kinematics With Closed Form Solution For Denso Robot Manipulator
Ikhsan Eka Prasetia; Trihastuti Agustinah
2015-01-01
In this paper, the forward kinematics and inverse kinematics used on the Denso robot manipulator which has a 6-DOF. The forward kinematics will result in the desired position by end-effector, while inverse kinematics produce angel on each joint. Inverse kinematics problem are very difficult, therefor to obtain the solution of inverse kinematics using closed form solution with geometry approach. The simulation result obtained from forward kinematics and inverse kinematics is determining desire...
Interactive inverse kinematics for human motion estimation
DEFF Research Database (Denmark)
Engell-Nørregård, Morten Pol; Hauberg, Søren; Lapuyade, Jerome
2009-01-01
We present an application of a fast interactive inverse kinematics method as a dimensionality reduction for monocular human motion estimation. The inverse kinematics solver deals efficiently and robustly with box constraints and does not suffer from shaking artifacts. The presented motion...... to significantly speed up the particle filtering. It should be stressed that the observation part of the system has not been our focus, and as such is described only from a sense of completeness. With our approach it is possible to construct a robust and computationally efficient system for human motion estimation....
Kinematic power corrections in off-forward hard reactions.
Braun, V M; Manashov, A N
2011-11-11
We develop a general approach to the calculation of kinematic corrections ∝t/Q(2), m(2)/Q(2) in hard processes which involve momentum transfer from the initial to the final hadron state. As the principal result, the complete expression is derived for the time-ordered product of two electromagnetic currents that includes all kinematic corrections to twist-four accuracy. The results are immediately applicable, e.g., to the studies of deeply virtual Compton scattering.
Nie, Bingbing; Forman, Jason L; Joodaki, Hamed; Wu, Taotao; Kent, Richard W
2016-09-01
Occupants with extreme body size and shape, such as the small female or the obese, were reported to sustain high risk of injury in motor vehicle crashes (MVCs). Dimensional scaling approaches are widely used in injury biomechanics research based on the assumption of geometrical similarity. However, its application scope has not been quantified ever since. The objective of this study is to demonstrate the valid range of scaling approaches in predicting the impact response of the occupants with focus on the vulnerable populations. The present analysis was based on a data set consisting of 60 previously reported frontal crash tests in the same sled buck representing a typical mid-size passenger car. The tests included two categories of human surrogates: 9 postmortem human surrogates (PMHS) of different anthropometries (stature range: 147-189 cm; weight range: 27-151 kg) and 5 anthropomorphic test devices (ATDs). The impact response was considered including the restraint loads and the kinematics of multiple body segments. For each category of the human surrogates, a mid-size occupant was selected as a baseline and the impact response was scaled specifically to another subject based on either the body mass (body shape) or stature (the overall body size). To identify the valid range of the scaling approach, the scaled response was compared to the experimental results using assessment scores on the peak value, peak timing (the time when the peak value occurred), and the overall curve shape ranging from 0 (extremely poor) to 1 (perfect match). Scores of 0.7 to 0.8 and 0.8 to 1.0 indicate fair and acceptable prediction. For both ATDs and PMHS, the scaling factor derived from body mass proved an overall good predictor of the peak timing for the shoulder belt (0.868, 0.829) and the lap belt (0.858, 0.774) and for the peak value of the lap belt force (0.796, 0.869). Scaled kinematics based on body stature provided fair or acceptable prediction on the overall head
Bressel, Eadric; Louder, Talin J; Hoover, James P; Roberts, Luke C; Dolny, Dennis G
2017-11-01
The aim of this study was to determine if selected kinematic measures (foot strike index [SI], knee contact angle and overstride angle) were different between aquatic treadmill (ATM) and land treadmill (LTM) running, and to determine if these measures were altered during LTM running as a result of 6 weeks of ATM training. Acute effects were tested using 15 competitive distance runners who completed 1 session of running on each treadmill type at 5 different running speeds. Subsequently, three recreational runners completed 6 weeks of ATM training following a single-subject baseline, intervention and withdrawal experiment. Kinematic measures were quantified from digitisation of video. Regardless of speed, SI values during ATM running (61.3 ± 17%) were significantly greater (P = 0.002) than LTM running (42.7 ± 23%). Training on the ATM did not change (pre/post) the SI (26 ± 3.2/27 ± 3.1), knee contact angle (165 ± 0.3/164 ± 0.8) or overstride angle (89 ± 0.4/89 ± 0.1) during LTM running. Although SI values were different between acute ATM and LTM running, 6 weeks of ATM training did not appear to alter LTM running kinematics as evidenced by no change in kinematic values from baseline to post intervention assessments.
Online adaptive approach for a game-theoretic strategy for complete vehicle energy management
Chen, H.; Kessels, J.T.B.A.; Weiland, S.
2015-01-01
This paper introduces an adaptive approach for a game-theoretic strategy on Complete Vehicle Energy Management. The proposed method enhances the game-theoretic approach such that the strategy is able to adapt to real driving behavior. The classical game-theoretic approach relies on one probability
Directory of Open Access Journals (Sweden)
Björn Rath
2018-01-01
Full Text Available Purpose. The purpose of this study was to evaluate the approach of using an electromagnetic tracking (EMT system for measuring the effects of stepwise, simulated knee injuries on patellofemoral (PF and tibiofemoral (TF kinematics. Methods. Three cadaver knees were placed in a motion rig. EMT sensors were mounted on the patella, the medial/lateral femoral epicondyles, the tibial condyle, and the tibial tuberosity (TT. After determining the motion of an intact knee, three injuries were simulated and the resulting bony motion was tracked. Results. Starting with the intact knee fully extended (0° flexion and bending it to approximately 20°, the patella shifted slightly in the medial direction. Then, while bending the knee to the flexed position (90° flexion, the patella shifted progressively more laterally. After transecting the anterior cruciate ligament (ACL, the base of the medial menisci (MM at the pars intermedia, and the medial collateral ligament (MCL, individual changes were observed. For example, the medial femoral epicondyle displayed a medial lift-off in all knees. Conclusion. We demonstrated that our EMT approach is an acceptable method to accurately measure PF joint motion. This method could also enable visualization and in-depth analysis of in vivo patellar function in total knee arthroplasty, if it is established for routine clinical use.
A general approach for optimal kinematic design of 6-DOF parallel ...
Indian Academy of Sciences (India)
In this work, an attempt has been made to present a generalized approach of ..... made either with the help of contour plots (figures 6a and b) or by comparing the .... IEEE International Conference on Robotics and Automation 3: 1970–1975.
Properties of kinematic singularities
Energy Technology Data Exchange (ETDEWEB)
Coley, A A [Department of Mathematics and Statistics, Dalhousie University, Halifax, Nova Scotia B3H 3J5 (Canada); Hervik, S [Department of Mathematics and Natural Sciences, University of Stavanger, N-4036 Stavanger (Norway); Lim, W C [Albert-Einstein-Institut, Am Muehlenberg 1, D-14476 Potsdam (Germany); MacCallum, M A H, E-mail: aac@mathstat.dal.c, E-mail: sigbjorn.hervik@uis.n, E-mail: wclim@aei.mpg.d, E-mail: m.a.h.maccallum@qmul.ac.u [School of Mathematical Sciences, Queen Mary University of London, E1 4NS (United Kingdom)
2009-11-07
The locally rotationally symmetric tilted perfect fluid Bianchi type V cosmological model provides examples of future geodesically complete spacetimes that admit a 'kinematic singularity' at which the fluid congruence is inextendible but all frame components of the Weyl and Ricci tensors remain bounded. We show that for any positive integer n there are examples of Bianchi type V spacetimes admitting a kinematic singularity such that the covariant derivatives of the Weyl and Ricci tensors up to the nth order also stay bounded. We briefly discuss singularities in classical spacetimes.
The Generalized Hill Model: A Kinematic Approach Towards Active Muscle Contraction
Menzel, Andreas; Kuhl, Ellen
2014-01-01
Excitation-contraction coupling is the physiological process of converting an electrical stimulus into a mechanical response. In muscle, the electrical stimulus is an action potential and the mechanical response is active contraction. The classical Hill model characterizes muscle contraction though one contractile element, activated by electrical excitation, and two non-linear springs, one in series and one in parallel. This rheology translates into an additive decomposition of the total stress into a passive and an active part. Here we supplement this additive decomposition of the stress by a multiplicative decomposition of the deformation gradient into a passive and an active part. We generalize the one-dimensional Hill model to the three-dimensional setting and constitutively define the passive stress as a function of the total deformation gradient and the active stress as a function of both the total deformation gradient and its active part. We show that this novel approach combines the features of both the classical stress-based Hill model and the recent active-strain models. While the notion of active stress is rather phenomenological in nature, active strain is micro-structurally motivated, physically measurable, and straightforward to calibrate. We demonstrate that our model is capable of simulating excitation-contraction coupling in cardiac muscle with its characteristic features of wall thickening, apical lift, and ventricular torsion. PMID:25221354
Overground-Propulsion Kinematics and Acceleration in Elite Wheelchair Rugby.
Haydon, David S; Pinder, Ross A; Grimshaw, Paul N; Robertson, William S P
2018-02-01
Maximal acceleration from standstill has been identified as a key performance indicator in wheelchair rugby; however, the impact of classification and kinematic variables on performance has received limited attention. This study aimed to investigate kinematic variables during maximal acceleration, with level of activity limitation accounted for using sport-classification scores. Based on their sporting classification scores, which reflect combined trunk, arm, and hand function, 25 elite wheelchair rugby players were analyzed in high-, mid-, and low-point groups before completing five 5-m sprints from a stationary position. Inertial measurement units and video analysis were used to monitor key kinematic variables. Significant differences in kinematic variables were evident across the classification groups, particularly for the first stroke-contact angle (1-way ANOVA F 2,122 = 51.5, P propulsion approaches exist across classification groups, with this information potentially informing individual wheelchair setups and training programs.
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.
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 ...
International Nuclear Information System (INIS)
Liu, Guan Yang; Zhang, Yuru; Wang, Yan; Xie, Zheng
2015-01-01
This paper proposes a neural network (NN)-based approach to solve the forward kinematics of a 3-RRR spherical parallel mechanism designed for a haptic device. The proposed algorithm aims to remarkably speed up computation to meet the requirement of high frequency rendering for haptic display. To achieve high accuracy, the workspace of the haptic device is divided into smaller subspaces. The proposed algorithm contains NNs of two different precision levels: a rough estimation NN to identify the index of the subspace and several precise estimation networks with expected accuracy to calculate the forward kinematics. For continuous motion, the algorithm structure is further simplified to save internal memory and increase computing speed, which are critical for a haptic device control system running on an embedded platform. Compared with the mostly used Newton-Raphson method, the proposed algorithm and its simplified version greatly increase the calculation speed by about four times and 10 times, respectively, while achieving the same accuracy level. The proposed approach is of great significance for solving the forward kinematics of parallel mechanism used as haptic devices when high update frequency is needed but hardware resources are limited.
Directory of Open Access Journals (Sweden)
Joel Sereno
2010-01-01
Full Text Available Inverse kinematics is the process of converting a Cartesian point in space into a set of joint angles to more efficiently move the end effector of a robot to a desired orientation. This project investigates the inverse kinematics of a robotic hand with fingers under various scenarios. Assuming the parameters of a provided robot, a general equation for the end effector point was calculated and used to plot the region of space that it can reach. Further, the benefits obtained from the addition of a prismatic joint versus an extra variable angle joint were considered. The results confirmed that having more movable parts, such as prismatic points and changing angles, increases the effective reach of a robotic hand.
Mori, Shinichiro; Kita, Yoshiaki; Baba, Kenji; Yanagi, Masayuki; Tanabe, Kan; Uchikado, Yasuto; Kurahara, Hiroshi; Arigami, Takaaki; Uenosono, Yoshikazu; Mataki, Yuko; Okumura, Hiroshi; Nakajo, Akihiro; Maemura, Kosei; Natsugoe, Shoji
2017-05-01
To evaluate the safety and feasibility of laparoscopic complete mesocolic excision via combined medial and cranial approaches with three-dimensional visualization around the gastrocolic trunk and middle colic vessels for transverse colon cancer. We evaluated prospectively collected data of 30 consecutive patients who underwent laparoscopic complete mesocolic excision between January 2010 and December 2015, 6 of whom we excluded, leaving 24 for the analysis. We assessed the completeness of excision, operative data, pathological findings, length of large bowel resected, complications, length of hospital stay, and oncological outcomes. Complete mesocolic excision completeness was graded as the mesocolic and intramesocolic planes in 21 and 3 patients, respectively. Eleven, two, eight, and three patients had T1, T2, T3, and T4a tumors, respectively; none had lymph node metastases. A mean of 18.3 lymph nodes was retrieved, and a mean of 5.4 lymph nodes was retrieved around the origin of the MCV. The mean large bowel length was 21.9 cm, operative time 274 min, intraoperative blood loss 41 mL, and length of hospital stay 15 days. There were no intraoperative and two postoperative complications. Our procedure for laparoscopic complete mesocolic excision via combined medial and cranial approaches is safe and feasible for transverse colon cancer.
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.
Percutaneous Femoropopliteal Recanalization Using a Completely Transpedal/Transtibial Approach
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Clark, Timothy W.I., E-mail: timothy.clark@uphs.upenn.edu; Watts, Micah M. [University of Pennsylvania Medical Center, Section of Interventional Radiology, Department of Radiology, Penn Presbyterian Medical Center (United States); Kwan, Tak W. [Beth Israel Medical Center, Division of Cardiovascular Medicine, Department of Medicine (United States)
2016-12-15
PurposeTo report preliminary experience with femoropopliteal revascularization using a completely transpedal/transtibial approach.Materials and MethodsThree patients with Rutherford 3–4 disease underwent revascularization of TASC C/D lesions using a pedal/tibial artery as the only site of arterial access.ResultsOne patient with a chronic superficial femoral artery occlusion had continuity achieved to the common femoral artery using a dedicated reentry device and stenting; in a second patient, an occluded popliteal artery stent was successfully revised with an endograft; and in a third patient with morbid obesity, a chronic SFA occlusion was successfully stented. All patients experienced complete resolution of presenting symptoms; no puncture site complications were seen.ConclusionsUse of a pedal/tibial approach as the sole site of arterial access may become an important access technique for femoropopliteal revascularization when patients have limited femoral access options.
Bella Nké, B. E.; Njanko, T.; Mamtani, M. A.; Njonfang, E.; Rochette, P.
2018-06-01
This study integrates anisotropy of magnetic susceptibility, microstructural and crystallographic preferred orientation (CPO) data from the Mbakop granitic pluton (MGP; Pan-African age) in order to decipher its kinematic evolution. The MGP lies close to NE-SW branch of Central Cameroon Shear Zone (CCSZ) and is emplaced in gneissic basement. High mean magnetic susceptibility and presence of multi-domain magnetite are recorded. Quartz CPO measured using Electron Backscatter diffraction reveals dominance of rhomb , prism and prism slip in different samples, which is consistent with microstructures developed under upper greenschist/amphibolite facies conditions. Quartz CPO along with other kinematic indicators (feldspar porphyroclasts/mineral fish) indicate non-coaxial deformation was important during tectonic evolution of the MGP. Contrasting sense of shear is recorded implying multi-stage mylonitization in the Western Cameroon Domain. Top-towards-south sense of shear is related to regional D2 deformation (613-585 Ma), while top-towards-north is related to D3 (585-540 Ma). The magnetic fabric in MGP records D3. The obliquity between mean orientation of magnetic foliation (N12°E) and the NE-SW CCSZ branch (N48°E) gives kinematic vorticity number of 0.95. This indicates dominantly simple shear with a minor pure shear component. It is concluded that regional transpression was important during MGP emplacement.
Directory of Open Access Journals (Sweden)
Andrzej Czamara
2015-01-01
Full Text Available It is difficult to find publications comparing rotation kinematics in large joints of the lower limbs and pelvis during gait in patients after single-bundle (SB reconstruction of the anterior cruciate ligament (ACLR with double-bundle (DB ACLR of the knee. The aim of this study was to compare rotation kinematics in ankle, knee, and hip joints and the pelvis during gait in the 14th week after SB and DB ACLR. The subjects were males after SB (n=10 and DB (n=13 ACLR and a control group (n=15. The values of kinematic parameters were recorded during internal (IR and external (ER rotation in the joints during gait using the BTS SMART. The SB ACLR group obtained significantly higher values of ER in the involved knee comparing to DB ACLR and controls and excessive IR in the hip comparing to controls. In the DB ACLR group, excessive ER was noted in the involved leg's foot. Comparing with the DB ACLR and control groups, SB ACLR subjects had more substantial disorders of rotation kinematics in the lower limb joints. However, in both ACLR groups, 14 weeks of postoperative physiotherapy were not enough to fully restore rotation kinematics in joints of the lower limbs during gait.
Completion of the first approach to critical for the seven percent critical experiment
International Nuclear Information System (INIS)
Barber, A. D.; Harms, G. A.
2009-01-01
The first approach-to-critical experiment in the Seven Percent Critical Experiment series was recently completed at Sandia. This experiment is part of the Seven Percent Critical Experiment which will provide new critical and reactor physics benchmarks for fuel enrichments greater than five weight percent. The inverse multiplication method was used to determine the state of the system during the course of the experiment. Using the inverse multiplication method, it was determined that the critical experiment went slightly supercritical with 1148 fuel elements in the fuel array. The experiment is described and the results of the experiment are presented. (authors)
Barki, Anum; Kendricks, Kimberly; Tuttle, Ronald F.; Bunker, David J.; Borel, Christoph C.
2013-05-01
This research highlights the results obtained from applying the method of inverse kinematics, using Groebner basis theory, to the human gait cycle to extract and identify lower extremity gait signatures. The increased threat from suicide bombers and the force protection issues of today have motivated a team at Air Force Institute of Technology (AFIT) to research pattern recognition in the human gait cycle. The purpose of this research is to identify gait signatures of human subjects and distinguish between subjects carrying a load to those subjects without a load. These signatures were investigated via a model of the lower extremities based on motion capture observations, in particular, foot placement and the joint angles for subjects affected by carrying extra load on the body. The human gait cycle was captured and analyzed using a developed toolkit consisting of an inverse kinematic motion model of the lower extremity and a graphical user interface. Hip, knee, and ankle angles were analyzed to identify gait angle variance and range of motion. Female subjects exhibited the most knee angle variance and produced a proportional correlation between knee flexion and load carriage.
Hu, Xiao-Bing; Wang, Ming; Di Paolo, Ezequiel
2013-06-01
Searching the Pareto front for multiobjective optimization problems usually involves the use of a population-based search algorithm or of a deterministic method with a set of different single aggregate objective functions. The results are, in fact, only approximations of the real Pareto front. In this paper, we propose a new deterministic approach capable of fully determining the real Pareto front for those discrete problems for which it is possible to construct optimization algorithms to find the k best solutions to each of the single-objective problems. To this end, two theoretical conditions are given to guarantee the finding of the actual Pareto front rather than its approximation. Then, a general methodology for designing a deterministic search procedure is proposed. A case study is conducted, where by following the general methodology, a ripple-spreading algorithm is designed to calculate the complete exact Pareto front for multiobjective route optimization. When compared with traditional Pareto front search methods, the obvious advantage of the proposed approach is its unique capability of finding the complete Pareto front. This is illustrated by the simulation results in terms of both solution quality and computational efficiency.
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
A Reconfigurable System Approach to the Direct Kinematics of a 5 D.o.f Robotic Manipulator
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Diego F. Sánchez
2010-01-01
Full Text Available Hardware acceleration in high performance computer systems has a particular interest for many engineering and scientific applications in which a large number of arithmetic operations and transcendental functions must be computed. In this paper a hardware architecture for computing direct kinematics of robot manipulators with 5 degrees of freedom (5 D.o.f using floating-point arithmetic is presented for 32, 43, and 64 bit-width representations and it is implemented in Field Programmable Gate Arrays (FPGAs. The proposed architecture has been developed using several floating-point libraries for arithmetic and transcendental functions operators, allowing the designer to select (pre-synthesis a suitable bit-width representation according to the accuracy and dynamic range, as well as the area, elapsed time and power consumption requirements of the application. Synthesis results demonstrate the effectiveness and high performance of the implemented cores on commercial FPGAs. Simulation results have been addressed in order to compute the Mean Square Error (MSE, using the Matlab as statistical estimator, validating the correct behavior of the implemented cores. Additionally, the processing time of the hardware architecture was compared with the same formulation implemented in software, using the PowerPC (FPGA embedded processor, demonstrating that the hardware architecture speeds-up by factor of 1298 the software implementation.
Directory of Open Access Journals (Sweden)
Estevan Isaac
2015-09-01
Full Text Available In taekwondo, there is a lack of consensus about how the kick sequence occurs. The aim of this study was to analyse the peak velocity (resultant and value in each plane of lower limb segments (thigh, shank and foot, and the time to reach this peak velocity in the kicking lower limb during the execution of the roundhouse kick technique. Ten experienced taekwondo athletes (five males and five females; mean age of 25.3 ±5.1 years; mean experience of 12.9 ±5.3 years participated voluntarily in this study performing consecutive kicking trials to a target located at their sternum height. Measurements for the kinematic analysis were performed using two 3D force plates and an eight camera motion capture system. The results showed that the proximal segment reached a lower peak velocity (resultant and in each plane than distal segments (except the peak velocity in the frontal plane where the thigh and shank presented similar values, with the distal segment taking the longest to reach this peak velocity (p < 0.01. Also, at the instant every segment reached the peak velocity, the velocity of the distal segment was higher than the proximal one (p < 0.01. It provides evidence about the sequential movement of the kicking lower limb segments. In conclusion, during the roundhouse kick in taekwondo inter-segment motion seems to be based on a proximo-distal pattern.
Rak, Adam J.; McQuarrie, Nadine; Ehlers, Todd A.
2017-11-01
Quantifying mountain building processes in convergent orogens requires determination of the timing and rate of deformation in the overriding plate. In the central Andes, large discrepancies in both timing and rate of deformation prevent evaluating the shortening history in light of internal or external forcing factors. Geologic map patterns, age and location of reset thermochronometer systems, and synorogenic sediment distribution are all a function of the geometry, kinematics, and rate of deformation in a fold-thrust-belt-foreland basin (FTB-FB) system. To determine the timing and rate of deformation in the northern Bolivian Andes, we link thermokinematic modeling to a sequentially forward modeled, balanced cross section isostatically accounting for thrust loads and erosion. Displacement vectors, in 10 km increments, are assigned variable ages to create velocity fields in a thermokinematic model for predicting thermochronometer ages. We match both the pattern of predicted cooling ages with the across strike pattern of measured zircon fission track, apatite fission track, and apatite (U-Th)/He cooling ages as well as the modeled age of FB formations to published sedimentary sections. Results indicate that northern Bolivian FTB deformation started at 50 Ma and may have begun as early as 55 Ma. Acceptable rates of shortening permit either a constant rate of shortening ( 4-5 mm/yr) or varying shortening rates with faster rates (7-10 mm/yr) at 45-50 Ma and 12-8 Ma, significantly slower rates (2-4 mm/yr) from 35 to 15 Ma and indicate the northern Bolivian Subandes started deforming between 19 and 14 Ma.
Directory of Open Access Journals (Sweden)
Reza Bagheri
2013-10-01
Full Text Available Introduction:Neurogenic mediastinal tumors comprise a wide range of benign and malignant diseases. A group of these tumors, located at thoracic apex, sometimes spread to cervical spaces causing numerous surgical difficulties. In thoracotomy approaches, due to proximity of the tumors to major blood vessels, complete removal of these tumors from cervical spaces is impossible or may cause intraoperative severe bleeding or other dangerous incidents Because of the adjacent major vessels that are not visible.The aim of this study is to report cases of surgical treatment of such tumors using Anterior Trans Cervicothoracic Approach (ATCA. Materials and Methods:All patients with neurogenic tumors and cervicomediastinal (CM spread who underwent surgey with ATCA technique during 2005-2011 were included in our study. Then they were evaluated in terms of age, sex, clinical symptoms, radiological and pathological findings, technical success rate of the surgery, surgical complications and first-year relapse rate after the surgery. Results:Our study included 10 patients from whom 9 were female and 1 was male (M/F= 1/9 and the mean age was 27 years. The most common symptoms were pain and feeling of a lump. All patients were operated by this technique successfully. The most common pathological finding was neurofibroma (in 5 patients and surgical complications occurred in 2 patients (20% (Wound infection in 1 patient and brachial plexus injury in another patient. There was no mortality. Disease relapse was reported in 1 patient ganglioneuroblastoma who underwent surgical resection for the second time. Conclusion: Considering the successful removal of the tumors and favorable exposure of major vessels in cervicomediastinal spaces, this technique is recommended to resect mediastinal tumors with spread to cervical spaces. However, a more definite conclusion requires further studies.
A Game Theoretic Approach to Minimize the Completion Time of Network Coded Cooperative Data Exchange
Douik, Ahmed S.
2014-05-11
In this paper, we introduce a game theoretic framework for studying the problem of minimizing the completion time of instantly decodable network coding (IDNC) for cooperative data exchange (CDE) in decentralized wireless network. In this configuration, clients cooperate with each other to recover the erased packets without a central controller. Game theory is employed herein as a tool for improving the distributed solution by overcoming the need for a central controller or additional signaling in the system. We model the session by self-interested players in a non-cooperative potential game. The utility function is designed such that increasing individual payoff results in a collective behavior achieving both a desirable system performance in a shared network environment and the Pareto optimal solution. Through extensive simulations, our approach is compared to the best performance that could be found in the conventional point-to-multipoint (PMP) recovery process. Numerical results show that our formulation largely outperforms the conventional PMP scheme in most practical situations and achieves a lower delay.
Spatially controlled immobilisation of biomolecules: A complete approach in green chemistry
Grinenval, Eva; Nonglaton, Guillaume; Vinet, Françoise
2014-01-01
The development of 'green' sensors is a challenging task in the field of biomolecule sensing, for example in the detection of cardiac troponin-I (cTnI). In the present work a complete approach in green chemistry was developed to create chemically active patterns for the immobilisation of biological probes. This key technology is discussed on the basis of the twelve green chemistry principles, and is a combination of surface patterning by spotting and surface chemistries modified by molecular vapour deposition. The (1H,1H,2H,2H)-perfluorodecyltrichlorosilane (FDTS) was used as a novel anti-adsorption layer while the 3,4-epoxybutyltrimethoxysilane (EBTMOS) was used to immobilise probes. Oligonucleotides and the anti-cTnI antibody were studied. The spatially controlled immobilisation of probes was characterised by fluorescence. The demonstrated surface modification has broad applications in areas such as diagnostics and bio-chemical sensing. Moreover, the environmental impacts of surface patterning and surface chemistry were discussed from a 'greenness' point of view.
A Game Theoretic Approach to Minimize the Completion Time of Network Coded Cooperative Data Exchange
Douik, Ahmed S.; Al-Naffouri, Tareq Y.; Alouini, Mohamed-Slim; Sorour, Sameh; Tembine, Hamidou
2014-01-01
In this paper, we introduce a game theoretic framework for studying the problem of minimizing the completion time of instantly decodable network coding (IDNC) for cooperative data exchange (CDE) in decentralized wireless network. In this configuration, clients cooperate with each other to recover the erased packets without a central controller. Game theory is employed herein as a tool for improving the distributed solution by overcoming the need for a central controller or additional signaling in the system. We model the session by self-interested players in a non-cooperative potential game. The utility function is designed such that increasing individual payoff results in a collective behavior achieving both a desirable system performance in a shared network environment and the Pareto optimal solution. Through extensive simulations, our approach is compared to the best performance that could be found in the conventional point-to-multipoint (PMP) recovery process. Numerical results show that our formulation largely outperforms the conventional PMP scheme in most practical situations and achieves a lower delay.
Omisore, Olatunji Mumini; Han, Shipeng; Ren, Lingxue; Zhang, Nannan; Ivanov, Kamen; Elazab, Ahmed; Wang, Lei
2017-08-01
Snake-like robot is an emerging form of serial-link manipulator with the morphologic design of biological snakes. The redundant robot can be used to assist medical experts in accessing internal organs with minimal or no invasion. Several snake-like robotic designs have been proposed for minimal invasive surgery, however, the few that were developed are yet to be fully explored for clinical procedures. This is due to lack of capability for full-fledged spatial navigation. In rare cases where such snake-like designs are spatially flexible, there exists no inverse kinematics (IK) solution with both precise control and fast response. In this study, we proposed a non-iterative geometric method for solving IK of lead-module of a snake-like robot designed for therapy or ablation of abdominal tumors. The proposed method is aimed at providing accurate and fast IK solution for given target points in the robot's workspace. n-1 virtual points (VPs) were geometrically computed and set as coordinates of intermediary joints in an n-link module. Suitable joint angles that can place the end-effector at given target points were then computed by vectorizing coordinates of the VPs, in addition to coordinates of the base point, target point, and tip of the first link in its default pose. The proposed method is applied to solve IK of two-link and redundant four-link modules. Both two-link and four-link modules were simulated with Robotics Toolbox in Matlab 8.3 (R2014a). Implementation result shows that the proposed method can solve IK of the spatially flexible robot with minimal error values. Furthermore, analyses of results from both modules show that the geometric method can reach 99.21 and 88.61% of points in their workspaces, respectively, with an error threshold of 1 mm. The proposed method is non-iterative and has a maximum execution time of 0.009 s. This paper focuses on solving IK problem of a spatially flexible robot which is part of a developmental project for abdominal
Surgical gesture classification from video and kinematic data.
Zappella, Luca; Béjar, Benjamín; Hager, Gregory; Vidal, René
2013-10-01
Much of the existing work on automatic classification of gestures and skill in robotic surgery is based on dynamic cues (e.g., time to completion, speed, forces, torque) or kinematic data (e.g., robot trajectories and velocities). While videos could be equally or more discriminative (e.g., videos contain semantic information not present in kinematic data), they are typically not used because of the difficulties associated with automatic video interpretation. In this paper, we propose several methods for automatic surgical gesture classification from video data. We assume that the video of a surgical task (e.g., suturing) has been segmented into video clips corresponding to a single gesture (e.g., grabbing the needle, passing the needle) and propose three methods to classify the gesture of each video clip. In the first one, we model each video clip as the output of a linear dynamical system (LDS) and use metrics in the space of LDSs to classify new video clips. In the second one, we use spatio-temporal features extracted from each video clip to learn a dictionary of spatio-temporal words, and use a bag-of-features (BoF) approach to classify new video clips. In the third one, we use multiple kernel learning (MKL) to combine the LDS and BoF approaches. Since the LDS approach is also applicable to kinematic data, we also use MKL to combine both types of data in order to exploit their complementarity. Our experiments on a typical surgical training setup show that methods based on video data perform equally well, if not better, than state-of-the-art approaches based on kinematic data. In turn, the combination of both kinematic and video data outperforms any other algorithm based on one type of data alone. Copyright © 2013 Elsevier B.V. All rights reserved.
Eyüpoglu, Ilker Y; Hore, Nirjhar; Merkel, Andreas; Buslei, Rolf; Buchfelder, Michael; Savaskan, Nicolai
2016-05-03
Safe and complete resection represents the first step in the treatment of glioblastomas and is mandatory in increasing the effectiveness of adjuvant therapy to prolong overall survival. With gross total resection currently limited in extent to MRI contrast enhancing areas, the extent to which supra-complete resection beyond obvious contrast enhancement could have impact on overall survival remains unclear. DiVA (dual intraoperative visualization approach) redefines gross total resection as currently accepted by enabling for the first time supra-complete surgery without compromising patient safety. This approach exploits the advantages of two already accepted surgical techniques combining intraoperative MRI with integrated functional neuronavigation and 5-ALA by integrating them into a single surgical approach. We investigated whether this technique has impact on overall outcome in GBM patients. 105 patients with GBM were included. We achieved complete resection with intraoperative MRI alone according to current best-practice in glioma surgery in 75 patients. 30 patients received surgery with supra-complete resection. The control arm showed a median life expectancy of 14 months, reflecting current standards-of-care and outcome. In contrast, patients receiving supra-complete surgery displayed significant increase in median survival time to 18.5 months with overall survival time correlating directly with extent of supra-complete resection. This extension of overall survival did not come at the cost of neurological deterioration. We show for the first time that supra-complete glioma surgery leads to significant prolongation of overall survival time in GBM patients.
Energy Technology Data Exchange (ETDEWEB)
de Felice, F; Nobili, L [Padua Univ. (Italy). Istituto di Fisica; Calvani, M [Padua univ. (Italy). Istituto di Astronomia
1976-03-01
The existence of extended Kerr metric sources of perfect fluid is taken as work-hypothesis to investigate the structure of the boundaries which derive from Boyer's surface condition. We find closed spheroidal configurations which hide an internal cavity as well as toroidal configurations; however, both the boundary of the internal cavity and the tori touch the ring singularity. We judge this feature non-physical and conclude that Boyer's condition is not sufficient to completely define a well behaved physical source.
A simple approach to hollow maxillary complete denture fabrication: An innovative technique
Directory of Open Access Journals (Sweden)
Kathleen Manuela D'souza
2017-01-01
Full Text Available A severely atrophic maxillary arch exhibits reduced denture bearing area and increased inter-ridge distance, thus, affecting retention of the complete denture. Such clinical situations necessitate the fabrication of a hollow complete denture to reduce the weight of the prosthesis and increase retention. This article describes a simple technique to fabricate a hollow maxillary complete denture using salt and thermoplastic poly (methyl methacrylate sheet. The vacuum-formed thermoplastic matrix regulates the quantity of salt and determines its placement in the unpolymerized denture base material during the denture packing stage. The matrix lining the hollow cavity also aids to reinforce the hollow denture base.
2014-02-01
installation based on a Euclidean distance allocation and assigned that installation’s threshold values. The second approach used a thin - plate spline ...installation critical nLS+ thresholds involved spatial interpolation. A thin - plate spline radial basis functions (RBF) was selected as the...the interpolation of installation results using a thin - plate spline radial basis function technique. 6.5 OBJECTIVE #5: DEVELOP AND
International Nuclear Information System (INIS)
Mahato, Niladri K.; Montuelle, Stephane; Cotton, John; Williams, Susan; Thomas, James; Clark, Brian
2016-01-01
.31 % and 5.26 % for the two pulse sequences, respectively, while the ICCs were 0.99 for both. For rotation measures, the CVs were 3.19 % and 2.44 % for the two pulse sequences with the ICCs being 0.98 and 0.97, respectively. A novel biplanar imaging approach also yielded high reliability with mean CVs of 2.66 % and 3.39 % for translation in the x- and z-planes, respectively, and ICCs of 0.97 in both planes. This work provides basic proof-of-concept for a reliable marker-less non-ionizing-radiation-based quasi-dynamic motion quantification technique that can potentially be developed into a tool for real-time joint kinematics analysis
Mahato, Niladri K; Montuelle, Stephane; Cotton, John; Williams, Susan; Thomas, James; Clark, Brian
2016-05-18
.31 % and 5.26 % for the two pulse sequences, respectively, while the ICCs were 0.99 for both. For rotation measures, the CVs were 3.19 % and 2.44 % for the two pulse sequences with the ICCs being 0.98 and 0.97, respectively. A novel biplanar imaging approach also yielded high reliability with mean CVs of 2.66 % and 3.39 % for translation in the x- and z-planes, respectively, and ICCs of 0.97 in both planes. This work provides basic proof-of-concept for a reliable marker-less non-ionizing-radiation-based quasi-dynamic motion quantification technique that can potentially be developed into a tool for real-time joint kinematics analysis.
Schneider, Basil; Weber, Michele
The Standard Model of particle physics is a very successful theory, but it cannot describe e.g. gravity or explain the hierarchy problem. Supersymmetry is a proposed extension to the Standard Model that would solve some of its shortcomings by introducing a relation between fermions and bosons through the existence of a supersymmetric partner to every particle in the Standard Model. Since it is a broken symmetry, supersymmetric particles are heavier than their Standard Model counterparts. No supersymmetric particle has been observed to date. The ATLAS experiment at the Large Hadron Collider is a multi-purpose detector to measure parameters in the Standard Model and conduct searches for new particles. Searching for supersymmetric particles is one of the main goals of the experiment. In 2012, 20.3~fb$^{-1}$ of data at a centre-of-mass energy of $\\sqrt{s}$ = 8 TeV was collected by ATLAS. In this thesis, I analyzed the ATLAS data and developed a novel statistical approach that bins a signal enhanced region in pha...
Energy Technology Data Exchange (ETDEWEB)
Zhang, Jian-dong [TianQin Research Center for Gravitational Physics, Sun Yat-sen University, Zhuhai 519082, Guangdong (China); Chen, Bin [Department of Physics and State Key Laboratory of Nuclear Physics and Technology, Peking University, Beijing 100871 (China); Collaborative Innovation Center of Quantum Matter, 5 Yiheyuan Rd, Beijing 100871 (China); Center for High Energy Physics, Peking University, 5 Yiheyuan Rd, Beijing 100871 (China)
2017-01-23
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 Poincaré 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 Poincaré 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,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, we discuss the fundamental regions in the kinematic space for the BTZ blackhole and multi-boundary wormholes.
Kos, M.P.; David, E.F.; Mahieu, H.F.
2011-01-01
Background: Strictures of the hypopharynx and oesophagus are frequently observed following (chemo)radiation. Anterograde dilatation of a complete stenosis carries a high risk of perforation. An alternative is described: a combined anterograde-retrograde approach.Case report: A 75-year-old man
Estimation of kinematic parameters in CALIFA galaxies: no-assumption on internal dynamics
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
Comparing Solution Approaches for a Complete Model of High School Timetabling
DEFF Research Database (Denmark)
Sørensen, Matias; Stidsen, Thomas Riis
of these formulations are NP-hard. A heuristic based on Adaptive Large Neighborhood Search is also applied. Using 100 real-life datasets, comprehensive computational results are provided which show that the ALNS heuristic outperforms the IP approaches. The ALNS heuristic has been incorporated in Lectio......, and is currently available to almost 200 dierent high schools in Denmark. Furthermore, a conversion of the datasets into the XHSTT format is described, and some datasets are made publicly available....
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....
Inverse kinematic control of LDUA and TWRMS
International Nuclear Information System (INIS)
Yih, T.C.; Burks, B.L.; Kwon, Dong-Soo
1995-01-01
A general inverse kinematic analysis is formulated particularly for the redundant Light Duty Utility Arm (LDUA) and Tank Waste Retrieval Manipulator System (TWRMS). The developed approach is applicable to the inverse kinematic simulation and control of LDUA, TWRMS, and other general robot manipulators. The 4 x 4 homogeneous Cylindrical coordinates-Bryant angles (C-B) notation is adopted to model LDUA, TWRMS, and any robot composed of R (revolute), P (prismatic), and/or S (spherical) joints
Directory of Open Access Journals (Sweden)
Mark E. O'Neill
2018-01-01
Full Text Available The Aboriginal Cultural Heritage Act 2003 challenged the hegemony that Western, archaeological methodologies has held over Indigenous cultural heritage in Australia. By choosing to relinquish state control and authority over cultural heritage in favour of the expertise of Indigenous people, the Act created a unique and innovative heritage policy. Over the 10 years the Act has been in force, it has seen a variety of approaches adopted as part of myriad projects. This has created a mature field of practice for investigation and analysis. This article examines and critiques the Act to determine its successes and weaknesses. In doing so, it offers opportunities for other policy-makers to consider as part of policy review.
DEFF Research Database (Denmark)
She, Qunxin; Confalonieri, F.; Zivanovic, Y.
2000-01-01
The original strategy used in the Sulfolobus solfatnricus genome project was to sequence non overlapping, or minimally overlapping, cosmid or lambda inserts without constructing a physical map. However, after only about two thirds of the genome sequence was completed, this approach became counter......-productive because there was a high sequence bias in the cosmid and lambda libraries. Therefore, a new approach was devised for linking the sequenced regions which may be generally applicable. BAC libraries were constructed and terminal sequences of the clones were determined and used for both end mapping and PCR...
International Nuclear Information System (INIS)
Miraglia, Roberto; Vitulo, Patrizio; Maruzzelli, Luigi; Burgio, Gaetano; Caruso, Settimo; Bertani, Alessandro; Callari, Adriana; Luca, Angelo
2016-01-01
Airway stenosis is a major complication after lung transplantation that is usually managed with a combination of interventional endoscopic techniques, including endobronchial debridement, balloon dilation, and stent placement. Herein, we report a successful case of recanalization of a complete stenosis of the right middle lobe bronchus in a lung transplant patient, by using a combined percutaneous–bronchoscopic approach after the failure of endobronchial debridement
Energy Technology Data Exchange (ETDEWEB)
Miraglia, Roberto, E-mail: rmiraglia@ismett.edu [Mediterranean Institute for Transplantation and Advanced Specialized Therapies (ISMETT), Radiology Service, Department of Diagnostic and Therapeutic Services (Italy); Vitulo, Patrizio, E-mail: pvitulo@ismett.edu [Mediterranean Institute for Transplantation and Advanced Specialized Therapies (ISMETT), Pulmonology Unit, Department for the Treatment and Study of Cardiothoracic Diseases and Cardiothoracic Transplantation (Italy); Maruzzelli, Luigi, E-mail: lmaruzzelli@ismett.edu [Mediterranean Institute for Transplantation and Advanced Specialized Therapies (ISMETT), Radiology Service, Department of Diagnostic and Therapeutic Services (Italy); Burgio, Gaetano, E-mail: gburgio@ismett.edu [Mediterranean Institute for Transplantation and Advanced Specialized Therapies (ISMETT), Operating Room Service, Department of Anesthesia and Intensive Care (Italy); Caruso, Settimo, E-mail: secaruso@ismett.edu [Mediterranean Institute for Transplantation and Advanced Specialized Therapies (ISMETT), Radiology Service, Department of Diagnostic and Therapeutic Services (Italy); Bertani, Alessandro, E-mail: abertani@ismett.edu [Mediterranean Institute for Transplantation and Advanced Specialized Therapies (ISMETT), Thoracic Surgery and Lung Transplantation Unit, Department for the Treatment and Study of Cardiothoracic Diseases and Cardiothoracic Transplantation (Italy); Callari, Adriana, E-mail: acallari@ismett.edu [Mediterranean Institute for Transplantation and Advanced Specialized Therapies (ISMETT), Pulmonology Unit, Department for the Treatment and Study of Cardiothoracic Diseases and Cardiothoracic Transplantation (Italy); Luca, Angelo, E-mail: aluca@ismett.edu [Mediterranean Institute for Transplantation and Advanced Specialized Therapies (ISMETT), Radiology Service, Department of Diagnostic and Therapeutic Services (Italy)
2016-03-15
Airway stenosis is a major complication after lung transplantation that is usually managed with a combination of interventional endoscopic techniques, including endobronchial debridement, balloon dilation, and stent placement. Herein, we report a successful case of recanalization of a complete stenosis of the right middle lobe bronchus in a lung transplant patient, by using a combined percutaneous–bronchoscopic approach after the failure of endobronchial debridement.
Papaspyridakos, Panos; Chronopoulos, Vasilios
2014-09-01
The transition of patients from failing dentition to complete-arch implant rehabilitation often means that the patient is rendered edentulous and has to wear a removable complete denture for a time. Many patients find this objectionable. A staged treatment approach provides a fixed interim prosthesis for use throughout the rehabilitation process, allowing patient comfort and prosthodontic control. This clinical report describes a staged approach protocol with a new type of interim prosthesis. The prosthesis is supported by hopeless teeth and the soft tissues of the maxillary tuberosities and mandibular retromolar pads for the complete-arch implant rehabilitation of a patient with failing dentition. This protocol allows for a fixed interim prosthesis with combined tooth and mucosa or implant support during the entire rehabilitation process, thus avoiding the use of complete dentures. The implants and prostheses were functioning successfully after 3 years of clinical service. Copyright © 2014 Editorial Council for the Journal of Prosthetic Dentistry. Published by Elsevier Inc. All rights reserved.
Boyages, John; Kastanias, Katrina; Koelmeyer, Louise A; Winch, Caleb J; Lam, Thomas C; Sherman, Kerry A; Munnoch, David Alex; Brorson, Håkan; Ngo, Quan D; Heydon-White, Asha; Magnussen, John S; Mackie, Helen
2015-12-01
This research describes and evaluates a liposuction surgery and multidisciplinary rehabilitation approach for advanced lymphedema of the upper and lower extremities. A prospective clinical study was conducted at an Advanced Lymphedema Assessment Clinic (ALAC) comprised of specialists in plastic surgery, rehabilitation, imaging, oncology, and allied health, at Macquarie University, Australia. Between May 2012 and 31 May 2014, a total of 104 patients attended the ALAC. Eligibility criteria for liposuction included (i) unilateral, non-pitting, International Society of Lymphology stage II/III lymphedema; (ii) limb volume difference greater than 25 %; and (iii) previously ineffective conservative therapies. Of 55 eligible patients, 21 underwent liposuction (15 arm, 6 leg) and had at least 3 months postsurgical follow-up (85.7 % cancer-related lymphedema). Liposuction was performed under general anesthesia using a published technique, and compression garments were applied intraoperatively and advised to be worn continuously thereafter. Limb volume differences, bioimpedance spectroscopy (L-Dex), and symptom and functional measurements (using the Patient-Specific Functional Scale) were taken presurgery and 4 weeks postsurgery, and then at 3, 6, 9, and 12 months postsurgery. Mean presurgical limb volume difference was 45.1 % (arm 44.2 %; leg 47.3 %). This difference reduced to 3.8 % (arm 3.6 %; leg 4.3 %) by 6 months postsurgery, a mean percentage volume reduction of 89.6 % (arm 90.2 %; leg 88.2 %) [p multidisciplinary team is essential.
Altuntaş, Esra; Schubert, Ulrich S
2014-01-15
Mass spectrometry (MS) is the most versatile and comprehensive method in "OMICS" sciences (i.e. in proteomics, genomics, metabolomics and lipidomics). The applications of MS and tandem MS (MS/MS or MS(n)) provide sequence information of the full complement of biological samples in order to understand the importance of the sequences on their precise and specific functions. Nowadays, the control of polymer sequences and their accurate characterization is one of the significant challenges of current polymer science. Therefore, a similar approach can be very beneficial for characterizing and understanding the complex structures of synthetic macromolecules. MS-based strategies allow a relatively precise examination of polymeric structures (e.g. their molar mass distributions, monomer units, side chain substituents, end-group functionalities, and copolymer compositions). Moreover, tandem MS offer accurate structural information from intricate macromolecular structures; however, it produces vast amount of data to interpret. In "OMICS" sciences, the software application to interpret the obtained data has developed satisfyingly (e.g. in proteomics), because it is not possible to handle the amount of data acquired via (tandem) MS studies on the biological samples manually. It can be expected that special software tools will improve the interpretation of (tandem) MS output from the investigations of synthetic polymers as well. Eventually, the MS/MS field will also open up for polymer scientists who are not MS-specialists. In this review, we dissect the overall framework of the MS and MS/MS analysis of synthetic polymers into its key components. We discuss the fundamentals of polymer analyses as well as recent advances in the areas of tandem mass spectrometry, software developments, and the overall future perspectives on the way to polymer sequencing, one of the last Holy Grail in polymer science. Copyright © 2013 Elsevier B.V. All rights reserved.
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.
Kinematics and Dynamics of Roller Chain Drives
DEFF Research Database (Denmark)
Fuglede, Niels
There are two main subjects of this work: Kinematic and dynamic modeling and analysis of roller chain drives. In the kinematic analysis we contribute first with a complete treatment of the roller chain drive modeled as a four-bar mechanism. This includes a general, exact and approximate analysis...... which is useful for predicting the characteristic loading of the roller chain drive. As a completely novel contribution, a kinematic model and analysis is presented which includes both spans and sprockets in a simple chain drive system. A general procedure for determination of the total wrapping length...... 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...
New approach to the theory of coupled πNN-NN systems. 4. Completion of formal development
International Nuclear Information System (INIS)
Avishai, Y.; Mizutani, T.
1980-05-01
We complete our discussion pertaining to the coupled πNN-NN system in succession of our previous works and approach the problem in two independent ways. The first one starts from a Hamiltonian formalism and coupled Schroedinger equations whereas the second one employs an off-mass-shell relativistic theory of classifying perturbation diagrams. Both ways lead to connected equations among transition operators in which πNN vertices as well as nucleon propagators are completely dressed and renormalized. Furthermore, the physical amplitudes obey two and three body unitarity relations. The resultant equations form a sound theoretical basis for subsequent numerical calculations leading to the evaluation of physical observables in the reactions π+d→π+d, π+d→N+N and N+N→N+N
Directory of Open Access Journals (Sweden)
Coventry BJ
2012-05-01
Full Text Available Brendon J Coventry, Martin L AshdownDiscipline of Surgery, University of Adelaide, Royal Adelaide Hospital and Faculty of Medicine, University of Melbourne, AustraliaAbstract: Over 50 years of cancer therapy history reveals complete clinical responses (CRs from remarkably divergent forms of therapies (eg, chemotherapy, radiotherapy, surgery, vaccines, autologous cell transfers, cytokines, monoclonal antibodies for advanced solid malignancies occur with an approximately similar frequency of 5%–10%. This has remained frustratingly almost static. However, CRs usually underpin strong durable 5-year patient survival. How can this apparent paradox be explained?Over some 20 years, realization that (1 chronic inflammation is intricately associated with cancer, and (2 the immune system is delicately balanced between responsiveness and tolerance of cancer, provides a greatly significant insight into ways cancer might be more effectively treated. In this review, divergent aspects from the largely segmented literature and recent conferences are drawn together to provide observations revealing some emerging reasoning, in terms of "final common pathways" of cancer cell damage, immune stimulation, and auto-vaccination events, ultimately leading to cancer cell destruction. Created from this is a unifying overarching concept to explain why multiple approaches to cancer therapy can provide complete responses at almost equivalent rates. This "missing" aspect provides a reasoned explanation for what has, and is being, increasingly reported in the mainstream literature – that inflammatory and immune responses appear intricately associated with, if not causative of, complete responses induced by divergent forms of cancer therapy. Curiously, whether by chemotherapy, radiation, surgery, or other means, therapy-induced cell injury results, leaving inflammation and immune system stimulation as a final common denominator across all of these mechanisms of cancer
Tibial rotation kinematics subsequent to knee arthroplasty
Collins, Duane J.; Khatib, Yasser H.; Parker, David A.; Jenkin, Deanne E.; Molnar, Robert B.
2015-01-01
Background The use of computer assisted joint replacement has facilitated precise intraoperative measurement of knee kinematics. The changes in “screw home mechanism” (SHM) resulting from Total Knee Arthroplasty (TKA) with different prostheses and constraints has not yet been accurately described. Methods A pilot study was first completed. Intraoperative kinematic data was collected two groups of 15 patients receiving different prostheses. Results On average, patients lost 5.3° of ER (SD = 6.1°). There was no significant difference between the prostheses or different prosthetic constraints. Conclusions There significant loss of SHM after TKA. Further research is required to understand its impact on patient function. PMID:25829754
Lin, Hsin-Hung; Liao, Yu-Chieh
2015-01-01
Despite the ever-increasing output of next-generation sequencing data along with developing assemblers, dozens to hundreds of gaps still exist in de novo microbial assemblies due to uneven coverage and large genomic repeats. Third-generation single-molecule, real-time (SMRT) sequencing technology avoids amplification artifacts and generates kilobase-long reads with the potential to complete microbial genome assembly. However, due to the low accuracy (~85%) of third-generation sequences, a considerable amount of long reads (>50X) are required for self-correction and for subsequent de novo assembly. Recently-developed hybrid approaches, using next-generation sequencing data and as few as 5X long reads, have been proposed to improve the completeness of microbial assembly. In this study we have evaluated the contemporary hybrid approaches and demonstrated that assembling corrected long reads (by runCA) produced the best assembly compared to long-read scaffolding (e.g., AHA, Cerulean and SSPACE-LongRead) and gap-filling (SPAdes). For generating corrected long reads, we further examined long-read correction tools, such as ECTools, LSC, LoRDEC, PBcR pipeline and proovread. We have demonstrated that three microbial genomes including Escherichia coli K12 MG1655, Meiothermus ruber DSM1279 and Pdeobacter heparinus DSM2366 were successfully hybrid assembled by runCA into near-perfect assemblies using ECTools-corrected long reads. In addition, we developed a tool, Patch, which implements corrected long reads and pre-assembled contigs as inputs, to enhance microbial genome assemblies. With the additional 20X long reads, short reads of S. cerevisiae W303 were hybrid assembled into 115 contigs using the verified strategy, ECTools + runCA. Patch was subsequently applied to upgrade the assembly to a 35-contig draft genome. Our evaluation of the hybrid approaches shows that assembling the ECTools-corrected long reads via runCA generates near complete microbial genomes, suggesting
Biquaternions and relativistic kinematics
International Nuclear Information System (INIS)
Bogush, A.A.; Kurochkin, Yu.A.; Fedorov, F.I.
1979-01-01
The problems concerning the use of quaternion interpretation of the Lorentz group vector parametrization are considered for solving relativistic kinematics problems. A vector theory convenient for describing the characteristic features of the Lobachevsky space is suggested. The kinematics of elementary particle scattering is investigated on the basis of this theory. A synthesis of vector parametrization and of quaternion calculation has been shown to lead to natural formulation of the theory of vectors in the three-dimensional Lobachevsky space, realized on mass hyperboloids of relativistic particles
Sheng, Chunhua; Hyams, Daniel G.; Sreenivas, Kidambi; Gaither, J. Adam; Marcum, David L.; Whitfield, David L.
2000-01-01
A multiblock unstructured grid approach is presented for solving three-dimensional incompressible inviscid and viscous turbulent flows about complete configurations. The artificial compressibility form of the governing equations is solved by a node-based, finite volume implicit scheme which uses a backward Euler time discretization. Point Gauss-Seidel relaxations are used to solve the linear system of equations at each time step. This work employs a multiblock strategy to the solution procedure, which greatly improves the efficiency of the algorithm by significantly reducing the memory requirements by a factor of 5 over the single-grid algorithm while maintaining a similar convergence behavior. The numerical accuracy of solutions is assessed by comparing with the experimental data for a submarine with stem appendages and a high-lift configuration.
International Nuclear Information System (INIS)
Coventry, Brendon J; Ashdown, Martin L
2012-01-01
Over 50 years of cancer therapy history reveals complete clinical responses (CRs) from remarkably divergent forms of therapies (eg, chemotherapy, radiotherapy, surgery, vaccines, autologous cell transfers, cytokines, monoclonal antibodies) for advanced solid malignancies occur with an approximately similar frequency of 5%–10%. This has remained frustratingly almost static. However, CRs usually underpin strong durable 5-year patient survival. How can this apparent paradox be explained? Over some 20 years, realization that (1) chronic inflammation is intricately associated with cancer, and (2) the immune system is delicately balanced between responsiveness and tolerance of cancer, provides a greatly significant insight into ways cancer might be more effectively treated. In this review, divergent aspects from the largely segmented literature and recent conferences are drawn together to provide observations revealing some emerging reasoning, in terms of “final common pathways” of cancer cell damage, immune stimulation, and auto-vaccination events, ultimately leading to cancer cell destruction. Created from this is a unifying overarching concept to explain why multiple approaches to cancer therapy can provide complete responses at almost equivalent rates. This “missing” aspect provides a reasoned explanation for what has, and is being, increasingly reported in the mainstream literature – that inflammatory and immune responses appear intricately associated with, if not causative of, complete responses induced by divergent forms of cancer therapy. Curiously, whether by chemotherapy, radiation, surgery, or other means, therapy-induced cell injury results, leaving inflammation and immune system stimulation as a final common denominator across all of these mechanisms of cancer therapy. This aspect has been somewhat obscured and has been “lost in translation” to date
Nelson, Jane Bray; Nelson, Jim
2009-01-01
Written by Jim and Jane Nelson, Teaching About Kinematics is the latest AAPT/PTRA resource book. Based on physics education research, the book provides teachers with the resources needed to introduce students to some of the fundamental building blocks of physics. It is a carefully thought-out, step-by-step laboratory-based introduction to the…
Li, Xingyu; Plataniotis, Konstantinos N
2015-07-01
In digital histopathology, tasks of segmentation and disease diagnosis are achieved by quantitative analysis of image content. However, color variation in image samples makes it challenging to produce reliable results. This paper introduces a complete normalization scheme to address the problem of color variation in histopathology images jointly caused by inconsistent biopsy staining and nonstandard imaging condition. Method : Different from existing normalization methods that either address partial cause of color variation or lump them together, our method identifies causes of color variation based on a microscopic imaging model and addresses inconsistency in biopsy imaging and staining by an illuminant normalization module and a spectral normalization module, respectively. In evaluation, we use two public datasets that are representative of histopathology images commonly received in clinics to examine the proposed method from the aspects of robustness to system settings, performance consistency against achromatic pixels, and normalization effectiveness in terms of histological information preservation. As the saturation-weighted statistics proposed in this study generates stable and reliable color cues for stain normalization, our scheme is robust to system parameters and insensitive to image content and achromatic colors. Extensive experimentation suggests that our approach outperforms state-of-the-art normalization methods as the proposed method is the only approach that succeeds to preserve histological information after normalization. The proposed color normalization solution would be useful to mitigate effects of color variation in pathology images on subsequent quantitative analysis.
Inverse Kinematics of a Serial Robot
Directory of Open Access Journals (Sweden)
Amici Cinzia
2016-01-01
Full Text Available This work describes a technique to treat the inverse kinematics of a serial manipulator. The inverse kinematics is obtained through the numerical inversion of the Jacobian matrix, that represents the equation of motion of the manipulator. The inversion is affected by numerical errors and, in different conditions, due to the numerical nature of the solver, it does not converge to a reasonable solution. Thus a soft computing approach is adopted to mix different traditional methods to obtain an increment of algorithmic convergence.
Expressions of manipulator kinematic equations via symbolic computation
International Nuclear Information System (INIS)
Sasaki, Shinobu
1993-09-01
While it is simple in principle to determine the position and orientation of the manipulator hand, its computational process has been regarded as extremely laborious since trigonometric functions must be calculated many times in operations of revolute or rotation. Due to development of a general class of kinematic algorithm based on iterative methods, however, we have come to a satisfactory settlement of this problem. In the present article, we consider to construct symbolic kinematic equations in an automatic fashion making use of the algorithm. To this end, recursive expressions are applied to a symbolic computation system REDUCE. As a concrete result, a complete kinematic model for a six-jointed arm having all kinematic attributes is provided. Together with work space analysis, the computer-aided generation of kinematic equations in symbolic form will serve to liberate us from their cumbersome derivations. (author)
Quantum deformed magnon kinematics
Gómez, César; Hernández Redondo, Rafael
2007-01-01
The dispersion relation for planar N=4 supersymmetric Yang-Mills is identified with the Casimir of a quantum deformed two-dimensional kinematical symmetry, E_q(1,1). The quantum deformed symmetry algebra is generated by the momentum, energy and boost, with deformation parameter q=e^{2\\pi i/\\lambda}. Representing the boost as the infinitesimal generator for translations on the rapidity space leads to an elliptic uniformization with crossing transformations implemented through translations by t...
Plastic frames: Reduction of the kinematical inequality and optimization
International Nuclear Information System (INIS)
Brousse, P.
1979-01-01
It is well-known that the following inequality plays an essential part in the theory of perfectly plastic frames: for all kinematically admissible mechanisms and for bending moments associated with the hinge rotations by the flow rule, the plastic dissipation power is greater than or equal to the load power. This inequality will be termed as the kinematic inequality. It contains parameters generating the mechanisms. In simple cases, several ingenious authors obtained appreciable results excluding parameters. But, in more complicated cases, for instance when the given quantities are not numerical, the parameters remain in the kinematic inequality, thereby precluding exploitation of the kinematic approach. In the present work we overcome this dificulty: we reduce the kinematic inequality, i.e., we replace it by inequalities containing no variable parameter; we then state a process giving automatically such inequalities; finally, we treat a practical application. (orig.)
Chen, Zhongbi; Krishnaswamy, Sridhar
2014-03-01
In earlier work, we have demonstrated an assisted self-assembly fabrication method for unidirectional submicron patterns using pre-programmed shape memory polymers (SMP) as the substrate in an organic/inorganic bilayer structure. In this paper, we propose a complete bottom-up method for fabrication of uniaxial wrinkles whose wavelength is below 300 nm. The method starts with using the aforementioned self-assembled bi-layer wrinkled surface as the template to make a replica of surface wrinkles on a PDMS layer which is spin-coated on a pre-programmed SMP substrate. When the shape recovery of the substrate is triggered by heating it to its transition temperature, the substrate has been programmed in such a way that it shrinks uniaxially to return to its permanent shape. Consequently, the wrinkle wavelength on PDMS reduces accordingly. A subsequent contact molding process is carried out on the PDMS layer spin-coated on another pre-programmed SMP substrate, but using the wrinkled PDMS surface obtained in the previous step as the master. By activating the shape recovery of the substrate, the wrinkle wavelength is further reduced a second time in a similar fashion. Our experiments showed that the starting wavelength of 640 nm decreased to 290 nm after two cycles of recursive molding. We discuss the advantages and limitations of our recursive molding approach compared to the prevalent top-down fabrication methods represented by lithography. The present study is expected to o er a simple and cost-e ective fabrication method of nano-scale uniaxial wrinkle patterns with the potential for large-scale mass-production.
Kinematics of Laying an Automated Weapon System
2017-07-19
UNCLASSIFIED UNCLASSIFIED AD-E403 899 Technical Report ARWSE-TR-16024 KINEMATICS OF LAYING AN AUTOMATED WEAPON SYSTEM...information is estimated to average 1 hour per response, including the time for reviewing instructions, searching existing data sources, gathering and...maintaining the data needed, and completing and reviewing the collection of information. Send comments regarding this burden estimate or any other aspect of
Coordinate transformations, orthographic projections, and robot kinematics
International Nuclear Information System (INIS)
Crochetiere, W.J.
1984-01-01
Humans do not consciously think of moving each of their joints while they move their hands from one place to another. Likewise, robot arms can be commanded to move about in cartesian space without the need to address the individual joints. To do this, the direct and inverse kinematic equations of any robot arm must be derived. The direct kinematic equations uniquely transform the joint positions into the position (and orientation) of the hand, whereas the inverse kinematic equations transform the position (and orientation) of the hand into joint positions. The derivation of the inverse kinematic equations for any particular robot is a difficult problem which may have more than one solution. In this paper, these equations are derived for a six degree of freedom robot arm. A combination of matrix operations to perform coordinate rotations, and trigonometry within the appropriate orthographic projects to perform coordinate translations is employed. This complementary approach yields a solution which is more easily obtained, and also more easily visualized. The resulting solution was programmed into a real-time computer as a part of a higher level software system to control the motion of the arm
A Soft Parallel Kinematic Mechanism.
White, Edward L; Case, Jennifer C; Kramer-Bottiglio, Rebecca
2018-02-01
In this article, we describe a novel holonomic soft robotic structure based on a parallel kinematic mechanism. The design is based on the Stewart platform, which uses six sensors and actuators to achieve full six-degree-of-freedom motion. Our design is much less complex than a traditional platform, since it replaces the 12 spherical and universal joints found in a traditional Stewart platform with a single highly deformable elastomer body and flexible actuators. This reduces the total number of parts in the system and simplifies the assembly process. Actuation is achieved through coiled-shape memory alloy actuators. State observation and feedback is accomplished through the use of capacitive elastomer strain gauges. The main structural element is an elastomer joint that provides antagonistic force. We report the response of the actuators and sensors individually, then report the response of the complete assembly. We show that the completed robotic system is able to achieve full position control, and we discuss the limitations associated with using responsive material actuators. We believe that control demonstrated on a single body in this work could be extended to chains of such bodies to create complex soft robots.
He, Kaifei; Xu, Tianhe; Förste, Christoph; Petrovic, Svetozar; Barthelmes, Franz; Jiang, Nan; Flechtner, Frank
2016-01-01
When applying the Global Navigation Satellite System (GNSS) for precise kinematic positioning in airborne and shipborne gravimetry, multiple GNSS receiving equipment is often fixed mounted on the kinematic platform carrying the gravimetry instrumentation. Thus, the distances among these GNSS antennas are known and invariant. This information can be used to improve the accuracy and reliability of the state estimates. For this purpose, the known distances between the antennas are applied as a priori constraints within the state parameters adjustment. These constraints are introduced in such a way that their accuracy is taken into account. To test this approach, GNSS data of a Baltic Sea shipborne gravimetric campaign have been used. The results of our study show that an application of distance constraints improves the accuracy of the GNSS kinematic positioning, for example, by about 4 mm for the radial component. PMID:27043580
Lacquaniti, F; Ivanenko, Y P; Zago, M
2002-10-01
The planar law of inter-segmental co-ordination we described may emerge from the coupling of neural oscillators between each other and with limb mechanical oscillators. Muscle contraction intervenes at variable times to re-excite the intrinsic oscillations of the system when energy is lost. The hypothesis that a law of coordinative control results from a minimal active tuning of the passive inertial and viscoelastic coupling among limb segments is congruent with the idea that movement has evolved according to minimum energy criteria (1, 8). It is known that multi-segment motion of mammals locomotion is controlled by a network of coupled oscillators (CPGs, see 18, 33, 37). Flexible combination of unit oscillators gives rise to different forms of locomotion. Inter-oscillator coupling can be modified by changing the synaptic strength (or polarity) of the relative spinal connections. As a result, unit oscillators can be coupled in phase, out of phase, or with a variable phase, giving rise to different behaviors, such as speed increments or reversal of gait direction (from forward to backward). Supra-spinal centers may drive or modulate functional sets of coordinating interneurons to generate different walking modes (or gaits). Although it is often assumed that CPGs control patterns of muscle activity, an equally plausible hypothesis is that they control patterns of limb segment motion instead (22). According to this kinematic view, each unit oscillator would directly control a limb segment, alternately generating forward and backward oscillations of the segment. Inter-segmental coordination would be achieved by coupling unit oscillators with a variable phase. Inter-segmental kinematic phase plays the role of global control variable previously postulated for the network of central oscillators. In fact, inter-segmental phase shifts systematically with increasing speed both in man (4) and cat (38). Because this phase-shift is correlated with the net mechanical power
Kinematic adjustments to seismic recordings
Energy Technology Data Exchange (ETDEWEB)
Telegin, A.N.; Levii, N.V.; Volovik, U.M.
1981-01-01
The introduction of kinematic adjustments by adding the displaced blocks is studied theoretically and in test seismograms. The advantage to this method resulting from the weight variation in the trace is demonstrated together with its kinematic drawback. A variation on the displaced block addition method that does not involve realignment of the travel time curves and that has improved amplitude characteristics is proposed.
Center for Postsecondary and Economic Success, 2014
2014-01-01
Benefits Access for College Completion (BACC) was designed to help colleges develop new policies that increase low-income students' access to public benefits, easing their financial burden to allow them to finish school and earn postsecondary credentials. Colleges participating in BACC have developed and institutionalized scalable, sustainable…
Kinematic aspects of pion-nucleus elastic scattering
International Nuclear Information System (INIS)
Weiss, D.L.; Ernst, D.J.
1982-01-01
The inclusion of relativistic kinematics in the theory of elastic scattering of pions from nuclei is examined. The investigation is performed in the context of the first order impulse approximation which incorporates the following features: (1) Relative momentum are defined according to relativistic theories consistent with time reversal invariance. (2) The two-nucleon interaction is a new, multichannel, separable potential model consistent with the most recent data derived from a recent nonpotential model of Ernst and Johnson. (3) The recoil of the pion-nucleon interacting pair and its resultant nonlocality are included. (4) The Fermi integral is treated by an optimal factorization approximation. It is shown how a careful definition of an intrinsic target density leads to an unambiguous method for including the recoil of the target. The target recoil corrections are found to be large for elastic scattering from 4 He and not negligible for scattering from 12 C. Relativistic potential theory kinematics, kinematics which result from covariant reduction approaches, and kinematics which result from replacing masses by energies in nonrelativistic formulas are compared. The relativistic potential theory kinematics and covariant reduction kinematics are shown to produce different elastic scattering at all pion energies examined (T/sub π/<300 MeV). Simple extensions of nonrelativistic kinematics are found to be reasonable approximations to relativistic potential theory
Aleman, Monica; Dimock, Abigail N.; Wisner, Erik R.; Prutton, Jamie W.; Madigan, John E.
2014-01-01
A 2-year-old Thoroughbred gelding with clinical signs localized to the first 6 spinal cord segments (C1 to C6) had complete fusion of the atlanto-occipital bones which precluded performing a routine myelogram. An ultrasound-assisted myelogram at the intervertebral space between the atlas and axis was successfully done and identified a marked extradural compressive myelopathy at the level of the atlas and axis, and axis and third cervical vertebrae. PMID:25392550
6th International Workshop on Computational Kinematics
Gracia, Alba
2014-01-01
Computational kinematics is an enthralling area of science with a rich spectrum of problems at the junction of mechanics, robotics, computer science, mathematics, and computer graphics. The covered topics include design and optimization of cable-driven robots, analysis of parallel manipulators, motion planning, numerical methods for mechanism calibration and optimization, geometric approaches to mechanism analysis and design, synthesis of mechanisms, kinematical issues in biomechanics, construction of novel mechanical devices, as well as detection and treatment of singularities. The results should be of interest for practicing and research engineers as well as Ph.D. students from the fields of mechanical and electrical engineering, computer science, and computer graphics. Indexed in Conference Proceedings Citation Index- Science (CPCI-S).
Anggraini, R.; Darvina, Y.; Amir, H.; Murtiani, M.; Yulkifli, Y.
2018-04-01
The availability of modules in schools is currently lacking. Learners have not used the module as a source in the learning process. In accordance with the demands of the 2013 curriculum, that learning should be conducted using a scientific approach and loaded with character values as well as learning using interactive learning resources. The solution of this problem is to create an interactive module with a scientifically charged character approach. This interactive module can be used by learners outside the classroom or in the classroom. This interactive module contains straight motion material, parabolic motion and circular motion of high school physics class X semester 1. The purpose of this research is to produce an interactive module with a scientific approach charged with character and determine the validity and practicality. The research is Research and Development. This study was conducted only until the validity test and practice test. The validity test was conducted by three lecturers of Physics of FMIPA UNP as experts. The instruments used in this research are validation sheet and worksheet sheet. Data analysis technique used is product validity analysis. The object of this research is electronic module, while the subject of this research is three validator.
International Nuclear Information System (INIS)
Prykarpatsky, Yarema A.; Bogolubov, Nikolai N. Jr.; Prykarpatsky, Anatoliy K.; Samoylenko, Valeriy H.
2010-12-01
A gradient-holonomic approach for the Lax type integrability analysis of differential-discrete dynamical systems is devised. The asymptotical solutions to the related Lax equation are studied and the related gradient identity is stated. The integrability of a discrete nonlinear Schroedinger type dynamical system is treated in detail. The integrability of a generalized Riemann type discrete hydrodynamical system is discussed. (author)
Directory of Open Access Journals (Sweden)
Changwei Bi
2016-01-01
Full Text Available Cotton is one of the most important economic crops and the primary source of natural fiber and is an important protein source for animal feed. The complete nuclear and chloroplast (cp genome sequences of G. raimondii are already available but not mitochondria. Here, we assembled the complete mitochondrial (mt DNA sequence of G. raimondii into a circular genome of length of 676,078 bp and performed comparative analyses with other higher plants. The genome contains 39 protein-coding genes, 6 rRNA genes, and 25 tRNA genes. We also identified four larger repeats (63.9 kb, 10.6 kb, 9.1 kb, and 2.5 kb in this mt genome, which may be active in intramolecular recombination in the evolution of cotton. Strikingly, nearly all of the G. raimondii mt genome has been transferred to nucleus on Chr1, and the transfer event must be very recent. Phylogenetic analysis reveals that G. raimondii, as a member of Malvaceae, is much closer to another cotton (G. barbadense than other rosids, and the clade formed by two Gossypium species is sister to Brassicales. The G. raimondii mt genome may provide a crucial foundation for evolutionary analysis, molecular biology, and cytoplasmic male sterility in cotton and other higher plants.
Klein, Ronald; And Others
The Alpha Omega Completed Sentence Form (AOCSF) was developed to identify and measure a person's adaptational approaches to information concerning their own death or the possible death of a significant other. In contrast to the Kubler-Ross stage theory, the adaptational approach recognizes a person's capacity to assimilate new information which…
Agent Control for Reconfigurable Open Kinematic Chain Manipulators
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Janez Sluga
2013-10-01
Full Text Available This paper presents a method for the autonomous control of differently structured open kinematic chains based on multi-agent system technology. The appropriate level of distributing local autonomy (agents to a manipulative structure is defined, which makes it possible to dynamically change the number, type and structure of manipulative components without modifying their behavioural logic. To achieve fast reconfigurable and scalable manipulative systems, a new multi-agent method is developed for controlling the manipulator kinematics. The new method enables independent manipulator structure from the control system because of its structural and system modularity. The proposed method consists of kinematic equations for use in an agent environment, agent motion-planning algorithms, evaluation functions, agent control logic and kinematic algorithms. The results of simulations and real-world experiments demonstrate the usefulness of the approach for different non-redundant and redundant manipulation structures.
A Closed Loop Inverse Kinematics Solver Intended for Offline Calculation Optimized with GA
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Emil Dale Bjoerlykhaug
2018-01-01
Full Text Available This paper presents a simple approach to building a robotic control system. Instead of a conventional control system which solves the inverse kinematics in real-time as the robot moves, an alternative approach where the inverse kinematics is calculated ahead of time is presented. This approach reduces the complexity and code necessary for the control system. Robot control systems are usually implemented in low level programming language. This new approach enables the use of high level programming for the complex inverse kinematics problem. For our approach, we implement a program to solve the inverse kinematics, called the Inverse Kinematics Solver (IKS, in Java, with a simple graphical user interface (GUI to load a file with desired end effector poses and edit the configuration of the robot using the Denavit-Hartenberg (DH convention. The program uses the closed-loop inverse kinematics (CLIK algorithm to solve the inverse kinematics problem. As an example, the IKS was set up to solve the kinematics for a custom built serial link robot. The kinematics for the custom robot is presented, and an example of input and output files is also presented. Additionally, the gain of the loop in the IKS is optimized using a GA, resulting in almost a 50% decrease in computational time.
Schulz, Daniela N; Schneider, Francine; de Vries, Hein; van Osch, Liesbeth A D M; van Nierop, Peter W M; Kremers, Stef P J
2012-03-08
Unhealthy lifestyle behaviors often co-occur and are related to chronic diseases. One effective method to change multiple lifestyle behaviors is web-based computer tailoring. Dropout from Internet interventions, however, is rather high, and it is challenging to retain participants in web-based tailored programs, especially programs targeting multiple behaviors. To date, it is unknown how much information people can handle in one session while taking part in a multiple behavior change intervention, which could be presented either sequentially (one behavior at a time) or simultaneously (all behaviors at once). The first objective was to compare dropout rates of 2 computer-tailored interventions: a sequential and a simultaneous strategy. The second objective was to assess which personal characteristics are associated with completion rates of the 2 interventions. Using an RCT design, demographics, health status, physical activity, vegetable consumption, fruit consumption, alcohol intake, and smoking were self-assessed through web-based questionnaires among 3473 adults, recruited through Regional Health Authorities in the Netherlands in the autumn of 2009. First, a health risk appraisal was offered, indicating whether respondents were meeting the 5 national health guidelines. Second, psychosocial determinants of the lifestyle behaviors were assessed and personal advice was provided, about one or more lifestyle behaviors. Our findings indicate a high non-completion rate for both types of intervention (71.0%; n = 2167), with more incompletes in the simultaneous intervention (77.1%; n = 1169) than in the sequential intervention (65.0%; n = 998). In both conditions, discontinuation was predicted by a lower age (sequential condition: OR = 1.04; P simultaneous condition: OR = 1.04; P sequential condition: OR = 0.86; P = .01; CI = 0.76-0.97; simultaneous condition: OR = 0.49; P sequential intervention, being male (OR = 1.27; P = .04; CI = 1.01-1.59) also predicted dropout
Elementary introduction to relativistic kinematics
International Nuclear Information System (INIS)
Gerber, H.J.
1979-01-01
This paper includes the most important results and applications of the theory of special relativity to high energy phenomena; it provides an analysis of the kinematics of particle decays and reactions as well as an introduction to the Lorentz group
Kinematic parameters of signed verbs.
Malaia, Evie; Wilbur, Ronnie B; Milkovic, Marina
2013-10-01
Sign language users recruit physical properties of visual motion to convey linguistic information. Research on American Sign Language (ASL) indicates that signers systematically use kinematic features (e.g., velocity, deceleration) of dominant hand motion for distinguishing specific semantic properties of verb classes in production ( Malaia & Wilbur, 2012a) and process these distinctions as part of the phonological structure of these verb classes in comprehension ( Malaia, Ranaweera, Wilbur, & Talavage, 2012). These studies are driven by the event visibility hypothesis by Wilbur (2003), who proposed that such use of kinematic features should be universal to sign language (SL) by the grammaticalization of physics and geometry for linguistic purposes. In a prior motion capture study, Malaia and Wilbur (2012a) lent support for the event visibility hypothesis in ASL, but there has not been quantitative data from other SLs to test the generalization to other languages. The authors investigated the kinematic parameters of predicates in Croatian Sign Language ( Hrvatskom Znakovnom Jeziku [HZJ]). Kinematic features of verb signs were affected both by event structure of the predicate (semantics) and phrase position within the sentence (prosody). The data demonstrate that kinematic features of motion in HZJ verb signs are recruited to convey morphological and prosodic information. This is the first crosslinguistic motion capture confirmation that specific kinematic properties of articulator motion are grammaticalized in other SLs to express linguistic features.
Alzoubi, Fawaz; Bedrossian, Edmond; Wong, Allen; Farrell, Douglas; Park, Chan; Indresano, Thomas
To assess outcomes of treating completely edentulous patients with a fixed implant-supported profile prosthesis utilizing a graftless approach for the maxilla and for the mandible, with emphasis on clinically related outcomes, specifically implant and prosthesis survival. This was a retrospective study with the following inclusion criteria: completely edentulous patients rehabilitated with a fixed implant-supported profile denture utilizing a graftless approach. Patients fulfilling the inclusion criteria were asked to participate in the study during their follow-up visits, and hence a consecutive sampling strategy was used. Data regarding implant and prosthesis cumulative survival rates (CSRs) were gathered and calculated. Thirty-four patients were identified with a total of 220 implants placed. An overall CSR of 98.2% was recorded with an observation of up to 10 years. For tilted, axial, and zygomatic implants, CSRs of 96.9%, 98.0%, and 100%, respectively, were observed for up to 10 years. For provisional prostheses, CSRs of 92.3% at 1 year, and 84.6% at 2 years were observed. For final prostheses, a CSR of 93.8% was observed at 10 years. The results suggest that treating completely edentulous patients with a fixed profile prosthesis utilizing a graftless approach in the maxilla and the mandible can be a reliable treatment option.
International Nuclear Information System (INIS)
Ritterbusch, S.E.
2002-01-01
In the de-regulated electric power market place that is developing in the USA, competition from alternative electric power sources has provided significant downward pressure on the costs of new construction projects. Studies by the Electric Power Research Institute have shown that, in the USA, the capital cost of new nuclear plants must be decreased by at least 35% to 40% relative to the cost of Advanced Light Water Reactors designed in the early 1990s in order to be competitive with capital costs of gas-fired electric power plants. The underlying reasons for the high capital costs estimated for some nuclear plants are (1) long construction times, (2) the high level of 'defense-in-depth' or safety margin, included throughout the design and licensing process, and (3) the use of out-dated design methods and information. Probabilistic Safety Assessments are being used to develop a more accurate assessment of real plant risk and to provide relief if it can be demonstrated that plant equipment is not providing a significant contribution to plant safety. Westinghouse addressed some of these cost drivers in the development of the AP-600 passive plant design. However, because of relatively inexpensive natural gas plant alternative, we need to reduce the costs even further. Therefore, the AP-600 design is now being up-rated to a 1000 MWe design, AP-1000. The development of AP1000 is described in another paper being presented at this meeting. Westinghouse is also managing a project, sponsored by the US Department of Energy, which is aimed at developing an all-new 'risk-based' approach to design and regulation. Methodologies being developed use risk-based information to the extent practical and 'defense-in-depth' only when necessary to address uncertainties in models and equipment performance. Early results, summarized in this paper, include (1) the initial framework for a new design and regulatory process and (2) a sample design analysis which shows that the Emergency Core
Null-strut calculus. I. Kinematics
International Nuclear Information System (INIS)
Kheyfets, A.; LaFave, N.J.; Miller, W.A.
1990-01-01
This paper describes the kinematics of null-strut calculus---a 3+1 Regge calculus approach to general relativity. We show how to model the geometry of spacetime with simplicial spacelike three-geometries (TET's) linked to ''earlier'' and ''later'' momentumlike lattice surfaces (TET * ) entirely by light rays or ''null struts.'' These three-layered lattice spacetime geometries are defined and analyzed using combinatorial formulas for the structure of polytopes. The following paper in this series describes how these three-layered spacetime lattices are used to model spacetimes in full conformity with Einstein's theory of gravity
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.
Krishnamurthy, Krish
2013-12-01
The intrinsic quantitative nature of NMR is increasingly exploited in areas ranging from complex mixture analysis (as in metabolomics and reaction monitoring) to quality assurance/control. Complex NMR spectra are more common than not, and therefore, extraction of quantitative information generally involves significant prior knowledge and/or operator interaction to characterize resonances of interest. Moreover, in most NMR-based metabolomic experiments, the signals from metabolites are normally present as a mixture of overlapping resonances, making quantification difficult. Time-domain Bayesian approaches have been reported to be better than conventional frequency-domain analysis at identifying subtle changes in signal amplitude. We discuss an approach that exploits Bayesian analysis to achieve a complete reduction to amplitude frequency table (CRAFT) in an automated and time-efficient fashion - thus converting the time-domain FID to a frequency-amplitude table. CRAFT uses a two-step approach to FID analysis. First, the FID is digitally filtered and downsampled to several sub FIDs, and secondly, these sub FIDs are then modeled as sums of decaying sinusoids using the Bayesian approach. CRAFT tables can be used for further data mining of quantitative information using fingerprint chemical shifts of compounds of interest and/or statistical analysis of modulation of chemical quantity in a biological study (metabolomics) or process study (reaction monitoring) or quality assurance/control. The basic principles behind this approach as well as results to evaluate the effectiveness of this approach in mixture analysis are presented. Copyright © 2013 John Wiley & Sons, Ltd.
Characterizing multisegment foot kinematics during gait in diabetic foot patients
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Denti Paolo
2009-10-01
Full Text Available Abstract Background The prevalence of diabetes mellitus has reached epidemic proportions, this condition may result in multiple and chronic invalidating long term complications. Among these, the diabetic foot, is determined by the simultaneous presence of both peripheral neuropathy and vasculopathy that alter the biomechanics of the foot with the formation of callosity and ulcerations. To diagnose and treat the diabetic foot is crucial to understand the foot complex kinematics. Most of gait analysis protocols represent the entire foot as a rigid body connected to the shank. Nevertheless the existing multisegment models cannot completely decipher the impairments associated with the diabetic foot. Methods A four segment foot and ankle model for assessing the kinematics of the diabetic foot was developed. Ten normal subjects and 10 diabetics gait patterns were collected and major sources of variability were tested. Repeatability analysis was performed both on a normal and on a diabetic subject. Direct skin marker placement was chosen in correspondence of 13 anatomical landmarks and an optoelectronic system was used to collect the data. Results Joint rotation normative bands (mean plus/minus one standard deviation were generated using the data of the control group. Three representative strides per subject were selected. The repeatability analysis on normal and pathological subjects results have been compared with literature and found comparable. Normal and pathological gait have been compared and showed major statistically significant differences in the forefoot and midfoot dorsi-plantarflexion. Conclusion Even though various biomechanical models have been developed so far to study the properties and behaviour of the foot, the present study focuses on developing a methodology for the functional assessment of the foot-ankle complex and for the definition of a functional model of the diabetic neuropathic foot. It is, of course, important to evaluate
Nakamura, Shinichiro; Sharma, Adrija; Kobayashi, Masahiko; Ito, Hiromu; Nakamura, Kenji; Zingde, Sumesh M; Nakamura, Takashi; Komistek, Richard D
2014-01-01
Kneeling position can serve as an important posture, providing stability and balance from a standing position to sitting on the floor or vice-versa. The purpose of the current study was to determine the kinematics during kneeling activities after subjects were implanted with a tri-condylar total knee arthroplasty. Kinematics was evaluated in 54 knees using fluoroscopy and a three-dimensional model fitting approach. The average knee flexion at before contact status, at complete contact and at maximum flexion was 98.1±9.0°, 107.2±6.7°, and 139.6±12.3°, respectively. On average, there was no gross anterior displacement from before contact status to complete contact. Only slight posterior rollback motion of both condyles from complete contact to maximum flexion was observed. Three of 39 (7.7%) knees experienced anterior movement of both condyles more than 2mm from before contact status to complete contact. Reverse rotation pattern from before contact status to complete contact and then normal rotation pattern from complete contact to maximum flexion were observed. Condylar lift-off greater than 1.0 mm was observed in 45 knees (83.3%). The presence of the ball-and-socket joint articulation provides sufficient antero-posterior stability in these designs to enable the patients to kneel safely without the incidence of any dislocation. This study suggests a safe implant design for kneeling. © 2013.
Improved Inverse Kinematics Algorithm Using Screw Theory for a Six-DOF Robot Manipulator
Chen, Qingcheng; Zhu, Shiqiang; Zhang, Xuequn
2015-01-01
Based on screw theory, a novel improved inverse-kinematics approach for a type of six-DOF serial robot, “Qianjiang I”, is proposed in this paper. The common kinematics model of the robot is based on the Denavit-Hartenberg (D-H) notation method while its inverse kinematics has inefficient calculation and complicated solution, which cannot meet the demands of online real-time application. To solve this problem, this paper presents a new method to improve the efficiency of the inverse kinematics...
Lewis, Ryan C; Harris, Bryan T; Sarno, Robert; Morton, Dean; Llop, Daniel R; Lin, Wei-Shao
2015-09-01
This clinical report describes the treatment of maxillary and mandibular immediate implant placement and immediately loaded implant-supported interim complete fixed dental prostheses with a contemporary digital approach. The virtual diagnostic tooth arrangement eliminated the need for a customized radiographic template, and the diagnostic data collection required for computer-guided surgery (digital diagnostic impressions, digital photographs, and a cone beam-computed tomography [CBCT] scan) was completed in a single visit with improved workflow efficiency. Computer-aided design and computer-aided manufacturing (CAD/CAM)-fabricated surgical templates and interim prosthesis templates were made in a dental laboratory to facilitate computer-guided surgery and the immediate loading process. Copyright © 2015 Editorial Council for the Journal of Prosthetic Dentistry. Published by Elsevier Inc. All rights reserved.
Kinematic sensitivity of robot manipulators
Vuskovic, Marko I.
1989-01-01
Kinematic sensitivity vectors and matrices for open-loop, n degrees-of-freedom manipulators are derived. First-order sensitivity vectors are defined as partial derivatives of the manipulator's position and orientation with respect to its geometrical parameters. The four-parameter kinematic model is considered, as well as the five-parameter model in case of nominally parallel joint axes. Sensitivity vectors are expressed in terms of coordinate axes of manipulator frames. Second-order sensitivity vectors, the partial derivatives of first-order sensitivity vectors, are also considered. It is shown that second-order sensitivity vectors can be expressed as vector products of the first-order sensitivity vectors.
Latest Advances in Robot Kinematics
Husty, Manfred
2012-01-01
This book is of interest to researchers inquiring about modern topics and methods in the kinematics, control and design of robotic manipulators. It considers the full range of robotic systems, including serial, parallel and cable driven manipulators, both planar and spatial. The systems range from being less than fully mobile to kinematically redundant to overconstrained. In addition to recognized areas, this book also presents recent advances in emerging areas such as the design and control of humanoids and humanoid subsystems, and the analysis, modeling and simulation of human body motions, as well as the mobility analysis of protein molecules and the development of machines which incorporate man.
Collision-free inverse kinematics of a 7 link cucumber picking robot
Henten, van E.J.; Schenk, E.J.J.; Willigenburg, van L.G.; Meuleman, J.; Barreiro, P.
2008-01-01
The paper presents results of research on inverse kinematics algorithms to be used in a functional model of a cucumber harvesting robot consisting of a redundant manipulator with one prismatic and six rotational joints (P6R). Within a first generic approach, the inverse kinematics problem was
Uncertainty estimation and multi sensor fusion for kinematic laser tracker measurements
Ulrich, Thomas
2013-08-01
Laser trackers are widely used to measure kinematic tasks such as tracking robot movements. Common methods to evaluate the uncertainty in the kinematic measurement include approximations specified by the manufacturers, various analytical adjustment methods and the Kalman filter. In this paper a new, real-time technique is proposed, which estimates the 4D-path (3D-position + time) uncertainty of an arbitrary path in space. Here a hybrid system estimator is applied in conjunction with the kinematic measurement model. This method can be applied to processes, which include various types of kinematic behaviour, constant velocity, variable acceleration or variable turn rates. The new approach is compared with the Kalman filter and a manufacturer's approximations. The comparison was made using data obtained by tracking an industrial robot's tool centre point with a Leica laser tracker AT901 and a Leica laser tracker LTD500. It shows that the new approach is more appropriate to analysing kinematic processes than the Kalman filter, as it reduces overshoots and decreases the estimated variance. In comparison with the manufacturer's approximations, the new approach takes account of kinematic behaviour with an improved description of the real measurement process and a reduction in estimated variance. This approach is therefore well suited to the analysis of kinematic processes with unknown changes in kinematic behaviour as well as the fusion among laser trackers.
Suspension kinematic analysis of UTeM’s FV Malaysia electric vehicle racing car
Abdul Manaf, M.Z.; Latif, M.F.A.; Razak, M.S.A.; Hassan, M.Z.B.; Rosley, M.I.F.
2016-01-01
The purpose of this paper is to investigate the kinematic performance of students’ racing car, namely UTeM’s FV Malaysia Electric Vehicle. An elasto-kinematic analysis approach is used to predict the car’s performance during straight line drive and curvature drive. Two suspension design factors
Wolfinger, Nicholas H
2011-05-01
Many studies have demonstrated that the children of divorce are disproportionately likely to end their own marriages. In previous work, I showed that the transmission of divorce between generations weakened substantially for General Social Survey (GSS) respondents interviewed between 1973 and 1996 (Wolfinger 1999); Li and Wu (2006, 2008) contended that my finding is a methodological artifact of the GSS's lack of marriage duration data. This article presents a completed-cohort approach to studying divorce using the GSS. The results confirm a decline in the probability of divorce transmission that cannot be explained by the right-censoring bias alleged by Li and Wu. This finding contributes to an ongoing debate about trends in the negative consequences of parental divorce, as well as demonstrating a useful approach to right-censored phenomena when event history data are not available.
Kinematics of machinery through hyperworks
Rao, J S
2011-01-01
Using animations, this book explains the theory of machines concepts and the evolution of Kinematics. The book adopts HyperWorks MotionSolve to perform the analysis and visualizations, though the book is independent of the requirement of any software.
2016-03-15
muzzle devices, such as flash suppressors and muzzle compensators, if the items are designed to be operator removable. Use the ammunition that will...muzzle brake or adding a sound suppressor . A kinematics study is also a diagnostic tool to investigate weapon problems such as poor functioning with
Directory of Open Access Journals (Sweden)
Povoski Stephen P
2007-10-01
Full Text Available Abstract Background Ultrasound-guided vacuum-assisted breast biopsy technology is extremely useful for diagnostic biopsy of suspicious breast lesions and for attempted complete excision of appropriately selected presumed benign breast lesions. Case presentation A female patient presented with 16 breast lesions (eight within each breast, documented on ultrasound and all presumed to be fibroadenomas. Over a ten and one-half month period of time, 14 of these 16 breast lesions were removed under ultrasound guidance during a total of 11 separate 8-gauge Mammotome® excision procedures performed during seven separate sessions. Additionally, two of these 16 breast lesions were removed by open surgical excision. A histopathologic diagnosis of fibroadenoma and/or fibroadenomatous changes was confirmed at all lesion excision sites. Interval follow-up ultrasound imaging revealed no evidence of a residual lesion at the site of any of the 16 original breast lesions. Conclusion This report describes an innovative approach of utilizing ultrasound-guided 8-gauge vacuum-assisted breast biopsy technology for assisting in achieving complete eradication of multiple bilateral fibroadenomas in a patient who presented with 16 documented breast lesions. As such, this innovative approach is highly recommended in similar appropriately selected patients.
Yew, Yik Weng; Pan, Jiun Yit
2014-01-01
Genital warts in immunocompromised patients can be extensive and recalcitrant to treatment. We report a case of recalcitrant genital warts in a female patient with systemic lupus erythematosus (SLE), who achieved complete remission with a combination approach of surgical debulking and oral isotretinoin at an initial dose of 20 mg/day with a gradual taper of dose over 8 months. She had previously been treated with a combination of topical imiquimod cream and regular fortnightly liquid nitrogen. Although there was partial response, there was no complete clearance. Her condition worsened after topical imiquimod cream was stopped because of her pregnancy. She underwent a combination approach of surgical debulking and oral isotretinoin after her delivery and achieved full clearance for more than 2 years duration. Oral isotretinoin, especially in the treatment of recalcitrant genital warts, is a valuable and feasible option when other more conventional treatment methods have failed or are not possible. It can be used alone or in combination with other local or physical treatment methods. © 2013 Wiley Periodicals, Inc.
An introduction to the mathematics of ocular kinematics
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Graeme E MacKenzie
2006-12-01
Full Text Available The research surrounding ocular kinematics has widespread applications including the study of binocular vision, virtual reality and the detec-tion of ocular and neurologic pathologies. This field promises to have a significant impact on optometric diagnostic techniques. This paper in-troduces the terminology used in the description of eye rotations and explores a number of the mathematical approaches pertinent to the topic of ocular kinematics.
Kinematic variables of table vault on artistic gymnastics
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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.
Nguyen, Charles C.; Pooran, Farhad J.
1989-01-01
This paper deals with a class of robot manipulators built based on the kinematic chain mechanism (CKCM). This class of CKCM manipulators consists of a fixed and a moving platform coupled together via a number of in-parallel actuators. A closed-form solution is derived for the inverse kinematic problem of a six-degre-of-freedom CKCM manipulator designed to study robotic applications in space. Iterative Newton-Raphson method is employed to solve the forward kinematic problem. Dynamics of the above manipulator is derived using the Lagrangian approach. Computer simulation of the dynamical equations shows that the actuating forces are strongly dependent on the mass and centroid of the robot links.
Kinematics gait disorder in men with fibromyalgia.
Heredia-Jimenez, Jose M; Soto-Hermoso, Victor M
2014-01-01
The aim of this study was to assess the kinematics disorder of gait in men with fibromyalgia. We studied 12 male with fibromyalgia and 14 healthy men. Each participant of the study walked five trials along a 18.6-m walkway. Fibromyalgia patients completed a Spanish version of Fibromyalgia Impact Questionnaire. Significant differences between fibromyalgia and control groups were found in velocity, stride length, and cadence. Gait parameters of men affected by fibromyalgia were impaired when compared to those of healthy group due to bradykinesia. According to previous studies to assess gait variables in female patients, the male with fibromyalgia also showed lower values of velocity, cadence, and stride length than healthy group but not reported significant differences in swing, stance, single, or double support phase.
SPACEBAR: Kinematic design by computer graphics
Ricci, R. J.
1975-01-01
The interactive graphics computer program SPACEBAR, conceived to reduce the time and complexity associated with the development of kinematic mechanisms on the design board, was described. This program allows the direct design and analysis of mechanisms right at the terminal screen. All input variables, including linkage geometry, stiffness, and applied loading conditions, can be fed into or changed at the terminal and may be displayed in three dimensions. All mechanism configurations can be cycled through their range of travel and viewed in their various geometric positions. Output data includes geometric positioning in orthogonal coordinates of each node point in the mechanism, velocity and acceleration of the node points, and internal loads and displacements of the node points and linkages. All analysis calculations take at most a few seconds to complete. Output data can be viewed at the scope and also printed at the discretion of the user.
Kinematic Model of NAO Humanoid Robot
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Miloš D. Jovanović
2014-06-01
Full Text Available This paper presents synthesis of kinematic model of NAO humanoid robot of Aldebaran Robotics. NAO humanoid robot has complex kinematic structure with 25 active degrees of freedom (DOF. Humanoid system is formed through 5 mutually depended kinematic chains. After that we applied standard aspects of kinematic chains synthesis and Denavit-Hartenberg parameters of each of 5 chains of robotic structure were introduced. Also, mutual relationships between chains were described, as well as their physical and structural dependence. Generated kinematic model will be the starting point for further dynamical modeling of NAO humanoid robot and motion synthesis on actual platform.
Begon, Mickaël; Andersen, Michael Skipper; Dumas, Raphaël
2018-03-01
Multibody kinematics optimization (MKO) aims to reduce soft tissue artefact (STA) and is a key step in musculoskeletal modeling. The objective of this review was to identify the numerical methods, their validation and performance for the estimation of the human joint kinematics using MKO. Seventy-four papers were extracted from a systematized search in five databases and cross-referencing. Model-derived kinematics were obtained using either constrained optimization or Kalman filtering to minimize the difference between measured (i.e., by skin markers, electromagnetic or inertial sensors) and model-derived positions and/or orientations. While hinge, universal, and spherical joints prevail, advanced models (e.g., parallel and four-bar mechanisms, elastic joint) have been introduced, mainly for the knee and shoulder joints. Models and methods were evaluated using: (i) simulated data based, however, on oversimplified STA and joint models; (ii) reconstruction residual errors, ranging from 4 mm to 40 mm; (iii) sensitivity analyses which highlighted the effect (up to 36 deg and 12 mm) of model geometrical parameters, joint models, and computational methods; (iv) comparison with other approaches (i.e., single body kinematics optimization and nonoptimized kinematics); (v) repeatability studies that showed low intra- and inter-observer variability; and (vi) validation against ground-truth bone kinematics (with errors between 1 deg and 22 deg for tibiofemoral rotations and between 3 deg and 10 deg for glenohumeral rotations). Moreover, MKO was applied to various movements (e.g., walking, running, arm elevation). Additional validations, especially for the upper limb, should be undertaken and we recommend a more systematic approach for the evaluation of MKO. In addition, further model development, scaling, and personalization methods are required to better estimate the secondary degrees-of-freedom (DoF).
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.
Contact kinematics of biomimetic scales
Energy Technology Data Exchange (ETDEWEB)
Ghosh, Ranajay; Ebrahimi, Hamid; Vaziri, Ashkan, E-mail: vaziri@coe.neu.edu [Department of Mechanical and Industrial Engineering, Northeastern University, Boston, Massachusetts 02115 (United States)
2014-12-08
Dermal scales, prevalent across biological groups, considerably boost survival by providing multifunctional advantages. Here, we investigate the nonlinear mechanical effects of biomimetic scale like attachments on the behavior of an elastic substrate brought about by the contact interaction of scales in pure bending using qualitative experiments, analytical models, and detailed finite element (FE) analysis. Our results reveal the existence of three distinct kinematic phases of operation spanning linear, nonlinear, and rigid behavior driven by kinematic interactions of scales. The response of the modified elastic beam strongly depends on the size and spatial overlap of rigid scales. The nonlinearity is perceptible even in relatively small strain regime and without invoking material level complexities of either the scales or the substrate.
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.
Pythagoras Theorem and Relativistic Kinematics
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.
Energy Technology Data Exchange (ETDEWEB)
Grassmann, H.; CDF Collaboration
1995-03-01
We present an update of the top quark analysis using kinematic techniques in p{bar p} collisions at {radical}s = 1.8 TeV with the Collider Detector at Fermilab (CDF). We reported before on a study which used 19.3 pb{sup {minus}1} of data from the 1992--1993 collider run, but now we use a larger data sample of 67 pb{sup {minus}1}. First, we analyze the total transverse energy of the hard collision in W+{ge}3 jet events, showing the likely presence of a t{bar t} component in the event sample. Next, we compare in more detail the kinematic structure of W+ {ge}3 jet events with expectations for top pair production and with background processes, predominantly direct W+ jet production. We again find W+ {ge} 3 jet events which cannot be explained in terms of background, but show kinematic features as expected from top. These events also show evidence for beauty quarks, in agreement with expectations from top, but not compatible with expectations from backgrounds. The findings confirm the observation of top events made earlier in the data of the 1992--1993 collider run.
Design of a Two-Step Calibration Method of Kinematic Parameters for Serial Robots
WANG, Wei; WANG, Lei; YUN, Chao
2017-03-01
Serial robots are used to handle workpieces with large dimensions, and calibrating kinematic parameters is one of the most efficient ways to upgrade their accuracy. Many models are set up to investigate how many kinematic parameters can be identified to meet the minimal principle, but the base frame and the kinematic parameter are indistinctly calibrated in a one-step way. A two-step method of calibrating kinematic parameters is proposed to improve the accuracy of the robot's base frame and kinematic parameters. The forward kinematics described with respect to the measuring coordinate frame are established based on the product-of-exponential (POE) formula. In the first step the robot's base coordinate frame is calibrated by the unit quaternion form. The errors of both the robot's reference configuration and the base coordinate frame's pose are equivalently transformed to the zero-position errors of the robot's joints. The simplified model of the robot's positioning error is established in second-power explicit expressions. Then the identification model is finished by the least square method, requiring measuring position coordinates only. The complete subtasks of calibrating the robot's 39 kinematic parameters are finished in the second step. It's proved by a group of calibration experiments that by the proposed two-step calibration method the average absolute accuracy of industrial robots is updated to 0.23 mm. This paper presents that the robot's base frame should be calibrated before its kinematic parameters in order to upgrade its absolute positioning accuracy.
Allred, C. Jeff; Churchill, David; Buckner, Gregory D.
2017-07-01
This paper presents a novel approach to monitoring rotor blade flap, lead-lag and pitch using an embedded gyroscope and symmetrically mounted MEMS accelerometers. The central hypothesis is that differential accelerometer measurements are proportional only to blade motion; fuselage acceleration and blade bending are inherently compensated for. The inverse kinematic relationships (from blade position to acceleration and angular rate) are derived and simulated to validate this hypothesis. An algorithm to solve the forward kinematic relationships (from sensor measurement to blade position) is developed using these simulation results. This algorithm is experimentally validated using a prototype device. The experimental results justify continued development of this kinematic estimation approach.
International Nuclear Information System (INIS)
Chang, Pyung-Hun; Park, Joon-Young
2002-01-01
This paper presents a Task Oriented Design method for robot kinematics based on grid method, widely used in finite difference method and heat transfer/fluid flow analyses. This approach drastically reduces complexities and computational burden due to previous approaches. More specifically, the grid method with a new formulation simplifies the design to a problem of three-design-variable unit grid, which does not require to solve inverse/forward kinematics. The effectiveness of the grid method has been confirmed through a kinematics design of a robot for nuclear power plants. (author)
Hsieh, Mei-Chin; Mumphrey, Brent; Pareti, Lisa; Yi, Yong; Wu, Xiao-Cheng
2017-01-01
treatment and/or other data item; an average of 3.3 updates per updated abstract. The majority of the updates (45.7%) for treatment were changes from none/unknown to known value and 42.6% of the updates were related to radiation treatment fields. In addition, 172 potential new cases were identified. Approximately 10.5% (18 cases) of these new cases were confirmed to be truly missed cases after investigation. CONCLUSION: The 15-month data resubmission is a cost-effective approach to obtaining complete information on treatment and other key data items from reporting facilities and can also be used to identify potential missed cases.
Of gluons and gravitons. Exploring color-kinematics duality
International Nuclear Information System (INIS)
Isermann, Reinke Sven
2013-06-01
In this thesis color-kinematics duality will be investigated. This duality is a statement about the kinematical dependence of a scattering amplitude in Yang-Mills gauge theories obeying group theoretical relations similar to that of the color gauge group. The major consequence of this duality is that gravity amplitudes can be related to a certain double copy of gauge theory amplitudes. The main focus of this thesis is on exploring the foundations of color-kinematics duality and its consequences. It is shown how color-kinematics duality can be made manifest at the one-loop level for rational amplitudes. A Lagrangian-based argument will be given for the validity of the double copy construction for these amplitudes including explicit examples at four points. Secondly, it is studied how color-kinematics duality can be used to improve powercounting in gravity theories. To this end the duality is reformulated in terms of linear maps. It is shown as an example how this can be used to derive the large BCFW shift behavior of a gravity integrand constructed through the duality to any loop order up to subtleties inherent to the duality that is addressed. As it becomes clear the duality implies massive cancellations with respect to the usual powercounting of Feynman graphs indicating that gravity theories are much better behaved than naively expected. As another example the linear map approach will be used to investigate the question of UV-finiteness of N=8 supergravity, and it is seen that the amount of cancellations depends on the exact implementation of the duality at loop level. Lastly, color-kinematics duality is considered from a Feynman-graph perspective reproducing some of the results of the earlier chapters thus giving non-trivial evidence for the duality at the loop level from a different perspective.
Of gluons and gravitons. Exploring color-kinematics duality
Energy Technology Data Exchange (ETDEWEB)
Isermann, Reinke Sven
2013-06-15
In this thesis color-kinematics duality will be investigated. This duality is a statement about the kinematical dependence of a scattering amplitude in Yang-Mills gauge theories obeying group theoretical relations similar to that of the color gauge group. The major consequence of this duality is that gravity amplitudes can be related to a certain double copy of gauge theory amplitudes. The main focus of this thesis is on exploring the foundations of color-kinematics duality and its consequences. It is shown how color-kinematics duality can be made manifest at the one-loop level for rational amplitudes. A Lagrangian-based argument will be given for the validity of the double copy construction for these amplitudes including explicit examples at four points. Secondly, it is studied how color-kinematics duality can be used to improve powercounting in gravity theories. To this end the duality is reformulated in terms of linear maps. It is shown as an example how this can be used to derive the large BCFW shift behavior of a gravity integrand constructed through the duality to any loop order up to subtleties inherent to the duality that is addressed. As it becomes clear the duality implies massive cancellations with respect to the usual powercounting of Feynman graphs indicating that gravity theories are much better behaved than naively expected. As another example the linear map approach will be used to investigate the question of UV-finiteness of N=8 supergravity, and it is seen that the amount of cancellations depends on the exact implementation of the duality at loop level. Lastly, color-kinematics duality is considered from a Feynman-graph perspective reproducing some of the results of the earlier chapters thus giving non-trivial evidence for the duality at the loop level from a different perspective.
Effects of marathon fatigue on running kinematics and economy
Nicol , Caroline; Komi , P V; Marconnet , P
1991-01-01
International audience; The influence of marathon fatigue on both running kinematics and economy was investigated with 8 subjects. The measurements included a treadmill test at 3 steady submaximal speeds performed before and after the marathon. One complete left leg cycle was videotaped at 100 Hz from the left side at each speed. The analysis included contact time (braking and push-off') and flight time as well as displacements and angular velocities of the left hip and knee. This analysis wa...
Monitoring diver kinematics with dielectric elastomer sensors
Walker, Christopher R.; Anderson, Iain A.
2017-04-01
Diving, initially motivated for food purposes, is crucial to the oil and gas industry, search and rescue, and is even done recreationally by millions of people. There is a growing need however, to monitor the health and activity of divers. The Divers Alert Network has reported on average 90 fatalities per year since 1980. Furthermore an estimated 1000 divers require recompression treatment for dive-related injuries every year. One means of monitoring diver activity is to integrate strain sensors into a wetsuit. This would provide kinematic information on the diver potentially improving buoyancy control assessment, providing a platform for gesture communication, detecting panic attacks and monitoring diver fatigue. To explore diver kinematic monitoring we have coupled dielectric elastomer sensors to a wetsuit worn by the pilot of a human-powered wet submarine. This provided a unique platform to test the performance and accuracy of dielectric elastomer strain sensors in an underwater application. The aim of this study was to assess the ability of strain sensors to monitor the kinematics of a diver. This study was in collaboration with the University of Auckland's human-powered submarine team, Team Taniwha. The pilot, completely encapsulated in a hull, pedals to propel the submarine forward. Therefore this study focused on leg motion as that is the primary motion of the submarine pilot. Four carbon-filled silicone dielectric elastomer sensors were fabricated and coupled to the pilot's wetsuit. The first two sensors were attached over the knee joints, with the remaining two attached between the pelvis and thigh. The goal was to accurately measure leg joint angles thereby determining the position of each leg relative to the hip. A floating data acquisition unit monitored the sensors and transmitted data packets to a nearby computer for real-time processing. A GoPro Hero 4 silver edition was used to capture the experiments and provide a means of post-validation. The
Yeo, Shen Ann; Noh, Gyoung Tae; Han, Jeong Hee; Cheong, Chinock; Stein, Hubert; Kerdok, Amy; Min, Byung Soh
2017-12-01
There has been little enthusiasm for performing robotic colectomy for colon cancer in recent years due to multiple factors, one being that the previous robotic systems such as the da Vinci Si ® (dVSi) were poorly designed for multi-quadrant surgery. The new da Vinci Xi ® (dVXi) system enables colectomy with central mesocolic excision to be performed easily in a single docking procedure. We developed a universal port placement strategy to allow right and left hemicolectomies to be performed via a suprapubic approach and a Pfannensteil extraction site. This proof of concept paper describes the development and subsequent clinical application of this setup. After extensive training on the dVXi system concepts in collaboration with clinical development engineers, we developed a port placement strategy which was tested and adapted after performing experimental surgery in three cadaveric models. Subsequently our port placement was used for two clinical cases of suprapubic right and left hemicolectomy. With some modifications of port placements after the initial cadaveric colectomies, we have developed a potentially universal suprapubic port placement strategy for robotic colectomy with complete mesocolic excision and central vascular ligation using the dVXi robotic system. This port placement strategy was applied successfully in our first two clinical cases. Based on our cadaveric laboratory as well as our initial clinical application, the suprapubic port placement strategy for the dVXi system with its improved features over the dVSi can feasibly perform right and left hemicolectomy with complete mesocolic excision and central vascular ligation. Further studies will be required to establish efficacy as well as safety profile of these procedures.
International Nuclear Information System (INIS)
Chaaba, Ali; Aboussaleh, Mohamed; Bousshine, Lahbib; Boudaia, El Hassan
2011-01-01
Limit analysis approaches are widely used to deal with metalworking processes analysis; however, they are applied only for perfectly plastic materials and recently for isotropic hardening ones excluding any kind of kinematic hardening. In the present work, using Implicit Standard Materials concept, sequential limit analysis approach and the finite element method, our objective consists in extending the limit analysis application for including linear and non linear kinematic strain hardenings. Because this plastic flow rule is non associative, the Implicit Standard Materials concept is adopted as a framework of non standard plasticity modeling. The sequential limit analysis procedure which considers the plastic behavior with non linear kinematic strain hardening as a succession of perfectly plastic behavior with yielding surfaces updated after each sequence of limit analysis and geometry updating is applied. Standard kinematic finite element method together with a regularization approach is used for performing two large compression cases (cold forging) in plane strain and axisymmetric conditions
A feasibility study of hand kinematics for EVA analysis using magnetic resonance imaging
Dickenson, Rueben D.; Lorenz, Christine H.; Peterson, Steven W.; Strauss, Alvin M.; Main, John A.
1992-01-01
A new method of analyzing the kinematics of joint motion is developed. Magnetic Resonance Imaging (MRI) offers several distinct advantages. Past methods of studying anatomic joint motion have usually centered on four approaches. These methods are x-ray projection, goniometric linkage analysis, sonic digitization, and landmark measurement of photogrammetry. Of these four, only x-ray is applicable for in vivo studies. The remaining three methods utilize other types of projections of inter-joint measurements, which can cause various types of error. MRI offers accuracy in measurement due to its tomographic nature (as opposed to projection) without the problems associated with x-ray dosage. Once the data acquisition of MR images was complete, the images were processed using a 3D volume rendering workstation. The metacarpalphalangeal (MCP) joint of the left index finger was selected and reconstructed into a three-dimensional graphic display. From the reconstructed volumetric images, measurements of the angles of movement of the applicable bones were obtained and processed by analyzing the screw motion of the MCP joint. Landmark positions were chosen at distinctive locations of the joint at fixed image threshold intensity levels to ensure repeatability. The primarily two dimensional planar motion of this joint was then studied using a method of constructing coordinate systems using three (or more) points. A transformation matrix based on a world coordinate system described the location and orientation of a local target coordinate system. Future research involving volume rendering of MRI data focusing on the internal kinematics of the hand's individual ligaments, cartilage, tendons, etc. will follow. Its findings will show the applicability of MRI to joint kinematics for gaining further knowledge of the hand-glove (power assisted) design for extravehicular activity (EVA).
Inverse Kinematic Analysis Of A Quadruped Robot
Directory of Open Access Journals (Sweden)
Muhammed Arif Sen
2017-09-01
Full Text Available This paper presents an inverse kinematics program of a quadruped robot. The kinematics analysis is main problem in the manipulators and robots. Dynamic and kinematic structures of quadruped robots are very complex compared to industrial and wheeled robots. In this study inverse kinematics solutions for a quadruped robot with 3 degrees of freedom on each leg are presented. Denavit-Hartenberg D-H method are used for the forward kinematic. The inverse kinematic equations obtained by the geometrical and mathematical methods are coded in MATLAB. And thus a program is obtained that calculate the legs joint angles corresponding to desired various orientations of robot and endpoints of legs. Also the program provides the body orientations of robot in graphical form. The angular positions of joints obtained corresponding to desired different orientations of robot and endpoints of legs are given in this study.
Kinematics Control and Analysis of Industrial Robot
Zhu, Tongbo; Cai, Fan; Li, Yongmei; Liu, Wei
2018-03-01
The robot’s development present situation, basic principle and control system are introduced briefly. Research is mainly focused on the study of the robot’s kinematics and motion control. The structural analysis of a planar articulated robot (SCARA) robot is presented,the coordinate system is established to obtain the position and orientation matrix of the end effector,a method of robot kinematics analysis based on homogeneous transformation method is proposed, and the kinematics solution of the robot is obtained.Establishment of industrial robot’s kinematics equation and formula for positive kinematics by example. Finally,the kinematic analysis of this robot was verified by examples.It provides a basis for structural design and motion control.It has active significance to promote the motion control of industrial robot.
Nuclear reaction studies using inverse kinematics
International Nuclear Information System (INIS)
Shapira, D.
1985-01-01
Reaction studies with reversed kinematics refer to studies of nuclear reactions induced by a heavy projectile colliding with lighter target nuclei. The technique of using reversed kinematics is costly in terms of the available center-of-mass energy. Most of the projectile's energy goes into forward motion of the reaction products in the laboratory system. Examples are presented where the use of reversed kinematics techniques has provided new information on certain reaction processes. A list of kinematic properties and advantages they may afford is shown. Clearly the possible studies listed can be done without using reversed kinematics but because of the difficulty associated with some of these studies they were never performed until more energetic heavier beams have become available and the reversed kinematics technique was utilized
The brown dwarf kinematics project
Faherty, Jackie K.
2010-10-01
Brown dwarfs are a recent addition to the plethora of objects studied in Astronomy. With theoretical masses between 13 and 75 MJupiter , they lack sustained stable Hydrogen burning so they never join the stellar main sequence. They have physical properties similar to both planets and low-mass stars so studies of their population inform on both. The distances and kinematics of brown dwarfs provide key statistical constraints on their ages, moving group membership, absolute brightnesses, evolutionary trends, and multiplicity. Yet, until my thesis, fundamental measurements of parallax and proper motion were made for only a relatively small fraction of the known population. To address this deficiency, I initiated the Brown Dwarf Kinematics (BDKP). Over the past four years I have re-imaged the majority of spectroscopically confirmed field brown dwarfs (or ultracool dwarfs---UCDs) and created the largest proper motion catalog for ultracool dwarfs to date. Using new astrometric information I examined population characteristics such as ages calculated from velocity dispersions and correlations between kinematics and colors. Using proper motions, I identified several new wide co-moving companions and investigated binding energy (and hence formation) limitations as well as the frequency of hierarchical companions. Concurrently over the past four years I have been conducting a parallax survey of 84 UCDs including those showing spectral signatures of youth, metal-poor brown dwarfs, and those within 20 pc of the Sun. Using absolute magnitude relations in J,H, and K, I identified overluminous binary candidates and investigated known flux-reversal binaries. Using current evolutionary models, I compared the MK vs J-K color magnitude diagram to model predictions and found that the low-surface gravity dwarfs are significantly red-ward and underluminous of predictions and a handful of late-type T dwarfs may require thicker clouds to account for their scatter.
Kinematic correction for roller skewing
Savage, M.; Loewenthal, S. H.
1980-01-01
A theory of kinematic stabilization of rolling cylinders is developed for high-speed cylindrical roller bearings. This stabilization requires race and roller crowning to product changes in the rolling geometry as the roller shifts axially. These changes put a reverse skew in the rolling elements by changing the rolling taper. Twelve basic possible bearing modifications are identified in this paper. Four have single transverse convex curvature in the rollers while eight have rollers with compound transverse curvature composed of a central cylindrical band of constant radius surrounded by symmetric bands with both slope and transverse curvature.
Inverse kinematics of OWI-535 robotic arm
DEBENEC, PRIMOŽ
2015-01-01
The thesis aims to calculate the inverse kinematics for the OWI-535 robotic arm. The calculation of the inverse kinematics determines the joint parameters that provide the right pose of the end effector. The pose consists of the position and orientation, however, we will focus only on the second one. Due to arm limitations, we have created our own type of the calculation of the inverse kinematics. At first we have derived it only theoretically, and then we have transferred the derivation into...
Adding Image Constraints to Inverse Kinematics for Human Motion Capture
Jaume-i-Capó, Antoni; Varona, Javier; González-Hidalgo, Manuel; Perales, Francisco J.
2009-12-01
In order to study human motion in biomechanical applications, a critical component is to accurately obtain the 3D joint positions of the user's body. Computer vision and inverse kinematics are used to achieve this objective without markers or special devices attached to the body. The problem of these systems is that the inverse kinematics is "blinded" with respect to the projection of body segments into the images used by the computer vision algorithms. In this paper, we present how to add image constraints to inverse kinematics in order to estimate human motion. Specifically, we explain how to define a criterion to use images in order to guide the posture reconstruction of the articulated chain. Tests with synthetic images show how the scheme performs well in an ideal situation. In order to test its potential in real situations, more experiments with task specific image sequences are also presented. By means of a quantitative study of different sequences, the results obtained show how this approach improves the performance of inverse kinematics in this application.
Energy Technology Data Exchange (ETDEWEB)
Wang, Kun, E-mail: wangkun@ipp.ac.cn [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei (China); Lappeenranta University of Technology, Lappeenranta (Finland); University of Science and Technology of China, Hefei (China); Song, Yuntao [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei (China); University of Science and Technology of China, Hefei (China); Wu, Huapeng [Lappeenranta University of Technology, Lappeenranta (Finland); Wei, Xiaoyang; Khan, Shahab Ud-Din; Cheng, Yong [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei (China)
2017-06-15
Highlights: • An Obstacle Topology Partition Projection (OTPP) method of tokamak-like vessel for collision detection. • Median values preferentially of depth-first search algorithm for solving redundant inverse kinematics based on OTPP. • Application of RIK in grasping target objects. - Abstract: This paper proposed a new method for solving inverse kinematics (IK) of a redundant manipulator called EAST Articulated Maintenance Arm (EAMA), which is applied in the fusion reactor EAST (Experimental Advanced Superconducting Tokamak) and used to complete some maintenance tasks in the complex areas. However, it is difficult to realize remote control due to its redundancy, coupling structure and the complex operational environment. The IK research of the robot played a vital role to the manipulator’s motion control algorithm of remote handling (RH) technology. An Obstacle Topology Partition Projection (OTPP) approach integrated with Modified Inverse Depth First Search (MIDFS) method was presented. This is a kind of new geometric algorithm in order to solve the problem of IK for a high-redundancy manipulator. It can also be used to find a solution satisfying collision avoidance with optimal safety distance between the manipulator and obstacles. Simulations and experiments were conducted to demonstrate the efficiency and accuracy of the proposed method.
International Nuclear Information System (INIS)
Wang, Kun; Song, Yuntao; Wu, Huapeng; Wei, Xiaoyang; Khan, Shahab Ud-Din; Cheng, Yong
2017-01-01
Highlights: • An Obstacle Topology Partition Projection (OTPP) method of tokamak-like vessel for collision detection. • Median values preferentially of depth-first search algorithm for solving redundant inverse kinematics based on OTPP. • Application of RIK in grasping target objects. - Abstract: This paper proposed a new method for solving inverse kinematics (IK) of a redundant manipulator called EAST Articulated Maintenance Arm (EAMA), which is applied in the fusion reactor EAST (Experimental Advanced Superconducting Tokamak) and used to complete some maintenance tasks in the complex areas. However, it is difficult to realize remote control due to its redundancy, coupling structure and the complex operational environment. The IK research of the robot played a vital role to the manipulator’s motion control algorithm of remote handling (RH) technology. An Obstacle Topology Partition Projection (OTPP) approach integrated with Modified Inverse Depth First Search (MIDFS) method was presented. This is a kind of new geometric algorithm in order to solve the problem of IK for a high-redundancy manipulator. It can also be used to find a solution satisfying collision avoidance with optimal safety distance between the manipulator and obstacles. Simulations and experiments were conducted to demonstrate the efficiency and accuracy of the proposed method.
Quantifying meniscal kinematics in dogs.
Park, Brian H; Banks, Scott A; Pozzi, Antonio
2017-11-06
The dog has been used extensively as an experimental model to study meniscal treatments such as meniscectomy, meniscal repair, transplantation, and regeneration. However, there is very little information on meniscal kinematics in the dog. This study used MR imaging to quantify in vitro meniscal kinematics in loaded dog knees in four distinct poses: extension, flexion, internal, and external rotation. A new method was used to track the meniscal poses along the convex and posteriorly tilted tibial plateau. Meniscal displacements were large, displacing 13.5 and 13.7 mm posteriorly on average for the lateral and medial menisci during flexion (p = 0.90). The medial anterior horn and lateral posterior horns were the most mobile structures, showing average translations of 15.9 and 15.1 mm, respectively. Canine menisci are highly mobile and exhibit movements that correlate closely with the relative tibiofemoral positions. © 2017 Orthopaedic Research Society. Published by Wiley Periodicals, Inc. J Orthop Res. © 2017 Orthopaedic Research Society. Published by Wiley Periodicals, Inc.
Kinematic Modeling of Distant Galaxies
Directory of Open Access Journals (Sweden)
Kipper Rain
2012-12-01
Full Text Available Evolution of galaxies is one of the most actual topics in astrophysics. Among the most important factors determining the evolution are two galactic components which are difficult or even impossible to detect optically: the gaseous disks and the dark matter halo. We use deep Hubble Space Telescope images to construct a two-component (bulge + disk model for stellar matter distribution of galaxies. Properties of the galactic components are derived using a three-dimensional galaxy modeling software, which also estimates disk thickness and inclination angle. We add a gas disk and a dark matter halo and use hydrodynamical equations to calculate gas rotation and dispersion profiles in the resultant gravitational potential. We compare the kinematic profiles with the Team Keck Redshift Survey observations. In this pilot study, two galaxies are analyzed deriving parameters for their stellar components; both galaxies are found to be disk-dominated. Using the kinematical model, the gas mass and stellar mass ratio in the disk are estimated.
Ballistic representation for kinematic access
Alfano, Salvatore
2011-01-01
This work uses simple two-body orbital dynamics to initially determine the kinematic access for a ballistic vehicle. Primarily this analysis was developed to assess when a rocket body might conjunct with an orbiting satellite platform. A family of access opportunities can be represented as a volume for a specific rocket relative to its launch platform. Alternately, the opportunities can be represented as a geographical footprint relative to aircraft or satellite position that encompasses all possible launcher locations for a specific rocket. A thrusting rocket is treated as a ballistic vehicle that receives all its energy at launch and follows a coasting trajectory. To do so, the rocket's burnout energy is used to find its equivalent initial velocity for a given launcher's altitude. Three kinematic access solutions are then found that account for spherical Earth rotation. One solution finds the maximum range for an ascent-only trajectory while another solution accommodates a descending trajectory. In addition, the ascent engagement for the descending trajectory is used to depict a rapid access scenario. These preliminary solutions are formulated to address ground-, sea-, or air-launched vehicles.
Xie, Daxing; Yu, Chaoran; Gao, Chun; Osaiweran, Hasan; Hu, Junbo; Gong, Jianping
2017-05-01
It is common knowledge that high ligation of blood vessels at the D3 level and complete mesocolic excision (CME) are two critical points of right hemicolectomy for right colon cancer (RCC). 1-5 To date, a safe strategy for completing these two procedures under laparoscopic surgery has not been extensively described. The authors provide a video to demonstrate laparoscopic right hemicolectomy (D3 + CME) with an optimal mesentery-defined approach. By identifying three "tri-junctions," this approach facilitates dissection of the entire mesocolon along the embryologic planes as far centrally as possible and enables the high tie of feeding vessels at bifurcation. The authors propose that this approach is safe, decreases blood loss, and is a secure method for right colon cancer intervention. Between June 2014 and June 2015, the study recruited 36 patients with informed consent, and these patients underwent laparoscopic D3+CME for right colon cancer by a single surgeon. All the participants provided informed written consent to participate in the study. This study was approved by the Tongji Hospital Ethics Committee. The patients' demographics, oncologic charac- teristics, postoperative outcomes within 30 days, and follow-up data were collected. The perioperative outcomes included blood lost, number of retrieved lymph nodes, postoperative hospital length of stay, and morbidity. The postoperative 30-day morbidity included cardiovascular, pulmonary, and urinary complications, as well as wound infection, anastomotic leakage, and postoperative ileus. The complications were diagnosed and categorized based on relevant clinical manifestations. For this procedure, all patients are placed in the Trendelenburg position, with five trocars inserted. Carbon dioxide (CO 2 ) is inflated through the intraumbilical trocar, maintaining steady intraabdominal pressure. The operating surgeon stands between the patient's legs, with the camera holder on the left and the assistant on the right
Inverse kinematics algorithm for a six-link manipulator using a polynomial expression
International Nuclear Information System (INIS)
Sasaki, Shinobu
1987-01-01
This report is concerned with the forward and inverse kinematics problem relevant to a six-link robot manipulator. In order to derive the kinematic relationships between links, the vector rotation operator was applied instead of the conventional homogeneous transformation. The exact algorithm for solving the inverse problem was obtained by transforming kinematics equations into a polynomial. As shown in test calculations, the accuracies of numerical solutions obtained by means of the present approach are found to be quite high. The algorithm proposed permits to find out all feasible solutions for the given inverse problem. (author)
Digital Hardware Realization of Forward and Inverse Kinematics for a Five-Axis Articulated Robot Arm
Directory of Open Access Journals (Sweden)
Bui Thi Hai Linh
2015-01-01
Full Text Available When robot arm performs a motion control, it needs to calculate a complicated algorithm of forward and inverse kinematics which consumes much CPU time and certainty slows down the motion speed of robot arm. Therefore, to solve this issue, the development of a hardware realization of forward and inverse kinematics for an articulated robot arm is investigated. In this paper, the formulation of the forward and inverse kinematics for a five-axis articulated robot arm is derived firstly. Then, the computations algorithm and its hardware implementation are described. Further, very high speed integrated circuits hardware description language (VHDL is applied to describe the overall hardware behavior of forward and inverse kinematics. Additionally, finite state machine (FSM is applied for reducing the hardware resource usage. Finally, for verifying the correctness of forward and inverse kinematics for the five-axis articulated robot arm, a cosimulation work is constructed by ModelSim and Simulink. The hardware of the forward and inverse kinematics is run by ModelSim and a test bench which generates stimulus to ModelSim and displays the output response is taken in Simulink. Under this design, the forward and inverse kinematics algorithms can be completed within one microsecond.
Schumacher, M.; Bamber, J. L.; Martin, A.
2016-12-01
Future sea level rise (SLR) is one of the most serious consequences of climate change. Therefore, understanding the drivers of past sea level change is crucial for improving predictions. SLR integrates many Earth system components including oceans, land ice, terrestrial water storage, as well as solid Earth effects. Traditionally, each component have been tackled separately, which has often lead to inconsistencies between discipline-specific estimates of each part of the sea level budget. To address these issues, the European Research Council has funded a five year project aimed at producing a physically-based, data-driven solution for the complete coupled land-ocean-solid Earth system that is consistent with the full suite of observations, prior knowledge and fundamental geophysical constraints. The project is called "GlobalMass" and based at University of Bristol. Observed mass movement from the GRACE mission plus vertical land motion from a global network of permanent GPS stations will be utilized in a data-driven approach to estimate glacial isostatic adjustment (GIA) without introducing any assumptions about the Earth structure or ice loading history. A Bayesian Hierarchical Model (BHM) will be used as the framework to combine the satellite and in-situ observations alongside prior information that incorporates the physics of the coupled system such as conservation of mass and characteristic length scales of different processes in both space and time. The BHM is used to implement a simultaneous solution at a global scale. It will produce a consistent partitioning of the integrated SLR signal into its steric (thermal) and barystatic (mass) component for the satellite era. The latter component is induced by hydrological mass trends and melting of land ice. The BHM was developed and tested on Antarctica, where it has been used to separate surface, ice dynamic and GIA signals simultaneously. We illustrate the approach and concepts with examples from this test case
Henten, van E.J.; Schenk, E.J.J.; Willigenburg, van L.G.; Meuleman, J.; Barreiro, P.
2010-01-01
The paper presents results of research on an inverse kinematics algorithm that has been used in a functional model of a cucumber-harvesting robot consisting of a redundant P6R manipulator. Within a first generic approach, the inverse kinematics problem was reformulated as a non-linear programming
Fatigue effects on bar kinematics during the bench press.
Duffey, Michael J; Challis, John H
2007-05-01
The bench press is one of the most popular weight training exercises. Although most training regimens incorporate multiple repetition sets, there are few data describing how the kinematics of a lift change during a set to failure. To examine these changes, recreational lifters (10 men and 8 women) were recruited. The maximum weight each subject could bench press (1RM) was determined. Subjects then performed as many repetitions as possible at 75% of the 1RM load. Three-dimensional kinematic data were recorded and analyzed for all lifts. Statistical analysis revealed that differences between maximal and submaximal lifts and the kinematics of a submaximal lift change as a subject approaches failure in a set. The time to lift the bar more than doubled from the first to the last repetition, causing a decrease in both mean and peak upward velocity. Furthermore, the peak upward velocity occurred much earlier in the lift phase in these later repetitions. The path the bar followed also changed, with subjects keeping the bar more directly over the shoulder during the lift. In general, most of the kinematic variables analyzed became more similar to those of the maximal lift as the subjects progressed through the set, but there was considerable variation between subjects as to which repetition was most like the maximal lift. This study shows that there are definite changes in the lifting kinematics in recreational lifters during a set to failure and suggests it may be particularly important for coaches and less-skilled lifters to focus on developing the proper bar path, rather than reaching momentary muscular failure, in the early part of a training program.
Kinematically Decoupled Cores in Dwarf (Elliptical) Galaxies
Toloba, E.; Peletier, R. F.; Guhathakurta, P.; van de Ven, G.; Boissier, S.; Boselli, A.; Brok, M. d.; Falcón-Barroso, J.; Hensler, G.; Janz, J.; Laurikainen, E.; Lisker, T.; Paudel, S.; Ryś, A.; Salo, H.
An overview is given of what we know about the frequency of kinematically decoupled cores in dwarf elliptical galaxies. New observations show that kinematically decoupled cores happen just as often in dwarf elliptical as in ordinary early-type galaxies. This has important consequences for the
SHORT LITERATURE REVIEW ON THE KINEMATICS AND DYNAMICS OF THE INDUSTRIAL ROBOTS
RATIU Mariana
2016-01-01
This paper is the result of a short literature review on the kinematics and dynamics of the industrial robots, a first study conducted in a wider research that will be further developed in the field of the trajectory generating mechanisms of the industrial robots. After an introduction about the importance of the robots in the industrial processes and about the necessity to streamline and optimize the robot`s motion, are presented some recent approaches related to the kinematic and dynamic an...
Kinematic models of extensional structures
International Nuclear Information System (INIS)
Groshong, R.H. Jr.
1990-01-01
This paper discusses kinematic models that can relate faults of different types and different positions within a single dynamic system and thereby offer the potential to explain the disparate seismic activity characteristic of extensional terrains. The major styles are full grabens, half grabens, domino blocks, and glide-block systems. Half grabens, the most likely models for Basin and Range structure, are formed above a master fault of decreasing dip with depth and a hangingwall that deforms as it passes over the curved fault. Second-order normal faults, typically domino style, accommodate the required hangingwall deformation. According to the author low-angle detachment faults are consistent with the evidence of seismicity only on high-angle faults if the hangingwall of the detachment is broken by multiple half-graben systems
Imaging spectrophotometry of ionized gas in NGC 1068. I - Kinematics of the narrow-line region
Cecil, Gerald; Bland, Jonathan; Tully, R. Brent
1990-01-01
The kinematics of collisionally excited forbidden N II 6548, 6583 across the inner 1 arcmin diameter of the nearby Seyfert galaxy NGC 1068 is mapped using an imaging Fabry-Perot interferometer and low-noise CCD. The stack of monochromatic images, which spatially resolved the high-velocity gas, was analyzed for kinematic and photometric content. Profiles agree well with previous long-slit work, and their complete spatial coverage makes it possible to constrain the gas volume distribution. It is found that the narrow-line region is distributed in a thick center-darkened, line-emitting cylinder that envelopes the collimated radio jet. Three distinct kinematic subsystems, of which the cylinder is composed, are discussed in detail. Detailed behavior of the emission-line profiles, at the few points in the NE quadrant with simple kinematics, argues that the ionized gas develops a significant component of motion perpendicular to the jet axis.
McAuley, James W; Backo, Jennifer Lynn; Sobota, Kristen Finley; Metzger, Anne H; Ulbrich, Timothy
To identify motivators and barriers to pharmacy student completion of instructor evaluations, and to develop potential strategies to improve the evaluation process. Completed at four Ohio Colleges of Pharmacy, Phase I consisted of a student/faculty survey and Phase II consisted of joint student/faculty focus groups to discuss Phase I data and to problem solve. In Phase I, the top three student-identified and faculty-perceived motivators to completion of evaluations were to (1) make the course better, (2) earn bonus points, and (3) improve the instructor's teaching. The top three student-identified barriers to completion of evaluations were having to (1) evaluate multiple instructors, (2) complete several evaluations around the same time, and (3) complete lengthy evaluations. Phase II focus groups identified a number of potential ways to enhance the motivators and reduce barriers, including but not limited to making sure faculty convey to students that the feedback they provide is useful and to provide examples of how student feedback has been used to improve their teaching/the course. Students and faculty identified motivators and barriers to completing instructor evaluations and were willing to work together to improve the process. Copyright © 2016 Elsevier Inc. All rights reserved.
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.
Investigating The Kinematics of Canids and Felids
Sur, D.
2016-12-01
For all organisms, metabolic energy is critical for survival. While moving efficiently is a necessity for large carnivores, the influence of kinematics on energy demand remains poorly understood. We measured the kinematics of dogs, wolves, and pumas to detect any differences in their respective energy expenditures. Using 22 kinematic parameters measured on 78 videos, we used one-way ANOVAs and paired T-tests to compare 5 experimental treatments among gaits in dogs (n=11 in 3 breed groups), wolves (n=2), and pumas (n=2). Across the measured parameters, we found greater kinematic similarity than expected among dog breeds and no trend in any of the 22 parameters regarding the effect of steepness on locomotion mechanics. Similarly, treadmill kinematics were nearly identical to those measured during outdoor movement. However, in 3 inches of snow, we observed significant differences (pwolf. When comparing canids (wolves and dogs) to a felid (pumas), we found that pumas and dogs are the most kinematically distinct (differing in 13 of 22 parameters, compared with 5 of 22 for wolves and pumas). Lastly, compared with wolves, walking pumas had larger head angles (p=0.0025), forelimb excursion angles (p=0.0045), and hindlimb excursion angles (p=0.0327). After comparing the energetics of pumas and dogs with their respective kinematics, we noted that less dynamic kinematics result in energy savings. Through tracking the locations and gait behavior of large carnivores, novel sensor technology can reveal how indoor kinematics applies to wild animals and improve the conservation of these species.
Integrating concepts and skills: Slope and kinematics graphs
Tonelli, Edward P., Jr.
The concept of force is a foundational idea in physics. To predict the results of applying forces to objects, a student must be able to interpret data representing changes in distance, time, speed, and acceleration. Comprehension of kinematics concepts requires students to interpret motion graphs, where rates of change are represented as slopes of line segments. Studies have shown that majorities of students who show proficiency with mathematical concepts fail accurately to interpret motion graphs. The primary aim of this study was to examine how students apply their knowledge of slope when interpreting kinematics graphs. To answer the research questions a mixed methods research design, which included a survey and interviews, was adopted. Ninety eight (N=98) high school students completed surveys which were quantitatively analyzed along with qualitative information collected from interviews of students (N=15) and teachers ( N=2). The study showed that students who recalled methods for calculating slopes and speeds calculated slopes accurately, but calculated speeds inaccurately. When comparing the slopes and speeds, most students resorted to calculating instead of visual inspection. Most students recalled and applied memorized rules. Students who calculated slopes and speeds inaccurately failed to recall methods of calculating slopes and speeds, but when comparing speeds, these students connected the concepts of distance and time to the line segments and the rates of change they represented. This study's findings will likely help mathematics and science educators to better assist their students to apply their knowledge of the definition of slope and skills in kinematics concepts.
Kinematic characteristics of tenodesis grasp in C6 quadriplegia.
Mateo, S; Revol, P; Fourtassi, M; Rossetti, Y; Collet, C; Rode, G
2013-02-01
Descriptive control case study. To analyze the kinematics of tenodesis grasp in participants with C6 quadriplegia and healthy control participants in a pointing task and two daily life tasks involving a whole hand grip (apple) or a lateral grip (floppy disk). France. Four complete participants with C6 quadriplegia were age matched with four healthy control participants. All participants were right-handed. The measured kinematic parameters were the movement time (MT), the peak velocity (PV), the time of PV (TPV) and the wrist angle in the sagittal plane at movement onset, at the TPV and at the movement end point. The participants with C6 quadriplegia had significantly longer MTs in both prehension tasks. No significant differences in TPV were found between the two groups. Unlike control participants, for both prehension tasks the wrist of participants with C6 quadriplegia was in a neutral position at movement onset, in flexion at the TPV, and in extension at the movement end point. Two main kinematic parameters characterize tenodesis grasp movements in C6 quadriplegics: wrist flexion during reaching and wrist extension during the grasping phase, and increased MT reflecting the time required to adjust the wrist's position to achieve the tenodesis grasp. These characteristics were observed for two different grips (whole hand and lateral grip). These results suggest sequential planning of reaching and tenodesis grasp, and should be taken into account for prehension rehabilitation in patients with quadriplegia.
Kinematic relations in heavy-ion reactions
International Nuclear Information System (INIS)
Gippner, P.; Kalpakchieva, R.
1988-01-01
The present work gives a short overview of the non-relativistic kinematics of nuclear reactions derived on the basis of the conservation laws of energy and linear momentum. Section 2 contains kinematic relations valid for two-body reactions, sections 3 makes use of these relations to describe sequential fission as a special case of reactions with three particles in the exit channel. It is the aim of this work to comprise the kinematic formulae essential for planning of experiments, data analysis and critical examination of the obtained results. (author)
Adaptive control of an exoskeleton robot with uncertainties on kinematics and dynamics.
Brahmi, Brahim; Saad, Maarouf; Ochoa-Luna, Cristobal; Rahman, Mohammad H
2017-07-01
In this paper, we propose a new adaptive control technique based on nonlinear sliding mode control (JSTDE) taking into account kinematics and dynamics uncertainties. This approach is applied to an exoskeleton robot with uncertain kinematics and dynamics. The adaptation design is based on Time Delay Estimation (TDE). The proposed strategy does not necessitate the well-defined dynamic and kinematic models of the system robot. The updated laws are designed using Lyapunov-function to solve the adaptation problem systematically, proving the close loop stability and ensuring the convergence asymptotically of the outputs tracking errors. Experiments results show the effectiveness and feasibility of JSTDE technique to deal with the variation of the unknown nonlinear dynamics and kinematics of the exoskeleton model.
Mason, D L; Preece, S J; Bramah, C A; Herrington, L C
2016-01-01
This study evaluated the reproducibility of the angular rotations of the thoracic spine, lumbar spine, pelvis and lower extremity during running. In addition, the study compared kinematic reproducibility between two methods for calculating kinematic trajectories: a six degrees of freedom (6DOF) approach and a global optimisation (GO) approach. With the first approach segments were treated independently, however with GO approach joint constraints were imposed to stop translation of adjacent segments. A total of 12 athletes were tested on two separate days whilst running over ground at a speed of 5.6ms(-1). The results demonstrated good between-day reproducibility for most kinematic parameters in the frontal and transverse planes with typical angular errors of 1.4-3°. Acceptable repeatability was also found in the sagittal plane. However, in this plane, although kinematic waveform shape was preserved between testing session, there were sometimes shifts in curve offset which lead to slightly higher angular errors, typically ranging from 1.9° to 3.5°. In general, the results demonstrated similar levels of reproducibility for both computational approaches (6DOF and, GO) and therefore suggest that GO may not lead to improved kinematic reproducibility during running. Copyright © 2013 Elsevier B.V. All rights reserved.
Dong, Gangqi; Zhu, Z. H.
2016-04-01
This paper proposed a new incremental inverse kinematics based vision servo approach for robotic manipulators to capture a non-cooperative target autonomously. The target's pose and motion are estimated by a vision system using integrated photogrammetry and EKF algorithm. Based on the estimated pose and motion of the target, the instantaneous desired position of the end-effector is predicted by inverse kinematics and the robotic manipulator is moved incrementally from its current configuration subject to the joint speed limits. This approach effectively eliminates the multiple solutions in the inverse kinematics and increases the robustness of the control algorithm. The proposed approach is validated by a hardware-in-the-loop simulation, where the pose and motion of the non-cooperative target is estimated by a real vision system. The simulation results demonstrate the effectiveness and robustness of the proposed estimation approach for the target and the incremental control strategy for the robotic manipulator.
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.
Augmented kinematic feedback from haptic virtual reality for dental skill acquisition.
Suebnukarn, Siriwan; Haddawy, Peter; Rhienmora, Phattanapon; Jittimanee, Pannapa; Viratket, Piyanuch
2010-12-01
We have developed a haptic virtual reality system for dental skill training. In this study we examined several kinds of kinematic information about the movement provided by the system supplement knowledge of results (KR) in dental skill acquisition. The kinematic variables examined involved force utilization (F) and mirror view (M). This created three experimental conditions that received augmented kinematic feedback (F, M, FM) and one control condition that did not (KR-only). Thirty-two dental students were randomly assigned to four groups. Their task was to perform access opening on the upper first molar with the haptic virtual reality system. An acquisition session consisted of two days of ten trials of practice in which augmented kinematic feedback was provided for the appropriate experimental conditions after each trial. One week after, a retention test consisting of two trials without augmented feedback was completed. The results showed that the augmented kinematic feedback groups had larger mean performance scores than the KR-only group in Day 1 of the acquisition and retention sessions (ANOVA, p0.05). The trends in acquisition and retention sessions suggest that the augmented kinematic feedback can enhance the performance earlier in the skill acquisition and retention sessions.
Surface growth kinematics via local curve evolution
Moulton, Derek E.; Goriely, Alain
2012-01-01
of increasing complexity are provided, and we demonstrate how biologically relevant structures such as logarithmic shells and horns emerge as analytical solutions of the kinematics equations with a small number of parameters that can be linked to the underlying
Kinematic anharmonicity of internal rotation of molecules
International Nuclear Information System (INIS)
Bataev, V.A.; Pupyshev, V.I.; Godunov, I.A.
2017-01-01
The methods of analysis the strongly coupled vibrations are proposed for a number of molecules of aromatic and heterocyclic carbonyl (and some others) compounds. The qualitative principles are formulated for molecular systems with a significant kinematic anharmonicity.
Kinematics and resolution at future ep colliders
International Nuclear Information System (INIS)
Bluemlein, J.; Klein, M.
1992-01-01
Limitations due to resolution and kinematics are discussed of the (Q 2 , x) range accessible with electron-proton colliders after HERA. For the time after HERA one may think of two electron-proton colliders: an asymmetric energy machine and a rather symmetric one. Both colliders are compared here in order to study the influence of the different E l /E p ratios on the accessible kinematic range which is restricted due to angular coverage, finite detector resolution and calibration uncertainties
DIDACTIC AUTOMATED STATION OF COMPLEX KINEMATICS
Directory of Open Access Journals (Sweden)
Mariusz Sosnowski
2014-03-01
Full Text Available The paper presents the design, control system and software that controls the automated station of complex kinematics. Control interface and software has been developed and manufactured in the West Pomeranian University of Technology in Szczecin in the Department of Automated Manufacturing Systems Engineering and Quality. Conducting classes designed to teach programming and design of structures and systems for monitoring the robot kinematic components with non-standard structures was the reason for installation of the control system and software.
Kinematical coincidence method in transfer reactions
Energy Technology Data Exchange (ETDEWEB)
Acosta, L.; Amorini, F. [INFN—Laboratori Nazionali del Sud, Via S. Sofia, Catania (Italy); Auditore, L. [INFN Gruppo Collegato di Messina and Dipartimento di Fisica, Università di Messina (Italy); Berceanu, I. [Institute for Physics and Nuclear Engineering, Bucharest (Romania); Cardella, G., E-mail: cardella@ct.infn.it [INFN—Sezione di Catania, Via S. Sofia, 95123 Catania (Italy); Chatterjiee, M.B. [Saha Institute for Nuclear Physics, Kolkata (India); De Filippo, E. [INFN—Sezione di Catania, Via S. Sofia, 95123 Catania (Italy); Francalanza, L.; Gianì, R. [INFN—Laboratori Nazionali del Sud, Via S. Sofia, Catania (Italy); Dipartimento di Fisica e Astronomia, Università di Catania, Via S. Sofia, Catania (Italy); Grassi, L. [INFN—Sezione di Catania, Via S. Sofia, 95123 Catania (Italy); Rudjer Boskovic Institute, Zagreb (Croatia); Grzeszczuk, A. [Institut of Physics, University of Silesia, Katowice (Poland); La Guidara, E. [INFN—Sezione di Catania, Via S. Sofia, 95123 Catania (Italy); Centro Siciliano di Fisica Nucleare e Struttura della Materia, Catania (Italy); Lanzalone, G. [INFN—Laboratori Nazionali del Sud, Via S. Sofia, Catania (Italy); Facoltà di Ingegneria e Architettura, Università Kore, Enna (Italy); Lombardo, I. [INFN—Laboratori Nazionali del Sud, Via S. Sofia, Catania (Italy); Dipartimento di Scienze Fisiche, Università Federico II and INFN Sezione di Napoli (Italy); Loria, D.; Minniti, T. [INFN Gruppo Collegato di Messina and Dipartimento di Fisica, Università di Messina (Italy); Pagano, E.V. [INFN—Laboratori Nazionali del Sud, Via S. Sofia, Catania (Italy); Dipartimento di Fisica e Astronomia, Università di Catania, Via S. Sofia, Catania (Italy); and others
2013-07-01
A new method to extract high resolution angular distributions from kinematical coincidence measurements in binary reactions is presented. Kinematics is used to extract the center of mass angular distribution from the measured energy spectrum of light particles. Results obtained in the case of {sup 10}Be+p→{sup 9}Be+d reaction measured with the CHIMERA detector are shown. An angular resolution of few degrees in the center of mass is obtained. The range of applicability of the method is discussed.
Chiral quark model with relativistic kinematics
International Nuclear Information System (INIS)
Garcilazo, H.; Valcarce, A.
2003-01-01
The nonstrange baryon spectrum is studied within a three-body model that incorporates relativistic kinematics. We found that the combined effect of relativistic kinematics together with the pion exchange between quarks is able to reverse the order of the first positive- and negative-parity nucleon excited states as observed experimentally. Including the chiral partner of the pion (the σ meson) leads to an overall good description of the spectrum
Chiral quark model with relativistic kinematics
Garcilazo, H.; Valcarce, A.
2003-01-01
The non-strange baryon spectrum is studied within a three-body model that incorporates relativistic kinematics. We found that the combined effect of relativistic kinematics together with the pion exchange between quarks is able to reverse the order of the first positive- and negative-parity nucleon excited states as observed experimentally. Including the chiral partner of the pion (the $\\sigma$ meson) leads to an overall good description of the spectrum.
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.
Heavy baryon spectroscopy with relativistic kinematics
International Nuclear Information System (INIS)
Valcarce, A.; Garcilazo, H.; Vijande, J.
2014-01-01
We present a comparative Faddeev study of heavy baryon spectroscopy with nonrelativistic and relativistic kinematics. We show results for different standard hyperfine interactions with both kinematics in an attempt to learn about the light quark dynamics. We highlight the properties of particular states accessible in nowadays laboratories that would help in discriminating between different dynamical models. The advance in the knowledge of light quark dynamics is a key tool for the understanding of the existence of exotic hadrons.
Kinematic gait analyses in healthy Golden Retrievers
Silva, Gabriela C.A.; Cardoso, Mariana Trés; Gaiad, Thais P.; Brolio, Marina P.; Oliveira, Vanessa C.; Assis Neto, Antonio; Martins, Daniele S.; Ambrósio, Carlos E.
2014-01-01
Kinematic analysis relates to the relative movement between rigid bodies and finds application in gait analysis and other body movements, interpretation of their data when there is change, determines the choice of treatment to be instituted. The objective of this study was to standardize the march of Dog Golden Retriever Healthy to assist in the diagnosis and treatment of musculoskeletal disorders. We used a kinematic analysis system to analyse the gait of seven dogs Golden Retriever, female,...
Kinematics analysis of a novel planar parallel manipulator with kinematic redundancy
Energy Technology Data Exchange (ETDEWEB)
Qu, Haibo; Guo, Sheng [Beijing Jiaotong University, Beijing (China)
2017-04-15
In this paper, a novel planar parallel manipulator with kinematic redundancy is proposed. First, the Degrees of freedom (DOF) of the whole parallel manipulator and the Relative DOF (RDOF) between the moving platform and fixed base are studied. The results indicate that the proposed mechanism is kinematically redundant. Then, the kinematics, Jacobian matrices and workspace of this proposed parallel manipulator with kinematic redundancy are analyzed. Finally, the statics simulation of the proposed parallel manipulator is performed. The obtained stress and displacement distribution can be used to determine the easily destroyed place in the mechanism configurations.
The role of reversed kinematics and double kinematic solutions in nuclear reactions studies
International Nuclear Information System (INIS)
Kaplan, M.; Parker, W.E.; Moses, D.J.; Lacey, R.; Alexander, J.M.
1993-01-01
The advantages of reversed kinematics in nuclear reactions studies are discussed, with particular emphasis on the origin of double solutions in the reaction kinematics. This possibility for double solutions does not exist in normal kinematics, and provides the basis for a new method of imposing important experimental constraints on the uniqueness of fitting complex observations. By gating on one or the other of the two solutions, light particle kinematics can be greatly influenced in coincidence measurements. The power of the method is illustrated with data for the reaction 1030 MeV 121 Sb+ 27 Al, where charged particle emissions arise from several different sources. (orig.)
Kinematics analysis of a novel planar parallel manipulator with kinematic redundancy
International Nuclear Information System (INIS)
Qu, Haibo; Guo, Sheng
2017-01-01
In this paper, a novel planar parallel manipulator with kinematic redundancy is proposed. First, the Degrees of freedom (DOF) of the whole parallel manipulator and the Relative DOF (RDOF) between the moving platform and fixed base are studied. The results indicate that the proposed mechanism is kinematically redundant. Then, the kinematics, Jacobian matrices and workspace of this proposed parallel manipulator with kinematic redundancy are analyzed. Finally, the statics simulation of the proposed parallel manipulator is performed. The obtained stress and displacement distribution can be used to determine the easily destroyed place in the mechanism configurations
Detailed solution to a complex kinematics chain manipulator
International Nuclear Information System (INIS)
March-Leuba, S.; Jansen, J.F.; Kress, R.L.; Babcock, S.M.
1992-01-01
This paper presents a relatively simple method based on planar geometry to analyze the inverse kinematics for closed kinematics chain (CKC) mechanisms. Although the general problem and method of approach are well defined, the study of the inverse kinematics of a closed-chain mechanism is a very complicated one. The current methodology allows closed-form solutions to be found, if a solution exists, for the displacements and velocities of all manipulator joints. Critical design parameters can be identified and optimized by using symbolic models. This paper will focus on planar closed-chain structures extended with a rotational base. However, with open and CKC mechanisms combined in different planes, the extension to the case is straightforward. Further, real-time algorithms are developed that can be handled by existing microprocessor technology. To clarify the methodology, the Soldier Robot Interface Project (SRIP) manipulator is analyzed, and a graphic simulation is presented as a verification of the results. This manipulator has 17 links, 24 one-degree-of-freedom (DOF) joints, and 7 CKC loops working in a plane and a rotational base, which determine its 3 DOFs. The SRIP manipulator allows a decoupled linear motion along the vertical or horizontal directions using only one of its linear actuators. The symbolic solution for the inverse kinematics allows optimization to be performed to further decouple the Cartesian motions by changing link lengths of the manipulator. The conclusion achieved by the optimization is that only two link lengths need to be changed to tune the manipulator for a perfect decoupling at each area of the workspace
DEFF Research Database (Denmark)
Guarascio, Mario; Puthusserypady, Sadasivan
2017-01-01
forminimizing the OAs from corrupted EEG signals. The RE criterion is suggested to automatically select theIntrinsic Mode Functions (IMFs) to reconstruct the artifact minimized EEG signals. The scheme requiresonly a single channel OAs corrupted EEG recording and a reasonable computation time. The methodis first......Ocular artifacts (OAs) are one of the major interferences that obscure electroencephalogram (EEG) signals.In this paper, a novel, completely automatic, adaptive and fast method that combines the CompleteEmpirical Mode Decomposition with Adaptive Noise (CEEMDAN) and Renyi’s Entropy (RE) is proposed....... The method is compared to the one based on the CEEMDAN and manual choice of IMFsfor OAs minimization from EEG. Results from extensive simulation studies clearly indicate the efficacyof the proposed scheme in automatically minimizing the OAs from the corrupted EEG signals....
STUDY OF THE flat die pellet mills kinematic diagram with active cylindrical press rolLS
Directory of Open Access Journals (Sweden)
Osokin Anton Vladislavovich
2017-03-01
Full Text Available Though being widely spread, the designs of such machines as flat die pellet mills have hardly been comprehensively theoretically studied. At the same time, the kinematic motion of the ring die pellet mill executive parts have been studied quite thoroughly. The machine executive parts kinematics determines the nature of their motion and velocity parameters, as well as the energy costs for the unit operation of the assembly. In addition, a detailed analysis of the facility kinematic diagram enables a rational approach to the design process for a new equipment. In view of this, this paper proposes a classification of flat matrix granulators over the kinematic diagrams of the executive parts interactions. We performed an analytical study of the kinematic diagram flat matrix granulator with active cylindrical press rolls. We considered the forces acting on the press roll during its operation. We determined the kinematic parameters and their interrelation with the design parameters of the press roll. We obtained the analytical equations for the of the neutral cross-section determination - the most characteristic section of the press-roll granulator
Analisys and Choice of the Exoskeleton’s Actuator Kinematic Structure
Directory of Open Access Journals (Sweden)
A. A. Vereikin
2014-01-01
Full Text Available The urgency of designing of robotic exoskeletons as one of the most prospective means of modern robotics is proved. A literature review concerning the design issues of anthropomorphic walking robots and exoskeletons is performed. Some problems, accompanying the designing process of exoskeleton actuator, are highlighted. Among them synthesis of its tree-like kinematic structure takes leading place. Its complication is explained by the specific human-machine interaction.The problem of exoskeleton actuator kinematic scheme synthesis is formulated and possible approaches to its solution are shown. The paper presents the synthesis results obtained using the software complex CATIA-based means of ergonomic design. It investigates the degrees of freedom of human-operator’s foot, shin, and thigh. And it identifies a number of shortcomings of this software complex associated with the ambiguity to solve the inverse kinematics problem, leading to a significant complication of kinematics synthesis.A model of human lower limb on which further studies of the exoskeleton actuator kinematic scheme, ensuring fulfillment of the human-operator standard movements (squats, kick their feet, bending body, walking, running stairs, etc., are based, is developed in SolidWorks software complex. The reasonability of the exoskeleton kinematic scheme synthesis in software package SolidWorks using anthropometric data from the software complex CATIA, is justified.The proposed method allows to analyze different kinematic schemes of actuator for the stage of conceptual design and to choose the best of them in accordance with established criterions. Thus, the developer receives the final version of the kinematic scheme before the detailed design of the actuator starts, thus significantly reducing its labor costs.
Climbing fibers predict movement kinematics and performance errors.
Streng, Martha L; Popa, Laurentiu S; Ebner, Timothy J
2017-09-01
Requisite for understanding cerebellar function is a complete characterization of the signals provided by complex spike (CS) discharge of Purkinje cells, the output neurons of the cerebellar cortex. Numerous studies have provided insights into CS function, with the most predominant view being that they are evoked by error events. However, several reports suggest that CSs encode other aspects of movements and do not always respond to errors or unexpected perturbations. Here, we evaluated CS firing during a pseudo-random manual tracking task in the monkey ( Macaca mulatta ). This task provides extensive coverage of the work space and relative independence of movement parameters, delivering a robust data set to assess the signals that activate climbing fibers. Using reverse correlation, we determined feedforward and feedback CSs firing probability maps with position, velocity, and acceleration, as well as position error, a measure of tracking performance. The direction and magnitude of the CS modulation were quantified using linear regression analysis. The major findings are that CSs significantly encode all three kinematic parameters and position error, with acceleration modulation particularly common. The modulation is not related to "events," either for position error or kinematics. Instead, CSs are spatially tuned and provide a linear representation of each parameter evaluated. The CS modulation is largely predictive. Similar analyses show that the simple spike firing is modulated by the same parameters as the CSs. Therefore, CSs carry a broader array of signals than previously described and argue for climbing fiber input having a prominent role in online motor control. NEW & NOTEWORTHY This article demonstrates that complex spike (CS) discharge of cerebellar Purkinje cells encodes multiple parameters of movement, including motor errors and kinematics. The CS firing is not driven by error or kinematic events; instead it provides a linear representation of each
Seo, Ja Young; Jeong, Ji Hun; Kim, Kyung Hee; Ahn, Jeong-Yeal; Park, Pil-Whan; Seo, Yiel-Hea
2017-11-01
Clostridium difficile is a major pathogen responsible for nosocomial infectious diarrhea. We explored optimal laboratory strategies for diagnosis of C. difficile infection (CDI) in our clinical settings, a 1400-bed tertiary care hospital. Using 191 fresh stool samples from adult patients, we evaluated the performance of Xpert C. difficile (Xpert CD), C. diff Quik Chek Complete (which simultaneously detects glutamate dehydrogenase [GDH] and C. difficile toxins [CDT]), toxigenic culture, and a two-step algorithm composed of GDH/CDT as a screening test and Xpert CD as a confirmatory test. Clostridium difficile was detected in 35 samples (18.3%), and all isolates were toxigenic strains. The sensitivity, specificity, positive predictive value (PPV), and negative predictive value of each assay for detecting CDI were as follows: Quik Chek Complete CDT (45.7%, 100%, 100%, 89.1%), Quik Chek Complete GDH (97.1%, 99.4%, 97.1%, 99.4%), Xpert CD (94.3%, 100%, 100%, 98.7%), and toxigenic culture (91.4%, 100%, 100%, 98.1%). A two-step algorithm performed identically with Xpert CD assay. Our data showed that most C. difficile isolates from adult patients were toxigenic. We demonstrated that a two-step algorithm based on GDH/CDT assay followed by Xpert CD assay as a confirmatory test was rapid, reliable, and cost effective for diagnosis of CDI in an adult patient setting with high prevalence of toxigenic C. difficile. © 2017 Wiley Periodicals, Inc.
Understanding the spiral structure of the Milky Way using the local kinematic groups
Antoja Castelltort, Teresa; Figueras, F.; Romero-Gomez, 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
Khusainov, R.; Klimchik, A.; Magid, E.
2017-01-01
The paper presents comparison analysis of two approaches in defining leg trajectories for biped locomotion. The first one operates only with kinematic limitations of leg joints and finds the maximum possible locomotion speed for given limits. The second approach defines leg trajectories from the dynamic stability point of view and utilizes ZMP criteria. We show that two methods give different trajectories and demonstrate that trajectories based on pure dynamic optimization cannot be realized due to joint limits. Kinematic optimization provides unstable solution which can be balanced by upper body movement.
Kinematic mounting systems for NSLS beamlines and experiments
International Nuclear Information System (INIS)
Oversluizen, T.; Stoeber, W.; Johnson, E.D.
1991-01-01
Methods for kinematically mounting equipment are well established, but applications at synchrotron radiation facilities are subject to constraints not always encountered in more traditional laboratory settings. Independent position adjustment of beamline components can have significant benefits in terms of minimizing time spent aligning, and maximizing time spent acquiring data. In this paper, we use examples taken from beamlines at the NSLS to demonstrate approaches for optimization of the reproducibility, stability, excursion, and set-up time for various situations. From our experience, we extract general principles which we hope will be useful for workers at other synchrotron radiation facilities. 7 refs., 4 figs
Bearing Capacity of the Working Platform with Kinematic Method
Directory of Open Access Journals (Sweden)
Białek Katarzyna
2015-03-01
Full Text Available Bearing capacity of the working platform for heavy tracks was analysed using Distinct Layout Optimization (DLO method. The platform layer constructed from cohesionless soils is resting on weak cohesive subgrade. Different thickness of the platform, its effective angle of internal friction and undrained shear strength of the soft soil were taken into consideration. Kinematic method permits different failure mechanisms to be analyzed. Margin of safety for a given load and subsoil conditions was determined using two approaches: increasing the load or decreasing the shear strength up to failure. The results were compared with solution proposed in BRE recommendations.
Inverse kinematic-based robot control
Wolovich, W. A.; Flueckiger, K. F.
1987-01-01
A fundamental problem which must be resolved in virtually all non-trivial robotic operations is the well-known inverse kinematic question. More specifically, most of the tasks which robots are called upon to perform are specified in Cartesian (x,y,z) space, such as simple tracking along one or more straight line paths or following a specified surfacer with compliant force sensors and/or visual feedback. In all cases, control is actually implemented through coordinated motion of the various links which comprise the manipulator; i.e., in link space. As a consequence, the control computer of every sophisticated anthropomorphic robot must contain provisions for solving the inverse kinematic problem which, in the case of simple, non-redundant position control, involves the determination of the first three link angles, theta sub 1, theta sub 2, and theta sub 3, which produce a desired wrist origin position P sub xw, P sub yw, and P sub zw at the end of link 3 relative to some fixed base frame. Researchers outline a new inverse kinematic solution and demonstrate its potential via some recent computer simulations. They also compare it to current inverse kinematic methods and outline some of the remaining problems which will be addressed in order to render it fully operational. Also discussed are a number of practical consequences of this technique beyond its obvious use in solving the inverse kinematic question.
Kinematically Optimal Robust Control of Redundant Manipulators
Galicki, M.
2017-12-01
This work deals with the problem of the robust optimal task space trajectory tracking subject to finite-time convergence. Kinematic and dynamic equations of a redundant manipulator are assumed to be uncertain. Moreover, globally unbounded disturbances are allowed to act on the manipulator when tracking the trajectory by the endeffector. Furthermore, the movement is to be accomplished in such a way as to minimize both the manipulator torques and their oscillations thus eliminating the potential robot vibrations. Based on suitably defined task space non-singular terminal sliding vector variable and the Lyapunov stability theory, we derive a class of chattering-free robust kinematically optimal controllers, based on the estimation of transpose Jacobian, which seem to be effective in counteracting both uncertain kinematics and dynamics, unbounded disturbances and (possible) kinematic and/or algorithmic singularities met on the robot trajectory. The numerical simulations carried out for a redundant manipulator of a SCARA type consisting of the three revolute kinematic pairs and operating in a two-dimensional task space, illustrate performance of the proposed controllers as well as comparisons with other well known control schemes.
Sensitivity of polycrystal plasticity to slip system kinematic hardening laws for Al 7075-T6
International Nuclear Information System (INIS)
Hennessey, Conor; Castelluccio, Gustavo M.; McDowell, David L.
2017-01-01
The prediction of formation and early growth of microstructurally small fatigue cracks requires use of constitutive models that accurately estimate local states of stress, strain, and cyclic plastic strain. However, few research efforts have attempted to systematically consider the sensitivity of overall cyclic stress-strain hysteresis and higher order mean stress relaxation and plastic strain ratcheting responses introduced by the slip system back-stress formulation in crystal plasticity, even for face centered cubic (FCC) crystal systems. This paper explores the performance of two slip system level kinematic hardening models using a finite element crystal plasticity implementation as a User Material Subroutine (UMAT) within ABAQUS, with fully implicit numerical integration. The two kinematic hardening formulations aim to reproduce the cyclic deformation of polycrystalline Al 7075-T6 in terms of both macroscopic cyclic stress-strain hysteresis loop shape, as well as ratcheting and mean stress relaxation under strain- or stress-controlled loading with mean strain or stress, respectively. The first formulation is an Armstrong-Frederick type hardening-dynamic recovery law for evolution of the back stress. This approach is capable of reproducing observed deformation under completely reversed uniaxial loading conditions, but overpredicts the rate of cyclic ratcheting and associated mean stress relaxation. The second formulation corresponds to a multiple back stress Ohno-Wang type hardening law with nonlinear dynamic recovery. The adoption of this back stress evolution law greatly improves the capability to model experimental results for polycrystalline specimens subjected to cycling with mean stress or strain. As a result, the relation of such nonlinear dynamic recovery effects are related to slip system interactions with dislocation substructures.
García-López, David; Hernández-Sánchez, Sonsoles; Martín, Esperanza; Marín, Pedro J; Zarzosa, Fernando; Herrero, Azael J
2016-09-01
García-López, D, Hernández-Sánchez, S, Martín, E, Marín, PJ, Zarzosa, F, and Herrero, AJ. Free-weight augmentation with elastic bands improves bench press kinematics in professional rugby players. J Strength Cond Res 30(9): 2493-2499, 2016-This study aimed to investigate the effects of combining elastic bands to free weight resistance (EB + FWR) on the acceleration-deceleration and velocity profiles of the bench press in professional rugby players and recreationally trained subjects. Sixteen male subjects (8 rugby players and 8 recreationally trained subjects) were randomly assigned to complete 2 experimental conditions in a crossover fashion: EB + FWR and FWR. In both conditions, subjects performed 1 bench press set to volitional exhaustion with a load equivalent to the 85% of 1 repetition maximum (1RM). In the EB + FWR condition, the contribution of elastic resistance was approximately 20% of the selected load (85% 1RM). Results indicate that EB + FWR condition increased significantly the range of concentric movement in which the barbell is accelerated. This increase was significantly higher in rugby players (35%) in comparison with recreationally trained subjects (13%). Maximal velocity was also increased in EB + FWR (17%), when compared with FWR condition. These results suggest that when combined with variable resistance (i.e., EB), the external resistance seems to be more evenly distributed over the full range of motion, decreasing the need for dramatic deceleration at the end of the concentric phase. The present data also indicate that the kinematic benefits of an EB + FWR approach seems to be more prominent in athletes from modalities in which high level of strength and power are required (i.e., rugby players).
Computing broadband accelerograms using kinematic rupture modeling
International Nuclear Information System (INIS)
Ruiz Paredes, J.A.
2007-05-01
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 w 2 model with spectral amplitudes at high frequency scaled to the coefficient of directivity C d . 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 C d , 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, M w 5.9 earthquake. The modeled synthetics reproduce satisfactorily well the observed main characteristics of ground motions. (author)
A kinematic view of loop closure.
Coutsias, Evangelos A; Seok, Chaok; Jacobson, Matthew P; Dill, Ken A
2004-03-01
We consider the problem of loop closure, i.e., of finding the ensemble of possible backbone structures of a chain segment of a protein molecule that is geometrically consistent with preceding and following parts of the chain whose structures are given. We reduce this problem of determining the loop conformations of six torsions to finding the real roots of a 16th degree polynomial in one variable, based on the robotics literature on the kinematics of the equivalent rotator linkage in the most general case of oblique rotators. We provide a simple intuitive view and derivation of the polynomial for the case in which each of the three pair of torsional axes has a common point. Our method generalizes previous work on analytical loop closure in that the torsion angles need not be consecutive, and any rigid intervening segments are allowed between the free torsions. Our approach also allows for a small degree of flexibility in the bond angles and the peptide torsion angles; this substantially enlarges the space of solvable configurations as is demonstrated by an application of the method to the modeling of cyclic pentapeptides. We give further applications to two important problems. First, we show that this analytical loop closure algorithm can be efficiently combined with an existing loop-construction algorithm to sample loops longer than three residues. Second, we show that Monte Carlo minimization is made severalfold more efficient by employing the local moves generated by the loop closure algorithm, when applied to the global minimization of an eight-residue loop. Our loop closure algorithm is freely available at http://dillgroup. ucsf.edu/loop_closure/. Copyright 2004 Wiley Periodicals, Inc. J Comput Chem 25: 510-528, 2004
Efficient dynamic modeling of manipulators containing closed kinematic loops
Ferretti, Gianni; Rocco, Paolo
An approach to efficiently solve the forward dynamics problem for manipulators containing closed chains is proposed. The two main distinctive features of this approach are: the dynamics of the equivalent open loop tree structures (any closed loop can be in general modeled by imposing some additional kinematic constraints to a suitable tree structure) is computed through an efficient Newton Euler formulation; the constraint equations relative to the most commonly adopted closed chains in industrial manipulators are explicitly solved, thus, overcoming the redundancy of Lagrange's multipliers method while avoiding the inefficiency due to a numerical solution of the implicit constraint equations. The constraint equations considered for an explicit solution are those imposed by articulated gear mechanisms and planar closed chains (pantograph type structures). Articulated gear mechanisms are actually used in all industrial robots to transmit motion from actuators to links, while planar closed chains are usefully employed to increase the stiffness of the manipulators and their load capacity, as well to reduce the kinematic coupling of joint axes. The accuracy and the efficiency of the proposed approach are shown through a simulation test.
The development of computational algorithms for manipulator inverse kinematics
International Nuclear Information System (INIS)
Sasaki, Shinobu
1989-10-01
A solution technique of the inverse kinematics for multi-joint robot manipulators has been considered to be one of the most cumbersome treatment due to non-linearity properties inclusive of trigonometric functions. The most traditional approach is to use the Jacobian matrix on linearization assumptions. This iterative technique, however, is attended with numerical problems having significant influences on the solution characteristics such as initial guess dependence and singularities. Taking these facts into consideration, new approaches have been proposed from different standpoints, which are based on polynomial transformation of kinematic model, the minimization technique in mathematical programming, vector-geometrical concept, and the separation of joint variables associated with the optimization problem. In terms of computer simulations, each approach was identified to be a useful algorithm which leads to theoretically accurate solutions to complicated inverse problems. In this way, the short-term goal of our studies on manipulator inverse problem in the R and D project of remote handling technology was accomplished with success, and consequently the present report sums up the results of basic studies on this matter. (author)
Application of inverse kinematics to 1H+23Na→12C+12C
International Nuclear Information System (INIS)
Bennett, S.J.; Clarke, N.M.; Freer, M.; Fulton, B.R.; Hall, S.J.; Karban, O.; Murgatroyd, J.T.; Tungate, G.; Gyapong, G.J.; Jarvis, N.S.; Watson, D.L.; Rae, W.D.M.; Smith, A.E.; Lilley, J.S.; Woods, P.J.; Page, R.D.
1993-01-01
Some experimental techniques used in the measurement and analysis of inverse kinematic reactions are described and applied to a kinematically complete study of the 1 H( 23 Na, 12 C) 12 C reaction at an incident energy of 180 MeV. An excitation function is obtained for the energy range of 18.5 to 19.2 MeV in 24 Mg*; equivalent to proton energies from 7.1 MeV to 7.8 MeV for the 23 Na(p, 12 C) 12 C reaction. (orig.)
Special Relativity Kinematics with Anisotropic Propagation of Light and Correspondence Principle
Burde, Georgy I.
2016-12-01
The purpose of the present paper is to develop kinematics of the special relativity with an anisotropy of the one-way speed of light. As distinct from a common approach, when the issue of anisotropy of the light propagation is placed into the context of conventionality of distant simultaneity, it is supposed that an anisotropy of the one-way speed of light is due to a real space anisotropy. In that situation, some assumptions used in developing the standard special relativity kinematics are not valid so that the "anisotropic special relativity" kinematics should be developed based on the first principles, without refereeing to the relations of the standard relativity theory. In particular, using condition of invariance of the interval between two events becomes unfounded in the presence of anisotropy of space since the standard proofs drawing the interval invariance from the invariance of equation of light propagation are not valid in that situation. Instead, the invariance of the equation of light propagation (with an anisotropy of the one-way speed of light incorporated), which is a physical law, should be taken as a first principle. A number of other physical requirements, associativity, reciprocity and so on are satisfied by the requirement that the transformations between the frames form a group. Finally, the correspondence principle is to be satisfied which implies that the coordinate transformations should turn into the Galilean transformations in the limit of small velocities. The above formulation based on the invariance and group property suggests applying the Lie group theory apparatus which includes the following steps: constructing determining equations for the infinitesimal group generators using the invariance condition; solving the determining equations; specifying the solutions using the correspondence principle; defining the finite transformations by solving the Lie equations; relating the group parameter to physical parameters. The
A serial-kinematic nanopositioner for high-speed atomic force microscopy
Energy Technology Data Exchange (ETDEWEB)
Wadikhaye, Sachin P., E-mail: sachin.wadikhaye@uon.edu.au; Yong, Yuen Kuan; Reza Moheimani, S. O. [School of Electrical Engineering and Computer Science, The University of Newcastle, Callaghan, NSW (Australia)
2014-10-15
A flexure-guided serial-kinematic XYZ nanopositioner for high-speed Atomic Force Microscopy is presented in this paper. Two aspects influencing the performance of serial-kinematic nanopositioners are studied in this work. First, mass reduction by using tapered flexures is proposed to increased the natural frequency of the nanopositioner. 25% increase in the natural frequency is achieved due to reduced mass with tapered flexures. Second, a study of possible sensor positioning in a serial-kinematic nanopositioner is presented. An arrangement of sensors for exact estimation of cross-coupling is incorporated in the proposed design. A feedforward control strategy based on phaser approach is presented to mitigate the dynamics and nonlinearity in the system. Limitations in design approach and control strategy are discussed in the Conclusion.
A serial-kinematic nanopositioner for high-speed atomic force microscopy
International Nuclear Information System (INIS)
Wadikhaye, Sachin P.; Yong, Yuen Kuan; Reza Moheimani, S. O.
2014-01-01
A flexure-guided serial-kinematic XYZ nanopositioner for high-speed Atomic Force Microscopy is presented in this paper. Two aspects influencing the performance of serial-kinematic nanopositioners are studied in this work. First, mass reduction by using tapered flexures is proposed to increased the natural frequency of the nanopositioner. 25% increase in the natural frequency is achieved due to reduced mass with tapered flexures. Second, a study of possible sensor positioning in a serial-kinematic nanopositioner is presented. An arrangement of sensors for exact estimation of cross-coupling is incorporated in the proposed design. A feedforward control strategy based on phaser approach is presented to mitigate the dynamics and nonlinearity in the system. Limitations in design approach and control strategy are discussed in the Conclusion
Kinematics/statics analysis of a novel serial-parallel robotic arm with hand
International Nuclear Information System (INIS)
Lu, Yi; Dai, Zhuohong; Ye, Nijia; Wang, Peng
2015-01-01
A robotic arm with fingered hand generally has multi-functions to complete various complicated operations. A novel serial-parallel robotic arm with a hand is proposed and its kinematics and statics are studied systematically. A 3D prototype of the serial-parallel robotic arm with a hand is constructed and analyzed by simulation. The serial-parallel robotic arm with a hand is composed of an upper 3RPS parallel manipulator, a lower 3SPR parallel manipulator and a hand with three finger mechanisms. Its kinematics formulae for solving the displacement, velocity, acceleration of are derived. Its statics formula for solving the active/constrained forces is derived. Its reachable workspace and orientation workspace are constructed and analyzed. Finally, an analytic example is given for solving the kinematics and statics of the serial-parallel robotic arm with a hand and the analytic solutions are verified by a simulation mechanism.
Kinematics/statics analysis of a novel serial-parallel robotic arm with hand
Energy Technology Data Exchange (ETDEWEB)
Lu, Yi; Dai, Zhuohong; Ye, Nijia; Wang, Peng [Yanshan University, Hebei (China)
2015-10-15
A robotic arm with fingered hand generally has multi-functions to complete various complicated operations. A novel serial-parallel robotic arm with a hand is proposed and its kinematics and statics are studied systematically. A 3D prototype of the serial-parallel robotic arm with a hand is constructed and analyzed by simulation. The serial-parallel robotic arm with a hand is composed of an upper 3RPS parallel manipulator, a lower 3SPR parallel manipulator and a hand with three finger mechanisms. Its kinematics formulae for solving the displacement, velocity, acceleration of are derived. Its statics formula for solving the active/constrained forces is derived. Its reachable workspace and orientation workspace are constructed and analyzed. Finally, an analytic example is given for solving the kinematics and statics of the serial-parallel robotic arm with a hand and the analytic solutions are verified by a simulation mechanism.
Kinematics and Application of a Hybrid Industrial Robot – Delta-RST
Directory of Open Access Journals (Sweden)
Ning Liu
2014-04-01
Full Text Available Serial robots and parallel robots have their own pros and cons. While hybrid robots consisting of both of them are possible and expected to retain their merits and minimize the disadvantages. The Delta-RST presented here is such a hybrid robot built up by integrating a 3-DoFs traditional Delta parallel structure and a 3-DoFs RST robotic wrist. In this paper, we focus on its kinematics analysis and its applications in industry. Firstly, the robotic system of the Delta-RST will be described briefly. Then the complete and systemic kinematics of this kind of robot will be presented in detail, followed by simulations and applications to demonstrate the correctness of the analysis, as well as the effectiveness of the developed robotic system. The closed-form kinematic analysis results are universal for similar hybrid robots constructing with the Delta parallel mechanism and serial chains.
LCDD: A complete detector description package
Energy Technology Data Exchange (ETDEWEB)
Graf, Norman, E-mail: Norman.Graf@slac.stanford.edu; McCormick, Jeremy, E-mail: Jeremy.McCormick@slac.stanford.edu
2015-07-21
LCDD has been developed to provide a complete detector description package for physics detector simulations using Geant4. All aspects of the experimental setup, such as the physical geometry, magnetic fields, and sensitive detector readouts, as well as control of the physics simulations, such as physics processes, interaction models and kinematic limits, are defined at runtime. Users are therefore able to concentrate on the design of the detector system without having to master the intricacies of C++ programming or being proficient in setting up their own Geant4 application. We describe both the XML-based file format and the processors which communicate this information to the underlying Geant4 simulation toolkit.
Directory of Open Access Journals (Sweden)
Pradeepkiran JA
2015-03-01
Full Text Available Jangampalli Adi Pradeepkiran,1* Sri Bhashyam Sainath,2,3* Konidala Kranthi Kumar,1 Matcha Bhaskar1 1Division of Animal Biotechnology, Department of Zoology, Sri Venkateswara University, Tirupati, India; 2CIMAR/CIIMAR, Centro Interdisciplinar de Investigação Marinha e Ambiental, Universidade do Porto, Rua dos Bragas, Porto, Portugal, 3Department of Biotechnology, Vikrama Simhapuri University, Nellore, Andhra Pradesh, India *These authors contributed equally to this work Abstract: Brucella melitensis 16M is a Gram-negative coccobacillus that infects both animals and humans. It causes a disease known as brucellosis, which is characterized by acute febrile illness in humans and causes abortions in livestock. To prevent and control brucellosis, identification of putative drug targets is crucial. The present study aimed to identify drug targets in B. melitensis 16M by using a subtractive genomic approach. We used available database repositories (Database of Essential Genes, Kyoto Encyclopedia of Genes and Genomes Automatic Annotation Server, and Kyoto Encyclopedia of Genes and Genomes to identify putative genes that are nonhomologous to humans and essential for pathogen B. melitensis 16M. The results revealed that among 3 Mb genome size of pathogen, 53 putative characterized and 13 uncharacterized hypothetical genes were identified; further, from Basic Local Alignment Search Tool protein analysis, one hypothetical protein showed a close resemblance (50% to Silicibacter pomeroyi DUF1285 family protein (2RE3. A further homology model of the target was constructed using MODELLER 9.12 and optimized through variable target function method by molecular dynamics optimization with simulating annealing. The stereochemical quality of the restrained model was evaluated by PROCHECK, VERIFY-3D, ERRAT, and WHATIF servers. Furthermore, structure-based virtual screening was carried out against the predicted active site of the respective protein using the
Completely continuous and weakly completely continuous abstract ...
Indian Academy of Sciences (India)
An algebra A is called right completely continuous (right weakly completely continuous) ... Moreover, some applications of these results in group algebras are .... A linear subspace S(G) of L1(G) is said to be a Segal algebra, if it satisfies the.
Fu, Zhongtao; Yang, Wenyu; Yang, Zhen
2013-08-01
In this paper, we present an efficient method based on geometric algebra for computing the solutions to the inverse kinematics problem (IKP) of the 6R robot manipulators with offset wrist. Due to the fact that there exist some difficulties to solve the inverse kinematics problem when the kinematics equations are complex, highly nonlinear, coupled and multiple solutions in terms of these robot manipulators stated mathematically, we apply the theory of Geometric Algebra to the kinematic modeling of 6R robot manipulators simply and generate closed-form kinematics equations, reformulate the problem as a generalized eigenvalue problem with symbolic elimination technique, and then yield 16 solutions. Finally, a spray painting robot, which conforms to the type of robot manipulators, is used as an example of implementation for the effectiveness and real-time of this method. The experimental results show that this method has a large advantage over the classical methods on geometric intuition, computation and real-time, and can be directly extended to all serial robot manipulators and completely automatized, which provides a new tool on the analysis and application of general robot manipulators.
Kim, Kwang S; Max, Ludo
2014-01-01
To estimate the contributions of feedforward vs. feedback control systems in speech articulation, we analyzed the correspondence between initial and final kinematics in unperturbed tongue and jaw movements for consonant-vowel (CV) and vowel-consonant (VC) syllables. If movement extents and endpoints are highly predictable from early kinematic information, then the movements were most likely completed without substantial online corrections (feedforward control); if the correspondence between early kinematics and final amplitude or position is low, online adjustments may have altered the planned trajectory (feedback control) (Messier and Kalaska, 1999). Five adult speakers produced CV and VC syllables with high, mid, or low vowels while movements of the tongue and jaw were tracked electromagnetically. The correspondence between the kinematic parameters peak acceleration or peak velocity and movement extent as well as between the articulators' spatial coordinates at those kinematic landmarks and movement endpoint was examined both for movements across different target distances (i.e., across vowel height) and within target distances (i.e., within vowel height). Taken together, results suggest that jaw and tongue movements for these CV and VC syllables are mostly under feedforward control but with feedback-based contributions. One type of feedback-driven compensatory adjustment appears to regulate movement duration based on variation in peak acceleration. Results from a statistical model based on multiple regression are presented to illustrate how the relative strength of these feedback contributions can be estimated.
Locomotion mode identification for lower limbs using neuromuscular and joint kinematic signals.
Afzal, Taimoor; White, Gannon; Wright, Andrew B; Iqbal, Kamran
2014-01-01
Recent development in lower limb prosthetics has seen an emergence of powered prosthesis that have the capability to operate in different locomotion modes. However, these devices cannot transition seamlessly between modes such as level walking, stair ascent and descent and up slope and down slope walking. They require some form of user input that defines the human intent. The purpose of this study was to develop a locomotion mode detection system and evaluate its performance for different sensor configurations and to study the effect of locomotion mode detection with and without electromyography (EMG) signals while using kinematic data from hip joint of non-dominant/impaired limb and an accelerometer. Data was collected from four able bodied subjects that completed two circuits that contained standing, level-walking, ramp ascent and descent and stair ascent and descent. By using only the kinematic data from the hip joint and accelerometer data the system was able to identify the transitions, stance and swing phases with similar performance as compared to using only EMG and accelerometer data. However, significant improvement in classification error was observed when EMG, kinematic and accelerometer data were used together to identify the locomotion modes. The higher recognition rates when using the kinematic data along with EMG shows that the joint kinematics could be beneficial in intent recognition systems of locomotion modes.
The Glasgow-Maastricht foot model, evaluation of a 26 segment kinematic model of the foot.
Oosterwaal, Michiel; Carbes, Sylvain; Telfer, Scott; Woodburn, James; Tørholm, Søren; Al-Munajjed, Amir A; van Rhijn, Lodewijk; Meijer, Kenneth
2016-01-01
Accurately measuring of intrinsic foot kinematics using skin mounted markers is difficult, limited in part by the physical dimensions of the foot. Existing kinematic foot models solve this problem by combining multiple bones into idealized rigid segments. This study presents a novel foot model that allows the motion of the 26 bones to be individually estimated via a combination of partial joint constraints and coupling the motion of separate joints using kinematic rhythms. Segmented CT data from one healthy subject was used to create a template Glasgow-Maastricht foot model (GM-model). Following this, the template was scaled to produce subject-specific models for five additional healthy participants using a surface scan of the foot and ankle. Forty-three skin mounted markers, mainly positioned around the foot and ankle, were used to capture the stance phase of the right foot of the six healthy participants during walking. The GM-model was then applied to calculate the intrinsic foot kinematics. Distinct motion patterns where found for all joints. The variability in outcome depended on the location of the joint, with reasonable results for sagittal plane motions and poor results for transverse plane motions. The results of the GM-model were comparable with existing literature, including bone pin studies, with respect to the range of motion, motion pattern and timing of the motion in the studied joints. This novel model is the most complete kinematic model to date. Further evaluation of the model is warranted.
The coupling between gaze behavior and opponent kinematics during anticipation of badminton shots.
Alder, David; Ford, Paul R; Causer, Joe; Williams, A Mark
2014-10-01
We examined links between the kinematics of an opponent's actions and the visual search behaviors of badminton players responding to those actions. A kinematic analysis of international standard badminton players (n = 4) was undertaken as they completed a range of serves. Video of these players serving was used to create a life-size temporal occlusion test to measure anticipation responses. Expert (n = 8) and novice (n = 8) badminton players anticipated serve location while wearing an eye movement registration system. During the execution phase of the opponent's movement, the kinematic analysis showed between-shot differences in distance traveled and peak acceleration at the shoulder, elbow, wrist and racket. Experts were more accurate at responding to the serves compared to novice players. Expert players fixated on the kinematic locations that were most discriminating between serve types more frequently and for a longer duration compared to novice players. Moreover, players were generally more accurate at responding to serves when they fixated vision upon the discriminating arm and racket kinematics. Findings extend previous literature by providing empirical evidence that expert athletes' visual search behaviors and anticipatory responses are inextricably linked to the opponent action being observed. Copyright © 2014 Elsevier B.V. All rights reserved.
Analysis of the Kinematics and Compliance of a Passive Suspension System using Adams Car
Directory of Open Access Journals (Sweden)
N. Ikhsan
2015-06-01
Full Text Available The experimental approach is usually used as the way to develop or modify a suspension system to obtain maximum ride comfort and handling characteristics. This approach is a time-consuming process, costly, and may not guarantee the optimum solution. Thus, to avoid this, a virtual vehicle suspension system is necessary. In this paper, a half-car body of an actual suspension system based on the PROTON WRM 44 P0-34 was modeled and simulated. In total, 10 components comprised each front McPherson strut and rear multilink suspension consisting of different joint types and a number of degrees of freedom. The model was developed by defining the location of the hard point or coordinate before specifying the component characteristics and joint type. The completed suspension model was simulated using the vertical parallel and vertical oppose movement test, the same tests conducted with the actual experimental parameter setup. The kinematics and compliance (K&C of the simulation is compared with the experimental data to verify the suspension model. The outcome from the simulation showed a verified virtual suspension system model with a very minimum percentage of error and different characteristics of the static performance of the suspension system when subjected to the test as explained further in the paper.
Mayot, Nicolas; D'Ortenzio, Fabrizio; Taillandier, Vincent; Prieur, Louis; de Fommervault, Orens Pasqueron; Claustre, Hervé; Bosse, Anthony; Testor, Pierre; Conan, Pascal
2017-12-01
The North Western Mediterranean Sea exhibits recurrent and significant autumnal and spring phytoplankton blooms. The existence of these two blooms coincides with typical temperate dynamics. To determine the potential control of physical and biogeochemical factors on these phytoplankton blooms, data from a multiplatform approach (combining ships, Argo and BGC-Argo floats, and bio-optical gliders) were analyzed in association with satellite observations in 2012-2013. The satellite framework allowed a simultaneous analysis over the whole annual cycle of in situ observations of mixed layer depth, photosynthetical available radiation, particle backscattering, nutrients (nitrate and silicate), and chlorophyll-a concentrations. During the year 2012-2013, satellite ocean color observations, confirmed by in situ data, have revealed the existence of two areas (or bioregions) with comparable autumnal blooms but contrasting spring blooms. In both bioregions, the ratio of the euphotic zone (defined as the isolume 0.415 mol photons m-2 d-1, Z0.415) and the MLD identified the initiation of the autumnal bloom, as well as the maximal annual increase in [Chl-a] in spring. In fact, the autumnal phytoplankton bloom might be initiated by mixing of the summer shallowing deep chlorophyll maximum, while the spring restratification (when Z0.415/MLD ratio became >1) might induce surface phytoplankton production that largely overcomes the losses. Finally, winter deep convection events that took place in one of the bioregions induced higher net accumulation rate of phytoplankton in spring associated with a diatom-dominated phytoplankton community principally. We suggest that very deep winter MLD lead to an increase in surface silicates availability, which favored the development of diatoms.
Circadian rhythms in handwriting kinematics and legibility
Jasper, Isabelle; Gordijn, Marijke; Haeussler, Andreas; Hermsdoerfer, Joachim
The aim of the present study was to analyze the circadian rhythmicity in handwriting kinematics and legibility and to compare the performance between Dutch and German writers. Two subject groups underwent a 40 h sleep deprivation protocol under Constant Routine conditions either in Groningen (10
Assessment of multi class kinematic wave models
Van Wageningen-Kessels, F.L.M.; Van Lint, J.W.C.; Vuik, C.; Hoogendoorn, S.P.
2012-01-01
In the last decade many multi class kinematic wave (MCKW) traffic ow models have been proposed. MCKW models introduce heterogeneity among vehicles and drivers. For example, they take into account differences in (maximum) velocities and driving style. Nevertheless, the models are macroscopic and the
About the kinematics of spinning particles
International Nuclear Information System (INIS)
Salesi, G.; Recami, E.; Istituto Nazionale di Fisica Nucleare, Milan; Campinas State Univ., SP
1995-06-01
Inserting the correct Lorentz factor into the definition of the 4-velocity vμ for spinning particles entails new kinematical properties for v 2 . The well-know constraint (identically true for scalar particles, but entering also the Dirac theory, and assumed a priori in all spinning particle models) P μ v μ =m is here derived in a self-consistent way
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.
Dynamic characteristics of mirrors' kinematic mount
International Nuclear Information System (INIS)
Wu Wenkai; Du Qiang; Li Jingze; Chen Gang; Chen Xiaojuan; Xu Yuanli
2002-01-01
Applying exact constrain design principles, kinematic mount for precision positioning large aperture mirrors is designed; theoretical method is introduced to analyze its dynamic characteristics and the result of the experiment for mirrors, stability; accordingly, the methods to improve design are put forward
Compton's Kinematics and Einstein - Ehrenfest's radiation theory
International Nuclear Information System (INIS)
Barranco, A.V.; Franca, H.M.
1988-09-01
The Compton Kinematic relations are obtained from entirely classical arguments, that is, without the corpuscular concept of the photon. The calculations are nonrelativistic and result from Einstein and Ehrenfest's radiation theory modified in order to introduce the effects of the classical zero-point fileds characteristic of Stochastic Electrodynamics. (author) [pt
The kinematic algebras from the scattering equations
International Nuclear Information System (INIS)
Monteiro, Ricardo; O’Connell, Donal
2014-01-01
We study kinematic algebras associated to the recently proposed scattering equations, which arise in the description of the scattering of massless particles. In particular, we describe the role that these algebras play in the BCJ duality between colour and kinematics in gauge theory, and its relation to gravity. We find that the scattering equations are a consistency condition for a self-dual-type vertex which is associated to each solution of those equations. We also identify an extension of the anti-self-dual vertex, such that the two vertices are not conjugate in general. Both vertices correspond to the structure constants of Lie algebras. We give a prescription for the use of the generators of these Lie algebras in trivalent graphs that leads to a natural set of BCJ numerators. In particular, we write BCJ numerators for each contribution to the amplitude associated to a solution of the scattering equations. This leads to a decomposition of the determinant of a certain kinematic matrix, which appears naturally in the amplitudes, in terms of trivalent graphs. We also present the kinematic analogues of colour traces, according to these algebras, and the associated decomposition of that determinant
Kinematic structures in galactic disc simulations
Roca-F� brega, S.; Romero-Gómez, M.; Figueras, F.; Antoja Castelltort, Teresa; Valenzuela, O.; Henney, W.J.; Torres-Peimbert, S.
2011-01-01
N-body and test particle simulations have been used to characterize the stellar streams in the galactic discs of Milky Way type galaxies. Tools such as the second and third order moments of the velocity ellipsoid and clustering methods -EM-WEKA and FoF- allow characterizing these kinematic
Compound nucleus studies withy reverse kinematics
International Nuclear Information System (INIS)
Moretto, L.G.
1985-06-01
Reverse kinematics reactions are used to demonstrate the compound nucleus origin of intermediate mass particles at low energies and the extension of the same mechanism at higher energies. No evidence has appeared in our energy range for liquid-vapor equilibrium or cold fragmentation mechanisms. 11 refs., 12 figs
The kinematics of machinery outlines of a theory of machines
Reuleaux, Franz
2012-01-01
A classic on the kinematics of machinery, this volume was written by the Father of Kinematics. Reuleaux writes with authority and precision, developing the subject from its fundamentals. 450 figures. 1876 edition.
Linear Dynamics and Control of a Kinematic Wobble–Yoke Stirling Engine
Alvarez–Aguirre, Alejandro; García–Canseco, Eloísa; Scherpen, Jacquelien M.A.
2010-01-01
This paper presents a control systems approach for the modeling and control of a kinematic wobble–yoke Stirling engine. The linear dynamics of the Stirling engine are analyzed based on the dynamical model of the system, developed by these authors. We show that the Stirling engine can be viewed as a
Hand-Eye Calibration and Inverse Kinematics of Robot Arm using Neural Network
DEFF Research Database (Denmark)
Wu, Haiyan; Tizzano, Walter; Andersen, Thomas Timm
2013-01-01
Traditional technologies for solving hand-eye calibration and inverse kinematics are cumbersome and time consuming due to the high nonlinearity in the models. An alternative to the traditional approaches is the articial neural network inspired by the remarkable abilities of the animals in dierent...
DEFF Research Database (Denmark)
Wu, Guanglei
2012-01-01
parameters of the spherical parallel manipulator. The proposed approach is illustrated with the optimum design of a special spherical parallel manipulator with unlimited rolling motion. The corresponding optimization problem aims to maximize the kinematic and dynamic dexterities over its regular shaped...
Hydrodynamic interactions in metachronal paddling: effects of varying stroke kinematics
Samaee, Milad; Kasoju, Vishwa; Lai, Hong Kuan; Santhanakrishnan, Arvind
2017-11-01
Crustaceans such as shrimp and krill use a drag-based technique for propulsion, in which multiple pairs of limbs are paddled rhythmically from the tail to the head. Each limb is phase-shifted in time relative to its neighbor. Most studies of this type of metachronal swimming have focused on the jet formed in the animal's wake. However, synergistic hydrodynamic interactions between adjacent limbs in metachrony have received minimal attention. We used a dynamically scaled robotic model to experimentally investigate how variations in stroke kinematics impact inter-paddle hydrodynamic interactions and thrust generation. Physical models of limbs were fitted to the robot and paddled with two different motion profiles (MPs)-1) MP1: metachronal power stroke (PS) and metachronal recovery stroke (RS); and 2) MP2: metachronal PS and synchronous RS. Stroke frequency and amplitude were maintained constant across both MPs. Our results show that MP2 produced faster jets in the thrust-generating direction as compared to MP1. The necessity for a pause in MP2 after completion of PS by the paddles leading the motion, prior to executing the synchronous RS, aided in further downstream flow propagation. The effect of using asymmetric stroke kinematics on thrust generated will be discussed.
Kinematics of self-initiated and reactive karate punches.
Martinez de Quel, Oscar; Bennett, Simon J
2014-03-01
This study investigated whether within-task expertise affects the reported asymmetry in execution time exhibited in reactive and self-initiated movements. Karate practitioners and no-karate practitioners were compared performing a reverse punch in reaction to an external stimulus or following the intention to produce a response (self-initiated). The task was completed following the presentation of a specific (i.e., life-size image of opponent) or general stimulus and in the presence of click trains or white noise. Kinematic analyses indicated reactive movement had shorter time to peak velocity and movement time, as well as greater accuracy than self-initiated movement. These differences were independent of participant skill level although peak velocity was higher in the karate practice group than in the no-karate practice group. Reaction time (RT) of skilled participants was facilitated by a specific stimulus. There was no effect on RT or kinematic variables of the different type of auditory cues. The results of this study indicate that asymmetry in execution time of reactive and self-initiated movement holds irrespective of within-task expertise and stimulus specificity. This could have implications for training of sports and/or relearning of tasks that require rapid and accurate movements to intercept/contact a target.
The Maiden Voyage of a Kinematics Robot
Greenwolfe, Matthew L.
2015-04-01
In a Montessori preschool classroom, students work independently on tasks that absorb their attention in part because the apparatus are carefully designed to make mistakes directly observable and limit exploration to one aspect or dimension. Control of error inheres in the apparatus itself, so that teacher intervention can be minimal.1 Inspired by this example, I created a robotic kinematics apparatus that also shapes the inquiry experience. Students program the robot by drawing kinematic graphs on a computer and then observe its motion. Exploration is at once limited to constant velocity and constant acceleration motion, yet open to complex multi-segment examples difficult to achieve in the lab in other ways. The robot precisely and reliably produces the motion described by the students' graphs, so that the apparatus itself provides immediate visual feedback about whether their understanding is correct as they are free to explore within the hard-coded limits. In particular, the kinematic robot enables hands-on study of multi-segment constant velocity situations, which lays a far stronger foundation for the study of accelerated motion. When correction is anonymous—just between one group of lab partners and their robot—students using the kinematic robot tend to flow right back to work because they view the correction as an integral part of the inquiry learning process. By contrast, when correction occurs by the teacher and/or in public (e.g., returning a graded assignment or pointing out student misconceptions during class), students all too often treat the event as the endpoint to inquiry. Furthermore, quantitative evidence shows a large gain from pre-test to post-test scores using the Test of Understanding Graphs in Kinematics (TUG-K).
Kinematic Optimization in Birds, Bats and Ornithopters
Reichert, Todd
Birds and bats employ a variety of advanced wing motions in the efficient production of thrust. The purpose of this thesis is to quantify the benefit of these advanced wing motions, determine the optimal theoretical wing kinematics for a given flight condition, and to develop a methodology for applying the results in the optimal design of flapping-wing aircraft (ornithopters). To this end, a medium-fidelity, combined aero-structural model has been developed that is capable of simulating the advanced kinematics seen in bird flight, as well as the highly non-linear structural deformations typical of high-aspect ratio wings. Five unique methods of thrust production observed in natural species have been isolated, quantified and thoroughly investigated for their dependence on Reynolds number, airfoil selection, frequency, amplitude and relative phasing. A gradient-based optimization algorithm has been employed to determined the wing kinematics that result in the minimum required power for a generalized aircraft or species in any given flight condition. In addition to the theoretical work, with the help of an extended team, the methodology was applied to the design and construction of the world's first successful human-powered ornithopter. The Snowbird Human-Powered Ornithopter, is used as an example aircraft to show how additional design constraints can pose limits on the optimal kinematics. The results show significant trends that give insight into the kinematic operation of natural species. The general result is that additional complexity, whether it be larger twisting deformations or advanced wing-folding mechanisms, allows for the possibility of more efficient flight. At its theoretical optimum, the efficiency of flapping-wings exceeds that of current rotors and propellers, although these efficiencies are quite difficult to achieve in practice.
Obstacle avoidance for kinematically redundant robots using an adaptive fuzzy logic algorithm
International Nuclear Information System (INIS)
Beheshti, M.T.H.; Tehrani, A.K.
1999-05-01
In this paper the Adaptive Fuzzy Logic approach for solving the inverse kinematics of redundant robots in an environment with obstacles is presented. The obstacles are modeled as convex bodies. A fuzzy rule base that is updated via an adaptive law is used to solve the inverse kinematic problem. Additional rules have been introduced to take care of the obstacles avoidance problem. The proposed method has advantages such as high accuracy, simplicity of computations and generality for all redundant robots. Simulation results illustrate much better tracking performance than the dynamic base solution for a given trajectory in cartesian space, while guaranteeing a collision-free trajectory and observation of a mechanical joint limit
SHORT LITERATURE REVIEW ON THE KINEMATICS AND DYNAMICS OF THE INDUSTRIAL ROBOTS
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RATIU Mariana
2016-09-01
Full Text Available This paper is the result of a short literature review on the kinematics and dynamics of the industrial robots, a first study conducted in a wider research that will be further developed in the field of the trajectory generating mechanisms of the industrial robots. After an introduction about the importance of the robots in the industrial processes and about the necessity to streamline and optimize the robot`s motion, are presented some recent approaches related to the kinematic and dynamic analysis, the optimization of the robot`s motion, and modeling of the trajectory generating mechanism of the industrial robots.
Validation and Structural Analysis of the Kinematics Concept Test
Lichtenberger, A.; Wagner, C.; Hofer, S. I.; Stem, E.; Vaterlaus, A.
2017-01-01
The kinematics concept test (KCT) is a multiple-choice test designed to evaluate students' conceptual understanding of kinematics at the high school level. The test comprises 49 multiple-choice items about velocity and acceleration, which are based on seven kinematic concepts and which make use of three different representations. In the first part…
Improved Inverse Kinematics Algorithm Using Screw Theory for a Six-DOF Robot Manipulator
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Qingcheng Chen
2015-10-01
Full Text Available Based on screw theory, a novel improved inverse-kinematics approach for a type of six-DOF serial robot, “Qianjiang I”, is proposed in this paper. The common kinematics model of the robot is based on the Denavit-Hartenberg (D-H notation method while its inverse kinematics has inefficient calculation and complicated solution, which cannot meet the demands of online real-time application. To solve this problem, this paper presents a new method to improve the efficiency of the inverse kinematics solution by introducing the screw theory. Unlike other methods, the proposed method only establishes two coordinates, namely the inertial coordinate and the tool coordinate; the screw motion of each link is carried out based on the inertial coordinate, ensuring definite geometric meaning. Furthermore, we adopt a new inverse kinematics algorithm, developing an improved sub-problem method along with Paden-Kahan sub-problems. This method has high efficiency and can be applied in real-time industrial operation. It is convenient to select the desired solutions directly from among multiple solutions by examining clear geometric meaning. Finally, the effectiveness and reliability performance of the new algorithm are analysed and verified in comparative experiments carried out on the six-DOF serial robot “Qianjiang I”.
Comparison of step-by-step kinematics in repeated 30m sprints in female soccer players.
van den Tillaar, Roland
2018-01-04
The aim of this study was to compare kinematics in repeated 30m sprints in female soccer players. Seventeen subjects performed seven 30m sprints every 30s in one session. Kinematics were measured with an infrared contact mat and laser gun, and running times with an electronic timing device. The main findings were that sprint times increased in the repeated sprint ability test. The main changes in kinematics during the repeated sprint ability test were increased contact time and decreased step frequency, while no change in step length was observed. The step velocity increased in almost each step until the 14, which occurred around 22m. After this, the velocity was stable until the last step, when it decreased. This increase in step velocity was mainly caused by the increased step length and decreased contact times. It was concluded that the fatigue induced in repeated 30m sprints in female soccer players resulted in decreased step frequency and increased contact time. Employing this approach in combination with a laser gun and infrared mat for 30m makes it very easy to analyse running kinematics in repeated sprints in training. This extra information gives the athlete, coach and sports scientist the opportunity to give more detailed feedback and help to target these changes in kinematics better to enhance repeated sprint performance.
Warner, Martin B; Whatling, Gemma; Worsley, Peter R; Mottram, Sarah; Chappell, Paul H; Holt, Catherine A; Stokes, Maria J
2015-01-01
The aim of this study was to assess the potential of employing a classification tool to objectively classify participants with clinically assessed movement faults (MFs) of the scapula. Six participants with a history of shoulder pain with MFs of the scapula and 12 healthy participants with no movement faults (NMFs) performed a flexion movement control test of the scapula, while scapular kinematic data were collected. Principal component scores and discrete kinematic variables were used as input into a classifier. Five out of the six participants with a history of pain were successfully classified as having scapular MFs with an accuracy of 72%. Variables related to the upward rotation of the scapula had the most influence on the classification. The results of the study demonstrate the potential of adopting a multivariate approach in objective classification of participants with altered scapular kinematics in pathological groups.
Portillo, Augusto L; Poling, Mikaela I; McCormick, Rodger J
2016-07-01
The authors describe the surgical approach, findings, and 8-year follow-up in a 29-year-old woman, with severe Freeman-Sheldon syndrome, presenting with congenital blepharophimosis of both upper eyelids resulting in near-complete functional visual obstruction. To avoid possible Freeman-Sheldon syndrome-associated complications of malignant hyperthermia, difficult vascular access, and challenging endotracheal intubation, the surgery was completed under local anesthesia without sedation, and anatomical and functional correction was immediate and remained stable at 8-year follow-up. Unlike many congenital craniofacial syndromes, which frequently involve life-long impairments, important implications exist for plastic surgeons to facilitate opportunities for patients to overcome functional limitations.
Finite Element Method-Based Kinematics and Closed-Loop Control of Soft, Continuum Manipulators.
Bieze, Thor Morales; Largilliere, Frederick; Kruszewski, Alexandre; Zhang, Zhongkai; Merzouki, Rochdi; Duriez, Christian
2018-06-01
This article presents a modeling methodology and experimental validation for soft manipulators to obtain forward kinematic model (FKM) and inverse kinematic model (IKM) under quasi-static conditions (in the literature, these manipulators are usually classified as continuum robots. However, their main characteristic of interest in this article is that they create motion by deformation, as opposed to the classical use of articulations). It offers a way to obtain the kinematic characteristics of this type of soft robots that is suitable for offline path planning and position control. The modeling methodology presented relies on continuum mechanics, which does not provide analytic solutions in the general case. Our approach proposes a real-time numerical integration strategy based on finite element method with a numerical optimization based on Lagrange multipliers to obtain FKM and IKM. To reduce the dimension of the problem, at each step, a projection of the model to the constraint space (gathering actuators, sensors, and end-effector) is performed to obtain the smallest number possible of mathematical equations to be solved. This methodology is applied to obtain the kinematics of two different manipulators with complex structural geometry. An experimental comparison is also performed in one of the robots, between two other geometric approaches and the approach that is showcased in this article. A closed-loop controller based on a state estimator is proposed. The controller is experimentally validated and its robustness is evaluated using Lypunov stability method.
Directory of Open Access Journals (Sweden)
Knopp Michael V
2007-12-01
Full Text Available Abstract Background 18F-fluorodeoxyglucose (18F-FDG positron emission tomography/computed tomography (PET/CT has become an established method for detecting hypermetabolic sites of known and occult disease and is widely used in oncology surgical planning. Intraoperatively, it is often difficult to localize tumors and verify complete resection of tumors that have been previously detected on diagnostic PET/CT at the time of the original evaluation of the cancer patient. Therefore, we propose an innovative approach for intraoperative tumor localization and verification of complete tumor resection utilizing 18F-FDG for perioperative PET/CT imaging and intraoperative gamma probe detection. Methods Two breast cancer patients were evaluated. 18F-FDG was administered and PET/CT was acquired immediately prior to surgery. Intraoperatively, tumors were localized and resected with the assistance of a handheld gamma probe. Resected tumors were scanned with specimen PET/CT prior to pathologic processing. Shortly after the surgical procedure, patients were re-imaged with PET/CT utilizing the same preoperatively administered 18F-FDG dose. Results One patient had primary carcinoma of breast and a metastatic axillary lymph node. The second patient had a solitary metastatic liver lesion. In both cases, preoperative PET/CT verified these findings and demonstrated no additional suspicious hypermetabolic lesions. Furthermore, intraoperative gamma probe detection, specimen PET/CT, and postoperative PET/CT verified complete resection of the hypermetabolic lesions. Conclusion Immediate preoperative and postoperative PET/CT imaging, utilizing the same 18F-FDG injection dose, is feasible and image quality is acceptable. Such perioperative PET/CT imaging, along with intraoperative gamma probe detection and specimen PET/CT, can be used to verify complete tumor resection. This innovative approach demonstrates promise for assisting the oncologic surgeon in localizing and
Kinematics of a Hybrid Manipulator by Means of Screw Theory
International Nuclear Information System (INIS)
Gallardo-Alvarado, J
2005-01-01
In this work the kinematics of a hybrid manipulator, namely a fully parallel-serial manipulator, with a particular topology is approached by means of the theory of screws. Given the length of the six independent limbs, the forward position analysis of the mechanism under study, indeed the computation of the resulting pose, position and orientation, of the end-platform with respect to the fixed platform, is carried out in closed-form solution. Therefore conveniently this initial analysis avoids the use of a numerical technique such as the Newton-Raphson method. Writing in screw form the reduced acceleration state of the translational platform, with respect to the fixed platform, a simple expression for the computation of the acceleration of the translational platform is derived by taking advantage of the properties of reciprocal screws, via the Klein form, a bilinear symmetric form of the Lie algebra e(3). Following a similar procedure, a simple expression for the computation of the angular acceleration of the end-platform, with respect to the translational platform, is easily derived. Naturally, as an intermediate step, this contribution also provides the forward and inverse velocity analyses of the chosen parallel-serial manipulator. Finally, in order to prove the versatility of the expressions obtained via screw theory for solving the kinematics, up to the acceleration analysis, of the proposed spatial mechanism, a numerical example is solved with the help of commercial computer codes
Classical kinematic model for direct reactions of oriented reagents
International Nuclear Information System (INIS)
Schechter, I.; Prisant, M.G.; Levine, R.D.
1987-01-01
A simple kinematic model based on the concept of an orientation-dependent critical configuration for reaction is introduced and applied. The model serves two complementary purposes. In the predictive mode the model provides an easily implemented procedure for computing the reactivity of oriented reagents (including those actually amenable to measure) from a given potential energy surface. The predictions of the model are compared against classical trajectory results for the H + D 2 reaction. By use of realistic potential energy surfaces the model is applied to the Li + HF and O + HCl reactions where the HX molecules are pumped by a polarized laser. A given classical trajectory is deemed reactive or not according to whether it can surmount the barrier at that particular orientation. The essential difference with the model of Levine and Bernstein is that the averaging over initial conditions is performed by using a Monte Carlo integration. One can therefore use the correct orientation-dependent shape (and not only height) of the barrier to reaction and, furthermore, use oriented or aligned reagents. Since the only numerical step is a Monte Carlo sampling of initial conditions, very many trajectories can be run. This suffices to determine the reaction cross section for different initial conditions. To probe the products, they have employed the kinematic approach of Elsum and Gordon. The result is a model where, under varying initial conditions, examining final-state distributions or screening different potential energy surfaces can be efficiently carried out
Energy Technology Data Exchange (ETDEWEB)
Airapetian, A. [Giessen Univ. (Germany). Physikalisches Inst.; Michigan Univ., Ann Arbor, MI (United States). Randall Lab. of Physics; Akopov, N. [Yerevan Physics Inst. (Armenia); Akopov, Z. [DESY, Hamburg (DE)] (and others)
2012-06-15
The beam-helicity asymmetry in exclusive electroproduction of real photons by the longitudinally polarized HERA positron beam scattering off an unpolarized hydrogen target is measured at HERMES. The asymmetry arises from deeply virtual Compton scattering and its interference with the Bethe-Heitler process. Azimuthal amplitudes of the beam-helicity asymmetry are extracted from a data sample consisting of ep{yields}ep{gamma} events with detection of all particles in the final state including the recoiling proton. The installation of a recoil detector, while reducing the acceptance of the experiment, allows the elimination of resonant background that was estimated to contribute an average of about 12% to the signal in previous HERMES publications. The removal of the resonant background from the present data sample is shown to increase the magnitude of the leading asymmetry amplitude by 0.054{+-}0.016 to -0.328{+-}0.027(stat.){+-}0.045(syst.).
International Nuclear Information System (INIS)
Airapetian, A.; Akopov, Z.
2012-06-01
The beam-helicity asymmetry in exclusive electroproduction of real photons by the longitudinally polarized HERA positron beam scattering off an unpolarized hydrogen target is measured at HERMES. The asymmetry arises from deeply virtual Compton scattering and its interference with the Bethe-Heitler process. Azimuthal amplitudes of the beam-helicity asymmetry are extracted from a data sample consisting of ep→epγ events with detection of all particles in the final state including the recoiling proton. The installation of a recoil detector, while reducing the acceptance of the experiment, allows the elimination of resonant background that was estimated to contribute an average of about 12% to the signal in previous HERMES publications. The removal of the resonant background from the present data sample is shown to increase the magnitude of the leading asymmetry amplitude by 0.054±0.016 to -0.328±0.027(stat.)±0.045(syst.).
Surface growth kinematics via local curve evolution
Moulton, Derek E.
2012-11-18
A mathematical framework is developed to model the kinematics of surface growth for objects that can be generated by evolving a curve in space, such as seashells and horns. Growth is dictated by a growth velocity vector field defined at every point on a generating curve. A local orthonormal basis is attached to each point of the generating curve and the velocity field is given in terms of the local coordinate directions, leading to a fully local and elegant mathematical structure. Several examples of increasing complexity are provided, and we demonstrate how biologically relevant structures such as logarithmic shells and horns emerge as analytical solutions of the kinematics equations with a small number of parameters that can be linked to the underlying growth process. Direct access to cell tracks and local orientation enables for connections to be made to the underlying growth process. © 2012 Springer-Verlag Berlin Heidelberg.
Kinematic measurements using an infrared sensor
International Nuclear Information System (INIS)
Marinho, F; Paulucci, L
2016-01-01
The use of an infrared sensor as a new alternative to measure position as a function of time in kinematic experiments was investigated using a microcontroller as the data acquisition and control device. These are versatile sensors that offer advantages over typical ultrasound devices. The setup described in this paper enables students to develop their own experiments, promoting opportunities for learning physical concepts such as the different types of forces that can act on a body (gravitational, elastic, drag, etc) and the resulting types of movements with good sensitivity within the 4–30 cm range. As a proof of concept we also present the application of a prototype designed to record the kinematics of mass-spring systems. (paper)
Kinematics of the symbiotic system R Aqr
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.
A non-linear kinematic hardening function
International Nuclear Information System (INIS)
Ottosen, N.S.
1977-05-01
Based on the classical theory of plasticity, and accepting the von Mises criterion as the initial yield criterion, a non-linear kinematic hardening function applicable both to Melan-Prager's and to Ziegler's hardening rule is proposed. This non-linear hardening function is determined by means of the uniaxial stress-strain curve, and any such curve is applicable. The proposed hardening function considers the problem of general reversed loading, and a smooth change in the behaviour from one plastic state to another nearlying plastic state is obtained. A review of both the kinematic hardening theory and the corresponding non-linear hardening assumptions is given, and it is shown that material behaviour is identical whether Melan-Prager's or Ziegler's hardening rule is applied, provided that the von Mises yield criterion is adopted. (author)
The kinematic advantage of electric cars
Meyn, Jan-Peter
2015-11-01
Acceleration of a common car with with a turbocharged diesel engine is compared to the same type with an electric motor in terms of kinematics. Starting from a state of rest, the electric car reaches a distant spot earlier than the diesel car, even though the latter has a better specification for engine power and average acceleration from 0 to 100 km h-1. A three phase model of acceleration as a function of time fits the data of the electric car accurately. The first phase is a quadratic growth of acceleration in time. It is shown that the tenfold higher coefficient for the first phase accounts for most of the kinematic advantage of the electric car.
Directed Neutron Beams From Inverse Kinematic Reactions
Vanhoy, J. R.; Guardala, N. A.; Glass, G. A.
2011-06-01
Kinematic focusing of an emitted fairly mono-energetic neutron beam by the use of inverse-kinematic reactions, i.e. where the projectile mass is greater than the target atom's mass, can provide for the utilization of a significant fraction of the fast neutron yield and also provide for a safer radiation environment. We examine the merit of various neutron production reactions and consider the practicalities of producing the primary beam using the suitable accelerator technologies. Preliminary progress at the NSWC-Carderock Positive Ion Accelerator Facility is described. Possible important applications for this type of neutron-based system can be both advanced medical imaging techniques and active "stand-off" interrogation of contraband items.
Plasma electron hole kinematics. I. Momentum conservation
Energy Technology Data Exchange (ETDEWEB)
Hutchinson, I. H.; Zhou, C. [Plasma Science and Fusion Center, Massachusetts Institute of Technology, Cambridge, Massachusetts 02139 (United States)
2016-08-15
We analyse the kinematic properties of a plasma electron hole: a non-linear self-sustained localized positive electric potential perturbation, trapping electrons, which behaves as a coherent entity. When a hole accelerates or grows in depth, ion and electron plasma momentum is changed both within the hole and outside, by an energization process we call jetting. We present a comprehensive analytic calculation of the momentum changes of an isolated general one-dimensional hole. The conservation of the total momentum gives the hole's kinematics, determining its velocity evolution. Our results explain many features of the behavior of hole speed observed in numerical simulations, including self-acceleration at formation, and hole pushing and trapping by ion streams.
Analyzing Robotic Kinematics Via Computed Simulations
Carnahan, Timothy M.
1992-01-01
Computing system assists in evaluation of kinematics of conceptual robot. Displays positions and motions of robotic manipulator within work cell. Also displays interactions between robotic manipulator and other objects. Results of simulation displayed on graphical computer workstation. System includes both off-the-shelf software originally developed for automotive industry and specially developed software. Simulation system also used to design human-equivalent hand, to model optical train in infrared system, and to develop graphical interface for teleoperator simulation system.
Kinematics of Hooke universal joint robot wrists
Mckinney, William S., Jr.
1988-01-01
The singularity problem associated with wrist mechanisms commonly found on industrial manipulators can be alleviated by redesigning the wrist so that it functions as a three-axis gimbal system. This paper discussess the kinematics of gimbal robot wrists made of one and two Hooke universal joints. Derivations of the resolved rate motion control equations for the single and double Hooke universal joint wrists are presented using the three-axis gimbal system as a theoretical wrist model.
A new kinematical definition of orbital eccentricity
Directory of Open Access Journals (Sweden)
Ninković S.
2009-01-01
Full Text Available A new concept of orbital eccentricity is given. The dimensionless quantities proposed in the present paper to serve as orbital eccentricities have a kinematical nature. The purpose is to use them in describing the motion for the case of three-dimensional orbits. A comparison done for nearly planar orbits shows that the values of the eccentricities proposed here do not differ significantly from those corresponding to the eccentricities of geometric nature usually applied.
Kinematical Test Theories for Special Relativity
Lämmerzahl, Claus; Braxmaier, Claus; Dittus, Hansjörg; Müller, Holger; Peters, Achim; Schiller, Stephan
A comparison of certain kinematical test theories for Special Relativity including the Robertson and Mansouri-Sext test theories is presented and the accuracy of the experimental results testing Special Relativity are expressed in terms of the parameters appearing in these test theories. The theoretical results are applied to the most precise experimental results obtained recently for the isotropy of light propagation and the constancy of the speed of light.
Local galactic kinematics: an isothermal model
International Nuclear Information System (INIS)
Nunez, J.
1983-01-01
The kinematical parameters of galactic rotation in the solar neighborhood and the corrections to the precession have been calculated. For this purpose, an isothermal model for the solar neighborhood has been used together with the high order momenta of the local stellar velocity distribution and the Ogorodnikov-Milne model. Both have been calculated using some samples of the ''512 Distant FK4/FK4 Sup. Stars'' of Fricke (1977) and of Gliese's Gatalogue. (author)
Circadian rhythms in handwriting kinematics and legibility.
Jasper, Isabelle; Gordijn, Marijke; Häussler, Andreas; Hermsdörfer, Joachim
2011-08-01
The aim of the present study was to analyze the circadian rhythmicity in handwriting kinematics and legibility and to compare the performance between Dutch and German writers. Two subject groups underwent a 40 h sleep deprivation protocol under Constant Routine conditions either in Groningen (10 Dutch subjects) or in Berlin (9 German subjects). Both groups wrote every 3h a test sentence of similar structure in their native language. Kinematic handwriting performance was assessed with a digitizing tablet and evaluated by writing speed, writing fluency, and script size. Writing speed (frequency of strokes and average velocity) revealed a clear circadian rhythm, with a parallel decline during night and a minimum around 3:00 h in the morning for both groups. Script size and movement fluency did not vary with time of day in neither group. Legibility of handwriting was evaluated by intra-individually ranking handwriting specimens of the 13 sessions by 10 German and 10 Dutch raters. Whereas legibility ratings of the German handwriting specimens deteriorated during night in parallel with slower writing speed, legibility of the Dutch handwriting deteriorated not until the next morning. In conclusion, the circadian rhythm of handwriting kinematics seems to be independent of script language at least among the two tested western countries. Moreover, handwriting legibility is also subject to a circadian rhythm which, however, seems to be influenced by variations in the assessment protocol. Copyright © 2010 Elsevier B.V. All rights reserved.
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.
Kinematics in special and general relativity
International Nuclear Information System (INIS)
Woodside, R.W.M.
1979-05-01
This thesis investigates the problem of motion for extended bodies from the viewpoint of classical field theory, where the classical field is the body's energy-momentum or matter tensor. In special relativity a symmetric and divergence-free matter tensor combined with inertial frames is used to generate a kinematics for extended bodies. In general relativity the author suggests an analogous kinematics and applies it to the simplest non-trivial example of static, spherical stars, looking for special sets of vector fields whose matter currents are conserved. Such a set of ten vector fields defines a special frame, and integrals of the conserved matter currents define ten momenta whcih give the kinematics. Application of de Rham cohomology theory shows that the conserved matter currents for isolated bodies will have mechanical potentials which enable the momenta to be found from flux integrals evaluated in the vacuum region surrounding the body. These potentials contain the full Riemann curvature, allowing a body's general relativistic momenta to be determined by its vacuum graviational field
Color-Kinematics Duality for QCD Amplitudes
Johansson, Henrik
2016-01-01
We show that color-kinematics duality is present in tree-level amplitudes of quantum chromodynamics with massive flavored quarks. Starting with the color structure of QCD, we work out a new color decomposition for n-point tree amplitudes in a reduced basis of primitive amplitudes. These primitives, with k quark-antiquark pairs and (n-2k) gluons, are taken in the (n-2)!/k! Melia basis, and are independent under the color-algebra Kleiss-Kuijf relations. This generalizes the color decomposition of Del Duca, Dixon, and Maltoni to an arbitrary number of quarks. The color coefficients in the new decomposition are given by compact expressions valid for arbitrary gauge group and representation. Considering the kinematic structure, we show through explicit calculations that color-kinematics duality holds for amplitudes with general configurations of gluons and massive quarks. The new (massive) amplitude relations that follow from the duality can be mapped to a well-defined subset of the familiar BCJ relations for gluo...
A projected back-tracking line-search for constrained interactive inverse kinematics
DEFF Research Database (Denmark)
Engell-Nørregård, Morten Pol; Erleben, Kenny
2011-01-01
Inverse kinematics is the problem of manipulating the pose of an articulated figure in order to achieve a desired goal disregarding inertia and forces. One can approach the problem as a non-linear optimization problem or as non-linear equation solving. The former approach is superior in its...... of joint limits in an interactive solver. This makes it possible to compute the pose in each frame without the discontinuities exhibited by existing key frame animation techniques....
The SLUGGS survey: wide-field stellar kinematics of early-type galaxies
Energy Technology Data Exchange (ETDEWEB)
Arnold, Jacob A. [Department of Astronomy and Astrophysics, University of California, Santa Cruz, CA 95064 (United States); Romanowsky, Aaron J.; Brodie, Jean P.; Woodley, Kristin A. [University of California Observatories, 1156 High Street, Santa Cruz, CA 95064 (United States); Forbes, Duncan A.; Blom, Christina; Kartha, Sreeja S.; Pastorello, Nicola; Pota, Vincenzo; Usher, Christopher [Centre for Astrophysics and Supercomputing, Swinburne University, Hawthorn, VIC 3122 (Australia); Strader, Jay [Department of Physics and Astronomy, Michigan State University, East Lansing, MI 48824 (United States); Spitler, Lee R. [Department of Physics and Astronomy, Faculty of Sciences, Macquarie University, Sydney, NSW 2109 (Australia); Foster, Caroline, E-mail: romanow@ucolick.org [Australian Astronomical Observatory, P.O. Box 915, North Ryde, NSW (Australia)
2014-08-20
We present stellar kinematics of 22 nearby early-type galaxies (ETGs), based on two-dimensional (2D) absorption line stellar spectroscopy out to ∼2-4 R {sub e} (effective radii), as part of the ongoing SLUGGS Survey. The galaxies span a factor of 20 in intrinsic luminosity, as well as a full range of environment and ETG morphology. Our data consist of good velocity resolution (σ{sub inst} ∼ 25 km s{sup –1}) integrated stellar-light spectra extracted from the individual slitlets of custom made Keck/DEIMOS slitmasks. We extract stellar kinematics measurements (V, σ, h {sub 3}, and h {sub 4}) for each galaxy. Combining with literature values from smaller radii, we present 2D spatially resolved maps of the large-scale kinematic structure in each galaxy. We find that the kinematic homogeneity found inside 1 R {sub e} often breaks down at larger radii, where a variety of kinematic behaviors are observed. While central slow rotators remain slowly rotating in their halos, central fast rotators show more diversity, ranging from rapidly increasing to rapidly declining specific angular momentum profiles in the outer regions. There are indications that the outer trends depend on morphological type, raising questions about the proposed unification of the elliptical and lenticular (S0) galaxy families in the ATLAS{sup 3D} survey. Several galaxies in our sample show multiple lines of evidence for distinct disk components embedded in more slowly rotating spheroids, and we suggest a joint photometric-kinematic approach for robust bulge-disk decomposition. Our observational results appear generally consistent with a picture of two-phase (in-situ plus accretion) galaxy formation.
Multilateral Telecoordinated Control of Multiple Robots With Uncertain Kinematics.
Zhai, Di-Hua; Xia, Yuanqing
2017-06-06
This paper addresses the telecoordinated control of multiple robots in the simultaneous presence of asymmetric time-varying delays, nonpassive external forces, and uncertain kinematics/dynamics. To achieve the control objective, a neuroadaptive controller with utilizing prescribed performance control and switching control technique is developed, where the basic idea is to employ the concept of motion synchronization in each pair of master-slave robots and among all slave robots. By using the multiple Lyapunov-Krasovskii functionals method, the state-independent input-to-output practical stability of the closed-loop system is established. Compared with the previous approaches, the new design is straightforward and easier to implement and is applicable to a wider area. Simulation results on three pairs of three degrees-of-freedom robots confirm the theoretical findings.
Kinematics modeling and simulation of an autonomous omni-directional mobile robot
Directory of Open Access Journals (Sweden)
Daniel Garcia Sillas
2015-05-01
Full Text Available Although robotics has progressed to the extent that it has become relatively accessible with low-cost projects, there is still a need to create models that accurately represent the physical behavior of a robot. Creating a completely virtual platform allows us to test behavior algorithms such as those implemented using artificial intelligence, and additionally, it enables us to find potential problems in the physical design of the robot. The present work describes a methodology for the construction of a kinematic model and a simulation of the autonomous robot, specifically of an omni-directional wheeled robot. This paper presents the kinematic model development and its implementation using several tools. The result is a model that follows the kinematics of a triangular omni-directional mobile wheeled robot, which is then tested by using a 3D model imported from 3D Studio® and Matlab® for the simulation. The environment used for the experiment is very close to the real environment and reflects the kinematic characteristics of the robot.
Wave kinematics and response of slender offshore structures. Vol 4: Wave kinematics
Energy Technology Data Exchange (ETDEWEB)
Riber, H.J.
1999-08-01
The kinematics of large surface waves has been measured by means of sonar's placed on the sea floor at the Tyra field. Measurements from the most severe storm are analysed and extreme wave velocity profiles are compared to Stoke wave velocity profiles. Statistical distributions of crest velocity and wave celerity are presented. The analysis shows how the deviation from the Stokes prediction varies with wave heights and steepness. Analyses of the directional wave field leads to the conclusion that the extreme waves are three-dimensional. It is shown that the peculiar kinematics of extreme waves is of great relevance to the design of jacket type structures. (au)
Smith, Aimée C; Roberts, Jonathan R; Wallace, Eric S; Kong, Pui; Forrester, Stephanie E
2016-02-01
Two-dimensional methods have been used to compute trunk kinematic variables (flexion/extension, lateral bend, axial rotation) and X-factor (difference in axial rotation between trunk and pelvis) during the golf swing. Recent X-factor studies advocated three-dimensional (3D) analysis due to the errors associated with two-dimensional (2D) methods, but this has not been investigated for all trunk kinematic variables. The purpose of this study was to compare trunk kinematic variables and X-factor calculated by 2D and 3D methods to examine how different approaches influenced their profiles during the swing. Trunk kinematic variables and X-factor were calculated for golfers from vectors projected onto the global laboratory planes and from 3D segment angles. Trunk kinematic variable profiles were similar in shape; however, there were statistically significant differences in trunk flexion (-6.5 ± 3.6°) at top of backswing and trunk right-side lateral bend (8.7 ± 2.9°) at impact. Differences between 2D and 3D X-factor (approximately 16°) could largely be explained by projection errors introduced to the 2D analysis through flexion and lateral bend of the trunk and pelvis segments. The results support the need to use a 3D method for kinematic data calculation to accurately analyze the golf swing.
Finite-correlation-time effects in the kinematic dynamo problem
International Nuclear Information System (INIS)
Schekochihin, Alexander A.; Kulsrud, Russell M.
2001-01-01
Most of the theoretical results on the kinematic amplification of small-scale magnetic fluctuations by turbulence have been confined to the model of white-noise-like (δ-correlated in time) advecting turbulent velocity field. In this work, the statistics of the passive magnetic field in the diffusion-free regime are considered for the case when the advecting flow is finite-time correlated. A new method is developed that allows one to systematically construct the correlation-time expansion for statistical characteristics of the field such as its probability density function or the complete set of its moments. The expansion is valid provided the velocity correlation time is smaller than the characteristic growth time of the magnetic fluctuations. This expansion is carried out up to first order in the general case of a d-dimensional arbitrarily compressible advecting flow. The growth rates for all moments of the magnetic-field strength are derived. The effect of the first-order corrections due to the finite correlation time is to reduce these growth rates. It is shown that introducing a finite correlation time leads to the loss of the small-scale statistical universality, which was present in the limit of the δ-correlated velocity field. Namely, the shape of the velocity time-correlation profile and the large-scale spatial structure of the flow become important. The latter is a new effect, that implies, in particular, that the approximation of a locally-linear shear flow does not fully capture the effect of nonvanishing correlation time. Physical applications of this theory include the small-scale kinematic dynamo in the interstellar medium and protogalactic plasmas
A Novel Algorithm for the Generation of Distinct Kinematic Chain
Medapati, Sreenivasa Reddy; Kuchibhotla, Mallikarjuna Rao; Annambhotla, Balaji Srinivasa Rao
2016-07-01
Generation of distinct kinematic chains is an important topic in the design of mechanisms for various industrial applications i.e., robotic manipulator, tractor, crane etc. Many researchers have intently focused on this area and explained various processes of generating distinct kinematic chains which are laborious and complex. It is desirable to enumerate the kinematic chains systematically to know the inherent characteristics of a chain related to its structure so that all the distinct chains can be analyzed in depth, prior to the selection of a chain for a purpose. This paper proposes a novel and simple method with set of rules defined to eliminate isomorphic kinematic chains generating distinct kinematic chains. Also, this method simplifies the process of generating distinct kinematic chains even at higher levels i.e., 10-link, 11-link with single and multiple degree of freedom.
International Nuclear Information System (INIS)
Faucher, Vincent
2014-01-01
Simulating fast transient phenomena involving fluids and structures in interaction for safety purposes requires both accurate and robust algorithms, and parallel computing to reduce the calculation time for industrial models. Managing kinematic constraints linking fluid and structural entities is thus a key issue and this contribution promotes a dual approach over the classical penalty approach, introducing arbitrary coefficients in the solution. This choice however severely increases the complexity of the problem, mainly due to non-permanent kinematic constraints. An innovative parallel strategy is therefore described, whose performances are demonstrated on significant examples exhibiting the full complexity of the target industrial simulations. (authors)
Kinematic control of robot with degenerate wrist
Barker, L. K.; Moore, M. C.
1984-01-01
Kinematic resolved rate equations allow an operator with visual feedback to dynamically control a robot hand. When the robot wrist is degenerate, the computed joint angle rates exceed operational limits, and unwanted hand movements can result. The generalized matrix inverse solution can also produce unwanted responses. A method is introduced to control the robot hand in the region of the degenerate robot wrist. The method uses a coordinated movement of the first and third joints of the robot wrist to locate the second wrist joint axis for movement of the robot hand in the commanded direction. The method does not entail infinite joint angle rates.
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
Theory of gearing kinematics, geometry, and synthesis
Radzevich, Stephen P
2012-01-01
The first book of its kind, Theory of Gearing: Kinematics, Geometry, and Synthesis systematically develops a scientific theory of gearing that makes it possible to synthesize novel gears with the desired performance. Written by a leading gearing expert who holds more than 200 patents, it presents a modern methodology for gear design. The proposed theory is based on a key postulate: all the design parameters for an optimal gear pair for a particular application can be derived from (a) a given configuration of the rotation vectors of the driving and driven shafts and (b) the power transmitted by
Kinematical program package for nuclear reaction
International Nuclear Information System (INIS)
Dai Nengxiong; Xie Ying
1988-01-01
A FORTRAN package is designed to provide users as many conveniences as possible. Besides adopting man-machine interaction mode and setting nuclide mass file, there are still some other features which are, for examples, the functions of offering the initial values for some transcendental equations and evaluating all the kinematic variables in nuclear reactions at low energies of the form of T (p,1)2, T (p,12)3 and T (p,12)34. All these make the users much easier to use the package
Kinematic reversal schemes for the geomagnetic dipole.
Levy, E. H.
1972-01-01
Fluctuations in the distribution of cyclonic convective cells, in the earth's core, can reverse the sign of the geomagnetic field. Two kinematic reversal schemes are discussed. In the first scheme, a field maintained by cyclones concentrated at low latitude is reversed by a burst of cyclones at high latitude. Conversely, in the second scheme, a field maintained predominantly by cyclones in high latitudes is reversed by a fluctuation consisting of a burst of cyclonic convection at low latitude. The precise fluid motions which produce the geomagnetic field are not known. However, it appears that, whatever the details are, a fluctuation in the distribution of cyclonic cells over latitude can cause a geomagnetic reversal.
Kinematics of the CSE in VY CMa
Choi, Yoon Kyung
2009-07-01
We report on astrometric results of H2O and SiO masers in the circumstellar envelopes of VY Canis Majoris (VY CMa) carried out with VERA for 2 years. Absolute positions and proper motions of 3 different frequencies of masers were measured with phase-referencing analyses. Using the positions and the 3-dimensional velocities of the masers, we considered the 3-dimensional structures and kinematics of the circumstellar envelopes around VY CMa. The H2O masers show bipolar outflow along the line of sight, and the SiO masers have both expanding and contracting motions with less than 5 km/s.
Shoulder and Scapular Kinematics during the Windmill Softball Pitch
Backus, Sherry I.; Kraszewski, Andrew; Kontaxis, Andreas; Gibbons, Mandi; Bido, Jennifer; Graziano, Jessica; Hafer, Jocelyn; Jones, Kristofer J.; Hillstrom, Howard; Fealy, Stephen
2013-01-01
Objectives: Pitch count has been studied extensively in the overhand throwing athlete. However, pitch count and fatigue have not been systematically evaluated in the female windmill (underhand) throwing athlete. Direct kinematic measurements of the glenohumeral and scapulo-thoracic joint have not to be correlated and determined. The purpose is to measure scapular kinematics for the high school female windmill softball pitcher and identify kinematic adaptions and changes in pitching performanc...
Kinematics and Workspace of a 4-DOF Hybrid Palletizing Robot
Directory of Open Access Journals (Sweden)
Yong Tao
2014-06-01
Full Text Available We presented the kinematical analysis of a 4-DOF hybrid palletizing robot. The palletizing robot structure was proposed and the arm model of the robot was presented. The kinematical analysis of the end robotic manipulator was given. As a result, the position, velocity, and acceleration curves as well as the maximum workspace were demonstrated by simulation in Matlab. This study would be useful for the kinematical characteristics of the 4-DOF palletizing robot in space.
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...
Latino College Completion: Hawaii
Excelencia in Education (NJ1), 2012
2012-01-01
In 2009, Excelencia in Education launched the Ensuring America's Future initiative to inform, organize, and engage leaders in a tactical plan to increase Latino college completion. An executive summary of Latino College Completion in 50 states synthesizes information on 50 state factsheets and builds on the national benchmarking guide. Each…
Latino College Completion: Pennsylvania
Excelencia in Education (NJ1), 2012
2012-01-01
In 2009, Excelencia in Education launched the Ensuring America's Future initiative to inform, organize, and engage leaders in a tactical plan to increase Latino college completion. An executive summary of Latino College Completion in 50 states synthesizes information on 50 state factsheets and builds on the national benchmarking guide. Each…
Rapid kinematic finite source inversion for Tsunamic Early Warning using high rate GNSS data
Chen, K.; Liu, Z.; Song, Y. T.
2017-12-01
Recently, Global Navigation Satellite System (GNSS) has been used for rapid earthquake source inversion towards tsunami early warning. In practice, two approaches, i.e., static finite source inversion based on permanent co-seismic offsets and kinematic finite source inversion using high-rate (>= 1 Hz) co-seismic displacement waveforms, are often employed to fulfill the task. The static inversion is relatively easy to be implemented and does not require additional constraints on rupture velocity, duration, and temporal variation. However, since most GNSS receivers are deployed onshore locating on one side of the subduction fault, there is very limited resolution on near-trench fault slip using GNSS in static finite source inversion. On the other hand, the high-rate GNSS displacement waveforms, which contain the timing information of earthquake rupture explicitly and static offsets implicitly, have the potential to improve near-trench resolution by reconciling with the depth-dependent megathrust rupture behaviors. In this contribution, we assess the performance of rapid kinematic finite source inversion using high-rate GNSS by three selected historical tsunamigenic cases: the 2010 Mentawai, 2011 Tohoku and 2015 Illapel events. With respect to the 2010 Mentawai case, it is a typical tsunami earthquake with most slip concentrating near the trench. The static inversion has little resolution there and incorrectly puts slip at greater depth (>10km). In contrast, the recorded GNSS displacement waveforms are deficit in high-frequency energy, the kinematic source inversion recovers a shallow slip patch (depth less than 6 km) and tsunami runups are predicted quite reasonably. For the other two events, slip from kinematic and static inversion show similar characteristics and comparable tsunami scenarios, which may be related to dense GNSS network and behavior of the rupture. Acknowledging the complexity of kinematic source inversion in real-time, we adopt the back
Completeness, supervenience and ontology
International Nuclear Information System (INIS)
Maudlin, Tim W E
2007-01-01
In 1935, Einstein, Podolsky and Rosen raised the issue of the completeness of the quantum description of a physical system. What they had in mind is whether or not the quantum description is informationally complete, in that all physical features of a system can be recovered from it. In a collapse theory such as the theory of Ghirardi, Rimini and Weber, the quantum wavefunction is informationally complete, and this has often been taken to suggest that according to that theory the wavefunction is all there is. If we distinguish the ontological completeness of a description from its informational completeness, we can see that the best interpretations of the GRW theory must postulate more physical ontology than just the wavefunction
Completeness, supervenience and ontology
Energy Technology Data Exchange (ETDEWEB)
Maudlin, Tim W E [Department of Philosophy, Rutgers University, 26 Nichol Avenue, New Brunswick, NJ 08901-1411 (United States)
2007-03-23
In 1935, Einstein, Podolsky and Rosen raised the issue of the completeness of the quantum description of a physical system. What they had in mind is whether or not the quantum description is informationally complete, in that all physical features of a system can be recovered from it. In a collapse theory such as the theory of Ghirardi, Rimini and Weber, the quantum wavefunction is informationally complete, and this has often been taken to suggest that according to that theory the wavefunction is all there is. If we distinguish the ontological completeness of a description from its informational completeness, we can see that the best interpretations of the GRW theory must postulate more physical ontology than just the wavefunction.
Rigid-body kinematics versus flapping kinematics of a flapping wing micro air vehicle
Caetano, J.V.; Weehuizen, M.B.; De Visser, C.C.; De Croon, G.C.H.E.; Mulder, M.
2015-01-01
Several formulations have been proposed to model the dynamics of ornithopters, with inconclusive results regarding the need for complex kinematic formulations. Furthermore, the impact of assumptions made in the collected results was never assessed by comparing simulations with real flight data. In
Cortex Inspired Model for Inverse Kinematics Computation for a Humanoid Robotic Finger
Gentili, Rodolphe J.; Oh, Hyuk; Molina, Javier; Reggia, James A.; Contreras-Vidal, José L.
2013-01-01
In order to approach human hand performance levels, artificial anthropomorphic hands/fingers have increasingly incorporated human biomechanical features. However, the performance of finger reaching movements to visual targets involving the complex kinematics of multi-jointed, anthropomorphic actuators is a difficult problem. This is because the relationship between sensory and motor coordinates is highly nonlinear, and also often includes mechanical coupling of the two last joints. Recently, we developed a cortical model that learns the inverse kinematics of a simulated anthropomorphic finger. Here, we expand this previous work by assessing if this cortical model is able to learn the inverse kinematics for an actual anthropomorphic humanoid finger having its two last joints coupled and controlled by pneumatic muscles. The findings revealed that single 3D reaching movements, as well as more complex patterns of motion of the humanoid finger, were accurately and robustly performed by this cortical model while producing kinematics comparable to those of humans. This work contributes to the development of a bioinspired controller providing adaptive, robust and flexible control of dexterous robotic and prosthetic hands. PMID:23366569
Input relegation control for gross motion of a kinematically redundant manipulator
Energy Technology Data Exchange (ETDEWEB)
Unseren, M.A.
1992-10-01
This report proposes a method for resolving the kinematic redundancy of a serial link manipulator moving in a three-dimensional workspace. The underspecified problem of solving for the joint velocities based on the classical kinematic velocity model is transformed into a well-specified problem. This is accomplished by augmenting the original model with additional equations which relate a new vector variable quantifying the redundant degrees of freedom (DOF) to the joint velocities. The resulting augmented system yields a well specified solution for the joint velocities. Methods for selecting the redundant DOF quantifying variable and the transformation matrix relating it to the joint velocities are presented so as to obtain a minimum Euclidean norm solution for the joint velocities. The approach is also applied to the problem of resolving the kinematic redundancy at the acceleration level. Upon resolving the kinematic redundancy, a rigid body dynamical model governing the gross motion of the manipulator is derived. A control architecture is suggested which according to the model, decouples the Cartesian space DOF and the redundant DOF.
KIN SP: A boundary element method based code for single pile kinematic bending in layered soil
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Stefano Stacul
2018-02-01
Full Text Available In high seismicity areas, it is important to consider kinematic effects to properly design pile foundations. Kinematic effects are due to the interaction between pile and soil deformations induced by seismic waves. One of the effect is the arise of significant strains in weak soils that induce bending moments on piles. These moments can be significant in presence of a high stiffness contrast in a soil deposit. The single pile kinematic interaction problem is generally solved with beam on dynamic Winkler foundation approaches (BDWF or using continuous models. In this work, a new boundary element method (BEM based computer code (KIN SP is presented where the kinematic analysis is preceded by a free-field response analysis. The analysis results of this method, in terms of bending moments at the pile-head and at the interface of a two-layered soil, are influenced by many factors including the soil–pile interface discretization. A parametric study is presented with the aim to suggest the minimum number of boundary elements to guarantee the accuracy of a BEM solution, for typical pile–soil relative stiffness values as a function of the pile diameter, the location of the interface of a two-layered soil and of the stiffness contrast. KIN SP results have been compared with simplified solutions in literature and with those obtained using a quasi-three-dimensional (3D finite element code.
ELEMENTS OF KINEMATICS SPECIFIC TO THE JUMP OF THE MALE TRIPLE JUMP EVENT
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MIHAI ILIE
2010-12-01
Full Text Available The quality of results obtained in competitions is based on the use of the most efficient technologies and conducting systems in the sportive training process, all embedded in operational strategies to enable the efficient filtering of the information exchange between coaches and athletes in order to ensure all the resources needed for an optimal monitoring and conveyance training process. The purpose of this study was to examine the kinematic point of view the main technical aspects of specific proof of triple last step - the long jump. Research was conducted on athletes who specialize in thissample, and components of the National Olympic Lot Romanian Athletics Federation. Using kinematic analysis software movement - Dartfish © I obtained a series of kinematic parameters (time, position, angles discussed specific issues in research, processing and interpretation leading to the general conclusion according to which: kinematic analysis of the key features approach specific technical triple last step of the sample by use of IT leads to useful information specific to this test in monitoring technique
IDENTIFYING THE YOUNG LOW-MASS STARS WITHIN 25 pc. II. DISTANCES, KINEMATICS, AND GROUP MEMBERSHIP
Energy Technology Data Exchange (ETDEWEB)
Shkolnik, Evgenya L. [Lowell Observatory, 1400 W. Mars Hill Road, Flagstaff, AZ 86001 (United States); Anglada-Escude, Guillem [Institut fuer Astrophysik, Universitaet Goettingen, Friedrich-Hund-Platz 1, D-37077 Goettingen (Germany); Liu, Michael C.; Bowler, Brendan P. [Institute for Astronomy, University of Hawaii at Manoa 2680 Woodlawn Drive, Honolulu, HI 96822 (United States); Weinberger, Alycia J.; Boss, Alan P. [Department of Terrestrial Magnetism, Carnegie Institution for Science, 5241 Broad Branch Road, NW, Washington, DC 20015 (United States); Reid, I. Neill [Space Telescope Science Institute, Baltimore, MD 21218 (United States); Tamura, Motohide, E-mail: shkolnik@lowell.edu [National Astronomical Observatory of Japan, Tokyo (Japan)
2012-10-10
We have conducted a kinematic study of 165 young M dwarfs with ages of {approx}<300 Myr. Our sample is composed of stars and brown dwarfs with spectral types ranging from K7 to L0, detected by ROSAT and with photometric distances of {approx}<25 pc assuming that the stars are single and on the main sequence. In order to find stars kinematically linked to known young moving groups (YMGs), we measured radial velocities for the complete sample with Keck and CFHT optical spectroscopy and trigonometric parallaxes for 75 of the M dwarfs with the CAPSCam instrument on the du Pont 2.5 m Telescope. Due to their youthful overluminosity and unresolved binarity, the original photometric distances for our sample underestimated the distances by 70% on average, excluding two extremely young ({approx}<3 Myr) objects found to have distances beyond a few hundred parsecs. We searched for kinematic matches to 14 reported YMGs and identified 10 new members of the AB Dor YMG and 2 of the Ursa Majoris group. Additional possible candidates include six Castor, four Ursa Majoris, two AB Dor members, and one member each of the Her-Lyr and {beta} Pic groups. Our sample also contains 27 young low-mass stars and 4 brown dwarfs with ages {approx}<150 Myr that are not associated with any known YMG. We identified an additional 15 stars that are kinematic matches to one of the YMGs, but the ages from spectroscopic diagnostics and/or the positions on the sky do not match. These warn against grouping stars together based only on kinematics and that a confluence of evidence is required to claim that a group of stars originated from the same star-forming event.
A KINEMATIC STUDY OF FINSWIMMING AT SURFACE
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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
The Pleiades apex and its kinematical structure
Elsanhoury, W. H.; Postnikova, E. S.; Chupina, N. V.; Vereshchagin, S. V.; Sariya, Devesh P.; Yadav, R. K. S.; Jiang, Ing-Guey
2018-03-01
A study of cluster characteristics and internal kinematical structure of the middle-aged Pleiades open star cluster is presented. The individual star apexes and various cluster kinematical parameters including the velocity ellipsoid parameters are determined using both Hipparcos and Gaia data. Modern astrometric parameters were taken from the Gaia Data Release 1 (DR1) in combination with the Radial Velocity Experiment Fifth Data Release (DR5). The necessary set of parameters including parallaxes, proper motions and radial velocities are used for n=17 stars from Gaia DR1+RAVE DR5 and for n=19 stars from the Hipparcos catalog using SIMBAD data base. Single stars are used to improve accuracy by eliminating orbital movements. RAVE DR5 measurements were taken only for the stars with the radial velocity errors not exceeding 2 km/s. For the Pleiades stars taken from Gaia, we found mean heliocentric distance as 136.8 ± 6.4 pc, and the apex position is calculated as: A_{CP}=92°.52± 1°.72, D_{CP}=-42°.28± 2°.56 by the convergent point method and A0=95°.59± 2°.30 and D0=-50°.90± 2°.04 using AD-diagram method (n=17 in both cases). The results are compared with those obtained historically before the Gaia mission era.
Kinematic Earthquake Ground‐Motion Simulations on Listric Normal Faults
Passone, Luca
2017-11-28
Complex finite-faulting source processes have important consequences for near-source ground motions, but empirical ground-motion prediction equations still lack near-source data and hence cannot fully capture near-fault shaking effects. Using a simulation-based approach, we study the effects of specific source parameterizations on near-field ground motions where empirical data are limited. Here, we investigate the effects of fault listricity through near-field kinematic ground-motion simulations. Listric faults are defined as curved faults in which dip decreases with depth, resulting in a concave upward profile. The listric profiles used in this article are built by applying a specific shape function and varying the initial dip and the degree of listricity. Furthermore, we consider variable rupture speed and slip distribution to generate ensembles of kinematic source models. These ensembles are then used in a generalized 3D finite-difference method to compute synthetic seismograms; the corresponding shaking levels are then compared in terms of peak ground velocities (PGVs) to quantify the effects of breaking fault planarity. Our results show two general features: (1) as listricity increases, the PGVs decrease on the footwall and increase on the hanging wall, and (2) constructive interference of seismic waves emanated from the listric fault causes PGVs over two times higher than those observed for the planar fault. Our results are relevant for seismic hazard assessment for near-fault areas for which observations are scarce, such as in the listric Campotosto fault (Italy) located in an active seismic area under a dam.
Kinematic Earthquake Ground‐Motion Simulations on Listric Normal Faults
Passone, Luca; Mai, Paul Martin
2017-01-01
Complex finite-faulting source processes have important consequences for near-source ground motions, but empirical ground-motion prediction equations still lack near-source data and hence cannot fully capture near-fault shaking effects. Using a simulation-based approach, we study the effects of specific source parameterizations on near-field ground motions where empirical data are limited. Here, we investigate the effects of fault listricity through near-field kinematic ground-motion simulations. Listric faults are defined as curved faults in which dip decreases with depth, resulting in a concave upward profile. The listric profiles used in this article are built by applying a specific shape function and varying the initial dip and the degree of listricity. Furthermore, we consider variable rupture speed and slip distribution to generate ensembles of kinematic source models. These ensembles are then used in a generalized 3D finite-difference method to compute synthetic seismograms; the corresponding shaking levels are then compared in terms of peak ground velocities (PGVs) to quantify the effects of breaking fault planarity. Our results show two general features: (1) as listricity increases, the PGVs decrease on the footwall and increase on the hanging wall, and (2) constructive interference of seismic waves emanated from the listric fault causes PGVs over two times higher than those observed for the planar fault. Our results are relevant for seismic hazard assessment for near-fault areas for which observations are scarce, such as in the listric Campotosto fault (Italy) located in an active seismic area under a dam.
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Trąbka Arkadiusz
2014-12-01
Full Text Available This paper presents a comparative analysis of two kinematic structures of the support system (with supports with bilateral and unilateral constraints, which were used in an experimental model of a crane. The computational model was developed by using the ADAMS software. The impact of the kinematic structure of the support system on selected kinematic and dynamic values that were recorded during the slewing motion was analysed. It was found, among other things, that an increased number of degrees of freedom of the support system leads to multiple distortions of time characteristics of kinematic and dynamic quantities.
Guan, Shanyuanye; Gray, Hans A; Schache, Anthony G; Feller, Julian; de Steiger, Richard; Pandy, Marcus G
2017-08-01
No data are available to describe six-degree-of-freedom (6-DOF) knee-joint kinematics for one complete cycle of overground walking following total knee arthroplasty (TKA). The aims of this study were firstly, to measure 6-DOF knee-joint kinematics and condylar motion for overground walking following TKA; and secondly, to determine whether such data differed between overground and treadmill gait when participants walked at the same speed during both tasks. A unique mobile biplane X-ray imaging system enabled accurate measurement of 6-DOF TKA knee kinematics during overground walking by simultaneously tracking and imaging the joint. The largest rotations occurred for flexion-extension and internal-external rotation whereas the largest translations were associated with joint distraction and anterior-posterior drawer. Strong associations were found between flexion-extension and adduction-abduction (R 2 = 0.92), joint distraction (R 2 = 1.00), and anterior-posterior translation (R 2 = 0.77), providing evidence of kinematic coupling in the TKA knee. Although the measured kinematic profiles for overground walking were grossly similar to those for treadmill walking, several statistically significant differences were observed between the two conditions with respect to temporo-spatial parameters, 6-DOF knee-joint kinematics, and condylar contact locations and sliding. Thus, caution is advised when making recommendations regarding knee implant performance based on treadmill-measured knee-joint kinematic data. © 2016 Orthopaedic Research Society. Published by Wiley Periodicals, Inc. J Orthop Res 35:1634-1643, 2017. © 2016 Orthopaedic Research Society. Published by Wiley Periodicals, Inc.
Generalizing a categorization of students’ interpretations of linear kinematics graphs
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Laurens Bollen
2016-02-01
Full Text Available We have investigated whether and how a categorization of responses to questions on linear distance-time graphs, based on a study of Irish students enrolled in an algebra-based course, could be adopted and adapted to responses from students enrolled in calculus-based physics courses at universities in Flanders, Belgium (KU Leuven and the Basque Country, Spain (University of the Basque Country. We discuss how we adapted the categorization to accommodate a much more diverse student cohort and explain how the prior knowledge of students may account for many differences in the prevalence of approaches and success rates. Although calculus-based physics students make fewer mistakes than algebra-based physics students, they encounter similar difficulties that are often related to incorrectly dividing two coordinates. We verified that a qualitative understanding of kinematics is an important but not sufficient condition for students to determine a correct value for the speed. When comparing responses to questions on linear distance-time graphs with responses to isomorphic questions on linear water level versus time graphs, we observed that the context of a question influences the approach students use. Neither qualitative understanding nor an ability to find the slope of a context-free graph proved to be a reliable predictor for the approach students use when they determine the instantaneous speed.
Generalizing a categorization of students' interpretations of linear kinematics graphs
Bollen, Laurens; De Cock, Mieke; Zuza, Kristina; Guisasola, Jenaro; van Kampen, Paul
2016-06-01
We have investigated whether and how a categorization of responses to questions on linear distance-time graphs, based on a study of Irish students enrolled in an algebra-based course, could be adopted and adapted to responses from students enrolled in calculus-based physics courses at universities in Flanders, Belgium (KU Leuven) and the Basque Country, Spain (University of the Basque Country). We discuss how we adapted the categorization to accommodate a much more diverse student cohort and explain how the prior knowledge of students may account for many differences in the prevalence of approaches and success rates. Although calculus-based physics students make fewer mistakes than algebra-based physics students, they encounter similar difficulties that are often related to incorrectly dividing two coordinates. We verified that a qualitative understanding of kinematics is an important but not sufficient condition for students to determine a correct value for the speed. When comparing responses to questions on linear distance-time graphs with responses to isomorphic questions on linear water level versus time graphs, we observed that the context of a question influences the approach students use. Neither qualitative understanding nor an ability to find the slope of a context-free graph proved to be a reliable predictor for the approach students use when they determine the instantaneous speed.
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V. Gupta
2005-01-01
Full Text Available Complete avulsion of the ureter is one of the most serious complications of ureteroscopy. It requires open or laparoscopic intervention for repair. This case report emphasizes its management and presents recommendations for prevention in current urological practice.
Della Croce, Ugo; Leardini, Alberto; Chiari, Lorenzo; Cappozzo, Aurelio
2005-02-01
Estimating the effects of different sources of error on joint kinematics is crucial for assessing the reliability of human movement analysis. The goal of the present paper is to review the different approaches dealing with joint kinematics sensitivity to rotation axes and the precision of anatomical landmark determination. Consistent with the previous papers in this series, the review is limited to studies performed with video-based stereophotogrammetric systems. Initially, studies dealing with estimates of precision in determining the location of both palpable and internal anatomical landmarks are reviewed. Next, the effects of anatomical landmark position uncertainty on anatomical frames are shown. Then, methods reported in the literature for estimating error propagation from anatomical axes location to joint kinematics are described. Interestingly, studies carried out using different approaches reported a common conclusion: when joint rotations occur mainly in a single plane, minor rotations out of this plane are strongly affected by errors introduced at the anatomical landmark identification level and are prone to misinterpretation. Finally, attempts at reducing joint kinematics errors due to anatomical landmark position uncertainty are reported. Given the relevance of this source of errors in the determination of joint kinematics, it is the authors' opinion that further efforts should be made in improving the reliability of the joint axes determination.
Teaching physics with Angry Birds: exploring the kinematics and dynamics of the game
Rodrigues, M.; Simeão Carvalho, P.
2013-07-01
In this paper, we present classroom strategies for teaching kinematics at middle and high school levels, using Rovio’s famous game Angry Birds and the video analyser software Tracker. We show how to take advantage of this entertaining video game, by recording appropriate motions of birds that students can explore by manipulating data, characterizing the red bird’s motion and fitting results to physical models. A dynamic approach is also addressed to link gravitational force to projectile trajectories.
Zielke, O.; McDougall, D.; Mai, P. M.; Babuska, I.
2014-12-01
One fundamental aspect of seismic hazard mitigation is gaining a better understanding of the rupture process. Because direct observation of the relevant parameters and properties is not possible, other means such as kinematic source inversions are used instead. By constraining the spatial and temporal evolution of fault slip during an earthquake, those inversion approaches may enable valuable insights in the physics of the rupture process. However, due to the underdetermined nature of this inversion problem (i.e., inverting a kinematic source model for an extended fault based on seismic data), the provided solutions are generally non-unique. Here we present a statistical (Bayesian) inversion approach based on an open-source library for uncertainty quantification (UQ) called QUESO that was developed at ICES (UT Austin). The approach has advantages with respect to deterministic inversion approaches as it provides not only a single (non-unique) solution but also provides uncertainty bounds with it. Those uncertainty bounds help to qualitatively and quantitatively judge how well constrained an inversion solution is and how much rupture complexity the data reliably resolve. The presented inversion scheme uses only tele-seismically recorded body waves but future developments may lead us towards joint inversion schemes. After giving an insight in the inversion scheme ifself (based on delayed rejection adaptive metropolis, DRAM) we explore the method's resolution potential. For that, we synthetically generate tele-seismic data, add for example different levels of noise and/or change fault plane parameterization and then apply our inversion scheme in the attempt to extract the (known) kinematic rupture model. We conclude with exemplary inverting real tele-seismic data of a recent large earthquake and compare those results with deterministically derived kinematic source models provided by other research groups.
Metrological Evaluation of a Novel Medical Robot and Its Kinematic Calibration
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Longfei Zhao
2015-09-01
Full Text Available The vessels are twisted in a longitudinal 3D space in the lower limbs of humans. Thus, it is difficult to perform an ultrasound scanning examination in this area. In this paper, a new medical parallel robot is introduced to effectively diagnose vessel disease in the lower limbs. The robot's position repeatability and accuracy are evaluated. Furthermore, the robot's accuracy is improved through a calibration process in which the kinematic parameters are identified through a simple identification approach.
A Structure-dependent matrix representation of manipulator kinematics and its inverse solution
International Nuclear Information System (INIS)
Sasaki, Shinobu
1987-03-01
In this paper, derivation of kinematic equations for a six-link manipulator is presented using the homogeneous transformation (A i -matrix) based on Denavit-Hartenberg method, and additionally a solution procedure of its inverse problem is outlined. In order to examine the validity of a system of equations, solutions were compared with the exact ones of the inverse kinematics (for the same type of a manipulator) expressed in arbitrarily given co-ordinate systems. Through complete agreement of joint solutions between the two, the present purpose was accomplished. As shown in this paper, an explicit description between adjacent links will give a possible clue to a systematic treatment of the inverse problem for a class of manipulators. (author)
Constraint Study for a Hand Exoskeleton: Human Hand Kinematics and Dynamics
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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.
Proposal for the ion optics and for the kinematical fitting at the magnetic spectrograph BIG KARL
International Nuclear Information System (INIS)
Hinterberger, F.
1986-01-01
For the magnetic spectrograph BIG KARL the installation of an additional quadrupole lens is purposed. From this the possibility of a telescopic ion optic results. For future experiments a standard focusing with a spatial dispersion of 6.6 m and vanishing angular dispersion is proposed. The D/M ratio (dispersion/magnification) extends to 14.0 m, the maximal spatial angle lies at 3 msr. The energy range extends at a focal plane length of 0.66 m to 20%. For the kinematical fitting of the spectrograph the focal plane is shifted. This shift can be simply and rapidly realized for different K values by means of a software correction, if generally two spatial spectra in the focal plane are taken up. By this additionally for each event the actual scattering angle can be determined with relatively good resolution. The dispersion fit is completely decoupled from the kinematical fitting of the magnetic spectrograph. (orig.) [de
THE DiskMass SURVEY. III. STELLAR KINEMATICS VIA CROSS-CORRELATION
International Nuclear Information System (INIS)
Westfall, Kyle B.; Bershady, Matthew A.; Verheijen, Marc A. W.
2011-01-01
We describe a new cross-correlation (CC) approach used by our survey to derive stellar kinematics from galaxy-continuum spectroscopy. This approach adopts the formal error analysis derived by Statler, but properly handles spectral masks. Thus, we address the primary concerns regarding application of the CC method to censored data, while maintaining its primary advantage by consolidating kinematic and template-mismatch information toward different regions of the CC function. We identify a systematic error in the nominal CC method of approximately 10% in velocity dispersion incurred by a mistreatment of detector-censored data, which is eliminated by our new method. We derive our approach from first principles, and we use Monte Carlo simulations to demonstrate its efficacy. An identical set of Monte Carlo simulations performed using the well-established penalized-pixel-fitting code of Cappellari and Emsellem compares favorably with the results from our newly implemented software. Finally, we provide a practical demonstration of this software by extracting stellar kinematics from SparsePak spectra of UGC 6918.
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Carles Soler
2017-01-01
Full Text Available This work provides information on the blue fox ejaculated sperm quality needed for seminal dose calculations. Twenty semen samples, obtained by masturbation, were analyzed for kinematic and morphometric parameters by using CASA-Mot and CASA-Morph system and principal component (PC analysis. For motility, eight kinematic parameters were evaluated, which were reduced to PC1, related to linear variables, and PC2, related to oscillatory movement. The whole population was divided into three independent subpopulations: SP1, fast cells with linear movement; SP2, slow cells and nonoscillatory motility; and SP3, medium speed cells and oscillatory movement. In almost all cases, the subpopulation distribution by animal was significantly different. Head morphology analysis generated four size and four shape parameters, which were reduced to PC1, related to size, and PC2, related to shape of the cells. Three morphometric subpopulations existed: SP1: large oval cells; SP2: medium size elongated cells; and SP3: small and short cells. The subpopulation distribution differed between animals. Combining the kinematic and morphometric datasets produced PC1, related to morphometric parameters, and PC2, related to kinematics, which generated four sperm subpopulations - SP1: high oscillatory motility, large and short heads; SP2: medium velocity with small and short heads; SP3: slow motion small and elongated cells; and SP4: high linear speed and large elongated cells. Subpopulation distribution was different in all animals. The establishment of sperm subpopulations from kinematic, morphometric, and combined variables not only improves the well-defined fox semen characteristics and offers a good conceptual basis for fertility and sperm preservation techniques in this species, but also opens the door to use this approach in other species, included humans.
Force generation of bio-inspired hover kinematics
Vandenheede, R.B.R.; Bernal, L.P.; Morrison, C.L.; Humbert, S.
2012-01-01
This paper presents the results of an experimental study of the aerodynamics of an elliptical flap plate wing in pitch-plunge motion. Several wing motion kinematics are derived from the kinematics of the Agrius Convolvuli (hawk moth) in hover. The experiments are conducted at a Reynolds number of 4,
A School Experiment in Kinematics: Shooting from a Ballistic Cart
Kranjc, T.; Razpet, N.
2011-01-01
Many physics textbooks start with kinematics. In the lab, students observe the motions, describe and make predictions, and get acquainted with basic kinematics quantities and their meaning. Then they can perform calculations and compare the results with experimental findings. In this paper we describe an experiment that is not often done, but is…
Kinematic and neuromuscular relationships between lower extremity clinical movement assessments.
Mauntel, Timothy C; Cram, Tyler R; Frank, Barnett S; Begalle, Rebecca L; Norcross, Marc F; Blackburn, J Troy; Padua, Darin A
2018-06-01
Lower extremity injuries have immediate and long-term consequences. Lower extremity movement assessments can assist with identifying individuals at greater injury risk and guide injury prevention interventions. Movement assessments identify similar movement characteristics and evidence suggests large magnitude kinematic relationships exist between movement patterns observed across assessments; however, the magnitude of the relationships for electromyographic (EMG) measures across movement assessments remains largely unknown. This study examined relationships between lower extremity kinematic and EMG measures during jump landings and single leg squats. Lower extremity three-dimensional kinematic and EMG data were sampled from healthy adults (males = 20, females = 20) during the movement assessments. Pearson correlations examined the relationships of the kinematic and EMG measures and paired samples t-tests compared mean kinematic and EMG measures between the assessments. Overall, significant moderate correlations were observed for lower extremity kinematic (r avg = 0.41, r range = 0.10-0.61) and EMG (r avg = 0.47, r range = 0.32-0.80) measures across assessments. Kinematic and EMG measures were greater during the jump landings. Jump landings and single leg squats place different demands on the body and necessitate different kinematic and EMG patterns, such that these measures are not highly correlated between assessments. Clinicians should, therefore, use multiple assessments to identify aberrant movement and neuromuscular control patterns so that comprehensive interventions can be implemented.
Kinematic and Dynamic Analysis of a Lower Limb Exoskeleton
Tawakal Hasnain Baluch; Adnan Masood; Javaid Iqbal; Umer Izhar; Umar Shahbaz Khan
2012-01-01
This paper will provide the kinematic and dynamic analysis of a lower limb exoskeleton. The forward and inverse kinematics of proposed exoskeleton is performed using Denevit and Hartenberg method. The torques required for the actuators will be calculated using Lagrangian formulation technique. This research can be used to design the control of the proposed exoskeleton.
Lingual Kinematics during Rapid Syllable Repetition in Parkinson's Disease
Wong, Min Ney; Murdoch, Bruce E.; Whelan, Brooke-Mai
2012-01-01
Background: Rapid syllable repetition tasks are commonly used in the assessment of motor speech disorders. However, little is known about the articulatory kinematics during rapid syllable repetition in individuals with Parkinson's disease (PD). Aims: To investigate and compare lingual kinematics during rapid syllable repetition in dysarthric…
Kinematic synthesis of a new 3D printing solution
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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.
Kinematic analysis of competitive sprinting | Ansari | African Journal ...
African Journals Online (AJOL)
The results of the study showed that the kinematic variables i.e. knee angle, hip angle, ankle angle, shoulder rotation and extension had a significant influence on sprinting style. The results indicated that the kinematic variables of running style, knee angle at landing, hip flexion, ankle angle at landing, ankle angle at take-off, ...
Forward and inverse kinematics of double universal joint robot wrists
Williams, Robert L., II
1991-01-01
A robot wrist consisting of two universal joints can eliminate the wrist singularity problem found on many individual robots. Forward and inverse position and velocity kinematics are presented for such a wrist having three degrees of freedom. Denavit-Hartenberg parameters are derived to find the transforms required for the kinematic equations. The Omni-Wrist, a commercial double universal joint robot wrist, is studied in detail. There are four levels of kinematic parameters identified for this wrist; three forward and three inverse maps are presented for both position and velocity. These equations relate the hand coordinate frame to the wrist base frame. They are sufficient for control of the wrist standing alone. When the wrist is attached to a manipulator arm; the offset between the two universal joints complicates the solution of the overall kinematics problem. All wrist coordinate frame origins are not coincident, which prevents decoupling of position and orientation for manipulator inverse kinematics.
Kinematic Analysis of Continuum Robot Consisted of Driven Flexible Rods
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Yingzhong Tian
2016-01-01
Full Text Available This paper presents the kinematic analysis of a continuum bionic robot with three flexible actuation rods. Since the motion of the end-effector is actuated by the deformation of the rods, the robot structure is with high elasticity and good compliance and the kinematic analysis of the robot requires special treatment. We propose a kinematic model based on the geometry with constant curvature. The analysis consists of two independent mappings: a general mapping for the kinematics of all robots and a specific mapping for this kind of robots. Both of those mappings are developed for the single section and for the multisections. We aim at providing a guide for kinematic analysis of the similar manipulators through this paper.
21st Century Kinematics : The 2012 NSF Workshop
2013-01-01
21st Century Kinematics focuses on algebraic problems in the analysis and synthesis of mechanisms and robots, compliant mechanisms, cable-driven systems and protein kinematics. The specialist contributors provide the background for a series of presentations at the 2012 NSF Workshop. The text shows how the analysis and design of innovative mechanical systems yield increasingly complex systems of polynomials, characteristic of those systems. In doing so, takes advantage of increasingly sophisticated computational tools developed for numerical algebraic geometry and demonstrates the now routine derivation of polynomial systems dwarfing the landmark problems of even the recent past. The 21st Century Kinematics workshop echoes the NSF-supported 1963 Yale Mechanisms Teachers Conference that taught a generation of university educators the fundamental principles of kinematic theory. As such these proceedings will be provide admirable supporting theory for a graduate course in modern kinematics and should be of consid...
The Kinematic Learning Model using Video and Interfaces Analysis
Firdaus, T.; Setiawan, W.; Hamidah, I.
2017-09-01
An educator currently in demand to apply the learning to not be separated from the development of technology. Educators often experience difficulties when explaining kinematics material, this is because kinematics is one of the lessons that often relate the concept to real life. Kinematics is one of the courses of physics that explains the cause of motion of an object, Therefore it takes the thinking skills and analytical skills in understanding these symptoms. Technology is one that can bridge between conceptual relationship with real life. A framework of technology-based learning models has been developed using video and interfaces analysis on kinematics concept. By using this learning model, learners will be better able to understand the concept that is taught by the teacher. This learning model is able to improve the ability of creative thinking, analytical skills, and problem-solving skills on the concept of kinematics.
2nd Conference on Interdisciplinary Applications in Kinematics
Flores, Francisco
2015-01-01
This book collects a number of important contributions presented during the Second Conference on Interdisciplinary Applications of Kinematics (IAK 2013) held in Lima, Peru. The conference brought together scientists from several research fields, such as computational kinematics, multibody systems, industrial machines, robotics, biomechanics, mechatronics, computational chemistry, and vibration analysis, and embraced all key aspects of kinematics, namely, theoretical methods, modeling, optimization, experimental validation, industrial applications, and design. Kinematics is an exciting area of computational mechanics and plays a central role in a great variety of fields and industrial applications nowadays. Apart from research in pure kinematics, the field deals with problems of practical relevance that need to be solved in an interdisciplinary manner in order for new technologies to develop. The results presented in this book should be of interest for practicing and research engineers as well as Ph.D. stud...
Gas Kinematics in GRB Host Galaxies
DEFF Research Database (Denmark)
Arabsalmani, Maryam
towards a relation between gas kinematics and mass. This also provides information on how the metallicities measured from absorption and emission methods differ from each other. Finally, in a direct study I show that gas velocity widths in both phases can be used as a proxy of stellar mass...... that their interstellar media imprint on the GRBs’ spectra. Hence they are invaluable tools to probe the star formation history of the Universe back to the earliest cosmic epochs. To this end, it is essential to achieve a comprehensive picture of the interplay between star formation and its fuel, neutral gas, in GRB...... simultaneously with a high velocity resolution. For the large GRB sample, I find the spatially averaged velocity to correlate with metallicity in both gas phases. This is an indicator of a mass-metallicity relation. Moreover, the velocity widths in the two gas phases correlate with each other which too points...
Top quark kinematics and mass determination
International Nuclear Information System (INIS)
Williams, H.H.
1994-10-01
An analysis is presented of 10 W + ≥ 3 jet events, each with evidence for the presence of a b quark, that were recently observed by the CDF collaboration. Seven of these events include a fourth jet and can be explicitly reconstructed as t bar t production. The best estimate of the top quark mass is M t = 174 ± 10 -12 +13 GeV/c 2 . A study has also been performed to see if the kinematical properties of events with W + ≥ 3 jets gives evidence for top production. An excess of events with large jet energies, compared to that expected from direct production of W + ≥ 3 jets, is observed. A large fraction of these events also contain a b-quark and a fourth jet
Differential Kinematics Of Contemporary Industrial Robots
Szkodny, T.
2014-08-01
The paper presents a simple method of avoiding singular configurations of contemporary industrial robot manipulators of such renowned companies as ABB, Fanuc, Mitsubishi, Adept, Kawasaki, COMAU and KUKA. To determine the singular configurations of these manipulators a global form of description of the end-effector kinematics was prepared, relative to the other links. On the basis of this description , the formula for the Jacobian was defined in the end-effector coordinates. Next, a closed form of the determinant of the Jacobian was derived. From the formula, singular configurations, where the determinant's value equals zero, were determined. Additionally, geometric interpretations of these configurations were given and they were illustrated. For the exemplary manipulator, small corrections of joint variables preventing the reduction of the Jacobian order were suggested. An analysis of positional errors, caused by these corrections, was presented
Color-kinematic duality for form factors
International Nuclear Information System (INIS)
Boels, Rutger H.; Kniehl, Bernd A.; Tarasov, Oleg V.; Yang, Gang
2012-12-01
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.
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.
Kinematic tests of exotic flat cosmological models
International Nuclear Information System (INIS)
Charlton, J.C.; Turner, M.S.; NASA/Fermilab Astrophysics Center, Batavia, IL)
1987-01-01
Theoretical prejudice and inflationary models of the very early universe strongly favor the flat, Einstein-de Sitter model of the universe. At present the observational data conflict with this prejudice. This conflict can be resolved by considering flat models of the universe which posses a smooth component of energy density. The kinematics of such models, where the smooth component is relativistic particles, a cosmological term, a network of light strings, or fast-moving, light strings is studied in detail. The observational tests which can be used to discriminate between these models are also discussed. These tests include the magnitude-redshift, lookback time-redshift, angular size-redshift, and comoving volume-redshift diagrams and the growth of density fluctuations. 58 references
Kinematic tests of exotic flat cosmological models
International Nuclear Information System (INIS)
Charlton, J.C.; Turner, M.S.
1986-05-01
Theoretical prejudice and inflationary models of the very early Universe strongly favor the flat, Einstein-deSitter model of the Universe. At present the observational data conflict with this prejudice. This conflict can be resolved by considering flat models of the Universe which possess a smooth component by energy density. We study in detail the kinematics of such models, where the smooth component is relativistic particles, a cosmological term, a network of light strings, or fast-moving, light strings. We also discuss the observational tests which can be used to discriminate between these models. These tests include the magnitude-redshift, lookback time-redshift, angular size-redshift, and comoving volume-redshift diagrams and the growth of density fluctuations
Kinematic tests of exotic flat cosmological models
Energy Technology Data Exchange (ETDEWEB)
Charlton, J.C.; Turner, M.S.
1986-05-01
Theoretical prejudice and inflationary models of the very early Universe strongly favor the flat, Einstein-deSitter model of the Universe. At present the observational data conflict with this prejudice. This conflict can be resolved by considering flat models of the Universe which possess a smooth component by energy density. We study in detail the kinematics of such models, where the smooth component is relativistic particles, a cosmological term, a network of light strings, or fast-moving, light strings. We also discuss the observational tests which can be used to discriminate between these models. These tests include the magnitude-redshift, lookback time-redshift, angular size-redshift, and comoving volume-redshift diagrams and the growth of density fluctuations.
Completeness of Lyapunov Abstraction
DEFF Research Database (Denmark)
Wisniewski, Rafal; Sloth, Christoffer
2013-01-01
the vector field, which allows the generation of a complete abstraction. To compute the functions that define the subdivision of the state space in an algorithm, we formulate a sum of squares optimization problem. This optimization problem finds the best subdivisioning functions, with respect to the ability......This paper addresses the generation of complete abstractions of polynomial dynamical systems by timed automata. For the proposed abstraction, the state space is divided into cells by sublevel sets of functions. We identify a relation between these functions and their directional derivatives along...
Assessment of representational competence in kinematics
Directory of Open Access Journals (Sweden)
P. Klein
2017-06-01
Full Text Available A two-tier instrument for representational competence in the field of kinematics (KiRC is presented, designed for a standard (1st year calculus-based introductory mechanics course. It comprises 11 multiple choice (MC and 7 multiple true-false (MTF questions involving multiple representational formats, such as graphs, pictures, and formal (mathematical expressions (1st tier. Furthermore, students express their answer confidence for selected items, providing additional information (2nd tier. Measurement characteristics of KiRC were assessed in a validation sample (pre- and post-test, N=83 and N=46, respectively, including usefulness for measuring learning gain. Validity is checked by interviews and by benchmarking KiRC against related measures. Values for item difficulty, discrimination, and consistency are in the desired ranges; in particular, a good reliability was obtained (KR20=0.86. Confidence intervals were computed and a replication study yielded values within the latter. For practical and research purposes, KiRC as a diagnostic tool goes beyond related extant instruments both for the representational formats (e.g., mathematical expressions and for the scope of content covered (e.g., choice of coordinate systems. Together with the satisfactory psychometric properties it appears a versatile and reliable tool for assessing students’ representational competency in kinematics (and of its potential change. Confidence judgments add further information to the diagnostic potential of the test, in particular for representational misconceptions. Moreover, we present an analytic result for the question—arising from guessing correction or educational considerations—of how the total effect size (Cohen’s d varies upon combination of two test components with known individual effect sizes, and then discuss the results in the case of KiRC (MC and MTF combination. The introduced method of test combination analysis can be applied to any test
Assessment of representational competence in kinematics
Klein, P.; Müller, A.; Kuhn, J.
2017-06-01
A two-tier instrument for representational competence in the field of kinematics (KiRC) is presented, designed for a standard (1st year) calculus-based introductory mechanics course. It comprises 11 multiple choice (MC) and 7 multiple true-false (MTF) questions involving multiple representational formats, such as graphs, pictures, and formal (mathematical) expressions (1st tier). Furthermore, students express their answer confidence for selected items, providing additional information (2nd tier). Measurement characteristics of KiRC were assessed in a validation sample (pre- and post-test, N =83 and N =46 , respectively), including usefulness for measuring learning gain. Validity is checked by interviews and by benchmarking KiRC against related measures. Values for item difficulty, discrimination, and consistency are in the desired ranges; in particular, a good reliability was obtained (KR 20 =0.86 ). Confidence intervals were computed and a replication study yielded values within the latter. For practical and research purposes, KiRC as a diagnostic tool goes beyond related extant instruments both for the representational formats (e.g., mathematical expressions) and for the scope of content covered (e.g., choice of coordinate systems). Together with the satisfactory psychometric properties it appears a versatile and reliable tool for assessing students' representational competency in kinematics (and of its potential change). Confidence judgments add further information to the diagnostic potential of the test, in particular for representational misconceptions. Moreover, we present an analytic result for the question—arising from guessing correction or educational considerations—of how the total effect size (Cohen's d ) varies upon combination of two test components with known individual effect sizes, and then discuss the results in the case of KiRC (MC and MTF combination). The introduced method of test combination analysis can be applied to any test comprising
Synthetic tsunami waveform catalogs with kinematic constraints
Baptista, Maria Ana; Miranda, Jorge Miguel; Matias, Luis; Omira, Rachid
2017-07-01
In this study we present a comprehensive methodology to produce a synthetic tsunami waveform catalogue in the northeast Atlantic, east of the Azores islands. The method uses a synthetic earthquake catalogue compatible with plate kinematic constraints of the area. We use it to assess the tsunami hazard from the transcurrent boundary located between Iberia and the Azores, whose western part is known as the Gloria Fault. This study focuses only on earthquake-generated tsunamis. Moreover, we assume that the time and space distribution of the seismic events is known. To do this, we compute a synthetic earthquake catalogue including all fault parameters needed to characterize the seafloor deformation covering the time span of 20 000 years, which we consider long enough to ensure the representability of earthquake generation on this segment of the plate boundary. The computed time and space rupture distributions are made compatible with global kinematic plate models. We use the tsunami empirical Green's functions to efficiently compute the synthetic tsunami waveforms for the dataset of coastal locations, thus providing the basis for tsunami impact characterization. We present the results in the form of offshore wave heights for all coastal points in the dataset. Our results focus on the northeast Atlantic basin, showing that earthquake-induced tsunamis in the transcurrent segment of the Azores-Gibraltar plate boundary pose a minor threat to coastal areas north of Portugal and beyond the Strait of Gibraltar. However, in Morocco, the Azores, and the Madeira islands, we can expect wave heights between 0.6 and 0.8 m, leading to precautionary evacuation of coastal areas. The advantages of the method are its easy application to other regions and the low computation effort needed.
Recurrence Quantification Analysis of Sentence-Level Speech Kinematics.
Jackson, Eric S; Tiede, Mark; Riley, Michael A; Whalen, D H
2016-12-01
Current approaches to assessing sentence-level speech variability rely on measures that quantify variability across utterances and use normalization procedures that alter raw trajectory data. The current work tests the feasibility of a less restrictive nonlinear approach-recurrence quantification analysis (RQA)-via a procedural example and subsequent analysis of kinematic data. To test the feasibility of RQA, lip aperture (i.e., the Euclidean distance between lip-tracking sensors) was recorded for 21 typically developing adult speakers during production of a simple utterance. The utterance was produced in isolation and in carrier structures differing just in length or in length and complexity. Four RQA indices were calculated: percent recurrence (%REC), percent determinism (%DET), stability (MAXLINE), and stationarity (TREND). Percent determinism (%DET) decreased only for the most linguistically complex sentence; MAXLINE decreased as a function of linguistic complexity but increased for the longer-only sentence; TREND decreased as a function of both length and linguistic complexity. This research note demonstrates the feasibility of using RQA as a tool to compare speech variability across speakers and groups. RQA offers promise as a technique to assess effects of potential stressors (e.g., linguistic or cognitive factors) on the speech production system.
Construction completion report
International Nuclear Information System (INIS)
1990-01-01
This Construction Completion Report documents the major construction projects at the Waste Isolation Pilot Plant (WIPP) site and related information on contracts, schedules, and other areas which affected construction. This report is not intended to be an exhaustive detailed analysis of construction, but is a general overview and summary of the WIPP construction. 10 refs., 29 figs
DEFF Research Database (Denmark)
Stidsen, Thomas K.; Kjærulff, Peter
2005-01-01
In this paper we present a new protection method: Complete Rerouting. This is the most capacity e cient protection method for circuit switched networks and it is, to the best of our knowledge, the first time it has been described. We implement a column generation algorithm and test the performance...
Complete French Teach Yourself
Graham, Gaelle
2010-01-01
The best-selling complete course for a fun and effective way to learn French. This ISBN is for the paperback book. The corresponding audio support (ISBN: 9781444100068) is also available. The book and audio support can also be purchased as a pack (ISBN: 9781444100051).
Completeness of Lyapunov Abstraction
Directory of Open Access Journals (Sweden)
Rafael Wisniewski
2013-08-01
Full Text Available In this work, we continue our study on discrete abstractions of dynamical systems. To this end, we use a family of partitioning functions to generate an abstraction. The intersection of sub-level sets of the partitioning functions defines cells, which are regarded as discrete objects. The union of cells makes up the state space of the dynamical systems. Our construction gives rise to a combinatorial object - a timed automaton. We examine sound and complete abstractions. An abstraction is said to be sound when the flow of the time automata covers the flow lines of the dynamical systems. If the dynamics of the dynamical system and the time automaton are equivalent, the abstraction is complete. The commonly accepted paradigm for partitioning functions is that they ought to be transversal to the studied vector field. We show that there is no complete partitioning with transversal functions, even for particular dynamical systems whose critical sets are isolated critical points. Therefore, we allow the directional derivative along the vector field to be non-positive in this work. This considerably complicates the abstraction technique. For understanding dynamical systems, it is vital to study stable and unstable manifolds and their intersections. These objects appear naturally in this work. Indeed, we show that for an abstraction to be complete, the set of critical points of an abstraction function shall contain either the stable or unstable manifold of the dynamical system.
Energy Technology Data Exchange (ETDEWEB)
Mamedov, N Ya; Kadymova, K S; Dzhafarov, Sh T
1963-10-28
One type of dual completion method utilizes a single tubing string. Through the use of the proper tubing equipment, the fluid from the low-productive upper formation is lifted by utilizing the surplus energy of a submerged pump, which handles the production from the lower stratum.
Indian Academy of Sciences (India)
Lawrence
treated me like a son in the way he encouraged my education, while my mother ... cine gives me a lot of satisfaction when I see my patients getting cured. Teaching ... thing in life as a complete woman in different roles – daughter, wife, mother ...
Ottino, Julio M.
1991-01-01
Computer flow simulation aided by dynamical systems analysis is used to investigate the kinematics of time-periodic vortex shedding past a two-dimensional circular cylinder in the context of the following general questions: (1) Is a dynamical systems viewpoint useful in the understanding of this and similar problems involving time-periodic shedding behind bluff bodies; and (2) Is it indeed possible, by adopting such a point of view, to complement previous analyses or to understand kinematical aspects of the vortex shedding process that somehow remained hidden in previous approaches. We argue that the answers to these questions are positive. Results are described.
Tachyon kinematics and causality: A systematic, thorough analysis
International Nuclear Information System (INIS)
Recami, E.
1985-01-01
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 detector. 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. It is shown how to apply the 'SWP', both in the case of ordinary Special Relativity, and in the case with tachyons. Then, the kinematics of the tachyon-exchange between two (ordinary) bodies is carrefully exploited. Being finally able to tackle the tachyon-causality problem, the paradoxes are sucessively solved: (i) by Tolman-Regge; (ii) by Pirani; (iii) by Edmonds; (iv) by Bell. At last, a further new paradox associated with the transmission of signals by modulated tachyon beams is discussed. (Author) [pt
International Nuclear Information System (INIS)
Phuoc, Le Minh; Lee, Suk Han; Kim, Hun Mo; Martinet, Philippe
2008-01-01
Robot inverse kinematics based on Jacobian inversion encounters critical issues of kinematic singularities. In this paper, several techniques based on damped least squares are proposed to lead robot pass through kinematic singularities without excessive joint velocities. Unlike other work in which the same damping factor is used for all singular vectors, this paper proposes a different damping coefficient for each singular vector based on corresponding singular value of the Jacobian. Moreover, a continuous distribution of damping factor following Gaussian function guarantees the continuous in joint velocities. A genetic algorithm is utilized to search for the best maximum damping factor and singular region, which used to require ad hoc searching in other works. As a result, end effector tracking error, which is inherited from damped least squares by introducing damping factors, is minimized. The effectiveness of our approach is compared with other methods in both non-redundant robot and redundant robot
Energy Technology Data Exchange (ETDEWEB)
Phuoc, Le Minh; Lee, Suk Han; Kim, Hun Mo [Sungkyunkwan University, Suwon (Korea, Republic of); Martinet, Philippe [Blaise Pascal University, Clermont-Ferrand Cedex (France)
2008-07-15
Robot inverse kinematics based on Jacobian inversion encounters critical issues of kinematic singularities. In this paper, several techniques based on damped least squares are proposed to lead robot pass through kinematic singularities without excessive joint velocities. Unlike other work in which the same damping factor is used for all singular vectors, this paper proposes a different damping coefficient for each singular vector based on corresponding singular value of the Jacobian. Moreover, a continuous distribution of damping factor following Gaussian function guarantees the continuous in joint velocities. A genetic algorithm is utilized to search for the best maximum damping factor and singular region, which used to require ad hoc searching in other works. As a result, end effector tracking error, which is inherited from damped least squares by introducing damping factors, is minimized. The effectiveness of our approach is compared with other methods in both non-redundant robot and redundant robot
Reliable sagittal plane kinematic gait assessments are feasible using low-cost webcam technology.
Saner, Robert J; Washabaugh, Edward P; Krishnan, Chandramouli
2017-07-01
Three-dimensional (3-D) motion capture systems are commonly used for gait analysis because they provide reliable and accurate measurements. However, the downside of this approach is that it is expensive and requires technical expertise; thus making it less feasible in the clinic. To address this limitation, we recently developed and validated (using a high-precision walking robot) a low-cost, two-dimensional (2-D) real-time motion tracking approach using a simple webcam and LabVIEW Vision Assistant. The purpose of this study was to establish the repeatability and minimal detectable change values of hip and knee sagittal plane gait kinematics recorded using this system. Twenty-one healthy subjects underwent two kinematic assessments while walking on a treadmill at a range of gait velocities. Intraclass correlation coefficients (ICC) and minimal detectable change (MDC) values were calculated for commonly used hip and knee kinematic parameters to demonstrate the reliability of the system. Additionally, Bland-Altman plots were generated to examine the agreement between the measurements recorded on two different days. The system demonstrated good to excellent reliability (ICC>0.75) for all the gait parameters tested on this study. The MDC values were typically low (gait assessments using webcam technology can be reliably used for clinical and research purposes. Copyright © 2017 Elsevier B.V. All rights reserved.
Inverse kinematics for the variable geometry truss manipulator via a Lagrangian dual method
Directory of Open Access Journals (Sweden)
Yanchun Zhao
2016-11-01
Full Text Available This article studies the inverse kinematics problem of the variable geometry truss manipulator. The problem is cast as an optimization process which can be divided into two steps. Firstly, according to the information about the location of the end effector and fixed base, an optimal center curve and the corresponding distribution of the intermediate platforms along this center line are generated. This procedure is implemented by solving a non-convex optimization problem that has a quadratic objective function subject to quadratic constraints. Then, in accordance with the distribution of the intermediate platforms along the optimal center curve, all lengths of the actuators are calculated via the inverse kinematics of each variable geometry truss module. Hence, the approach that we present is an optimization procedure that attempts to generate the optimal intermediate platform distribution along the optimal central curve, while the performance index and kinematic constraints are satisfied. By using the Lagrangian duality theory, a closed-form optimal solution of the original optimization is given. The numerical simulation substantiates the effectiveness of the introduced approach.
Calvino, Italo
2014-01-01
The definitive edition of Calvino’s cosmicomics, bringing together all of these enchanting stories—including some never before translated—in one volume for the first time. In Italo Calvino’s cosmicomics, primordial beings cavort on the nearby surface of the moon, play marbles with atoms, and bear ecstatic witness to Earth’s first dawn. Exploring natural phenomena and the origins of the universe, these beloved tales relate complex scientific concepts to our common sensory, emotional, human world. Now, The Complete Cosmicomics brings together all of the cosmicomic stories for the first time. Containing works previously published in Cosmicomics, t zero, and Numbers in the Dark, this single volume also includes seven previously uncollected stories, four of which have never been published in translation in the United States. This “complete and definitive collection” (Evening Standard) reconfirms the cosmicomics as a crowning literary achievement and makes them available to new generations of reader...
2008-01-01
Yet another step in the completion of the Large Hadron Collider was taken yesterday morning, as the final element of the Compact Muon Solenoid was lowered nearly 100 meters bellow ground. After more than eight years of work at the world's most powerful particle accelerator, scientists hope that they will be able to start initial experiments with the LHC until the end of this year.
CERN PhotoLab
1982-01-01
In July 1982, LEAR construction was completed, the individual systems had been dry-tested. On 16 July, the first 50 MeV (309 MeV/c) protons from Linac 1 were injected and circulated. On 11 October, the first antiprotons from the AA, decelerated in the PS to 609 MeV/c, were injected. Also in 1982, acceleration, deceleration and stochastic cooling were successfully tested. See 9007366 for a more detailed description. See also 8201061, 8204131, 8309026.
SHIVA laser: nearing completion
International Nuclear Information System (INIS)
Glaze, J.A.; Godwin, R.O.
1977-01-01
Construction of the Shiva laser system is nearing completion. This laser will be operating in fall 1977 and will produce over 20 terawatts of focusable power in a subnanosecond pulse. Fusion experiments will begin early in 1978. It is anticipated that thermonuclear energy release equal to one percent that of the incident light energy will be achieved with sub-millimeter deuterium-tritium targets. From other experiments densities in excess of a thousand times that of liquid are also expected
The phylogeny of swimming kinematics: The environment controls flagellar waveforms in sperm motility
Guasto, Jeffrey; Burton, Lisa; Zimmer, Richard; Hosoi, Anette; Stocker, Roman
2013-11-01
In recent years, phylogenetic and molecular analyses have dominated the study of ecology and evolution. However, physical interactions between organisms and their environment, a fundamental determinant of organism ecology and evolution, are mediated by organism form and function, highlighting the need to understand the mechanics of basic survival strategies, including locomotion. Focusing on spermatozoa, we combined high-speed video microscopy and singular value decomposition analysis to quantitatively compare the flagellar waveforms of eight species, ranging from marine invertebrates to humans. We found striking similarities in sperm swimming kinematics between genetically dissimilar organisms, which could not be uncovered by phylogenetic analysis. The emergence of dominant waveform patterns across species are suggestive of biological optimization for flagellar locomotion and point toward environmental cues as drivers of this convergence. These results reinforce the power of quantitative kinematic analysis to understand the physical drivers of evolution and as an approach to uncover new solutions for engineering applications, such as micro-robotics.
Kinematics and duty cycles of the SM-229 force-reflecting servomanipulator
International Nuclear Information System (INIS)
Stoughton, R.S.
1986-02-01
This report describes the first known experimental study of servomanipulator duty cycles to appear in the literature. The servomanipulator used was TeleOperator Systems Model SM-229. The experimental approach used was to record the joint positions and motor currents of the right slave arm at a rate of 10 Hz over about 50 h of typical remote manipulation operations. The results are presented as position usage patterns in joint and real-world coordinates, time-use histograms of joint velocities and motor currents, and three-dimensional mechanical power histograms for each joint. All results are presented in dimensionless form, scaled to the design ranges of the manipulator and the total operation time recorded. Applications of this study include improvements in kinematic ranges, gear reductions, motor sizings, drive configurations, and stress relief. Included in appendices are an uncertainty analysis, calibration procedures, and analysis of the kinematics of the manipulator. 12 refs., 42 figs., 15 tabs
A Subject-Specific Kinematic Model to Predict Human Motion in Exoskeleton-Assisted Gait.
Torricelli, Diego; Cortés, Camilo; Lete, Nerea; Bertelsen, Álvaro; Gonzalez-Vargas, Jose E; Del-Ama, Antonio J; Dimbwadyo, Iris; Moreno, Juan C; Florez, Julian; Pons, Jose L
2018-01-01
The relative motion between human and exoskeleton is a crucial factor that has remarkable consequences on the efficiency, reliability and safety of human-robot interaction. Unfortunately, its quantitative assessment has been largely overlooked in the literature. Here, we present a methodology that allows predicting the motion of the human joints from the knowledge of the angular motion of the exoskeleton frame. Our method combines a subject-specific skeletal model with a kinematic model of a lower limb exoskeleton (H2, Technaid), imposing specific kinematic constraints between them. To calibrate the model and validate its ability to predict the relative motion in a subject-specific way, we performed experiments on seven healthy subjects during treadmill walking tasks. We demonstrate a prediction accuracy lower than 3.5° globally, and around 1.5° at the hip level, which represent an improvement up to 66% compared to the traditional approach assuming no relative motion between the user and the exoskeleton.
Kinematic approximation in the theory of stimulated nuclear polarization in radical recombination
International Nuclear Information System (INIS)
Mikhailov, S.A.; Purtov, P.A.
1989-01-01
Within the kinematic approximation, we have developed the theory of stimulated nuclear polarization (SNP) in reactions of geminal recombination of radicals in a strong d.c. magnetic field. We have obtained analytical formulas which are applicable for analysis of SNP effects occurring when the reactions are carried out in nonviscous solutions. The result is represented in the form of integrals with respect to the Green's function determining the kinematics of reagent approach. As an illustration of the proposed theory, we have calculated the polarization of nuclei formed in the reaction products of p-benzoquinone in CD 3 OD and in C 6 D 6 with addition of phenol, and we compare with experiment
L. Batchelor
As reported in the April 2005 issue of the ATLAS eNews, the first of the four Semiconductor Tracker (SCT) barrels, complete with modules and services, arrived safely at CERN in January of 2005. In the months since January, the other three completed barrels arrived as well, and integration of the four barrels into the entire barrel assembly commenced at CERN, in the SR1 building on the ATLAS experimental site, in July. Assembly was completed on schedule in September, with the addition of the innermost layer to the 4-barrel assembly. Work is now underway to seal the barrel thermal enclosure. This is necessary in order to enclose the silicon tracker in a nitrogen atmosphere and provide it with faraday-cage protection, and is a delicate and complicated task: 352 silicon module powertapes, 352 readout-fibre bundles, and over 400 Detector Control System sensors must be carefully sealed into the thermal enclosure bulkhead. The team is currently verifying the integrity of the low mass cooling system, which must be d...
Validation and structural analysis of the kinematics concept test
Directory of Open Access Journals (Sweden)
A. Lichtenberger
2017-04-01
Full Text Available The kinematics concept test (KCT is a multiple-choice test designed to evaluate students’ conceptual understanding of kinematics at the high school level. The test comprises 49 multiple-choice items about velocity and acceleration, which are based on seven kinematic concepts and which make use of three different representations. In the first part of this article we describe the development and the validation process of the KCT. We applied the KCT to 338 Swiss high school students who attended traditional teaching in kinematics. We analyzed the response data to provide the psychometric properties of the test. In the second part we present the results of a structural analysis of the test. An exploratory factor analysis of 664 student answers finally uncovered the seven kinematics concepts as factors. However, the analysis revealed a hierarchical structure of concepts. At the higher level, mathematical concepts group together, and then split up into physics concepts at the lower level. Furthermore, students who seem to understand a concept in one representation have difficulties transferring the concept to similar problems in another representation. Both results have implications for teaching kinematics. First, teaching mathematical concepts beforehand might be beneficial for learning kinematics. Second, instructions have to be designed to teach students the change between different representations.
Validation and structural analysis of the kinematics concept test
Lichtenberger, A.; Wagner, C.; Hofer, S. I.; Stern, E.; Vaterlaus, A.
2017-06-01
The kinematics concept test (KCT) is a multiple-choice test designed to evaluate students' conceptual understanding of kinematics at the high school level. The test comprises 49 multiple-choice items about velocity and acceleration, which are based on seven kinematic concepts and which make use of three different representations. In the first part of this article we describe the development and the validation process of the KCT. We applied the KCT to 338 Swiss high school students who attended traditional teaching in kinematics. We analyzed the response data to provide the psychometric properties of the test. In the second part we present the results of a structural analysis of the test. An exploratory factor analysis of 664 student answers finally uncovered the seven kinematics concepts as factors. However, the analysis revealed a hierarchical structure of concepts. At the higher level, mathematical concepts group together, and then split up into physics concepts at the lower level. Furthermore, students who seem to understand a concept in one representation have difficulties transferring the concept to similar problems in another representation. Both results have implications for teaching kinematics. First, teaching mathematical concepts beforehand might be beneficial for learning kinematics. Second, instructions have to be designed to teach students the change between different representations.
Kinematic design considerations for minimally invasive surgical robots: an overview.
Kuo, Chin-Hsing; Dai, Jian S; Dasgupta, Prokar
2012-06-01
Kinematic design is a predominant phase in the design of robotic manipulators for minimally invasive surgery (MIS). However, an extensive overview of the kinematic design issues for MIS robots is not yet available to both mechanisms and robotics communities. Hundreds of archival reports and articles on robotic systems for MIS are reviewed and studied. In particular, the kinematic design considerations and mechanism development described in the literature for existing robots are focused on. The general kinematic design goals, design requirements, and design preferences for MIS robots are defined. An MIS-specialized mechanism, namely the remote center-of-motion (RCM) mechanism, is revisited and studied. Accordingly, based on the RCM mechanism types, a classification for MIS robots is provided. A comparison between eight different RCM types is given. Finally, several open challenges for the kinematic design of MIS robotic manipulators are discussed. This work provides a detailed survey of the kinematic design of MIS robots, addresses the research opportunity in MIS robots for kinematicians, and clarifies the kinematic point of view to MIS robots as a reference for the medical community. Copyright © 2012 John Wiley & Sons, Ltd.
Musicant, Oren; Botzer, Assaf; Laufer, Ilan; Collet, Christian
2018-05-01
Objective To study the relationship between physiological indices and kinematic indices during braking events of different intensities. Background Based on mental workload theory, driving and other task demands may generate changes in physiological indices, such as the driver's heart rate and skin conductance. However, no attempts were made to associate changes in physiological indices with changes in vehicle kinematics that result from the driver attempts to meet task demands. Method Twenty-five drivers participated in a field experiment. We manipulated braking demands using roadside signs to communicate the speed (km/h) before braking (50 or 60) and the target speed for braking (30 or to a complete stop). In an additional session, we asked drivers to brake as if they were responding to an impending collision. We analyzed the relationship between the intensities of braking events as measured by deceleration values (g) and changes in heart rate, heart rate variability, and skin conductance. Results All physiological indices were associated with deceleration intensity. Especially salient were the differences in physiological indices between the intensive (|g| > 0.5) and nonintensive braking events. The strongest relationship was between braking intensity and skin conductance. Conclusions Skin conductance, heart rate, and heart rate variability can mirror the mental workload elicited by varying braking intensities. Application Associating vehicle kinematics with physiological indices related to short-term driving events may help improve the performance of driver assistance systems.
Study of actinides fission induced by multi-nucleon transfer reactions in inverse kinematics
International Nuclear Information System (INIS)
Derkx, X.
2010-10-01
The study of actinide fission encounters two major issues. On one hand, measurements of the fission fragment distributions and the fission probabilities allow a better understanding of the fission process itself and the discrimination among the models of nuclear structure and dynamics. On the other hand, new measurements are required to improve nuclear data bases, which are a key component for the design of new generation reactors and radio-toxic waste incinerators. This thesis is in line with different French and American experimental projects using the surrogate method, i.e. transfer reactions leading to the same compound nuclei as in neutron irradiation, allowing the study of fission of actinides which are inaccessible by conventional techniques, whereas they are important for applications. The experiment is based on multi-nucleon transfer reactions between a 238 U beam and a 12 C target, using the inverse kinematics technique to measure, for each transfer channel, the complete isotopic distributions of the fission fragments with the VAMOS spectrometer. The work presented in this dissertation is focused on the identification of the transfer channels and their properties, as their angular distributions and the distributions of the associated excitation energy, using the SPIDER telescope to identify the target recoil nuclei. This work of an exploratory nature aims to generalize the surrogate method to heavy transfers and to measure, for the first time, the fission probabilities in inverse kinematics. The obtained results are compared with available direct kinematics and neutron irradiation measurements. (author)
Sex differences in lower extremity kinematics and patellofemoral kinetics during running.
Almonroeder, Thomas G; Benson, Lauren C
2017-08-01
The incidence of patellofemoral pain (PFP) is 2 times greater in females compared with males of similar activity levels; however, the exact reason for this discrepancy remains unclear. Abnormal mechanics of the hip and knee in the sagittal, frontal, and transverse planes have been associated with an increased risk of PFP. The purpose of this study was to compare the mechanics of the lower extremity in males and females during running in order to better understand the reason(s) behind the sex discrepancy in PFP. Three-dimensional kinematic and kinetic data were collected as male and female participants completed overground running trials at a speed of 4.0 m · s -1 (±5%). Patellofemoral joint stress (PFJS) was estimated using a sagittal plane knee model. The kinematics of the hip and knee in the frontal and transverse planes were also analysed. Male participants demonstrated significantly greater sagittal plane peak PFJS in comparison with the female participants (P < .001, ES = 1.9). However, the female participants demonstrated 3.5° greater peak hip adduction and 3.4° greater peak hip internal rotation (IR). As a result, it appears that the sex discrepancy in PFP is more likely to be related to differences in the kinematics of the hip in the frontal and transverse planes than differences in sagittal plane PFJS.
The Three-Dimensional Morphology of VY Canis Majoris. I. The Kinematics of the Ejecta
Humphreys, Roberta M.; Helton, L. Andrew; Jones, Terry J.
2007-06-01
Images of the complex circumstellar nebula associated with the famous red supergiant VY CMa show evidence for multiple and asymmetric mass-loss events over the past 1000 yr. Doppler velocities of the arcs and knots in the ejecta show that they are not only spatially distinct but also kinematically separate from the surrounding diffuse material. In this paper we describe second-epoch HST WFPC2 images to measure the transverse motions, which when combined with the radial motions provide a complete picture of the kinematics of the ejecta, including the total space motions and directions of the outflows. Our results show that the arcs and clumps of knots are moving at different velocities, in different directions, and at different angles relative to the plane of the sky and to the star, confirming their origin from eruptions at different times and from physically separate regions on the star. We conclude that the morphology and kinematics of the arcs and knots are consistent with a history of mass ejections not aligned with any presumed axis of symmetry. The arcs and clumps represent relatively massive outflows and ejections of gas very likely associated with large-scale convective activity and magnetic fields. Based on observations with the NASA/ESA Hubble Space Telescope, obtained at the Space Telescope Science Institute, which is operated by the Association of Universities for Research in Astronomy, Inc., under NASA contract NAS 5-26555.
Kinematic and kinetic synergies of the lower extremities during the pull in olympic weightlifting.
Kipp, Kristof; Redden, Josh; Sabick, Michelle; Harris, Chad
2012-07-01
The purpose of this study was to identify multijoint lower extremity kinematic and kinetic synergies in weightlifting and compare these synergies between joints and across different external loads. Subjects completed sets of the clean exercise at loads equal to 65, 75, and 85% of their estimated 1-RM. Functional data analysis was used to extract principal component functions (PCF's) for hip, knee, and ankle joint angles and moments of force during the pull phase of the clean at all loads. The PCF scores were then compared between joints and across loads to determine how much of each PCF was present at each joint and how it differed across loads. The analyses extracted two kinematic and four kinetic PCF's. The statistical comparisons indicated that all kinematic and two of the four kinetic PCF's did not differ across load, but scaled according to joint function. The PCF's captured a set of joint- and load-specific synergies that quantified biomechanical function of the lower extremity during Olympic weightlifting and revealed important technical characteristics that should be considered in sports training and future research.
About kinematics and hydrodynamics of spinning particles: some simple considerations
International Nuclear Information System (INIS)
Recami, Erasmo; Rodrigues Junior, Waldyr A.; Salesi, Giovanni
1995-12-01
In the first part (Sections 1 and 2) of this paper - starting from the Pauli current, in the ordinary tensorial language - we obtain the decomposition of the non-relativistic field velocity into two orthogonal parts: the classical part, that is the velocity w p/m of the center-of-mass (CM), and the so-called quantum part, that is, the velocity V of the motion in the CM frame (namely, the integral spin motion or Zitterbewegung). By inserting such a complete, composite expression of the velocity into the kinetic energy term of the non-relativistic classical (Newtonian) Lagrangian, we straightforwardly get the appearance of the so-called quantum potential associated, as it is know, with the Madelueng fluid. This result carries further evidence that the quantum behaviour of micro-systems can be a direct consequence of the fundamental existence of spin. In the second part (Sections 3 and 4), we fix our attention on the total velocity vector v vector w + vector V, being now necessary to pass to relativistic (classical) physics; and we show that the proper time entering the definition of the four-velocity v μ for spinning particles has to be the proper time τ of the CM frame. Inserting the correct Lorentz factor into the definition of v μ leads to completely new kinematical properties for v 2 . The important constraint pμ v μ identically true for scalar particles, but just assumed a priori in all previous spinning particle theories, is herein derived in a self-consistent way. (author). 24 refs
About kinematics and hydrodynamics of spinning particles: some simple considerations
Energy Technology Data Exchange (ETDEWEB)
Recami, Erasmo; Rodrigues Junior, Waldyr A. [Universidade Estadual de Campinas, SP (Brazil). Dept. de Matematica Aplicada; Salesi, Giovanni [Universita Statale di Catania (Italy). Dipt. di Fisica
1995-12-01
In the first part (Sections 1 and 2) of this paper - starting from the Pauli current, in the ordinary tensorial language - we obtain the decomposition of the non-relativistic field velocity into two orthogonal parts: the classical part, that is the velocity w p/m of the center-of-mass (CM), and the so-called quantum part, that is, the velocity V of the motion in the CM frame (namely, the integral spin motion or Zitterbewegung). By inserting such a complete, composite expression of the velocity into the kinetic energy term of the non-relativistic classical (Newtonian) Lagrangian, we straightforwardly get the appearance of the so-called quantum potential associated, as it is know, with the Madelueng fluid. This result carries further evidence that the quantum behaviour of micro-systems can be a direct consequence of the fundamental existence of spin. In the second part (Sections 3 and 4), we fix our attention on the total velocity vector v vector w + vector V, being now necessary to pass to relativistic (classical) physics; and we show that the proper time entering the definition of the four-velocity v{sup {mu}} for spinning particles has to be the proper time {tau} of the CM frame. Inserting the correct Lorentz factor into the definition of v{sup {mu}} leads to completely new kinematical properties for v{sup 2}. The important constraint p{mu} v{sup {mu}} identically true for scalar particles, but just assumed a priori in all previous spinning particle theories, is herein derived in a self-consistent way. (author). 24 refs.
Kinematics of electroweak single top quark production
International Nuclear Information System (INIS)
Lueck, Jan; Karlsruhe U., EKP
2006-01-01
In this thesis, the t-channel matching procedure of two single-top signal Monte Carlo samples is optimized. The s- and matched t-channel samples, generated by MadEvent, are validated by comparing to ZTOP next-to-leading-order calculations. We find good agreement for all kinematic distributions we investigate, except for softer light quark jets due to gluon radiation. Since this has only minor impact on the s-channel, the corresponding MadEvent sample performs its task as expected. For the t-channel, we can conclude that the applied matching procedure leads to a MadEvent sample that successfully describes the kinematic distributions and rates of the 2nd-b quark. However, small differences remain. The discrepancy in the p T -ordered 2nd-leading light jets is mainly due to the absence of initial state gluon splitting and initial and final state gluon radiation matrix elements in the MadEvent sample production. The subsequent PYTHIA showering of the partons is apparently inappropriate for modeling those contributions and not intended for this purpose. The proper way would be to produce all relevant NLO matrix elements and match them as proposed in reference [15]. At present, an NLO-MC-generator for single-top is in preparation [41]. Probably it will be available for future iterations of single-top analyses and will redundantize further matching procedures. We estimate the systematic uncertainty on the single-top acceptance due to the Monte Carlo modeling and find an uncertainty of about 1% on the t-channel acceptance. We obtain a negligible uncertainty well below 1% on the s-channel acceptance. These acceptance uncertainties are very well acceptable for the single-top analyses that are currently under way. A sensitivity study of the simultaneous cross section measurement of the s- and t-channel single-top production modes is conducted. For this purpose, only statistical uncertainties are included. For a future integrated luminosity of 1 fb -1 , we expect to obtain an s
Dose exposure work planning using DMU kinematics tools
International Nuclear Information System (INIS)
Rosli Darmawan
2010-01-01
The study on the possibility of using DMU Kinematics module in CAE tools for dose exposure work planning was carried out. A case scenario was created using 3D CAD software and transferred to DMU Kinematics module in CAE software. A work plan was created using DMU Kinematics tools and animated to simulate a real time scenario. Data on the phantom position against the radioactive source was collected by activating positioning sensors in the module. The data was used to estimate dose rate exposure for the phantom. The results can be used to plan the safest and optimum procedures in carrying out the radiation related task. (author)
An adaptive inverse kinematics algorithm for robot manipulators
Colbaugh, R.; Glass, K.; Seraji, H.
1990-01-01
An adaptive algorithm for solving the inverse kinematics problem for robot manipulators is presented. The algorithm is derived using model reference adaptive control (MRAC) theory and is computationally efficient for online applications. The scheme requires no a priori knowledge of the kinematics of the robot if Cartesian end-effector sensing is available, and it requires knowledge of only the forward kinematics if joint position sensing is used. Computer simulation results are given for the redundant seven-DOF robotics research arm, demonstrating that the proposed algorithm yields accurate joint angle trajectories for a given end-effector position/orientation trajectory.
Kinematic Analysis of Volleyball Attack in the Net Center with Various Types of Take-Off.
Zahálka, František; Malý, Tomáš; Malá, Lucia; Ejem, Miloslav; Zawartka, Marek
2017-09-01
The aim of the study was to describe and compare kinematics in two types of execution of attack hit, the goofy approach and regular approach. The research group consisted of players from the Czech Republic's top league (n = 12, age 28.0 ± 4.3 years, body height 196.6 ± 5.6 cm, body mass 89.7 ± 6.7 kg) divided into two groups according to the individual type of approach in the attack. Analysis of movement was performed by 3D kinematics video analysis, space coordinates were calculated by the DLT (Direct Linear Transformation) method together with interpretation software TEMA Bio 2.3 (Image Systems AB, Sweden). The players started their run-up from a distance of about 4 - 4.5 m from the net with similar maximal vertical velocity (2.91 - 2.96 m⋅s -1 ). The trajectory of players with goofy approach seemed to be convenient for the rotation of shoulders and hips in the moment of ball contact. Differences between both groups were observed. Players with a goofy approach had a longer flight phase compared to regularly approaching players.
Saupe, Florian; Knoblach, Andreas
2015-02-01
Two different approaches for the determination of frequency response functions (FRFs) are used for the non-parametric closed loop identification of a flexible joint industrial manipulator with serial kinematics. The two applied experiment designs are based on low power multisine and high power chirp excitations. The main challenge is to eliminate disturbances of the FRF estimates caused by the numerous nonlinearities of the robot. For the experiment design based on chirp excitations, a simple iterative procedure is proposed which allows exploiting the good crest factor of chirp signals in a closed loop setup. An interesting synergy of the two approaches, beyond validation purposes, is pointed out.
Complete pancreas traumatic transsection
Directory of Open Access Journals (Sweden)
H. Hodžić
2005-02-01
Full Text Available This report presents a case of a twenty-year old male with complete pancreas breakdown in the middle of its corpus, which was caused by a strong abdomen compression, with injuries of the spleen, the firstjejunumcurve,mesocolon transversum, left kidney, and appereance of retroperitoneal haemathoma. Surgical treatment started 70 minutes after the injury. The treatment consisted of left pancreatectomy with previous spleenectomy, haemostasis of ruptured mesocolon transversum blood vessels, left kidney exploration, suturing of the firstjejunumcurvelession and double abdomen drainage. Posttraumatic pancreatitis which appeared on the second postoperative day and prolonged drain secretion were successfully solved by conservative treatment.
DEFF Research Database (Denmark)
Stidsen, Thomas K.; Kjærulff, Peter
2006-01-01
Protection of communication against network failures is becoming increasingly important and in this paper we present the most capacity efficient protection method possible, the complete rerouting protection method, when requiring that all communication should be restored in case of a single link...... network failure. We present a linear programming model of the protection method and a column generation algorithm. For 6 real world networks, the minimal restoration overbuild network capacity is between 13% and 78%. We further study the importance of the density of the network, derive analytical bounds...
Completion of treatment planning
International Nuclear Information System (INIS)
Lief, Eugene
2008-01-01
The outline of the lecture included the following topics: entering prescription; plan printout; print and transfer DDR; segment BEV; export to R and V; physician approval; and second check. Considerable attention, analysis and discussion. The summary is as follows: Treatment planning completion is a very responsible process which requires maximum attention; Should be independently checked by the planner, physicist, radiation oncologist and a therapist; Should not be done in a last minute rush; Proper communication between team members; Properly set procedure should prevent propagation of an error by one individual to the treatment: the error should be caught by somebody else. (P.A.)
Alpaev, Gennadiy
2013-01-01
A practical cookbook, with a perfect package of simple, medium, and advanced recipes targeted at basic programmers as well as expert software testers, who will learn to create, manage, and run automated tests. It is packed with problem-solving recipes that are supported by simple examples.If you are a software tester or a programmer who is involved with testing automation using TestComplete, this book is ideal for you! You will be introduced to the very basics of using the tool, as well as polish any previously gained knowledge in using the tool. If you are already aware of programming basics,
Bonnefoi, H; Litière, S; Piccart, M; MacGrogan, G; Fumoleau, P; Brain, E; Petit, T; Rouanet, P; Jassem, J; Moldovan, C; Bodmer, A; Zaman, K; Cufer, T; Campone, M; Luporsi, E; Malmström, P; Werutsky, G; Bogaerts, J; Bergh, J; Cameron, D A
2014-06-01
Pathological complete response (pCR) following chemotherapy is strongly associated with both breast cancer subtype and long-term survival. Within a phase III neoadjuvant chemotherapy trial, we sought to determine whether the prognostic implications of pCR, TP53 status and treatment arm (taxane versus non-taxane) differed between intrinsic subtypes. Patients were randomized to receive either six cycles of anthracycline-based chemotherapy or three cycles of docetaxel then three cycles of eprirubicin/docetaxel (T-ET). pCR was defined as no evidence of residual invasive cancer (or very few scattered tumour cells) in primary tumour and lymph nodes. We used a simplified intrinsic subtypes classification, as suggested by the 2011 St Gallen consensus. Interactions between pCR, TP53 status, treatment arm and intrinsic subtype on event-free survival (EFS), distant metastasis-free survival (DMFS) and overall survival (OS) were studied using a landmark and a two-step approach multivariate analyses. Sufficient data for pCR analyses were available in 1212 (65%) of 1856 patients randomized. pCR occurred in 222 of 1212 (18%) patients: 37 of 496 (7.5%) luminal A, 22 of 147 (15%) luminal B/HER2 negative, 51 of 230 (22%) luminal B/HER2 positive, 43 of 118 (36%) HER2 positive/non-luminal, 69 of 221(31%) triple negative (TN). The prognostic effect of pCR on EFS did not differ between subtypes and was an independent predictor for better EFS [hazard ratio (HR) = 0.40, P analysis. EORTC 10994/BIG 1-00 Trial registration number NCT00017095. © The Author 2014. Published by Oxford University Press on behalf of the European Society for Medical Oncology. All rights reserved. For permissions, please email: journals.permissions@oup.com.
Reproducibility of 3D kinematics and surface electromyography measurements of mastication.
Remijn, Lianne; Groen, Brenda E; Speyer, Renée; van Limbeek, Jacques; Nijhuis-van der Sanden, Maria W G
2016-03-01
The aim of this study was to determine the measurement reproducibility for a procedure evaluating the mastication process and to estimate the smallest detectable differences of 3D kinematic and surface electromyography (sEMG) variables. Kinematics of mandible movements and sEMG activity of the masticatory muscles were obtained over two sessions with four conditions: two food textures (biscuit and bread) of two sizes (small and large). Twelve healthy adults (mean age 29.1 years) completed the study. The second to the fifth chewing cycle of 5 bites were used for analyses. The reproducibility per outcome variable was calculated with an intraclass correlation coefficient (ICC) and a Bland-Altman analysis was applied to determine the standard error of measurement relative error of measurement and smallest detectable differences of all variables. ICCs ranged from 0.71 to 0.98 for all outcome variables. The outcome variables consisted of four bite and fourteen chewing cycle variables. The relative standard error of measurement of the bite variables was up to 17.3% for 'time-to-swallow', 'time-to-transport' and 'number of chewing cycles', but ranged from 31.5% to 57.0% for 'change of chewing side'. The relative standard error of measurement ranged from 4.1% to 24.7% for chewing cycle variables and was smaller for kinematic variables than sEMG variables. In general, measurements obtained with 3D kinematics and sEMG are reproducible techniques to assess the mastication process. The duration of the chewing cycle and frequency of chewing were the best reproducible measurements. Change of chewing side could not be reproduced. The published measurement error and smallest detectable differences will aid the interpretation of the results of future clinical studies using the same study variables. Copyright © 2015 Elsevier Inc. All rights reserved.
Virtual sine arm kinematic mount system
International Nuclear Information System (INIS)
Xu, Z.; Randall, K.J.
1997-01-01
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
Bat flight: aerodynamics, kinematics and flight morphology.
Hedenström, Anders; Johansson, L Christoffer
2015-03-01
Bats evolved the ability of powered flight more than 50 million years ago. The modern bat is an efficient flyer and recent research on bat flight has revealed many intriguing facts. By using particle image velocimetry to visualize wake vortices, both the magnitude and time-history of aerodynamic forces can be estimated. At most speeds the downstroke generates both lift and thrust, whereas the function of the upstroke changes with forward flight speed. At hovering and slow speed bats use a leading edge vortex to enhance the lift beyond that allowed by steady aerodynamics and an inverted wing during the upstroke to further aid weight support. The bat wing and its skeleton exhibit many features and control mechanisms that are presumed to improve flight performance. Whereas bats appear aerodynamically less efficient than birds when it comes to cruising flight, they have the edge over birds when it comes to manoeuvring. There is a direct relationship between kinematics and the aerodynamic performance, but there is still a lack of knowledge about how (and if) the bat controls the movements and shape (planform and camber) of the wing. Considering the relatively few bat species whose aerodynamic tracks have been characterized, there is scope for new discoveries and a need to study species representing more extreme positions in the bat morphospace. © 2015. Published by The Company of Biologists Ltd.
Complete atrioventricular canal.
Calabrò, Raffaele; Limongelli, Giuseppe
2006-04-05
Complete atrioventricular canal (CAVC), also referred to as complete atrioventricular septal defect, is characterised by an ostium primum atrial septal defect, a common atrioventricular valve and a variable deficiency of the ventricular septum inflow. CAVC is an uncommon congenital heart disease, accounting for about 3% of cardiac malformations. Atrioventricular canal occurs in two out of every 10,000 live births. Both sexes are equally affected and a striking association with Down syndrome was found. Depending on the morphology of the superior leaflet of the common atrioventricular valve, 3 types of CAVC have been delineated (type A, B and C, according to Rastelli's classification). CAVC results in a significant interatrial and interventricular systemic-to-pulmonary shunt, thus inducing right ventricular pressure and volume overload and pulmonary hypertension. It becomes symptomatic in infancy due to congestive heart failure and failure to thrive. Diagnosis of CAVC might be suspected from electrocardiographic and chest X-ray findings. Echocardiography confirms it and gives anatomical details. Over time, pulmonary hypertension becomes irreversible, thus precluding the surgical therapy. This is the reason why cardiac catheterisation is not mandatory in infants (less than 6 months) but is indicated in older patients if irreversible pulmonary hypertension is suspected. Medical treatment (digitalis, diuretics, vasodilators) plays a role only as a bridge toward surgery, usually performed between the 3rd and 6th month of life.
Complete atrioventricular canal
Directory of Open Access Journals (Sweden)
Limongelli Giuseppe
2006-04-01
Full Text Available Abstract Complete atrioventricular canal (CAVC, also referred to as complete atrioventricular septal defect, is characterised by an ostium primum atrial septal defect, a common atrioventricular valve and a variable deficiency of the ventricular septum inflow. CAVC is an uncommon congenital heart disease, accounting for about 3% of cardiac malformations. Atrioventricular canal occurs in two out of every 10,000 live births. Both sexes are equally affected and a striking association with Down syndrome was found. Depending on the morphology of the superior leaflet of the common atrioventricular valve, 3 types of CAVC have been delineated (type A, B and C, according to Rastelli's classification. CAVC results in a significant interatrial and interventricular systemic-to-pulmonary shunt, thus inducing right ventricular pressure and volume overload and pulmonary hypertension. It becomes symptomatic in infancy due to congestive heart failure and failure to thrive. Diagnosis of CAVC might be suspected from electrocardiographic and chest X-ray findings. Echocardiography confirms it and gives anatomical details. Over time, pulmonary hypertension becomes irreversible, thus precluding the surgical therapy. This is the reason why cardiac catheterisation is not mandatory in infants (less than 6 months but is indicated in older patients if irreversible pulmonary hypertension is suspected. Medical treatment (digitalis, diuretics, vasodilators plays a role only as a bridge toward surgery, usually performed between the 3rd and 6th month of life.
Energy Technology Data Exchange (ETDEWEB)
Schein, G. [BJ Services, Dallas, TX (United States)
2006-07-01
Fractured shales yield oil and gas in various basins across the United States. A map indicating these fractured shale source-reservoir systems in the United States was presented along with the numerous similarities and differences that exist among these systems. Hydrocarbons in the organic rich black shale come from the bacterial decomposition of organic matter, primary thermogenic decomposition of organic matter or secondary thermogenic cracking of oil. The shale may be the reservoir or other horizons may be the primary or secondary reservoir. The reservoir has induced micro fractures or tectonic fractures. This paper described the well completions in the Barnett Shale in north Texas with reference to major players, reservoir properties, mineralogy, fluid sensitivity, previous treatments, design criteria and production examples. The Barnett Shale is an organic, black shale with thickness ranging from 100 to 1000 feet. The total organic carbon (TOC) averages 4.5 per cent. The unit has undergone high rate frac treatments. A review of the vertical wells in the Barnett Shale was presented along with the fracture treatment schedule and technology changes. A discussion of refracturing opportunities and proppant settling and transport revealed that additional proppant increases fluid recovery and enhances production. Compatible scale inhibitors and biocides can be beneficial. Horizontal completions in the Barnett Shale have shown better results than vertical wells, as demonstrated in a production comparison of 3 major horizontal wells in the basin. tabs., figs.
Directory of Open Access Journals (Sweden)
A. L. Lapikov
2014-01-01
Full Text Available The article is aimed at creating techniques to study multi-sectional manipulators with parallel structure. To solve this task the analysis in the field concerned was carried out to reveal both advantages and drawbacks of such executive mechanisms and main problems to be encountered in the course of research. The work shows that it is inefficient to create complete mathematical models of multisectional manipulators, which in the context of solving a direct kinematic problem are to derive a functional dependence of location and orientation of the end effector on all the generalized coordinates of the mechanism. The structure of multisectional manipulators was considered, where the sections are platform manipulators of parallel kinematics with six degrees of freedom. The paper offers an algorithm to define location and orientation of the end effector of the manipulator by means of iterative solution of analytical equation of the moving platform plane for each section. The equation for the unknown plane is derived using three points, which are attachment points of the moving platform joints. To define the values of joint coordinates a system of nine non-linear equations is completed. It is necessary to mention that for completion of the equation system are used the equations with the same type of non-linearity. The physical sense of all nine equations of the system is Euclidean distance between the points of the manipulator. The result of algorithm execution is a matrix of homogenous transformation for each section. The correlations describing transformations between adjoining sections of the manipulator are given. An example of the mechanism consisting of three sections is examined. The comparison of theoretical calculations with results obtained on a 3D-prototype is made. The next step of the work is to conduct research activities both in the field of dynamics of platform parallel kinematics manipulators with six degrees of freedom and in the
Motivating Calculus-Based Kinematics Instruction with Super Mario Bros
Nordine, Jeffrey C.
2011-09-01
High-quality physics instruction is contextualized, motivates students to learn, and represents the discipline as a way of investigating the world rather than as a collection of facts and equations. Inquiry-oriented pedagogy, such as problem-based instruction, holds great promise for both teaching physics content and representing the process of doing real science.2 A challenge for physics teachers is to find instructional contexts that are meaningful, accessible, and motivating for students. Today's students are spending a growing fraction of their lives interacting with virtual environments, and these environments—physically realistic or not—can provide valuable contexts for physics explorations3-5 and lead to thoughtful discussions about decisions that programmers make when designing virtual environments. In this article, I describe a problem-based approach to calculus-based kinematics instruction that contextualizes students' learning within the Super Mario Bros. video game—a game that is more than 20 years old, but still remarkably popular with today's high school and college students.
Influence of kinematic cuts on the net charge distribution
Energy Technology Data Exchange (ETDEWEB)
Petersen, Hannah [Frankfurt Institute for Advanced Studies, Ruth-Moufang-Str. 1, 60438 Frankfurt am Main (Germany); Institut für Theoretische Physik, Goethe Universität, Max-von-Laue-Str. 1, 60438 Frankfurt am Main (Germany); GSI Helmholtzzentrum für Schwerionenforschung GmbH, Planckstr. 1, 64291 Darmstadt (Germany); Oliinychenko, Dmytro [Frankfurt Institute for Advanced Studies, Ruth-Moufang-Str. 1, 60438 Frankfurt am Main (Germany); Bogolyubov Institute for Theoretical Physics, Kiev 03680 (Ukraine); Steinheimer, Jan [Frankfurt Institute for Advanced Studies, Ruth-Moufang-Str. 1, 60438 Frankfurt am Main (Germany); Bleicher, Marcus [Frankfurt Institute for Advanced Studies, Ruth-Moufang-Str. 1, 60438 Frankfurt am Main (Germany); Institut für Theoretische Physik, Goethe Universität, Max-von-Laue-Str. 1, 60438 Frankfurt am Main (Germany)
2016-12-15
The higher moments of the net charge distributions, e.g. the skewness and kurtosis, are studied within an infinite hadronic matter calculation in a transport approach. By dividing the box into several parts, the volume dependence of the fluctuations is investigated. After confirming that the initial distributions follow the expectations from a binomial distribution, the influence of quantum number conservation in this case the net charge in the system on the higher moments is evaluated. For this purpose, the composition of the hadron gas is adjusted and only pions and ρ mesons are simulated to investigate the charge conservation effect. In addition, the effect of imposing kinematic cuts in momentum space is analysed. The role of resonance excitations and decays on the higher moments can also be studied within this model. This work is highly relevant to understand the experimental measurements of higher moments obtained in the RHIC beam energy scan and their comparison to lattice results and other theoretical calculations assuming infinite matter.
IMU-based online kinematic calibration of robot manipulator.
Du, Guanglong; Zhang, Ping
2013-01-01
Robot calibration is a useful diagnostic method for improving the positioning accuracy in robot production and maintenance. An online robot self-calibration method based on inertial measurement unit (IMU) is presented in this paper. The method requires that the IMU is rigidly attached to the robot manipulator, which makes it possible to obtain the orientation of the manipulator with the orientation of the IMU in real time. This paper proposed an efficient approach which incorporates Factored Quaternion Algorithm (FQA) and Kalman Filter (KF) to estimate the orientation of the IMU. Then, an Extended Kalman Filter (EKF) is used to estimate kinematic parameter errors. Using this proposed orientation estimation method will result in improved reliability and accuracy in determining the orientation of the manipulator. Compared with the existing vision-based self-calibration methods, the great advantage of this method is that it does not need the complex steps, such as camera calibration, images capture, and corner detection, which make the robot calibration procedure more autonomous in a dynamic manufacturing environment. Experimental studies on a GOOGOL GRB3016 robot show that this method has better accuracy, convenience, and effectiveness than vision-based methods.
Kinematic evaluation of mobile robotic platforms for overground gait neurorehabilitation
Alias, N. Akmal; Huq, M. Saiful; Ibrahim, B. S. K. K.; Omar, Rosli
2017-09-01
Gait assistive devices offer a great solution to the walking re-education which reduce patients theoretical limit by aiding the anatomical joints to be in line with the rehabilitation session. Overground gait training, which is differs significantly from body-weight supported treadmill training in many aspects, essentially consists of a mobile robotic base to support the subject securely (usually with overhead harness) while its motion and orientation is controlled seamlessly to facilitate subjects free movement. In this study, efforts have been made for evaluation of both holonomic and nonholonomic drives, the outcome of which may constitute the primarily results to the effective approach in designing a robotic platform for the mobile rehabilitation robot. The sets of kinematic equations are derived using typical geometries of two different drives. The results indicate that omnidirectional mecanum wheel platform is capable for more sophisticated discipline. Although the differential drive platform happens to be more simple and easy to construct, but it is less desirable as it has limited number of motions applicable to the system. The omnidirectional robot consisting of mecanum wheels, which is classified as holonomic is potentially the best solution in terms of its capability to move in arbitrary direction without concerning the changing of wheel's direction.
Kinematic Optimization of Robot Trajectories for Thermal Spray Coating Application
Deng, Sihao; Liang, Hong; Cai, Zhenhua; Liao, Hanlin; Montavon, Ghislain
2014-12-01
Industrial robots are widely used in the field of thermal spray nowadays. Due to their characteristics of high-accuracy and programmable flexibility, spraying on complex geometrical workpieces can be realized in the equipped spray room. However, in some cases, the robots cannot guarantee the process parameters defined by the robot movement, such as the scanning trajectory, spray angle, relative speed between the torch and the substrate, etc., which have distinct influences on heat and mass transfer during the generation of any thermally sprayed coatings. In this study, an investigation on the robot kinematics was proposed to find the rules of motion in a common case. The results showed that the motion behavior of each axis of robot permits to identify the motion problems in the trajectory. This approach allows to optimize the robot trajectory generation in a limited working envelop. It also minimizes the influence of robot performance to achieve a more constant relative scanning speed which is represented as a key parameter in thermal spraying.
Throwing velocity and kinematics in elite male water polo players.
Melchiorri, G; Padua, E; Padulo, J; D'Ottavio, S; Campagna, S; Bonifazi, M
2011-12-01
Fifty-three members of the Italian Men Water Polo Team were filmed using two synchronized cameras, while they were shooting a goal. Considering the differences in body mass, height, training strategies and the technical-tactical features of the players, the aims of this study were to employ video-analysis techniques in order to investigate selected kinematic parameters in water polo throwing, and to provide comprehensive quantitative information on the throwing movement in relation to the different team player positions. Video analysis was used to estimate the elbow angle at release, the shoulder angle at follow through, the back and head height at ball release, trunk rotation angle and ball velocity at release. Ball release velocities ranged from 21.0 to 29.8 m/s (average value 25.3±1.4 m/s), for field players. Goal keepers show the lowest team values (average 21.7±0.3 m/s). Similar to previous study results, ball release was typically reached just prior to the elbow approaching full extension (151.6±3.6°), and the follow through shoulder angle was 143±5.9°. No significant statistical difference was recorded between injured and non-injured athletes. No positive association was demonstrated between physical characteristics (body mass and height) and ball velocity.
Kinematic/Dynamic Characteristics for Visual and Kinesthetic Virtual Environments
Bortolussi, Michael R. (Compiler); Adelstein, B. D.; Gold, Miriam
1996-01-01
Work was carried out on two topics of principal importance to current progress in virtual environment research at NASA Ames and elsewhere. The first topic was directed at maximizing the temporal dynamic response of visually presented Virtual Environments (VEs) through reorganization and optimization of system hardware and software. The final results of this portion of the work was a VE system in the Advanced Display and Spatial Perception Laboratory at NASA Ames capable of updating at 60 Hz (the maximum hardware refresh rate) with latencies approaching 30 msec. In the course of achieving this system performance, specialized hardware and software tools for measurement of VE latency and analytic models correlating update rate and latency for different system configurations were developed. The second area of activity was the preliminary development and analysis of a novel kinematic architecture for three Degree Of Freedom (DOF) haptic interfaces--devices that provide force feedback for manipulative interaction with virtual and remote environments. An invention disclosure was filed on this work and a patent application is being pursued by NASA Ames. Activities in these two areas are expanded upon below.
Fast robot kinematics modeling by using a parallel simulator (PSIM)
International Nuclear Information System (INIS)
El-Gazzar, H.M.; Ayad, N.M.A.
2002-01-01
High-speed computers are strongly needed not only for solving scientific and engineering problems, but also for numerous industrial applications. Such applications include computer-aided design, oil exploration, weather predication, space applications and safety of nuclear reactors. The rapid development in VLSI technology makes it possible to implement time consuming algorithms in real-time situations. Parallel processing approaches can now be used to reduce the processing-time for models of very high mathematical structure such as the kinematics molding of robot manipulator. This system is used to construct and evaluate the performance and cost effectiveness of several proposed methods to solve the Jacobian algorithm. Parallelism is introduced to the algorithms by using different task-allocations and dividing the whole job into sub tasks. Detailed analysis is performed and results are obtained for the case of six DOF (degree of freedom) robot arms (Stanford Arm). Execution times comparisons between Von Neumann (uni processor) and parallel processor architectures by using parallel simulator package (PSIM) are presented. The gained results are much in favour for the parallel techniques by at least fifty-percent improvements. Of course, further studies are needed to achieve the convenient and optimum number of processors has to be done
Fast robot kinematics modeling by using a parallel simulator (PSIM)
Energy Technology Data Exchange (ETDEWEB)
El-Gazzar, H M; Ayad, N M.A. [Atomic Energy Authority, Reactor Dept., Computer and Control Lab., P.O. Box no 13759 (Egypt)
2002-09-15
High-speed computers are strongly needed not only for solving scientific and engineering problems, but also for numerous industrial applications. Such applications include computer-aided design, oil exploration, weather predication, space applications and safety of nuclear reactors. The rapid development in VLSI technology makes it possible to implement time consuming algorithms in real-time situations. Parallel processing approaches can now be used to reduce the processing-time for models of very high mathematical structure such as the kinematics molding of robot manipulator. This system is used to construct and evaluate the performance and cost effectiveness of several proposed methods to solve the Jacobian algorithm. Parallelism is introduced to the algorithms by using different task-allocations and dividing the whole job into sub tasks. Detailed analysis is performed and results are obtained for the case of six DOF (degree of freedom) robot arms (Stanford Arm). Execution times comparisons between Von Neumann (uni processor) and parallel processor architectures by using parallel simulator package (PSIM) are presented. The gained results are much in favour for the parallel techniques by at least fifty-percent improvements. Of course, further studies are needed to achieve the convenient and optimum number of processors has to be done.
Kinematic feedback control laws for generating natural arm movements
International Nuclear Information System (INIS)
Kim, Donghyun; Jang, Cheongjae; Park, Frank C
2014-01-01
We propose a stochastic optimal feedback control law for generating natural robot arm motions. Our approach, inspired by the minimum variance principle of Harris and Wolpert (1998 Nature 394 780–4) and the optimal feedback control principles put forth by Todorov and Jordan (2002 Nature Neurosci. 5 1226–35) for explaining human movements, differs in two crucial respects: (i) the endpoint variance is minimized in joint space rather than Cartesian hand space, and (ii) we ignore the dynamics and instead consider only the second-order differential kinematics. The feedback control law generating the motions can be straightforwardly obtained by backward integration of a set of ordinary differential equations; these equations are obtained exactly, without any linear–quadratic approximations. The only parameters to be determined a priori are the variance scale factors, and for both the two-DOF planar arm and the seven-DOF spatial arm, a table of values is constructed based on the given initial and final arm configurations; these values are determined via an optimal fitting procedure, and consistent with existing findings about neuromuscular motor noise levels of human arm muscles. Experiments conducted with a two-link planar arm and a seven-DOF spatial arm verify that the trajectories generated by our feedback control law closely resemble human arm motions, in the sense of producing nearly straight-line hand trajectories, having bell-shaped velocity profiles, and satisfying Fitts Law. (paper)
Analysis of particle kinematics in spheronization via particle image velocimetry.
Koester, Martin; Thommes, Markus
2013-02-01
Spheronization is a wide spread technique in pellet production for many pharmaceutical applications. Pellets produced by spheronization are characterized by a particularly spherical shape and narrow size distribution. The particle kinematic during spheronization is currently not well-understood. Therefore, particle image velocimetry (PIV) was implemented in the spheronization process to visualize the particle movement and to identify flow patterns, in order to explain the influence of various process parameters. The spheronization process of a common formulation was recorded with a high-speed camera, and the images were processed using particle image velocimetry software. A crosscorrelation approach was chosen to determine the particle velocity at the surface of the pellet bulk. Formulation and process parameters were varied systematically, and their influence on the particle velocity was investigated. The particle stream shows a torus-like shape with a twisted rope-like motion. It is remarkable that the overall particle velocity is approximately 10-fold lower than the tip speed of the friction plate. The velocity of the particle stream can be correlated to the water content of the pellets and the load of the spheronizer, while the rotation speed was not relevant. In conclusion, PIV was successfully applied to the spheronization process, and new insights into the particle velocity were obtained. Copyright © 2012 Elsevier B.V. All rights reserved.
IMU-Based Online Kinematic Calibration of Robot Manipulator
Directory of Open Access Journals (Sweden)
Guanglong Du
2013-01-01
Full Text Available Robot calibration is a useful diagnostic method for improving the positioning accuracy in robot production and maintenance. An online robot self-calibration method based on inertial measurement unit (IMU is presented in this paper. The method requires that the IMU is rigidly attached to the robot manipulator, which makes it possible to obtain the orientation of the manipulator with the orientation of the IMU in real time. This paper proposed an efficient approach which incorporates Factored Quaternion Algorithm (FQA and Kalman Filter (KF to estimate the orientation of the IMU. Then, an Extended Kalman Filter (EKF is used to estimate kinematic parameter errors. Using this proposed orientation estimation method will result in improved reliability and accuracy in determining the orientation of the manipulator. Compared with the existing vision-based self-calibration methods, the great advantage of this method is that it does not need the complex steps, such as camera calibration, images capture, and corner detection, which make the robot calibration procedure more autonomous in a dynamic manufacturing environment. Experimental studies on a GOOGOL GRB3016 robot show that this method has better accuracy, convenience, and effectiveness than vision-based methods.
Acceleration of particles by black holes: Kinematic explanation
International Nuclear Information System (INIS)
Zaslavskii, O. B.
2011-01-01
A new simple and general explanation of the effect of acceleration of particles by black holes to infinite energies in the center of mass frame is suggested. It is based on kinematics of particles moving near the horizon. This effect arises when particles of two kinds collide near the horizon. For massive particles, the first kind represents a particle with the generic energy and angular momentum (I call them ''usual''). Near the horizon, such a particle has a velocity almost equal to that of light in the frame that corotates with a black hole (the frame is static if a black hole is static). The second kind (called ''critical'') consists of particles with the velocity v< c near the horizon due to special relationship between the energy and angular momentum (or charge). As a result, the relative velocity approaches the speed of light c, and the Lorentz factor grows unbound. This explanation applies both to generic rotating black holes and charged ones (even for radial motion of particles). If one of the colliding particles is massless (photon), the critical particle is distinguished by the fact that its frequency is finite near the horizon. The existence (or absence) of the effect is determined depending on competition of two factors--gravitational blue shift for a photon propagating towards a black hole and the Doppler effect due to transformation from the locally nonrotating frame to a comoving one. Classification of all possible types of collisions is suggested depending on whether massive or massless particle is critical or usual.
Numerical evaluation of tensor Feynman integrals in Euclidean kinematics
Energy Technology Data Exchange (ETDEWEB)
Gluza, J.; Kajda [Silesia Univ., Katowice (Poland). Inst. of Physics; Riemann, T.; Yundin, V. [Deutsches Elektronen-Synchrotron (DESY), Zeuthen (Germany)
2010-10-15
For the investigation of higher order Feynman integrals, potentially with tensor structure, it is highly desirable to have numerical methods and automated tools for dedicated, but sufficiently 'simple' numerical approaches. We elaborate two algorithms for this purpose which may be applied in the Euclidean kinematical region and in d=4-2{epsilon} dimensions. One method uses Mellin-Barnes representations for the Feynman parameter representation of multi-loop Feynman integrals with arbitrary tensor rank. Our Mathematica package AMBRE has been extended for that purpose, and together with the packages MB (M. Czakon) or MBresolve (A. V. Smirnov and V. A. Smirnov) one may perform automatically a numerical evaluation of planar tensor Feynman integrals. Alternatively, one may apply sector decomposition to planar and non-planar multi-loop {epsilon}-expanded Feynman integrals with arbitrary tensor rank. We automatized the preparations of Feynman integrals for an immediate application of the package sectordecomposition (C. Bogner and S. Weinzierl) so that one has to give only a proper definition of propagators and numerators. The efficiency of the two implementations, based on Mellin-Barnes representations and sector decompositions, is compared. The computational packages are publicly available. (orig.)
Peng, Joshua; Fey, Nicholas P; Kuiken, Todd A; Hargrove, Levi J
2016-02-29
The majority of fall-related accidents are during stair ambulation-occurring commonly at the top and bottom stairs of each flight, locations in which individuals are transitioning to stairs. Little is known about how individuals adjust their biomechanics in anticipation of walking-stair transitions. We identified the anticipatory stride mechanics of nine able-bodied individuals as they approached transitions from level ground walking to stair ascent and descent. Unlike prior investigations of stair ambulation, we analyzed two consecutive "anticipation" strides preceding the transitions strides to stairs, and tested a comprehensive set of kinematic and electromyographic (EMG) data from both the leading and trailing legs. Subjects completed ten trials of baseline overground walking and ten trials of walking to stair ascent and descent. Deviations relative to baseline were assessed. Significant changes in mechanics and EMG occurred in the earliest anticipation strides analyzed for both ascent and descent transitions. For stair descent, these changes were consistent with observed reductions in walking speed, which occurred in all anticipation strides tested. For stair ascent, subjects maintained their speed until the swing phase of the latest anticipation stride, and changes were found that would normally be observed for decreasing speed. Given the timing and nature of the observed changes, this study has implications for enhancing intent recognition systems and evaluating fall-prone or disabled individuals, by testing their abilities to sense upcoming transitions and decelerate during locomotion. Copyright © 2016 Elsevier Ltd. All rights reserved.
Global-local optimization of flapping kinematics in hovering flight
Ghommem, Mehdi; Hajj, M. R.; Mook, Dean T.; Stanford, Bret K.; Bé ran, Philip S.; Watson, Layne T.
2013-01-01
The kinematics of a hovering wing are optimized by combining the 2-d unsteady vortex lattice method with a hybrid of global and local optimization algorithms. The objective is to minimize the required aerodynamic power under a lift constraint. The hybrid optimization is used to efficiently navigate the complex design space due to wing-wake interference present in hovering aerodynamics. The flapping wing is chosen so that its chord length and flapping frequency match the morphological and flight properties of two insects with different masses. The results suggest that imposing a delay between the different oscillatory motions defining the flapping kinematics, and controlling the way through which the wing rotates at the end of each half stroke can improve aerodynamic power under a lift constraint. Furthermore, our optimization analysis identified optimal kinematics that agree fairly well with observed insect kinematics, as well as previously published numerical results.
Analytical kinematics analysis and synthesis of planar mechanisms
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.
Improving vertex position determination by using a kinematic fit
International Nuclear Information System (INIS)
Forden, G.E.; Saxon, D.H.
1985-05-01
A method is developed for improving decay vertex reconstruction by using kinematic fits. This is applied to generated charm meson decays. An improvement of 16% in the vertex position measurement along the flight path is achieved. (author)
Cluster algebras in scattering amplitudes with special 2D kinematics
Energy Technology Data Exchange (ETDEWEB)
Torres, Marcus A.C. [Institut de Physique Theorique, CEA-Saclay, Gif-sur-Yvette Cedex (France)
2014-02-15
We study the cluster algebra of the kinematic configuration space Conf{sub n}(P{sup 3}P3) of an n-particle scattering amplitude restricted to the special 2D kinematics. We found that the n-point two-loop MHVremainder function in special 2D kinematics depends on a selection of the X-coordinates that are part of a special structure of the cluster algebra related to snake triangulations of polygons. This structure forms a necklace of hypercube beads in the corresponding Stasheff polytope. Furthermore at n = 12, the cluster algebra and the selection of theX-coordinates in special2Dkinematics replicates the cluster algebra and the selection of X-coordinates of the n = 6 two-loop MHV amplitude in 4D kinematics. (orig.)
Relationship among shoulder proprioception, kinematics, and pain after stroke
Niessen, M.H.M.; Veeger, H.E.J.; Meskers, C.G.M.; Koppe, P.A.; Konijnenbelt, M.H.; Janssen, T.W.J.
2009-01-01
Niessen MH, Veeger DH, Meskers CG, Koppe PA, Konijnenbelt MH, Janssen TW. Relationship among shoulder proprioception, kinematics, and pain after stroke. Objective: To identify a possible relationship among chronic poststroke shoulder pain (PSSP), scapular resting pose, and shoulder proprioception.
Global-local optimization of flapping kinematics in hovering flight
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.
Kinematics and Dynamics of an Asymmetrical Parallel Robotic Wrist
DEFF Research Database (Denmark)
Wu, Guanglei
2014-01-01
This paper introduces an asymmetrical parallel robotic wrist, which can generate a decoupled unlimited-torsion motion and achieve high positioning accuracy. The kinematics, dexterity, and singularities of the manipulator are investigated to visualize the performance contours of the manipulator...
Directory of Open Access Journals (Sweden)
Yuri V. Mann
2016-12-01
Full Text Available The ever-increasing international interest to Gogol explains the necessity of publishing a new edition of his works. The present Complete Collection of Gogol’s Works and Letters is an academic edition prepared and published by the A. M. Gorky Institute of World Literature of the Russian Academy of Sciences. It draws on rich experience of studying and publishing Gogol’s heritage in Russia but at the same time questions and underscores Gogol’s relevance for the modern reader and his place in the world culture of our time. It intends to fill in the gaps left by the previous scholarly tradition that failed to recognize some of Gogol’s texts as part of his heritage. Such are, for example, dedicatory descriptions in books and business notes. The present edition accounts not only for the completeness of texts but also for their place within the body of Gogol’s work, as part of his life-long creative process. By counterpoising different editions, it attempts to trace down the dynamics of Gogol’s creative thought while at the same time underscores the autonomy and relevance of each period in his career. For example, this collection publishes two different versions (editions of the same work: while the most recent version has become canonical at the expense of the preceding one, the latter still preserves its meaning and historical relevance. The present edition has the advantage over its predecessors since it has an actual, physical opportunity to erase the gaps, e.g. to publish the hitherto unpublished texts. However, the editors realize that new, hitherto unknown gaps may appear and the present edition will become, in its turn, outdated. At this point, there will be a necessity in the new edition.
Inverse kinematics problem in robotics using neural networks
Choi, Benjamin B.; Lawrence, Charles
1992-01-01
In this paper, Multilayer Feedforward Networks are applied to the robot inverse kinematic problem. The networks are trained with endeffector position and joint angles. After training, performance is measured by having the network generate joint angles for arbitrary endeffector trajectories. A 3-degree-of-freedom (DOF) spatial manipulator is used for the study. It is found that neural networks provide a simple and effective way to both model the manipulator inverse kinematics and circumvent the problems associated with algorithmic solution methods.
Anatomical kinematic constraints: consequences on muscular forces and joint reactions
MOISSENET, F; CHEZE, L; DUMAS, R
2011-01-01
This paper presents a method to determine musculo-tendon forces and joint reactions during gait, using a 3D right leg model with 5 DoFs: spherical joint at the hip and parallel mechanisms at both knee and ankle. A typical set of natural coordinates is used to obtain the dynamic equations. First, using a global optimization method, "anatomical" kinematic constraints (i.e., parallel mechanisms) are applied on the kinematics obtained from motion capture data. Consistent derivatives are computed ...
Kinematics of roller chain drives - Exact and approximate analysis
DEFF Research Database (Denmark)
Fuglede, Niels; Thomsen, Jon Juel
2016-01-01
An exact and approximate kinematic analysis of a roller chain drive modeled as a four-bar mechanism is presented. The span connects the sprockets such that they rotate in the same direction, and the sprocket size, number of teeth, and shaft center distance can be arbitrary. The driven sprocket...... to be very good agreement. All together this gives new insights into the characteristics of chain drive kinematics and the influence of main design parameters....
Numerical kinematic transformation calculations for a parallel link manipulator
International Nuclear Information System (INIS)
Killough, S.M.
1993-01-01
Parallel link manipulators are often considered for particular robotic applications because of the unique advantages they provide. Unfortunately, they have significant disadvantages with respect to calculating the kinematic transformations because of the high-order equations that must be solved. Presented is a manipulator design that exploits the mechanical advantages of parallel links yet also has a corresponding numerical kinematic solution that can be solved in real time on common microcomputers
Kinematic control of redundant robots and the motion optimizability measure.
Li, L; Gruver, W A; Zhang, Q; Yang, Z
2001-01-01
This paper treats the kinematic control of manipulators with redundant degrees of freedom. We derive an analytical solution for the inverse kinematics that provides a means for accommodating joint velocity constraints in real time. We define the motion optimizability measure and use it to develop an efficient method for the optimization of joint trajectories subject to multiple criteria. An implementation of the method for a 7-dof experimental redundant robot is present.
Rate effects on timing, key velocity, and finger kinematics in piano performance.
Bella, Simone Dalla; Palmer, Caroline
2011-01-01
We examined the effect of rate on finger kinematics in goal-directed actions of pianists. In addition, we evaluated whether movement kinematics can be treated as an indicator of personal identity. Pianists' finger movements were recorded with a motion capture system while they performed melodies from memory at different rates. Pianists' peak finger heights above the keys preceding keystrokes increased as tempo increased, and were attained about one tone before keypress. These rate effects were not simply due to a strategy to increase key velocity (associated with tone intensity) of the corresponding keystroke. Greater finger heights may compensate via greater tactile feedback for a speed-accuracy tradeoff that underlies the tendency toward larger temporal variability at faster tempi. This would allow pianists to maintain high temporal accuracy when playing at fast rates. In addition, finger velocity and accelerations as pianists' fingers approached keys were sufficiently unique to allow pianists' identification with a neural-network classifier. Classification success was higher in pianists with more extensive musical training. Pianists' movement "signatures" may reflect unique goal-directed movement kinematic patterns, leading to individualistic sound.
Oliver, Gretchen D
2014-03-01
As the biomechanical literature concerning softball pitching is evolving, there are no data to support the mechanics of softball position players. Pitching literature supports the whole kinetic chain approach including the lower extremity in proper throwing mechanics. The purpose of this project was to examine the gluteal muscle group activation patterns and their relationship with shoulder and elbow kinematics and kinetics during the overhead throwing motion of softball position players. Eighteen Division I National Collegiate Athletic Association softball players (19.2 ± 1.0 years; 68.9 ± 8.7 kg; 168.6 ± 6.6 cm) who were listed on the active playing roster volunteered. Electromyographic, kinematic, and kinetic data were collected while players caught a simulated hit or pitched ball and perform their position throw. Pearson correlation revealed a significant negative correlation between non-throwing gluteus maximus during the phase of maximum external rotation to maximum internal rotation (MIR) and elbow moments at ball release (r = -0.52). While at ball release, trunk flexion and rotation both had a positive relationship with shoulder moments at MIR (r = 0.69, r = 0.82, respectively) suggesting that the kinematic actions of the pelvis and trunk are strongly related to the actions of the shoulder during throwing.
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.
Kinematic Chains in Ski Jumping In-run Posture.
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.
Development of Calculation Algorithm for ECCS Kinematic Shock
Energy Technology Data Exchange (ETDEWEB)
Lee, Seung-Chan; Yoon, Duk-Joo; Ha, Sang-Jun [KHNP-CRI, Daejeon (Korea, Republic of)
2014-10-15
The void fraction of inverted U-pipes in front of SI(Safety Injection) pumps impact on the pipe system of ECCS(Emergency Core Cooling Systems). This phenomena is called as 'Kinematic Shock'. The purpose of this paper is to achieve the more exactly calculation when the kinematic shock is calculated by simplified equation. The behavior of the void packet of the ECCS pipes is illustrated by the simplified (other name is kinematic shock equation).. The kinematic shock is defined as the depth of total length of void clusters in the pipes of ECCS when the void cluster is continually reached along the part of pipes in vertical direction. In this paper, the simplified equation is evaluated by comparing calculation error each other.]. The more exact methods of calculating the depth of the kinematic shock in ECCS is achieved. The error of kinematic shock calculation is strongly depended on the calculation search gap and the order of Taylor's expansion. From this study, to select the suitable search gap and the suitable calculation order, differential root method, secant method, and Taylor's expansion form are compared one another.
Effect of suspension kinematic on 14 DOF vehicle model
Wongpattananukul, T.; Chantharasenawong, C.
2017-12-01
Computer simulations play a major role in shaping modern science and engineering. They reduce time and resource consumption in new studies and designs. Vehicle simulations have been studied extensively to achieve a vehicle model used in minimum lap time solution. Simulation result accuracy depends on the abilities of these models to represent real phenomenon. Vehicles models with 7 degrees of freedom (DOF), 10 DOF and 14 DOF are normally used in optimal control to solve for minimum lap time. However, suspension kinematics are always neglected on these models. Suspension kinematics are defined as wheel movements with respect to the vehicle body. Tire forces are expressed as a function of wheel slip and wheel position. Therefore, the suspension kinematic relation is appended to the 14 DOF vehicle model to investigate its effects on the accuracy of simulate trajectory. Classical 14 DOF vehicle model is chosen as baseline model. Experiment data is collected from formula student style car test runs as baseline data for simulation and comparison between baseline model and model with suspension kinematic. Results show that in a single long turn there is an accumulated trajectory error in baseline model compared to model with suspension kinematic. While in short alternate turns, the trajectory error is much smaller. These results show that suspension kinematic had an effect on the trajectory simulation of vehicle. Which optimal control that use baseline model will result in inaccuracy control scheme.
Kinematics and Kinetics of Squat and Deadlift Exercises with Varying Stance Widths
DeWitt, John K.; Fincke, Renita S.; Logan, Rachel L.
2011-01-01
The primary motion of squat and deadlift exercise involves flexion and extension of the hips, knees, and ankles, but each exercise can be performed with variations in stance width. These variations may result in differing kinematics and ground reaction forces (GRF), which may in turn affect joint loading. PURPOSE: The purpose of this investigation was to compare ankle, knee, and hip kinematics and kinetics of normal squat (NS), wide-stance squat (WS), normal deadlift (ND), and sumo deadlift (SD). We hypothesized that hip joint kinematics and work at each joint would differ between exercise variations. METHODS: Six subjects (3 m/3 f; 70.0 plus or minus 13.7 kg; 168 plus or minus 9.9 cm) performed each lift in normal gravity on the ground-based version of the Advanced Resistive Exercise Device (ARED) used on the International Space Station. The ARED provided resistance with a combination vacuum tube/flywheel mechanism designed to replicate the gravitational and inertial forces of free weights. Subjects completed each lift with their 10-repetition maximum load. Kinematic data were collected at 250 Hz by a 12-camera motion-capture system (Smart-D, BTS Bioengineering, Milan, Italy), and GRF data were collected at 1000 Hz with independent force platforms for each leg (Model 9261, Kistler Instruments AG, Winterhur, Switzerland). All data were captured simultaneously on a single workstation. The right leg of a single lift for each motion was analyzed. Modeling software (OpenSim 2.2.0, Simbios, Palo Alto, CA) determined joint kinematics and net positive and negative work at each lower extremity joint. Total work was found as the sum of work across all joints and was normalized by system mass. Effect sizes and their 95% confidence intervals were computed between conditions. RESULTS: Peak GRF were similar for each lift. There were no differences between conditions in hip flexion range of motion (ROM). For hip adduction ROM, there were no differences between the NS, WS, and SD
In vivo kinematics of a robot-assisted uni- and multi-compartmental knee arthroplasty.
Watanabe, Toshifumi; Abbasi, Ali Z; Conditt, Michael A; Christopher, Jennifer; Kreuzer, Stefan; Otto, Jason K; Banks, Scott A
2014-07-01
There is great interest in providing reliable and durable treatments for one- and two-compartment arthritic degeneration of the cruciate-ligament intact knee. One approach is to resurface only the diseased compartments with discrete unicompartmental components, retaining the undamaged compartment(s). However, placing multiple small implants into the knee presents a greater surgical challenge than total knee arthroplasty, so it is not certain that the natural knee mechanics can be maintained or restored. The goal of this study was to determine whether near-normal knee kinematics can be obtained with a robot-assisted multi-compartmental knee arthroplasty. Thirteen patients with 15 multi-compartmental knee arthroplasties using haptic robotic-assisted bone preparation were involved in this study. Nine subjects received a medial unicompartmental knee arthroplasty (UKA), three subjects received a medial UKA and patellofemoral (PF) arthroplasty, and three subjects received medial and lateral bi-unicondylar arthroplasty. Knee motions were recorded using video-fluoroscopy an average of 13 months (6-29 months) after surgery during stair and kneeling activities. The three-dimensional position and orientation of the implant components were determined using model-image registration techniques. Knee kinematics during maximum flexion kneeling showed femoral external rotation and posterior lateral condylar translation. All knees showed femoral external rotation and posterior condylar translation with flexion during the step activity. Knees with medial UKA and PF arthroplasty showed the most femoral external rotation and posterior translation, and knees with bicondylar UKA showed the least. Knees with accurately placed uni- or bi-compartmental arthroplasty exhibited stable knee kinematics consistent with intact and functioning cruciate ligaments. The patterns of tibiofemoral motion were more similar to natural knees than commonly has been observed in knees with total knee
Directory of Open Access Journals (Sweden)
Ambra Bisio
2016-09-01
Full Text Available Writing is a means of communication which requires complex motor, perceptual and cognitive skills. If one of these abilities gets lost following traumatic events or due to neurological diseases, handwriting could deteriorate. Occupational therapy practitioners provide rehabilitation services for people with impaired handwriting. However, to determine the effectiveness of handwriting interventions no studies assessed whether the proposed treatments improved the kinematics of writing movement or had an effect at the level of the central nervous system. There is need to find new quantitative methodologies able to describe the behavioral and the neural outcomes of the rehabilitative interventions for handwriting. In the present study we proposed a combined approach that allowed evaluating the kinematic parameters of handwriting movements, acquired by means of a magnetic resonance-compatible tablet, and their neural correlates obtained simultaneously from a functional magnetic resonance imaging (fMRI examination. Results showed that the system was reliable in term of reproducibility of the kinematic data during a test/re-test procedure. Further, despite the modifications with respect to an ecological writing movement condition, the kinematic parameters acquired inside the MR-environment were descriptive of individuals’ movement features. At last, the imaging protocol succeeded to show the activation of the cerebral regions associated with the production of writing movement in healthy people. From these findings, this methodology seems to be promising to evaluate the handwriting movement deficits and the potential alterations in the neural activity in those individuals who have handwriting difficulties. Finally, it would provide a mean to quantitatively assess the effect of a rehabilitative treatment.
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
A quantum kinematics for asymptotically flat gravity
Campiglia, Miguel; Varadarajan, Madhavan
2015-07-01
We construct a quantum kinematics for asymptotically flat gravity based on the Koslowski-Sahlmann (KS) representation. The KS representation is a generalization of the representation underlying loop quantum gravity (LQG) which supports, in addition to the usual LQG operators, the action of ‘background exponential operators’, which are connection dependent operators labelled by ‘background’ su(2) electric fields. KS states have, in addition to the LQG state label corresponding to one dimensional excitations of the triad, a label corresponding to a ‘background’ electric field that describes three dimensional excitations of the triad. Asymptotic behaviour in quantum theory is controlled through asymptotic conditions on the background electric fields that label the states and the background electric fields that label the operators. Asymptotic conditions on the triad are imposed as conditions on the background electric field state label while confining the LQG spin net graph labels to compact sets. We show that KS states can be realised as wave functions on a quantum configuration space of generalized connections and that the asymptotic behaviour of each such generalized connection is determined by that of the background electric fields which label the background exponential operators. Similar to the spatially compact case, the Gauss law and diffeomorphism constraints are then imposed through group averaging techniques to obtain a large sector of gauge invariant states. It is shown that this sector supports a unitary action of the group of asymptotic rotations and translations and that, as anticipated by Friedman and Sorkin, for appropriate spatial topology, this sector contains states that display fermionic behaviour under 2π rotations.
Growth Kinematics of Opening-Mode Fractures
Eichhubl, P.; Alzayer, Y.; Laubach, S.; Fall, A.
2014-12-01
Fracture aperture is a primary control on flow in fractured reservoirs of low matrix permeability including unconventional oil and gas reservoirs and most geothermal systems. Guided by principles of linear elastic fracture mechanics, fracture aperture is generally assumed to be a linear function of fracture length and elastic material properties. Natural opening-mode fractures with significant preserved aperture are observed in core and outcrop indicative of fracture opening strain accommodated by permanent solution-precipitation creep. Fracture opening may thus be decoupled from length growth if the material effectively weakens after initial elastic fracture growth by either non-elastic deformation processes or changes in elastic properties. To investigate the kinematics of fracture length and aperture growth, we reconstructed the opening history of three opening-mode fractures that are bridged by crack-seal quartz cement in Travis Peak Sandstone of the SFOT-1 well, East Texas. Similar crack-seal cement bridges had been interpreted to form by repeated incremental fracture opening and subsequent precipitation of quartz cement. We imaged crack-seal cement textures for bridges sampled at varying distance from the tips using scanning electron microscope cathodoluminescence, and determined the number and thickness of crack-seal cement increments as a function of position along the fracture length and height. Observed trends in increment number and thickness are consistent with an initial stage of fast fracture propagation relative to aperture growth, followed by a stage of slow propagation and pronounced aperture growth. Consistent with fluid inclusion observations indicative of fracture opening and propagation occurring over 30-40 m.y., we interpret the second phase of pronounced aperture growth to result from fracture opening strain accommodated by solution-precipitation creep and concurrent slow, possibly subcritical, fracture propagation. Similar deformation
Howell, Stephen M; Hodapp, Esther E; Vernace, Joseph V; Hull, Maury L; Meade, Thomas D
2013-10-01
Tibiofemoral contact kinematics or knee implant motions have a direct influence on patient function and implant longevity and should be evaluated for any new alignment technique such as kinematically aligned total knee arthroplasty (TKA). Edge loading of the tibial liner and external rotation (reverse of normal) and adduction of the tibial component on the femoral component are undesirable contact kinematics that should be minimized. Accordingly, this study determined whether the overall prevalence of undesirable contact kinematics during standing, mid kneeling near 90 degrees and full kneeling with kinematically aligned TKA are minimal and not different between groups of consecutive patients treated by different surgeons. Three surgeons were asked to perform cemented, kinematically aligned TKA with patient-specific guides in a consecutive series of patients with their preferred cruciate-retaining (CR) implant. In vivo tibiofemoral contact positions were obtained using a 3- to 2-dimensional image registration technique in 69 subjects (Vanguard CR-TKA N = 22, and Triathlon CR-TKA N = 47). Anterior or posterior edge loading of the tibial liner was not observed. The overall prevalence of external rotation of the tibial component on the femoral component of 6 % was low and not different between surgeons (n.s.). The overall prevalence of adduction of the tibial component on the femoral component of 4 % was low and not different between surgeons (n.s.). Kinematically aligned TKA minimized the undesirable contact kinematics of edge loading of the tibial liner, and external rotation and adduction of the tibial component on the femoral component during standing and kneeling, which suggests an optimistic prognosis for durable long-term function. III.
Sinclair, Jonathan; McCarthy, Derek; Bentley, Ian; Hurst, Howard Thomas; Atkins, Stephen
2015-01-01
The barbell back squat is commonly used by athletes participating in resistance training. The barbell squat is typically performed using standard athletic shoes, or specially designed weightlifting footwear, although there are now a large number of athletes who prefer to squat barefoot or in barefoot-inspired footwear. This study aimed to determine how these footwear influence 3-D kinematics and muscle activation potentials during the barbell back squat. Fourteen experienced male participants completed squats at 70% 1 rep max in each footwear condition. 3-D kinematics from the torso, hip, knee and ankle were measured using an eight-camera motion analysis system. In addition, electromyographical (EMG) measurements were obtained from the rectus femoris, tibialis anterior, gastrocnemius, erector spinae and biceps femoris muscles. EMG parameters and joint kinematics were compared between footwear using repeated-measures analyses of variance. Participants were also asked to subjectively rate which footwear they preferred when performing their squat lifts; this was examined a chi-squared test. The kinematic analysis indicated that, in comparison to barefoot the running shoe was associated with increased squat depth, knee flexion and rectus femoris activation. The chi-squared test was significant and showed that participants preferred to squat barefoot. This study supports anecdotal evidence of athletes who prefer to train barefoot or in barefoot-inspired footwear although no biomechanical evidence was found to support this notion.
Vibration-Based Adaptive Novelty Detection Method for Monitoring Faults in a Kinematic Chain
Directory of Open Access Journals (Sweden)
Jesus Adolfo Cariño-Corrales
2016-01-01
Full Text Available This paper presents an adaptive novelty detection methodology applied to a kinematic chain for the monitoring of faults. The proposed approach has the premise that only information of the healthy operation of the machine is initially available and fault scenarios will eventually develop. This approach aims to cover some of the challenges presented when condition monitoring is applied under a continuous learning framework. The structure of the method is divided into two recursive stages: first, an offline stage for initialization and retraining of the feature reduction and novelty detection modules and, second, an online monitoring stage to continuously assess the condition of the machine. Contrary to classical static feature reduction approaches, the proposed method reformulates the features by employing first a Laplacian Score ranking and then the Fisher Score ranking for retraining. The proposed methodology is validated experimentally by monitoring the vibration measurements of a kinematic chain driven by an induction motor. Two faults are induced in the motor to validate the method performance to detect anomalies and adapt the feature reduction and novelty detection modules to the new information. The obtained results show the advantages of employing an adaptive approach for novelty detection and feature reduction making the proposed method suitable for industrial machinery diagnosis applications.
Complete family of separability criteria
International Nuclear Information System (INIS)
Doherty, Andrew C.; Spedalieri, Federico M.; Parrilo, Pablo A.
2004-01-01
We introduce a family of separability criteria that are based on the existence of extensions of a bipartite quantum state ρ to a larger number of parties satisfying certain symmetry properties. It can be easily shown that all separable states have the required extensions, so the nonexistence of such an extension for a particular state implies that the state is entangled. One of the main advantages of this approach is that searching for the extension can be cast as a convex optimization problem known as a semidefinite program. Whenever an extension does not exist, the dual optimization constructs an explicit entanglement witness for the particular state. These separability tests can be ordered in a hierarchical structure whose first step corresponds to the well-known positive partial transpose (Peres-Horodecki) criterion, and each test in the hierarchy is at least as powerful as the preceding one. This hierarchy is complete, in the sense that any entangled state is guaranteed to fail a test at some finite point in the hierarchy, thus showing it is entangled. The entanglement witnesses corresponding to each step of the hierarchy have well-defined and very interesting algebraic properties that, in turn, allow for a characterization of the interior of the set of positive maps. Coupled with some recent results on the computational complexity of the separability problem, which has been shown to be NP hard, this hierarchy of tests gives a complete and also computationally and theoretically appealing characterization of mixed bipartite entangled states
Identifying the Young Low-mass Stars within 25 pc. II. Distances, Kinematics, and Group Membership
Shkolnik, Evgenya L.; Anglada-Escudé, Guillem; Liu, Michael C.; Bowler, Brendan P.; Weinberger, Alycia J.; Boss, Alan P.; Reid, I. Neill; Tamura, Motohide
2012-10-01
We have conducted a kinematic study of 165 young M dwarfs with ages of lsim300 Myr. Our sample is composed of stars and brown dwarfs with spectral types ranging from K7 to L0, detected by ROSAT and with photometric distances of lsim25 pc assuming that the stars are single and on the main sequence. In order to find stars kinematically linked to known young moving groups (YMGs), we measured radial velocities for the complete sample with Keck and CFHT optical spectroscopy and trigonometric parallaxes for 75 of the M dwarfs with the CAPSCam instrument on the du Pont 2.5 m Telescope. Due to their youthful overluminosity and unresolved binarity, the original photometric distances for our sample underestimated the distances by 70% on average, excluding two extremely young (lsim3 Myr) objects found to have distances beyond a few hundred parsecs. We searched for kinematic matches to 14 reported YMGs and identified 10 new members of the AB Dor YMG and 2 of the Ursa Majoris group. Additional possible candidates include six Castor, four Ursa Majoris, two AB Dor members, and one member each of the Her-Lyr and β Pic groups. Our sample also contains 27 young low-mass stars and 4 brown dwarfs with ages lsim150 Myr that are not associated with any known YMG. We identified an additional 15 stars that are kinematic matches to one of the YMGs, but the ages from spectroscopic diagnostics and/or the positions on the sky do not match. These warn against grouping stars together based only on kinematics and that a confluence of evidence is required to claim that a group of stars originated from the same star-forming event. Based on observations collected at the W. M. Keck Observatory, the Canada-France-Hawaii Telescope, the du Pont Telescope at Las Campanas Observatory, and the Subaru Telescope. The Keck Observatory is operated as a scientific partnership between the California Institute of Technology, the University of California, and NASA, and was made possible by the generous financial
Kinematic Analysis of a Posterior-stabilized Knee Prosthesis
Zhao, Zhi-Xin; Wen, Liang; Qu, Tie-Bing; Hou, Li-Li; Xiang, Dong; Bin, Jia
2015-01-01
Background: The goal of total knee arthroplasty (TKA) is to restore knee kinematics. Knee prosthesis design plays a very important role in successful restoration. Here, kinematics models of normal and prosthetic knees were created and validated using previously published data. Methods: Computed tomography and magnetic resonance imaging scans of a healthy, anticorrosive female cadaver were used to establish a model of the entire lower limbs, including the femur, tibia, patella, fibula, distal femur cartilage, and medial and lateral menisci, as well as the anterior cruciate, posterior cruciate, medial collateral, and lateral collateral ligaments. The data from the three-dimensional models of the normal knee joint and a posterior-stabilized (PS) knee prosthesis were imported into finite element analysis software to create the final kinematic model of the TKA prosthesis, which was then validated by comparison with a previous study. The displacement of the medial/lateral femur and the internal rotation angle of the tibia were analyzed during 0–135° flexion. Results: Both the output data trends and the measured values derived from the normal knee's kinematics model were very close to the results reported in a previous in vivo study, suggesting that this model can be used for further analyses. The PS knee prosthesis underwent an abnormal forward displacement compared with the normal knee and has insufficient, or insufficiently aggressive, “rollback” compared with the lateral femur of the normal knee. In addition, a certain degree of reverse rotation occurs during flexion of the PS knee prosthesis. Conclusions: There were still several differences between the kinematics of the PS knee prosthesis and a normal knee, suggesting room for improving the design of the PS knee prosthesis. The abnormal kinematics during early flexion shows that the design of the articular surface played a vital role in improving the kinematics of the PS knee prosthesis. PMID:25591565
Kinematic cross-correlation induces sensory integration across separate objects.
Debats, Nienke B; Ernst, Marc O; Heuer, Herbert
2017-12-01
In a basic cursor-control task, the perceived positions of the hand and the cursor are biased towards each other. We recently found that this phenomenon conforms to the reliability-based weighting mechanism of optimal multisensory integration. This indicates that optimal integration is not restricted to sensory signals originating from a single source, as is the prevailing view, but that it also applies to separate objects that are connected by a kinematic relation (i.e. hand and cursor). In the current study, we examined which aspects of the kinematic relation are crucial for eliciting the sensory integration: (i) the cross-correlation between kinematic variables of the hand and cursor trajectories, and/or (ii) an internal model of the hand-cursor kinematic transformation. Participants made out-and-back movements from the centre of a semicircular workspace to its boundary, after which they judged the position where either their hand or the cursor hit the boundary. We analysed the position biases and found that the integration was strong in a condition with high kinematic correlations (a straight hand trajectory was mapped to a straight cursor trajectory), that it was significantly reduced for reduced kinematic correlations (a straight hand trajectory was transformed into a curved cursor trajectory) and that it was not affected by the inability to acquire an internal model of the kinematic transformation (i.e. by the trial-to-trial variability of the cursor curvature). These findings support the idea that correlations play a crucial role in multisensory integration irrespective of the number of sensory sources involved. © 2017 Federation of European Neuroscience Societies and John Wiley & Sons Ltd.
Kinematic analysis of a posterior-stabilized knee prosthesis.
Zhao, Zhi-Xin; Wen, Liang; Qu, Tie-Bing; Hou, Li-Li; Xiang, Dong; Bin, Jia
2015-01-20
The goal of total knee arthroplasty (TKA) is to restore knee kinematics. Knee prosthesis design plays a very important role in successful restoration. Here, kinematics models of normal and prosthetic knees were created and validated using previously published data. Computed tomography and magnetic resonance imaging scans of a healthy, anticorrosive female cadaver were used to establish a model of the entire lower limbs, including the femur, tibia, patella, fibula, distal femur cartilage, and medial and lateral menisci, as well as the anterior cruciate, posterior cruciate, medial collateral, and lateral collateral ligaments. The data from the three-dimensional models of the normal knee joint and a posterior-stabilized (PS) knee prosthesis were imported into finite element analysis software to create the final kinematic model of the TKA prosthesis, which was then validated by comparison with a previous study. The displacement of the medial/lateral femur and the internal rotation angle of the tibia were analyzed during 0-135° flexion. Both the output data trends and the measured values derived from the normal knee's kinematics model were very close to the results reported in a previous in vivo study, suggesting that this model can be used for further analyses. The PS knee prosthesis underwent an abnormal forward displacement compared with the normal knee and has insufficient, or insufficiently aggressive, "rollback" compared with the lateral femur of the normal knee. In addition, a certain degree of reverse rotation occurs during flexion of the PS knee prosthesis. There were still several differences between the kinematics of the PS knee prosthesis and a normal knee, suggesting room for improving the design of the PS knee prosthesis. The abnormal kinematics during early flexion shows that the design of the articular surface played a vital role in improving the kinematics of the PS knee prosthesis.
Kinematic Analysis of a Posterior-stabilized Knee Prosthesis
Directory of Open Access Journals (Sweden)
Zhi-Xin Zhao
2015-01-01
Full Text Available Background: The goal of total knee arthroplasty (TKA is to restore knee kinematics. Knee prosthesis design plays a very important role in successful restoration. Here, kinematics models of normal and prosthetic knees were created and validated using previously published data. Methods: Computed tomography and magnetic resonance imaging scans of a healthy, anticorrosive female cadaver were used to establish a model of the entire lower limbs, including the femur, tibia, patella, fibula, distal femur cartilage, and medial and lateral menisci, as well as the anterior cruciate, posterior cruciate, medial collateral, and lateral collateral ligaments. The data from the three-dimensional models of the normal knee joint and a posterior-stabilized (PS knee prosthesis were imported into finite element analysis software to create the final kinematic model of the TKA prosthesis, which was then validated by comparison with a previous study. The displacement of the medial/lateral femur and the internal rotation angle of the tibia were analyzed during 0-135° flexion. Results: Both the output data trends and the measured values derived from the normal knee′s kinematics model were very close to the results reported in a previous in vivo study, suggesting that this model can be used for further analyses. The PS knee prosthesis underwent an abnormal forward displacement compared with the normal knee and has insufficient, or insufficiently aggressive, "rollback" compared with the lateral femur of the normal knee. In addition, a certain degree of reverse rotation occurs during flexion of the PS knee prosthesis. Conclusions: There were still several differences between the kinematics of the PS knee prosthesis and a normal knee, suggesting room for improving the design of the PS knee prosthesis. The abnormal kinematics during early flexion shows that the design of the articular surface played a vital role in improving the kinematics of the PS knee prosthesis.
Kinematic Hardening: Characterization, Modeling and Impact on Springback Prediction
International Nuclear Information System (INIS)
Alves, J. L.; Bouvier, S.; Jomaa, M.; Billardon, R.; Oliveira, M. C.; Menezes, L. F.
2007-01-01
The constitutive modeling of the materials' mechanical behavior, usually carried out using a phenomenological constitutive model, i.e., a yield criterion associated to the isotropic and kinematic hardening laws, is of paramount importance in the FEM simulation of the sheet metal forming processes, as well as in the springback prediction. Among others, the kinematic behavior of the yield surface plays an essential role, since it is indispensable to describe the Bauschinger effect, i.e., the materials' answer to the multiple tension-compression cycles to which material points are submitted during the forming process. Several laws are usually used to model and describe the kinematic hardening, namely: a) the Prager's law, which describes a linear evolution of the kinematic hardening with the plastic strain rate tensor b) the Frederick-Armstrong non-linear kinematic hardening, basically a non-linear law with saturation; and c) a more advanced physically-based law, similar to the previous one but sensitive to the strain path changes. In the present paper a mixed kinematic hardening law (linear + non-linear behavior) is proposed and its implementation into a static fully-implicit FE code is described. The material parameters identification for sheet metals using different strategies, and the classical Bauschinger loading tests (i.e. in-plane forward and reverse monotonic loading), are addressed, and their impact on springback prediction evaluated. Some numerical results concerning the springback prediction of the Numisheet'05 Benchmark no. 3 are briefly presented to emphasize the importance of a correct modeling and identification of the kinematic hardening behavior
Kinematic synthesis of adjustable robotic mechanisms
Chuenchom, Thatchai
1993-01-01
Conventional hard automation, such as a linkage-based or a cam-driven system, provides high speed capability and repeatability but not the flexibility required in many industrial applications. The conventional mechanisms, that are typically single-degree-of-freedom systems, are being increasingly replaced by multi-degree-of-freedom multi-actuators driven by logic controllers. Although this new trend in sophistication provides greatly enhanced flexibility, there are many instances where the flexibility needs are exaggerated and the associated complexity is unnecessary. Traditional mechanism-based hard automation, on the other hand, neither can fulfill multi-task requirements nor are cost-effective mainly due to lack of methods and tools to design-in flexibility. This dissertation attempts to bridge this technological gap by developing Adjustable Robotic Mechanisms (ARM's) or 'programmable mechanisms' as a middle ground between high speed hard automation and expensive serial jointed-arm robots. This research introduces the concept of adjustable robotic mechanisms towards cost-effective manufacturing automation. A generalized analytical synthesis technique has been developed to support the computational design of ARM's that lays the theoretical foundation for synthesis of adjustable mechanisms. The synthesis method developed in this dissertation, called generalized adjustable dyad and triad synthesis, advances the well-known Burmester theory in kinematics to a new level. While this method provides planar solutions, a novel patented scheme is utilized for converting prescribed three-dimensional motion specifications into sets of planar projections. This provides an analytical and a computational tool for designing adjustable mechanisms that satisfy multiple sets of three-dimensional motion specifications. Several design issues were addressed, including adjustable parameter identification, branching defect, and mechanical errors. An efficient mathematical scheme for
Palazzetti, S; Margaritis, I; Guezennec, C Y
2005-04-01
The aim of the study was to verify whether an overloaded training (OT) in triathlon deteriorates running kinematics (RK) and running economy (RE). Thirteen well-trained male long-distance triathletes (age: 28.1 +/- 4.3 yrs; V.O (2max): 65.0 +/- 3.1 ml O (2) . min (-1) . kg (-1)) were divided into two groups: completed an individualized OT program (OG; n = 7) or maintained a normal level of training (NT) (CG; n = 6) for a duration of 3 weeks. Every week, each triathlete completed a standardized questionnaire to quantify the influence of training loads on mood state. To reach OT, total training load (h . 3 wk (-1)) was increased by 24 %; swimming and cycling total volumes were increased by 46 and 57 %, respectively, but the distance run was not modified in order to limit the risk of injuries. RK and RE were determined on treadmill test at 12 km . h (-1) before and after the 3 weeks. The 3-week swimming and cycling OT in triathlon was sufficiently stressful to alter mood state but not to deteriorate the running kinematics and economy parameters in our previously well-trained male long-distance triathletes.
Chemical composition of stars in kinematical substructures of the galactic disk
Directory of Open Access Journals (Sweden)
Gorbaneva T.I.
2012-02-01
Full Text Available The Y, Zr, La, Ce, Nd , Sm and Eu abundances were found in LTE approach, and the abundance of Ba was computed in NLTE approximation for 280 FGK dwarfs in the region of metallicity of − 1<[Fe]< + 0.3. The selection of stars belonging to thin and thick disks and the stream Hercules was made on kinematic criteria. The analysis of enrichment of the different substructures of the Galaxy with α-element (Mg, Si, the iron peak (Ni and neutron-capture elements was carried out.
Kinematic Analysis of Mobile Manipulator for Measurement and Maintenance in Dangerous Environment
Institute of Scientific and Technical Information of China (English)
CUI Genqun; LI Chunshu; ZHANG Minglu
2006-01-01
This paper studies the kinematic modeling of a mobile manipulator that consists of 5-DOF manipulator and an autonomous wheeled mobile platform. Then an artificial neural network to realize the coordination motion between manipulator and mobile platform is developed. On the basis of the task specifications, the algorithm determines the appropriate control variables to respond to the well tracking trajectory. The control strategy employed for either subsystem is achieved by using a robust supervised controller. A learning paradigm is used to produce the required reference variables for an overall cooperative behavior of the system. Simulation results are presented to show the effectiveness of this approach.
Ekelem, Andrew; Goldfarb, Michael
2018-01-01
Spasticity is a common comorbidity associated with spinal cord injury (SCI). Robotic exoskeletons have recently emerged to facilitate legged mobility in people with motor complete SCI. Involuntary muscle activity attributed to spasticity, however, can prevent such individuals from using an exoskeleton. Specifically, although most exoskeleton technologies can accommodate low to moderate spasticity, the presence of moderate to severe spasticity can significantly impair gait kinematics when using an exoskeleton. In an effort to potentially enable individuals with moderate to severe spasticity to use exoskeletons more effectively, this study investigates the use of common peroneal stimulation in conjunction with exoskeleton gait assistance. The electrical stimulation is timed with the exoskeleton swing phase, and is intended to acutely suppress extensor spasticity through recruitment of the flexion withdrawal reflex (i.e., while the stimulation is activated) to enable improved exoskeletal walking. In order to examine the potential efficacy of this approach, two SCI subjects with severe extensor spasticity (i.e., modified Ashworth ratings of three to four) walked in an exoskeleton with and without supplemental stimulation while knee and hip motion was measured during swing phase. Stimulation was alternated on and off every ten steps to eliminate transient therapeutic effects, enabling the acute effects of stimulation to be isolated. These experiments indicated that common peroneal stimulation on average increased peak hip flexion during the swing phase of walking by 21.1° (236%) and peak knee flexion by 14.4° (56%). Additionally, use of the stimulation decreased the swing phase RMS motor current by 228 mA (15%) at the hip motors and 734 mA (38%) at the knee motors, indicating improved kinematics were achieved with reduced effort from the exoskeleton. Walking with the exoskeleton did not have a significant effect on modified Ashworth scores, indicating the common
Ekelem, Andrew; Goldfarb, Michael
2018-01-01
Spasticity is a common comorbidity associated with spinal cord injury (SCI). Robotic exoskeletons have recently emerged to facilitate legged mobility in people with motor complete SCI. Involuntary muscle activity attributed to spasticity, however, can prevent such individuals from using an exoskeleton. Specifically, although most exoskeleton technologies can accommodate low to moderate spasticity, the presence of moderate to severe spasticity can significantly impair gait kinematics when using an exoskeleton. In an effort to potentially enable individuals with moderate to severe spasticity to use exoskeletons more effectively, this study investigates the use of common peroneal stimulation in conjunction with exoskeleton gait assistance. The electrical stimulation is timed with the exoskeleton swing phase, and is intended to acutely suppress extensor spasticity through recruitment of the flexion withdrawal reflex (i.e., while the stimulation is activated) to enable improved exoskeletal walking. In order to examine the potential efficacy of this approach, two SCI subjects with severe extensor spasticity (i.e., modified Ashworth ratings of three to four) walked in an exoskeleton with and without supplemental stimulation while knee and hip motion was measured during swing phase. Stimulation was alternated on and off every ten steps to eliminate transient therapeutic effects, enabling the acute effects of stimulation to be isolated. These experiments indicated that common peroneal stimulation on average increased peak hip flexion during the swing phase of walking by 21.1° (236%) and peak knee flexion by 14.4° (56%). Additionally, use of the stimulation decreased the swing phase RMS motor current by 228 mA (15%) at the hip motors and 734 mA (38%) at the knee motors, indicating improved kinematics were achieved with reduced effort from the exoskeleton. Walking with the exoskeleton did not have a significant effect on modified Ashworth scores, indicating the common
Directory of Open Access Journals (Sweden)
Andrew Ekelem
2018-06-01
Full Text Available Spasticity is a common comorbidity associated with spinal cord injury (SCI. Robotic exoskeletons have recently emerged to facilitate legged mobility in people with motor complete SCI. Involuntary muscle activity attributed to spasticity, however, can prevent such individuals from using an exoskeleton. Specifically, although most exoskeleton technologies can accommodate low to moderate spasticity, the presence of moderate to severe spasticity can significantly impair gait kinematics when using an exoskeleton. In an effort to potentially enable individuals with moderate to severe spasticity to use exoskeletons more effectively, this study investigates the use of common peroneal stimulation in conjunction with exoskeleton gait assistance. The electrical stimulation is timed with the exoskeleton swing phase, and is intended to acutely suppress extensor spasticity through recruitment of the flexion withdrawal reflex (i.e., while the stimulation is activated to enable improved exoskeletal walking. In order to examine the potential efficacy of this approach, two SCI subjects with severe extensor spasticity (i.e., modified Ashworth ratings of three to four walked in an exoskeleton with and without supplemental stimulation while knee and hip motion was measured during swing phase. Stimulation was alternated on and off every ten steps to eliminate transient therapeutic effects, enabling the acute effects of stimulation to be isolated. These experiments indicated that common peroneal stimulation on average increased peak hip flexion during the swing phase of walking by 21.1° (236% and peak knee flexion by 14.4° (56%. Additionally, use of the stimulation decreased the swing phase RMS motor current by 228 mA (15% at the hip motors and 734 mA (38% at the knee motors, indicating improved kinematics were achieved with reduced effort from the exoskeleton. Walking with the exoskeleton did not have a significant effect on modified Ashworth scores, indicating the
Kinematic seismic response of piles in layered soil profile
International Nuclear Information System (INIS)
Ahmad, I.; Khan, A.N.
2006-01-01
This paper is aimed at highlighting the importance of Kinematic Seismic Response of Piles, a phenomenon often ignored in dynamic analysis. A case study is presented where the end bearing pile is embedded in two layer soil system of highly contrasting stiffnesses; a typical case where kinematic loading plays important role. The pile soil system is modeled as continuous system and as discrete parameter system; both are based on BDWF (Beam on Dynamic Winkler Foundation) formulation. For discrete parameter system, a finite element software SAP2000 is used and the modeling technique of kinematic interaction in finite element software is discussed. For pile soil system modeled as continuous system, a general MATLAB code is developed capable of performing elastic site response analysis in two layer soil system, solving differential equation governing kinematic interaction, and giving as output the maximum ground displacement, maximum pile displacement, rotation, moment and shear distribution along pile length. The paper concludes that kinematic seismic actions must be evaluated particularly at the interface of soil layers of significantly differing soil stiffnesses. (author)
General analytical shakedown solution for structures with kinematic hardening materials
Guo, Baofeng; Zou, Zongyuan; Jin, Miao
2016-09-01
The effect of kinematic hardening behavior on the shakedown behaviors of structure has been investigated by performing shakedown analysis for some specific problems. The results obtained only show that the shakedown limit loads of structures with kinematic hardening model are larger than or equal to those with perfectly plastic model of the same initial yield stress. To further investigate the rules governing the different shakedown behaviors of kinematic hardening structures, the extended shakedown theorem for limited kinematic hardening is applied, the shakedown condition is then proposed, and a general analytical solution for the structural shakedown limit load is thus derived. The analytical shakedown limit loads for fully reversed cyclic loading and non-fully reversed cyclic loading are then given based on the general solution. The resulting analytical solution is applied to some specific problems: a hollow specimen subjected to tension and torsion, a flanged pipe subjected to pressure and axial force and a square plate with small central hole subjected to biaxial tension. The results obtained are compared with those in literatures, they are consistent with each other. Based on the resulting general analytical solution, rules governing the general effects of kinematic hardening behavior on the shakedown behavior of structure are clearly.
Cloud, Beth A; Zhao, Kristin D; Ellingson, Arin M; Nassr, Ahmad; Windebank, Anthony J; An, Kai-Nan
2017-10-01
To quantify and compare spinal curvature and shoulder kinematics throughout the manual wheelchair (MWC) propulsion cycle for individuals with spinal cord injury (SCI) who were seated at 2 different seat dump angles. Single-group, repeated-measures study. Academic medical center. Individuals (N=28) with SCI or spinal cord disease who used MWCs completed a telephone screening, and 21 of them were eligible and completed the study. Participants' personal MWCs were modified to have seat dump angles of 0° or 14°, with a vertical backrest. Participants completed at least 3 propulsion cycles in each condition, during which spine and shoulder motion data were collected with fiberoptic and electromagnetic sensors, respectively. Thoracolumbar spinal curvature, glenohumeral kinematics, and scapulothoracic kinematics at the start of push (SP), mid-push (MP), end of push (EP), and mid-recovery. Participants had significantly less lordosis in the 14° condition for all propulsion events. Median differences ranged from 2.0° to 4.6°. Lordosis differences were more pronounced in those with low SCI. Scapulothoracic internal rotation was increased in the 14° condition at SP and MP (mean differences, 2.5° and 2.7°, respectively). Relative downward rotation increased in the 14° condition at SP and MP (mean differences, 2.4° and 2.1°, respectively). Scapulothoracic differences were more pronounced in those with high SCI. No glenohumeral rotations were significantly different between the conditions. Scapulothoracic kinematics and spinal curvature differences during propulsion may be associated with the position of other body segments or postural stability. Because no differences were observed at the glenohumeral joint, the risk of subacromial impingement may not be affected by this seat angle change. Copyright © 2017 American Congress of Rehabilitation Medicine. Published by Elsevier Inc. All rights reserved.
Vector field statistical analysis of kinematic and force trajectories.
Pataky, Todd C; Robinson, Mark A; Vanrenterghem, Jos
2013-09-27
When investigating the dynamics of three-dimensional multi-body biomechanical systems it is often difficult to derive spatiotemporally directed predictions regarding experimentally induced effects. A paradigm of 'non-directed' hypothesis testing has emerged in the literature as a result. Non-directed analyses typically consist of ad hoc scalar extraction, an approach which substantially simplifies the original, highly multivariate datasets (many time points, many vector components). This paper describes a commensurately multivariate method as an alternative to scalar extraction. The method, called 'statistical parametric mapping' (SPM), uses random field theory to objectively identify field regions which co-vary significantly with the experimental design. We compared SPM to scalar extraction by re-analyzing three publicly available datasets: 3D knee kinematics, a ten-muscle force system, and 3D ground reaction forces. Scalar extraction was found to bias the analyses of all three datasets by failing to consider sufficient portions of the dataset, and/or by failing to consider covariance amongst vector components. SPM overcame both problems by conducting hypothesis testing at the (massively multivariate) vector trajectory level, with random field corrections simultaneously accounting for temporal correlation and vector covariance. While SPM has been widely demonstrated to be effective for analyzing 3D scalar fields, the current results are the first to demonstrate its effectiveness for 1D vector field analysis. It was concluded that SPM offers a generalized, statistically comprehensive solution to scalar extraction's over-simplification of vector trajectories, thereby making it useful for objectively guiding analyses of complex biomechanical systems. © 2013 Published by Elsevier Ltd. All rights reserved.
Discrete wavelet transform: a tool in smoothing kinematic data.
Ismail, A R; Asfour, S S
1999-03-01
Motion analysis systems typically introduce noise to the displacement data recorded. Butterworth digital filters have been used to smooth the displacement data in order to obtain smoothed velocities and accelerations. However, this technique does not yield satisfactory results, especially when dealing with complex kinematic motions that occupy the low- and high-frequency bands. The use of the discrete wavelet transform, as an alternative to digital filters, is presented in this paper. The transform passes the original signal through two complementary low- and high-pass FIR filters and decomposes the signal into an approximation function and a detail function. Further decomposition of the signal results in transforming the signal into a hierarchy set of orthogonal approximation and detail functions. A reverse process is employed to perfectly reconstruct the signal (inverse transform) back from its approximation and detail functions. The discrete wavelet transform was applied to the displacement data recorded by Pezzack et al., 1977. The smoothed displacement data were twice differentiated and compared to Pezzack et al.'s acceleration data in order to choose the most appropriate filter coefficients and decomposition level on the basis of maximizing the percentage of retained energy (PRE) and minimizing the root mean square error (RMSE). Daubechies wavelet of the fourth order (Db4) at the second decomposition level showed better results than both the biorthogonal and Coiflet wavelets (PRE = 97.5%, RMSE = 4.7 rad s-2). The Db4 wavelet was then used to compress complex displacement data obtained from a noisy mathematically generated function. Results clearly indicate superiority of this new smoothing approach over traditional filters.
Integrated Association Rules Complete Hiding Algorithms
Directory of Open Access Journals (Sweden)
Mohamed Refaat Abdellah
2017-01-01
Full Text Available This paper presents database security approach for complete hiding of sensitive association rules by using six novel algorithms. These algorithms utilize three new weights to reduce the needed database modifications and support complete hiding, as well as they reduce the knowledge distortion and the data distortions. Complete weighted hiding algorithms enhance the hiding failure by 100%; these algorithms have the advantage of performing only a single scan for the database to gather the required information to form the hiding process. These proposed algorithms are built within the database structure which enables the sanitized database to be generated on run time as needed.
Application of inverse kinematics to [sup 1]H+[sup 23]Na[yields][sup 12]C+[sup 12]C
Energy Technology Data Exchange (ETDEWEB)
Bennett, S.J. (School of Physics and Space Research, Birmingham Univ. (United Kingdom)); Clarke, N.M. (School of Physics and Space Research, Birmingham Univ. (United Kingdom)); Freer, M. (School of Physics and Space Research, Birmingham Univ. (United Kingdom)); Fulton, B.R. (School of Physics and Space Research, Birmingham Univ. (United Kingdom)); Hall, S.J. (School of Physics and Space Research, Birmingham Univ. (United Kingdom)); Karban, O. (School of Physics and Space Research, Birmingham Univ. (United Kingdom)); Murgatroyd, J.T. (School of Physics and Space Research, Birmingham Univ. (United Kingdom)); Tungate, G. (School of Physics and Space Research, Birmingham Univ. (United Kingdom)); Gyapong, G.J. (Dept. of Physics, York Univ. (United Kingdom)); Jarvis, N.S. (Dept. of Physics, York Univ. (United Kingdom)); Watson, D.L. (Dept. of Physics, York Univ. (United Kingdom)); Rae, W.D.M. (Dept. of Nuclear Physics, Oxford Univ. (United Kingdom)); Smith, A.E. (Dept. of Nuclear; Charissa Collaboration
1993-08-15
Some experimental techniques used in the measurement and analysis of inverse kinematic reactions are described and applied to a kinematically complete study of the [sup 1]H([sup 23]Na, [sup 12]C)[sup 12]C reaction at an incident energy of 180 MeV. An excitation function is obtained for the energy range of 18.5 to 19.2 MeV in [sup 24]Mg*; equivalent to proton energies from 7.1 MeV to 7.8 MeV for the [sup 23]Na(p, [sup 12]C)[sup 12]C reaction. (orig.)
Carson, Simon
2000-03-01
', begins with an emphasis on the correct use of units in calculations that is very good (although again only really appropriate for more able students) and considers scientific notation and SI units. The use of triangles for rearranging three variable equations is introduced without any discussion of how to do the algebra properly. I found this rather out of place in a book of this level; I should personally hope to see those intending to pursue the subject beyond GCSE capable of rearranging equations without recourse to methods which convey no understanding of the physical relationship. The section on the `History of Key Ideas' has a double page spread on `Forces, Motion and Energy', `Rays, Waves and Particles' and `The Earth and Beyond', followed by a chronology of physics from 400 BC to 1990. These sections are necessarily very brief. The final section, `Experimental Physics', has some useful reminders for students about investigative work and a photocopiable checklist. The book has some very attractive features. Most pages include a boxed list of `essentials' that are useful either in skimming the text to find useful information or in revision. Each double page spread into which the material is arranged includes some fairly straightforward questions to test the basic ideas. Each section ends with a set of examination questions and with a checklist of ideas that can be photocopied for students to tick off what has been covered. The contents pages of the book may also be photocopied for students to check their progress. Given that this is a brand new book, I found the inclusion of a spread on ticker-tape rather old-fashioned: video is a much better way of analysing motion. The language of the text, too, can be rather dry and academic, and the organization reflects a traditional approach to the physics curriculum. The book would be most useful, I think, to able students studying single-subject physics courses at GCSE or to those beginning A-level. At Â£14.00 a copy, it
Amount of kinematic feedback affects learning of speech motor skills.
Ballard, Kirrie J; Smith, Heather D; Paramatmuni, Divija; McCabe, Patricia; Theodoros, Deborah G; Murdoch, Bruce E
2012-01-01
Knowledge of Performance (KP) feedback, such as biofeedback or kinematic feedback, is used to provide information on the nature and quality of movement responses for the purpose of guiding active learning or rehabilitation of motor skills. It has been proposed that KP feedback may interfere with long-term learning when provided throughout training. Here, twelve healthy English-speaking adults were trained to produce a trilled Russian [r] in words with KP kinematic feedback using electropalatography (EPG) and without KP (noKP). Five one-hour training sessions were provided over one week with testing pretraining and one day and one week posttraining. No group differences were found at pretraining or one day post training for production accuracy. A group by time interaction supported the hypothesis that providing kinematic feedback continually during skill acquisition interferes with retention.
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.
Pure Gravities via Color-Kinematics Duality for Fundamental Matter
Johansson, Henrik
2015-01-01
We give a prescription for the computation of loop-level scattering amplitudes in pure Einstein gravity, and four-dimensional pure supergravities, using the color-kinematics duality. Amplitudes are constructed using double copies of pure (super-)Yang-Mills parts and additional contributions from double copies of fundamental matter, which are treated as ghosts. The opposite-statistics states cancel the unwanted dilaton and axion in the bosonic theory, as well as the extra matter supermultiplets in supergravities. As a spinoff, we obtain a prescription for obtaining amplitudes in supergravities with arbitrary non-self-interacting matter. As a prerequisite, we extend the color-kinematics duality from the adjoint to the fundamental representation of the gauge group. We explain the numerator relations that the fundamental kinematic Lie algebra should satisfy. We give nontrivial evidence supporting our construction using explicit tree and loop amplitudes, as well as more general arguments.
Nonlinear kinematic hardening under non-proportional loading
International Nuclear Information System (INIS)
Ottosen, N.S.
1979-07-01
Within the framework of conventional plasticity theory, it is first determined under which conditions Melan-Prager's and Ziegler's kinematic hardening rules result in identical material behaviour. Next, assuming initial isotropy and adopting the von Mises yield criterion, a nonlinear kinematic hardening function is proposed for prediction of metal behaviour. The model assumes that hardening at a specific stress point depends on the direction of the new incremental loading. Hereby a realistic response is obtained for general reversed loading, and a smooth behaviour is assured, even when loading deviates more and more from proportional loading and ultimately results in reversed loading. The predictions of the proposed model for non-proportional loading under plane stress conditions are compared with those of the classical linear kinematic model, the isotropic model and with published experimental data. Finally, the limitations of the proposaed model are discussed. (author)
Kinematic analysis of parallel manipulators by algebraic screw theory
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...
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.
Concatenated image completion via tensor augmentation and completion
Bengua, Johann A.; Tuan, Hoang D.; Phien, Ho N.; Do, Minh N.
2016-01-01
This paper proposes a novel framework called concatenated image completion via tensor augmentation and completion (ICTAC), which recovers missing entries of color images with high accuracy. Typical images are second- or third-order tensors (2D/3D) depending if they are grayscale or color, hence tensor completion algorithms are ideal for their recovery. The proposed framework performs image completion by concatenating copies of a single image that has missing entries into a third-order tensor,...