Inferring Characteristics of Sensorimotor Behavior by Quantifying Dynamics of Animal Locomotion

Science.gov (United States)

Leung, KaWai

Locomotion is one of the most well-studied topics in animal behavioral studies. Many fundamental and clinical research make use of the locomotion of an animal model to explore various aspects in sensorimotor behavior. In the past, most of these studies focused on population average of a specific trait due to limitation of data collection and processing power. With recent advance in computer vision and statistical modeling techniques, it is now possible to track and analyze large amounts of behavioral data. In this thesis, I present two projects that aim to infer the characteristics of sensorimotor behavior by quantifying the dynamics of locomotion of nematode Caenorhabditis elegans and fruit fly Drosophila melanogaster, shedding light on statistical dependence between sensing and behavior. In the first project, I investigate the possibility of inferring noxious sensory information from the behavior of Caenorhabditis elegans. I develop a statistical model to infer the heat stimulus level perceived by individual animals from their stereotyped escape responses after stimulation by an IR laser. The model allows quantification of analgesic-like effects of chemical agents or genetic mutations in the worm. At the same time, the method is able to differentiate perturbations of locomotion behavior that are beyond affecting the sensory system. With this model I propose experimental designs that allows statistically significant identification of analgesic-like effects. In the second project, I investigate the relationship of energy budget and stability of locomotion in determining the walking speed distribution of Drosophila melanogaster during aging. The locomotion stability at different age groups is estimated from video recordings using Floquet theory. I calculate the power consumption of different locomotion speed using a biomechanics model. In conclusion, the power consumption, not stability, predicts the locomotion speed distribution at different ages.

ENERGY EFFICIENCY OF DIESEL LOCOMOTIVE HYDRAULIC TRANSMISSION TESTS AT LOCOMOTIVE REPAIR PLANT

Directory of Open Access Journals (Sweden)

B. E. Bodnar

2015-10-01

Full Text Available Purpose. In difficult economic conditions, cost reduction of electricity consumption for the needs of production is an urgent task for the country’s industrial enterprises. Technical specifications of enterprises, which repair diesel locomotive hydraulic transmission, recommend conducting a certain amount of evaluation and regulatory tests to monitor their condition after repair. Experience shows that a significant portion of hydraulic transmission defects is revealed by bench tests. The advantages of bench tests include the ability to detect defects after repair, ease of maintenance of the hydraulic transmission and relatively low labour intensity for eliminating defects. The quality of these tests results in the transmission resource and its efficiency. Improvement of the technology of plant post-repairs hydraulic tests in order to reduce electricity consumption while testing. Methodology. The possible options for hydraulic transmission test bench improvement were analysed. There was proposed an energy efficiency method for diesel locomotive hydraulic transmission testing in locomotive repair plant environment. This is achieved by installing additional drive motor which receives power from the load generator. Findings. Based on the conducted analysis the necessity of improving the plant stand testing of hydraulic transmission was proved. The variants of the stand modernization were examined. The test stand modernization analysis was conducted. Originality. The possibility of using electric power load generator to power the stand electric drive motor or the additional drive motor was theoretically substantiated. Practical value. A variant of hydraulic transmission test stand based on the mutual load method was proposed. Using this method increases the hydraulic transmission load range and power consumption by stand remains unchanged. The additional drive motor will increase the speed of the input shaft that in its turn wil allow testing in

Relation between observed locomotion traits and locomotion score in dairy cows

NARCIS (Netherlands)

Schlageter Tello, A.A.; Bokkers, E.A.M.; Groot Koerkamp, P.W.G.; Hertem, van T.; Viazzi, S.; Lokhorst, Kees

2015-01-01

Lameness is still an important problem in modern dairy farming. Human observation of locomotion, by looking at different traits in one go, is used in practice to assess locomotion. The objectives of this article were to determine which individual locomotion traits are most related to locomotion

Synthesis of digital locomotive receiver of automatic locomotive signaling

Directory of Open Access Journals (Sweden)

K. V. Goncharov

2013-02-01

Full Text Available Purpose. Automatic locomotive signaling of continuous type with a numeric coding (ALSN has several disadvantages: a small number of signal indications, low noise stability, high inertia and low functional flexibility. Search for new and more advanced methods of signal processing for automatic locomotive signaling, synthesis of the noise proof digital locomotive receiver are essential. Methodology. The proposed algorithm of detection and identification locomotive signaling codes is based on the definition of mutual correlations of received oscillation and reference signals. For selecting threshold levels of decision element the following criterion has been formulated: the locomotive receiver should maximum set the correct solution for a given probability of dangerous errors. Findings. It has been found that the random nature of the ALSN signal amplitude does not affect the detection algorithm. However, the distribution law and numeric characteristics of signal amplitude affect the probability of errors, and should be considered when selecting a threshold levels According to obtained algorithm of detection and identification ALSN signals the digital locomotive receiver has been synthesized. It contains band pass filter, peak limiter, normalizing amplifier with automatic gain control circuit, analog to digital converter and digital signal processor. Originality. The ALSN system is improved by the way of the transfer of technical means to modern microelectronic element base, more perfect methods of detection and identification codes of locomotive signaling are applied. Practical value. Use of digital technology in the construction of the locomotive receiver ALSN will expand its functionality, will increase the noise immunity and operation stability of the locomotive signal system in conditions of various destabilizing factors.

Locomotion

DEFF Research Database (Denmark)

Kiehn, Ole; Dougherty, Kimberly

2016-01-01

Locomotion is a complex motor behavior needed by animals and humans to move through the environment. All forms of locomotion, including swimming, flying, walking, running, and hopping, are repetitive motor activities that require the activation of the limb and body muscles in an organized rhythm ...

DEFINITION OF LOCOMOTIVE TRACTION FORCE WITH REGARD TO UNEVEN LOADING OF WHEEL-MOTOR BLOCK

Directory of Open Access Journals (Sweden)

B. Ye. Bodnar

2013-11-01

Full Text Available Purpose. The article describes the most common methods for determining the locomotive traction force. Solving the tasks of traction calculations involves determination of the forces influencing the train at every point of the way. When choosing a rational trajectory of the train motion and the development of operational regulations of train driving it is necessary to determine the actual value of the locomotive traction force. Considering various factors, power value of traction electric motor of locomotive may have significant differences. Advancement of the operational definition system of the locomotive traction force during the calculations by electrical parameters of traction electric motor with regard to uneven load of wheel-motor block is the purpose of the article. Methodology. The method of determining the traction force of locomotives and diesel locomotives with electric transmission, which is based on primary data acquisition of traction electric engines of direct current behavior, was proposed. Sensors and their integration into the electrical circuitry of the locomotive in order to get the data in digital form and for operational calculation of the each traction motor mode and the definition of locomotive traction force are presented. Findings. The experimental investigation of the system of locomotive traction force determination with the electric traction motor ED-105 was offered. A comparison of electrical and mechanical power of the electric motor was conducted. Originality. The system of locomotives power operational definition, which takes into account the variable electro-mechanical factors of wheel and motor blocks and increases the accuracy of the calculations, was proposed. Practical value. The system is a part of an onboard complex in definition of energy-efficient regimes for trains movement and provides the definition of accelerating and decelerating forces.

A light-weight, yet powerful diesel locomotive from Vossloh

Energy Technology Data Exchange (ETDEWEB)

Marti, Mariano [Vossloh Rail Vehicles, Albuixech/Valencia (Spain)

2013-05-15

The EUROLIGHT is an eight-wheeled diesel-electric locomotive developed by Vossloh Rail Vehicles for interoperable rail traffic. With its low axle load of less than 20 tonnes, it can be deployed flexibly on both main lines and secondary ones.

Locomotive Assignment Problem with Heterogeneous Vehicle Fleet and Hiring External Locomotives

Directory of Open Access Journals (Sweden)

Dušan Teichmann

2015-01-01

Full Text Available This paper focuses on solving the problem of how to assign locomotives to assembled trains optimally. To solve the problem, linear programming is applied. The situation we model in the paper occurs in the conditions of a transport operator that provides rail transport in the Czech Republic. In the paper, an extended locomotive assignment problem is modeled; the transport operator can use different classes of the locomotives to serve individual connections, some connections must be served by a predefined locomotive class, and the locomotives can be allocated to several depots at the beginning. The proposed model also takes into consideration the fact that some connections can be served by the locomotives of external transport companies or operators. The presented model is applied to a real example in order to test its functionality.

The Determination of the Asynchronous Traction Motor Characteristics of Locomotive

Directory of Open Access Journals (Sweden)

Pavel Grigorievich Kolpakhchyan

2017-01-01

Full Text Available The article deals with the problem of the locomotive asynchronous traction motor control with the AC diesel-electric transmission. The limitations of the torque of the traction motor when powered by the inverter are determined. The recommendations to improve the use of asynchronous traction motor of locomotives with the AC diesel-electric transmission are given.

Highlighting the harmonic regime generated by electric locomotives equipped with DC motors

Science.gov (United States)

Baciu, I.; Cunţan, C. D.

2018-01-01

The paper presents the results of measurements made using the C.A. 8334 power quality analyzer on an electric locomotive equipped with DC motors. We carried out determinations of the current-voltage regime using a locomotive motor. The harmonic regime of the other motors being identical to the analysed one, we could easily deduce the effects caused by the entire locomotive. The data measured with the analyzer were firstly transferred into a computer system using the Qualistar software, followed by data processing in Excel, enabling therefore a graphical representation of the characteristic parameters of power quality. Based on the acquired data, we determined the power factor, as well as the active, reactive and apparent power. The measurements revealed high values of the current harmonics, fact that required some measures to be taken for reducing the values of these harmonics. For this, we ran a simulation using the PSCAD/EMTDC software, by introducing LC filters in tune with the harmonic frequencies. The result was a significant reduction in the harmonic regime, either in the harmonics values or the power factor and reactive power.

Locomotive energy savings possibilities

Directory of Open Access Journals (Sweden)

Leonas Povilas LINGAITIS

2009-01-01

Full Text Available Economic indicators of electrodynamic braking have not been properly estimated. Vehicles with alternative power trains are transitional stage between development of pollution- free vehicles. According to these aspects the investigation on conventional hybrids drives and their control system is carried out in the article. The equation that allows evaluating effectiveness of regenerative braking for different variants of hybrid drive are given. Presenting different types of locomotive energy savings power systems, which are using regenerative braking energy any form of hybrid traction vehicles systems, circuit diagrams, electrical parameters curves.

Energetic Extremes in Aquatic Locomotion by Coral Reef Fishes

Science.gov (United States)

Fulton, Christopher J.; Johansen, Jacob L.; Steffensen, John F.

2013-01-01

Underwater locomotion is challenging due to the high friction and resistance imposed on a body moving through water and energy lost in the wake during undulatory propulsion. While aquatic organisms have evolved streamlined shapes to overcome such resistance, underwater locomotion has long been considered a costly exercise. Recent evidence for a range of swimming vertebrates, however, has suggested that flapping paired appendages around a rigid body may be an extremely efficient means of aquatic locomotion. Using intermittent flow-through respirometry, we found exceptional energetic performance in the Bluelined wrasse Stethojulis bandanensis, which maintains tuna-like optimum cruising speeds (up to 1 metre s−1) while using 40% less energy than expected for their body size. Displaying an exceptional aerobic scope (22-fold above resting), streamlined rigid-body posture, and wing-like fins that generate lift-based thrust, S. bandanensis literally flies underwater to efficiently maintain high optimum swimming speeds. Extreme energetic performance may be key to the colonization of highly variable environments, such as the wave-swept habitats where S. bandanensis and other wing-finned species tend to occur. Challenging preconceived notions of how best to power aquatic locomotion, biomimicry of such lift-based fin movements could yield dramatic reductions in the power needed to propel underwater vehicles at high speed. PMID:23326566

Energetic extremes in aquatic locomotion by coral reef fishes.

Directory of Open Access Journals (Sweden)

Christopher J Fulton

Full Text Available Underwater locomotion is challenging due to the high friction and resistance imposed on a body moving through water and energy lost in the wake during undulatory propulsion. While aquatic organisms have evolved streamlined shapes to overcome such resistance, underwater locomotion has long been considered a costly exercise. Recent evidence for a range of swimming vertebrates, however, has suggested that flapping paired appendages around a rigid body may be an extremely efficient means of aquatic locomotion. Using intermittent flow-through respirometry, we found exceptional energetic performance in the Bluelined wrasse Stethojulis bandanensis, which maintains tuna-like optimum cruising speeds (up to 1 metre s(-1 while using 40% less energy than expected for their body size. Displaying an exceptional aerobic scope (22-fold above resting, streamlined rigid-body posture, and wing-like fins that generate lift-based thrust, S. bandanensis literally flies underwater to efficiently maintain high optimum swimming speeds. Extreme energetic performance may be key to the colonization of highly variable environments, such as the wave-swept habitats where S. bandanensis and other wing-finned species tend to occur. Challenging preconceived notions of how best to power aquatic locomotion, biomimicry of such lift-based fin movements could yield dramatic reductions in the power needed to propel underwater vehicles at high speed.

Dynamically Stable Legged Locomotion

Science.gov (United States)

1989-09-01

length during overground locomotion: task-specific modulation of the locomotor synergy. Journal of Experimental Psychology, 15(3). Raibert, M. I. 1986...energy conversions that intermediates between combus- tion of a fluid fuel such as gasoline , and the controlled delivery of force and power to the...question of this study: Can the extremely high energy density and rapid response of combustible fluid fuels such as gasoline be harnessed to produce

Dual Decomposition for Large-Scale Power Balancing

DEFF Research Database (Denmark)

Halvgaard, Rasmus; Jørgensen, John Bagterp; Vandenberghe, Lieven

2013-01-01

Dual decomposition is applied to power balancing of exible thermal storage units. The centralized large-scale problem is decomposed into smaller subproblems and solved locallyby each unit in the Smart Grid. Convergence is achieved by coordinating the units consumption through a negotiation...

Dual-frequency ring-magnet power supply with flat bottom

International Nuclear Information System (INIS)

Praeg, W.F.

1983-01-01

A power supply is described that furnishes an essentially flat-bottom injection field, followed by a dual-frequency cosine field. This results in efficient beam capture during injection and reduces significantly the peak rf power required during acceleration in a rapid-cycling synchrotron

Two-fluid model for locomotion under self-confinement

Science.gov (United States)

Reigh, Shang Yik; Lauga, Eric

2017-09-01

The bacterium Helicobacter pylori causes ulcers in the stomach of humans by invading mucus layers protecting epithelial cells. It does so by chemically changing the rheological properties of the mucus from a high-viscosity gel to a low-viscosity solution in which it may self-propel. We develop a two-fluid model for this process of swimming under self-generated confinement. We solve exactly for the flow and the locomotion speed of a spherical swimmer located in a spherically symmetric system of two Newtonian fluids whose boundary moves with the swimmer. We also treat separately the special case of an immobile outer fluid. In all cases, we characterize the flow fields, their spatial decay, and the impact of both the viscosity ratio and the degree of confinement on the locomotion speed of the model swimmer. The spatial decay of the flow retains the same power-law decay as for locomotion in a single fluid but with a decreased magnitude. Independent of the assumption chosen to characterize the impact of confinement on the actuation applied by the swimmer, its locomotion speed always decreases with an increase in the degree of confinement. Our modeling results suggest that a low-viscosity region of at least six times the effective swimmer size is required to lead to swimming with speeds similar to locomotion in an infinite fluid, corresponding to a region of size above ≈25 μ m for Helicobacter pylori.

The UK approach to desalination and nuclear power dual purpose operation

International Nuclear Information System (INIS)

Pugh, O.

1974-01-01

Nuclear desalination is a particular example of dual purpose operation and the majority of desalting units installed around the world are operated in this way. A nuclear dual purpose concept has to be very large if present economic reactor designs are utilised. It is the size which has defeated the concept to date. Present fossil fired dual purpose installations are either in an economic situation (generally low fuel cost) where the inefficiencies introduced by operating away from the optimum water/power ratio are acceptable or, if optimised, the water and power blocks are small enough to allow introduction into the existing utility networks. As part of the United Kingdom, Water Resources Board (WRB) report 'Desalination 1972' the Central Electricity Generating Board (CEGB) and WRB identified nine coastal sites in the United Kingdom where nuclear power stations might be built during the next 15 years. The difficulties of dual purpose operation were recognised in the report, including additional water storage to cover the summer shutdown (turbine overhaul) period, modification of station design to facilitate the extraction of steam, etc. More seriously, as a given power station had higher fuelling costs relative to the newer station, the electrical utility might require compensation for continuing to operate it because of the associated desalting plant. Taking account of these factors and the replacement of the lost electricity production from other, maybe less efficient stations on the system

Railroad and locomotive technology roadmap.

Energy Technology Data Exchange (ETDEWEB)

Stodolsky, F.; Gaines, L.; Energy Systems

2003-02-24

approaches for engine, locomotive, rail systems, and advanced power plants and fuels are presented.

40 CFR 1033.140 - Rated power.

Science.gov (United States)

2010-07-01

... 40 Protection of Environment 32 2010-07-01 2010-07-01 false Rated power. 1033.140 Section 1033.140... EMISSIONS FROM LOCOMOTIVES Emission Standards and Related Requirements § 1033.140 Rated power. This section describes how to determine the rated power of a locomotive for the purposes of this part. (a) A locomotive...

Optimal uplink power control for dual connected users in LTE heterogeneous networks

DEFF Research Database (Denmark)

Popovska Avramova, Andrijana; Wang, Hua; Dittmann, Lars

2016-01-01

In Dual Connectivity (DC), a User Equipment (UE) can be configured with two radio access nodes in order to aggregate the available resources at both nodes. As with dual connectivity each node has independent radio resource manage- ment, the maximum power allocation at the UE can be easily exceede...

Dual-fuel natural gas/diesel engines: Technology, performance, and emissions

Science.gov (United States)

Turner, S. H.; Weaver, C. S.

1994-11-01

An investigation of current dual-fuel natural gas/diesel engine design, performance, and emissions was conducted. The most pressing technological problems associated with dual-fuel engine use were identified along with potential solutions. It was concluded that dual-fuel engines can achieve low NO(sub x) and particulate emissions while retaining fuel-efficiency and BMEP levels comparable to those of diesel engines. The investigation also examined the potential economic impact of dual-fuel engines in diesel-electric locomotives, marine vessels, farm equipment, construction, mining, and industrial equipment, and stand-alone electricity generation systems. Recommendations for further additional funding to support research, development, and demonstration in these applications were then presented.

40 CFR 92.707 - Notification to locomotive or locomotive engine owners.

Science.gov (United States)

2010-07-01

... the nonconformity of any such locomotives or locomotive engines which have been, if required by the... affected by the remedy and a general statement of the measures to be taken to correct the nonconformity. (5) A description of the adverse effects, if any, that an uncorrected nonconformity would have on the...

Evaluation of the performance of combined cooling, heating, and power systems with dual power generation units

International Nuclear Information System (INIS)

Knizley, Alta A.; Mago, Pedro J.; Smith, Amanda D.

2014-01-01

The benefits of using a combined cooling, heating, and power system with dual power generation units (D-CCHP) is examined in nine different U.S. locations. One power generation unit (PGU) is operated at base load while the other is operated following the electric load. The waste heat from both PGUs is used for heating and for cooling via an absorption chiller. The D-CCHP configuration is studied for a restaurant benchmark building, and its performance is quantified in terms of operational cost, primary energy consumption (PEC), and carbon dioxide emissions (CDE). Cost spark spread, PEC spark spread, and CDE spark spread are examined as performance indicators for the D-CCHP system. D-CCHP system performance correlates well with spark spreads, with higher spark spreads signifying greater savings through implementation of a D-CCHP system. A new parameter, thermal difference, is introduced to investigate the relative performance of a D-CCHP system compared to a dual PGU combined heat and power system (D-CHP). Thermal difference, together with spark spread, can explain the variation in savings of a D-CCHP system over a D-CHP system for each location. The effect of carbon credits on operational cost savings with respect to the reference case is shown for selected locations. - Highlights: • We investigate benefits from using combined cooling, heating, and power systems. • A dual power generation unit configuration is considered for CCHP and CHP. • Spark spreads for cost, energy, and emissions correlate with potential savings. • Thermal difference parameter helps to explain variations in potential savings. • Carbon credits may increase cost savings where emissions savings are possible

On the rules for aquatic locomotion

Science.gov (United States)

Saadat, M.; Fish, F. E.; Domel, A. G.; Di Santo, V.; Lauder, G. V.; Haj-Hariri, H.

2017-08-01

We present unifying rules governing the efficient locomotion of swimming fish and marine mammals. Using scaling and dimensional analysis, supported by new experimental data, we show that efficient locomotion occurs when the values of the Strouhal (St) number St (=f A /U ) and A*(=A /L ) , two nondimensional numbers that relate forward speed U , tail-beat amplitude A , tail-beat frequency f , and the length of the swimmer L are bound to the tight ranges of 0.2-0.4 and 0.1-0.3, respectively. The tight range of 0.2-0.4 for the St number has previously been associated with optimal thrust generation. We show that the St number alone is insufficient to achieve optimal aquatic locomotion, and an additional condition on A* is needed. More importantly, we show that when swimming at minimal power consumption, the Strouhal number of a cruising swimmer is predetermined solely by the shape and drag characteristics of the swimmer. We show that diverse species of fish and cetaceans cruise indeed with the St number and A* predicted by our theory. Our findings provide a physical explanation as to why fast aquatic swimmers cruise with a relatively constant tail-beat amplitude of approximately 20% of the body length, and their swimming speed is nearly proportional to their tail-beat frequency.

FPGA implementation of a configurable neuromorphic CPG-based locomotion controller.

Science.gov (United States)

Barron-Zambrano, Jose Hugo; Torres-Huitzil, Cesar

2013-09-01

Neuromorphic engineering is a discipline devoted to the design and development of computational hardware that mimics the characteristics and capabilities of neuro-biological systems. In recent years, neuromorphic hardware systems have been implemented using a hybrid approach incorporating digital hardware so as to provide flexibility and scalability at the cost of power efficiency and some biological realism. This paper proposes an FPGA-based neuromorphic-like embedded system on a chip to generate locomotion patterns of periodic rhythmic movements inspired by Central Pattern Generators (CPGs). The proposed implementation follows a top-down approach where modularity and hierarchy are two desirable features. The locomotion controller is based on CPG models to produce rhythmic locomotion patterns or gaits for legged robots such as quadrupeds and hexapods. The architecture is configurable and scalable for robots with either different morphologies or different degrees of freedom (DOFs). Experiments performed on a real robot are presented and discussed. The obtained results demonstrate that the CPG-based controller provides the necessary flexibility to generate different rhythmic patterns at run-time suitable for adaptable locomotion. Copyright © 2013 Elsevier Ltd. All rights reserved.

Wind-powered wheel locomotion, initiated by leaping somersaults, in larvae of the southeastern beach tiger beetle (Cicindela dorsalis media.

Directory of Open Access Journals (Sweden)

Alan Harvey

2011-03-01

Full Text Available Rapid movement is challenging for elongate, soft-bodied animals with short or no legs. Leaping is known for only a few animals with this "worm-like" morphology. Wheel locomotion, in which the animal's entire body rolls forward along a central axis, has been reported for only a handful of animals worldwide. Here we present the first documented case of wind-powered wheel locomotion, in larvae of the coastal tiger beetle Cicindela dorsalis media. When removed from their shallow burrows, larvae easily can be induced to enter a behavioral sequence that starts with leaping; while airborne, larvae loop their body into a rotating wheel and usually either "hit the ground rolling" or leap again. The direction larvae wheel is closely related to the direction in which winds are blowing; thus, all our larvae wheeled up-slope, as winds at our study site consistently blew from sea to land. Stronger winds increased both the proportion of larvae wheeling, and the distance traveled, exceeding 60 m in some cases. In addition, the proportion of larvae that wheel and the distance traveled by wheeling larvae are significantly greater on smooth sandy beaches than on beach surfaces made rough and irregular by pedestrian, equestrian, and vehicular traffic. Like other coastal species of tiger beetles, C. dorsalis media has suffered major declines in recent years that are clearly correlated with increased human impacts. The present study suggests that the negative effects of beach traffic may be indirect, preventing larvae from escaping from predators using wheel locomotion by disrupting the flat, hard surface necessary for efficient wheeling.

49 CFR 210.9 - Movement of a noise defective locomotive, rail car, or consist of a locomotive and rail cars.

Science.gov (United States)

2010-10-01

... 49 Transportation 4 2010-10-01 2010-10-01 false Movement of a noise defective locomotive, rail car, or consist of a locomotive and rail cars. 210.9 Section 210.9 Transportation Other Regulations... locomotive, rail car, or consist of a locomotive and rail cars. A locomotive, rail car, or consist of a...

49 CFR 238.223 - Locomotive fuel tanks.

Science.gov (United States)

2010-10-01

... 49 Transportation 4 2010-10-01 2010-10-01 false Locomotive fuel tanks. 238.223 Section 238.223... Equipment § 238.223 Locomotive fuel tanks. Locomotive fuel tanks shall comply with either the following or....21: (a) External fuel tanks. External locomotive fuel tanks shall comply with the requirements...

Walking like dinosaurs: chickens with artificial tails provide clues about non-avian theropod locomotion.

Science.gov (United States)

Grossi, Bruno; Iriarte-Díaz, José; Larach, Omar; Canals, Mauricio; Vásquez, Rodrigo A

2014-01-01

Birds still share many traits with their dinosaur ancestors, making them the best living group to reconstruct certain aspects of non-avian theropod biology. Bipedal, digitigrade locomotion and parasagittal hindlimb movement are some of those inherited traits. Living birds, however, maintain an unusually crouched hindlimb posture and locomotion powered by knee flexion, in contrast to the inferred primitive condition of non-avian theropods: more upright posture and limb movement powered by femur retraction. Such functional differences, which are associated with a gradual, anterior shift of the centre of mass in theropods along the bird line, make the use of extant birds to study non-avian theropod locomotion problematic. Here we show that, by experimentally manipulating the location of the centre of mass in living birds, it is possible to recreate limb posture and kinematics inferred for extinct bipedal dinosaurs. Chickens raised wearing artificial tails, and consequently with more posteriorly located centre of mass, showed a more vertical orientation of the femur during standing and increased femoral displacement during locomotion. Our results support the hypothesis that gradual changes in the location of the centre of mass resulted in more crouched hindlimb postures and a shift from hip-driven to knee-driven limb movements through theropod evolution. This study suggests that, through careful experimental manipulations during the growth phase of ontogeny, extant birds can potentially be used to gain important insights into previously unexplored aspects of bipedal non-avian theropod locomotion.

Walking like dinosaurs: chickens with artificial tails provide clues about non-avian theropod locomotion.

Directory of Open Access Journals (Sweden)

Bruno Grossi

Full Text Available Birds still share many traits with their dinosaur ancestors, making them the best living group to reconstruct certain aspects of non-avian theropod biology. Bipedal, digitigrade locomotion and parasagittal hindlimb movement are some of those inherited traits. Living birds, however, maintain an unusually crouched hindlimb posture and locomotion powered by knee flexion, in contrast to the inferred primitive condition of non-avian theropods: more upright posture and limb movement powered by femur retraction. Such functional differences, which are associated with a gradual, anterior shift of the centre of mass in theropods along the bird line, make the use of extant birds to study non-avian theropod locomotion problematic. Here we show that, by experimentally manipulating the location of the centre of mass in living birds, it is possible to recreate limb posture and kinematics inferred for extinct bipedal dinosaurs. Chickens raised wearing artificial tails, and consequently with more posteriorly located centre of mass, showed a more vertical orientation of the femur during standing and increased femoral displacement during locomotion. Our results support the hypothesis that gradual changes in the location of the centre of mass resulted in more crouched hindlimb postures and a shift from hip-driven to knee-driven limb movements through theropod evolution. This study suggests that, through careful experimental manipulations during the growth phase of ontogeny, extant birds can potentially be used to gain important insights into previously unexplored aspects of bipedal non-avian theropod locomotion.

49 CFR 229.121 - Locomotive cab noise.

Science.gov (United States)

2010-10-01

... 49 Transportation 4 2010-10-01 2010-10-01 false Locomotive cab noise. 229.121 Section 229.121... § 229.121 Locomotive cab noise. (a) Performance standards for locomotives. (1) When tested for static noise in accordance with paragraph (a)(3) of this section, all locomotives of each design or model that...

The noise factor in railway locomotives.

Science.gov (United States)

Rotter, T

1982-09-01

This article concerns the problem of acoustic work conditions on railway locomotives. The objective results of sonometric surveys in locomotive cabins are compared with subject data received from locomotive crews obtained by means of a specific questionnaire 'The Subjective Estimation of Noise'. The analysis touched 9 type of locomotives; steam, diesel and electric engines. We asked drivers of different age groups and with varying lengths of professional service for their opinions The aim of the investigation was to determine the following points: 1. to analyse the drivers' subjective estimation of the noise in the locomotive cabins; 2. to define length of time for which the driver remains under the influence of the noise after finishing work; 3. to investigate the question of perception and understanding of sounds and vocal signals used in the locomotive. These problems are a small part of the general plan to improve work conditions on the Polish National Railways.

[Job stress in locomotive attendants in a locomotive depot and related influencing factors].

Science.gov (United States)

Kang, L; Jia, X C; Lu, F; Zhou, W H; Chen, R

2017-10-20

Objective: To investigate the current status of job stress in locomotive attendants in a locomotive depot and related influencing factors. Methods: From 2012 to 2013, cluster sampling was used to select 1500 locomotive attendants in a locomotive depot in Zhengzhou Railway Bureau as respondents.The contents of the investigation included general data and occupational information.A job satisfaction questionnaire was used to investigate the degree of satisfaction, a depression scale was used to investigate the frequency of symptoms, and a daily stress scale was used to investigate the frequency of fatigue and stress. Results: There was a significant difference in depression score between locomotive attendants with different ages, working years, degrees of education, working situations of spouse, total monthly family incomes, numbers of times of attendanceat night, monthly numbers of times of attendance,ormonthly attendance times( P job satisfaction score between locomotive attendants with different ages,working years, degrees of education, working situations of spouse, total monthly family incomes, numbers of times of attendance at night, monthly attendance times,or ways to work( P job satisfaction( β =1.546)and monthly number of times of attendance,working years,attendance time at night,and degree of education were negatively correlated with job satisfaction( β =-0.185,-0.097,-0.020,and -1.106); monthly number of times of attendance andcommute time were positively correlated with depression( β =0.243 and 0.029); attendance time at night,working situation of spouse,commute time,monthly number of times of attendance,degree of education,and working years were positively correlated with daily stress( β =0.006,0.473,0.010,0.043,0.585, and 0.028). Conclusion: Number of times of attendance, attendance time,working years,and spouse are influencing factors for job stress in locomotive attendants. Improvement in work process and care for their personal life help to reduce

Dual power, constant speed electric motor system

Science.gov (United States)

Kirschbaum, H.S.

1984-07-31

A dual capacity permanent split capacitor electric motor system is provided with a stator having main and auxiliary windings. The main stator winding includes two winding sections which are connected in parallel with each other and across a pair of line terminals while the auxiliary winding is connected in series with a capacitor to form a circuit branch which is connected between the line terminals for operation at a first output power level. Switching means are provided to reconnect the main stator winding sections in series with each other and in series with a second capacitor to form a circuit branch which is connected between the line terminals while the stator auxiliary winding is connected directly between the line terminals for operation at a second output power level. Automatic rotation reversal occurs when the motor switches from the first to the second output power level. 6 figs.

Dual power, constant speed electric motor system

Science.gov (United States)

Kirschbaum, Herbert S.

1984-01-01

A dual capacity permanent split capacitor electric motor system is provided with a stator having main and auxiliary windings. The main stator winding includes two winding sections which are connected in parallel with each other and across a pair of line terminals while the auxiliary winding is connected in series with a capacitor to form a circuit branch which is connected between the line terminals for operation at a first output power level. Switching means are provided to reconnect the main stator winding sections in series with each other and in series with a second capacitor to form a circuit branch which is connected between the line terminals while the stator auxiliary winding is connected directly between the line terminals for operation at a second output power level. Automatic rotation reversal occurs when the motor switches from the first to the second output power level.

Bombardier extends its TRAXX locomotive family; Bombardier erweitert seine Lokomotivfamilie TRAXX

Energy Technology Data Exchange (ETDEWEB)

Vitins, J. [Bombardier, Zuerich (Switzerland)

2005-07-01

Bombardier has extended and optimised its TRAXX locomotive platform, launched in 2003, with the addition of a multi-system locomotive and the introduction of technical innovations. The developments centre on the multi-system loco TRAXX F140 MS, which gained approval in a very short space of time and is already being successfully operated by SBB as type Re 484 for freight traffic between Switzerland and Italy; the TRAXX F140 DC, recently ordered by Angel Trains Cargo for Italy's DC network, and the 2nd series of the proven AC loco TRAXX AC2, operated by Railion in Germany as type BR 185.2. All these locomotive types reflect the development work undertaken with a view to accommodating the various national train protection systems through the new ETCS-compatible Bombardier ATP (Automatic Train Protection) system, together with chopper-controlled power conversion in DC networks. (orig.)

Autonomous undulatory serpentine locomotion utilizing body dynamics of a fluidic soft robot

International Nuclear Information System (INIS)

Onal, Cagdas D; Rus, Daniela

2013-01-01

Soft robotics offers the unique promise of creating inherently safe and adaptive systems. These systems bring man-made machines closer to the natural capabilities of biological systems. An important requirement to enable self-contained soft mobile robots is an on-board power source. In this paper, we present an approach to create a bio-inspired soft robotic snake that can undulate in a similar way to its biological counterpart using pressure for actuation power, without human intervention. With this approach, we develop an autonomous soft snake robot with on-board actuation, power, computation and control capabilities. The robot consists of four bidirectional fluidic elastomer actuators in series to create a traveling curvature wave from head to tail along its body. Passive wheels between segments generate the necessary frictional anisotropy for forward locomotion. It takes 14 h to build the soft robotic snake, which can attain an average locomotion speed of 19 mm s −1 . (paper)

A simulation study on proton computed tomography (CT) stopping power accuracy using dual energy CT scans as benchmark.

Science.gov (United States)

Hansen, David C; Seco, Joao; Sørensen, Thomas Sangild; Petersen, Jørgen Breede Baltzer; Wildberger, Joachim E; Verhaegen, Frank; Landry, Guillaume

2015-01-01

Accurate stopping power estimation is crucial for treatment planning in proton therapy, and the uncertainties in stopping power are currently the largest contributor to the employed dose margins. Dual energy x-ray computed tomography (CT) (clinically available) and proton CT (in development) have both been proposed as methods for obtaining patient stopping power maps. The purpose of this work was to assess the accuracy of proton CT using dual energy CT scans of phantoms to establish reference accuracy levels. A CT calibration phantom and an abdomen cross section phantom containing inserts were scanned with dual energy and single energy CT with a state-of-the-art dual energy CT scanner. Proton CT scans were simulated using Monte Carlo methods. The simulations followed the setup used in current prototype proton CT scanners and included realistic modeling of detectors and the corresponding noise characteristics. Stopping power maps were calculated for all three scans, and compared with the ground truth stopping power from the phantoms. Proton CT gave slightly better stopping power estimates than the dual energy CT method, with root mean square errors of 0.2% and 0.5% (for each phantom) compared to 0.5% and 0.9%. Single energy CT root mean square errors were 2.7% and 1.6%. Maximal errors for proton, dual energy and single energy CT were 0.51%, 1.7% and 7.4%, respectively. Better stopping power estimates could significantly reduce the range errors in proton therapy, but requires a large improvement in current methods which may be achievable with proton CT.

Unifying Rules for Aquatic Locomotion

Science.gov (United States)

Saadat, Mehdi; Domel, August; di Santo, Valentina; Lauder, George; Haj-Hariri, Hossein

2016-11-01

Strouhal number, St (=fA/U) , a scaling parameter that relates speed, U, to the tail-beat frequency, f, and tail-beat amplitude, A, has been used many times to describe animal locomotion. It has been observed that swimming animals cruise at 0.2 fish-like swimmer, we show that when cruising at minimum hydrodynamic input power, St is predetermined, and is only a function of the shape, i.e. drag coefficient and area. The narrow range for St, 0.2-0.4, has been previously associated with optimal propulsive efficiency. However, St alone is insufficient for deciding optimal motion. We show that hydrodynamic input power (energy usage to propel over a unit distance) in fish locomotion is minimized at all cruising speeds when A* (= A/L), a scaling parameter that relates tail-beat amplitude, A, to the length of the swimmer, L, is constrained to a narrow range of 0.15-0.25. Our analysis proposes a constraint on A*, in addition to the previously found constraint on St, to fully describe the optimal swimming gait for fast swimmers. A survey of kinematics for dolphin, as well as new data for trout, show that the range of St and A* for fast swimmers indeed are constrained to 0.2-0.4 and 0.15-0.25, respectively. Our findings provide physical explanation as to why fast aquatic swimmers cruise with relatively constant tail-beat amplitude at approximately 20 percent of body length, while their swimming speed is linearly correlated with their tail-beat frequency.

Dual function of the pectoral girdle for feeding and locomotion in white-spotted bamboo sharks.

Science.gov (United States)

Camp, Ariel L; Scott, Bradley; Brainerd, Elizabeth L; Wilga, Cheryl D

2017-07-26

Positioned at the intersection of the head, body and forelimb, the pectoral girdle has the potential to function in both feeding and locomotor behaviours-although the latter has been studied far more. In ray-finned fishes, the pectoral girdle attaches directly to the skull and is retracted during suction feeding, enabling the ventral body muscles to power rapid mouth expansion. However, in sharks, the pectoral girdle is displaced caudally and entirely separate from the skull (as in tetrapods), raising the question of whether it is mobile during suction feeding and contributing to suction expansion. We measured three-dimensional kinematics of the pectoral girdle in white-spotted bamboo sharks during suction feeding with X-ray reconstruction of moving morphology, and found the pectoral girdle consistently retracted about 11° by rotating caudoventrally about the dorsal scapular processes. This motion occurred mostly after peak gape, so it likely contributed more to accelerating captured prey through the oral cavity and pharynx, than to prey capture as in ray-finned fishes. Our results emphasize the multiple roles of the pectoral girdle in feeding and locomotion, both of which should be considered in studying the functional and evolutionary morphology of this structure. © 2017 The Author(s).

Bioinspired template-based control of legged locomotion

OpenAIRE

Ahmad Sharbafi, Maziar

2018-01-01

cient and robust locomotion is a crucial condition for the more extensive use of legged robots in real world applications. In that respect, robots can learn from animals, if the principles underlying locomotion in biological legged systems can be transferred to their artificial counterparts. However, legged locomotion in biological systems is a complex and not fully understood problem. A great progress to simplify understanding locomotion dynamics and control was made by introducing simple mo...

Application of flywheel energy storage for heavy haul locomotives

International Nuclear Information System (INIS)

Spiryagin, Maksym; Wolfs, Peter; Szanto, Frank; Sun, Yan Quan; Cole, Colin; Nielsen, Dwayne

2015-01-01

Highlights: • A novel design for heavy haul locomotive equipped with a flywheel energy storage system is proposed. • The integrated intelligent traction control system was developed. • A flywheel energy storage system has been tested through a simulation process. • The developed hybrid system was verified using an existing heavy haul railway route. • Fuel efficiency analysis confirms advantages of the hybrid design. - Abstract: At the present time, trains in heavy haul operations are typically hauled by several diesel-electric locomotives coupled in a multiple unit. This paper studies the case of a typical consist of three Co–Co diesel-electric locomotives, and considers replacing one unit with an alternative version, with the same design parameters, except that the diesel-electric plant is replaced with flywheel energy storage equipment. The intelligent traction and energy control system installed in this unit is integrated into the multiple-unit control to allow redistribution of the power between all units. In order to verify the proposed design, a three-stage investigation has been performed as described in this paper. The initial stage studies a possible configuration of the flywheel energy storage system by detailed modelling of the proposed intelligent traction and energy control system. The second stage includes the investigation and estimation of possible energy flows using a longitudinal train dynamics simulation. The final stage compares the conventional and the proposed locomotive configurations considering two parameters: fuel efficiency and emissions reduction.

External-cavity high-power dual-wavelength tapered amplifier with tunable THz frequency difference

DEFF Research Database (Denmark)

Chi, Mingjun; Jensen, Ole Bjarlin; Petersen, Paul Michael

2012-01-01

A tunable 800 nm high-power dual-wavelength diode laser system with double-Littrow external-cavity feedback is demonstrated. The two wavelengths can be tuned individually, and the frequency difference of the two wavelengths is tunable from 0.5 to 5.0 THz. A maximum output power of 1.54 W is achie......A tunable 800 nm high-power dual-wavelength diode laser system with double-Littrow external-cavity feedback is demonstrated. The two wavelengths can be tuned individually, and the frequency difference of the two wavelengths is tunable from 0.5 to 5.0 THz. A maximum output power of 1.54 W...... is achieved with a frequency difference of 0.86 THz, the output power is higher than 1.3 W in the 5.0 THz range of frequency difference, and the amplified spontaneous emission intensity is more than 20 dB suppressed in the range of frequency difference. The beam quality factor M2 is 1.22±0.15 at an output...

Locomotion of a bioinspired flyer powered by one pair of pitching foils

Science.gov (United States)

Zhang, Xiang; He, Guowei; Wang, Shizhao; Zhang, Xing

2018-01-01

We numerically investigate the flight dynamics and aerodynamics of a two-dimensional model for the jellyfishlike ornithopter recently devised by Ristroph and Childress [L. Ristroph and S. Childress, J. R. Soc. Interface 11, 20130992 (2014), 10.1098/rsif.2013.0992]. This simplified model is composed of two rigid thin foils which are forced to pitch in antiphase fashion. The Navier-Stokes equations for the fluid and the dynamics equations for the flyer are solved together in the simulations. We first consider the constrained-flying condition where the flyer model is only allowed to move in the vertical direction. The influences of the control parameters on the hovering performance are studied. With the variations in parameter values, three different locomotion states, i.e., ascending, descending, and approximate hovering, are identified. The wake structures corresponding to these three locomotion states are explored. It is found that the approximate hovering state cannot persist due to the occurrence of wake symmetry breaking after long-time simulation. We then consider the free-flying condition where the motions in three degrees of freedom are allowed. We study the postural stability of a flyer, with its center of gravity located at the geometric center. The responses of the flyer at different locomotion states to physical and numerical perturbations are examined. Our results show that the ascending state is recoverable after the perturbation. The descending state is irrecoverable after the perturbation and a mixed fluttering and tumbling motion which resembles that of a falling card emerges. The approximate hovering state is also irrecoverable and it eventually transits to the ascending state after the perturbation. The research sheds light on the lift-producing mechanism and stability of the flyer and the results are helpful in guiding the design and optimization of the jellyfishlike flying machine.

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

Science.gov (United States)

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

2014-01-01

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

A Novel WPT System Based on Dual Transmitters and Dual Receivers for High Power Applications: Analysis, Design and Implementation

Directory of Open Access Journals (Sweden)

Yong Li

2017-02-01

Full Text Available Traditional Wireless Power Transfer (WPT systems only have one energy transmission path, which can hardly meet the power demand for high power applications, e.g., railway applications (electric trains and trams, etc. due to the capacity constraints of power electronic devices. A novel WPT system based on dual transmitters and dual receivers is proposed in this paper to upgrade the power capacity of the WPT system. The reliability and availability of the proposed WPT system can be dramatically improved due to the four energy transmission paths. A three-dimensional finite element analysis (FEA tool ANSYS MAXWELL (ANSYS, Canonsburg, PA, USA is adopted to investigate the proposed magnetic coupling structure. Besides, the effects of the crossing coupling mutual inductances among the transmitters and receivers are analyzed. It shows that the same-side cross couplings will decrease the efficiency and transmitted power. Decoupling transformers are employed to mitigate the effects of the same-side cross couplings. Meanwhile, the output voltage in the secondary side can be regulated at its designed value with a fast response performance, and the system can continue work even with a faulty inverter. Finally, a scale-down experimental setup is provided to verify the proposed approach. The experimental results indicate that the proposed method could improve the transmitted power capacity, overall efficiency and reliability, simultaneously. The proposed WPT structure is a potential alternative for high power applications.

Development and Operation of Dual-Mode Analyzers for Wireless Power Consortium/Power Matters Alliance Wireless Power Systems.

Science.gov (United States)

Um, Keehong

2016-05-01

We have designed a protocol analyzer to be used in wireless power systems and analyzed the operation of wireless chargers defined by standards of Qi of Wireless Power Consortium (WPC) and Power Matters Alliance (PMA) protocols. The integrated circuit (IC, or microchip) developed so far for wireless power transmission is not easily adopted by chargers for specific purposes. A device for measuring the performance of test equipment currently available is required to transform and expand the types of protocol. Since a protocol analyzer with these functions is required, we have developed a device that can analyze the two protocols of WPC and PMA at the same time. As a result of our research, we present a dual-mode system that can analyze the protocols of both WPC and PMA.

Locomotive fuel tank structural safety testing program : passenger locomotive fuel tank jackknife derailment load test.

Science.gov (United States)

2010-08-01

This report presents the results of a passenger locomotive fuel tank load test simulating jackknife derailment (JD) load. The test is based on FRA requirements for locomotive fuel tanks in the Title 49, Code of Federal Regulations (CFR), Part 238, Ap...

Research on Matching Method of Power Supply Parameters for Dual Energy Source Electric Vehicles

Science.gov (United States)

Jiang, Q.; Luo, M. J.; Zhang, S. K.; Liao, M. W.

2018-03-01

A new type of power source is proposed, which is based on the traffic signal matching method of the dual energy source power supply composed of the batteries and the supercapacitors. First, analyzing the power characteristics is required to meet the excellent dynamic characteristics of EV, studying the energy characteristics is required to meet the mileage requirements and researching the physical boundary characteristics is required to meet the physical conditions of the power supply. Secondly, the parameter matching design with the highest energy efficiency is adopted to select the optimal parameter group with the method of matching deviation. Finally, the simulation analysis of the vehicle is carried out in MATLABSimulink, The mileage and energy efficiency of dual energy sources are analyzed in different parameter models, and the rationality of the matching method is verified.

The dual-axis solar tracking system efficiency improving via the drive power consumption optimization

International Nuclear Information System (INIS)

Rambhowan, Y.; Oree, V.

2014-01-01

A major drawback with active dual-axis solar tracking systems is that the power used by the driving mechanism is often drawn from the output power of the solar panel itself. The net energy gain of the photo-voltaic panel is therefore less than its maximum value. This work presents a novel design which uses a three-fold strategy to minimize the power consumed by the tracking mechanism whilst maintaining the power out-put of the photovoltaic panel near its optimal value. The results reveal that the improved tracking system has a significant energy gain of about 43.6% as compared to a fixed photovoltaic panel. Experiments further show that an increase of 1.6% in energy output is achieved over conventional precise dual-axis tracking system. (author)

Dual plane problems for creeping flow of power-law incompressible medium

Directory of Open Access Journals (Sweden)

Dmitriy S. Petukhov

2016-09-01

Full Text Available In this paper, we consider the class of solutions for a creeping plane flow of incompressible medium with power-law rheology, which are written in the form of the product of arbitrary power of the radial coordinate by arbitrary function of the angular coordinate of the polar coordinate system covering the plane. This class of solutions represents the asymptotics of fields in the vicinity of singular points in the domain occupied by the examined medium. We have ascertained the duality of two problems for a plane with wedge-shaped notch, at which boundaries in one of the problems the vector components of the surface force vanish, while in the other—the vanishing components are the vector components of velocity, We have investigated the asymptotics and eigensolutions of the dual nonlinear eigenvalue problems in relation to the rheological exponent and opening angle of the notch for the branch associated with the eigenvalue of the Hutchinson–Rice–Rosengren problem learned from the problem of stress distribution over a notched plane for a power law medium. In the context of the dual problem we have determined the velocity distribution in the flow of power-law medium at the vertex of a rigid wedge, We have also found another two eigenvalues, one of which was determined by V. V. Sokolovsky for the problem of power-law fluid flow in a convergent channel.

Locomotive Schedule Optimization for Da-qin Heavy Haul Railway

Directory of Open Access Journals (Sweden)

Ruiye Su

2015-01-01

Full Text Available The main difference between locomotive schedule of heavy haul railways and that of regular rail transportation is the number of locomotives utilized for one train. One heavy-loaded train usually has more than one locomotive, but a regular train only has one. This paper develops an optimization model for the multilocomotive scheduling problem (MLSP through analyzing the current locomotive schedule of Da-qin Railway. The objective function of our paper is to minimize the total number of utilized locomotives. The MLSP is nondeterministic polynomial (NP hard. Therefore, we convert the multilocomotive traction problem into a single-locomotive traction problem. Then, the single-locomotive traction problem (SLTP can be converted into an assignment problem. The Hungarian algorithm is applied to solve the model and obtain the optimal locomotive schedule. We use the variance of detention time of locomotives at stations to evaluate the stability of locomotive schedule. In order to evaluate the effectiveness of the proposed optimization model, case studies for 20 kt and 30 kt heavy-loaded combined trains on Da-qin Railway are both conducted. Compared to the current schedules, the optimal schedules from the proposed models can save 62 and 47 locomotives for 20 kt and 30 kt heavy-loaded combined trains, respectively. Therefore, the effectiveness of the proposed model and its solution algorithm are both valid.

Fundamentals of soft robot locomotion.

Science.gov (United States)

Calisti, M; Picardi, G; Laschi, C

2017-05-01

Soft robotics and its related technologies enable robot abilities in several robotics domains including, but not exclusively related to, manipulation, manufacturing, human-robot interaction and locomotion. Although field applications have emerged for soft manipulation and human-robot interaction, mobile soft robots appear to remain in the research stage, involving the somehow conflictual goals of having a deformable body and exerting forces on the environment to achieve locomotion. This paper aims to provide a reference guide for researchers approaching mobile soft robotics, to describe the underlying principles of soft robot locomotion with its pros and cons, and to envisage applications and further developments for mobile soft robotics. © 2017 The Author(s).

A simulation study on proton computed tomography (CT) stopping power accuracy using dual energy CT scans as benchmark

DEFF Research Database (Denmark)

Hansen, David Christoffer; Seco, Joao; Sørensen, Thomas Sangild

2015-01-01

Background. Accurate stopping power estimation is crucial for treatment planning in proton therapy, and the uncertainties in stopping power are currently the largest contributor to the employed dose margins. Dual energy x-ray computed tomography (CT) (clinically available) and proton CT (in...... development) have both been proposed as methods for obtaining patient stopping power maps. The purpose of this work was to assess the accuracy of proton CT using dual energy CT scans of phantoms to establish reference accuracy levels. Material and methods. A CT calibration phantom and an abdomen cross section...... phantom containing inserts were scanned with dual energy and single energy CT with a state-of-the-art dual energy CT scanner. Proton CT scans were simulated using Monte Carlo methods. The simulations followed the setup used in current prototype proton CT scanners and included realistic modeling...

Paper-based Pneumatic Locomotive Robot with Sticky Actuator

Directory of Open Access Journals (Sweden)

Du Xiaohan

2016-01-01

Full Text Available Demands for small-scale and low-cost robots have witnessed a great increase in recent years [1–5]. This paper introduces the design and fabrication of a novel, simple, low-cost and designer-friendly locomotive robot. The materials and tools to build the robot originate from everyday life. The robot is pneumatically powered and manually controlled by simply pumping and vacuuming the syringe repeatedly, which realizes reliable locomotion by folding and opening of the planes. In order to realize this complicated motion, a “3D Sticky Actuator” is developed. The motion and force analysis of actuator are then modelled by the numerical method to develop the relations between design parameters. This suggests a systematic and user interactive way of manufacturing various shapes of the actuator, depending on user-defined road condition (e.g. obstacles and slopes and other constraints. One key advantage of the paper-based robot is suggested by its high feasibility.

The Need for Speed in Rodent Locomotion Analyses

Science.gov (United States)

Batka, Richard J.; Brown, Todd J.; Mcmillan, Kathryn P.; Meadows, Rena M.; Jones, Kathryn J.; Haulcomb, Melissa M.

2016-01-01

Locomotion analysis is now widely used across many animal species to understand the motor defects in disease, functional recovery following neural injury, and the effectiveness of various treatments. More recently, rodent locomotion analysis has become an increasingly popular method in a diverse range of research. Speed is an inseparable aspect of locomotion that is still not fully understood, and its effects are often not properly incorporated while analyzing data. In this hybrid manuscript, we accomplish three things: (1) review the interaction between speed and locomotion variables in rodent studies, (2) comprehensively analyze the relationship between speed and 162 locomotion variables in a group of 16 wild-type mice using the CatWalk gait analysis system, and (3) develop and test a statistical method in which locomotion variables are analyzed and reported in the context of speed. Notable results include the following: (1) over 90% of variables, reported by CatWalk, were dependent on speed with an average R2 value of 0.624, (2) most variables were related to speed in a nonlinear manner, (3) current methods of controlling for speed are insufficient, and (4) the linear mixed model is an appropriate and effective statistical method for locomotion analyses that is inclusive of speed-dependent relationships. Given the pervasive dependency of locomotion variables on speed, we maintain that valid conclusions from locomotion analyses cannot be made unless they are analyzed and reported within the context of speed. PMID:24890845

40 CFR 1033.515 - Discrete-mode steady-state emission tests of locomotives and locomotive engines.

Science.gov (United States)

2010-07-01

... 40 Protection of Environment 32 2010-07-01 2010-07-01 false Discrete-mode steady-state emission... Procedures § 1033.515 Discrete-mode steady-state emission tests of locomotives and locomotive engines. This... a warm-up followed by a sequence of nominally steady-state discrete test modes, as described in...

Locomotion Gait Planning of Climber Snake-Like Robot

Directory of Open Access Journals (Sweden)

Mohammad Nezaminia

2013-04-01

Full Text Available In this article a novel breed of snake-like climber robots has been introduced. Structure and operation of the first generation of snake-like climber robot "Marak I" has been discussed. The gait planning for two dimensional locomotion of a novel snake-like climber robot "Marak I" is presented. The types of locomotion investigated were rectilinear and wheeling gaits. The gaits of locomotion were experimented and their suitability for various applications has been mentioned. Some encountered practical problems plus solutions were addressed. Finally we found out that: the vertical motion was producing more fault than horizontal locomotion, and notably the fastest gait of locomotion was the wheeling gait

In Pipe Robot with Hybrid Locomotion System

Directory of Open Access Journals (Sweden)

Cristian Miclauş

2015-06-01

Full Text Available The first part of the paper covers aspects concerning in pipe robots and their components, such as hybrid locomotion systems and the adapting mechanisms used. The second part describes the inspection robot that was developed, which combines tracked and wheeled locomotion (hybrid locomotion. The end of the paper presents the advantages and disadvantages of the proposed robot.

Dual voltage power supply with 48 volt

Energy Technology Data Exchange (ETDEWEB)

Froeschl, Joachim; Proebstle, Hartmut; Sirch, Ottmar [BMW Group, Muenchen (Germany)

2012-11-01

Automotive electrics/electronics have just reached a period of tremendous change. High voltage systems for Hybrid, Plug-In Hybrid or Battery Electric Vehicles with high power electric motors, high energy accumulators and electric climate compressors will be introduced in order to achieve the challenging targets for CO{sub 2} emissions and energy efficiency and to anticipate the mobility of the future. Additionally, innovations and the continuous increase of functionality for comfort, safety, driver assistance and infotainment systems require more and more electrical power of the vehicle power supply at all. On the one hand side electrified vehicles will certainly achieve a significant market share, on the other hand side they will increase the pressure to conventional vehicles with combustion engines for fuel consumption and CO{sub 2} emissions. These vehicles will be enabled to keep their competitiveness by new functions and the optimization of their electric systems. A dual voltage power supply with 48 Volt and 12 Volt will be one of the key technologies to realize these requirements. The power capability of the existing 12 Volt power supply has reached its limits. Further potentials can only be admitted by the introduction of 48 Volt. For this reason the car manufacturers Audi, BMW, Daimler, Porsche and Volkswagen started very early on this item and developed a common specification of the new voltage range. Now, it is necessary to identify the probable systems at this voltage range and to start the developments. (orig.)

Multi-modal locomotion: from animal to application

International Nuclear Information System (INIS)

Lock, R J; Burgess, S C; Vaidyanathan, R

2014-01-01

The majority of robotic vehicles that can be found today are bound to operations within a single media (i.e. land, air or water). This is very rarely the case when considering locomotive capabilities in natural systems. Utility for small robots often reflects the exact same problem domain as small animals, hence providing numerous avenues for biological inspiration. This paper begins to investigate the various modes of locomotion adopted by different genus groups in multiple media as an initial attempt to determine the compromise in ability adopted by the animals when achieving multi-modal locomotion. A review of current biologically inspired multi-modal robots is also presented. The primary aim of this research is to lay the foundation for a generation of vehicles capable of multi-modal locomotion, allowing ambulatory abilities in more than one media, surpassing current capabilities. By identifying and understanding when natural systems use specific locomotion mechanisms, when they opt for disparate mechanisms for each mode of locomotion rather than using a synergized singular mechanism, and how this affects their capability in each medium, similar combinations can be used as inspiration for future multi-modal biologically inspired robotic platforms. (topical review)

Steam Locomotives: a forgotten era

African Journals Online (AJOL)

The boiler was not armoured as the idea was that it was bullet proof. The locomotives were arranged into groups of five and for each group there was an engine as standby. As far as can be ascertained, locomotive No 537 was never armoured, but did work draw trains and freight trains during the Anglo-Boer War too.

Development of a Novel Locomotion Algorithm for Snake Robot

International Nuclear Information System (INIS)

Khan, Raisuddin; Billah, Md Masum; Watanabe, Mitsuru; Shafie, A A

2013-01-01

A novel algorithm for snake robot locomotion is developed and analyzed in this paper. Serpentine is one of the renowned locomotion for snake robot in disaster recovery mission to overcome narrow space navigation. Several locomotion for snake navigation, such as concertina or rectilinear may be suitable for narrow spaces, but is highly inefficient if the same type of locomotion is used even in open spaces resulting friction reduction which make difficulties for snake movement. A novel locomotion algorithm has been proposed based on the modification of the multi-link snake robot, the modifications include alterations to the snake segments as well elements that mimic scales on the underside of the snake body. Snake robot can be able to navigate in the narrow space using this developed locomotion algorithm. The developed algorithm surmount the others locomotion limitation in narrow space navigation

Locomotion through Morphosis

DEFF Research Database (Denmark)

Larsen, Jørgen Christian

, this is still not the case. One of the reasons for this is that science does still not fully understand the principles of dynamic locomotion which is a requirement for them to move around in our environment with stairs, obstacles etc. In this thesis the focus will be on the creation of the modular robotic...... it have been build. This will hopefully help to identify which parameters that are affecting the locomotive abilities of a legged robot the most. Experiments shows that the system in its current state is able for form legged robots of various kinds, and perform walking gaits where phenomenon’s also seen...

Multi-Objective Optimization Control for the Aerospace Dual-Active Bridge Power Converter

Directory of Open Access Journals (Sweden)

Tao Lei

2018-05-01

Full Text Available With the development of More Electrical Aircraft (MEA, the electrification of secondary power systems in aircraft is becoming more and more common. As the key power conversion device, the dual active bridge (DAB converter is the power interface for the energy storage system with the high voltage direct current (HVDC bus in aircraft electrical power systems. In this paper, a DAB DC-DC converter is designed to meet aviation requirements. The extended dual phase shifted control strategy is adopted, and a multi-objective genetic algorithm is applied to optimize its operating performance. Considering the three indicators of inductance current root mean square root (RMS value, negative reverse power and direct current (DC bias component of the current for the high frequency transformer as the optimization objectives, the DAB converter’s optimization model is derived to achieve soft switching as the main constraint condition. Optimized methods of controlling quantity for the DAB based on the evolution and genetic algorithm is used to solve the model, and a number of optimal control parameters are obtained under different load conditions. The results of digital, hard-in-loop simulation and hardware prototype experiments show that the three performance indexes are all suppressed greatly, and the optimization method proposed in this paper is reasonable. The work of this paper provides a theoretical basis and researching method for the multi-objective optimization of the power converter in the aircraft electrical power system.

Millipede-inspired locomotion through novel U-shaped piezoelectric motors

International Nuclear Information System (INIS)

Avirovik, Dragan; Butenhoff, Bryan; Priya, Shashank

2014-01-01

We report a novel piezoelectric motor that operates at a resonance frequency of 144 Hz, much lower than that of conventional ultrasonic motors, and meets the displacement and gait requirements for designing the locomotion mechanism of a millipede-inspired robot (millibot). The motor structure consists of two piezoelectric bimorphs arranged in a U-shaped configuration. Using the first bending mode for both the piezoelectric bimorphs an elliptical motion was obtained at the tip which led to the successful implementation of millipede inspired locomotion. At an input voltage of 70.7 V rms , the piezoelectric motor operating at resonance frequency was able to generate torque of 0.03 mN m, mechanical power of 0.84 mW and maximum velocity of 62 rad s −1 . Detailed discussion is provided about the principle of operation of the millibot. (technical note)

Locomotive Crash Energy Management Coupling Tests

Science.gov (United States)

2018-04-18

This paper describes the results of the CEM equipped locomotive coupling tests. In this set of tests, a moving CEM locomotive was coupled to a standing cab car. The primary objective was to demonstrate the robustness of the PBC design and determine t...

Combining Bio-inspired Sensing with Bio-inspired Locomotion

DEFF Research Database (Denmark)

Shaikh, Danish; Hallam, John; Christensen-Dalsgaard, Jakob

In this paper we present a preliminary Braitenberg vehicle–like approach to combine bio-inspired audition with bio-inspired quadruped locomotion in simulation. Locomotion gaits of the salamander–like robot Salamandra robotica are modified by a lizard’s peripheral auditory system model that modula......In this paper we present a preliminary Braitenberg vehicle–like approach to combine bio-inspired audition with bio-inspired quadruped locomotion in simulation. Locomotion gaits of the salamander–like robot Salamandra robotica are modified by a lizard’s peripheral auditory system model...

76 FR 2199 - Locomotive Safety Standards

Science.gov (United States)

2011-01-12

..., alcohol and drug testing, locomotive engineer certification, and workplace safety. In 1980, FRA issued the...) Association of State Rail Safety Managers (ASRSM) Brotherhood of Locomotive Engineers and Trainmen (BLET... desirable to minimize the health and safety effects of temperature extremes. Depending upon the workplace...

49 CFR 230.108 - Steam locomotive leading and trailing trucks.

Science.gov (United States)

2010-10-01

... 49 Transportation 4 2010-10-01 2010-10-01 false Steam locomotive leading and trailing trucks. 230... RAILROAD ADMINISTRATION, DEPARTMENT OF TRANSPORTATION STEAM LOCOMOTIVE INSPECTION AND MAINTENANCE STANDARDS Steam Locomotives and Tenders Trucks, Frames and Equalizing System § 230.108 Steam locomotive leading...

Problems of locomotive wheel wear in fleet replacement

Directory of Open Access Journals (Sweden)

L.P. Lingaytis

2013-08-01

Full Text Available Purpose. To conduct a research and find out the causes of defects appearing on the wheel thread of freight locomotives 2М62 and SIEMENS ER20CF. Methodology. To find the ways to solve this problem comparing the locomotive designs and their operating conditions. Findings. After examining the nature of the wheel wear the main difference was found: in locomotives of the 2M62 line wears the wheel flange, and in the locomotives SIEMENS ER20CF – the tread surface. After installation on the 2M62 locomotive the lubrication system of flanges their wear rate significantly decreased. On the new freight locomotives SIEMENS ER20CF the flange lubrication systems of the wheel set have been already installed at the factory, however the wheel thread is wearing. As for locomotives 2M62, and on locomotives SIEMENS ER20CF most wear profile skating wheels of the first wheel set. On both locomotive lines the 2М62 and the SIEMENS ER20CF the tread profile of the first wheel set most of all is subject to the wear. After reaching the 170 000 km run, the tread surface of some wheels begins to crumble. There was a suspicion that the reason for crumb formation of the wheel surface may be insufficient or excessive wheel hardness or its chemical composition. In order to confirm or deny this suspicion the following studies were conducted: the examination of the rim surface, the study of the wheel metal hardness and the document analysis of the wheel production and their comparison with the results of wheel hardness measurement. Practical value. The technical condition of locomotives is one of the bases of safety and reliability of the rolling stock. The reduction of the wheel wear significantly reduces the operating costs of railway transport. After study completion it was found that there was no evidence to suggest that the ratio of the wheel-rail hardness could be the cause of the wheel surface crumbling.

77 FR 21311 - Locomotive Safety Standards

Science.gov (United States)

2012-04-09

... preparedness, alcohol and drug testing, locomotive engineer certification, and workplace safety. In 1980, FRA... Association (ATDA) Amtrak AAR Association of Railway Museums (ARM) Association of State Rail Safety Managers... Administration 49 CFR Parts 229 and 238 Locomotive Safety Standards; Final Rule #0;#0;Federal Register / Vol. 77...

Morphological self stabilization of locomotion gaits: illustration on a few examples from bio-inspired locomotion.

Science.gov (United States)

Chevallereau, Christine; Boyer, Frédéric; Porez, Mathieu; Mauny, Johan; Aoustin, Yannick

2017-06-20

To a large extent, robotics locomotion can be viewed as cyclic motions, named gaits. Due to the high complexity of the locomotion dynamics, to find the control laws that ensure an expected gait and its stability with respect to external perturbations, is a challenging issue for feedback control. To address this issue, a promising way is to take inspiration from animals that intensively exploit the interactions of the passive degrees of freedom of their body with their physical surroundings, to outsource the high-level exteroceptive feedback control to low-level proprioceptive ones. In this case, passive interactions can ensure most of the expected control goals. In this article, we propose a methodological framework to study the role of morphology in the design of locomotion gaits and their stability. This framework ranges from modelling to control aspects, and is illustrated through three examples from bio-inspired locomotion: a three-dimensional micro air vehicle in hovering flight, a pendular planar climber and a bipedal planar walker. In these three cases, we will see how simple considerations based on the morphology of the body can ensure the existence of passive stable gaits without requiring any high-level control.

Advanced robot locomotion.

Energy Technology Data Exchange (ETDEWEB)

Neely, Jason C.; Sturgis, Beverly Rainwater; Byrne, Raymond Harry; Feddema, John Todd; Spletzer, Barry Louis; Rose, Scott E.; Novick, David Keith; Wilson, David Gerald; Buerger, Stephen P.

2007-01-01

This report contains the results of a research effort on advanced robot locomotion. The majority of this work focuses on walking robots. Walking robot applications include delivery of special payloads to unique locations that require human locomotion to exo-skeleton human assistance applications. A walking robot could step over obstacles and move through narrow openings that a wheeled or tracked vehicle could not overcome. It could pick up and manipulate objects in ways that a standard robot gripper could not. Most importantly, a walking robot would be able to rapidly perform these tasks through an intuitive user interface that mimics natural human motion. The largest obstacle arises in emulating stability and balance control naturally present in humans but needed for bipedal locomotion in a robot. A tracked robot is bulky and limited, but a wide wheel base assures passive stability. Human bipedal motion is so common that it is taken for granted, but bipedal motion requires active balance and stability control for which the analysis is non-trivial. This report contains an extensive literature study on the state-of-the-art of legged robotics, and it additionally provides the analysis, simulation, and hardware verification of two variants of a proto-type leg design.

High Power Q-Switched Dual-End-Pumped Ho:YAG Laser

Energy Technology Data Exchange (ETDEWEB)

Xiao-Ming, Duan; Ying-Jie, Shen; Tong-Yu, Dai; Bao-Quan, Yao; Wang Yue-Zhu, E-mail: xmduan@hit.edu.cn [National Key Laboratory of Tunable Laser Technology, Harbin Institute of Technology, Harbin 150001 (China)

2012-09-15

We report the high power acousto-optically Q-switched operation of a dual-end-pumped Ho:YAG laser at room temperature. For the Q-swithched mode, a maximum pulse energy of 2.4 mJ and a minimum pulse width of 23 ns at the repetition rate of 10 kHz are achieved, resulting in a peak power of 104.3 kW. The beam quality factor of M{sup 2} {approx} 1.5, which is demonstrated by a knife-edge method. In addition, the Ho:YAG laser is employed as a pumping source of ZGP optical parametric oscillator, and its total average output power is 13.2 W at 3.9 {mu}m and 4.4 {mu}m with a slope efficiency of 68.4%.

Blunt impact tests of retired passenger locomotive fuel tanks

Science.gov (United States)

2017-08-01

The Transportation Technology Center, Inc. conducted impact tests on three locomotive fuel tanks as part of the Federal Railroad Administrations locomotive fuel tank crashworthiness improvement program. Three fuel tanks, two from EMD F40PH locomot...

Dual-wavelength high-power diode laser system based on an external-cavity tapered amplifier with tunable frequency difference

DEFF Research Database (Denmark)

Chi, Mingjun; Jensen, Ole Bjarlin; Petersen, Paul Michael

2012-01-01

knowledge, this is the broadest tuning range of the frequency difference from a dual-wavelength diode laser system. The spectrum, output power, and beam quality of the diode laser system are characterized. The power stability of each wavelength is measured, and the power fluctuations of the two wavelengths......A dual-wavelength high-power semiconductor laser system based on a tapered amplifier with double-Littrow external cavity is demonstrated around 800 nm. The two wavelengths can be tuned individually, and the frequency difference of the two wavelengths is tunable from 0.5 to 10.0 THz. To our...

Implementation of a Dual on Die 140 V Super-Junction Power Transistors

DEFF Research Database (Denmark)

Nour, Yasser; Knott, Arnold; Jørgensen, Ivan Harald Holger

Increasing the switching frequency for switch mode power supplies is one method to achieve smaller, lighter weight and hopefully cheaper power converters. Silicon is not only the dominant material used to produce the switches but also it allows more circuitry to be easily integrated on the same d....... This work presents an application customized switches to be used in switch mode power supplies. The prototype chip was implemented using a 0.18 μm SOI process and includes dual electrically isolated 140 V, 1.2 Ω N-channel MOSFETs....

The mechanics of slithering locomotion.

Science.gov (United States)

Hu, David L; Nirody, Jasmine; Scott, Terri; Shelley, Michael J

2009-06-23

In this experimental and theoretical study, we investigate the slithering of snakes on flat surfaces. Previous studies of slithering have rested on the assumption that snakes slither by pushing laterally against rocks and branches. In this study, we develop a theoretical model for slithering locomotion by observing snake motion kinematics and experimentally measuring the friction coefficients of snakeskin. Our predictions of body speed show good agreement with observations, demonstrating that snake propulsion on flat ground, and possibly in general, relies critically on the frictional anisotropy of their scales. We have also highlighted the importance of weight distribution in lateral undulation, previously difficult to visualize and hence assumed uniform. The ability to redistribute weight, clearly of importance when appendages are airborne in limbed locomotion, has a much broader generality, as shown by its role in improving limbless locomotion.

EVALUATION OF DYNAMIC INDICATORS OF SIX-AXLE LOCOMOTIVE

Directory of Open Access Journals (Sweden)

S. V. Myamlin

2015-04-01

Full Text Available Purpose. The paper is devoted to dynamic characteristics evaluation of the locomotive with prospective design and determination the feasibility of its use on the Ukrainian railways. Methodology. The methods of mathematical and computer modeling of the dynamics of railway vehicles, as well as methods for the numerical integration of systems of ordinary nonlinear differential equations were used to solve the problem. Findings. The calculated diagram of a locomotive on three-axle bogies was built to solve the problem, and it is a system of rigid bodies connected by various elements of rheology. The mathematical model of the locomotive movement, allowing studying its spatial vibrations at driving on straight and curved sections of the track with random irregularities in plan and profile was developed with use of this calculated diagram. At compiling the mathematical model took into account both geometric (nonlinearity profile of the wheel roll surface and physical nonlinearity of the system (the work forces of dry friction, nonlinearity characteristics of interaction forces between wheels and rails. The multivariate calculations, which allowed assessing the dynamic qualities of the locomotive at its movement along straight and curved sections of the track, were realized with the use of computer modeling. The smoothness movement indicators of the locomotive in horizontal and vertical planes, frame strength, coefficients of vertical dynamics in the first and second stages of the suspension, the load factor of resistance against the derailment of the wheel from the rail were determined at the period of research. In addition, a comparison of the obtained results with similar characteristics is widely used on the Ukrainian railways in six-axle locomotive TE 116. The influence of speed and technical state of the track on the locomotive traffic safety was determined.Originality. A mathematical model of the spatial movement of a six-axle locomotive with

Fundamentals of soft robot locomotion

OpenAIRE

Calisti, M.; Picardi, G.; Laschi, C.

2017-01-01

Soft robotics and its related technologies enable robot abilities in several robotics domains including, but not exclusively related to, manipulation, manufacturing, human���robot interaction and locomotion. Although field applications have emerged for soft manipulation and human���robot interaction, mobile soft robots appear to remain in the research stage, involving the somehow conflictual goals of having a deformable body and exerting forces on the environment to achieve locomotion. This p...

The Human Central Pattern Generator for Locomotion.

Science.gov (United States)

Minassian, Karen; Hofstoetter, Ursula S; Dzeladini, Florin; Guertin, Pierre A; Ijspeert, Auke

2017-03-01

The ability of dedicated spinal circuits, referred to as central pattern generators (CPGs), to produce the basic rhythm and neural activation patterns underlying locomotion can be demonstrated under specific experimental conditions in reduced animal preparations. The existence of CPGs in humans is a matter of debate. Equally elusive is the contribution of CPGs to normal bipedal locomotion. To address these points, we focus on human studies that utilized spinal cord stimulation or pharmacological neuromodulation to generate rhythmic activity in individuals with spinal cord injury, and on neuromechanical modeling of human locomotion. In the absence of volitional motor control and step-specific sensory feedback, the human lumbar spinal cord can produce rhythmic muscle activation patterns that closely resemble CPG-induced neural activity of the isolated animal spinal cord. In this sense, CPGs in humans can be defined by the activity they produce. During normal locomotion, CPGs could contribute to the activation patterns during specific phases of the step cycle and simplify supraspinal control of step cycle frequency as a feedforward component to achieve a targeted speed. Determining how the human CPGs operate will be essential to advance the theory of neural control of locomotion and develop new locomotor neurorehabilitation paradigms.

Le Shuttle, the locomotive from Eurotunnel

OpenAIRE

Gabriel MOISA

2002-01-01

This paper present some performances of locomotive ‘Le Shuttle’, so-called locomotive from ‘Eurotunnel’, techniques characteristics of traction motors 6 FHA 7079 and converters witch use it, the principal electric scheme and its function principle and no at last rind the principle scheme of command-control equipment MICAS-S2 with detailed description of its operation mode.

Effect of low-frequency power on dual-frequency capacitively coupled plasmas

International Nuclear Information System (INIS)

Yuan, Q H; Xin, Y; Huang, X J; Sun, K; Ning, Z Y; Yin, G Q

2008-01-01

In low-pressure dual-frequency capacitively coupled plasmas driven with 60/13.56 MHz, the effect of low-frequency power on the plasma characteristics was investigated using a compensated Langmuir electrostatic probe. At lower pressures (about 10 mTorr), it was possible to control the plasma density and the ion bombardment energy independently. As the pressure increased, this independent control could not be achieved. As the low-frequency power increased for the fixed high-frequency power, the electron energy probability function (EEPF) changed from Druyvesteyn-like to Maxwellian-like at pressures of 50 mTorr and higher, along with a drop in electron temperature. The plasma parameters were calculated and compared with simulation results.

Dual-pressure vaporization Kalina cycle for cascade reclaiming heat resource for power generation

International Nuclear Information System (INIS)

Guo, Zhanwei; Zhang, Zhi; Chen, Yaping; Wu, Jiafeng; Dong, Cong

2015-01-01

Graphical abstract: Schematic of the dual-pressure evaporation Kalina cycle. - Highlights: • Dual-pressure vaporization Kalina cycle for high-grade heat resource is investigated. • It is designed with 2nd evaporation branch for cascade utilization of heat resource. • Work and basic concentrations, dew point temperature of evaporation are optimized. • Power recovery efficiency of proposed cycle is 17% higher than that of Kalina cycle. • Dual-p vaporization Kalina cycle fits reclaiming heat resource higher than 350 °C. - Abstract: To further improve the cycle efficiency with the heat transfer curves between higher than 350 °C heat resource and the evaporating working medium of the Kalina cycle and to reduce the exhaust temperature of heat resource, the dual-pressure vaporization Kalina cycle for cascade utilization of high-to-mid grade heat resource is proposed. The optimization was conducted for parameters in this modified Kalina cycle such as concentrations of work solution and basic solution, evaporation dew point temperature. Under the conditions of inlet temperatures of heat resource and cooling water of respectively 400 °C and 25 °C and the constraints of proper heat transfer pinch point temperature differences, the maximum evaporation pressure not exceeds 20 MPa, the vapour quality at the turbine outlet is greater than 0.85 and the exhaust temperature of heat resource is not lower than 90 °C, the optimum parameters are obtained that the work and basic concentrations are 0.45 and 0.272 respectively, the dew point temperature of evaporation is 300 °C, and the corresponding power recovery efficiency of the dual-pressure vaporization Kalina cycle reaches 27%, which is 17% higher than that of the Kalina cycle with optimum parameters.

Trading of locomotive NO(sub x) emissions : a potential success story

International Nuclear Information System (INIS)

Gaines, L. L.; Biess, L. J.; Diedrich, G. K.

2002-01-01

New US Environmental Protection Agency regulations are forcing locomotive manufacturers and railroads to reduce pollutant emissions from locomotive operation. All new locomotives must meet strict standards when they are built, and existing locomotives must comply when they are rebuilt. Emissions can be reduced either by adjusting combustion parameters, which incurs a fuel penalty, or by turning the diesel engine off when the train is not moving and would otherwise be idling. The latter reduces fuel consumption, but requires installation of a device-such as an auxiliary power unit (APU)-to ensure that the engine can be restarted in cold weather and to supply hotel loads for the crew. Without a financial incentive, capital-short railroads will opt to achieve compliance in the least costly way. However, if they have the option of selling emissions credits from reducing emissions below regulated levels, it would be in their best interest to install additional equipment to minimize emissions. These credits could be purchased by businesses with compliance costs greater than either the cost of the credits or the fines they would have had to pay for non-compliance. The result is a financial benefit for both parties, and a net reduction in emissions, because the seller is emitting below regulated levels, and the buyer is no longer non-compliant. This paper describes a railroad as the potential seller, unable to consummate trades because of uncertainty in the regulatory environment, and estimates financial benefits and reductions in emissions and energy use that could be achieved if the barrier could be removed

49 CFR 230.101 - Steam locomotive driving journal boxes.

Science.gov (United States)

2010-10-01

... 49 Transportation 4 2010-10-01 2010-10-01 false Steam locomotive driving journal boxes. 230.101... Locomotives and Tenders Running Gear § 230.101 Steam locomotive driving journal boxes. (a) Driving journal boxes. Driving journal boxes shall be maintained in a safe and suitable condition for service. Not more...

DESIGN IMPROVEMENT OF THE LOCOMOTIVE RUNNING GEARS

Directory of Open Access Journals (Sweden)

S. V. Myamlin

2013-09-01

Full Text Available Purpose. To determine the dynamic qualities of the mainline freight locomotives characterizing the safe motion in tangent and curved track sections at all operational speeds, one needs a whole set of studies, which includes a selection of the design scheme, development of the corresponding mathematical model of the locomotive spatial fluctuations, construction of the computer calculation program, conducting of the theoretical and then experimental studies of the new designs. In this case, one should compare the results with existing designs. One of the necessary conditions for the qualitative improvement of the traction rolling stock is to define the parameters of its running gears. Among the issues related to this problem, an important place is occupied by the task of determining the locomotive dynamic properties on the stage of projection, taking into account the selected technical solutions in the running gear design. Methodology. The mathematical modeling studies are carried out by the numerical integration method of the dynamic loading for the mainline locomotive using the software package «Dynamics of Rail Vehicles » («DYNRAIL». Findings. As a result of research for the improvement of locomotive running gear design it can be seen that the creation of the modern locomotive requires from engineers and scientists the realization of scientific and technical solutions. The solutions enhancing design speed with simultaneous improvement of the traction, braking and dynamic qualities to provide a simple and reliable design, especially the running gear, reducing the costs for maintenance and repair, low initial cost and operating costs for the whole service life, high traction force when starting, which is as close as possible to the ultimate force of adhesion, the ability to work in multiple traction mode and sufficient design speed. Practical Value. The generalization of theoretical, scientific and methodological, experimental studies aimed

A fuzzy-stochastic power system planning model: Reflection of dual objectives and dual uncertainties

International Nuclear Information System (INIS)

Zhang, X.Y.; Huang, G.H.; Zhu, H.; Li, Y.P.

2017-01-01

In this study, a fuzzy stochastic dynamic fractional programming (FSDFP) method is proposed for supporting sustainable management of electric power system (EPS) under dual uncertainties. As an improvement upon the mixed-integer linear fractional programming, FSDFP can not only tackle multi-objective issues effectively without setting weights, but also can deal with uncertain parameters which have both stochastic and fuzzy characteristics. Thus, the developed method can help provide valuable information for supporting capacity-expansion planning and in-depth policy analysis of EPS management problems. For demonstrating these advantages, FSDFP has been applied to a case study of a typical regional EPS planning, where the decision makers have to deal with conflicts between economic development that maximizes the system profit and environmental protection that minimizes the carbon dioxide emissions. The obtained results can be analyzed to generate several decision alternatives, and can then help decision makers make suitable decisions under different input scenarios. Furthermore, comparisons of the solution from FSDFP method with that from fuzzy stochastic dynamic linear programming, linear fractional programming and dynamic stochastic fractional programming methods are undertaken. The contrastive analysis reveals that FSDFP is a more effective approach that can better characterize the complexities and uncertainties of real EPS management problems. - Highlights: • A fuzzy stochastic dynamic fractional programming (FSDFP) method is proposed. • FSDFP can address multiple conflicting objectives without setting weights. • FSDFP can reflect dual uncertainties with both stochastic and fuzzy characteristics. • Some reasonable solutions for a case of power system sustainable planning are generated. • Comparisons of the solutions from FSDFP with other optimization methods are undertaken.

Boldness and intermittent locomotion in the bluegill sunfish, Lepomis macrochirus

OpenAIRE

Alexander D.M. Wilson; Jean-Guy J. Godin

2009-01-01

Intermittent locomotion, characterized by moves interspersed with pauses, is a common pattern of locomotion in animals, but its ecological and evolutionary significance relative to continuous locomotion remains poorly understood. Although many studies have examined individual differences in both intermittent locomotion and boldness separately, to our knowledge, no study to date has investigated the relationship between these 2 traits. Characterizing and understanding this relationship is impo...

Dual shear plate power processor packaging design. [for Solar Electric Propulsion spacecraft

Science.gov (United States)

Franzon, A. O.; Fredrickson, C. D.; Ross, R. G.

1975-01-01

The use of solar electric propulsion (SEP) for spacecraft primary propulsion imposes an extreme range of operational and environmental design requirements associated with the diversity of missions for which solar electric primary propulsion is advantageous. One SEP element which is particularly sensitive to these environmental extremes is the power processor unit (PPU) which powers and controls the electric ion thruster. An improved power processor thermal-mechanical packaging approach, referred to as dual shear plate packaging, has been designed to accommodate these different requirements with minimum change to the power processor design. Details of this packaging design are presented together with test results obtained from thermal-vacuum and structural-vibration tests conducted with prototype hardware.

Le Shuttle, the locomotive from Eurotunnel

Directory of Open Access Journals (Sweden)

Gabriel MOISA

2002-12-01

Full Text Available This paper present some performances of locomotive ‘Le Shuttle’, so-called locomotive from ‘Eurotunnel’, techniques characteristics of traction motors 6 FHA 7079 and converters witch use it, the principal electric scheme and its function principle and no at last rind the principle scheme of command-control equipment MICAS-S2 with detailed description of its operation mode.

The Need for Speed in Rodent Locomotion Analyses

OpenAIRE

Batka, Richard J.; Brown, Todd J.; Mcmillan, Kathryn P.; Meadows, Rena M.; Jones, Kathryn J.; Haulcomb, Melissa M.

2014-01-01

Locomotion analysis is now widely used across many animal species to understand the motor defects in disease, functional recovery following neural injury, and the effectiveness of various treatments. More recently, rodent locomotion analysis has become an increasingly popular method in a diverse range of research. Speed is an inseparable aspect of locomotion that is still not fully understood, and its effects are often not properly incorporated while analyzing data. In this hybrid manuscript,...

Lizard locomotion in heterogeneous granular media

Science.gov (United States)

Schiebel, Perrin; Goldman, Daniel

2014-03-01

Locomotion strategies in heterogeneous granular environments (common substrates in deserts), are relatively unexplored. The zebra-tailed lizard (C. draconoides) is a useful model organism for such studies owing to its exceptional ability to navigate a variety of desert habitats at impressive speed (up to 50 body-lengths per second) using both quadrapedal and bidepal gaits. In laboratory experiments, we challenge the lizards to run across a field of boulders (2.54 cm diameter glass spheres or 3.8 cm 3D printed spheres) placed in a lattice pattern and embedded in a loosely packed granular medium of 0.3 mm diameter glass particles. Locomotion kinematics of the lizard are recorded using high speed cameras, with and without the scatterers. The data reveals that unlike the lizard's typical quadrupedal locomotion using a diagonal gait, when scatterers are present the lizard is most successful when using a bipedal gait, with a raised center of mass (CoM). We propose that the kinematics of bipedal running in conjunction with the lizard's long toes and compliant hind foot are the keys to this lizard's successful locomotion in the presence of such obstacles. NSF PoLS

Morphological self stabilization of locomotion gaits: illustration on a few examples from bio-inspired locomotion

OpenAIRE

Chevallereau , Christine; Boyer , Frédéric; Porez , Mathieu; Mauny , Johan; Aoustin , Yannick

2017-01-01

International audience; — To a large extent, robotics locomotion can be viewed as cyclic motions, named gaits. Due to the high complexity of the locomotion dynamics, to find the control laws that ensure an expected gait and its stability with respect to external perturbations, is a challenging issue for feedback control. To address this issue, a promising way is to take inspiration from animals that intensively exploit the interactions of the passive degrees of freedom of their body with thei...

Architectures of soft robotic locomotion enabled by simple mechanical principles.

Science.gov (United States)

Zhu, Liangliang; Cao, Yunteng; Liu, Yilun; Yang, Zhe; Chen, Xi

2017-06-28

In nature, a variety of limbless locomotion patterns flourish, from the small or basic life forms (Escherichia coli, amoebae, etc.) to the large or intelligent creatures (e.g., slugs, starfishes, earthworms, octopuses, jellyfishes, and snakes). Many bioinspired soft robots based on locomotion have been developed in the past few decades. In this work, based on the kinematics and dynamics of two representative locomotion modes (i.e., worm-like crawling and snake-like slithering), we propose a broad set of innovative designs for soft mobile robots through simple mechanical principles. Inspired by and going beyond the existing biological systems, these designs include 1-D (dimensional), 2-D, and 3-D robotic locomotion patterns enabled by the simple actuation of continuous beams. We report herein over 20 locomotion modes achieving various locomotion functions, including crawling, rising, running, creeping, squirming, slithering, swimming, jumping, turning, turning over, helix rolling, wheeling, etc. Some are able to reach high speed, high efficiency, and overcome obstacles. All these locomotion strategies and functions can be integrated into a simple beam model. The proposed simple and robust models are adaptive for severe and complex environments. These elegant designs for diverse robotic locomotion patterns are expected to underpin future deployments of soft robots and to inspire a series of advanced designs.

The investigation of the locomotive boiler material

International Nuclear Information System (INIS)

Tucholski, Z.; Wasiak, J.; Bilous, W.; Hajewska, E.

2006-01-01

In the paper, the history of narrow-gauge railway system is described. The other information about the steam locomotive construction, as well as the technical regulations of its construction and exploitation are also done. The results of the studies of the locomotive boiler material are presented. (authors)

49 CFR 230.90 - Draw gear between steam locomotive and tender.

Science.gov (United States)

2010-10-01

... 49 Transportation 4 2010-10-01 2010-10-01 false Draw gear between steam locomotive and tender. 230... Steam Locomotives and Tenders Draw Gear and Draft Systems § 230.90 Draw gear between steam locomotive and tender. (a) Maintenance and testing. The draw gear between the steam locomotive and tender...

49 CFR 230.106 - Steam locomotive frame.

Science.gov (United States)

2010-10-01

... 49 Transportation 4 2010-10-01 2010-10-01 false Steam locomotive frame. 230.106 Section 230.106... Tenders Trucks, Frames and Equalizing System § 230.106 Steam locomotive frame. (a) Maintenance and inspection. Frames, decks, plates, tailpieces, pedestals, and braces shall be maintained in a safe and...

Distribution of spinal neuronal networks controlling forward and backward locomotion.

Science.gov (United States)

Merkulyeva, Natalia; Veshchitskii, Aleksandr; Gorsky, Oleg; Pavlova, Natalia; Zelenin, Pavel V; Gerasimenko, Yury; Deliagina, Tatiana G; Musienko, Pavel

2018-04-20

Higher vertebrates, including humans, are capable not only of forward (FW) locomotion but also of walking in other directions relative to the body axis [backward (BW), sideways, etc.]. While the neural mechanisms responsible for controlling FW locomotion have been studied in considerable detail, the mechanisms controlling steps in other directions are mostly unknown. The aim of the present study was to investigate the distribution of spinal neuronal networks controlling FW and BW locomotion. First, we applied electrical epidural stimulation (ES) to different segments of the spinal cord from L2 to S2 to reveal zones triggering FW and BW locomotion in decerebrate cats of either sex. Second, to determine the location of spinal neurons activated during FW and BW locomotion, we used c-fos immunostaining. We found that the neuronal networks responsible for FW locomotion were distributed broadly in the lumbosacral spinal cord and could be activated by ES of any segment from L3 to S2. By contrast, networks generating BW locomotion were activated by ES of a limited zone from the caudal part of L5 to the caudal part of L7. In the intermediate part of the gray matter within this zone, a significantly higher number of c- fos -positive interneurons was revealed in BW-stepping cats compared with FW-stepping cats. We suggest that this region of the spinal cord contains the network that determines the BW direction of locomotion. Significance Statement Sequential and single steps in various directions relative to the body axis [forward (FW), backward (BW), sideways, etc.] are used during locomotion and to correct for perturbations, respectively. The mechanisms controlling step direction are unknown. In the present study, for the first time we compared the distributions of spinal neuronal networks controlling FW and BW locomotion. Using a marker to visualize active neurons, we demonstrated that in the intermediate part of the gray matter within L6 and L7 spinal segments

Expression of emotion in the kinematics of locomotion.

Science.gov (United States)

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

2013-03-01

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

Mini-cavity plasma core reactors for dual-mode space nuclear power/propulsion systems

International Nuclear Information System (INIS)

Chow, S.

1976-01-01

A mini-cavity plasma core reactor is investigated for potential use in a dual-mode space power and propulsion system. In the propulsive mode, hydrogen propellant is injected radially inward through the reactor solid regions and into the cavity. The propellant is heated by both solid driver fuel elements surrounding the cavity and uranium plasma before it is exhausted out the nozzle. The propellant only removes a fraction of the driver power, the remainder is transferred by a coolant fluid to a power conversion system, which incorporates a radiator for heat rejection. In the power generation mode, the plasma and propellant flows are shut off, and the driver elements supply thermal power to the power conversion system, which generates electricity for primary electric propulsion purposes

Development of human locomotion.

Science.gov (United States)

Lacquaniti, Francesco; Ivanenko, Yuri P; Zago, Myrka

2012-10-01

Neural control of locomotion in human adults involves the generation of a small set of basic patterned commands directed to the leg muscles. The commands are generated sequentially in time during each step by neural networks located in the spinal cord, called Central Pattern Generators. This review outlines recent advances in understanding how motor commands are expressed at different stages of human development. Similar commands are found in several other vertebrates, indicating that locomotion development follows common principles of organization of the control networks. Movements show a high degree of flexibility at all stages of development, which is instrumental for learning and exploration of variable interactions with the environment. Copyright © 2012 Elsevier Ltd. All rights reserved.

Individual dual-emitting CdS multi-branched nanowire arrays under various pumping powers

Science.gov (United States)

Guo, S.; Zhao, F. Y.; Li, Y.; Song, G. L.; Li, A.; Chai, K.; Liang, L.; Ma, Z.; Weller, D.; Liu, R. B.

2016-10-01

High-quality Tin doped Cadmium Sulfide (CdS) comb-like nanostructures have been synthesized by a simple in situ seeding chemical vapor deposition process. The color-tunable dual emission of these comb-like nanostructures is demonstrated by changing the excitation power intensity. In fact, the color-tunable emission is in principal due to the variation of the dual emission intensity, which is proven by photoluminescence spectra and real color photoluminescence charge-coupled device images. Especially for different parts in the nano comb, the emission color can be varied even under the same pumping power. This is mainly due to the difference in local structure. By comparison, the color variation was not observed in pure CdS multi-branched nanostructures. The lifetime results demonstrate that the green emission originate from the recombination of free excitons. The origin of red emission is from the recombination of the dopant-induced intrinsic or extrinsic defect states. These findings provide potential applications of laser assisted anti-counterfeit label and micro-size monitors.

Full-scale locomotive dynamic crash testing and correlations : locomotive consist colliding with steel coil truck at grade crossing (test 3).

Science.gov (United States)

2011-09-01

This report presents the test results and finite element correlations of a full-scale dynamic collision between a locomotive and a highway truck loaded with two heavy steel coils. The locomotive consist was moving at 58 miles per hour before it struc...

Origami-based earthworm-like locomotion robots.

Science.gov (United States)

Fang, Hongbin; Zhang, Yetong; Wang, K W

2017-10-16

Inspired by the morphology characteristics of the earthworms and the excellent deformability of origami structures, this research creates a novel earthworm-like locomotion robot through exploiting the origami techniques. In this innovation, appropriate actuation mechanisms are incorporated with origami ball structures into the earthworm-like robot 'body', and the earthworm's locomotion mechanism is mimicked to develop a gait generator as the robot 'centralized controller'. The origami ball, which is a periodic repetition of waterbomb units, could output significant bidirectional (axial and radial) deformations in an antagonistic way similar to the earthworm's body segment. Such bidirectional deformability can be strategically programmed by designing the number of constituent units. Experiments also indicate that the origami ball possesses two outstanding mechanical properties that are beneficial to robot development: one is the structural multistability in the axil direction that could contribute to the robot control implementation; and the other is the structural compliance in the radial direction that would increase the robot robustness and applicability. To validate the origami-based innovation, this research designs and constructs three robot segments based on different axial actuators: DC-motor, shape-memory-alloy springs, and pneumatic balloon. Performance evaluations reveal their merits and limitations, and to prove the concept, the DC-motor actuation is selected for building a six-segment robot prototype. Learning from earthworms' fundamental locomotion mechanism-retrograde peristalsis wave, seven gaits are automatically generated; controlled by which, the robot could achieve effective locomotion with qualitatively different modes and a wide range of average speeds. The outcomes of this research could lead to the development of origami locomotion robots with low fabrication costs, high customizability, light weight, good scalability, and excellent re-configurability.

Dynamic investigation of a locomotive with effect of gear transmissions under tractive conditions

Science.gov (United States)

Chen, Zaigang; Zhai, Wanming; Wang, Kaiyun

2017-11-01

Locomotive is used to drag trailers to move or supply the braking forces to slow the running speed of a train. The electromagnetic torque of the motor is always transmitted by the gear transmission system to the wheelset for generation of the tractive or braking forces at the wheel-rail contact interface. Consequently, gear transmission system is significant for power delivery of a locomotive. This paper develops a comprehensive locomotive-track vertical-longitudinal coupled dynamics model with dynamic effect of gear transmissions. This dynamics model enables considering the coupling interactions between the gear transmission motion, the vertical and the longitudinal motions of the vehicle, and the vertical vibration of the track structure. In this study, some complicated dynamic excitations, such as the gear time-varying mesh stiffness, nonlinear gear tooth backlash, the nonlinear wheel-rail normal contact force and creep force, and the rail vertical geometrical irregularity, are considered. Then, the dynamic responses of the locomotive under the tractive conditions are demonstrated by numerical simulations based on the established dynamics model and by experimental test. The developed dynamics model is validated by the good agreement between the experimental and the theoretical results. The calculated results reveal that the gear transmission system has strong dynamic interactions with the wheel-rail contact interface including both the vertical and the longitudinal motions, and it has negligible effect on the vibrations of the bogie frame and carbody.

Emotion through locomotion: gender impact.

Directory of Open Access Journals (Sweden)

Samuel Krüger

Full Text Available Body language reading is of significance for daily life social cognition and successful social interaction, and constitutes a core component of social competence. Yet it is unclear whether our ability for body language reading is gender specific. In the present work, female and male observers had to visually recognize emotions through point-light human locomotion performed by female and male actors with different emotional expressions. For subtle emotional expressions only, males surpass females in recognition accuracy and readiness to respond to happy walking portrayed by female actors, whereas females exhibit a tendency to be better in recognition of hostile angry locomotion expressed by male actors. In contrast to widespread beliefs about female superiority in social cognition, the findings suggest that gender effects in recognition of emotions from human locomotion are modulated by emotional content of actions and opposite actor gender. In a nutshell, the study makes a further step in elucidation of gender impact on body language reading and on neurodevelopmental and psychiatric deficits in visual social cognition.

A new coaxial high power microwave source based on dual beams

Energy Technology Data Exchange (ETDEWEB)

Li, Yangmei, E-mail: sunberry1211@hotmail.com; Zhang, Xiaoping; Qi, Zumin; Dang, Fangchao; Qian, Baoliang [College of Optoelectric Science and Engineering, National University of Defense Technology, Changsha 410073 (China)

2014-05-15

We present a new coaxial high power microwave source based on dual beams, which combines a relativistic backward wave oscillator (RBWO) (noted as the inner sub-source below) and a coaxial transit-time oscillator (TTO) (noted as the outer sub-source). The cathode consists of an inner and an outer annular cathode, which provides the inner and the outer annular electron beam for the sub-sources, respectively. Particle-in-cell (PIC) simulation results demonstrate that power conversion efficiencies of the two sub-sources with an identical frequency of 9.74 GHz are 29% and 25%, respectively. It is furthermore found that phase locking between the inner and the outer sub-sources can be realized, which suggests a feasibility to obtain a higher power output if the two microwave signals are coherently combined.

A new coaxial high power microwave source based on dual beams

International Nuclear Information System (INIS)

Li, Yangmei; Zhang, Xiaoping; Qi, Zumin; Dang, Fangchao; Qian, Baoliang

2014-01-01

We present a new coaxial high power microwave source based on dual beams, which combines a relativistic backward wave oscillator (RBWO) (noted as the inner sub-source below) and a coaxial transit-time oscillator (TTO) (noted as the outer sub-source). The cathode consists of an inner and an outer annular cathode, which provides the inner and the outer annular electron beam for the sub-sources, respectively. Particle-in-cell (PIC) simulation results demonstrate that power conversion efficiencies of the two sub-sources with an identical frequency of 9.74 GHz are 29% and 25%, respectively. It is furthermore found that phase locking between the inner and the outer sub-sources can be realized, which suggests a feasibility to obtain a higher power output if the two microwave signals are coherently combined

49 CFR 230.12 - Movement of non-complying steam locomotives.

Science.gov (United States)

2010-10-01

... 49 Transportation 4 2010-10-01 2010-10-01 false Movement of non-complying steam locomotives. 230... General General Inspection Requirements § 230.12 Movement of non-complying steam locomotives. (a) General limitations on movement. A steam locomotive with one or more non-complying conditions may be moved only as a...

Modular high-voltage bias generator powered by dual-looped self-adaptive wireless power transmission.

Science.gov (United States)

Xie, Kai; Huang, An-Feng; Li, Xiao-Ping; Guo, Shi-Zhong; Zhang, Han-Lu

2015-04-01

We proposed a modular high-voltage (HV) bias generator powered by a novel transmitter-sharing inductive coupled wireless power transmission technology, aimed to extend the generator's flexibility and configurability. To solve the problems caused through an uncertain number of modules, a dual-looped self-adaptive control method is proposed that is capable of tracking resonance frequency while maintaining a relatively stable induction voltage for each HV module. The method combines a phase-locked loop and a current feedback loop, which ensures an accurate resonance state and a relatively constant boost ratio for each module, simplifying the architecture of the boost stage and improving the total efficiency. The prototype was built and tested. The input voltage drop of each module is less than 14% if the module number varies from 3 to 10; resonance tracking is completed within 60 ms. The efficiency of the coupling structure reaches up to 95%, whereas the total efficiency approaches 73% for a rated output. Furthermore, this technology can be used in various multi-load wireless power supply applications.

Dual spinal lesion paradigm in the cat: evolution of the kinematic locomotor pattern.

Science.gov (United States)

Barrière, Grégory; Frigon, Alain; Leblond, Hugues; Provencher, Janyne; Rossignol, Serge

2010-08-01

The recovery of voluntary quadrupedal locomotion after an incomplete spinal cord injury can involve different levels of the CNS, including the spinal locomotor circuitry. The latter conclusion was reached using a dual spinal lesion paradigm in which a low thoracic partial spinal lesion is followed, several weeks later, by a complete spinal transection (i.e., spinalization). In this dual spinal lesion paradigm, cats can express hindlimb walking 1 day after spinalization, a process that normally takes several weeks, suggesting that the locomotor circuitry within the lumbosacral spinal cord had been modified after the partial lesion. Here we detail the evolution of the kinematic locomotor pattern throughout the dual spinal lesion paradigm in five cats to gain further insight into putative neurophysiological mechanisms involved in locomotor recovery after a partial spinal lesion. All cats recovered voluntary quadrupedal locomotion with treadmill training (3-5 days/wk) over several weeks. After the partial lesion, the locomotor pattern was characterized by several left/right asymmetries in various kinematic parameters, such as homolateral and homologous interlimb coupling, cycle duration, and swing/stance durations. When no further locomotor improvement was observed, cats were spinalized. After spinalization, the hindlimb locomotor pattern rapidly reappeared, but left/right asymmetries in swing/stance durations observed after the partial lesion could disappear or reverse. It is concluded that, after a partial spinal lesion, the hindlimb locomotor pattern was actively maintained by new dynamic interactions between spinal and supraspinal levels but also by intrinsic changes within the spinal cord.

INFORMATION-MEASURING TEST SYSTEM OF DIESEL LOCOMOTIVE HYDRAULIC TRANSMISSIONS

Directory of Open Access Journals (Sweden)

I. V. Zhukovytskyy

2015-08-01

Full Text Available Purpose. The article describes the process of developing the information-measuring test system of diesel locomotives hydraulic transmission, which gives the possibility to obtain baseline data to conduct further studies for the determination of the technical condition of diesel locomotives hydraulic transmission. The improvement of factory technology of post-repair tests of hydraulic transmissions by automating the existing hydraulic transmission test stands according to the specifications of the diesel locomotive repair enterprises was analyzed. It is achieved based on a detailed review of existing foreign information-measuring test systems for hydraulic transmission of diesel locomotives, BelAZ earthmover, aircraft tug, slag car, truck, BelAZ wheel dozer, some brands of tractors, etc. The problem for creation the information-measuring test systems for diesel locomotive hydraulic transmission is being solved, starting in the first place from the possibility of automation of the existing test stand of diesel locomotives hydraulic transmission at Dnipropetrovsk Diesel Locomotive Repair Plant "Promteplovoz". Methodology. In the work the researchers proposed the method to create a microprocessor automated system of diesel locomotives hydraulic transmission stand testing in the locomotive plant conditions. It acts by justifying the selection of the necessary sensors, as well as the application of the necessary hardware and software for information-measuring systems. Findings. Based on the conducted analysis there was grounded the necessity of improvement the plant hydraulic transmission stand testing by creating a microprocessor testing system, supported by the experience of developing such systems abroad. Further research should be aimed to improve the accuracy and frequency of data collection by adopting the more modern and reliable sensors in tandem with the use of filtering software for electromagnetic and other interference. Originality. The

Hybrid Locomotion Evaluation for a Novel Amphibious Spherical Robot

Directory of Open Access Journals (Sweden)

Huiming Xing

2018-01-01

Full Text Available We describe the novel, multiply gaited, vectored water-jet, hybrid locomotion-capable, amphibious spherical robot III (termed ASR-III featuring a wheel-legged, water-jet composite driving system incorporating a lifting and supporting wheel mechanism (LSWM and mechanical legs with a water-jet thruster. The LSWM allows the ASR-III to support the body and slide flexibly on smooth (flat terrain. The composite driving system facilitates two on-land locomotion modes (sliding and walking and underwater locomotion mode with vectored thrusters, improving adaptability to the amphibious environment. Sliding locomotion improves the stability and maneuverability of ASR-III on smooth flat terrain, whereas walking locomotion allows ASR-III to conquer rough terrain. We used both forward and reverse kinematic models to evaluate the walking and sliding gait efficiency. The robot can also realize underwater locomotion with four vectored water-jet thrusters, and is capable of forward motion, heading angle control and depth control. We evaluated LSWM efficiency and the sliding velocities associated with varying extensions of the LSWM. To explore gait stability and mobility, we performed on-land experiments on smooth flat terrain to define the optimal stride length and frequency. We also evaluated the efficacy of waypoint tracking when the sliding gait was employed, using a closed-loop proportional-integral-derivative (PID control mechanism. Moreover, experiments of forward locomotion, heading angle control and depth control were conducted to verify the underwater performance of ASR-III. Comparison of the previous robot and ASR-III demonstrated the ASR-III had better amphibious motion performance.

Towards a general neural controller for quadrupedal locomotion.

Science.gov (United States)

Maufroy, Christophe; Kimura, Hiroshi; Takase, Kunikatsu

2008-05-01

Our study aims at the design and implementation of a general controller for quadruped locomotion, allowing the robot to use the whole range of quadrupedal gaits (i.e. from low speed walking to fast running). A general legged locomotion controller must integrate both posture control and rhythmic motion control and have the ability to shift continuously from one control method to the other according to locomotion speed. We are developing such a general quadrupedal locomotion controller by using a neural model involving a CPG (Central Pattern Generator) utilizing ground reaction force sensory feedback. We used a biologically faithful musculoskeletal model with a spine and hind legs, and computationally simulated stable stepping motion at various speeds using the neuro-mechanical system combining the neural controller and the musculoskeletal model. We compared the changes of the most important locomotion characteristics (stepping period, duty ratio and support length) according to speed in our simulations with the data on real cat walking. We found similar tendencies for all of them. In particular, the swing period was approximately constant while the stance period decreased with speed, resulting in a decreasing stepping period and duty ratio. Moreover, the support length increased with speed due to the posterior extreme position that shifted progressively caudally, while the anterior extreme position was approximately constant. This indicates that we succeeded in reproducing to some extent the motion of a cat from the kinematical point of view, even though we used a 2D bipedal model. We expect that such computational models will become essential tools for legged locomotion neuroscience in the future.

Active power filter for harmonic compensation using a digital dual-mode-structure repetitive control approach

DEFF Research Database (Denmark)

Zou, Zhixiang; Wang, Zheng; Cheng, Ming

2012-01-01

This paper presents an digital dual-mode-structure repetitive control approach for the single-phase shunt active power filter (APF), which aims to enhance the tracking ability and eliminate arbitrary order harmonic. The proposed repetitive control scheme blends the characteristics of both odd......-harmonic repetitive control and even-harmonic repetitive control. Moreover, the convergence rate is faster than conventional repetitive controller. Additionally, the parameters have been designed and optimized for the dual-mode structure repetitive control to improve the performance of APF system. Experimental...

Influence of uneven distribution of coupling mass on locomotive wheel pairs, its tractive power, straight and curved sections of industrial rail tracks.

Science.gov (United States)

Keropyan, A. M.; Kantovich, L. I.; Voronin, B. V.; Kuziev, D. A.; Zotov, V. V.

2017-10-01

This article deals with the problems of unloading the axes of wheel sets of locomotives of industrial railway transport by the example of exploitation in conditions of open chasing works. Studies have established that the displacement of the center of mass of an open-pit locomotive depends primarily on the height of the center of gravity, the height of the location of the hook of the locomotive coupling over the rails and the slope of the track. Therefore, to increase the coefficient of utilization of the adhesive weight and to ensure rational operating conditions, it is necessary to provide an adjustable displacement of the locomotive’s center of mass taking into account the actual operating conditions, including when driving on rectilinear and curvilinear sections of the track. Analysis of calculation results showed that for the traction unit OPE1 when driving in traction mode in close to the extreme operating conditions, it is necessary to provide a constructive solution for displacement of the center of mass of the locomotive up to 0.5 m in the course of movement of the locomotive’s center of mass.

Reciprocal locomotion of dense swimmers in Stokes flow

International Nuclear Information System (INIS)

Gonzalez-Rodriguez, David; Lauga, Eric

2009-01-01

Due to the kinematic reversibility of Stokes flow, a body executing a reciprocal motion (a motion in which the sequence of body configurations remains identical under time reversal) cannot propel itself in a viscous fluid in the limit of negligible inertia; this result is known as Purcell's scallop theorem. In this limit, the Reynolds numbers based on the fluid inertia and on the body inertia are all zero. Previous studies characterized the breakdown of the scallop theorem with fluid inertia. In this paper we show that, even in the absence of fluid inertia, certain dense bodies undergoing reciprocal motion are able to swim. Using Lorentz's reciprocal theorem, we first derive the general differential equations that govern the locomotion kinematics of a dense swimmer. We demonstrate that no reciprocal swimming is possible if the body motion consists only of tangential surface deformation (squirming). We then apply our general formulation to compute the locomotion of four simple swimmers, each with a different spatial asymmetry, that perform normal surface deformations. We show that the resulting swimming speeds (or rotation rates) scale as the first power of a properly defined 'swimmer Reynolds number', demonstrating thereby a continuous breakdown of the scallop theorem with body inertia.

Modular control of limb movements during human locomotion

NARCIS (Netherlands)

Ivanenko, Yuri P; Cappellini, Germana; Dominici, Nadia; Poppele, Richard E; Lacquaniti, Francesco

2007-01-01

The idea that the CNS may control complex interactions by modular decomposition has received considerable attention. We explored this idea for human locomotion by examining limb kinematics. The coordination of limb segments during human locomotion has been shown to follow a planar law for walking at

A Reconfigurable Omnidirectional Soft Robot Based on Caterpillar Locomotion.

Science.gov (United States)

Zou, Jun; Lin, Yangqiao; Ji, Chen; Yang, Huayong

2018-04-01

A pneumatically powered, reconfigurable omnidirectional soft robot based on caterpillar locomotion is described. The robot is composed of nine modules arranged as a three by three matrix and the length of this matrix is 154 mm. The robot propagates a traveling wave inspired by caterpillar locomotion, and it has all three degrees of freedom on a plane (X, Y, and rotation). The speed of the robot is about 18.5 m/h (two body lengths per minute) and it can rotate at a speed of 1.63°/s. The modules have neodymium-iron-boron (NdFeB) magnets embedded and can be easily replaced or combined into other configurations. Two different configurations are presented to demonstrate the possibilities of the modular structure: (1) by removing some modules, the omnidirectional robot can be reassembled into a form that can crawl in a pipe and (2) two omnidirectional robots can crawl close to each other and be assembled automatically into a bigger omnidirectional robot. Omnidirectional motion is important for soft robots to explore unstructured environments. The modular structure gives the soft robot the ability to cope with the challenges of different environments and tasks.

Operating modes and practical power flow analysis of bidirectional isolated power interface for distributed power systems

International Nuclear Information System (INIS)

Wen, Huiqing; Su, Bin

2016-01-01

Highlights: • Four operating modes of Dual-Phase-Shift control for Dual Active Bridge converter are presented. • Effects of “minor parameters” such as the deadtime and power device voltage drops are analyzed. • Accurate power flow models with Dual-Phase-Shift control are developed and verified with experimental results. • Optimal operating mode is determined with respect to the efficiency improvement. • Measured efficiency of the Dual Active Bridge converter is improved up to 14%. - Abstract: Due to the intermittent nature of the renewable energy sources including photovoltaic and wind energy, the energy storage systems are essential to stabilize dc bus voltage. Considering the discharge depth of super-capacitors and energy-storage batteries, the bidirectional isolated power interface will operate for a wide range of voltage and power. This study focuses on in-depth analysis of the dual-active-bridge dc–dc converter that is controlled by the dual-phase-shift scheme to improve the conversion efficiency in distributed power system. The power flow of each operating mode with dual-phase-shift control is characterized based on a detailed analysis of the effects of “minor parameters”, including the deadtime and power device voltage drops. The complete output power plane of the dual-active-bridge converter with dual-phase-shift control is obtained and compared with experimental results. The optimal operating mode is determined according to the practical output power range and the power flow characteristics. Experimental evaluation shows the effectiveness of the proposed power flow model with dual-phase-shift control and significant efficiency improvement using the optimal mode of dual-phase-shift compared with the conventional phase shift control.

Numerical simulation of human biped locomotion

International Nuclear Information System (INIS)

Ishiguro, Misako; Fujisaki, Masahide

1988-04-01

This report describes the numerical simulation of the motion of human-like robot which is one of the research theme of human acts simulation program (HASP) begun at the Computing Center of JAERI in 1987. The purpose of the theme is to model the human motion using robotics kinematic/kinetic equations and to get the joint angles as the solution. As the first trial, we treat the biped locomotion (walking) which is the most fundamental human motion. We implemented a computer program on FACOM M-780 computer, where the program is originated from the book of M. Vukobratovic in Yugoslavia, and made a graphic program to draw a walking shot sequence. Mainly described here are the mathematical model of the biped locomotion, implementation method of the computer program, input data for basic walking pattern, computed results and its validation, and graphic representation of human walking image. Literature survey on robotics equation and biped locomotion is also included. (author)

Muscle Coordination and Locomotion in Humans.

Science.gov (United States)

Sylos-Labini, Francesca; Zago, Myrka; Guertin, Pierre A; Lacquaniti, Francesco; Ivanenko, Yury P

2017-01-01

Locomotion is a semi-automatic daily task. Several studies show that muscle activity is fairly stereotyped during normal walking. Nevertheless, each human leg contains over 50 muscles and locomotion requires flexibility in order to adapt to different conditions as, for instance, different speeds, gaits, turning, obstacle avoidance, altered gravity levels, etc. Therefore, locomotor control has to deal with a certain level of flexibility and non-linearity. In this review, we describe and discuss different findings dealing with both simplicity and variability of the muscular control, as well as with its maturation during development. Despite complexity and redundancy, muscle activity patterns and spatiotemporal maps of spinal motoneuron output during human locomotion show both stereotypical features as well as functional re-organization. Flexibility and different solutions to adjust motor patterns should be considered when considering new rehabilitation strategies to treat disorders involving deficits in gait. Copyright© Bentham Science Publishers; For any queries, please email at epub@benthamscience.org.

Analysis and Design of a Wireless Power Transfer System with Dual Active Bridges

Directory of Open Access Journals (Sweden)

Xin Liu

2017-10-01

Full Text Available Nowadays, work on Wireless Power Transfer (WPT systems with dual active bridges is attracting great attention due to their low conduction losses, power regulation, load transformation and reactance compensation. However, in these studies limitations such as overall analysis, design and realization techniques of the system were not considered properly. To address the aforementioned issues, this paper presents a detailed analysis, design and realization of a Series-Series (SS WPT system with dual active bridges, which will improve the overall performance. Three independent Phase Angles (PAs have been analyzed and designed in this study, one PA on the primary side and the other two PAs on the secondary side. This Multiple Degrees of Phase Control (MDPC method can achieve additional reactance compensation, load transformation and output regulation simultaneously. To realize the proposed method in practice, key implementation techniques have been investigated in detail, including additional reactance estimation, mutual inductance estimation, phase detection and synchronization. The feasibility and effectiveness of the proposed system is verified through simulation and experimental results.

Dual-core Itanium Processor

CERN Multimedia

2006-01-01

Intel’s first dual-core Itanium processor, code-named "Montecito" is a major release of Intel's Itanium 2 Processor Family, which implements the Intel Itanium architecture on a dual-core processor with two cores per die (integrated circuit). Itanium 2 is much more powerful than its predecessor. It has lower power consumption and thermal dissipation.

Self-regulatory mode (locomotion and assessment), well-being (subjective and psychological), and exercise behavior (frequency and intensity) in relation to high school pupils' academic achievement.

Science.gov (United States)

Garcia, Danilo; Jimmefors, Alexander; Mousavi, Fariba; Adrianson, Lillemor; Rosenberg, Patricia; Archer, Trevor

2015-01-01

Background. Self-regulation is the procedure implemented by an individual striving to reach a goal and consists of two inter-related strategies: assessment and locomotion. Moreover, both subjective and psychological well-being along exercise behaviour might also play a role on adolescents academic achievement. Method. Participants were 160 Swedish high school pupils (111 boys and 49 girls) with an age mean of 17.74 (sd = 1.29). We used the Regulatory Mode Questionnaire to measure self-regulation strategies (i.e., locomotion and assessment). Well-being was measured using Ryff's Psychological Well-Being Scales short version, the Temporal Satisfaction with Life Scale, and the Positive Affect and Negative Affect Schedule. Exercise behaviour was self-reported using questions pertaining to frequency and intensity of exercise compliance. Academic achievement was operationalized through the pupils' mean value of final grades in Swedish, Mathematics, English, and Physical Education. Both correlation and regressions analyses were conducted. Results. Academic achievement was positively related to assessment, well-being, and frequent/intensive exercise behaviour. Assessment was, however, negatively related to well-being. Locomotion on the other hand was positively associated to well-being and also to exercise behaviour. Conclusions. The results suggest a dual (in)direct model to increase pupils' academic achievement and well-being-assessment being directly related to higher academic achievement, while locomotion is related to frequently exercising and well-being, which in turn, increase academic achievement.

49 CFR 232.105 - General requirements for locomotives.

Science.gov (United States)

2010-10-01

... locomotives. (a) The air brake equipment on a locomotive shall be in safe and suitable condition for service... set pressure at any service application with the brakes control valve in the freight position. If such... ADMINISTRATION, DEPARTMENT OF TRANSPORTATION BRAKE SYSTEM SAFETY STANDARDS FOR FREIGHT AND OTHER NON-PASSENGER...

Neural Control and Adaptive Neural Forward Models for Insect-like, Energy-Efficient, and Adaptable Locomotion of Walking Machines

Directory of Open Access Journals (Sweden)

Poramate eManoonpong

2013-02-01

Full Text Available Living creatures, like walking animals, have found fascinating solutions for the problem of locomotion control. Their movements show the impression of elegance including versatile, energy-efficient, and adaptable locomotion. During the last few decades, roboticists have tried to imitate such natural properties with artificial legged locomotion systems by using different approaches including machine learning algorithms, classical engineering control techniques, and biologically-inspired control mechanisms. However, their levels of performance are still far from the natural ones. By contrast, animal locomotion mechanisms seem to largely depend not only on central mechanisms (central pattern generators, CPGs and sensory feedback (afferent-based control but also on internal forward models (efference copies. They are used to a different degree in different animals. Generally, CPGs organize basic rhythmic motions which are shaped by sensory feedback while internal models are used for sensory prediction and state estimations. According to this concept, we present here adaptive neural locomotion control consisting of a CPG mechanism with neuromodulation and local leg control mechanisms based on sensory feedback and adaptive neural forward models with efference copies. This neural closed-loop controller enables a walking machine to perform a multitude of different walking patterns including insect-like leg movements and gaits as well as energy-efficient locomotion. In addition, the forward models allow the machine to autonomously adapt its locomotion to deal with a change of terrain, losing of ground contact during stance phase, stepping on or hitting an obstacle during swing phase, leg damage, and even to promote cockroach-like climbing behavior. Thus, the results presented here show that the employed embodied neural closed-loop system can be a powerful way for developing robust and adaptable machines.

Locomotion of Paramecium in patterned environments

Science.gov (United States)

Park, Eun-Jik; Eddins, Aja; Kim, Junil; Yang, Sung; Jana, Saikat; Jung, Sunghwan

2011-10-01

Ciliary organisms like Paramecium Multimicronucleatum locomote by synchronized beating of cilia that produce metachronal waves over their body. In their natural environments they navigate through a variety of environments especially surfaces with different topology. We study the effects of wavy surfaces patterned on the PDMS channels on the locomotive abilities of Paramecium by characterizing different quantities like velocity amplitude and wavelength of the trajectories traced. We compare this result with the swimming characteristics in straight channels and draw conclusions about the effects of various patterned surfaces.

Locomotion-learning behavior relationship in Caenorhabditis elegans following γ-ray irradiation

International Nuclear Information System (INIS)

Sakashita, Tetsuya; Hamada, Nobuyuki; Suzuki, Michiyo; Kobayashi, Yasuhiko; Ikeda, Daisuke D.; Yanase, Sumino; Ishii, Naoaki

2008-01-01

Learning impairment following ionizing radiation (IR) exposure is an important potential risk in manned space missions. We previously reported the modulatory effects of IR on salt chemotaxis learning in Caenorhabditis elegans. However, little is known about the effects of IR on the functional relationship in the nervous system. In the present study, we investigated the effects of γ-ray exposure on the relationship between locomotion and salt chemotaxis learning behavior. We found that effects of pre-learning irradiation on locomotion were significantly correlated with the salt chemotaxis learning performance, whereas locomotion was not directly related to chemotaxis to NaCl. On the other hand, locomotion was positively correlated with salt chemotaxis of animals which were irradiated during learning, and the correlation disappeared with increasing doses. These results suggest an indirect relationship between locomotion and salt chemotaxis learning in C. elegans, and that IR inhibits the innate relationship between locomotion and chemotaxis, which is related to salt chemotaxis learning conditioning of C. elegans. (author)

Spatially Compact Neural Clusters in the Dorsal Striatum Encode Locomotion Relevant Information.

Science.gov (United States)

Barbera, Giovanni; Liang, Bo; Zhang, Lifeng; Gerfen, Charles R; Culurciello, Eugenio; Chen, Rong; Li, Yun; Lin, Da-Ting

2016-10-05

An influential striatal model postulates that neural activities in the striatal direct and indirect pathways promote and inhibit movement, respectively. Normal behavior requires coordinated activity in the direct pathway to facilitate intended locomotion and indirect pathway to inhibit unwanted locomotion. In this striatal model, neuronal population activity is assumed to encode locomotion relevant information. Here, we propose a novel encoding mechanism for the dorsal striatum. We identified spatially compact neural clusters in both the direct and indirect pathways. Detailed characterization revealed similar cluster organization between the direct and indirect pathways, and cluster activities from both pathways were correlated with mouse locomotion velocities. Using machine-learning algorithms, cluster activities could be used to decode locomotion relevant behavioral states and locomotion velocity. We propose that neural clusters in the dorsal striatum encode locomotion relevant information and that coordinated activities of direct and indirect pathway neural clusters are required for normal striatal controlled behavior. VIDEO ABSTRACT. Published by Elsevier Inc.

Energy-based control for a biologically inspired hexapod robot with rolling locomotion

Directory of Open Access Journals (Sweden)

Takuma Nemoto

2015-04-01

Full Text Available This paper presents an approach to control rolling locomotion on the level ground with a biologically inspired hexapod robot. For controlling rolling locomotion, a controller which can compensate energy loss with rolling locomotion of the hexapod robot is designed based on its dynamic model. The dynamic model describes the rolling locomotion which is limited to planar one by an assumption that the hexapod robot does not fall down while rolling and influences due to collision and contact with the ground, and it is applied for computing the mechanical energy of the hexapod robot and a plant for a numerical simulation. The numerical simulation of the rolling locomotion on the level ground verifies the effectiveness of the proposed controller. The simulation results show that the hexapod robot can perform the rolling locomotion with the proposed controller. In conclusion, it is shown that the proposed control approach is effective in achieving the rolling locomotion on the level ground.

Advanced aftertreatment systems for locomotive applications; Moderne Abgasnachbehandlungssysteme fuer Lokomotiven

Energy Technology Data Exchange (ETDEWEB)

Park, Paul [Caterpillar Inc., Peoria, IL (United States); Bruestle, Claus [Emitec Inc., Rochester Hill, MI (United States)

2013-07-15

Tier 4 legislation for locomotives, starting in 2015, will require significant reductions in particulate matter and nitrogen oxide tail pipe emissions. To reduce nitrogen oxide emissions of line-haul locomotives at least to the level of Tier 4, Caterpillar has developed an aftertreatment system. Here, for the first time an SCR system was used for diesel locomotive engines with an urea dosing system. (orig.)

10 KWe dual-mode space nuclear power system for military and scientific applications

International Nuclear Information System (INIS)

Malloy, J.; Westerman, K.; Rochow, R.; Scoles, S.

1992-01-01

This paper discusses a 10 KWe dual-mode space power system concept which has been identified and is based on INEL's Small Externally-fueled Heat Pipe Thermionic Reactor (SEHPTR) concept. This power system will enhance user capabilities by providing reliable electric power and by providing two propulsion systems; electric power for an arc-jet electric propulsion system and direct thrust by heating hydrogen propellant inside the reactor. The low thrust electric thrusters allow efficient station keeping and long-term maneuvering. This paper will focus on the nuclear power system design, including: the reactor with its UO 2 fuel in tungsten clad, 36 thermionic heat pipe modules (THPMs) which produce electricity within the reactor and remove waste heat, radiation shielding, waste heat radiators, and reactivity control systems. The use of non-vented fuel elements for short lifetime missions (under five years) will be described

49 CFR 1242.25 - Locomotive servicing facilities (account XX-19-27).

Science.gov (United States)

2010-10-01

... 49 Transportation 9 2010-10-01 2010-10-01 false Locomotive servicing facilities (account XX-19-27... Structures § 1242.25 Locomotive servicing facilities (account XX-19-27). Separate common expenses according to distribution of common expenses in the following accounts: Locomotive Fuel (XX-51-67 and XX-52-67...

Experimental results of high power dual frequency resonant magnet excitation at TRIUMF

International Nuclear Information System (INIS)

Reiniger, K.W.; Heritier, G.

1988-06-01

We present some results of duel frequency resonant magnet excitation at full power using the old NINA synchrotron dipoles. These tests will simulate a typical resonant cell as proposed for the accelerating rings of the TRIUMF KAON Factory. These test have two main purposes: to verify circuit parameters and component ratings for the dual frequency resonant power supply system; and to measure directly electrical losses in a transverse magnet field, such as eddy current losses in magnet conductors, vacuum tubes and core losses in laminations. These data will be required for the detailed design of the accelerator system components. (Author) (Ref., 9 figs., tab.)

High-power dual-wavelength external-Cavity diode laser based on tapered amplifier with tunable terahertz frequency difference

DEFF Research Database (Denmark)

Chi, Mingjun; Jensen, Ole Bjarlin; Petersen, Paul Michael

2011-01-01

Tunable dual-wavelength operation of a diode laser system based on a tapered diode amplifier with double-Littrow external-cavity feedback is demonstrated around 800nm. The two wavelengths can be tuned individually, and the frequency difference of the two wavelengths is tunable from 0.5 to 5:0 THz......, this is the highest output power from a dual-wavelength diode laser system operating with tunable terahertz frequency difference. © 2011 Optical Society of America....

A DUAL RESERVATION CDMA-BASED MAC PROTOCOL WITH POWER CONTROL FOR AD HOC NETWORKS

Institute of Scientific and Technical Information of China (English)

Jia Min; Chen Huimin; Yuan Yuhua

2007-01-01

This paper proposes a new multi-channel Medium Access Control (MAC) protocol named as Dual Reservation Code Division Multiple Access (CDMA) based MAC protocol with Power Control (DRCPC). The code channel is divided into common channel, broadcast channel and several data channels. And dynamic power control mechanism is implemented to reduce near-far interference. Compared with IEEE 802.11 Distributed Coordination Function (DCF) protocol, the results show that the proposed mechanism improves the average throughput and limits the transmission delay efficiently.

Locomotion and basicranial anatomy in primates and marsupials.

Science.gov (United States)

Villamil, Catalina I

2017-10-01

There is ongoing debate in paleoanthropology about whether and how the anatomy of the cranium, and especially the cranial base, is evolving in response to locomotor and postural changes. However, the majority of studies focus on two-dimensional data, which fails to capture the complexity of cranial anatomy. This study tests whether three-dimensional cranial base anatomy is linked to locomotion or to other factors in primates (n = 473) and marsupials (n = 231). Results indicate that although there is a small effect of locomotion on cranial base anatomy in primates, this is not the case in marsupials. Instead, facial anatomy likely drives variation in cranial base anatomy in both primates and marsupials, with additional roles for body size and brain size. Although some changes to foramen magnum position and orientation are phylogenetically useful among the hominoids, they do not necessarily reflect locomotion or positional behavior. The interplay between locomotion, posture, and facial anatomy in primates requires further investigation. Copyright © 2017 Elsevier Ltd. All rights reserved.

Axial dynamics during locomotion in vertebrates: lesson from the salamander

OpenAIRE

GOSSARD, JEAN-PIERRE; DUBUC, RÉJEAN; KOLTA, ARLETTE; Cabelguen, Jean-Marie; Ijspeert, Auke; Lamarque, Stéphanie; Ryczko, Dimitri

2010-01-01

Much of what we know about the flexibility of the locomotor networks in vertebrates is derived from studies examining the adaptation of limb movements during stepping in various conditions. However, the body movements play important roles during locomotion: they produce the thrust during undulatory locomotion and they help to increase the stride length during legged locomotion. In this chapter, we review our current knowledge about the flexibility in the neuronal circuits controlling the body...

LSTM-Based Temperature Prediction for Hot-Axles of Locomotives

Directory of Open Access Journals (Sweden)

Luo Can

2017-01-01

Full Text Available The reliability of locomotives plays a central role for the smooth operation of railway systems. Hot-axle failures are one of the most commonly found problems leading to locomotive accidents. Since the operating status of the locomotive axle bearings can be distinctly reflected by the axle temperatures, online temperature monitoring has become an essential way to detect hot-axle failures. In this work, we explore the feasibility of predict the hot-axle failures by identifying the temperature from predicted nominal values. We propose a data-driven approach based on the Long Short-Term Memory (LSTM network to predict the sensor temperature for axle bearings. The effectiveness of the prediction model was validated with operation data collected from commercial locomotives. With a prediction accuracy is within a few percent, the proposed techniques can be used as a dynamic reference for hot-axle monitoring.

The comparision of a basic and a dual-pressure ORC (Organic Rankine Cycle): Geothermal Power Plant Velika Ciglena case study

International Nuclear Information System (INIS)

Guzović, Zvonimir; Rašković, Predrag; Blatarić, Zoran

2014-01-01

In the Republic of Croatia there is some medium temperature geothermal fields (between 100 and 180 °C) by means of which it is possible to produce electricity. However, only recently concrete initiatives for the construction of geothermal power plants have been started. In previous papers, the possible cycles for geothermal fields in the Republic of Croatia are proposed: ORC (Organic Rankine Cycle) and Kalina cycle. Also for the most prospective geothermal fields, energy and exergy analysis for the proposed cycles are performed, on the basis of which the most suitable cycle is proposed. It is ORC which in all cases has better both the thermal efficiency (the First Law efficiency) and the exergy efficiency (the Second Law efficiency). With aim to further improving of geothermal energy utilization in this paper the replacement of a basic ORC with a dual-pressure ORC is analysed. A dual-pressure cycle reduces the thermodynamic losses incurred in the geothermal water-working fluid heat exchangers of the basic ORC, which arise through the heat transfer process across a large temperature difference. The dual-pressure cycle maintains a closer match between the geothermal water cooling curve and the working fluid heating/boiling curve and these losses can be reduced. Now, on the example of the most prospective geothermal field, Velika Ciglena (175 °C), energy and exergy analysis for the proposed the dual-pressure cycle are performed. As a conclusion, in case of Geothermal Power Plant Velika Ciglena, a dual-pressure ORC has slightly lower thermal efficiency (13.96% vs. 14.1%) but considerably higher both exergy efficiency (65% vs. 52%) and net power (6371 kW vs. 5270 kW). - Highlights: • In Croatia there are several medium temperature geothermal sources (100–180 °C). • Electricity production is possible in binary plants with ORC (Organic Rankine Cycle) or with the Kalina cycle. • In all cases ORC has better thermodynamic characteristics than Kalina cycle. �

FIM imaging and FIMtrack: two new tools allowing high-throughput and cost effective locomotion analysis.

Science.gov (United States)

Risse, Benjamin; Otto, Nils; Berh, Dimitri; Jiang, Xiaoyi; Klämbt, Christian

2014-12-24

The analysis of neuronal network function requires a reliable measurement of behavioral traits. Since the behavior of freely moving animals is variable to a certain degree, many animals have to be analyzed, to obtain statistically significant data. This in turn requires a computer assisted automated quantification of locomotion patterns. To obtain high contrast images of almost translucent and small moving objects, a novel imaging technique based on frustrated total internal reflection called FIM was developed. In this setup, animals are only illuminated with infrared light at the very specific position of contact with the underlying crawling surface. This methodology results in very high contrast images. Subsequently, these high contrast images are processed using established contour tracking algorithms. Based on this, we developed the FIMTrack software, which serves to extract a number of features needed to quantitatively describe a large variety of locomotion characteristics. During the development of this software package, we focused our efforts on an open source architecture allowing the easy addition of further modules. The program operates platform independent and is accompanied by an intuitive GUI guiding the user through data analysis. All locomotion parameter values are given in form of csv files allowing further data analyses. In addition, a Results Viewer integrated into the tracking software provides the opportunity to interactively review and adjust the output, as might be needed during stimulus integration. The power of FIM and FIMTrack is demonstrated by studying the locomotion of Drosophila larvae.

An evaluation method of power quality about electrified railways connected to power grid based on PSCAD/EMTDC

Science.gov (United States)

Liang, Weibin; Ouyang, Sen; Huang, Xiang; Su, Weijian

2017-05-01

The existing modeling process of power quality about electrified railways connected to power grid is complicated and the simulation scene is incomplete, so this paper puts forward a novel evaluation method of power quality based on PSCAD/ETMDC. Firstly, a model of power quality about electrified railways connected to power grid is established, which is based on testing report or measured data. The equivalent model of electrified locomotive contains power characteristic and harmonic characteristic, which are substituted by load and harmonic source. Secondly, in order to make evaluation more complete, an analysis scheme has been put forward. The scheme uses a combination of three-dimensions of electrified locomotive, which contains types, working conditions and quantity. At last, Shenmao Railway is taken as example to evaluate the power quality at different scenes, and the result shows electrified railways connected to power grid have significant effect on power quality.

An Optimization Mechanism Intended for Static Power Reduction Using Dual-thTechnique

Directory of Open Access Journals (Sweden)

Rodolfo P. Santos

2012-01-01

Full Text Available Power consumption reduction is a challenge nowadays. Techniques for dynamic and static power minimization have been proposed, but most of them are very time consuming. This work proposes an algorithm for reducing static power, which can be perfectly inserted in the conventional design flow for integrated systems considering an open source environment (open access infrastructure. The proposed approach, based on a Dual-Threshold technique, replaces part of the cells of the circuit by cells with a higher threshold voltage without resulting in timing violations in the circuit. The decision to replace a cell is based on timing estimates of the circuit modeling with the cell replacement, before it is actually replaced. The fact that only some cells are replaced every iteration results in a reduction of the runtime of the algorithm. Additionally, results showed a reduction in static power up to 39.28%, when applying the proposed approach in the ISCAS85 benchmark circuits.

49 CFR 223.17 - Identification of equipped locomotives, passenger cars and cabooses.

Science.gov (United States)

2010-10-01

... cars and cabooses. 223.17 Section 223.17 Transportation Other Regulations Relating to Transportation...-LOCOMOTIVES, PASSENGER CARS AND CABOOSES Specific Requirements § 223.17 Identification of equipped locomotives, passenger cars and cabooses. Each locomotive, passenger car and caboose that is fully equipped with glazing...

Reduced-order model for inertial locomotion of a slender swimmer

Science.gov (United States)

Mahalinkam, Raksha; Gong, Felicity; Khair, Aditya S.

2018-04-01

The inertial locomotion of an elongated model swimmer in a Newtonian fluid is quantified, wherein self-propulsion is achieved via steady tangential surface treadmilling. The swimmer has a length 2 l and a circular cross section of longitudinal profile a R (z ) , where a is the characteristic width of the cross section, R (z ) is a dimensionless shape function, and z is a dimensionless coordinate, normalized by l , along the centerline of the body. It is assumed that the swimmer is slender, ɛ =a /l ≪1 . Hence, we utilize slender-body theory to analyze the Navier-Stokes equations that describe the flow around the swimmer. Therefrom, we compute an asymptotic approximation to the swimming speed, U , as U /us=1 -β [V (Re ) -1/2 ∫-11z lnR (z ) d z ] /ln(1 /ɛ ) +O [1 /ln2(1 /ɛ ) ], where us is the characteristic speed of the surface treadmilling, Re is the Reynolds number based on the body length, and β is a dimensionless parameter that differentiates between "pusher" (propelled from the rear, β 0 ) -type swimmers. The function V (Re ) increases monotonically with increasing Re ; hence, fluid inertia causes an increase (decrease) in the swimming speed of a pusher (puller). Next, we demonstrate that the power expenditure of the swimmer increases monotonically with increasing Re . Further, the power expenditures of a puller and pusher with the same value of |β | are equal. Therefore, pushers are superior in inertial locomotion as compared to pullers, in that they achieve a faster swimming speed for the same power expended. Finally, it is demonstrated that the flow structure predicted from our reduced-order model is consistent with that from direct numerical simulation of swimmers at intermediate Re .

49 CFR 236.1006 - Equipping locomotives operating in PTC territory.

Science.gov (United States)

2010-10-01

... 31, 2015, a train controlled by a locomotive with an onboard PTC apparatus that has failed en route... III railroad, including a tourist or excursion railroad, and controlled by a locomotive not equipped...

Locomotion of inchworm-inspired robot made of smart soft composite (SSC)

International Nuclear Information System (INIS)

Wang, Wei; Lee, Jang-Yeob; Rodrigue, Hugo; Song, Sung-Hyuk; Ahn, Sung-Hoon; Chu, Won-Shik

2014-01-01

A soft-bodied robot made of smart soft composite with inchworm-inspired locomotion capable of both two-way linear and turning movement has been proposed, developed, and tested. The robot was divided into three functional parts based on the different functions of the inchworm: the body, the back foot, and the front foot. Shape memory alloy wires were embedded longitudinally in a soft polymer to imitate the longitudinal muscle fibers that control the abdominal contractions of the inchworm during locomotion. Each foot of the robot has three segments with different friction coefficients to implement the anchor and sliding movement. Then, utilizing actuation patterns between the body and feet based on the looping gait, the robot achieves a biomimetic inchworm gait. Experiments were conducted to evaluate the robot’s locomotive performance for both linear locomotion and turning movement. Results show that the proposed robot’s stride length was nearly one third of its body length, with a maximum linear speed of 3.6 mm s −1 , a linear locomotion efficiency of 96.4%, a maximum turning capability of 4.3 degrees per stride, and a turning locomotion efficiency of 39.7%. (paper)

Locomotive emissions measurements for various blends of biodiesel fuel.

Science.gov (United States)

2014-12-01

The objective of this project was to assess the effects of various blends of biodiesel on locomotive engine exhaust emissions. The : emission tests were conducted on two locomotive models, a Tier 2 EMD SD70ACe and a Tier 1 Plus GE Dash9-44CW, using t...

Human locomotion on ice: the evolution of ice-skating energetics through history.

Science.gov (United States)

Formenti, Federico; Minetti, Alberto E

2007-05-01

More than 3000 years ago, peoples living in the cold North European regions started developing tools such as ice skates that allowed them to travel on frozen lakes. We show here which technical and technological changes determined the main steps in the evolution of ice-skating performance over its long history. An in-depth historical research helped identify the skates displaying significantly different features from previous models and that could consequently determine a better performance in terms of speed and energy demand. Five pairs of ice skates were tested, from the bone-skates, dated about 1800 BC, to modern ones. This paper provides evidence for the fact that the metabolic cost of locomotion on ice decreased dramatically through history, the metabolic cost of modern ice-skating being only 25% of that associated with the use of bone-skates. Moreover, for the same metabolic power, nowadays skaters can achieve speeds four times higher than their ancestors could. In the range of speeds considered, the cost of travelling on ice was speed independent for each skate model, as for running. This latter finding, combined with the accepted relationship between time of exhaustion and the sustainable fraction of metabolic power, gives the opportunity to estimate the maximum skating speed according to the distance travelled. Ice skates were probably the first human powered locomotion tools to take the maximum advantage from the biomechanical properties of the muscular system: even when travelling at relatively high speeds, the skating movement pattern required muscles to shorten slowly so that they could also develop a considerable amount of force.

[The concept and definition of locomotive syndrome in a super-aged society].

Science.gov (United States)

Nakamura, Kozo; Yoshimura, Noriko; Akune, Toru; Ogata, Toru; Tanaka, Sakae

2014-10-01

The population of elderly individuals who need nursing care is rapidly increasing in Japan. Locomotive syndrome involves a decrease in mobility due to locomotive organ dysfunction, and increases risk for dependency on nursing care service. Because gait speed and chair stand time are correlated with such risks, patients with locomotive syndrome are assessed using brief methods such as the two-step test, which involves dividing the maximum stride length by the height of the patient, and the stand-up test, which involves standing on one or both legs at different heights. One leg standing and squatting are recommended as beneficial locomotive home exercises. Locomotive syndrome has been recognized widely in Japan, and included in the National Health Promotion Movement (2013-2022).

Passive appendages aid locomotion through symmetry breaking

Science.gov (United States)

Bagheri, Shervin; Lacis, Ugis; Mazzino, Andrea; Kellay, Hamid; Brosse, Nicolas; Lundell, Fredrik; Ingremeau, Francois

2014-11-01

Plants and animals use plumes, barbs, tails, feathers, hairs, fins, and other types of appendages to aid locomotion. Despite their enormous variation, passive appendages may contribute to locomotion by exploiting the same physical mechanism. We present a new mechanism that applies to body appendages surrounded by a separated flow, which often develops behind moving bodies larger than a few millimeters. We use theory, experiments, and numerical simulations to show that bodies with protrusions turn and drift by exploiting a symmetry-breaking instability similar to the instability of an inverted pendulum. Our model explains why the straight position of an appendage in flowing fluid is unstable and how it stabilizes either to the left or right of the incoming fluid flow direction. The discovery suggests a new mechanism of locomotion that may be relevant for certain organisms; for example, how plumed seeds may drift without wind and how motile animals may passively reorient themselves.

Analysis of emotionality and locomotion in radio-frequency electromagnetic radiation exposed rats.

Science.gov (United States)

Narayanan, Sareesh Naduvil; Kumar, Raju Suresh; Paval, Jaijesh; Kedage, Vivekananda; Bhat, M Shankaranarayana; Nayak, Satheesha; Bhat, P Gopalakrishna

2013-07-01

In the current study the modulatory role of mobile phone radio-frequency electromagnetic radiation (RF-EMR) on emotionality and locomotion was evaluated in adolescent rats. Male albino Wistar rats (6-8 weeks old) were randomly assigned into the following groups having 12 animals in each group. Group I (Control): they remained in the home cage throughout the experimental period. Group II (Sham exposed): they were exposed to mobile phone in switch-off mode for 28 days, and Group III (RF-EMR exposed): they were exposed to RF-EMR (900 MHz) from an active GSM (Global system for mobile communications) mobile phone with a peak power density of 146.60 μW/cm(2) for 28 days. On 29th day, the animals were tested for emotionality and locomotion. Elevated plus maze (EPM) test revealed that, percentage of entries into the open arm, percentage of time spent on the open arm and distance travelled on the open arm were significantly reduced in the RF-EMR exposed rats. Rearing frequency and grooming frequency were also decreased in the RF-EMR exposed rats. Defecation boli count during the EPM test was more with the RF-EMR group. No statistically significant difference was found in total distance travelled, total arm entries, percentage of closed arm entries and parallelism index in the RF-EMR exposed rats compared to controls. Results indicate that mobile phone radiation could affect the emotionality of rats without affecting the general locomotion.

49 CFR 229.9 - Movement of non-complying locomotives.

Science.gov (United States)

2010-10-01

... 49 Transportation 4 2010-10-01 2010-10-01 false Movement of non-complying locomotives. 229.9... ADMINISTRATION, DEPARTMENT OF TRANSPORTATION RAILROAD LOCOMOTIVE SAFETY STANDARDS General § 229.9 Movement of non... restrictions necessary for safely conducting the movement; (2)(i) The engineer in charge of the movement of the...

A Specific Population of Reticulospinal Neurons Controls the Termination of Locomotion.

Science.gov (United States)

Juvin, Laurent; Grätsch, Swantje; Trillaud-Doppia, Emilie; Gariépy, Jean-François; Büschges, Ansgar; Dubuc, Réjean

2016-06-14

Locomotion requires the proper sequencing of neural activity to start, maintain, and stop it. Recently, brainstem neurons were shown to specifically stop locomotion in mammals. However, the cellular properties of these neurons and their activity during locomotion are still unknown. Here, we took advantage of the lamprey model to characterize the activity of a cell population that we now show to be involved in stopping locomotion. We find that these neurons display a burst of spikes that coincides with the end of swimming activity. Their pharmacological activation ends ongoing swimming, whereas the inactivation of these neurons dramatically impairs the rapid termination of swimming. These neurons are henceforth referred to as stop cells, because they play a crucial role in the termination of locomotion. Our findings contribute to the fundamental understanding of motor control and provide important details about the cellular mechanisms involved in locomotor termination. Copyright © 2016 The Author(s). Published by Elsevier Inc. All rights reserved.

Human Locomotion in Hypogravity: From Basic Research to Clinical Applications

Directory of Open Access Journals (Sweden)

Francesco Lacquaniti

2017-11-01

Full Text Available We have considerable knowledge about the mechanisms underlying compensation of Earth gravity during locomotion, a knowledge obtained from physiological, biomechanical, modeling, developmental, comparative, and paleoanthropological studies. By contrast, we know much less about locomotion and movement in general under sustained hypogravity. This lack of information poses a serious problem for human space exploration. In a near future humans will walk again on the Moon and for the first time on Mars. It would be important to predict how they will move around, since we know that locomotion and mobility in general may be jeopardized in hypogravity, especially when landing after a prolonged weightlessness of the space flight. The combination of muscle weakness, of wearing a cumbersome spacesuit, and of maladaptive patterns of locomotion in hypogravity significantly increase the risk of falls and injuries. Much of what we currently know about locomotion in hypogravity derives from the video archives of the Apollo missions on the Moon, the experiments performed with parabolic flight or with body weight support on Earth, and the theoretical models. These are the topics of our review, along with the issue of the application of simulated hypogravity in rehabilitation to help patients with deambulation problems. We consider several issues that are common to the field of space science and clinical rehabilitation: the general principles governing locomotion in hypogravity, the methods used to reduce gravity effects on locomotion, the extent to which the resulting behavior is comparable across different methods, the important non-linearities of several locomotor parameters as a function of the gravity reduction, the need to use multiple methods to obtain reliable results, and the need to tailor the methods individually based on the physiology and medical history of each person.

Human Locomotion in Hypogravity: From Basic Research to Clinical Applications.

Science.gov (United States)

Lacquaniti, Francesco; Ivanenko, Yury P; Sylos-Labini, Francesca; La Scaleia, Valentina; La Scaleia, Barbara; Willems, Patrick A; Zago, Myrka

2017-01-01

We have considerable knowledge about the mechanisms underlying compensation of Earth gravity during locomotion, a knowledge obtained from physiological, biomechanical, modeling, developmental, comparative, and paleoanthropological studies. By contrast, we know much less about locomotion and movement in general under sustained hypogravity. This lack of information poses a serious problem for human space exploration. In a near future humans will walk again on the Moon and for the first time on Mars. It would be important to predict how they will move around, since we know that locomotion and mobility in general may be jeopardized in hypogravity, especially when landing after a prolonged weightlessness of the space flight. The combination of muscle weakness, of wearing a cumbersome spacesuit, and of maladaptive patterns of locomotion in hypogravity significantly increase the risk of falls and injuries. Much of what we currently know about locomotion in hypogravity derives from the video archives of the Apollo missions on the Moon, the experiments performed with parabolic flight or with body weight support on Earth, and the theoretical models. These are the topics of our review, along with the issue of the application of simulated hypogravity in rehabilitation to help patients with deambulation problems. We consider several issues that are common to the field of space science and clinical rehabilitation: the general principles governing locomotion in hypogravity, the methods used to reduce gravity effects on locomotion, the extent to which the resulting behavior is comparable across different methods, the important non-linearities of several locomotor parameters as a function of the gravity reduction, the need to use multiple methods to obtain reliable results, and the need to tailor the methods individually based on the physiology and medical history of each person.

Lifestyle factors are significantly associated with the locomotive syndrome: a cross-sectional study.

Science.gov (United States)

Akahane, Manabu; Yoshihara, Shingo; Maeyashiki, Akie; Tanaka, Yasuhito; Imamura, Tomoaki

2017-10-18

The Japanese Orthopedic Association first proposed the concept of "locomotive syndrome" in 2007. It refers to circumstances in which elderly people need nursing care services or are at high risk of requiring such services within a short time. Recently, the public health burden of providing nursing care for elderly individuals has increased. Therefore, locomotive syndrome, and the means of preventing it, are a major public health focus in Japan. The purpose of this study was to investigate the relationships of lifestyle factors, such as smoking, alcohol consumption, sleep duration, and dental health, with locomotive syndrome. We conducted a cross-sectional study using an internet panel survey. The participants comprised 747 individuals aged 30-90 years. Factors related to demographics (age, sex), general health (number of teeth, presence of periodontal disease), and lifestyle (smoking, alcohol consumption, sleep duration) were assessed. We also used the 25-question Geriatric Locomotive Function Scale to determine whether each participant had locomotive syndrome. Multivariate analysis was conducted using logistic regression to investigate the independent relationships between locomotive syndrome and lifestyle factors after adjusting for sex and age. A greater proportion of women (17.7%) than men (11.2%) had locomotive syndrome (p syndrome compared with those aged syndrome, whereas sleep duration was not. The frequency of alcohol consumption, except for daily drinking, was also associated with locomotive syndrome. Our study indicates that lifestyle factors, such as smoking and number of existing teeth, may partly affect the prevalence of locomotive syndrome. Hence, lifestyle modifications, such as improving oral hygiene and promoting cessation of smoking, are important means to reduce the risk of locomotive syndrome and should be promoted by public health staff.

Dual Regression

OpenAIRE

Spady, Richard; Stouli, Sami

2012-01-01

We propose dual regression as an alternative to the quantile regression process for the global estimation of conditional distribution functions under minimal assumptions. Dual regression provides all the interpretational power of the quantile regression process while avoiding the need for repairing the intersecting conditional quantile surfaces that quantile regression often produces in practice. Our approach introduces a mathematical programming characterization of conditional distribution f...

A survey report for the turning of biped locomotion robot

International Nuclear Information System (INIS)

Kato, Ichiro; Takanishi, Atsuo; Kume, Etsuo.

1992-12-01

A mechanical design study of biped locomotion robots is going on at JAERI within the scope of the Human Acts Simulation Program (HASP). The design study at JAERI is of an arbitrarily mobile robot for inspection of nuclear facilities. A survey has been performed for collecting useful information from already existing biped locomotion robots. This is a survey report for the turning of biped locomotion robot: the WL-10R designed and developed at Waseda University. This report includes the control method of turning, machine model and control system. (author)

The G6. A heavy-duty, six-wheeled shunting locomotive

Energy Technology Data Exchange (ETDEWEB)

Hildebrandt, Tim [Vossloh Locomotives GmbH, Kiel (Germany). Development and Standardisation Group

2010-05-15

Nowadays, railway operating companies need robust, reliable and versatile locomotives. Vossloh has shown one way that future developments are likely to go with its 'G6' six-wheeled shunting locomotive, which features a central driver's cab. (orig.)

THE DYNAMICS AND TRACTION ENERGY METRICS LOCOMOTIVE VL40

Directory of Open Access Journals (Sweden)

S. V. Pylypenko

2008-03-01

Full Text Available In the article the results of dynamic running and traction-energy tests of the electric locomotive VL40U are presented. In accordance with the test results a conclusion about the suitability of electric locomotive of such a type for operation with trains containing up to 15 passenger coaches inclusive is made.

Concept Software Based on Kinect for Assessing Dual-Task Ability of Elderly People.

Science.gov (United States)

Kayama, Hiroki; Okamoto, Kazuya; Nishiguchi, Shu; Nagai, Koutatsu; Yamada, Minoru; Aoyama, Tomoki

2012-10-01

Assessment of fall risk of elderly people is a critical issue. Dual-task (DT) ability is a criterion for risk assessment. We developed new concept software based on Microsoft (Redmond, WA) Kinect™ for assessing DT ability. The software is named "Dual-Task Tai Chi" (DTTC) and includes Tai Chi and number place (Sudoku) components. The purpose of this study is to validate the DTTC test for assessment of DT ability. Forty-five community-dwelling elderly (mean age, 74.1±6.6 years) individuals participated in this study. They performed DTTC, locomotive, cognitive, and DT tests. DT ability was evaluated with a 10-m walk under a cognitive-task condition and a 10-m walk under a manual-task condition. The correlation between the time taken to complete the DTTC test and each function test was determined using Pearson correlation coefficients. Stepwise multiple regression analysis was conducted to assess the relationship between the DTTC test results and results of the other tests. The time taken to complete the DTTC test was correlated with DT ability, locomotive functioning, and cognitive functioning. Results of stepwise multiple regression analysis confirmed that DT, balance, and cognitive ability are statistically significant. No statistically significant association was found for the other variables. The DTTC test quantitatively evaluates a compound function including DT, balance, and cognitive abilities.

Feasibility Study on Dual-Cooled Annular Fuel for OPR-1000 Power Uprate

International Nuclear Information System (INIS)

Chun, Tae Hyun; In, Wang Kee; Oh, Dong Suck

2010-04-01

A dual-cooled annular fuel (DCAF) is a highly promising concept as a high power density fuel for PWR power-uprate. The purpose of this study is to assess a feasibility of 120% core power for OPR-1000 with the DCAF. So the feasibility study were done through the code establishments for annular fuel analysis, evaluations of core physics, thermal-hydraulics and safety analyses at a 120% power with OPR-1000 and the preliminary economic benefits of 20% power-uprate. As results of the analyses, DCAF at 120% power showed sufficient margins available on DNB, PCT and fuel pellet temperature relative to the solid fuel at 100% power. However, judging from an anticipated wide range of the gap conductance variation in inner and outer clearances as fuel burn-up in the reactor core, irradiation behavior of DCAF has to be observed through research reactor test. On the other hand, the nuclear physics parameters like moderator temperature coefficient, power coefficient and so on comply with the technical specifications. An impact of 20% power-uprate on NSSS and BOP was also investigated, and accordingly some components and parts need to be changed were identified. Moreover, the economical benefits from the power-uprate was roughly estimated. It turned out that the power-uprating with DCAF could give an enormous profit even considering the expenses of components and parts to be replaced, additional fuel cycle cost and extended overhaul period

Investigation of an anti-knock index and hydrocarbon emissions of various natural gas blends.

Science.gov (United States)

2016-04-01

The North American rail industry is examining the use of natural gas to reduce fuel costs for locomotives that are powered by dual : fuel engines. This report evaluates the ability of an existing methane number algorithm to predict rapid combustion i...

Energy-efficient relay selection and optimal power allocation for performance-constrained dual-hop variable-gain AF relaying

KAUST Repository

Zafar, Ammar; Radaydeh, Redha Mahmoud Mesleh; Chen, Yunfei; Alouini, Mohamed-Slim

2013-01-01

This paper investigates the energy-efficiency enhancement of a variable-gain dual-hop amplify-and-forward (AF) relay network utilizing selective relaying. The objective is to minimize the total consumed power while keeping the end-to-end signal

49 CFR 231.15 - Steam locomotives used in road service.

Science.gov (United States)

2010-10-01

... 49 Transportation 4 2010-10-01 2010-10-01 false Steam locomotives used in road service. 231.15 Section 231.15 Transportation Other Regulations Relating to Transportation (Continued) FEDERAL RAILROAD ADMINISTRATION, DEPARTMENT OF TRANSPORTATION RAILROAD SAFETY APPLIANCE STANDARDS § 231.15 Steam locomotives used...

Untethered Recyclable Tubular Actuators with Versatile Locomotion for Soft Continuum Robots.

Science.gov (United States)

Qian, Xiaojie; Chen, Qiaomei; Yang, Yang; Xu, Yanshuang; Li, Zhen; Wang, Zhenhua; Wu, Yahe; Wei, Yen; Ji, Yan

2018-05-27

Stimuli-responsive materials offer a distinguished platform to build tether-free compact soft robots, which can combine sensing and actuation without a linked power supply. In the past, tubular soft robots have to be made by multiple components with various internal channels or complex cavities assembled together. Moreover, robust processing, complex locomotion, simple structure, and easy recyclability represent major challenges in this area. Here, it is shown that those challenges can be tackled by liquid crystalline elastomers with allyl sulfide functional groups. The light-controlled exchange reaction between allyl sulfide groups allows flexible processing of tubular soft robots/actuators, which does not need any assisting materials. Complex locomotion demonstrated here includes reversible simultaneous bending and elongation; reversible diameter expansion; and omnidirectional bending via remote infrared light control. Different modes of actuation can be programmed into the same tube without the routine assembly of multiple tubes as used in the past. In addition, the exchange reaction also makes it possible to use the same single tube repeatedly to perform different functions by erasing and reprogramming. © 2018 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Time-resolved investigation of dual high power impulse magnetron sputtering with closed magnetic field during deposition of Ti-Cu thin films

International Nuclear Information System (INIS)

Stranak, Vitezslav; Hippler, Rainer; Cada, Martin; Hubicka, Zdenek; Tichy, Milan

2010-01-01

Time-resolved comparative study of dual magnetron sputtering (dual-MS) and dual high power impulse magnetron sputtering (dual-HiPIMS) systems arranged with closed magnetic field is presented. The dual-MS system was operated with a repetition frequency 4.65 kHz (duty cycle ≅50%). The frequency during dual-HiPIMS is lower as well as its duty cycle (f=100 Hz, duty 1%). Different metallic targets (Ti, Cu) and different cathode voltages were applied to get required stoichiometry of Ti-Cu thin films. The plasma parameters of the interspace between magnetrons in the substrate position were investigated by time-resolved optical emission spectroscopy, Langmuir probe technique, and measurement of ion fluxes to the substrate. It is shown that plasma density as well as ion flux is higher about two orders of magnitude in dual-HiPIMS system. This fact is partially caused by low diffusion of ionized sputtered particles (Ti + ,Cu + ) which creates a preionized medium.

Experiments on vibration-driven stick-slip locomotion: A sliding bifurcation perspective

Science.gov (United States)

Du, Zhouwei; Fang, Hongbin; Zhan, Xiong; Xu, Jian

2018-05-01

Dry friction appears at the contact interface between two surfaces and is the source of stick-slip vibrations. Instead of being a negative factor, dry friction is essential for vibration-driven locomotion system to take effect. However, the dry-friction-induced stick-slip locomotion has not been fully understood in previous research, especially in terms of experiments. In this paper, we experimentally study the stick-slip dynamics of a vibration-driven locomotion system from a sliding bifurcation perspective. To this end, we first design and build a vibration-driven locomotion prototype based on an internal piezoelectric cantilever. By utilizing the mechanical resonance, the small piezoelectric deformation is significantly amplified to drive the prototype to achieve effective locomotion. Through identifying the stick-slip characteristics in velocity histories, we could categorize the system's locomotion into four types and obtain a stick-slip categorization diagram. In each zone of the diagram the locomotion exhibits qualitatively different stick-slip dynamics. Such categorization diagram is actually a sliding bifurcation diagram; crossing from one stick-slip zone to another corresponds to the triggering of a sliding bifurcation. In addition, a simplified single degree-of-freedom model is established, with the rationality of simplification been explained theoretically and numerically. Based on the equivalent model, a numerical stick-slip categorization is also obtained, which shows good agreement with the experiments both qualitatively and quantitatively. To the best of our knowledge, this is the first work that experimentally generates a sliding bifurcation diagram. The obtained stick-slip categorizations deepen our understanding of stick-slip dynamics in vibration-driven systems and could serve as a base for system design and optimization.

Mitigation of voltage dip and power system oscillations damping using dual STATCOM for grid connected DFIG

OpenAIRE

D.V.N. Ananth; G.V. Nagesh Kumar

2017-01-01

During grid fault, transmission lines reach its thermal limit and lose its capability to transfer. If this fault current enters generator terminals, it will lead to dip in stator voltage and consequently produces torque and real power oscillations. This further affects in the form of internal heat in rotor windings and finally damages the generator. A new control strategy is proposed to limit fault current using dual STATCOM, which will damp power oscillations and mitigate the voltage dip due...

Small-scale soft-bodied robot with multimodal locomotion

Science.gov (United States)

Hu, Wenqi; Lum, Guo Zhan; Mastrangeli, Massimo; Sitti, Metin

2018-02-01

Untethered small-scale (from several millimetres down to a few micrometres in all dimensions) robots that can non-invasively access confined, enclosed spaces may enable applications in microfactories such as the construction of tissue scaffolds by robotic assembly, in bioengineering such as single-cell manipulation and biosensing, and in healthcare such as targeted drug delivery and minimally invasive surgery. Existing small-scale robots, however, have very limited mobility because they are unable to negotiate obstacles and changes in texture or material in unstructured environments. Of these small-scale robots, soft robots have greater potential to realize high mobility via multimodal locomotion, because such machines have higher degrees of freedom than their rigid counterparts. Here we demonstrate magneto-elastic soft millimetre-scale robots that can swim inside and on the surface of liquids, climb liquid menisci, roll and walk on solid surfaces, jump over obstacles, and crawl within narrow tunnels. These robots can transit reversibly between different liquid and solid terrains, as well as switch between locomotive modes. They can additionally execute pick-and-place and cargo-release tasks. We also present theoretical models to explain how the robots move. Like the large-scale robots that can be used to study locomotion, these soft small-scale robots could be used to study soft-bodied locomotion produced by small organisms.

Activation of D2 autoreceptors alters cocaine-induced locomotion and slows down local field oscillations in the rat ventral tegmental area.

Science.gov (United States)

Koulchitsky, Stanislav; Delairesse, Charlotte; Beeken, Thom; Monteforte, Alexandre; Dethier, Julie; Quertemont, Etienne; Findeisen, Rolf; Bullinger, Eric; Seutin, Vincent

2016-09-01

Psychoactive substances affecting the dopaminergic system induce locomotor activation and, in high doses, stereotypies. Network mechanisms underlying the shift from an active goal-directed behavior to a "seemingly purposeless" stereotypic locomotion remain unclear. In the present study we sought to determine the relationships between the behavioral effects of dopaminergic drugs and their effects on local field potentials (LFPs), which were telemetrically recorded within the ventral tegmental area (VTA) of freely moving rats. We used the D2/D3 agonist quinpirole in a low, autoreceptor-selective (0.1 mg/kg, i.p.) and in a high (0.5 mg/kg, i.p.) dose, and a moderate dose of cocaine (10 mg/kg, i.p.). In the control group, power spectrum analysis revealed a prominent peak of LFP power in the theta frequency range during active exploration. Cocaine alone stimulated locomotion, but had no significant effect on the peak of the LFP power. In contrast, co-administration of low dose quinpirole with cocaine markedly altered the pattern of locomotion, from goal-directed exploratory behavior to recurrent motion resembling locomotor stereotypy. This behavioral effect was accompanied by a shift of the dominant theta power toward a significantly lower (by ∼15%) frequency. High dose quinpirole also provoked an increased locomotor activity with signs of behavioral stereotypies, and also induced a shift of the dominant oscillation frequency toward the lower range. These results demonstrate a correlation between the LFP oscillation frequency within the VTA and a qualitative aspect of locomotor behavior, perhaps due to a variable level of coherence of this region with its input or output areas. Copyright © 2016 Elsevier Ltd. All rights reserved.

Wireless powered capsule endoscopy for colon diagnosis and treatment

International Nuclear Information System (INIS)

Chen, Wenwen; Yan, Guozheng; He, Shu; Ke, Quan; Wang, Zhiwu; Liu, Hua; Jiang, Pingping

2013-01-01

This paper presents a wireless power transfer system integrated with an active locomotion and biopsy module in an endoscopic capsule for colon inspection. The capsule, which can move automatically, is designed for non-invasive biopsy and visual inspection of the intestine. To supply enough power for multiple functions and ensure safety for the human body, the efficiency of the current power transmission system needs to be improved. To take full advantage of the volume in the capsule body, a novel structure of receiving coils wound on a multi-core of MnZn ferrite hollow cylinder was used; with this new core, the efficiency increased to more than 7.98%. Up to 1.4 W of dc power can be delivered to the capsule as it travels along the gastrointestinal tract. Three micro motors were integrated for pumping, anchoring, locomotion and biopsy. A user interface and RF communication enables the operator to drive the capsule in an intuitive manner. To gauge the efficacy of the wireless power supply in a simulated real-world application, the biopsy and locomotion capabilities of the device were successfully tested in a slippery, soft tube and gut environment in vitro. (paper)

Electron heating mode transition induced by mixing radio frequency and ultrahigh frequency dual frequency powers in capacitive discharges

International Nuclear Information System (INIS)

Sahu, B. B.; Han, Jeon G.

2016-01-01

Electron heating mode transitions induced by mixing the low- and high-frequency power in dual-frequency nitrogen discharges at 400 mTorr pressure are presented. As the low-frequency (13.56 MHz) power decreases and high-frequency (320 MHz) power increases for the fixed power of 200 W, there is a transition of electron energy distribution function (EEDF) from Druyvesteyn to bi-Maxwellian type characterized by a distinguished warm electron population. It is shown that this EEDF evolution is attributed to the transition from collisional to collisionless stochastic heating of the low-energy electrons.

Modeling limbless locomotion using ADAMS software

Data.gov (United States)

National Aeronautics and Space Administration — Until now, the methods used by probes or humans for locomotion on planetary surfaces have typically been restricted to variations of wheeled motion. As human...

The New Era of Virtual Reality Locomotion: A Systematic Literature Review of Techniques and a Proposed Typology

Directory of Open Access Journals (Sweden)

Costas Boletsis

2017-09-01

Full Text Available The latest technical and interaction advancements that took place in the Virtual Reality (VR field have marked a new era, not only for VR, but also for VR locomotion. Although the latest advancements in VR locomotion have raised the interest of both researchers and users in analyzing and experiencing current VR locomotion techniques, the field of research on VR locomotion, in its new era, is still uncharted. In this work, VR locomotion is explored through a systematic literature review investigating empirical studies of VR locomotion techniques from 2014–2017. The review analyzes the VR locomotion techniques that have been studied, their interaction-related characteristics and the research topics that were addressed in these studies. Thirty-six articles were identified as relevant to the literature review, and the analysis of the articles resulted in 73 instances of 11 VR locomotion techniques, such as real-walking, walking-in-place, point and teleport, joystick-based locomotion, and more. Results showed that since the VR revival, the focus of VR locomotion research has been on VR technology and various technological aspects, overshadowing the investigation of user experience. From an interaction perspective, the majority of the utilized and studied VR locomotion techniques were found to be based on physical interaction, exploiting physical motion cues for navigation in VR environments. A significant contribution of the literature review lies in the proposed typology for VR locomotion, introducing four distinct VR locomotion types: motion-based, room scale-based, controller-based and teleportation-based locomotion.

Influence of power density and primer application on polymerization of dual-cured resin cements monitored by ultrasonic measurement.

Science.gov (United States)

Takubo, Chikako; Yasuda, Genta; Murayama, Ryosuke; Ogura, Yukari; Tonegawa, Motoka; Kurokawa, Hiroyasu; Miyazaki, Masashi

2010-08-01

We used ultrasonic measurements to monitor the influence of power density and primer application on the polymerization reaction of dual-cured resin cements. The ultrasonic equipment comprised a pulser-receiver, transducers, and an oscilloscope. Resin cements were mixed and inserted into a transparent mould, and specimens were placed on the sample stage, onto which the primer, if used, was also applied. Power densities of 0 (no irradiation), 200, or 600 mW cm(-2) were used for curing. The transit time through the cement disk was divided by the specimen thickness to obtain the longitudinal sound velocity. When resin cements were light-irradiated, each curve displayed an initial plateau of approximately 1,500 m s(-1), which rapidly increased to a second plateau of 2,300-2,900 m s(-1). The rate of sound velocity increase was retarded when the cements were light-irradiated at lower power densities, and increased when the primer was applied. The polymerization behaviour of dual-cured resin cements was therefore shown to be affected by the power density of the curing unit and the application of self-etching primer. (c) 2010 The Authors. Journal compilation (c) 2010 Eur J Oral Sci.

On the Dual-Decomposition-Based Resource and Power Allocation with Sleeping Strategy for Heterogeneous Networks

KAUST Repository

Alsharoa, Ahmad M.

2015-05-01

In this paper, the problem of radio and power resource management in long term evolution heterogeneous networks (LTE HetNets) is investigated. The goal is to minimize the total power consumption of the network while satisfying the user quality of service determined by each target data rate. We study the model where one macrocell base station is placed in the cell center, and multiple small cell base stations and femtocell access points are distributed around it. The dual decomposition technique is adopted to jointly optimize the power and carrier allocation in the downlink direction in addition to the selection of turned off small cell base stations. Our numerical results investigate the performance of the proposed scheme versus different system parameters and show an important saving in terms of total power consumption. © 2015 IEEE.

Energy-efficient relay selection and optimal power allocation for performance-constrained dual-hop variable-gain AF relaying

KAUST Repository

Zafar, Ammar

2013-12-01

This paper investigates the energy-efficiency enhancement of a variable-gain dual-hop amplify-and-forward (AF) relay network utilizing selective relaying. The objective is to minimize the total consumed power while keeping the end-to-end signal-to-noise-ratio (SNR) above a certain peak value and satisfying the peak power constraints at the source and relay nodes. To achieve this objective, an optimal relay selection and power allocation strategy is derived by solving the power minimization problem. Numerical results show that the derived optimal strategy enhances the energy-efficiency as compared to a benchmark scheme in which both the source and the selected relay transmit at peak power. © 2013 IEEE.

Portable low-power thermal cycler with dual thin-film Pt heaters for a polymeric PCR chip.

Science.gov (United States)

Jeong, Sangdo; Lim, Juhun; Kim, Mi-Young; Yeom, JiHye; Cho, Hyunmin; Lee, Hyunjung; Shin, Yong-Beom; Lee, Jong-Hyun

2018-01-29

Polymerase chain reaction (PCR) has been widely used for major definite diagnostic tool, but very limited its place used only indoor such as hospital or diagnosis lab. For the rapid on-site detection of pathogen in an outdoor environment, a low-power cordless polymerase chain reaction (PCR) thermal cycler is crucial module. At this point of view, we proposed a low-power PCR thermal cycler that could be operated in an outdoor anywhere. The disposable PCR chip was made of a polymeric (PI/PET) film to reduce the thermal mass. A dual arrangement of the Pt heaters, which were positioned on the top and bottom of the PCR chip, improved the temperature uniformity. The temperature sensor, which was made of the same material as the heater, utilized the temperature dependence of the Pt resistor to ensure simple fabrication of the temperature sensor. Cooling the PCR chip using dual blower fans enabled thermal cycling to operate with a lower power than that of a Peltier element with a high power consumption. The PCR components were electrically connected to a control module that could be operated with a Li-ion battery (12 V), and the PCR conditions (temperature, time, cycle, etc.) were inputted on a touch screen. For 30 PCR cycles, the accumulated power consumption of heating and cooling was 7.3 Wh, which is easily available from a compact battery. Escherichia coli genomic DNA (510 bp) was amplified using the proposed PCR thermal cycler and the disposable PCR chip. A similar DNA amplification capability was confirmed using the proposed portable and low-power thermal cycler compared with a conventional thermal cycler.

49 CFR 210.29 - Operation standards (moving locomotives and rail cars).

Science.gov (United States)

2010-10-01

... cars). 210.29 Section 210.29 Transportation Other Regulations Relating to Transportation (Continued... REGULATIONS Inspection and Testing § 210.29 Operation standards (moving locomotives and rail cars). The operation standards for the noise emission levels of moving locomotives, rail cars, or consists of...

Locomotion of Mexican jumping beans

International Nuclear Information System (INIS)

West, Daniel M; K Lal, Ishan; Leamy, Michael J; Hu, David L

2012-01-01

The Mexican jumping bean, Laspeyresia saltitans, consists of a hollow seed housing a moth larva. Heating by the sun induces movements by the larva which appear as rolls, jumps and flips by the bean. In this combined experimental, numerical and robotic study, we investigate this unique means of rolling locomotion. Time-lapse videography is used to record bean trajectories across a series of terrain types, including one-dimensional channels and planar surfaces of varying inclination. We find that the shell encumbers the larva's locomotion, decreasing its speed on flat surfaces by threefold. We also observe that the two-dimensional search algorithm of the bean resembles the run-and-tumble search of bacteria. We test this search algorithm using both an agent-based simulation and a wheeled Scribbler robot. The algorithm succeeds in propelling the robot away from regions of high temperature and may have application in biomimetic micro-scale navigation systems. (paper)

PROSPECTS OF THE PRIVATE LOCOMOTIVES USAGE FOR GOODS TRAFFIC IN THE DIRECTION OF SEA PORTS

Directory of Open Access Journals (Sweden)

D. M. Kozachenko

2017-12-01

Full Text Available Purpose. At the present time, Ukraine's mainline railway transport is entirely in state ownership. Ukraine has undertaken to implement the European Union Directives providing of non-discriminatory access to the railway infrastructure of independent carriers. A considerable quantity of options significantly affects the working conditions of carriers that do not depend on Ukrzaliznytsia. One of the tasks that arises when performing transportation by independent carriers is the organization of private locomotives operation and their servicing by engine crews. The purpose of the article is to evaluate the technical characteristic of the private locomotives usage in order to perform goods traffic in the direction of sea ports. Methodology. The researches were carried out on the basis of methods for organizing the operational work of railways and methods of traction calculations. Findings. The paper highlights the problem of goods traffic organization to seaports by independent carriers. It determines the requirements for equipment for diesel locomotives and electric locomotives depending on the distance of transportation. Permissible distances that can be served by engine crews in performing the requirements for the duration of their continuous operation were also determined. Schemes of infrastructure objects location for the locomotives and engine crews operation have been developed. It was established that diesel locomotives of independent carriers will be able to serve transportation between loading and unloading stations up to 822 km, and electric locomotives up to 1000 km with the construction of the main part of the locomotive infrastructure at the port station. The performed calculations show the potential coverage of rail transportation to sea ports by independent carriers with the use of its own locomotive infrastructure. To define more exactly the haul length of train servicing by locomotives and locomotives by engine crews, it is necessary

INFLUENCE OF ROLLING STOCK VIBROACOUSTICAL PARAMETERS ON THE CHOICE OF RATIONAL VALUES OF LOCOMOTIVE RUNNING GEAR

Directory of Open Access Journals (Sweden)

Yu. V. Zelenko

2016-06-01

Full Text Available Purpose.The success of the traffic on the railways of Ukraine depends on the number and the operational fleet of electric locomotives. Today, the locomotive depot exploit physically and morally outdated locomotives that have low reliability. Modernization of electric locomotives is not economically justified. The aim of this study is to improve the safety of the traction rolling stock by the frequency analysis of dynamical systems, which allows conducting the calculation of the natural (of resonant frequencies of the design and related forms of vibrations.Methodology.The study was conducted by methods of analytical mechanics and mathematical modeling of operating loads of freight locomotive when driving at different speeds on the straight and curved track sections. The theoretical value of the work is the technique of choice of constructive schemes and rational parameters of perspective electric locomotive taking into account the electric inertia ratios and stiffness coefficients of Lagrange second-order equations.Findings. The problems of theoretical research and the development of a mathematical model of the spatial electric vibrations are solved. The theoretical studies of the effect of inertia ratios and stiffness coefficients on the dynamic values and the parameter values of electric locomotive undercarriages are presented.Originality.The set of developed regulations and obtained results is a practical solution to selecting rational parameters of bogies of the freight mainline locomotive for railways of Ukraine. A concept of choice of constructive scheme and rational parameters of perspective locomotive is formulated. It is developed the method of calculation of spatial electric locomotive oscillations to determine its dynamic performance. The software complex for processing the data of experimental studies of dynamic parameters of electric locomotive and comparing the results of the theoretical calculations with the data of full

Quasi-dynamic walk of a quadruped locomotion robot using optimal tracking control

International Nuclear Information System (INIS)

Uchida, Hiroaki; Nonami, Kenzo; Chiba, Yasunori; Koyama, Kakutaro.

1994-01-01

Recently, many research works of quadruped locomotion robots, which are considered to be operable on irregular terrain, have been carried out. In the case of realizing ideal motion control of the quadruped locomotion robot, it is assumed that hierarchical cooperative control consisting of decentralized control and centralized control is desirable. In the case that the locomotion robot moves at high speed, it is impossible to follow the desired trajectory because using only the feedback control method includes time delay. It is known that feedforward control input is valid for such motion control. In this paper, decentralized control is realized to apply optimal tracking control using feedforward control input to the quadruped locomotion robot, as the first step. As a result, it is determined that the angle variation of the foot and the stride applying optimal tracking control input are large compared with using only feedback control. It is verified that feedforward control input is useful to control the trajectory of the tip of the foot in high speed locomotion. (author)

Research on one Bio-inspired Jumping Locomotion Robot for Search and Rescue

Directory of Open Access Journals (Sweden)

Dunwen Wei

2014-10-01

Full Text Available Jumping locomotion is much more effective than other locomotion means in order to tackle the unstructured and complex environment in research and rescue. Here, a bio-inspired jumping robot with a closed-chain mechanism is proposed to achieve the power amplification during taking-off. Through actuating one variable transmission mechanism to change the transmission ratio, the jumping robot reveals biological characteristics in the phase of posture adjustment when adjusting the height and distance of one jump. The kinematics and dynamics of the simplified jumping mechanism model in one jumping cycle sequence are analysed. A compliant contact model considering nonlinear damping is investigated for jumping performance under different terrain characteristics. The numerical simulation algorithm with regard to solving the dynamical equation is described and simulation results are discussed. Finally, one primary prototype and experiment are described. The experimental results show the distance of jumping in the horizontal direction increases with the increasing gear ratio, while the height of jumping decreases in reverse. The jumping robot can enhance the capability to adapt to unknown cluttered environments, such as those encountered in research and rescue, using this strategy.

Neurobiology of Caenorhabditis elegans Locomotion: Where Do We Stand?

OpenAIRE

Gjorgjieva, Julijana; Biron, David; Haspel, Gal

2014-01-01

Animals use a nervous system for locomotion in some stage of their life cycle. The nematode Caenorhabditis elegans, a major animal model for almost all fields of experimental biology, has long been used for detailed studies of genetic and physiological locomotion mechanisms. Of its 959 somatic cells, 302 are neurons that are identifiable by lineage, location, morphology, and neurochemistry in every adult hermaphrodite. Of those, 75 motoneurons innervate body wall muscles that provide the thru...

Damages and resource of locomotive wheels used under the north operating conditions

Directory of Open Access Journals (Sweden)

A. V. Grigorev

2014-01-01

Full Text Available In operating railway equipment, in particular the elements, such as a wheel and a rail there is damage accumulation of any kind, causing a premature equipment failure. Thus, an analysis of the mechanisms and modeling of damage accumulation and fracture both on the surface and in the bulk material remain a challenge.Data on the defective wheel sets to be subjected to facing has been collected and analyzed to assess the locomotive wheel sets damage of the locomotive fleet company of AK «Yakutia Railways», city of Aldan, The Republic of Sakha (Yakutia. For this purpose, three main locomotives have been examined.The object of research carried out in this paper, is a locomotive wheels tire, which is subjected to cyclic impact (dynamic loads during operation. In this regard, the need arises to determine both the strength of material in response to such shock loads and the quantitative calculation of damage accumulated therein.The accumulated fatigue damage has been attributed to one radial cross section of the wheel coming into contact with the rail once per revolution of the wheel. Consequently, in one revolution a wheel is under one loading cycle. As stated, the average mileage of locomotives to have the unacceptable damages formed on the tread surface is 12 thousand km.Test results establish that along with the high-cycle loading the shock-contact action on rail joints significantly affects the accumulation of damage in the locomotive wheels tire. The number of cycles to failure due to the formation of unacceptable damage in the locomotive wheels tire is N = 2,4×106 and 6×105 cycles, respectively, for fatigue and shock-contact loading.In general, we can say that the problem of higher intensity to form the surface damage is directly related to the operation of the locomotive wheel tire under abnormally low climatic temperatures. With decreasing ambient temperature, this element material rapidly looses its plastic properties, thereby accelerating

Neural Correlates of Single- and Dual-Task Walking in the Real World

Directory of Open Access Journals (Sweden)

Sara Pizzamiglio

2017-09-01

Full Text Available Recent developments in mobile brain-body imaging (MoBI technologies have enabled studies of human locomotion where subjects are able to move freely in more ecologically valid scenarios. In this study, MoBI was employed to describe the behavioral and neurophysiological aspects of three different commonly occurring walking conditions in healthy adults. The experimental conditions were self-paced walking, walking while conversing with a friend and lastly walking while texting with a smartphone. We hypothesized that gait performance would decrease with increased cognitive demands and that condition-specific neural activation would involve condition-specific brain areas. Gait kinematics and high density electroencephalography (EEG were recorded whilst walking around a university campus. Conditions with dual tasks were accompanied by decreased gait performance. Walking while conversing was associated with an increase of theta (θ and beta (β neural power in electrodes located over left-frontal and right parietal regions, whereas walking while texting was associated with a decrease of β neural power in a cluster of electrodes over the frontal-premotor and sensorimotor cortices when compared to walking whilst conversing. In conclusion, the behavioral “signatures” of common real-life activities performed outside the laboratory environment were accompanied by differing frequency-specific neural “biomarkers”. The current findings encourage the study of the neural biomarkers of disrupted gait control in neurologically impaired patients.

Investigations into dynamics of a draft of mine cars with two locomotives during electric braking

Energy Technology Data Exchange (ETDEWEB)

Sikora-Iliew, R; Szklarski, L; Thuc, Thai Duy

1983-03-01

The computerized simulation of electric braking of a draft of GRANBY-5 mine cars and two locomotives (Ld2 locomotives with LDO30 electric series motors) is discussed. The following stages of simulation are analyzed: constructing a mathematical model of the draft of mine cars during electric (dynamic) braking, equations which describe dynamic states of locomotives, mine cars and electric motors during dynamic braking, equations for stability assessment of the draft during dynamic braking. The analog model for simulation of dynamic braking of the draft is given. Simulation results are shown in 10 diagrams. The WAT-1000 hybrid computer is used. Simulation shows that dynamic braking causes occurrence of maximum forces in the couplers between a locomotive and a mine car. When two locomotives are used the maximum force in couplers is lower than in a draft with one locomotive. Braking distance does not depend on position of locomotives in a draft of mine cars. Doubling draft speed causes braking distance to increase by 4 times. Optimum stability conditions of a draft of mine cars are guaranteed when one locomotive is placed at the draft head and a second is separated from the first one by one third of the draft length. 6 references

A high-efficiency, low-noise power solution for a dual-channel GNSS RF receiver

International Nuclear Information System (INIS)

Shi Jian; Mo Taishan; Gan Yebing; Ma Chengyan; Ye Tianchun; Le Jianlian

2012-01-01

A high-efficiency low-noise power solution for a dual-channel GNSS RF receiver is presented. The power solution involves a DC—DC buck converter and a followed low-dropout regulator (LDO). The pulse-width-modulation (PWM) control method is adopted for better noise performance. An improved low-power high-frequency PWM control circuit is proposed, which halves the average quiescent current of the buck converter to 80 μA by periodically shutting down the OTA. The size of the output stage has also been optimized to achieve high efficiency under a light load condition. In addition, a novel soft-start circuit based on a current limiter has been implemented to avoid inrush current. Fabricated with commercial 180-nm CMOS technology, the DC—DC converter achieves a peak efficiency of 93.1% under a 2 MHz working frequency. The whole receiver consumes only 20.2 mA from a 3.3 V power supply and has a noise figure of 2.5 dB. (semiconductor integrated circuits)

Quadrupedal Robot Locomotion: A Biologically Inspired Approach and Its Hardware Implementation

Directory of Open Access Journals (Sweden)

A. Espinal

2016-01-01

Full Text Available A bioinspired locomotion system for a quadruped robot is presented. Locomotion is achieved by a spiking neural network (SNN that acts as a Central Pattern Generator (CPG producing different locomotion patterns represented by their raster plots. To generate these patterns, the SNN is configured with specific parameters (synaptic weights and topologies, which were estimated by a metaheuristic method based on Christiansen Grammar Evolution (CGE. The system has been implemented and validated on two robot platforms; firstly, we tested our system on a quadruped robot and, secondly, on a hexapod one. In this last one, we simulated the case where two legs of the hexapod were amputated and its locomotion mechanism has been changed. For the quadruped robot, the control is performed by the spiking neural network implemented on an Arduino board with 35% of resource usage. In the hexapod robot, we used Spartan 6 FPGA board with only 3% of resource usage. Numerical results show the effectiveness of the proposed system in both cases.

Physiological aspects of legged terrestrial locomotion the motor and the machine

CERN Document Server

Cavagna, Giovanni

2017-01-01

This book offers a succinct but comprehensive description of the mechanics of muscle contraction and legged terrestrial locomotion. It describes on the one hand how the fundamental properties of muscle tissue affect the mechanics of locomotion, and on the other, how the mechanics of locomotion modify the mechanism of muscle operation under different conditions. Further, the book reports on the design and results of experiments conducted with two goals. The first was to describe the physiological function of muscle tissue (which may be considered as the “motor”) contracting at a constant length, during shortening, during lengthening, and under a condition that occurs most frequently in the back-and-forth movement of the limbs during locomotion, namely the stretch-shortening cycle of the active muscle. The second objective was to analyze the interaction between the motor and the “machine” (the skeletal lever system) during walking and running in different scenarios with respect to speed, step frequency,...

Identification of a brainstem circuit regulating visual cortical state in parallel with locomotion.

Science.gov (United States)

Lee, A Moses; Hoy, Jennifer L; Bonci, Antonello; Wilbrecht, Linda; Stryker, Michael P; Niell, Cristopher M

2014-07-16

Sensory processing is dependent upon behavioral state. In mice, locomotion is accompanied by changes in cortical state and enhanced visual responses. Although recent studies have begun to elucidate intrinsic cortical mechanisms underlying this effect, the neural circuits that initially couple locomotion to cortical processing are unknown. The mesencephalic locomotor region (MLR) has been shown to be capable of initiating running and is associated with the ascending reticular activating system. Here, we find that optogenetic stimulation of the MLR in awake, head-fixed mice can induce both locomotion and increases in the gain of cortical responses. MLR stimulation below the threshold for overt movement similarly changed cortical processing, revealing that MLR's effects on cortex are dissociable from locomotion. Likewise, stimulation of MLR projections to the basal forebrain also enhanced cortical responses, suggesting a pathway linking the MLR to cortex. These studies demonstrate that the MLR regulates cortical state in parallel with locomotion. Copyright © 2014 Elsevier Inc. All rights reserved.

Motorneurons dedicated to either forward or backward locomotion in the nematode C. elegans

OpenAIRE

Haspel, Gal; O'Donovan, Michael J.; Hart, Anne C.

2010-01-01

Multifunctional motorneurons and muscles, which are active during forward and backward locomotion and driven by common central pattern generators, are ubiquitous in animal models. However, studies in the nematode Caenorhabditis elegans suggest that some locomotor motorneurons are necessary only for forward locomotion (dorsal B-motorneurons, DB) while others (dorsal A-motorneurons, DA) are necessary only for backward locomotion. We tested this hypothesis directly by recording the activity of t...

Fluid Mechanics of Aquatic Locomotion at Large Reynolds Numbers

OpenAIRE

Govardhan, RN; Arakeri, JH

2011-01-01

Abstract | There exist a huge range of fish species besides other aquatic organisms like squids and salps that locomote in water at large Reynolds numbers, a regime of flow where inertial forces dominate viscous forces. In the present review, we discuss the fluid mechanics governing the locomotion of such organisms. Most fishes propel themselves by periodic undulatory motions of the body and tail, and the typical classification of their swimming modes is based on the fraction of their body...

49 CFR 1242.22 - Shop buildings-locomotives (account XX-19-24).

Science.gov (United States)

2010-10-01

... 49 Transportation 9 2010-10-01 2010-10-01 false Shop buildings-locomotives (account XX-19-24... Structures § 1242.22 Shop buildings—locomotives (account XX-19-24). Separate common expenses according to distribution of common expenses in the following accounts: Machinery Repair (XX-26-40) Locomotive—Repair and...

Profile and genetic parameters of dairy cattle locomotion score and lameness across lactation.

Science.gov (United States)

Kougioumtzis, A; Valergakis, G E; Oikonomou, G; Arsenos, G; Banos, G

2014-01-01

This study investigated the profile of locomotion score and lameness before the first calving and throughout the first (n=237) and second (n=66) lactation of 303 Holstein cows raised on a commercial farm. Weekly heritability estimates of locomotion score and lameness, and their genetic and phenotypic correlations with milk yield, body condition score, BW and reproduction traits were derived. Daughter future locomotion score and lameness predictions from their sires��� breeding values for conformation traits were also calculated. First-lactation cows were monitored weekly from 6 weeks before calving to the end of lactation. Second-lactation cows were monitored weekly throughout lactation. Cows were locomotion scored on a scale from one (sound) to five (severely lame); a score greater than or equal to two defined presence of lameness. Cows��� weekly body condition score and BW was also recorded. These records were matched to corresponding milk yield records, where the latter were 7-day averages on the week of inspection. The total number of repeated records amounted to 12 221. Data were also matched to the farm���s reproduction database, from which five traits were derived. Statistical analyses were based on uni- and bivariate random regression models. The profile analysis showed that locomotion and lameness problems in first lactation were fewer before and immediately after calving, and increased as lactation progressed. The profile of the two traits remained relatively constant across the second lactation. Highest heritability estimates were observed in the weeks before first calving (0.66 for locomotion score and 0.54 for lameness). Statistically significant genetic correlations were found for first lactation weekly locomotion score and lameness with body condition score, ranging from ���0.31 to ���0.65 and from ���0.44 to ���0.76, respectively, suggesting that cows genetically pre-disposed for high body condition score

Dual-joint modeling for estimation of total knee replacement contact forces during locomotion.

Science.gov (United States)

Hast, Michael W; Piazza, Stephen J

2013-02-01

Model-based estimation of in vivo contact forces arising between components of a total knee replacement is challenging because such forces depend upon accurate modeling of muscles, tendons, ligaments, contact, and multibody dynamics. Here we describe an approach to solving this problem with results that are tested by comparison to knee loads measured in vivo for a single subject and made available through the Grand Challenge Competition to Predict in vivo Tibiofemoral Loads. The approach makes use of a "dual-joint" paradigm in which the knee joint is alternately represented by (1) a ball-joint knee for inverse dynamic computation of required muscle controls and (2) a 12 degree-of-freedom (DOF) knee with elastic foundation contact at the tibiofemoral and patellofemoral articulations for forward dynamic integration. Measured external forces and kinematics were applied as a feedback controller and static optimization attempted to track measured knee flexion angles and electromyographic (EMG) activity. The resulting simulations showed excellent tracking of knee flexion (average RMS error of 2.53 deg) and EMG (muscle activations within ±10% envelopes of normalized measured EMG signals). Simulated tibiofemoral contact forces agreed qualitatively with measured contact forces, but their RMS errors were approximately 25% of the peak measured values. These results demonstrate the potential of a dual-joint modeling approach to predict joint contact forces from kinesiological data measured in the motion laboratory. It is anticipated that errors in the estimation of contact force will be reduced as more accurate subject-specific models of muscles and other soft tissues are developed.

A novel approach to locomotion learning: Actor-Critic architecture using central pattern generators and dynamic motor primitives.

Science.gov (United States)

Li, Cai; Lowe, Robert; Ziemke, Tom

2014-01-01

In this article, we propose an architecture of a bio-inspired controller that addresses the problem of learning different locomotion gaits for different robot morphologies. The modeling objective is split into two: baseline motion modeling and dynamics adaptation. Baseline motion modeling aims to achieve fundamental functions of a certain type of locomotion and dynamics adaptation provides a "reshaping" function for adapting the baseline motion to desired motion. Based on this assumption, a three-layer architecture is developed using central pattern generators (CPGs, a bio-inspired locomotor center for the baseline motion) and dynamic motor primitives (DMPs, a model with universal "reshaping" functions). In this article, we use this architecture with the actor-critic algorithms for finding a good "reshaping" function. In order to demonstrate the learning power of the actor-critic based architecture, we tested it on two experiments: (1) learning to crawl on a humanoid and, (2) learning to gallop on a puppy robot. Two types of actor-critic algorithms (policy search and policy gradient) are compared in order to evaluate the advantages and disadvantages of different actor-critic based learning algorithms for different morphologies. Finally, based on the analysis of the experimental results, a generic view/architecture for locomotion learning is discussed in the conclusion.

A Novel Approach to Locomotion Learning: Actor-Critic Architecture using Central Pattern Generators and Dynamic Motor Primitives

Directory of Open Access Journals (Sweden)

Cai eLi

2014-10-01

Full Text Available In this article, we propose an architecture of a bio-inspired controller that addresses the problem of learning different locomotion gaits for different robot morphologies. The modelling objective is split into two: baseline motion modelling and dynamics adaptation. Baseline motion modelling aims to achieve fundamental functions of a certain type of locomotion and dynamics adaptation provides a ``reshaping function for adapting the baseline motion to desired motion. Based on this assumption, a three-layer architecture is developed using central pattern generators (CPGs, a bio-inspired locomotor center for the the baseline motion and dynamic motor primitives (DMPs, a model with universal ``reshaping functions. In this article, we use this architecture with the actor-critic algorithms for finding a good ``reshaping function. In order to demonstrate the learning power of the actor-critic based architecture, we tested it on two experiments: 1 learning to crawl on a humanoid and, 2 learning to gallop on a puppy robot. Two types of actor-critic algorithms (policy search and policy gradient are compared in order to evaluate the advantages and disadvantages of different actor-critic based learning algorithms for different morphologies. Finally, based on the analysis of the experimental results, a generic view/architecture for locomotion learning is discussed in the conclusion.

Power Flow Control of a Dual-Input Interleaved Buck/Boost Converter with Galvanic Isolation for Renewable Energy Systems

DEFF Research Database (Denmark)

Mira Albert, Maria del Carmen; Zhang, Zhe; Knott, Arnold

2015-01-01

DC microgrids or nanogrids have attracted increasing research interest in recent years. Therefore, as a critical component, dc-dc converters with multiple inputs are required. In this paper, a dual-input interleaved buck/boost converter is proposed and its corresponding power flow control methods...

Experimental investigation into the mechanism of the polygonal wear of electric locomotive wheels

Science.gov (United States)

Tao, Gongquan; Wang, Linfeng; Wen, Zefeng; Guan, Qinghua; Jin, Xuesong

2018-06-01

Experiments were conducted at field sites to investigate the mechanism of the polygonal wear of electric locomotive wheels. The polygonal wear rule of electric locomotive wheels was obtained. Moreover, two on-track tests have been carried out to investigate the vibration characteristics of the electric locomotive's key components. The measurement results of wheels out-of-round show that most electric locomotive wheels exhibit polygonal wear. The main centre wavelength in the 1/3 octave bands is 200 mm and/or 160 mm. The test results of vibration characteristics indicate that the dominating frequency of the vertical acceleration measured on the axle box is approximately equal to the passing frequency of a polygonal wheel, and does not vary with the locomotive speed during the acceleration course. The wheelset modal analysis using the finite element method (FEM) indicates that the first bending resonant frequency of the wheelset is quite close to the main vibration frequency of the axle box. The FEM results are verified by the experimental modal analysis of the wheelset. Moreover, different plans were designed to verify whether the braking system and the locomotive's adhesion control have significant influence on the wheel polygon or not. The test results indicate that they are not responsible for the initiation of the wheel polygon. The first bending resonance of the wheelset is easy to be excited in the locomotive operation and it is the root cause of wheel polygon with centre wavelength of 200 mm in the 1/3 octave bands.

Dual-loop self-optimizing robust control of wind power generation with Doubly-Fed Induction Generator.

Science.gov (United States)

Chen, Quan; Li, Yaoyu; Seem, John E

2015-09-01

This paper presents a self-optimizing robust control scheme that can maximize the power generation for a variable speed wind turbine with Doubly-Fed Induction Generator (DFIG) operated in Region 2. A dual-loop control structure is proposed to synergize the conversion from aerodynamic power to rotor power and the conversion from rotor power to the electrical power. The outer loop is an Extremum Seeking Control (ESC) based generator torque regulation via the electric power feedback. The ESC can search for the optimal generator torque constant to maximize the rotor power without wind measurement or accurate knowledge of power map. The inner loop is a vector-control based scheme that can both regulate the generator torque requested by the ESC and also maximize the conversion from the rotor power to grid power. An ℋ(∞) controller is synthesized for maximizing, with performance specifications defined based upon the spectrum of the rotor power obtained by the ESC. Also, the controller is designed to be robust against the variations of some generator parameters. The proposed control strategy is validated via simulation study based on the synergy of several software packages including the TurbSim and FAST developed by NREL, Simulink and SimPowerSystems. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Power Split Based Dual Hemispherical Continuously Variable Transmission

Directory of Open Access Journals (Sweden)

Douwe Dresscher

2017-04-01

Full Text Available In this work, we present a new continuously variable transmission concept: the Dual-Hemi Continuously Variable Transmission (CVT. It is designed to have properties we believe are required to apply continuously variable transmissions in robotics to their full potential. These properties are a transformation range that includes both positive and negative ratios, back-drivability under all conditions, kinematically decoupled reconfiguration, high efficiency of the transmission, and a reconfiguration mechanism requiring little work for changing the transmission ratio. The design of the Dual-Hemi CVT and a prototype realisation are discussed in detail. We show that the Dual-Hemi CVT has the aforementioned desired properties. Experiments show that the efficiency of the CVT is above 90% for a large part of the range of operation of the CVT. Significant stiction in the transmission, combined with a relatively low bandwidth for changing the transmission ratio, may cause problems when applying the DH-CVT as part of an actuator in a control loop.

Dual mode linguistic hedge fuzzy logic controller for an isolated wind-diesel hybrid power system with superconducting magnetic energy storage unit

International Nuclear Information System (INIS)

Thameem Ansari, M.Md.; Velusami, S.

2010-01-01

A design of dual mode linguistic hedge fuzzy logic controller for an isolated wind-diesel hybrid power system with superconducting magnetic energy storage unit is proposed in this paper. The design methodology of dual mode linguistic hedge fuzzy logic controller is a hybrid model based on the concepts of linguistic hedges and hybrid genetic algorithm-simulated annealing algorithms. The linguistic hedge operators are used to adjust the shape of the system membership functions dynamically and can speed up the control result to fit the system demand. The hybrid genetic algorithm-simulated annealing algorithm is adopted to search the optimal linguistic hedge combination in the linguistic hedge module. Dual mode concept is also incorporated in the proposed controller because it can improve the system performance. The system with the proposed controller was simulated and the frequency deviation resulting from a step load disturbance is presented. The comparison of the proportional plus integral controller, fuzzy logic controller and the proposed dual mode linguistic hedge fuzzy logic controller shows that, with the application of the proposed controller, the system performance is improved significantly. The proposed controller is also found to be less sensitive to the changes in the parameters of the system and also robust under different operating modes of the hybrid power system.

Electric-Pneumatic Actuator: A New Muscle for Locomotion

Directory of Open Access Journals (Sweden)

Maziar Ahmad Sharbafi

2017-10-01

Full Text Available A better understanding of how actuator design supports locomotor function may help develop novel and more functional powered assistive devices or robotic legged systems. Legged robots comprise passive parts (e.g., segments, joints and connections which are moved in a coordinated manner by actuators. In this study, we propose a novel concept of a hybrid electric-pneumatic actuator (EPA as an enhanced variable impedance actuator (VIA. EPA is consisted of a pneumatic artificial muscle (PAM and an electric motor (EM. In contrast to other VIAs, the pneumatic artificial muscle (PAM within the EPA provides not only adaptable compliance, but also an additional powerful actuator with muscle-like properties, which can be arranged in different combinations (e.g., in series or parallel to the EM. The novel hybrid actuator shares the advantages of both integrated actuator types combining precise control of EM with compliant energy storage of PAM, which are required for efficient and adjustable locomotion. Experimental and simulation results based on the new dynamic model of PAM support the hypothesis that combination of the two actuators can improve efficiency (energy and peak power and performance, while does not increase control complexity and weight, considerably. Finally, the experiments on EPA adapted bipedal robot (knee joint of the BioBiped3 robot show improved efficiency of the actuator at different frequencies.

Development of quadruped walking locomotion gait generator using a hybrid method

International Nuclear Information System (INIS)

Jasni, F; Shafie, A A

2013-01-01

The earth, in many areas is hardly reachable by the wheeled or tracked locomotion system. Thus, walking locomotion system is becoming a favourite option for mobile robot these days. This is because of the ability of walking locomotion to move on the rugged and unlevel terrains. However, to develop a walking locomotion gait for a robot is not a simple task. Central Pattern Generator (CPGs) method is a biological inspired method that is introduced as a method to develop the gait for the walking robot recently to tackle the issue faced by the conventional method of pre-designed trajectory based method. However, research shows that even the CPG method do have some limitations. Thus, in this paper, a hybrid method that combines CPG and the pre-designed trajectory based method is introduced to develop a walking gait for quadruped walking robot. The 3-D foot trajectories and the joint angle trajectories developed using the proposed method are compared with the data obtained via the conventional method of pre-designed trajectory to confirm the performance

Thermal Equilibrium Dynamic Control Based on DPWM Dual-Mode Modulation of High Power NPC Three-Level Inverter

Directory of Open Access Journals (Sweden)

Shi-Zhou Xu

2016-01-01

Full Text Available In some special applications of NPC three-level inverters, such as mine hoist, there exist special conditions of overloading during the whole hoisting process and large overload in starting stage, during which the power-loss calculation of power devices and thermal control are important factors affecting the thermal stability of inverters. The principles of SVPWM and DPWM were described in this paper firstly, based on which the dynamic power losses of the two modulations of hoist in single period were calculated. Secondly, a thermal equilibrium dynamic control based on DPMW dual-mode modulation was proposed, which can switch the modulation dynamically according to the change of dynamic power loss to realize dynamic control of power loss and thermal equilibrium of inverter. Finally, simulation and experiment prove the effectiveness of the proposed strategy.

A Dual Power Law Distribution for the Stellar Initial Mass Function

Science.gov (United States)

Hoffmann, Karl Heinz; Essex, Christopher; Basu, Shantanu; Prehl, Janett

2018-05-01

We introduce a new dual power law (DPL) probability distribution function for the mass distribution of stellar and substellar objects at birth, otherwise known as the initial mass function (IMF). The model contains both deterministic and stochastic elements, and provides a unified framework within which to view the formation of brown dwarfs and stars resulting from an accretion process that starts from extremely low mass seeds. It does not depend upon a top down scenario of collapsing (Jeans) masses or an initial lognormal or otherwise IMF-like distribution of seed masses. Like the modified lognormal power law (MLP) distribution, the DPL distribution has a power law at the high mass end, as a result of exponential growth of mass coupled with equally likely stopping of accretion at any time interval. Unlike the MLP, a power law decay also appears at the low mass end of the IMF. This feature is closely connected to the accretion stopping probability rising from an initially low value up to a high value. This might be associated with physical effects of ejections sometimes (i.e., rarely) stopping accretion at early times followed by outflow driven accretion stopping at later times, with the transition happening at a critical time (therefore mass). Comparing the DPL to empirical data, the critical mass is close to the substellar mass limit, suggesting that the onset of nuclear fusion plays an important role in the subsequent accretion history of a young stellar object.

Sustained periodic terrestrial locomotion in air-breathing fishes.

Science.gov (United States)

Pace, C M; Gibb, A C

2014-03-01

While emergent behaviours have long been reported for air-breathing osteichthyians, only recently have researchers undertaken quantitative analyses of terrestrial locomotion. This review summarizes studies of sustained periodic terrestrial movements by air-breathing fishes and quantifies the contributions of the paired appendages and the axial body to forward propulsion. Elongate fishes with axial-based locomotion, e.g. the ropefish Erpetoichthys calabaricus, generate an anterior-to-posterior wave of undulation that travels down the axial musculoskeletal system and pushes the body against the substratum at multiple points. In contrast, appendage-based locomotors, e.g. the barred mudskipper Periophthalmus argentilineatus, produce no axial bending during sustained locomotion, but instead use repeated protraction-retraction cycles of the pectoral fins to elevate the centre of mass and propel the entire body anteriorly. Fishes that use an axial-appendage-based mechanism, e.g. walking catfishes Clarias spp., produce side-to-side, whole-body bending in co-ordination with protraction-retraction cycles of the pectoral fins. Once the body is maximally bent to one side, the tail is pressed against the substratum and drawn back through the mid-sagittal plane, which elevates the centre of mass and rotates it about a fulcrum formed by the pectoral fin and the ground. Although appendage-based terrestrial locomotion appears to be rare in osteichthyians, many different species appear to have converged upon functionally similar axial-based and axial-appendage-based movements. Based on common forms observed across divergent taxa, it appears that dorsoventral compression of the body, elongation of the axial skeleton or the presence of robust pectoral fins can facilitate effective terrestrial movement by air-breathing fishes. © 2014 The Fisheries Society of the British Isles.

Analysis and Design Considerations of a High-Power Density, Dual Air Gap, Axial-Field Brushless, Permanent Magnet Motor.

Science.gov (United States)

Cho, Chahee Peter

1995-01-01

Until recently, brush dc motors have been the dominant drive system because they provide easily controlled motor speed over a wide range, rapid acceleration and deceleration, convenient control of position, and lower product cost. Despite these capabilities, the brush dc motor configuration does not satisfy the design requirements for the U.S. Navy's underwater propulsion applications. Technical advances in rare-earth permanent magnet materials, in high-power semiconductor transistor technology, and in various rotor position-sensing devices have made using brushless permanent magnet motors a viable alternative. This research investigates brushless permanent magnet motor technology, studying the merits of dual-air gap, axial -field, brushless, permanent magnet motor configuration in terms of power density, efficiency, and noise/vibration levels. Because the design objectives for underwater motor applications include high-power density, high-performance, and low-noise/vibration, the traditional, simplified equivalent circuit analysis methods to assist in meeting these goals were inadequate. This study presents the development and verification of detailed finite element analysis (FEA) models and lumped parameter circuit models that can calculate back electromotive force waveforms, inductance, cogging torque, energized torque, and eddy current power losses. It is the first thorough quantification of dual air-gap, axial -field, brushless, permanent magnet motor parameters and performance characteristics. The new methodology introduced in this research not only facilitates the design process of an axial field, brushless, permanent magnet motor but reinforces the idea that the high-power density, high-efficiency, and low-noise/vibration motor is attainable.

Analytic continuation of dual Feynman amplitudes

International Nuclear Information System (INIS)

Bleher, P.M.

1981-01-01

A notion of dual Feynman amplitude is introduced and a theorem on the existence of analytic continuation of this amplitude from the convergence domain to the whole complex is proved. The case under consideration corresponds to massless power propagators and the analytic continuation is constructed on the propagators powers. Analytic continuation poles and singular set of external impulses are found explicitly. The proof of the theorem on the existence of analytic continuation is based on the introduction of α-representation for dual Feynman amplitudes. In proving, the so-called ''trees formula'' and ''trees-with-cycles formula'' are established that are dual by formulation to the trees and 2-trees formulae for usual Feynman amplitudes. (Auth.)

Relating appendicular skeletal variation of sigmodontine rodents to locomotion modes in a phylogenetic context.

Science.gov (United States)

Carvalho Coutinho, Ludmilla; Alves de Oliveira, João

2017-10-01

Sigmodontinae rodents constitute the second-largest subfamily among mammals. Alongside the taxonomic diversity, they are also ecologically diverse, exhibiting a wide array of locomotion modes, with semifossorial, terrestrial, semiaquatic, scansorial, arboreal, and saltatorial forms. To understand the ecomorphologic aspects that allow these rodents to display such locomotion diversity, we analyzed 35 qualitative characters of the appendicular skeleton (humerus, ulna, radius, scapula, femur, tibia, ilium, ischium and pubis) in 795 specimens belonging to 64 species, 34 genera and 10 tribes, representing all locomotion modes assigned to this subfamily. We performed a statistical analysis based upon the coefficient of trait differentiation to test the congruence of character states and the different locomotion modes. We also mapped characters states in a molecular phylogeny in order to reconstruct ancestral states and to evaluate how appendicular characters evolved within main lineages of Sigmodontinae radiation under a phylogenetic framework. The statistical analyses revealed six characters related to specific locomotion modes, except terrestrial. The mapping and parsimony ancestral states reconstruction identified two characters with phylogenetical signal and eight characters that are exclusively or more frequently recorded in certain modes of locomotion, four of them also detected by the statistical analysis. Notwithstanding the documented morphological variation, few changes characterize the transition to each of the locomotion modes, at least regarding the appendicular skeleton. This finding corroborates previous results that showed that sigmodontines exhibit an all-purpose appendicular morphology that allows them to use and explore a great variety of habitats. © 2017 Anatomical Society.

Using Computational and Mechanical Models to Study Animal Locomotion

Science.gov (United States)

Miller, Laura A.; Goldman, Daniel I.; Hedrick, Tyson L.; Tytell, Eric D.; Wang, Z. Jane; Yen, Jeannette; Alben, Silas

2012-01-01

Recent advances in computational methods have made realistic large-scale simulations of animal locomotion possible. This has resulted in numerous mathematical and computational studies of animal movement through fluids and over substrates with the purpose of better understanding organisms’ performance and improving the design of vehicles moving through air and water and on land. This work has also motivated the development of improved numerical methods and modeling techniques for animal locomotion that is characterized by the interactions of fluids, substrates, and structures. Despite the large body of recent work in this area, the application of mathematical and numerical methods to improve our understanding of organisms in the context of their environment and physiology has remained relatively unexplored. Nature has evolved a wide variety of fascinating mechanisms of locomotion that exploit the properties of complex materials and fluids, but only recently are the mathematical, computational, and robotic tools available to rigorously compare the relative advantages and disadvantages of different methods of locomotion in variable environments. Similarly, advances in computational physiology have only recently allowed investigators to explore how changes at the molecular, cellular, and tissue levels might lead to changes in performance at the organismal level. In this article, we highlight recent examples of how computational, mathematical, and experimental tools can be combined to ultimately answer the questions posed in one of the grand challenges in organismal biology: “Integrating living and physical systems.” PMID:22988026

Chaotic exploration and learning of locomotion behaviors.

Science.gov (United States)

Shim, Yoonsik; Husbands, Phil

2012-08-01

We present a general and fully dynamic neural system, which exploits intrinsic chaotic dynamics, for the real-time goal-directed exploration and learning of the possible locomotion patterns of an articulated robot of an arbitrary morphology in an unknown environment. The controller is modeled as a network of neural oscillators that are initially coupled only through physical embodiment, and goal-directed exploration of coordinated motor patterns is achieved by chaotic search using adaptive bifurcation. The phase space of the indirectly coupled neural-body-environment system contains multiple transient or permanent self-organized dynamics, each of which is a candidate for a locomotion behavior. The adaptive bifurcation enables the system orbit to wander through various phase-coordinated states, using its intrinsic chaotic dynamics as a driving force, and stabilizes on to one of the states matching the given goal criteria. In order to improve the sustainability of useful transient patterns, sensory homeostasis has been introduced, which results in an increased diversity of motor outputs, thus achieving multiscale exploration. A rhythmic pattern discovered by this process is memorized and sustained by changing the wiring between initially disconnected oscillators using an adaptive synchronization method. Our results show that the novel neurorobotic system is able to create and learn multiple locomotion behaviors for a wide range of body configurations and physical environments and can readapt in realtime after sustaining damage.

The Role of Adaptation in Body Load-Regulating Mechanisms During Locomotion

Science.gov (United States)

Ruttley, Tara; Holt, Christopher; Mulavara, Ajitkumar; Bloomberg, Jacob

2010-01-01

Body loading is a fundamental parameter that modulates motor output during locomotion, and is especially important for controlling the generation of stepping patterns, dynamic balance, and termination of locomotion. Load receptors that regulate and control posture and stance in locomotion include the Golgi tendon organs and muscle spindles at the hip, knee, and ankle joints, and the Ruffini endings and the Pacinian corpuscles in the soles of the feet. Increased body weight support (BWS) during locomotion results in an immediate reorganization of locomotor control, such as a reduction in stance and double support duration and decreased hip, ankle, and knee angles during the gait cycle. Previous studies on the effect during exposure to increased BWS while walking showed a reduction in lower limb joint angles and gait cycle timing that represents a reorganization of locomotor control. Until now, no studies have investigated how locomotor control responds after a period of exposure to adaptive modification in the body load sensing system. The goal of this research was to determine the adaptive properties of body load-regulating mechanisms in locomotor control during locomotion. We hypothesized that body load-regulating mechanisms contribute to locomotor control, and adaptive changes in these load-regulating mechanisms require reorganization to maintain forward locomotion. Head-torso coordination, lower limb movement patterns, and gait cycle timing were evaluated before and after a 30-minute adaptation session during which subjects walked on a treadmill at 5.4 km/hr with 40% body weight support (BWS). Before and after the adaptation period, head-torso and lower limb 3D kinematic data were obtained while performing a goal directed task during locomotion with 0% BWS using a video-based motion analysis system, and gait cycle timing parameters were collected by foot switches positioned under the heel and toe of the subjects shoes. Subjects showed adaptive modification in

Energy Efficient Hybrid Dual Axis Solar Tracking System

Directory of Open Access Journals (Sweden)

Rashid Ahammed Ferdaus

2014-01-01

Full Text Available This paper describes the design and implementation of an energy efficient solar tracking system from a normal mechanical single axis to a hybrid dual axis. For optimizing the solar tracking mechanism electromechanical systems were evolved through implementation of different evolutional algorithms and methodologies. To present the tracker, a hybrid dual-axis solar tracking system is designed, built, and tested based on both the solar map and light sensor based continuous tracking mechanism. These light sensors also compare the darkness and cloudy and sunny conditions assisting daily tracking. The designed tracker can track sun’s apparent position at different months and seasons; thereby the electrical controlling device requires a real time clock device for guiding the tracking system in seeking solar position for the seasonal motion. So the combination of both of these tracking mechanisms made the designed tracker a hybrid one. The power gain and system power consumption are compared with a static and continuous dual axis solar tracking system. It is found that power gain of hybrid dual axis solar tracking system is almost equal to continuous dual axis solar tracking system, whereas the power saved in system operation by the hybrid tracker is 44.44% compared to the continuous tracking system.

Dynamic processes during monorail locomotive rocking and their impact on draw gear characteristics

OpenAIRE

Viktor GUTAREVICH

2011-01-01

The article discusses the motion of the suspended monorail locomotive, interrelation between the parameters of irregularities false path and lateral rocking monorail locomotive, the values of lateral deviation for the different speeds on the monorail.

A novel controller for bipedal locomotion integrating feed-forward and feedback mechanisms

NARCIS (Netherlands)

Xiong, Xiaofeng; Sartori, Massimo; Dosen, Strahinja; González-Vargas, José; Wörgötter, Florentin; Farina, Dario; Ibanez, J.; González-Vargas, J.; Azorin, J.M.; Akay, M.; Pons, J.L.

2017-01-01

It has been recognized that bipedal locomotion is controlled using feed-forward (e.g., patterned) and feedback (e.g., reflex) control schemes. However, most current controllers fail to integrate the two schemes to simplify speed control of bipedal locomotion. To solve this problem, we here propose a

Association of Mode of Locomotion and Independence in Locomotion With Long-Term Outcomes After Spinal Cord Injury

Science.gov (United States)

Krause, James; Carter, Rickey E; Brotherton, Sandra

2009-01-01

Background/Objective: To explore the association of mode of locomotion (ambulation vs wheelchair use) and independence in locomotion (independent vs require assistance) with health, participation, and subjective well-being (SWB) after spinal cord injury (SCI). Research Design: Secondary analysis was conducted on survey data collected from 2 rehabilitation hospitals in the Midwest and a specialty hospital in the southeastern United States. The 1,493 participants were a minimum of 18 years of age and had traumatic SCI of at least 1 year duration at enrollment. Main Outcome Measures: Three sets of outcome measures were used: SWB, participation, and health. SWB was measured by 8 scales and a measure of depressive symptoms, participation by 3 items, health by general health ratings, days in poor health, hospitalizations, and treatments. Results: Small but significant associations were observed between independence in locomotion and every outcome. Ambulation was associated with greater participation but a mixed pattern of favorable and unfavorable health and SWB outcomes. Supplemental analyses were conducted on those who ambulated but who were dependent on others to do so (n = 117), because this group reported poor outcomes in several areas. Individuals who were independent in wheelchair use reported substantially better outcomes than nonwheelchair users and those dependent on others in wheelchair use. Conclusions: Although ambulation is often a recovery goal, individuals with SCI who ambulate do not uniformly report better outcomes than wheelchair users, and those who depend on others for assistance with ambulation may experience a unique set of problems. PMID:19810625

High-power terahertz optical pulse generation with a dual-wavelength harmonically mode-locked Yb:YAG laser

International Nuclear Information System (INIS)

Zhuang, W Z; Chang, M T; Su, K W; Huang, K F; Chen, Y F

2013-01-01

We report on high-power terahertz optical pulse generation with a dual-wavelength harmonically mode-locked Yb:YAG laser. A semiconductor saturable absorber mirror is developed to achieve synchronously mode-locked operation at two spectral bands centered at 1031.67 and 1049.42 nm with a pulse duration of 1.54 ps and a pulse repetition rate of 80.3 GHz. With a diamond heat spreader to improve the heat removal efficiency, the average output power can be up to 1.1 W at an absorbed pump power of 5.18 W. The autocorrelation traces reveal that the mode-locked pulse is modulated with a beat frequency of 4.92 THz and displays a modulation depth to be greater than 80%. (paper)

Jumping robots: a biomimetic solution to locomotion across rough terrain.

Science.gov (United States)

Armour, Rhodri; Paskins, Keith; Bowyer, Adrian; Vincent, Julian; Megill, William; Bomphrey, Richard

2007-09-01

This paper introduces jumping robots as a means to traverse rough terrain; such terrain can pose problems for traditional wheeled, tracked and legged designs. The diversity of jumping mechanisms found in nature is explored to support the theory that jumping is a desirable ability for a robot locomotion system to incorporate, and then the size-related constraints are determined from first principles. A series of existing jumping robots are presented and their performance summarized. The authors present two new biologically inspired jumping robots, Jollbot and Glumper, both of which incorporate additional locomotion techniques of rolling and gliding respectively. Jollbot consists of metal hoop springs forming a 300 mm diameter sphere, and when jumping it raises its centre of gravity by 0.22 m and clears a height of 0.18 m. Glumper is of octahedral shape, with four 'legs' that each comprise two 500 mm lengths of CFRP tube articulating around torsion spring 'knees'. It is able to raise its centre of gravity by 1.60 m and clears a height of 1.17 m. The jumping performance of the jumping robot designs presented is discussed and compared against some specialized jumping animals. Specific power output is thought to be the performance-limiting factor for a jumping robot, which requires the maximization of the amount of energy that can be stored together with a minimization of mass. It is demonstrated that this can be achieved through optimization and careful materials selection.

Experimental verification of ion stopping power prediction from dual energy CT data in tissue surrogates

Science.gov (United States)

Farace, Paolo

2014-11-01

A two-steps procedure is presented to convert dual-energy CT data to stopping power ratio (SPR), relative to water. In the first step the relative electron density (RED) is calculated from dual-energy CT-numbers by means of a bi-linear relationship: RED = a HUscH + b HUscL + c, where HUscH and HUscL are scaled units (HUsc = HU + 1000) acquired at high and low energy respectively, and the three parameters a, b and c has to be determined for each CT scanner. In the second step the RED values were converted into SPR by means of published poly-line functions, which are invariant as they do not depend on a specific CT scanner. The comparison with other methods provides encouraging results, with residual SPR error on human tissue within 1%. The distinctive features of the proposed method are its simplicity and the generality of the conversion functions.

Experimental verification of ion stopping power prediction from dual energy CT data in tissue surrogates.

Science.gov (United States)

Farace, Paolo

2014-11-21

A two-steps procedure is presented to convert dual-energy CT data to stopping power ratio (SPR), relative to water. In the first step the relative electron density (RED) is calculated from dual-energy CT-numbers by means of a bi-linear relationship: RED=a HUscH+b HUscL+c, where HUscH and HUscL are scaled units (HUsc=HU+1000) acquired at high and low energy respectively, and the three parameters a, b and c has to be determined for each CT scanner. In the second step the RED values were converted into SPR by means of published poly-line functions, which are invariant as they do not depend on a specific CT scanner. The comparison with other methods provides encouraging results, with residual SPR error on human tissue within 1%. The distinctive features of the proposed method are its simplicity and the generality of the conversion functions.

Power-scalable, polarization-stable, dual-colour DFB fibre laser system for CW terahertz imaging

DEFF Research Database (Denmark)

Eichhorn, Finn; Pedersen, Jens Engholm; Jepsen, Peter Uhd

Imaging with electromagnetic radiation in the terahertz (THz) range has received a large amount of attention during recent years. THz imaging systems have diverse potential application areas such as security screening, medical diagnostics and non-destructive testing. We will discuss a power......-scalable, dual-colour, polarization-maintaining distributed feedback (DFB) fibre laser system with an inherent narrow linewidth from the DFB fibre laser oscillators. The laser system can be used as source in CW THz systems employing photomixing (optical heterodyning) for generation and detection...

49 CFR 230.20 - Alteration and repair report for steam locomotive boilers.

Science.gov (United States)

2010-10-01

... boilers. 230.20 Section 230.20 Transportation Other Regulations Relating to Transportation (Continued... boilers. (a) Alterations. When an alteration is made to a steam locomotive boiler, the steam locomotive... maintained for the life of the boiler. (See appendix B of this part.) (b) Welded and riveted repairs to...

Dynamic processes during monorail locomotive rocking and their impact on draw gear characteristics

Directory of Open Access Journals (Sweden)

Viktor GUTAREVICH

2011-01-01

Full Text Available The article discusses the motion of the suspended monorail locomotive, interrelation between the parameters of irregularities false path and lateral rocking monorail locomotive, the values of lateral deviation for the different speeds on the monorail.

Fictive locomotion in the adult decerebrate and spinal mouse in vivo

DEFF Research Database (Denmark)

Meehan, Claire Francesca; Grøndahl, Lillian; Nielsen, Jens Bo

2012-01-01

Recently, transgenic mice have been created with mutations affecting the components of the mammalian spinal central pattern generator (CPG) for locomotion, however, it has currently only been possible to evoke fictive locomotion in mice, using neonatal in vitro preparations. Here, we demonstrate...... organisation and allowing for future results in transgenic mice to be extrapolated to existing knowledge of CPG components and circuitry obtained in larger species....

Cognitive-motor dual-task interference modulates mediolateral dynamic stability during gait in post-stroke individuals.

Science.gov (United States)

Tisserand, R; Armand, S; Allali, G; Schnider, A; Baillieul, S

2018-04-01

Gait asymmetry and dynamic balance impairments observed in post-stroke individuals increase their risk of fall. Moreover, walking while performing a cognitive task (i.e. dual-task) disturbs the control of balance in post-stroke individuals. Here we investigated the mediolateral dynamic stability in twenty-two community-dwelling participants (12 post-strokes and 10 healthy controls) while walking in single-task (normal gait) and four different dual-tasks (cognitive-motor interference). Positions of the extrapolated center of mass and mediolateral widths of both margin of stability and base of support were extracted from 35 marker trajectories. Post-stroke participants presented larger margin of stability and base of support than controls during single-task (both p dual-task was found between groups. In post-stroke participants, dual-task induced slight modification of the mediolateral stability strategy, as the margin of stability was not different between the two limbs at foot-strike, and significantly reduced the performance in every cognitive task. Post-stroke participants increased their dynamic stability in the frontal plane in single-task by extending their base of support and mainly relying on their non-paretic limb. Under cognitive-motor interference (dual-task), post-stroke participants prioritized dynamic stability over cognitive performance to ensure a safe locomotion. Thus, rehabilitation programs should consider both dynamic balance and dual-task training, even at a chronic delay following stroke, to reduce the risk of fall in post-stroke individuals. Copyright © 2018 Elsevier B.V. All rights reserved.

77 FR 75045 - Locomotive Safety Standards

Science.gov (United States)

2012-12-19

...; and, locomotive diesel exhaust. In addition to the issues raised in the petitions, FRA has determined... flow method (AFM) indicator calibration date on the Form 6180-49A; the duration of the remote control... in the context of its use. For example, fuel injectors might possibly be considered as providing...

DETERMINATION OF FRAME FORCE FOR ELECTRIC LOCOMOTIVE VL80 WHEN MOVING IN THE CURVED TRACK SECTIONS

Directory of Open Access Journals (Sweden)

A. Y. Kuzyshyn

2017-06-01

Full Text Available Purpose. When locomotives move in curved sections of the railway track, horizontal forces arise, which lead to pressing the ridge of the wheel pair to the railway track. The article is aimed to develop a method for determining the frame force acting on the bogie from the side of body of the locomotive section using the current methodology of calculating the lateral force. It is also aimed to determine the basic parameters that influence the value of the frame force. It is necessary to construct the dependencies of the frame force on the travel time of electric locomotive in the corresponding curve changing these parameters. Methodology. As is known, the electric locomotive is a multimass mechanical system. We will assume that this system consists of seven bodies: a body, two frames of carriages and four wheel sets. To determine the lateral force acting on the rail from the wheelset one need to solve differential equations of motion of locomotive bogie in curves of small radius. Using the equations of kinetostatics for wheelset one should come to determining the frame force acting on the car bogie from the side of body of the locomotive section. The nominal geometric and mass parameters of parts and components of electric locomotive are taken in the calculations. The curve radius, the length of transition curve, the length of circular curve, the longitudinal slope of railway track and other parameters are fixed values. Findings. There were obtained calculated values of the frame force of electric locomotive VL80 acting on the bogie from the side of body of the locomotive section. Based on the obtained results there were built the dependencies of frame force on the travel time of electric locomotive on the corresponding curve when changing the speed and corresponding elevation of the outer rail. Originality. On the basis of the existing methodology for calculating the lateral force it was developed the method for determining the frame force acting

On designing geometric motion planners to solve regulating and trajectory tracking problems for robotic locomotion systems

Energy Technology Data Exchange (ETDEWEB)

Asnafi, Alireza [Hydro-Aeronautical Research Center, Shiraz University, Shiraz, 71348-13668 (Iran, Islamic Republic of); Mahzoon, Mojtaba [Department of Mechanical Engineering, School of Engineering, Shiraz University, Shiraz, 71348-13668 (Iran, Islamic Republic of)

2011-09-15

Based on a geometric fiber bundle structure, a generalized method to solve both regulation and trajectory tracking problems for locomotion systems is presented. The method is especially applied to two case studies of robotic locomotion systems; a three link articulated fish-like robot as a prototype of locomotion systems with symmetry, and the snakeboard as a prototype of mixed locomotion systems. Our results show that although these motion planners have an open loop structure, due to their generalities, they can steer case studies with negligible errors for almost any complicated path.

On designing geometric motion planners to solve regulating and trajectory tracking problems for robotic locomotion systems

International Nuclear Information System (INIS)

Asnafi, Alireza; Mahzoon, Mojtaba

2011-01-01

Based on a geometric fiber bundle structure, a generalized method to solve both regulation and trajectory tracking problems for locomotion systems is presented. The method is especially applied to two case studies of robotic locomotion systems; a three link articulated fish-like robot as a prototype of locomotion systems with symmetry, and the snakeboard as a prototype of mixed locomotion systems. Our results show that although these motion planners have an open loop structure, due to their generalities, they can steer case studies with negligible errors for almost any complicated path.

Acute food deprivation reverses morphine-induced locomotion deficits in M5 muscarinic receptor knockout mice.

Science.gov (United States)

Steidl, Stephan; Lee, Esther; Wasserman, David; Yeomans, John S

2013-09-01

Lesions of the pedunculopontine tegmental nucleus (PPT), one of two sources of cholinergic input to the ventral tegmental area (VTA), block conditioned place preference (CPP) for morphine in drug-naïve rats. M5 muscarinic cholinergic receptors, expressed by midbrain dopamine neurons, are critical for the ability of morphine to increase nucleus accumbens dopamine levels and locomotion, and for morphine CPP. This suggests that M5-mediated PPT cholinergic inputs to VTA dopamine neurons critically contribute to morphine-induced dopamine activation, reward and locomotion. In the current study we tested whether food deprivation, which reduces PPT contribution to morphine CPP in rats, could also reduce M5 contributions to morphine-induced locomotion in mice. Acute 18-h food deprivation reversed the phenotypic differences usually seen between non-deprived wild-type and M5 knockout mice. That is, food deprivation increased morphine-induced locomotion in M5 knockout mice but reduced morphine-induced locomotion in wild-type mice. Food deprivation increased saline-induced locomotion equally in wild-type and M5 knockout mice. Based on these findings, we suggest that food deprivation reduces the contribution of M5-mediated PPT cholinergic inputs to the VTA in morphine-induced locomotion and increases the contribution of a PPT-independent pathway. The contributions of cholinergic, dopaminergic and GABAergic neurons to the effects of acute food deprivation are discussed. Copyright © 2013 Elsevier B.V. All rights reserved.

FORMALIZATION OF LOCOMOTIVE DRIVER ACTIVITY TENSION INDICATOR BASED ON THE ERGONOMIC MODEL

Directory of Open Access Journals (Sweden)

O. M. Horobchenko

2017-02-01

Full Text Available Purpose. A key factor contributing to the safety and quality of ergatic system "train-driver" is the intensity of the locomotive crew’s work. The aim of this work is formalization of locomotive driver activity tension indicator. Methodology. One of the characteristics of driver activity tension is the difference between the time allotted to complete the task, and the necessary (external reserve or deficiency time. The sets of major and minor operations in the management of the train locomotive in different train situations were identified. Using the methods of fuzzy logic, the concept of "materiality of the operation of the locomotive control" is presented in the form of a set of linguistic variables. To determine the function membership of the elements of the set "the importance of the operation of the locomotive control" the method of expert evaluations was used. Coefficient of temporary tension is presented in the form of fuzzy number L-R-type. Findings. It was found the value of the relative number of operations of locomotive control according to the distribution using the parameter of operation "importance". To determine the most tensioned mode of the driver ranking the traffic condition according to the parameter of relative amounts of the important management operations was conducted. The most difficult modes are the "front hindrance", "movement in unfavorable weather conditions" and "departure from the station to the running line". Originality. The introduction of the value "conventional importance of the operation" allowed us to more accurately describe the terms of train driving. For the first time the work presents determination of tension of the driver’s work in the form of a unimodal fuzzy number, which will make it possible to use the methods of the theory of artificial intelligence to simulate activity of the locomotive driver and develop intelligent control systems. Practical value. There were obtained the opportunity to

Undulatory locomotion of finite filaments: lessons from Caenorhabditis elegans

International Nuclear Information System (INIS)

Berman, R S; Kenneth, O; Sznitman, J; Leshansky, A M

2013-01-01

Undulatory swimming is a widespread propulsion strategy adopted by many small-scale organisms including various single-cell eukaryotes and nematodes. In this work, we report a comprehensive study of undulatory locomotion of a finite filament using (i) approximate resistive force theory (RFT) assuming a local nature of hydrodynamic interaction between the filament and the surrounding viscous liquid and (ii) particle-based numerical computations taking into account the intra-filament hydrodynamic interaction. Using the ubiquitous model of a propagating sinusoidal waveform, we identify the limit of applicability of the RFT and determine the optimal propulsion gait in terms of (i) swimming distance per period of undulation and (ii) hydrodynamic propulsion efficiency. The occurrence of the optimal swimming gait maximizing hydrodynamic efficiency at finite wavelength in particle-based computations diverges from the prediction of the RFT. To compare the model swimmer powered by sine wave undulations to biological undulatory swimmers, we apply the particle-based approach to study locomotion of the model organism nematode Caenorhabditis elegans using the swimming gait extracted from experiments. The analysis reveals that even though the amplitude and the wavenumber of undulations are similar to those determined for the best performing sinusoidal swimmer, C. elegans overperforms the latter in terms of both displacement and hydrodynamic efficiency. Further comparison with other undulatory microorganisms reveals that many adopt waveforms with characteristics similar to the optimal model swimmer, yet real swimmers still manage to beat the best performing sine-wave swimmer in terms of distance covered per period. Overall our results underline the importance of further waveform optimization, as periodic undulations adopted by C. elegans and other organisms deviate considerably from a simple sine wave. (paper)

Natural Translating Locomotion Modulates Cortical Activity at Action Observation

Directory of Open Access Journals (Sweden)

Thierry Pozzo

2017-11-01

Full Text Available The present study verified if the translational component of locomotion modulated cortical activity recorded at action observation. Previous studies focusing on visual processing of biological motion mainly presented point light walker that were fixed on a spot, thus removing the net translation toward a goal that yet remains a critical feature of locomotor behavior. We hypothesized that if biological motion recognition relies on the transformation of seeing in doing and its expected sensory consequences, a significant effect of translation compared to centered displays on sensorimotor cortical activity is expected. To this aim, we explored whether EEG activity in the theta (4–8 Hz, alpha (8–12 Hz, beta 1 (14–20 Hz and beta 2 (20–32 Hz frequency bands exhibited selectivity as participants viewed four types of stimuli: a centered walker, a centered scrambled, a translating walker and a translating scrambled. We found higher theta synchronizations for observed stimulus with familiar shape. Higher power decreases in the beta 1 and beta 2 bands, indicating a stronger motor resonance was elicited by translating compared to centered stimuli. Finally, beta bands modulation in Superior Parietal areas showed that the translational component of locomotion induced greater motor resonance than human shape. Using a Multinomial Logistic Regression classifier we found that Dorsal-Parietal and Inferior-Frontal regions of interest (ROIs, constituting the core of action-observation system, were the only areas capable to discriminate all the four conditions, as reflected by beta activities. Our findings suggest that the embodiment elicited by an observed scenario is strongly mediated by horizontal body displacement.

HoverBots: Precise Locomotion Using Robots That Are Designed for Manufacturability

Directory of Open Access Journals (Sweden)

Markus P. Nemitz

2017-11-01

Full Text Available Scaling up robot swarms to collectives of hundreds or even thousands without sacrificing sensing, processing, and locomotion capabilities is a challenging problem. Low-cost robots are potentially scalable, but the majority of existing systems have limited capabilities, and these limitations substantially constrain the type of experiments that could be performed by robotics researchers. As an alternative to increasing the quantity of robots by reducing their functionality, we have developed a new technology that delivers increased functionality at low-cost. In this study, we present a comprehensive literature review on the most commonly used locomotion strategies of swarm robotic systems. We introduce a new type of low-friction locomotion—active low-friction locomotion—and we show its first implementation in the HoverBot system. The HoverBot system consists of an air levitation and magnet table, and a HoverBot agent. HoverBot agents are levitating circuit boards that we have equipped with an array of planar coils and a Hall-effect sensor. The HoverBot agent uses its coils to pull itself toward magnetic anchors that are embedded into a levitation table. These robots use active low-friction locomotion; consist of only surface-mount components; circumvent actuator calibration; are capable of odometry by using a single Hall-effect sensor; and perform precise movement. We conducted three hours of experimental evaluation of the HoverBot system in which we observed the system performing more than 10,000 steps. We also demonstrate formation movement, random collision, and straight collisions with two robots. This study demonstrates that active low-friction locomotion is an alternative to wheeled and slip-stick locomotion in the field of swarm robotics.

Design and analysis of an optimal hopper for use in resonance-based locomotion

NARCIS (Netherlands)

Wanders, Ivor; Folkertsma, Gerrit Adriaan; Stramigioli, Stefano

Quadrupedal running is an efficient form of locomotion found in nature, which serves as an inspiration for robotics. We believe that a resonance-based approach is the path towards energy-efficient legged locomotion and running robots. The first step in working towards this goal is creating an

Swimming at low Reynolds number: a beginners guide to undulatory locomotion

Science.gov (United States)

Cohen, Netta; Boyle, Jordan H.

2010-03-01

Undulatory locomotion is a means of self-propulsion that relies on the generation and propagation of waves along a body. As a mode of locomotion it is primitive and relatively simple, yet can be remarkably robust. No wonder then, that it is so prevalent across a range of biological scales from motile bacteria to gigantic prehistoric snakes. Key to understanding undulatory locomotion is the body's interplay with the physical environment, which the swimmer or crawler will exploit to generate propulsion, and in some cases, even to generate the underlying undulations. This review focuses by and large on undulators in the low Reynolds number regime, where the physics of the environment can be much more tractable. We review some key concepts and theoretical advances, as well as simulation tools and results applied to selected examples of biological swimmers. In particular, we extend the discussion to some simple cases of locomotion in non-Newtonian media as well as to small animals, in which the nervous system, motor control, body properties and the environment must all be considered to understand how undulations are generated and modulated. To conclude, we review recent progress in microrobotic undulators that may one day become commonplace in applications ranging from toxic waste disposal to minimally invasive surgery.

49 CFR 229.129 - Locomotive horn.

Science.gov (United States)

2010-10-01

.... The locomotive shall be positioned on straight, level track. (6) Measurements shall be taken only when... between 20 percent and 95 percent inclusively; wind velocity is not more than 12 miles per hour and there..., at an angle no greater than 20 degrees from the center line of the track, and oriented with respect...

Equilibrium Condition during Locomotion and Gait in Broiler Chickens

Directory of Open Access Journals (Sweden)

MCF Alves

Full Text Available ABSTRACT The experiment was carried out with the objective of evaluating a methodology to estimate the angulation and equilibrium condition, relating them to gait score and the main diseases of the locomotion system in males and females of commercial broiler strains. A completely randomized experimental design in a factorial arrangement (2x2 was applied, consisting of two sexes and two genetic strains, with five replicates of 53 chickens each. The following characteristics related to broiler locomotion were studied: gait score (GS; incidence of Valgus (VAL and Varus (VAR deformities and of pododermatitis (POD; body angle relative the ground (ANG; equilibrium condition (EC; body weight (BW and breast weight (BrW; and incidence of femoral degeneration (FD, tibial dyschondroplasia (TD and spondylolisthesis (SPO. GS, and VAL and VAR were assessed inside a broiler house. Birds were then photographed to estimate ANG and EC. Birds were sacrificed at 42 days of age and analyzed for FD, TD, and SPO. Breast percentage was not influenced by sex or strain. Males showed better ANG than females, regardless of strain. Overall, the strains studied showed prostrated EC. The correlation between GS and the evaluated traits was low. There was a moderate to high association between EC and ANG both in males and females. GS showed low correlation with locomotion problems, and therefore, it is a poor indicator of skeletal diseases. On the other hand, the moderate to high correlations of ANG and EC with locomotion problems make them better indicators of bone diseases than gait score, which is possibly more related to EC and body posture than to bone pathologies.

Dynamic Locomotion With Four and Six-Legged Robots

National Research Council Canada - National Science Library

Buehler, M; Saranli, U; Papadopoulos, D; Koditschek, D

2000-01-01

.... The Scout II quadruped runs on flat ground in a bounding gait, and was motivated by an effort to understand the minimal mechanical design and control complexity for dynamically stable locomotion...

A low-power current-reuse dual-band analog front-end for multi-channel neural signal recording.

Science.gov (United States)

Sepehrian, H; Gosselin, B

2014-01-01

Thoroughly studying the brain activity of freely moving subjects requires miniature data acquisition systems to measure and wirelessly transmit neural signals in real time. In this application, it is mandatory to simultaneously record the bioelectrical activity of a large number of neurons to gain a better knowledge of brain functions. However, due to limitations in transferring the entire raw data to a remote base station, employing dedicated data reduction techniques to extract the relevant part of neural signals is critical to decrease the amount of data to transfer. In this work, we present a new dual-band neural amplifier to separate the neuronal spike signals (SPK) and the local field potential (LFP) simultaneously in the analog domain, immediately after the pre-amplification stage. By separating these two bands right after the pre-amplification stage, it is possible to process LFP and SPK separately. As a result, the required dynamic range of the entire channel, which is determined by the signal-to-noise ratio of the SPK signal of larger bandwidth, can be relaxed. In this design, a new current-reuse low-power low-noise amplifier and a new dual-band filter that separates SPK and LFP while saving capacitors and pseudo resistors. A four-channel dual-band (SPK, LFP) analog front-end capable of simultaneously separating SPK and LFP is implemented in a TSMC 0.18 μm technology. Simulation results present a total power consumption per channel of 3.1 μw for an input referred noise of 3.28 μV and a NEF for 2.07. The cutoff frequency of the LFP band is fc=280 Hz, and fL=725 Hz and fL=11.2 KHz for SPK, with 36 dB gain for LFP band 46 dB gain for SPK band.

Particle-In-Cell Simulations of Asymmetric Dual Frequency Capacitive Discharge Physics

Science.gov (United States)

Wu, Alan; Lichtenberg, A. J.; Lieberman, M. A.; Verboncoeur, J. P.

2003-10-01

Dual frequency capacitive discharges are finding increasing use for etching in the microelectronics industry. In the ideal case, the high frequency power (typically 27.1-160 MHz) controls the plasma density and the low frequency power (typically 2-13.56 MHz) controls the ion energy. The electron power deposition and the dynamics of dual frequency rf sheaths are not well understood. We report on particle-in-cell computer simulations of an asymmetric dual frequency argon discharge. The simulations are performed in 1D (radial) geometry using the bounded electrostatic code XPDP1. Operating parameters are 27.1/2 MHz high/low frequencies, 10/13 cm inner/outer radii, 3-200 mTorr pressures, and 10^9-10^11 cm-3 densities. We determine the power deposition and sheath dynamics for the high frequency power alone, and with various added low frequency powers. We compare the simulation results to simple global models of dual frequency discharges. Support provided by Lam Research, NSF Grant ECS-0139956, California industries, and UC-SMART Contract SM99-10051.

Full-scale locomotive dynamic collision testing and correlations : offset collisions between a locomotive and a covered hopper car (test 4).

Science.gov (United States)

2011-09-01

This report presents the test results and finite element correlations of a full-scale dynamic collision test with rail vehicles as part of the Federal Railroad Administrations research program on improved crashworthiness of locomotive structures. ...

CORPORATE FEED WITH DUAL SEGMENT CIRCULAR POLARIZED ARRAY RECTENNA FOR LOW POWER RF ENERGY HARVESTING

Directory of Open Access Journals (Sweden)

CHIA CHAO KANG

2016-06-01

Full Text Available This paper focuses on the investigation of the level powers that can be scavenged from the ambient environment by using corporate feed with dual segment circular polarized antenna array . It will converts the received power to direct current (DC. Being a circular polarized antenna, it has higher inductance per unit area, a good Q-factor and compact capability. The design of corporate-series feed rectenna array is to achieve a high gain antenna and maximize the RF energy received by the rectenna system at ultra low power levels. The entire structure was investigated using a combination of harmonic balance nonlinear analysis and full wave electromagnetic field analysis. The results show that 5.0 dBi gain for circular polarized antenna array can be achieved at frequency 956 MHz. When the input power of 20 dBm fed into the transmitting antenna, the maximum distance for radio frequency (RF harvesting is 5.32m. The output DC voltage for various values of incident RF power is also presented. There are noticed reasonable agreements between the simulated and measured result and the works concludes that the investigation of RF energy harvesting system was successful.

Dual recycling for GEO 600

International Nuclear Information System (INIS)

Grote, H; Freise, A; Malec, M; Heinzel, G; Willke, B; Lueck, H; Strain, K A; Hough, J; Danzmann, K

2004-01-01

Dual recycling is the combination of signal recycling and power recycling; both optical techniques improve the shot-noise-limited sensitivity of interferometric gravitational-wave detectors. In addition, signal recycling can reduce the loss of light power due to imperfect interference and allows us, in principle, to beat the standard quantum limit. The interferometric gravitational-wave detector GEO 600 is the first of the kilometre-scale detectors to use signal recycling. We have recently equipped the detector with a signal-recycling mirror with a transmittance of 1%. In this paper, we present details of the detector commissioning and the first locks of the dual-recycled interferometer

[Possible changes in energy-minimizer mechanisms of locomotion due to chronic low back pain - a literature review].

Science.gov (United States)

de Carvalho, Alberito Rodrigo; Andrade, Alexandro; Peyré-Tartaruga, Leonardo Alexandre

2015-01-01

One goal of the locomotion is to move the body in the space at the most economical way possible. However, little is known about the mechanical and energetic aspects of locomotion that are affected by low back pain. And in case of occurring some damage, little is known about how the mechanical and energetic characteristics of the locomotion are manifested in functional activities, especially with respect to the energy-minimizer mechanisms during locomotion. This study aimed: a) to describe the main energy-minimizer mechanisms of locomotion; b) to check if there are signs of damage on the mechanical and energetic characteristics of the locomotion due to chronic low back pain (CLBP) which may endanger the energy-minimizer mechanisms. This study is characterized as a narrative literature review. The main theory that explains the minimization of energy expenditure during the locomotion is the inverted pendulum mechanism, by which the energy-minimizer mechanism converts kinetic energy into potential energy of the center of mass and vice-versa during the step. This mechanism is strongly influenced by spatio-temporal gait (locomotion) parameters such as step length and preferred walking speed, which, in turn, may be severely altered in patients with chronic low back pain. However, much remains to be understood about the effects of chronic low back pain on the individual's ability to practice an economic locomotion, because functional impairment may compromise the mechanical and energetic characteristics of this type of gait, making it more costly. Thus, there are indications that such changes may compromise the functional energy-minimizer mechanisms. Copyright © 2014 Elsevier Editora Ltda. All rights reserved.

Environmental and cow-related factors affect cow locomotion and can cause misclassification in lameness detection systems.

Science.gov (United States)

Van Nuffel, A; Van De Gucht, T; Saeys, W; Sonck, B; Opsomer, G; Vangeyte, J; Mertens, K C; De Ketelaere, B; Van Weyenberg, S

2016-09-01

To tackle the high prevalence of lameness, techniques to monitor cow locomotion are being developed in order to detect changes in cows' locomotion due to lameness. Obviously, in such lameness detection systems, alerts should only respond to locomotion changes that are related to lameness. However, other environmental or cow factors can contribute to locomotion changes not related to lameness and hence, might cause false alerts. In this study the effects of wet surfaces, dark environment, age, production level, lactation and gestation stage on cow locomotion were investigated. Data was collected at Institute for Agricultural and Fisheries Research research farm (Melle, Belgium) during a 5-month period. The gait variables of 30 non-lame and healthy Holstein cows were automatically measured every day. In dark environments and on wet walking surfaces cows took shorter, more asymmetrical strides with less step overlap. In general, older cows had a more asymmetrical gait and they walked slower with more abduction. Lactation stage or gestation stage also showed significant association with asymmetrical and shorter gait and less step overlap probably due to the heavy calf in the uterus. Next, two lameness detection algorithms were developed to investigate the added value of environmental and cow data into detection models. One algorithm solely used locomotion variables and a second algorithm used the same locomotion variables and additional environmental and cow data. In the latter algorithm only age and lactation stage together with the locomotion variables were withheld during model building. When comparing the sensitivity for the detection of non-lame cows, sensitivity increased by 10% when the cow data was added in the algorithm (sensitivity was 70% and 80% for the first and second algorithm, respectively). Hence, the number of false alerts for lame cows that were actually non-lame, decreased. This pilot study shows that using knowledge on influencing factors on cow

Crucial advantages of tail use in the evolution of vertebrate terrestrial locomotion

Science.gov (United States)

Astley, Henry; McInroe, Benjamin; Kawano, Sandy; Blob, Rick; Goldman, Daniel

In the invasion of terrestrial environment, the first tetrapods faced the challenge of locomotion on flowable substrates (e.g. sand and mud), sometimes oriented at inclines. Although the morphology of many early tetrapods is known, robotic studies have revealed that effective locomotion on these substrates also depends strongly upon kinematics; slight differences in movements of the same appendage can lead to success or failure. Using a model organism (the mudskipper) and a robotic physical model, we demonstrate how muscular tails provided critical locomotor advantages on granular substrates that the first invaders of land likely encountered. Mudskippers use their tails for additional propulsion with increasing frequency as the slope of the granular material increases, and the decline in locomotor performance with slope is shallower when the tail is used. Experiments with a robotic model of the mudskipper showed that, while the tail did not always provide a benefit to locomotion, use of the tail made the robot's performance more robust, achieving effective locomotion on a wider range of slopes, limb postures and foot placements. These results suggest that, rather than simply being an inert appendage, the tails of early tetrapods were vital to their first forays into terrestrial habitats.

Novel high accurate sensorless dual-axis solar tracking system controlled by maximum power point tracking unit of photovoltaic systems

International Nuclear Information System (INIS)

Fathabadi, Hassan

2016-01-01

Highlights: • Novel high accurate sensorless dual-axis solar tracker. • It has the advantages of both sensor based and sensorless solar trackers. • It does not have the disadvantages of sensor based and sensorless solar trackers. • Tracking error of only 0.11° that is less than the tracking errors of others. • An increase of 28.8–43.6% depending on the seasons in the energy efficiency. - Abstract: In this study, a novel high accurate sensorless dual-axis solar tracker controlled by the maximum power point tracking unit available in almost all photovoltaic systems is proposed. The maximum power point tracking controller continuously calculates the maximum output power of the photovoltaic module/panel/array, and uses the altitude and azimuth angles deviations to track the sun direction where the greatest value of the maximum output power is extracted. Unlike all other sensorless solar trackers, the proposed solar tracking system is a closed loop system which means it uses the actual direction of the sun at any time to track the sun direction, and this is the contribution of this work. The proposed solar tracker has the advantages of both sensor based and sensorless dual-axis solar trackers, but it does not have their disadvantages. Other sensorless solar trackers all are open loop, i.e., they use offline estimated data about the sun path in the sky obtained from solar map equations, so low exactness, cloudy sky, and requiring new data for new location are their problems. A photovoltaic system has been built, and it is experimentally verified that the proposed solar tracking system tracks the sun direction with the tracking error of 0.11° which is less than the tracking errors of other both sensor based and sensorless solar trackers. An increase of 28.8–43.6% depending on the seasons in the energy efficiency is the main advantage of utilizing the proposed solar tracking system.

Emotion through Locomotion: Gender Impact

OpenAIRE

Kr?ger, Samuel; Sokolov, Alexander N.; Enck, Paul; Kr?geloh-Mann, Ingeborg; Pavlova, Marina A.

2013-01-01

Body language reading is of significance for daily life social cognition and successful social interaction, and constitutes a core component of social competence. Yet it is unclear whether our ability for body language reading is gender specific. In the present work, female and male observers had to visually recognize emotions through point-light human locomotion performed by female and male actors with different emotional expressions. For subtle emotional expressions only, males surpass fema...

PSO-SVM-Based Online Locomotion Mode Identification for Rehabilitation Robotic Exoskeletons.

Science.gov (United States)

Long, Yi; Du, Zhi-Jiang; Wang, Wei-Dong; Zhao, Guang-Yu; Xu, Guo-Qiang; He, Long; Mao, Xi-Wang; Dong, Wei

2016-09-02

Locomotion mode identification is essential for the control of a robotic rehabilitation exoskeletons. This paper proposes an online support vector machine (SVM) optimized by particle swarm optimization (PSO) to identify different locomotion modes to realize a smooth and automatic locomotion transition. A PSO algorithm is used to obtain the optimal parameters of SVM for a better overall performance. Signals measured by the foot pressure sensors integrated in the insoles of wearable shoes and the MEMS-based attitude and heading reference systems (AHRS) attached on the shoes and shanks of leg segments are fused together as the input information of SVM. Based on the chosen window whose size is 200 ms (with sampling frequency of 40 Hz), a three-layer wavelet packet analysis (WPA) is used for feature extraction, after which, the kernel principal component analysis (kPCA) is utilized to reduce the dimension of the feature set to reduce computation cost of the SVM. Since the signals are from two types of different sensors, the normalization is conducted to scale the input into the interval of [0, 1]. Five-fold cross validation is adapted to train the classifier, which prevents the classifier over-fitting. Based on the SVM model obtained offline in MATLAB, an online SVM algorithm is constructed for locomotion mode identification. Experiments are performed for different locomotion modes and experimental results show the effectiveness of the proposed algorithm with an accuracy of 96.00% ± 2.45%. To improve its accuracy, majority vote algorithm (MVA) is used for post-processing, with which the identification accuracy is better than 98.35% ± 1.65%. The proposed algorithm can be extended and employed in the field of robotic rehabilitation and assistance.

PSO-SVM-Based Online Locomotion Mode Identification for Rehabilitation Robotic Exoskeletons

Directory of Open Access Journals (Sweden)

Yi Long

2016-09-01

Full Text Available Locomotion mode identification is essential for the control of a robotic rehabilitation exoskeletons. This paper proposes an online support vector machine (SVM optimized by particle swarm optimization (PSO to identify different locomotion modes to realize a smooth and automatic locomotion transition. A PSO algorithm is used to obtain the optimal parameters of SVM for a better overall performance. Signals measured by the foot pressure sensors integrated in the insoles of wearable shoes and the MEMS-based attitude and heading reference systems (AHRS attached on the shoes and shanks of leg segments are fused together as the input information of SVM. Based on the chosen window whose size is 200 ms (with sampling frequency of 40 Hz, a three-layer wavelet packet analysis (WPA is used for feature extraction, after which, the kernel principal component analysis (kPCA is utilized to reduce the dimension of the feature set to reduce computation cost of the SVM. Since the signals are from two types of different sensors, the normalization is conducted to scale the input into the interval of [0, 1]. Five-fold cross validation is adapted to train the classifier, which prevents the classifier over-fitting. Based on the SVM model obtained offline in MATLAB, an online SVM algorithm is constructed for locomotion mode identification. Experiments are performed for different locomotion modes and experimental results show the effectiveness of the proposed algorithm with an accuracy of 96.00% ± 2.45%. To improve its accuracy, majority vote algorithm (MVA is used for post-processing, with which the identification accuracy is better than 98.35% ± 1.65%. The proposed algorithm can be extended and employed in the field of robotic rehabilitation and assistance.

Reactive dual magnetron sputtering for large area application

International Nuclear Information System (INIS)

Struempfel, J.

2002-01-01

Production lines for large area coating demand high productivity of reactive magnetron sputtering processes. Increased dynamic deposition rates for oxides and nitrides were already obtained by using of highly powered magnetrons in combination with advanced sputter techniques. However, besides high deposition rates the uniformity of such coatings has to be carefully considered. First the basics of reactive sputtering processes and dual magnetron sputtering are summarized. Different methods for process stabilization and control are commonly used for reactive sputtering. The Plasma Emission Monitor (PE M) offers the prerequisite for fast acting process control derived from the in-situ intensity measurements of a spectral line of the sputtered target material. Combined by multiple Plasma Emission Monitor control loops segmented gas manifolds are able to provide excellent thin film uniformity at high deposition rates. The Dual Magnetron allows a broad range of processing by different power supply modes. Medium frequency, DC and pulsed DC power supplies can be used for high quality layers. Whereas the large area coating of highly isolating layers like TiO 2 or SiO 2 is dominated by MF sputtering best results for coating with transparent conductive oxides are obtained by dual DC powering of the dual magnetron arrangement. (Author)

Development of design technology for dual-cooled fuel

International Nuclear Information System (INIS)

Kim, Hyung Kyu; Yoon, Kyung Ho; Lee, Young Ho

2010-03-01

Primary purpose of the project is to complete a basic design of the power uprating dual-cooled fuel's structural components for an actual use in the existing nuclear power plants. It also includes a basic design of the components of a dual-cooled fuel rod. To this end, during the three years of the first stage (2007.03.∼2010.02.), concepts and technical issues of the structural components such as a supporting structure, guide thimbles and instrumentation tube and the top and bottom end pieces were derived in order to comply with the functional requirements and design criteria of them. Basic design was carried out to resolve the issues by using analytical methods as well as experiments, and observed finally is that a structural compatibility of the designed dual-cooled fuel to the Korean Standard Nuclear Power Plant (OPR-1000). As for the dual-cooled fuel rod's components such as a plenum spring, a spacer and end plugs, a concept of them was established by using the basic dimension and array produced by other sub-projects. In turn, the basic design was completed by using the finite element analysis and conventional mechanical design formulae. Additionally, a welding method and equipment for a dual-cooled fuel rod specimen was also successfully developed to prepare for the irradiation tests at the HANARO. It was shown that a dual-cooed fuel for the OPR-1000 can be designed after manufacturing the partial assembly with the designed components and their drawings. The first stage was completed with passing the Gate checks proposed at the beginning. During the second stage(2010.03.∼2012.02.), researches on the mechanical behavior and structural integrity of the designed dual-cooled fuel will be conducted for preparing a license of it, which should be done when the dual-cooled fuel is commercialized

Control method for biped locomotion robots based on ZMP information

International Nuclear Information System (INIS)

Kume, Etsuo

1994-01-01

The Human Acts Simulation Program (HASP) started as a ten year program of Computing and Information Systems Center (CISC) at Japan Atomic Energy Research Institute (JAERI) in 1987. A mechanical design study of biped locomotion robots for patrol and inspection in nuclear facilities is being performed as an item of the research scope. One of the goals of our research is to design a biped locomotion robot for practical use in nuclear facilities. So far, we have been studying for several dynamic walking patterns. In conventional control methods for biped locomotion robots, the program control is used based on preset walking patterns, so it dose not have the robustness such as a dynamic change of walking pattern. Therefore, a real-time control method based on dynamic information of the robot states is necessary for the high performance of walking. In this study a new control method based on Zero Moment Point (ZMP) information is proposed as one of real-time control methods. The proposed method is discussed and validated based on the numerical simulation. (author)

Hybrid Locomotive for Energy Savings and Reduced Emissions

Science.gov (United States)

2017-08-01

Norfolk Southern Corporation (NS) and Pennsylvania State University tested several different battery systems in hybrid locomotives. Advanced lithium-ion battery technology was the only kind that displayed the capacity to perform in heavy switching or...

Performance analysis of jump-gliding locomotion for miniature robotics.

Science.gov (United States)

Vidyasagar, A; Zufferey, Jean-Christohphe; Floreano, Dario; Kovač, M

2015-03-26

Recent work suggests that jumping locomotion in combination with a gliding phase can be used as an effective mobility principle in robotics. Compared to pure jumping without a gliding phase, the potential benefits of hybrid jump-gliding locomotion includes the ability to extend the distance travelled and reduce the potentially damaging impact forces upon landing. This publication evaluates the performance of jump-gliding locomotion and provides models for the analysis of the relevant dynamics of flight. It also defines a jump-gliding envelope that encompasses the range that can be achieved with jump-gliding robots and that can be used to evaluate the performance and improvement potential of jump-gliding robots. We present first a planar dynamic model and then a simplified closed form model, which allow for quantification of the distance travelled and the impact energy on landing. In order to validate the prediction of these models, we validate the model with experiments using a novel jump-gliding robot, named the 'EPFL jump-glider'. It has a mass of 16.5 g and is able to perform jumps from elevated positions, perform steered gliding flight, land safely and traverse on the ground by repetitive jumping. The experiments indicate that the developed jump-gliding model fits very well with the measured flight data using the EPFL jump-glider, confirming the benefits of jump-gliding locomotion to mobile robotics. The jump-glide envelope considerations indicate that the EPFL jump-glider, when traversing from a 2 m height, reaches 74.3% of optimal jump-gliding distance compared to pure jumping without a gliding phase which only reaches 33.4% of the optimal jump-gliding distance. Methods of further improving flight performance based on the models and inspiration from biological systems are presented providing mechanical design pathways to future jump-gliding robot designs.

Different performances in static and dynamic imagery and real locomotion. An exploratory trial.

Directory of Open Access Journals (Sweden)

Augusto eFusco

2014-10-01

Full Text Available Motor imagery is a mental representation of an action without its physical execution. Recently, the simultaneous movement of the body has been added to the mental simulation. This refers to dynamic motor imagery (dMI. This study was aimed at analyzing the temporal features for static and dMI in different locomotor conditions (natural walking, NW, light running, LR, lateral walking, LW, backward walking, BW, and whether these performances were more related to all the given conditions or present only in walking. We have been also evaluated the steps performed in the dMI in comparison with the ones performed by real locomotion. Twenty healthy participants (29.3 ± 5.1 y. old were asked to move towards a visualized target located at 10mt. In dMI, no significant temporal differences respect the actual locomotion were found for all the given tasks (NW: p=0.058, LR: p=0.636, BW: p=0.096; LW: p=0,487. Significant temporal differences between static imagery and actual movements were found for LR (p<0.001 and LW (p<0.001, due to an underestimation of time needed to achieve the target in imagined locomotion. Significant differences in terms of number of steps among tasks were found for LW (p<0.001 and BW (p=0.036, whereas neither in NW (p=0.124 nor LR (p=0.391 between dMI and real locomotion.Our results confirmed that motor imagery is a task-dependent process, with walking being temporally closer than other locomotor conditions. Moreover, the time records of dynamic motor imagery are nearer to the ones of actual locomotion respect than the ones of static motor imagery. Keywords: Walking, dynamic motor imagery, human locomotion, chronometry.

Using entropy measures to characterize human locomotion.

Science.gov (United States)

Leverick, Graham; Szturm, Tony; Wu, Christine Q

2014-12-01

Entropy measures have been widely used to quantify the complexity of theoretical and experimental dynamical systems. In this paper, the value of using entropy measures to characterize human locomotion is demonstrated based on their construct validity, predictive validity in a simple model of human walking and convergent validity in an experimental study. Results show that four of the five considered entropy measures increase meaningfully with the increased probability of falling in a simple passive bipedal walker model. The same four entropy measures also experienced statistically significant increases in response to increasing age and gait impairment caused by cognitive interference in an experimental study. Of the considered entropy measures, the proposed quantized dynamical entropy (QDE) and quantization-based approximation of sample entropy (QASE) offered the best combination of sensitivity to changes in gait dynamics and computational efficiency. Based on these results, entropy appears to be a viable candidate for assessing the stability of human locomotion.

An extended dual input dual output three level Z source inverter with improved switch loss reduction technique

Directory of Open Access Journals (Sweden)

N.B. Deshmukh

2016-12-01

Full Text Available Multilevel inverter (MLI is a proven technology used for industrial applications due to low output total harmonic distortion (THD, high power handling capability and low active device rating. Dual output inverter is a recent trend associated with inverter topologies for specialized applications. This paper deals with three phase three level dual input dual output inverter topology with minimum active device count. Reduction in switch count leads to reduction in losses and improves reliability. Both the input sources share power equally as neutral point current ripple is maintained low. For further reduction in switching losses at higher switching frequencies, the concept of “no switching zone” or discontinuous pulse width modulation (DPWM has been put forth recently. This paper proposes modification in the placement of “no switching zone” in order to optimize switching losses and output THD (output filtering requirements for low power factor load. This study also proposes novel graphical approach to analyze the loss reduction along with its effect on output THD. The sinusoidal PWM (SPWM is used which gives satisfactory switching loss reduction without complex calculations. Moreover, the proposed topology is generalized to provide dual output at higher voltage levels. It is seen that the components reduction phenomenon becomes more pronounced as number of levels goes on increasing. The proposed converter is simulated in MATLAB software environment and results are obtained.

Optimisation of a machine learning algorithm in human locomotion using principal component and discriminant function analyses.

Science.gov (United States)

Bisele, Maria; Bencsik, Martin; Lewis, Martin G C; Barnett, Cleveland T

2017-01-01

Assessment methods in human locomotion often involve the description of normalised graphical profiles and/or the extraction of discrete variables. Whilst useful, these approaches may not represent the full complexity of gait data. Multivariate statistical methods, such as Principal Component Analysis (PCA) and Discriminant Function Analysis (DFA), have been adopted since they have the potential to overcome these data handling issues. The aim of the current study was to develop and optimise a specific machine learning algorithm for processing human locomotion data. Twenty participants ran at a self-selected speed across a 15m runway in barefoot and shod conditions. Ground reaction forces (BW) and kinematics were measured at 1000 Hz and 100 Hz, respectively from which joint angles (°), joint moments (N.m.kg-1) and joint powers (W.kg-1) for the hip, knee and ankle joints were calculated in all three anatomical planes. Using PCA and DFA, power spectra of the kinematic and kinetic variables were used as a training database for the development of a machine learning algorithm. All possible combinations of 10 out of 20 participants were explored to find the iteration of individuals that would optimise the machine learning algorithm. The results showed that the algorithm was able to successfully predict whether a participant ran shod or barefoot in 93.5% of cases. To the authors' knowledge, this is the first study to optimise the development of a machine learning algorithm.

Economic aspects of advanced coal-fired gas turbine locomotives

Science.gov (United States)

Liddle, S. G.; Bonzo, B. B.; Houser, B. C.

1983-01-01

Increases in the price of such conventional fuels as Diesel No. 2, as well as advancements in turbine technology, have prompted the present economic assessment of coal-fired gas turbine locomotive engines. A regenerative open cycle internal combustion gas turbine engine may be used, given the development of ceramic hot section components. Otherwise, an external combustion gas turbine engine appears attractive, since although its thermal efficiency is lower than that of a Diesel engine, its fuel is far less expensive. Attention is given to such a powerplant which will use a fluidized bed coal combustor. A life cycle cost analysis yields figures that are approximately half those typical of present locomotive engines.

The G6 - a heavy-duty six-wheeled shunting locomotive; Dreiachsige Hochleistungsrangierlokomotive G6

Energy Technology Data Exchange (ETDEWEB)

Hildebrandt, Tim [Vossloh Locomotives GmbH, Kiel (Germany). Entwicklung und Standardisierung

2009-03-15

With the three-axle shunter G6, exhibited at Innotrans 2008, the renowned producer of rail vehicles Vossloh Locomotives GmbH marks the beginning of a generational change - not only for three-axle but also for four-axle locomotives. In order to replace the type G765C the G6 has been developed in close cooperation with potential customers. Their request concerning robustness and reliability as well as the equipment options set standards for central driver's cab locomotives in general and lead the way for future four-axle replacements within the Vossloh product family. (orig.)

Full-scale locomotive dynamic crash testing and correlations : C-39 type locomotive colliding with a loaded hopper car (test 7).

Science.gov (United States)

2011-09-01

This report presents the results of a locomotive and three loaded hopper car consist traveling at 29 miles per hour colliding with a stationary consist of 35 loaded hopper cars. The details of test instrumentation, LS-DYNA finite element simulation, ...

Flexible and self-powered temperature-pressure dual-parameter sensors using microstructure-frame-supported organic thermoelectric materials.

Science.gov (United States)

Zhang, Fengjiao; Zang, Yaping; Huang, Dazhen; Di, Chong-an; Zhu, Daoben

2015-09-21

Skin-like temperature- and pressure-sensing capabilities are essential features for the next generation of artificial intelligent products. Previous studies of e-skin and smart elements have focused on flexible pressure sensors, whereas the simultaneous and sensitive detection of temperature and pressure with a single device remains a challenge. Here we report developing flexible dual-parameter temperature-pressure sensors based on microstructure-frame-supported organic thermoelectric (MFSOTE) materials. The effective transduction of temperature and pressure stimuli into two independent electrical signals permits the instantaneous sensing of temperature and pressure with an accurate temperature resolution of pressure-sensing sensitivity of up to 28.9 kPa(-1). More importantly, these dual-parameter sensors can be self-powered with outstanding sensing performance. The excellent sensing properties of MFSOTE-based devices, together with their unique advantages of low cost and large-area fabrication, make MFSOTE materials possess promising applications in e-skin and health-monitoring elements.

Feasibility of a dual regime gyrotron

International Nuclear Information System (INIS)

Sawant, Ashwini; Jain, Prerit; Kartikeyan, M.V.

2012-01-01

The design concept of a 42/84 GHz, 500 kW, CW, dual-regime gyrotron for ECRH of plasma in an experimental Tokamak will be presented in this paper. Operation at 42 GHz is fundamental where as that in 84 GHz will be second harmonic so that a similar guidance system will be retained for dual regime operation. In this paper, the mode competition and mode selection procedures are presented for such a dual regime operation. Cold cavity design and self-consistent calculations will be carried out for power and efficiencies. (author)

Nonlinear dynamics analysis of the spur gear system for railway locomotive

Science.gov (United States)

Wang, Junguo; He, Guangyue; Zhang, Jie; Zhao, Yongxiang; Yao, Yuan

2017-02-01

Considering the factors such as the nonlinearity backlash, static transmission error and time-varying meshing stiffness, a three-degree-of-freedom torsional vibration model of spur gear transmission system for a typical locomotive is developed, in which the wheel/rail adhesion torque is considered as uncertain but bounded parameter. Meantime, the Ishikawa method is used for analysis and calculation of the time-varying mesh stiffness of the gear pair in meshing process. With the help of bifurcation diagrams, phase plane diagrams, Poincaré maps, time domain response diagrams and amplitude-frequency spectrums, the effects of the pinion speed and stiffness on the dynamic behavior of gear transmission system for locomotive are investigated in detail by using the numerical integration method. Numerical examples reveal various types of nonlinear phenomena and dynamic evolution mechanism involving one-period responses, multi-periodic responses, bifurcation and chaotic responses. Some research results present useful information to dynamic design and vibration control of the gear transmission system for railway locomotive.

Improving power conversion efficiency of perovskite solar cells by cooperative LSPR of gold-silver dual nanoparticles

Institute of Scientific and Technical Information of China (English)

Peng Liu; Cong-hua Zhou; Bing-chu Yang; Gang Liu; Run-sheng Wu; Chu-jun Zhang; Fang Wan; Shui-gen Li; Jun-liang Yang; Yong-li Gao

2017-01-01

Enhancing optical and electrical performances is effective in improving power conversion efficiency of photovoltaic devices.Here,gold and silver dual nanoparticles were imported and embedded in the hole transport layer of perovskite solar cells.Due to the cooperative localized surface plasmon resonance of these two kinds of metal nanostructures,light harvest of perovskite material layer and the electrical performance of device were improved,which finally upgraded short circuit current density by 10.0％,and helped to increase power conversion efficiency from 10.4％ to 11.6％ under AM 1.5G illumination with intensity of 100 mW/cm2.In addition,we explored the influence of silver and gold nanoparticles on charge carrier generation,dissociation,recombination,and transportation inside perovskite solar cells.

A UV pre-ionized dual-wavelength short-pulse high-power CO{sub 2} laser facility for laser particle acceleration research

Energy Technology Data Exchange (ETDEWEB)

Ebrahim, N A; Mouris, J F; Davis, R W

1994-12-01

In this report we describe the Chalk River dual-wavelength, short-pulse, single-mode, high-power CO{sub 2} laser facility for research in laser particle acceleration and CANDU materials modifications. The facility is designed and built around UV-preionized transversely-excited atmospheric-pressure (TEA) Lumonics CO{sub 2} laser discharge modules. Peak focussed power densities of up to 2 x 10{sup 14} W/cm{sup 2} in 500 ps pulses have been obtained. (author). 10 refs., 9 figs.

Komputasi Aliran Daya Optimal Sistem Tenaga Skala Besar dengan Metode Primal Dual Interior Point

Directory of Open Access Journals (Sweden)

Syafii Syafii

2016-03-01

Full Text Available This paper focuses on the use of Primal Dual Interior Point method in the analysis of optimal power flow. Optimal power flow analysis with Primal Dual Interior Point method then compared with Linear Programming Method using Matpower program. The simulation results show that the computation results of Primal Dual Interior Point similar with Linear Programming Method for total cost of generation and large power generated by each power plant. But in terms of computation time Primal Dual Interior Point method is faster than the method of Linear Programming, especially for large systems. Primal Dual Interior Point method have solved the problem in 40.59 seconds, while Linear Programming method takes longer 239.72 seconds for large-scale system 9241 bus. This is because the settlement PDIP algorithm starts from the starting point x0, which is located within the area of feasible move towards the optimal point, in contrast to the simplex method that moves along the border of the feasible from one extreme point to the other extreme point. Thus Primal Dual Interior Point method have more efficient in solving optimal power flow problem of large-scale power systems.

Impact of food restriction and cocaine on locomotion in ghrelin- and ghrelin-receptor knockout mice.

Science.gov (United States)

Clifford, Shane; Zeckler, Rosie Albarran; Buckman, Sam; Thompson, Jeff; Hart, Nigel; Wellman, Paul J; Smith, Roy G

2011-07-01

Food restriction (FR) augments the behavioral and reinforcing effects of psychomotor stimulants such as cocaine or amphetamine; effects that may be related to the capacity of FR to increase plasma levels of ghrelin (GHR), a 28-amino acid orexigenenic peptide linked to activation of brain dopamine systems. The present study used wild-type (WT) mice or mutant mice sustaining knockout of either GHR [GHR((-/-)) ] or of the growth hormone secretagogue receptor [GHS-R((-/-)) ] and subjected to FR or not to evaluate the role of GHR and GHS-R in cocaine-stimulated locomotion. WT, GHR((-/-)) , and GHS-R((-/-)) mice were either restricted to 60% of baseline caloric intake or allowed to free-feed (FF). Mice were treated with 0, 1.25, 2.5 and 5.0 mg/kg cocaine on separate test days (in random dose order) and forward locomotion was recorded on each drug day for 45 minutes after drug dosing. Food (and water) was available immediately after (but not during) each activity test. For FF mice, there was no interaction between cocaine and GHR status on locomotion. FR-WT mice treated with saline exhibited significant increases in anticipatory locomotion (relative to FF-WT mice), whereas FR-GHS-R((-/-)) mice did not. Cocaine significantly increased locomotion in FR-GHR((-/-)) and FR-GHS-R((-/-)) mice to the levels noted in FR-WT mice. These results suggest that GHS-R activity, but not GHR activity, is required for FR to augment food-associated anticipatory locomotion, but do not support the contention that GHR pathways are required for the capacity of FR to augment the acute effect of cocaine on locomotion. © 2010 The Authors, Addiction Biology © 2010 Society for the Study of Addiction.

THE MATHEMATIC STIMULATION OF TRANSIENT PROCESS IN A.C. – SYSTEM “ELECTRIC-TRACTION NETWORK – LOCOMOTIVE” 3. SWITCHING ON MAIN POWER CONVERTER IN “FREE PLAY” MODE; THE ANALYSIS OF VOLTS AND CURRENTS IN THE POWER SUPPLY INPUT SYSTEM

OpenAIRE

T. M. Mischenko

2011-01-01

The article is a continuation of analysis of the electric equivalent AC circuit «traction substation − device of transversal compensation − electric-traction network − electric locomotive DS 3» and the influence on a power transformer in the idle mode, depending on the feeder voltage and the distance of an electric locomotive from a traction substation. The numeral calculations are performed and the voltage and current values in the electric power supply system are analyzed.

A fast spectrum dual path flow cermet reactor

International Nuclear Information System (INIS)

Anghaie, S.; Feller, G.J.; Peery, S.D.; Parsley, R.C.

1993-01-01

A cermet fueled, dual path fast reactor for space nuclear propulsion applications is conceptually designed. The reactor utilizes an outer annulus core and an inner cylindrical core with radial and axial reflector. The dual path flow minimizes the impact of power peaking near the radial reflector. Basic neutronics and core design aspects of the reactor are discussed. The dual path reactor is integrated into a 25000 lbf thrust nuclear rocket

Nanogenerator-based dual-functional and self-powered thin patch loudspeaker or microphone for flexible electronics

Science.gov (United States)

Li, Wei; Torres, David; Díaz, Ramón; Wang, Zhengjun; Wu, Changsheng; Wang, Chuan; Lin Wang, Zhong; Sepúlveda, Nelson

2017-05-01

Ferroelectret nanogenerators were recently introduced as a promising alternative technology for harvesting kinetic energy. Here we report the device's intrinsic properties that allow for the bidirectional conversion of energy between electrical and mechanical domains; thus extending its potential use in wearable electronics beyond the power generation realm. This electromechanical coupling, combined with their flexibility and thin film-like form, bestows dual-functional transducing capabilities to the device that are used in this work to demonstrate its use as a thin, wearable and self-powered loudspeaker or microphone patch. To determine the device's performance and applicability, sound pressure level is characterized in both space and frequency domains for three different configurations. The confirmed device's high performance is further validated through its integration in three different systems: a music-playing flag, a sound recording film and a flexible microphone for security applications.

Dual regression physiological modeling of resting-state EPI power spectra: Effects of healthy aging.

Science.gov (United States)

Viessmann, Olivia; Möller, Harald E; Jezzard, Peter

2018-02-02

Aging and disease-related changes in the arteriovasculature have been linked to elevated levels of cardiac cycle-induced pulsatility in the cerebral microcirculation. Functional magnetic resonance imaging (fMRI), acquired fast enough to unalias the cardiac frequency contributions, can be used to study these physiological signals in the brain. Here, we propose an iterative dual regression analysis in the frequency domain to model single voxel power spectra of echo planar imaging (EPI) data using external recordings of the cardiac and respiratory cycles as input. We further show that a data-driven variant, without external physiological traces, produces comparable results. We use this framework to map and quantify cardiac and respiratory contributions in healthy aging. We found a significant increase in the spatial extent of cardiac modulated white matter voxels with age, whereas the overall strength of cardiac-related EPI power did not show an age effect. Copyright © 2018. Published by Elsevier Inc.

The coal-fired gas turbine locomotive - A new look

Science.gov (United States)

Liddle, S. G.; Bonzo, B. B.; Purohit, G. P.

1983-01-01

Advances in turbomachine technology and novel methods of coal combustion may have made possible the development of a competitive coal fired gas turbine locomotive engine. Of the combustor, thermodynamic cycle, and turbine combinations presently assessed, an external combustion closed cycle regenerative gas turbine with a fluidized bed coal combustor is judged to be the best suited for locomotive requirements. Some merit is also discerned in external combustion open cycle regenerative systems and internal combustion open cycle regenerative gas turbine systems employing a coal gasifier. The choice of an open or closed cycle depends on the selection of a working fluid and the relative advantages of loop pressurization, with air being the most attractive closed cycle working fluid on the basis of cost.

Three-dimensional Locomotion and Drilling Microrobot Using Electromagnetic Actuation System

International Nuclear Information System (INIS)

Li, Girl; Choi, Hyun Chul; Cha, Kyoung Rae; Jeong, Se Mi; Park, Jong Oh; Park, Suk Ho

2011-01-01

In this study, a novel electromagnetic microrobot system with locomotion and drilling functions in three dimensional space was developed. Because of size limitations, the microrobot does not have actuator, battery, and controller. Therefore, an electromagnetic actuation (EMA) system was used to drive the robot. The proposed EMA system consists of three rectangular Helmholtz coil pairs in x-, y- and z-axes and a Maxwell coil pair in the z-axis. The magnetic field generated in the EMA coil system could be controlled by the input current of the EMA coil. Finally, through various experiments, the locomotion and drilling performances of the proposed EMA microrobot system were verified

Three-dimensional Locomotion and Drilling Microrobot Using Electromagnetic Actuation System

Energy Technology Data Exchange (ETDEWEB)

Li, Girl; Choi, Hyun Chul; Cha, Kyoung Rae; Jeong, Se Mi; Park, Jong Oh; Park, Suk Ho [Chonnam National University, Gwangju (Korea, Republic of)

2011-12-15

In this study, a novel electromagnetic microrobot system with locomotion and drilling functions in three dimensional space was developed. Because of size limitations, the microrobot does not have actuator, battery, and controller. Therefore, an electromagnetic actuation (EMA) system was used to drive the robot. The proposed EMA system consists of three rectangular Helmholtz coil pairs in x-, y- and z-axes and a Maxwell coil pair in the z-axis. The magnetic field generated in the EMA coil system could be controlled by the input current of the EMA coil. Finally, through various experiments, the locomotion and drilling performances of the proposed EMA microrobot system were verified.

Obstacle traversal and self-righting of bio-inspired robots reveal the physics of multi-modal locomotion

Science.gov (United States)

Li, Chen; Fearing, Ronald; Full, Robert

Most animals move in nature in a variety of locomotor modes. For example, to traverse obstacles like dense vegetation, cockroaches can climb over, push across, reorient their bodies to maneuver through slits, or even transition among these modes forming diverse locomotor pathways; if flipped over, they can also self-right using wings or legs to generate body pitch or roll. By contrast, most locomotion studies have focused on a single mode such as running, walking, or jumping, and robots are still far from capable of life-like, robust, multi-modal locomotion in the real world. Here, we present two recent studies using bio-inspired robots, together with new locomotion energy landscapes derived from locomotor-environment interaction physics, to begin to understand the physics of multi-modal locomotion. (1) Our experiment of a cockroach-inspired legged robot traversing grass-like beam obstacles reveals that, with a terradynamically ``streamlined'' rounded body like that of the insect, robot traversal becomes more probable by accessing locomotor pathways that overcome lower potential energy barriers. (2) Our experiment of a cockroach-inspired self-righting robot further suggests that body vibrations are crucial for exploring locomotion energy landscapes and reaching lower barrier pathways. Finally, we posit that our new framework of locomotion energy landscapes holds promise to better understand and predict multi-modal biological and robotic movement.

Loss of signal transduction and inhibition of lymphocyte locomotion in a ground-based model of microgravity

Science.gov (United States)

Sundaresan, Alamelu; Risin, Diana; Pellis, Neal R.; McIntire, L. V. (Principal Investigator)

2002-01-01

Inflammatory adherence to, and locomotion through the interstitium is an important component of the immune response. Conditions such as microgravity and modeled microgravity (MMG) severely inhibit lymphocyte locomotion in vitro through gelled type I collagen. We used the NASA rotating wall vessel bioreactor or slow-turning lateral vessel as a prototype for MMG in ground-based experiments. Previous experiments from our laboratory revealed that when lymphocytes (human peripheral blood mononuclear cells [PBMCs]) were first activated with phytohemaglutinin followed by exposure to MMG, locomotory capacity was not affected. In the present study, MMG inhibits lymphocyte locomotion in a manner similar to that observed in microgravity. Phorbol myristate acetate (PMA) treatment of PBMCs restored lost locomotory capacity by a maximum of 87%. Augmentation of cellular calcium flux with ionomycin had no restorative effect. Treatment of lymphocytes with mitomycin C prior to exposure to MMG, followed by PMA, restored locomotion to the same extent as when nonmitomycin C-treated lymphocytes were exposed to MMG (80-87%), suggesting that deoxyribonucleic acid replication is not essential for the restoration of locomotion. Thus, direct activation of protein kinase C (PKC) with PMA was effective in restoring locomotion in MMG comparable to the normal levels seen in Ig cultures. Therefore, in MMG, lymphocyte calcium signaling pathways were functional, with defects occurring at either the level of PKC or upstream of PKC.

Decoding bipedal locomotion from the rat sensorimotor cortex

NARCIS (Netherlands)

Rigosa, J.; Panarese, A.; Dominici, N.; Friedli, L.; van den Brand, R.; Carpaneto, J.; DiGiovanna, J.; Courtine, G.; Micera, S.

2015-01-01

Objective. Decoding forelimb movements from the firing activity of cortical neurons has been interfaced with robotic and prosthetic systems to replace lost upper limb functions in humans. Despite the potential of this approach to improve locomotion and facilitate gait rehabilitation, decoding lower

Coupling technology for dual-purpose nuclear-desalting plants

International Nuclear Information System (INIS)

Jones, J.E. Jr.; Anderson, T.D.; Reed, S.A.

1976-11-01

Although the basic technology for the various components of nuclear dual-purpose plants is reasonably well developed, the techniques of coupling the elements together to form a reliable, economical system that will satisfy the diverse operating requirements are not well established. The purpose of the study reported is to examine the technical, economic, and safety considerations in coupling nuclear power plants with distillation units to form a dual-purpose power and water distillation plant. The basic coupling arrangement required to provide a large-scale dual-purpose water plant is to supply steam to the water plant from the exhaust of a back-pressure turbine. The principal component at the interface that may require major research and development is the back-pressure turbine. To satisfy the operational requirements, two major auxiliary systems will be needed. These are: (1) a prime-steam bypass system, and (2) auxiliary condensers. These systems will provide a degree of independence between water and power production and can be justified economically

The effects of ketamine on sexual behavior, anxiety, and locomotion in female rats.

Science.gov (United States)

Guarraci, Fay A; Gonzalez, Chantal M F; Lucero, Devon; Womble, Paige D; Abdel-Rahim, Heba; DeVore, Jennie; Kunkel, Marcela Nicole; Quadlander, Emma; Stinnett, Morgan; Boyette-Davis, Jessica

2018-02-01

The present study characterized the effects of ketamine on sexual behavior and anxiety in female rats. In Experiment 1, female subjects received an injection of ketamine (10.0mg/kg) or saline 30min prior to a sexual partner-preference test during which each female subject was given the opportunity to interact with a female stimulus or a sexually vigorous male stimulus. Immediately afterwards, female subjects were tested for locomotion in an open field test. Ketamine-treated subjects spent significantly more time with the male stimulus than saline-treated subjects. No other measures of mating behavior (i.e., paced mating behavior, lordosis) were affected by ketamine. Ketamine also had no effect on locomotion. In Experiment 2, female subjects received an injection of ketamine (10.0mg/kg), or saline daily for 10days to investigate the possibility that sexual dysfunction emerges only after repeated exposure. Similar to the results of Experiment 1, ketamine-treated subjects spent significantly more time with the male stimulus than saline-treated subjects. Chronic ketamine treatment also decreased the likelihood of leaving the male after mounts, without affecting any other measures of sexual behavior. Chronic ketamine had no effect on locomotion. In Experiment 3, female subjects received an injection of ketamine (10.0mg/kg) or saline and were tested for anxiety in an elevated plus maze test and for locomotion in an open field test. Acute ketamine had no effect on anxiety or locomotion. In Experiment 4, female subjects received an injection of ketamine (10.0mg/kg) or saline daily for 10days to investigate the possibility that anxiety emerges only after repeated exposure. Chronic ketamine exposure had no effect on any measure of anxiety. However, chronic ketamine exposure increased locomotion. The results from these experiments indicate that unlike other medications prescribed for depression, neither acute nor chronic ketamine treatment causes anxiety or disruption of

Locomotion of bluefish.

Science.gov (United States)

DuBois, A B; Cavagna, G A; Fox, R S

1976-02-01

1. Pressure previously measured on the body surface of swimming bluefish were resolved into their backward vectorial components to allow calculation of profile drag. It was 0.18 kg at a speed of 1.8 m/sec. Tangential drag was calculated as if for a thin plate of an area equal to that of the fish. It was 0.08 kg at 1.8 m/sec. Net drag, 0.26 kg, was the sum of profile and tangential drag. 2. Thrust and drag also were calculated from the changes of acceleration measured during steady swimming, assuming that thrust took place only during the acceleration phase, whereas drag occurred during both acceleration and deceleration. This drag was 0.08 kg at a speed of 1.1 m/sec. It is compatible with the drag of 0.26 at 1.8 m/sec calculated from profile and tangential drag provided drag varies as the square of velocity. 3. The force required to produced maximal acceleration was measured during a scare. It was calculated to be 6.9 kg at a peak acceleration of 3 g. 4. The compression strength of th vertebrae was found to be approximately 20 kg per cm2, or roughly three times the force encountered during maximal acceleration. This safety factor of 3 would be reduced when the back was curved, or if opposing groups of muscles were under tension. 5. The finding that a bluefish can accelerate at 3 g and that the vertebral column is strongg enough to withstand this force indicates that the muscles and body structure of a bluefish would be able to withstand the force of gravity if the fish were otherwise equipped for terrestrial life. This fish may have evolved these strengths simultaneously with land animals. It is speculated that other fish may have evolved some degree of strength to overcome inertia and drag during aquatic locomotion, and this evolution may have been a prelude to terrestrial locomotion.

THE MATHEMATIC STIMULATION OF TRANSIENT PROCESS IN A.C. – SYSTEM “ELECTRIC-TRACTION NETWORK – LOCOMOTIVE” 3. SWITCHING ON MAIN POWER CONVERTER IN “FREE PLAY” MODE; THE ANALYSIS OF VOLTS AND CURRENTS IN THE POWER SUPPLY INPUT SYSTEM

Directory of Open Access Journals (Sweden)

T. M. Mischenko

2011-05-01

Full Text Available The article is a continuation of analysis of the electric equivalent AC circuit «traction substation − device of transversal compensation − electric-traction network − electric locomotive DS 3» and the influence on a power transformer in the idle mode, depending on the feeder voltage and the distance of an electric locomotive from a traction substation. The numeral calculations are performed and the voltage and current values in the electric power supply system are analyzed.

Performance Analysis Of Single-Pumped And Dual-Pumped Parametric Optical Amplifier

Directory of Open Access Journals (Sweden)

Sandar Myint

2015-06-01

Full Text Available Abstract In this study we present a performance analysis of single-pumped and dual- pumped parametric optical amplifier and present the analysis of gain flatness in dual- pumped Fiber Optical Parametric Amplifier FOPA based on four-wave mixing FWM. Result shows that changing the signal power and pump power give the various gains in FOPA. It is also found out that the parametric gain increase with increase in pump power and decrease in signal power. .Moreover in this paper the phase matching condition in FWM plays a vital role in predicting the gain profile of the FOPAbecause the parametric gain is maximum when the total phase mismatch is zero.In this paper single-pumped parametric amplification over a 50nm gain bandwidth is demonstrated using 500 nm highly nonlinear fiber HNLF and signal achieves about 31dB gain. For dual-pumped parametric amplification signal achieves 26.5dB gains over a 50nm gain bandwidth. Therefore dual-pumped parametric amplifier can provide relatively flat gain over a much wider bandwidth than the single-pumped FOPA.

A survey report for the biped locomotion model under external force

International Nuclear Information System (INIS)

Kato, Ichiro; Takanishi, Atsuo; Kume, Etsuo.

1993-10-01

A mechanical design study of biped locomotion robots is being performed at JAERI within the scope of the Human Acts Simulation Program (HASP). The design study at JAERI is of an arbitrarily mobile robot for inspection of nuclear facilities. We have developed the simulation software which has capability of obtaining several types of stable motions for straight walking in terms of design tools. In addition, we are studying more complex walking patterns such as turning. However, in order to realize the robustness of walking, it is also necessary for the robot to have a capability of walking under external force as a disturbance which is caused by touching an object and so on. A survey has been performed for collecting useful information from already existing biped locomotion robots. This is a survey report for the biped locomotion model under external force: the WL-12RIII/IV designed and developed at Waseda University. This report includes the machine model, control system, control method and results of walking experiments. (author)

Feasibility of a Dual-Fuel Engine Fuelled with Waste Vegetable Oil and Municipal Organic Fraction for Power Generation in Urban Areas

Directory of Open Access Journals (Sweden)

L. De Simio

2012-01-01

Full Text Available Biomass, in form of residues and waste, can be used to produce energy with low environmental impact. It is important to use the feedstock close to the places where waste are available, and with the shortest conversion pathway, to maximize the process efficiency. In particular waste vegetable oil and the organic fraction of municipal solid waste represent a good source for fuel production in urban areas. Dual fuel engines could be taken into consideration for an efficient management of these wastes. In fact, the dual fuel technology can achieve overall efficiencies typical of diesel engines with a cleaner exhaust emission. In this paper the feasibility of a cogeneration system fuelled with waste vegetable oil and biogas is discussed and the evaluation of performance and emissions is reported on the base of experimental activities on dual fuel heavy duty engine in comparison with diesel and spark ignition engines. The ratio of biogas potential from MSW and biodiesel potential from waste vegetable oil was estimated and it results suitable for dual fuel fuelling. An electric power installation of 70 kW every 10,000 people could be achieved.

Sex differences in gait utilization and energy metabolism during terrestrial locomotion in two varieties of chicken (Gallus gallus domesticus selected for different body size

Directory of Open Access Journals (Sweden)

Kayleigh A. Rose

2015-10-01

Full Text Available In leghorn chickens (Gallus gallus domesticus of standard breed (large and bantam (small varieties, artificial selection has led to females being permanently gravid and sexual selection has led to male-biased size dimorphism. Using respirometry, videography and morphological measurements, sex and variety differences in metabolic cost of locomotion, gait utilisation and maximum sustainable speed (Umax were investigated during treadmill locomotion. Males were capable of greater Umax than females and used a grounded running gait at high speeds, which was only observed in a few bantam females and no standard breed females. Body mass accounted for variation in the incremental increase in metabolic power with speed between the varieties, but not the sexes. For the first time in an avian species, a greater mass-specific incremental cost of locomotion, and minimum measured cost of transport (CoTmin were found in males than in females. Furthermore, in both varieties, the female CoTmin was lower than predicted from interspecific allometry. Even when compared at equivalent speeds (using Froude number, CoT decreased more rapidly in females than in males. These trends were common to both varieties despite a more upright limb in females than in males in the standard breed, and a lack of dimorphism in posture in the bantam variety. Females may possess compensatory adaptations for metabolic efficiency during gravidity (e.g. in muscle specialization/posture/kinematics. Furthermore, the elevated power at faster speeds in males may be linked to their muscle properties being suited to inter-male aggressive combat.

Artificial locomotion control

DEFF Research Database (Denmark)

Azevedo, Christine; Poignet, Philippe; Espiau, Bernard

2004-01-01

of postural and walking control; use of evolutive optimization objectives; on-line event handling and environment adaptation and anticipation. This leads to the synthesis of an original control scheme based on non-linear model predictive control: Trajectory Free NMPC. The movement is specified implicitly......This paper concerns the simultaneous synthesis and control of walking gaits for biped robots. The goal is to propose an adaptable and reactive control law for two-legged machines. The problem is addressed with human locomotion as a reference. The starting point of our work is an analysis of human...... walking from descriptive (biomechanics) as well as explicative (neuroscience and physiology) points of view, the objective being to stress the relevant elements for the approach of robot control. The adopted principles are then: no joint trajectory tracking; explicit distinction and integration...

Implication of dual-purpose nuclear desalination plants

International Nuclear Information System (INIS)

Kutbi, I.I.

1983-01-01

Available dual purpose nuclear desalination schemes are reviewed. Three specific issues namely, impact of availability and reliability of the desalination stage of the plant, integration of the desalination and power production stages and new safety concerns of dual system, relating to desalination schemes are discussed. Results of operational and reliability studies of nuclear power stations, reverse osmosis and multistage flash distillation desalination plants are considered. Operational aspects of nuclear-multistage flash distillation, nuclear-reverse osmosis and nuclear-multistage flash distillation-reverse osmosis are compared. Concludes that the combined nuclear-multistage flash distillation-reverse osmosis plant arrangement permits very large production capacity, high availability, improvement of plant reliability and proovision of savings on the cost of water and power produced. 23 Ref

On the Role of the Pedunculopontine Nucleus and Mesencephalic Reticular Formation in Locomotion in Nonhuman Primates.

Science.gov (United States)

Goetz, Laurent; Piallat, Brigitte; Bhattacharjee, Manik; Mathieu, Hervé; David, Olivier; Chabardès, Stéphan

2016-05-04

The mesencephalic reticular formation (MRF) is formed by the pedunculopontine and cuneiform nuclei, two neuronal structures thought to be key elements in the supraspinal control of locomotion, muscle tone, waking, and REM sleep. The role of MRF has also been advocated in modulation of state of arousal leading to transition from wakefulness to sleep and it is further considered to be a main player in the pathophysiology of gait disorders seen in Parkinson's disease. However, the existence of a mesencephalic locomotor region and of an arousal center has not yet been demonstrated in primates. Here, we provide the first extensive electrophysiological mapping of the MRF using extracellular recordings at rest and during locomotion in a nonhuman primate (NHP) (Macaca fascicularis) model of bipedal locomotion. We found different neuronal populations that discharged according to a phasic or a tonic mode in response to locomotion, supporting the existence of a locomotor neuronal circuit within these MRF in behaving primates. Altogether, these data constitute the first electrophysiological characterization of a locomotor neuronal system present within the MRF in behaving NHPs under normal conditions, in accordance with several studies done in different experimental animal models. We provide the first extensive electrophysiological mapping of the two major components of the mesencephalic reticular formation (MRF), namely the pedunculopontine and cuneiform nuclei. We exploited a nonhuman primate (NHP) model of bipedal locomotion with extracellular recordings in behaving NHPs at rest and during locomotion. Different MRF neuronal groups were found to respond to locomotion, with phasic or tonic patterns of response. These data constitute the first electrophysiological evidences of a locomotor neuronal system within the MRF in behaving NHPs. Copyright © 2016 the authors 0270-6474/16/364917-13$15.00/0.

Test requirements of locomotive fuel tank blunt impact tests

Science.gov (United States)

2013-10-15

The Federal Railroad Administrations Office of Research : and Development is conducting research into passenger : locomotive fuel tank crashworthiness. A series of impact tests : are planned to measure fuel tank deformation under two types : of dy...

DUAL TIMELIKE NORMAL AND DUAL TIMELIKE SPHERICAL CURVES IN DUAL MINKOWSKI SPACE

OpenAIRE

ÖNDER, Mehmet

2009-01-01

Abstract: In this paper, we give characterizations of dual timelike normal and dual timelike spherical curves in the dual Minkowski 3-space and we show that every dual timelike normal curve is also a dual timelike spherical curve. Keywords: Normal curves, Dual Minkowski 3-Space, Dual Timelike curves. Mathematics Subject Classifications (2000): 53C50, 53C40. DUAL MINKOWSKI UZAYINDA DUAL TIMELIKE NORMAL VE DUAL TIMELIKE KÜRESEL EĞRİLER Özet: Bu çalışmada, dual Minkowski 3-...

Modelling of dynamically stable AR-601M robot locomotion in Simulink

Directory of Open Access Journals (Sweden)

Khusainov Ramil

2016-01-01

Full Text Available Humanoid robots will gradually play an important role in our daily lives. Currently, research on anthropomorphic robots and biped locomotion is one of the most important problems in the field of mobile robotics, and the development of reliable control algorithms for them is a challenging task. In this research two algorithms for stable walking of Russian anthropomorphic robot AR-601M with 41 Degrees of Freedom (DoF are investigated. To achieve a human-like dynamically stable locomotion 6 DoF in each robot leg are controlled with Virtual Height Inverted Pendulum and Preview control methods.

Contact enhancement of locomotion in spreading cell colonies

Science.gov (United States)

D'Alessandro, Joseph; Solon, Alexandre P.; Hayakawa, Yoshinori; Anjard, Christophe; Detcheverry, François; Rieu, Jean-Paul; Rivière, Charlotte

2017-10-01

The dispersal of cells from an initially constrained location is a crucial aspect of many physiological phenomena, ranging from morphogenesis to tumour spreading. In such processes, cell-cell interactions may deeply alter the motion of single cells, and in turn the collective dynamics. While contact phenomena like contact inhibition of locomotion are known to come into play at high densities, here we focus on the little explored case of non-cohesive cells at moderate densities. We fully characterize the spreading of micropatterned colonies of Dictyostelium discoideum cells from the complete set of individual trajectories. From data analysis and simulation of an elementary model, we demonstrate that contact interactions act to speed up the early population spreading by promoting individual cells to a state of higher persistence, which constitutes an as-yet unreported contact enhancement of locomotion. Our findings also suggest that the current modelling paradigm of memoryless active particles may need to be extended to account for the history-dependent internal state of motile cells.

Next Generation Geothermal Power Plants

Energy Technology Data Exchange (ETDEWEB)

Brugman, John; Hattar, Mai; Nichols, Kenneth; Esaki, Yuri

1995-09-01

A number of current and prospective power plant concepts were investigated to evaluate their potential to serve as the basis of the next generation geothermal power plant (NGGPP). The NGGPP has been envisaged as a power plant that would be more cost competitive (than current geothermal power plants) with fossil fuel power plants, would efficiently use resources and mitigate the risk of reservoir under-performance, and minimize or eliminate emission of pollutants and consumption of surface and ground water. Power plant concepts were analyzed using resource characteristics at ten different geothermal sites located in the western United States. Concepts were developed into viable power plant processes, capital costs were estimated and levelized busbar costs determined. Thus, the study results should be considered as useful indicators of the commercial viability of the various power plants concepts that were investigated. Broadly, the different power plant concepts that were analyzed in this study fall into the following categories: commercial binary and flash plants, advanced binary plants, advanced flash plants, flash/binary hybrid plants, and fossil/geothed hybrid plants. Commercial binary plants were evaluated using commercial isobutane as a working fluid; both air-cooling and water-cooling were considered. Advanced binary concepts included cycles using synchronous turbine-generators, cycles with metastable expansion, and cycles utilizing mixtures as working fluids. Dual flash steam plants were used as the model for the commercial flash cycle. The following advanced flash concepts were examined: dual flash with rotary separator turbine, dual flash with steam reheater, dual flash with hot water turbine, and subatmospheric flash. Both dual flash and binary cycles were combined with other cycles to develop a number of hybrid cycles: dual flash binary bottoming cycle, dual flash backpressure turbine binary cycle, dual flash gas turbine cycle, and binary gas turbine

Performance Enhancement in L-Band Edfa Through Dual Stage Technique

Directory of Open Access Journals (Sweden)

S. W. Harun and H. Ahmad

2012-10-01

Full Text Available An experiment on gain enhancement in the long wavelength band erbium doped fiber amplifier (L-band EDFA is demonstrated. It uses a dual stage technique with dual forward pumping scheme. Compared to a conventional single stage amplifier, the small signal gain for 1580nm signal can be improved by 5.5dB without paying much noise figure penalty. The corresponding noise figure penalty was 0.3dB due to the insertion loss of the optical isolator. The optimum pump power ratio for the first pump is experimentally determined to be 33%. The maximum gain improvement of 8.3dB was obtained at a signal wavelength of 1568nm while signal and total pump powers were fixed at -30dBm and 92mW, respectively. The employment of dual stage amplifier system seems to play an important role in the development of practical L-band EDFA from the perspective of economical usage of pump power.Key Words:  erbium doped fibre; optical amplifier; L-band EDFA; dual stage EDFA; amplified spontaneous emission

Locomotion training of legged robots using hybrid machine learning techniques

Science.gov (United States)

Simon, William E.; Doerschuk, Peggy I.; Zhang, Wen-Ran; Li, Andrew L.

1995-01-01

In this study artificial neural networks and fuzzy logic are used to control the jumping behavior of a three-link uniped robot. The biped locomotion control problem is an increment of the uniped locomotion control. Study of legged locomotion dynamics indicates that a hierarchical controller is required to control the behavior of a legged robot. A structured control strategy is suggested which includes navigator, motion planner, biped coordinator and uniped controllers. A three-link uniped robot simulation is developed to be used as the plant. Neurocontrollers were trained both online and offline. In the case of on-line training, a reinforcement learning technique was used to train the neurocontroller to make the robot jump to a specified height. After several hundred iterations of training, the plant output achieved an accuracy of 7.4%. However, when jump distance and body angular momentum were also included in the control objectives, training time became impractically long. In the case of off-line training, a three-layered backpropagation (BP) network was first used with three inputs, three outputs and 15 to 40 hidden nodes. Pre-generated data were presented to the network with a learning rate as low as 0.003 in order to reach convergence. The low learning rate required for convergence resulted in a very slow training process which took weeks to learn 460 examples. After training, performance of the neurocontroller was rather poor. Consequently, the BP network was replaced by a Cerebeller Model Articulation Controller (CMAC) network. Subsequent experiments described in this document show that the CMAC network is more suitable to the solution of uniped locomotion control problems in terms of both learning efficiency and performance. A new approach is introduced in this report, viz., a self-organizing multiagent cerebeller model for fuzzy-neural control of uniped locomotion is suggested to improve training efficiency. This is currently being evaluated for a possible

Harmonic generation with a dual frequency pulse.

Science.gov (United States)

Keravnou, Christina P; Averkiou, Michalakis A

2014-05-01

Nonlinear imaging was implemented in commercial ultrasound systems over the last 15 years offering major advantages in many clinical applications. In this work, pulsing schemes coupled with a dual frequency pulse are presented. The pulsing schemes considered were pulse inversion, power modulation, and power modulated pulse inversion. The pulse contains a fundamental frequency f and a specified amount of its second harmonic 2f. The advantages and limitations of this method were evaluated with both acoustic measurements of harmonic generation and theoretical simulations based on the KZK equation. The use of two frequencies in a pulse results in the generation of the sum and difference frequency components in addition to the other harmonic components. While with single frequency pulses, only power modulation and power modulated pulse inversion contained odd harmonic components, with the dual frequency pulse, pulse inversion now also contains odd harmonic components.

Microresonator soliton dual-comb spectroscopy

Science.gov (United States)

Suh, Myoung-Gyun; Yang, Qi-Fan; Yang, Ki Youl; Yi, Xu; Vahala, Kerry J.

2016-11-01

Measurement of optical and vibrational spectra with high resolution provides a way to identify chemical species in cluttered environments and is of general importance in many fields. Dual-comb spectroscopy has emerged as a powerful approach for acquiring nearly instantaneous Raman and optical spectra with unprecedented resolution. Spectra are generated directly in the electrical domain, without the need for bulky mechanical spectrometers. We demonstrate a miniature soliton-based dual-comb system that can potentially transfer the approach to a chip platform. These devices achieve high-coherence pulsed mode locking. They also feature broad, reproducible spectral envelopes, an essential feature for dual-comb spectroscopy. Our work shows the potential for integrated spectroscopy with high signal-to-noise ratios and fast acquisition rates.

Dual-Energy Computed Tomography: Image Acquisition, Processing, and Workflow.

Science.gov (United States)

Megibow, Alec J; Kambadakone, Avinash; Ananthakrishnan, Lakshmi

2018-07-01

Dual energy computed tomography has been available for more than 10 years; however, it is currently on the cusp of widespread clinical use. The way dual energy data are acquired and assembled must be appreciated at the clinical level so that the various reconstruction types can extend its diagnostic power. The type of scanner that is present in a given practice dictates the way in which the dual energy data can be presented and used. This article compares and contrasts how dual source, rapid kV switching, and spectral technologies acquire and present dual energy reconstructions to practicing radiologists. Copyright © 2018 Elsevier Inc. All rights reserved.

An Enhanced Dual Droop Control Scheme for Resilient Active Power Sharing among Paralleled Two-Stage Converters

DEFF Research Database (Denmark)

Liu, Hongpeng; Yang, Yongheng; Wang, Xiongfei

2017-01-01

Traditional droop-controlled system has assumed that generators can always generate the powers demanded from them. This is true with conventional sources, where fuel supplies are usually planned in advance. For renewable sources, it may also be possible if energy storage is available. Energy...... storage, usually as batteries, may however be expensive, depending on its planned capacity. Renewable sources are therefore sometimes installed as non-dispatch-able sources without storage. This may not be viable for remote grids, where renewable sources may be the only or major type of sources. In those...... cases, traditional droop scheme may not work well when its demanded power cannot be met by some renewable sources due to intermittency. When that happens, the system may become unstable with some sources progressively brought out of generation. To avoid such occurrence, an enhanced dual droop scheme...

Locomotion Dynamics for Bio-inspired Robots with Soft Appendages: Application to Flapping Flight and Passive Swimming

Science.gov (United States)

Boyer, Frédéric; Porez, Mathieu; Morsli, Ferhat; Morel, Yannick

2017-08-01

In animal locomotion, either in fish or flying insects, the use of flexible terminal organs or appendages greatly improves the performance of locomotion (thrust and lift). In this article, we propose a general unified framework for modeling and simulating the (bio-inspired) locomotion of robots using soft organs. The proposed approach is based on the model of Mobile Multibody Systems (MMS). The distributed flexibilities are modeled according to two major approaches: the Floating Frame Approach (FFA) and the Geometrically Exact Approach (GEA). Encompassing these two approaches in the Newton-Euler modeling formalism of robotics, this article proposes a unique modeling framework suited to the fast numerical integration of the dynamics of a MMS in both the FFA and the GEA. This general framework is applied on two illustrative examples drawn from bio-inspired locomotion: the passive swimming in von Karman Vortex Street, and the hovering flight with flexible flapping wings.

A musculoskeletal model of human locomotion driven by a low dimensional set of impulsive excitation primitives.

Science.gov (United States)

Sartori, Massimo; Gizzi, Leonardo; Lloyd, David G; Farina, Dario

2013-01-01

Human locomotion has been described as being generated by an impulsive (burst-like) excitation of groups of musculotendon units, with timing dependent on the biomechanical goal of the task. Despite this view being supported by many experimental observations on specific locomotion tasks, it is still unknown if the same impulsive controller (i.e., a low-dimensional set of time-delayed excitastion primitives) can be used as input drive for large musculoskeletal models across different human locomotion tasks. For this purpose, we extracted, with non-negative matrix factorization, five non-negative factors from a large sample of muscle electromyograms in two healthy subjects during four motor tasks. These included walking, running, sidestepping, and crossover cutting maneuvers. The extracted non-negative factors were then averaged and parameterized to obtain task-generic Gaussian-shaped impulsive excitation curves or primitives. These were used to drive a subject-specific musculoskeletal model of the human lower extremity. Results showed that the same set of five impulsive excitation primitives could be used to predict the dynamics of 34 musculotendon units and the resulting hip, knee and ankle joint moments (i.e., NRMSE = 0.18 ± 0.08, and R (2) = 0.73 ± 0.22 across all tasks and subjects) without substantial loss of accuracy with respect to using experimental electromyograms (i.e., NRMSE = 0.16 ± 0.07, and R (2) = 0.78 ± 0.18 across all tasks and subjects). Results support the hypothesis that biomechanically different motor tasks might share similar neuromuscular control strategies. This might have implications in neurorehabilitation technologies such as human-machine interfaces for the torque-driven, proportional control of powered prostheses and orthoses. In this, device control commands (i.e., predicted joint torque) could be derived without direct experimental data but relying on simple parameterized Gaussian-shaped curves, thus decreasing the input drive

Pecuniary evaluation of provided service by local and global based dual-dimensional SDC and PSS2B in the context of deregulated power markets

International Nuclear Information System (INIS)

Shayeghi, H.; Hashemi, Y.

2013-01-01

Highlights: • Assessing the role and performance of SDC and PSS2B in deregulated power markets. • The profit allocation of WADC as an AS provider is involved in this work. • A dual-dimensional SDC scheme for UPFC is applied to damp the power system swings. • The high share of dual-dimensional SDC shows capability of it in enhancing security. - Abstract: The problem of profit allocation of Unified Power Flow Controller-Supplementary Damping Controller (UPFC-SDC) and accelerating power PSS model (PSS2B) is an important and update issue which has not been properly directed yet. The model of UPFC-SDC that has been used in this paper is a dual-dimensional controller that first dimension of control is resulted from local signals and the second dimension is covered by global signals as additional measuring data from appropriate remote network locations, where swings are well observable. Thus, in this paper the profit allocation of Wide Area Damping Controller (WADC) is also presented as an undefined problem in security subject of deregulated power system. Assuming control action by UPFC-SDC and WADC as an Ancillary Service (AS), the contribution of UPFC-SDC in stability enhancement is evaluated. It is important to appropriately choose a criterion to assess the performance of UPFC-SDC, so that a suitable allocation of profit can be achieved. The sum of deviations of damping ratios and real part of eigenvalues is selected as Oscillation Damping Criterion (ODC). Two scenarios for valuation of small signal stability as an AS provided by UPFC-SDC is considered. The first scenario without retuning of controllers and in the second scenario controllers is retuned due to response of the market situation. A multi-objective optimization approach based on ODC, generation costs and UPFC cost is considered and then Non-Dominated Sorting Genetic Algorithm-II (NSGA-II) is utilized for solving this problem. A two area four machine test power system is considered for investigation

Advanced Stirling Convertor Dual Convertor Controller Testing at NASA Glenn Research Center in the Radioisotope Power Systems System Integration Laboratory

Science.gov (United States)

Dugala, Gina M.; Taylor, Linda M.; Bell, Mark E.; Dolce, James L.; Fraeman, Martin; Frankford, David P.

2015-01-01

NASA Glenn Research Center developed a nonnuclear representation of a Radioisotope Power System (RPS) consisting of a pair of Advanced Stirling Convertors (ASCs), Dual Convertor Controller (DCC) EMs (engineering models) 2 and 3, and associated support equipment, which were tested in the Radioisotope Power Systems System Integration Laboratory (RSIL). The DCC was designed by the Johns Hopkins University Applied Physics Laboratory (JHU/APL) to actively control a pair of ASCs. The first phase of testing included a Dual Advanced Stirling Convertor Simulator (DASCS), which was developed by JHU/APL and simulates the operation and electrical behavior of a pair of ASCs in real time via a combination of hardware and software. RSIL provides insight into the electrical interactions between a representative radioisotope power generator, its associated control schemes, and realistic electric system loads. The first phase of integration testing included the following spacecraft bus configurations: capacitive, battery, and super-capacitor. A load profile, created based on data from several missions, tested the RPS's and RSIL's ability to maintain operation during load demands above and below the power provided by the RPS. The integration testing also confirmed the DCC's ability to disconnect from the spacecraft when the bus voltage dipped below 22 volts or exceeded 36 volts. Once operation was verified with the DASCS, the tests were repeated with actual operating ASCs. The goal of this integration testing was to verify operation of the DCC when connected to a spacecraft and to verify the functionality of the newly designed RSIL. The results of these tests are presented in this paper.

Geckos significantly alter foot orientation to facilitate adhesion during downhill locomotion.

Science.gov (United States)

Birn-Jeffery, Aleksandra V; Higham, Timothy E

2014-10-01

Geckos employ their adhesive system when moving up an incline, but the directionality of the system may limit function on downhill surfaces. Here, we use a generalist gecko to test whether limb modulation occurs on downhill slopes to allow geckos to take advantage of their adhesive system. We examined three-dimensional limb kinematics for geckos moving up and down a 45° slope. Remarkably, the hind limbs were rotated posteriorly on declines, resulting in digit III of the pes facing a more posterior direction (opposite to the direction of travel). No significant changes in limb orientation were found in any other condition. This pes rotation leads to a dramatic shift in foot function that facilitates the use of the adhesive system as a brake/stabilizer during downhill locomotion and, although this rotation is not unique to geckos, it is significant for the deployment of adhesion. Adhesion is not just advantageous for uphill locomotion but can be employed to help deal with the effects of gravity during downhill locomotion, highlighting the incredible multi-functionality of this key innovation. © 2014 The Author(s) Published by the Royal Society. All rights reserved.

Using the power balance model to simulate cross-country skiing on varying terrain

Directory of Open Access Journals (Sweden)

Moxnes JF

2014-05-01

Full Text Available John F Moxnes,1 Øyvind Sandbakk,2 Kjell Hausken31Department for Protection, Norwegian Defence Research Establishment, Kjeller, Norway; 2Center for Elite Sports Research, Department of Neuroscience, Norwegian University of Science and Technology, Trondheim, Norway; 3Faculty of Social Sciences, University of Stavanger, Stavanger, NorwayAbstract: The current study adapts the power balance model to simulate cross-country skiing on varying terrain. We assumed that the skier’s locomotive power at a self-chosen pace is a function of speed, which is impacted by friction, incline, air drag, and mass. An elite male skier’s position along the track during ski skating was simulated and compared with his experimental data. As input values in the model, air drag and friction were estimated from the literature based on the skier's mass, snow conditions, and speed. We regard the fit as good, since the difference in racing time between simulations and measurements was 2 seconds of the 815 seconds racing time, with acceptable fit both in uphill and downhill terrain. Using this model, we estimated the influence of changes in various factors such as air drag, friction, and body mass on performance. In conclusion, the power balance model with locomotive power as a function of speed was found to be a valid tool for analyzing performance in cross-country skiing.Keywords: air drag, efficiency, friction coefficient, speed, locomotive power

Peristaltic Wave Locomotion and Shape Morphing with a Millipede Inspired System

Science.gov (United States)

Spinello, Davide; Fattahi, Javad S.

2017-08-01

We present the mechanical model of a bio-inspired deformable system, modeled as a Timoshenko beam, which is coupled to a substrate by a system of distributed elements. The locomotion action is inspired by the coordinated motion of coupling elements that mimic the legs of millipedes and centipedes, whose leg-to-ground contact can be described as a peristaltic displacement wave. The multi-legged structure is crucial in providing redundancy and robustness in the interaction with unstructured environments and terrains. A Lagrangian approach is used to derive the governing equations of the system that couple locomotion and shape morphing. Features and limitations of the model are illustrated with numerical simulations.

Thermal design of a natural gas - diesel dual fuel turbocharged V18 engine for ship propulsion and power plant applications

Science.gov (United States)

Douvartzides, S.; Karmalis, I.

2016-11-01

A detailed method is presented on the thermal design of a natural gas - diesel dual fuel internal combustion engine. An 18 cylinder four stroke turbocharged engine is considered to operate at a maximum speed of 500 rpm for marine and power plant applications. Thermodynamic, heat transfer and fluid flow phenomena are mathematically analyzed to provide a real cycle analysis together with a complete set of calculated operation conditions, power characteristics and engine efficiencies. The method is found to provide results in close agreement to published data for the actual performance of similar engines such as V18 MAN 51/60DF.

The Harmonoise/IMAGINE model for traction noise of powered railway vehicles

NARCIS (Netherlands)

Dittrich, M.G.; Zhang, X.

2006-01-01

Traction noise is one of the noise sources of powered railway vehicles such as locomotives, electric- and diesel-powered multiple unit trains and high-speed trains. Especially at speeds below 60 km/h and at idling, but also at acceleration conditions for a wide range of speeds, traction noise can be

REACTIVE POWER DEVICES IN SYSTEMS OF ELECTRIC TRACTION

Directory of Open Access Journals (Sweden)

M. O. Kostin

2010-04-01

Full Text Available A comparative characteristic of different concepts and expressions for determination of reactive power in the circuits with non-sinusoidal electric values has been given. For the first Ukrainian electric locomotives of DE1 type with the system of DC electric traction, the values of reactive power after Budeany, Fryze, and also the differential, integral and generalized reactive powers have been determined. Some measures on reducing its consumption by the DC electric rolling stock have been suggested.

A predictive model of muscle excitations based on muscle modularity for a large repertoire of human locomotion conditions

Directory of Open Access Journals (Sweden)

Jose eGonzalez-Vargas

2015-09-01

Full Text Available Humans can efficiently walk across a large variety of terrains and locomotion conditions with little or no mental effort. It has been hypothesized that the nervous system simplifies neuromuscular control by using muscle synergies, thus organizing multi-muscle activity into a small number of coordinative co-activation modules. In the present study we investigated how muscle modularity is structured across a large repertoire of locomotion conditions including five different speeds and five different ground elevations. For this we have used the non-negative matrix factorization technique in order to explain EMG experimental data with a low-dimensional set of four motor components. In this context each motor components is composed of a non-negative factor and the associated muscle weightings. Furthermore, we have investigated if the proposed descriptive analysis of muscle modularity could be translated into a predictive model that could: 1 Estimate how motor components modulate across locomotion speeds and ground elevations. This implies not only estimating the non-negative factors temporal characteristics, but also the associated muscle weighting variations. 2 Estimate how the resulting muscle excitations modulate across novel locomotion conditions and subjects.The results showed three major distinctive features of muscle modularity: 1 the number of motor components was preserved across all locomotion conditions, 2 the non-negative factors were consistent in shape and timing across all locomotion conditions, and 3 the muscle weightings were modulated as distinctive functions of locomotion speed and ground elevation. Results also showed that the developed predictive model was able to reproduce well the muscle modularity of un-modeled data, i.e. novel subjects and conditions. Muscle weightings were reconstructed with a cross-correlation factor greater than 70% and a root mean square error less than 0.10. Furthermore, the generated muscle excitations

A novel device for studying weight supported, quadrupedal overground locomotion in spinal cord injured rats.

Science.gov (United States)

Hamlin, Marvin; Traughber, Terence; Reinkensmeyer, David J; de Leon, Ray D

2015-05-15

Providing weight support facilitates locomotion in spinal cord injured animals. To control weight support, robotic systems have been developed for treadmill stepping and more recently for overground walking. We developed a novel device, the body weight supported ambulatory rodent trainer (i.e. BART). It has a small pneumatic cylinder that moves along a linear track above the rat. When air is supplied to the cylinder, the rats are lifted as they perform overground walking. We tested the BART device in rats that received a moderate spinal cord contusion injury and in normal rats. Locomotor training with the BART device was not performed. All of the rats learned to walk in the BART device. In the contused rats, significantly greater paw dragging and dorsal stepping occurred in the hindlimbs compared to normal. Providing weight support significantly raised hip position and significantly reduced locomotor deficits. Hindlimb stepping was tightly coupled to forelimb stepping but only when the contused rats stepped without weight support. Three weeks after the contused rats received a complete spinal cord transection, significantly fewer hindlimb steps were performed. Relative to rodent robotic systems, the BART device is a simpler system for studying overground locomotion. The BART device lacks sophisticated control and sensing capability, but it can be assembled relatively easily and cheaply. These findings suggest that the BART device is a useful tool for assessing quadrupedal, overground locomotion which is a more natural form of locomotion relative to treadmill locomotion. Published by Elsevier B.V.

Comparative performance analysis of a dual-solenoid mechanical oscillator

International Nuclear Information System (INIS)

Lee, V C C; Lee, H V; Harno, H G; Woo, K C

2015-01-01

An innovative dual-solenoid electro-mechanical-vibro-impact system has been constructed and experimentally studied. Comparative studies against a mechanical spring system and a permanent magnet system have been performed, where it is shown that the dual-solenoid system is able to produce oscillations better than the permanent magnet system and more energy efficiently. Comparison with a higher-powered dual solenoid system has also been conducted where a stationary solenoid has shown to be a more dominant parameter. In addition, it is also discovered that a mechanical oscillator in the dual-solenoid system is independent of the angular frequency. (paper)

MTU locomotive drive systems for EU emissions stage IIIB

Energy Technology Data Exchange (ETDEWEB)

Wintruff, Ingo [MTU Friedrichshafen GmbH, Friedrichshafen (Germany)

2011-05-15

Emissions limits for diesel locomotives within the European Union are regulated by EU Non-road Directive 97/68/EC which places restrictions on the pollutants NOx, particulate, CO and HC. MTU has developed suitable diesel engines for EU Emissions stage IIIB. (orig.)

Power stations

International Nuclear Information System (INIS)

Cawte, H.; Philpott, E.F.

1980-01-01

The object is to provide a method of operating a dual purpose power station so that the steam supply system is operated at a high load factor. The available steam not required for electricity generation is used to provide process heat and the new feature is that the process plant capacity is determined to make the most economic use of the steam supply system, and not to match the passout capacity of the turbine of the turbogenerator. The product of the process plant should, therefore, be capable of being stored. A dual-purpose power station with a nuclear-powered steam source, turbogenerating means connected to the steam source and steam-powered process plant susceptible to wide variation in its rate of operation is described. (U.K.)

The Explicit Determinations Of Dual Plane Curves And Dual Helices In Terms Of Its Dual Curvature And Dual Torsion

OpenAIRE

Lee Jae Won; Choi Jin Ho; Jin Dae Ho

2014-01-01

In this paper, we give the explicit determinations of dual plane curves, general dual helices and dual slant helices in terms of its dual curvature and dual torsion as a fundamental theory of dual curves in a dual 3-space

Performance requirements for locomotive braking systems

CSIR Research Space (South Africa)

Vermaak, P

2000-02-01

Full Text Available operated “Neutral Brake”. This brake may become active immediately or after a certain time delay when the controller is placed in the neutral position or moved into the neutral position by the “dead-man’s device”. Because this brake will interfere... in testing emergency brake systems due to the inherent braking action of the service brakes and/or locomotive controllers; • Potential problems limitations to braking effort associated with the prime movers and/or hydraulic systems on hydrostatically...

Dual Wake-up Low Power Listening for Duty Cycled Wireless Sensor Networks

Directory of Open Access Journals (Sweden)

Jongkeun Na

2008-01-01

Full Text Available Energy management is an interesting research area for wireless sensor networks. Relevant dutycycling (or sleep scheduling algorithm has been actively studied at MAC, routing, and application levels. Low power listening (LPL MAC is one of effective dutycycling techniques. This paper proposes a novel approach called dual wake-up LPL (DW-LPL. Existing LPL scheme uses a preamble detection method for both broadcast and unicast, thus suffers from severe overhearing problem at unicast transmission. DW-LPL uses a different wake-up method for unicast while using LPL-like method for broadcast; DW-LPL introduces a receiver-initiated method in which a sender waits a signal from receiver to start unicast transmission, which incurs some signaling overhead but supports flexible adaptive listening as well as overhearing removal effect. Through analysis and Mote (Telosb experiment, we show that DW-LPL provides more energy saving than LPL and our adaptive listening scheme is effective for energy conservation in practical network topologies and traffic patterns.

Dual Wake-up Low Power Listening for Duty Cycled Wireless Sensor Networks

Directory of Open Access Journals (Sweden)

Lim Sangsoon

2008-01-01

Full Text Available Abstract Energy management is an interesting research area for wireless sensor networks. Relevant dutycycling (or sleep scheduling algorithm has been actively studied at MAC, routing, and application levels. Low power listening (LPL MAC is one of effective dutycycling techniques. This paper proposes a novel approach called dual wake-up LPL (DW-LPL. Existing LPL scheme uses a preamble detection method for both broadcast and unicast, thus suffers from severe overhearing problem at unicast transmission. DW-LPL uses a different wake-up method for unicast while using LPL-like method for broadcast; DW-LPL introduces a receiver-initiated method in which a sender waits a signal from receiver to start unicast transmission, which incurs some signaling overhead but supports flexible adaptive listening as well as overhearing removal effect. Through analysis and Mote (Telosb experiment, we show that DW-LPL provides more energy saving than LPL and our adaptive listening scheme is effective for energy conservation in practical network topologies and traffic patterns.

Investigation of power and frequency for 3D conformal MRI-controlled transurethral ultrasound therapy with a dual frequency multi-element transducer.

Science.gov (United States)

N'djin, William Apoutou; Burtnyk, Mathieu; Bronskill, Michael; Chopra, Rajiv

2012-01-01

Transurethral ultrasound therapy uses real-time magnetic resonance (MR) temperature feedback to enable the 3D control of thermal therapy accurately in a region within the prostate. Previous canine studies showed the feasibility of this method in vivo. The aim of this study was to reduce the procedure time, while maintaining targeting accuracy, by investigating new combinations of treatment parameters. Simulations and validation experiments in gel phantoms were used, with a collection of nine 3D realistic target prostate boundaries obtained from previous preclinical studies, where multi-slice MR images were acquired with the transurethral device in place. Acoustic power and rotation rate were varied based on temperature feedback at the prostate boundary. Maximum acoustic power and rotation rate were optimised interdependently, as a function of prostate radius and transducer operating frequency. The concept of dual frequency transducers was studied, using the fundamental frequency or the third harmonic component depending on the prostate radius. Numerical modelling enabled assessment of the effects of several acoustic parameters on treatment outcomes. The range of treatable prostate radii extended with increasing power, and tended to narrow with decreasing frequency. Reducing the frequency from 8 MHz to 4 MHz or increasing the surface acoustic power from 10 to 20 W/cm(2) led to treatment times shorter by up to 50% under appropriate conditions. A dual frequency configuration of 4/12 MHz with 20 W/cm(2) ultrasound intensity exposure can treat entire prostates up to 40 cm(3) in volume within 30 min. The interdependence between power and frequency may, however, require integrating multi-parametric functions in the controller for future optimisations.

RESEARCH OF IMPACT OF THE LOADING ON ENDURANCE OF THE FREIGHT LOCOMOTIVE ENGINES

Directory of Open Access Journals (Sweden)

Sergejus LEBEDEVAS

2015-12-01

Full Text Available The publication reflects the research results of the rationalization of the rolling stock use of JSC LG Lithuanian railways to increase the reliability indicators of the freight diesel locomotive exploitation reliability. The comparative evaluation of the exploited freight diesel locomotive work duration, according to the technical documentation, by using comparative test results and indirect diesel reliability criteria approved in practice. An algorithm of work duration forecasting methodology has been created, as well as a programme complex of mathematic modelling. The differences of the results indicated in the experiment and modelled by computer do not exceed 5 ÷ 7%. The proposed and described methodology of the diesel locomotive exploitation load cycle dynamic indicator reduction, by the use of which the following is achieved: increase of the diesel work duration by 7÷10%, reduction of fuel consumption up to 10%, reduction of the load cycle dynamic indicators (increasing the fatigue stress of parts and units of the diesel by 15÷20%.

Biomechanical Analysis of Treadmill Locomotion on the International Space Station

Science.gov (United States)

De Witt, J. K.; Fincke, R. S.; Guilliams, M. E.; Ploutz-Snyder, L. L.

2011-01-01

Treadmill locomotion exercise is an important aspect of ISS exercise countermeasures. It is widely believed that an optimized treadmill exercise protocol could offer benefits to cardiovascular and bone health. If training heart rate is high enough, treadmill exercise is expected to lead to improvements in aerobic fitness. If impact or bone loading forces are high enough, treadmill exercise may be expected to contribute to improved bone outcomes. Ground-based research suggests that joint loads increase with increased running speed. However, it is unknown if increases in locomotion speed results in similar increases in joint loads in microgravity. Although data exist regarding the biomechanics of running and walking in microgravity, a majority were collected during parabolic flight or during investigations utilizing a microgravity analog. The Second Generation Treadmill (T2) has been in use on the International Space Station (ISS) and records the ground reaction forces (GRF) produced by crewmembers during exercise. Biomechanical analyses will aid in understanding potential differences in typical gait motion and allow for modeling of the human body to determine joint and muscle forces during exercise. By understanding these mechanisms, more appropriate exercise prescriptions can be developed that address deficiencies. The objective of this evaluation is to collect biomechanical data from crewmembers during treadmill exercise prior to and during flight. The goal is to determine if locomotive biomechanics differ between normal and microgravity environments and to determine how combinations of subject load and speed influence joint loading during in-flight treadmill exercise. Further, the data will be used to characterize any differences in specific bone and muscle loading during locomotion in these two gravitational conditions. This project maps to the HRP Integrated Research Plan risks including Risk of Bone Fracture (Gap B15), Risk of Early Onset Osteoporosis Due to

Exploiting Dual-Output Programmable Blocks to Balance Secure Dual-Rail Logics

Directory of Open Access Journals (Sweden)

Laurent Sauvage

2010-01-01

for such purposes. However, assessing the security level which can be achieved with them is an important issue, as it is directly related to the suitability to use commercial FPGA instead of proprietary custom FPGA for this kind of protection. In this article, we experimentally gave evidence that differential placement and routing of an FPGA implementation can be done with a granularity fine enough to improve the security gain. However, so far, this gain turned out to be lower for FPGAs than for ASICs. The solutions demonstrated in this article exploit the dual-output of modern FPGAs to achieve a better balance of dual-rail interconnections. However, we expect that an in-depth analysis of routing resources power consumption could still help reduce the interconnect differential leakage.

Review of codes, standards, and regulations for natural gas locomotives.

Science.gov (United States)

2014-06-01

This report identified, collected, and summarized relevant international codes, standards, and regulations with potential : applicability to the use of natural gas as a locomotive fuel. Few international or country-specific codes, standards, and regu...

The Perceived Naturalness of Virtual Walking Speeds during WIP Locomotion

DEFF Research Database (Denmark)

Nilsson, Niels Chr.; Serafin, Stefania; Nordahl, Rolf

2016-01-01

It is well established that individuals tend to underestimate visually presented walking speeds when relying on treadmills for virtual walking. However, prior to the present studies this perceptual distortion had not been observed in relation to Walking-in-Place (WIP) locomotion, and a number...... to how gait cycle characteristics, visual display properties, and methodological differences affect speed underestimation during treadmill and WIP locomotion. The studies suggested the following: A significant main effect was found for step frequency; both display and geometric field of view were...... inversely proportional to the degree of underestimation; varying degrees of peripheral occlusion and increased HMD weight did not yield significant main effects; and the choice of method (i.e., how the speeds were presented) had a significant effect on the upper and lower bounds of what speeds were...

Effect of a dual-purpose cask payload increment of spent fuel assemblies from VVER 1000 Bushehr Nuclear Power Plant on basket criticality

International Nuclear Information System (INIS)

Rezaeian, M.; Kamali, J.

2017-01-01

Dual-purpose casks can be utilized for dry interim storage and transportation of the highly radioactive spent fuel assemblies (SFAs) of Bushehr Nuclear Power Plant (NPP). Criticality safety analysis was carried out using the MCNP code for the cask containing 12, 18, or 19 SFAs. The basket materials of borated stainless steel and Boral (Al-B_4C) were investigated, and the minimum required receptacle pitch of the basket was determined. - Highlights: • Criticality safety analysis for a dual purpose cask was carried out. • The basket material of borated stainless steel and Boral were investigated. • Minimum receptacle pitch was determined for 12, 18, or 19 VVER 1000 spent fuel assemblies.

Application of Boost Converter to Increase the Speed Range of Dual-stator Winding Induction Generator in Wind Power Systems

DEFF Research Database (Denmark)

Kavousi, Ayoub; Fathi, S. Hamid; Milimonfared, Jafar

2018-01-01

In this paper, a topology using a Dual-stator Winding Induction Generator (DWIG) and a boost converter is proposed for the variable speed wind power application. At low rotor speeds, the generator saturation limits the voltage of the DWIG. Using a boost converter, higher DC voltage can be produced...... while the DWIG operates at Maximum Power Point Tracking (MPPT) even at low speed and low voltage conditions. Semiconductor Excitation Controller (SEC) of the DWIG utilizes Control-Winding Voltage Oriented Control (CWVOC) method to adjust the voltage, considering V/f characteristics. For the proposed...... topology, the SEC capacity and the excitation capacitor is optimized by analyzing the SEC reactive current considering wind turbine power-speed curve, V/f strategy, and the generator parameters. The method shows that the per-unit capacity of the SEC can be limited to the inverse of DWIG magnetizing...

Power source with spark-safe outlet

Energy Technology Data Exchange (ETDEWEB)

Tsesarenko, N P; Alekhin, A V

1982-01-01

The invention refers to the technique of electrical monitoring and control in systems operating in a spark-safe medium (for example, in coal mines). A more accurate area of application is mobile objects with autonomous source of electricity (mine diesel locomotives, battery electric locomotives etc.). The purpose of the invention is to simplify and to improve the reliability of the planned device, and also to expand the area of application for conditions when it is powered from an autonomous generator of direct voltage. This goal is achieved because the power source with spark-safe outlet (the source contains a thyristor of advance disconnection, connected by anode to the delimiting throttle, one outlet of which is connected to the capacitor included between the controlling electrode and the anode of the thyristor, and the capacitor is connected through the resistor parallel to the outlet clamps of the source, while the thyristor of emergency protection connected parallel to the inlet clamps of the power source) is additionally equipped with a current sensor, hercon, transistor key (included in series in the power circuit) and optron, whose emitter is connected parallel to the current sensor connected in series to the inlet of the power source, while the receiver of the optron is connected in a circuit for controlling the thyristor of emergency protection. Hercon is built into the core of the delimiting throttle and is connected to the circuit for controlling the transistor key.

49 CFR Appendix D to Part 238 - Requirements for External Fuel Tanks on Tier I Locomotives

Science.gov (United States)

2010-10-01

... 49 Transportation 4 2010-10-01 2010-10-01 false Requirements for External Fuel Tanks on Tier I..., App. D Appendix D to Part 238—Requirements for External Fuel Tanks on Tier I Locomotives The... properties of the locomotive fuel tank to reduce the risk of fuel spillage to acceptable levels under...

Perception-Driven Obstacle-Aided Locomotion for Snake Robots: The State of the Art, Challenges and Possibilities †

Directory of Open Access Journals (Sweden)

Filippo Sanfilippo

2017-03-01

Full Text Available In nature, snakes can gracefully traverse a wide range of different and complex environments. Snake robots that can mimic this behaviour could be fitted with sensors and transport tools to hazardous or confined areas that other robots and humans are unable to access. In order to carry out such tasks, snake robots must have a high degree of awareness of their surroundings (i.e., perception-driven locomotion and be capable of efficient obstacle exploitation (i.e., obstacle-aided locomotion to gain propulsion. These aspects are pivotal in order to realise the large variety of possible snake robot applications in real-life operations such as fire-fighting, industrial inspection, search-and-rescue, and more. In this paper, we survey and discuss the state of the art, challenges, and possibilities of perception-driven obstacle-aided locomotion for snake robots. To this end, different levels of autonomy are identified for snake robots and categorised into environmental complexity, mission complexity, and external system independence. From this perspective, we present a step-wise approach on how to increment snake robot abilities within guidance, navigation, and control in order to target the different levels of autonomy. Pertinent to snake robots, we focus on current strategies for snake robot locomotion in the presence of obstacles. Moreover, we put obstacle-aided locomotion into the context of perception and mapping. Finally, we present an overview of relevant key technologies and methods within environment perception, mapping, and representation that constitute important aspects of perception-driven obstacle-aided locomotion.

Feasibility study for SOFC-GT hybrid locomotive power: Part I. Development of a dynamic 3.5 MW SOFC-GT FORTRAN model

OpenAIRE

Martinez, AS; Brouwer, J; Samuelsen, GS

2012-01-01

This work presents the development of a dynamic SOFC-GT hybrid system model applied to a long-haul freight locomotive in operation. Given the expectations of the rail industry, the model is used to develop a preliminary analysis of the proposed system's operational capability on conventional diesel fuel as well as natural gas and hydrogen as potential fuels in the future. It is found that operation of the system on all three of these fuels is feasible with favorable efficiencies and reasonabl...

Lameness Detection in Dairy Cows: Part 1. How to Distinguish between Non-Lame and Lame Cows Based on Differences in Locomotion or Behavior

Science.gov (United States)

Van Nuffel, Annelies; Zwertvaegher, Ingrid; Pluym, Liesbet; Van Weyenberg, Stephanie; Thorup, Vivi M.; Pastell, Matti; Sonck, Bart; Saeys, Wouter

2015-01-01

Simple Summary Scoring cattle for lameness based on changes in locomotion or behavior is essential for farmers to find and treat their lame animals. This review discusses the normal locomotion of cows in order to define abnormal locomotion due to lameness. It furthermore provides an overview of various relevant visual locomotion scoring systems that are currently being used as well as practical considerations when assessing lameness on a commercial farm. Abstract Due to its detrimental effect on cow welfare, health and production, lameness in dairy cows has received quite a lot of attention in the last few decades—not only in terms of prevention and treatment of lameness but also in terms of detection, as early treatment might decrease the number of severely lame cows in the herds as well as decrease the direct and indirect costs associated with lameness cases. Generally, lame cows are detected by the herdsman, hoof trimmer or veterinarian based on abnormal locomotion, abnormal behavior or the presence of hoof lesions during routine trimming. In the scientific literature, several guidelines are proposed to detect lame cows based on visual interpretation of the locomotion of individual cows (i.e., locomotion scoring systems). Researchers and the industry have focused on automating such observations to support the farmer in finding the lame cows in their herds, but until now, such automated systems have rarely been used in commercial herds. This review starts with the description of normal locomotion of cows in order to define ‘abnormal’ locomotion caused by lameness. Cow locomotion (gait and posture) and behavioral features that change when a cow becomes lame are described and linked to the existing visual scoring systems. In addition, the lack of information of normal cow gait and a clear description of ‘abnormal’ gait are discussed. Finally, the different set-ups used during locomotion scoring and their influence on the resulting locomotion scores are

On-chip dual comb source for spectroscopy

OpenAIRE

Dutt, Avik; Joshi, Chaitanya; Ji, Xingchen; Cardenas, Jaime; Okawachi, Yoshitomo; Luke, Kevin; Gaeta, Alexander L.; Lipson, Michal

2016-01-01

Dual-comb spectroscopy is a powerful technique for real-time, broadband optical sampling of molecular spectra which requires no moving components. Recent developments with microresonator-based platforms have enabled frequency combs at the chip scale. However, the need to precisely match the resonance wavelengths of distinct high-quality-factor microcavities has hindered the development of an on-chip dual comb source. Here, we report the first simultaneous generation of two microresonator comb...

Manual and automatic locomotion scoring systems in dairy cows: a review.

Science.gov (United States)

Schlageter-Tello, Andrés; Bokkers, Eddie A M; Koerkamp, Peter W G Groot; Van Hertem, Tom; Viazzi, Stefano; Romanini, Carlos E B; Halachmi, Ilan; Bahr, Claudia; Berckmans, Daniël; Lokhorst, Kees

2014-09-01

The objective of this review was to describe, compare and evaluate agreement, reliability, and validity of manual and automatic locomotion scoring systems (MLSSs and ALSSs, respectively) used in dairy cattle lameness research. There are many different types of MLSSs and ALSSs. Twenty-five MLSSs were found in 244 articles. MLSSs use different types of scale (ordinal or continuous) and different gait and posture traits need to be observed. The most used MLSS (used in 28% of the references) is based on asymmetric gait, reluctance to bear weight, and arched back, and is scored on a five-level scale. Fifteen ALSSs were found that could be categorized according to three approaches: (a) the kinetic approach measures forces involved in locomotion, (b) the kinematic approach measures time and distance of variables associated to limb movement and some specific posture variables, and (c) the indirect approach uses behavioural variables or production variables as indicators for impaired locomotion. Agreement and reliability estimates were scarcely reported in articles related to MLSSs. When reported, inappropriate statistical methods such as PABAK and Pearson and Spearman correlation coefficients were commonly used. Some of the most frequently used MLSSs were poorly evaluated for agreement and reliability. Agreement and reliability estimates for the original four-, five- or nine-level MLSS, expressed in percentage of agreement, kappa and weighted kappa, showed large ranges among and sometimes also within articles. After the transformation into a two-level scale, agreement and reliability estimates showed acceptable estimates (percentage of agreement ≥ 75%; kappa and weighted kappa ≥ 0.6), but still estimates showed a large variation between articles. Agreement and reliability estimates for ALSSs were not reported in any article. Several ALSSs use MLSSs as a reference for model calibration and validation. However, varying agreement and reliability estimates of MLSSs make a

UWB dual burst transmit driver

Science.gov (United States)

Dallum, Gregory E [Livermore, CA; Pratt, Garth C [Discovery Bay, CA; Haugen, Peter C [Livermore, CA; Zumstein, James M [Livermore, CA; Vigars, Mark L [Livermore, CA; Romero, Carlos E [Livermore, CA

2012-04-17

A dual burst transmitter for ultra-wideband (UWB) communication systems generates a pair of precisely spaced RF bursts from a single trigger event. An input trigger pulse produces two oscillator trigger pulses, an initial pulse and a delayed pulse, in a dual trigger generator. The two oscillator trigger pulses drive a gated RF burst (power output) oscillator. A bias driver circuit gates the RF output oscillator on and off and sets the RF burst packet width. The bias driver also level shifts the drive signal to the level that is required for the RF output device.

Swimming near the substrate: a simple robotic model of stingray locomotion

International Nuclear Information System (INIS)

Blevins, Erin; Lauder, George V

2013-01-01

Studies of aquatic locomotion typically assume that organisms move through unbounded fluid. However, benthic fishes swim close to the substrate and will experience significant ground effects, which will be greatest for fishes with wide spans such as benthic batoids and flatfishes. Ground effects on fixed-wing flight are well understood, but these models are insufficient to describe the dynamic interactions between substrates and undulating, oscillating fish. Live fish alter their swimming behavior in ground effect, complicating comparisons of near-ground and freestream swimming performance. In this study, a simple, stingray-inspired physical model offers insights into ground effects on undulatory swimmers, contrasting the self-propelled swimming speed, power requirements, and hydrodynamics of fins swimming with fixed kinematics near and far from a solid boundary. Contrary to findings for gliding birds and other fixed-wing fliers, ground effect does not necessarily enhance the performance of undulating fins. Under most kinematic conditions, fins do not swim faster in ground effect, power requirements increase, and the cost of transport can increase by up to 10%. The influence of ground effect varies with kinematics, suggesting that benthic fish might modulate their swimming behavior to minimize locomotor penalties and incur benefits from swimming near a substrate. (paper)

Power optimized variation aware dual-threshold SRAM cell design technique

Directory of Open Access Journals (Sweden)

Aminul Islam

2011-02-01

Full Text Available Aminul Islam1, Mohd Hasan21Department of Electronics and Communication Engineering, Birla Institute of Technology, Mesra, Ranchi, Jharkhand, India; 2Department of Electronics Engineering, Aligarh Muslim University, Aligarh, Uttar Pradesh, IndiaAbstract: Bulk complementary metal-oxide semiconductor (CMOS technology is facing enormous challenges at channel lengths below 45 nm, such as gate tunneling, device mismatch, random dopant fluctuations, and mobility degradation. Although multiple gate transistors and strained silicon devices overcome some of the bulk CMOS problems, it is sensible to look for revolutionary new materials and devices to replace silicon. It is obvious that future technology materials should exhibit higher mobility, better channel electrostatics, scalability, and robustness against process variations. Carbon nanotube-based technology is very promising because it has most of these desired features. There is a need to explore the potential of this emerging technology by designing circuits based on this technology and comparing their performance with that of existing bulk CMOS technology. In this paper, we propose a low-power variation-immune dual-threshold voltage carbon nanotube field effect transistor (CNFET-based seven-transistor (7T static random access memory (SRAM cell. The proposed CNFET-based 7T SRAM cell offers ~1.2× improvement in standby power, ~1.3× improvement in read delay, and ~1.1× improvement in write delay. It offers narrower spread in write access time (1.4× at optimum energy point [OEP] and 1.2× at 1 V. It features 56.3% improvement in static noise margin and 40% improvement in read static noise margin. All the simulation measurements are taken at proposed OEP decided by the optimum results obtained after extensive simulation on HSPICE (high-performance simulation program with integrated circuit emphasis environment.Keywords: carbon nanotube field effect transistor (CNFET, chirality vector, random dopant

Comparison of kinematic and dynamic leg trajectory optimization techniques for biped robot locomotion

Science.gov (United States)

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.

78 FR 33860 - Crawler, Locomotive, and Truck Cranes Standard; Extension of the Office of Management and Budget...

Science.gov (United States)

2013-06-05

...] Crawler, Locomotive, and Truck Cranes Standard; Extension of the Office of Management and Budget's (OMB... collection requirements contained in the General Industry Standard on Crawler, Locomotive, and Truck cranes... workers from using unsafe cranes and ropes, thereby reducing their risk of death or serious injury caused...

75 FR 20005 - Crawler, Locomotive, and Truck Cranes Standard; Extension of the Office of Management and Budget...

Science.gov (United States)

2010-04-16

...] Crawler, Locomotive, and Truck Cranes Standard; Extension of the Office of Management and Budget's (OMB... Crawler, Locomotive, and Truck Cranes Standard (29 CFR 1910.180). DATES: Comments must be submitted... of each of these requirements is to prevent workers from using unsafe cranes and ropes, thereby...

Comparison of corneal power, astigmatism, and wavefront aberration measurements obtained by a point-source color light-emitting diode-based topographer, a Placido-disk topographer, and a combined Placido and dual Scheimpflug device.

Science.gov (United States)

Ventura, Bruna V; Wang, Li; Ali, Shazia F; Koch, Douglas D; Weikert, Mitchell P

2015-08-01

To evaluate and compare the performance of a point-source color light-emitting diode (LED)-based topographer (color-LED) in measuring anterior corneal power and aberrations with that of a Placido-disk topographer and a combined Placido and dual Scheimpflug device. Cullen Eye Institute, Baylor College of Medicine, Houston, Texas USA. Retrospective observational case series. Normal eyes and post-refractive-surgery eyes were consecutively measured using color-LED, Placido, and dual-Scheimpflug devices. The main outcome measures were anterior corneal power, astigmatism, and higher-order aberrations (HOAs) (6.0 mm pupil), which were compared using the t test. There were no statistically significant differences in corneal power measurements in normal and post-refractive surgery eyes and in astigmatism magnitude in post-refractive surgery eyes between the color-LED device and Placido or dual Scheimpflug devices (all P > .05). In normal eyes, there were no statistically significant differences in 3rd-order coma and 4th-order spherical aberration between the color-LED and Placido devices and in HOA root mean square, 3rd-order coma, 3rd-order trefoil, 4th-order spherical aberration, and 4th-order secondary astigmatism between the color-LED and dual Scheimpflug devices (all P > .05). In post-refractive surgery eyes, the color-LED device agreed with the Placido and dual-Scheimpflug devices regarding 3rd-order coma and 4th-order spherical aberration (all P > .05). In normal and post-refractive surgery eyes, all 3 devices were comparable with respect to corneal power. The agreement in corneal aberrations varied. Drs. Wang, Koch, and Weikert are consultants to Ziemer Ophthalmic Systems AG. Dr. Koch is a consultant to Abbott Medical Optics, Inc., Alcon Surgical, Inc., and i-Optics Corp. Copyright © 2015 ASCRS and ESCRS. Published by Elsevier Inc. All rights reserved.

SIMULATION OF DRIVER’S LOCOMOTIVE-HANDLING ACTIVITY USING THE THEORY OF FUZZY GRAPHS

Directory of Open Access Journals (Sweden)

T. V. Butko

2015-03-01

Full Text Available Purpose. The efficiency and safety of locomotive control improving is important and relevant scientific and practical problem. Every driver during the trains-handling bases on his experience and knowledge, that is why the compilation and detection the most efficient ways to control the locomotive-handling is one of the stages of measures development to reduce transportation costs. The purpose of this paper is a formalization process description of locomotive-handling and quality parameters determination of this process. Methodology. In order to achieve this goal the theory of fuzzy probabilistic graphs was used. Vertices of the graph correspond to the events start and end operations at train-handling. The graph arcs describe operations on train-handling. Graph consists of thirteen peaks corresponding to the main control actions of the engine-driver. The weighting factors of transitions between vertices are assigned by fuzzy numbers. Their values were obtained by expert estimates. Fuzzy probabilities and transition time are presented as numbers with trapezoidal membership function. Findings. Using successive merging of parallel arcs, loops and vertices elimination, the equivalent fuzzy graph of train-handling and the corresponding L-matrix were obtained. Equivalent graph takes into account separately activity of the driver during normal operation and during emergency situations. Originality. The theoretical foundations of describing process formalization in driver’s locomotive-handling activity were developed using the fuzzy probabilistic graph. The parameters characterizing the decision-making process of engineer were obtained. Practical value. With the resulting model it is possible to estimate the available reserves for the quality improvement of locomotive-handling. Reduction in the time for decision-making will lead to the approximation the current mode of control to the rational one and decrease costs of hauling operations. And reduction

Designing presence for real locomotion in immersive virtual environments

DEFF Research Database (Denmark)

Turchet, Luca

2015-01-01

This paper describes a framework for designing systems for real locomotion in virtual environments (VEs) in order to achieve an intense sense of presence. The main outcome of the present research is a list of design features that the virtual reality technology should have in order to achieve...

Longitudinal Prediction of Quality-of-Life Scores and Locomotion in Individuals With Traumatic Spinal Cord Injury.

Science.gov (United States)

Hiremath, Shivayogi V; Hogaboom, Nathan S; Roscher, Melissa R; Worobey, Lynn A; Oyster, Michelle L; Boninger, Michael L

2017-12-01

To examine (1) differences in quality-of-life scores for groups based on transitions in locomotion status at 1, 5, and 10 years postdischarge in a sample of people with spinal cord injury (SCI); and (2) whether demographic factors and transitions in locomotion status can predict quality-of-life measures at these time points. Retrospective case study of the National SCI Database. Model SCI Systems Centers. Individuals with SCI (N=10,190) from 21 SCI Model Systems Centers, identified through the National SCI Model Systems Centers database between the years 1985 and 2012. Subjects had FIM (locomotion mode) data at discharge and at least 1 of the following: 1, 5, or 10 years postdischarge. Not applicable. FIM-locomotion mode; Severity of Depression Scale; Satisfaction With Life Scale; and Craig Handicap Assessment and Reporting Technique. Participants who transitioned from ambulation to wheelchair use reported lower participation and life satisfaction, and higher depression levels (P.05) or life satisfaction (P>.05) compared with those who transitioned from wheelchair to ambulation. Demographic factors and locomotion transitions predicted quality-of-life scores at all time points (P<.05). The results of this study indicate that transitioning from ambulation to wheelchair use can negatively impact psychosocial health 10 years after SCI. Clinicians should be aware of this when deciding on ambulation training. Further work to characterize who may be at risk for these transitions is needed. Copyright © 2017 American Congress of Rehabilitation Medicine. Published by Elsevier Inc. All rights reserved.

Dual-worm screw compressors; Compresseurs bi-vis

Energy Technology Data Exchange (ETDEWEB)

Baleydier, J P [Bitzer France, 69 - Lyon (France)

1998-12-31

Low power worm-screw moto-compressors are used in any king of refrigerating machineries and more and more in air conditioning systems. This paper presents the principle of dual-screw moto-compressors: worm-screw technology, role of oil (lubrication, tightness, cooling), compression, internal pressure, power reduction, lubrication, economizer, operation, model selection and accessories. (J.S.)

Dual-worm screw compressors; Compresseurs bi-vis

Energy Technology Data Exchange (ETDEWEB)

Baleydier, J.P. [Bitzer France, 69 - Lyon (France)

1997-12-31

Low power worm-screw moto-compressors are used in any king of refrigerating machineries and more and more in air conditioning systems. This paper presents the principle of dual-screw moto-compressors: worm-screw technology, role of oil (lubrication, tightness, cooling), compression, internal pressure, power reduction, lubrication, economizer, operation, model selection and accessories. (J.S.)

A Novel Interactive Exoskeletal Robot for Overground Locomotion Studies in Rats.

Science.gov (United States)

Song, Yun Seong; Hogan, Neville

2015-07-01

This paper introduces a newly developed apparatus, Iron Rat, for locomotion research in rodents. Its main purpose is to allow maximal freedom of voluntary overground movement of the animal while providing forceful interaction to the hindlimbs. Advantages and challenges of the proposed exoskeletal apparatus over other existing designs are discussed. Design and implementation challenges are presented and discussed, emphasizing their implications for free, voluntary movement of the animal. A live-animal experiment was conducted to assess the design. Unconstrained natural movement of the animal was compared with its movement with the exoskeletal module attached. The compact design and back-drivable implementation of this apparatus will allow novel experimental manipulations that may include forceful yet compliant dynamic interaction with the animal's overground locomotion.

Mutually opposing forces during locomotion can eliminate the tradeoff between maneuverability and stability

Science.gov (United States)

Cowan, Noah; Sefati, Shahin; Neveln, Izaak; Roth, Eatai; Mitchell, Terence; Snyder, James; Maciver, Malcolm; Fortune, Eric

A surprising feature of animal locomotion is that organisms typically produce substantial forces in directions other than what is necessary to move the animal through its environment, such as perpendicular to, or counter to, the direction of travel. The effect of these forces has been difficult to observe because they are often mutually opposing and therefore cancel out. Using a combination of robotic physical modeling, computational modeling, and biological experiments, we discovered that these forces serve an important role: to simplify and enhance the control of locomotion. Specifically, we examined a well-suited model system, the glass knifefish Eigenmannia virescens, which produces mutually opposing forces during a hovering behavior. By systematically varying the locomotor parameters of our biomimetic robot, and measuring the resulting forces and kinematics, we demonstrated that the production and differential control of mutually opposing forces is a strategy that generates passive stabilization while simultaneously enhancing maneuverability. Mutually opposing forces during locomotion are widespread across animal taxa, and these results indicate that such forces can eliminate the tradeoff between stability and maneuverability, thereby simplifying robotic and neural control.

Adsorption cold storage system with zeolite-water working pair used for locomotive air conditioning

International Nuclear Information System (INIS)

Lu, Y.Z.; Wang, R.Z.; Zhang, M.; Jiangzhou, S.

2003-01-01

Adsorption cold storage has lately attracted attention for its large storage capacity and zero cold energy loss during the storing process. Thermodynamic and experimental studies on the cold storage capacity and the cold discharging process, in which the adsorber is either air cooled or adiabatic, have been presented. An adsorption cold storage system with zeolite-water working pair has been developed, and some operating results are summarized. This system is used for providing air conditioning for the driver's cab of an internal combustion locomotive. Unlike a normal adsorption air conditioner, the system starts running with the adsorption process, during which the cold energy stored is discharged, and ends running with the generation process. The adsorbent temperature decreases during the cold storing period between two runs. The refrigeration power output for the whole running cycle is about 4.1 kW. It appears that such a system is quite energetically efficient and is comparatively suitable for providing discontinuous refrigeration capacity when powered by low grade thermal energy, such as industrial exhausted heat or solar energy

Biomechanics of gecko locomotion: the patterns of reaction forces on inverted, vertical and horizontal substrates

International Nuclear Information System (INIS)

Wang, Zhouyi; Dai, Zhendong; Ji, Aihong; Xing, Qiang; Ren, Lei; Dai, Liming

2015-01-01

The excellent locomotion ability of geckos on various rough and/or inclined substrates has attracted scientists’ attention for centuries. However, the moving ability of gecko-mimicking robots on various inclined surfaces still lags far behind that of geckos, mainly because our understanding of how geckos govern their locomotion is still very poor. To reveal the fundamental mechanism of gecko locomotion and also to facilitate the design of gecko-mimicking robots, we have measured the reaction forces (RFs) acting on each individual foot of moving geckos on inverted, vertical and horizontal substrates (i.e. ceiling, wall and floor), have associated the RFs with locomotion behaviors by using high-speed camera, and have presented the relationships of the force components with patterns of reaction forces (PRFs). Geckos generate different PRF on ceiling, wall and floor, that is, the PRF is determined by the angles between the direction of gravity and the substrate on which geckos move. On the ceiling, geckos produce reversed shear forces acting on the front and hind feet, which pull away from the body in both lateral and fore-aft directions. They use a very large supporting angle from 21° to 24° to reduce the forces acting on their legs and feet. On the floor, geckos lift their bodies using a supporting angle from 76° to 78°, which not only decreases the RFs but also improves their locomotion ability. On the wall, geckos generate a reliable self-locking attachment by using a supporting angle of 14.8°, which is only about half of the critical angle of detachment. (paper)

USING THE INFORMATION OF ON-BOARD DIAGNOSTIC SYSTEMS IN DETERMINING THE TECHNICAL STATE OF THE LOCOMOTIVE

Directory of Open Access Journals (Sweden)

B. Ye. Bodnar

2008-12-01

Full Text Available The issues of increase of efficiency of information processing by оn-board systems of diagnostics of locomotives are considered. The examples of information processing by the on-board system of diagnostics of electric locomotives DE1 are presented. The suggestions on improvement of systematization and processing of information by on-board systems of diagnostics are given.

Activation of groups of excitatory neurons in the mammalian spinal cord or hindbrain evokes locomotion

DEFF Research Database (Denmark)

Hägglund, Martin; Borgius, Lotta; Dougherty, Kimberly J.

2010-01-01

Central pattern generators (CPGs) are spinal neuronal networks required for locomotion. Glutamatergic neurons have been implicated as being important for intrinsic rhythm generation in the CPG and for the command signal for initiating locomotion, although this has not been demonstrated directly. We...... neurons in the spinal cord are critical for initiating or maintaining the rhythm and that activation of hindbrain areas containing the locomotor command regions is sufficient to directly activate the spinal locomotor network....

Development of generalized dynamic model of oscillations of cylinder case of diesel engine of locomotive

Directory of Open Access Journals (Sweden)

Irina YUTKINA

2014-03-01

Full Text Available An engineering method of design, worked out by the authors, is considered in the paper. It allows to carry out design of amplitude-frequency specter and vibration loading of cylinder cases of the diesel engine of locomotive with account of cavitation-erosion damage. Offered method of design of parameters of cavitation-erosion damage may be used in design of new structures of diesel engines of locomotives and systems of cooling.

Research of the possibility of using neural networks in the tests of locomotive hydraulic transmissions

OpenAIRE

КЛЮШНИК, І. А.

2017-01-01

The possibility of developing a self-diagnostics system of the diesel locomotives hydraulic transmissions information-measuring test system is researched. The use of neural networks and fuzzy logic for the development of a self-diagnostics system of the diesel locomotives hydraulic transmissions information-measuring tests system is proposed. As the initial stage of developing a diagnostic system using neural networks, a neural network is presented which predicts the rotational speed of the h...

Energy Efficiency of Robot Locomotion Increases Proportional to Weight

DEFF Research Database (Denmark)

Larsen, Jørgen Christian; Støy, Kasper

2011-01-01

The task of producing steady, stable and energy efficient locomotion in legged robots with the ability to walk in un- known terrain have for many years been a big challenge in robotics. This work is focusing on how different robots build from the modular robotic system, LocoKit by Larsen et. la [3...

Energy Efficiency of Robot Locomotion Increases Proportional to Weight

DEFF Research Database (Denmark)

Larsen, J. C.; Stoy, K.

2011-01-01

The task of producing steady, stable and energy efficient locomotion in legged robots with the ability to walk in unknown terrain have for many years been a big challenge in robotics. This work is focusing on how different robots build from the modular robotic system, LocoKit by Larsen et al. [1...

40 CFR 1042.836 - Marine certification of locomotive remanufacturing systems.

Science.gov (United States)

2010-07-01

... 40 Protection of Environment 32 2010-07-01 2010-07-01 false Marine certification of locomotive remanufacturing systems. 1042.836 Section 1042.836 Protection of Environment ENVIRONMENTAL PROTECTION AGENCY... ENGINES AND VESSELS Special Provisions for Remanufactured Marine Engines § 1042.836 Marine certification...

Flexible Coupling of Respiration and Vocalizations with Locomotion and Head Movements in the Freely Behaving Rat

Directory of Open Access Journals (Sweden)

Joseph Andrews Alves

2016-01-01

Full Text Available Quadrupedal mammals typically synchronize their respiration with body movements during rhythmic locomotion. In the rat, fast respiration is coupled to head movements during sniffing behavior, but whether respiration is entrained by stride dynamics is not known. We recorded intranasal pressure, head acceleration, instantaneous speed, and ultrasonic vocalizations from male and female adult rats while freely behaving in a social environment. We used high-speed video recordings of stride to understand how head acceleration signals relate to locomotion and developed techniques to identify episodes of sniffing, walking, trotting, and galloping from the recorded variables. Quantitative analysis of synchrony between respiration and head acceleration rhythms revealed that respiration and locomotion movements were coordinated but with a weaker coupling than expected from previous work in other mammals. We have recently shown that rats behaving in social settings produce high rates of ultrasonic vocalizations during locomotion bouts. Accordingly, rats emitted vocalizations in over half of the respiratory cycles during fast displacements. We present evidence suggesting that emission of these calls disrupts the entrainment of respiration by stride. The coupling between these two variables is thus flexible, such that it can be overridden by other behavioral demands.

Dual-Axis Solar Tracking System for Maximum Power Production in PV Systems

Directory of Open Access Journals (Sweden)

Muhd.Ikram Mohd. Rashid

2015-12-01

Full Text Available The power developed in a solar energy system depends fundamentally upon the amount of sunlight captured by the photovoltaic modules/arrays. This paper describes a simple electro-mechanical dual axis solar tracking system designed and developed in a study. The control of the two axes was achieved by the pulses generated from the data acquisition (DAQ card fed into four relays. This approach was so chosen to effectively avoid the error that usually arises in sensor-based methods. The programming of the mathematical models of the solar elevation and azimuth angles was done using Borland C++ Builder. The performance and accuracy of the developed system was evaluated with a PV panel at latitude 3.53o N and longitude 103.5o W in Malaysia. The results obtained reflect the effectiveness of the developed tracking system in terms of the energy yield when compared with that generated from a fixed panel. Overall, 20%, 23% and 21% additional energy were produced for the months of March, April and May respectively using the tracker developed in this study.

Efficient worm-like locomotion: slip and control of soft-bodied peristaltic robots

International Nuclear Information System (INIS)

Daltorio, Kathryn A; Horchler, Andrew D; Quinn, Roger D; Boxerbaum, Alexander S; Shaw, Kendrick M; Chiel, Hillel J

2013-01-01

In this work, we present a dynamic simulation of an earthworm-like robot moving in a pipe with radially symmetric Coulomb friction contact. Under these conditions, peristaltic locomotion is efficient if slip is minimized. We characterize ways to reduce slip-related losses in a constant-radius pipe. Using these principles, we can design controllers that can navigate pipes even with a narrowing in radius. We propose a stable heteroclinic channel controller that takes advantage of contact force feedback on each segment. In an example narrowing pipe, this controller loses 40% less energy to slip compared to the best-fit sine wave controller. The peristaltic locomotion with feedback also has greater speed and more consistent forward progress. (paper)

Efficient worm-like locomotion: slip and control of soft-bodied peristaltic robots.

Science.gov (United States)

Daltorio, Kathryn A; Boxerbaum, Alexander S; Horchler, Andrew D; Shaw, Kendrick M; Chiel, Hillel J; Quinn, Roger D

2013-09-01

In this work, we present a dynamic simulation of an earthworm-like robot moving in a pipe with radially symmetric Coulomb friction contact. Under these conditions, peristaltic locomotion is efficient if slip is minimized. We characterize ways to reduce slip-related losses in a constant-radius pipe. Using these principles, we can design controllers that can navigate pipes even with a narrowing in radius. We propose a stable heteroclinic channel controller that takes advantage of contact force feedback on each segment. In an example narrowing pipe, this controller loses 40% less energy to slip compared to the best-fit sine wave controller. The peristaltic locomotion with feedback also has greater speed and more consistent forward progress

The genetics of human running: ACTN3 polymorphism as an evolutionary tool improving the energy economy during locomotion.

Science.gov (United States)

Pasqua, Leonardo A; Bueno, Salomão; Matsuda, Monique; Marquezini, Mônica V; Lima-Silva, Adriano E; Saldiva, Paulo H N; Bertuzzi, Rômulo

2016-05-01

Covering long distances was an important trait to human evolution and continues to be highlighted for health and athletic status. This ability is benefitted by a low cost of locomotion (CoL), meaning that the individuals who are able to expend less energy would be able to cover longer distances. The CoL has been shown to be influenced by distinct and even 'opposite' factors, such as physiological and muscular characteristics, which are genetically inherited. In this way, DNA alterations could be important determinants of the characteristics associated with the CoL. A polymorphism in the ACTN3 gene (R577X) has been related to physical performance, associating the X allele with endurance and the R allele with strength/power abilities. To investigate the influence of ACTN3 genotypes on the CoL. One hundred and fifty healthy male individuals performed two constant speed tests (at 10 and 12 km/h) to determine the CoL. Interestingly, the results showed that heterozygous individuals (RX genotype) presented significantly lower CoL compared to RR and XX individuals. It is argued that RX genotype might generate an intermediate strength-to-endurance phenotype, leading to a better phenotypic profile for energy economy during running and, consequently, for long-term locomotion.

Modeling locomotion of a soft-bodied arthropod using inverse dynamics

International Nuclear Information System (INIS)

Saunders, Frank; Trimmer, Barry A; Rife, Jason

2011-01-01

Most bio-inspired robots have been based on animals with jointed, stiff skeletons. There is now an increasing interest in mimicking the robust performance of animals in natural environments by incorporating compliant materials into the locomotory system. However, the mechanics of moving, highly conformable structures are particularly difficult to predict. This paper proposes a planar, extensible-link model for the soft-bodied tobacco hornworm caterpillar, Manduca sexta, to provide insight for biologists and engineers studying locomotion by highly deformable animals and caterpillar-like robots. Using inverse dynamics to process experimentally acquired point-tracking data, ground reaction forces and internal forces were determined for a crawling caterpillar. Computed ground reaction forces were compared to experimental data to validate the model. The results show that a system of linked extendable joints can faithfully describe the general form and magnitude of the contact forces produced by a crawling caterpillar. Furthermore, the model can be used to compute internal forces that cannot be measured experimentally. It is predicted that between different body segments in stance phase the body is mostly kept in tension and that compression only occurs during the swing phase when the prolegs release their grip. This finding supports a recently proposed mechanism for locomotion by soft animals in which the substrate transfers compressive forces from one part of the body to another (the environmental skeleton) thereby minimizing the need for hydrostatic stiffening. The model also provides a new means to characterize and test control strategies used in caterpillar crawling and soft robot locomotion.

Sexuality of Disabled Athletes Depending on the Form of Locomotion

Directory of Open Access Journals (Sweden)

Plinta Ryszard

2015-12-01

Full Text Available The main purpose of this study was to determine sexuality of disabled athletes depending on the form of locomotion. The study included 170 disabled athletes, aged between 18 and 45. The entire population was divided into 3 research groups depending on the form of locomotion: moving on wheelchairs (n=52, on crutches (n=29 and unaided (n=89. The research tool was a questionnaire voluntarily and anonymously completed by the respondents of the research groups. The questionnaire was composed of a general part concerning the socio-demographic conditions, medical history, health problems, a part dedicated to physical disability as well as the Polish version of the International Index of Erectile Function (IIEF and the Female Sexual Function Index (FSFI evaluating sexual life. STATISTICA 10.0 for Windows was used in the statistical analysis. Subjects moving on crutches were significantly older than ones moving on wheelchairs and unaided (34.41 ±11.00 vs. 30.49 ±10.44 and 27.99 ±10.51 years, respectively (p=0.018. Clinically significant erectile dysfunctions were most often diagnosed in athletes moving on wheelchairs (70.27%, followed by athletes moving on crutches and moving unaided (60% and 35.42%, respectively; p=0.048. Clinical sexual dysfunctions were diagnosed on a similar level among all female athletes. It was concluded that the form of locomotion may determine sexuality of disabled men. Males on wheelchair revealed the worst sexual functioning. Female athletes moving on wheelchairs, on crutches and moving unaided were comparable in the aspect of their sexual life.

Dual-anticipating, dual and dual-lag synchronization in modulated time-delayed systems

International Nuclear Information System (INIS)

Ghosh, Dibakar; Chowdhury, A. Roy

2010-01-01

In this Letter, dual synchronization in modulated time delay system using delay feedback controller is proposed. Based on Lyapunov stability theory, we suggest a general method to achieve the dual-anticipating, dual, dual-lag synchronization of time-delayed chaotic systems and we find both its existing and sufficient stability conditions. Numerically it is shown that the dual synchronization is also possible when driving system contain two completely different systems. Effect of parameter mismatch on dual synchronization is also discussed. As an example, numerical simulations for the Mackey-Glass and Ikeda systems are conducted, which is in good agreement with the theoretical analysis.

Animal and robot experiments to discover principles behind the evolution of a minimal locomotor apparatus for robust legged locomotion

Science.gov (United States)

McInroe, Benjamin; Astley, Henry; Kawano, Sandy; Blob, Richard; Goldman, Daniel I.

2015-03-01

In the evolutionary transition from an aquatic to a terrestrial environment, early walkers adapted to the challenges of locomotion on complex, flowable substrates (e.g. sand and mud). Our previous biological and robotic studies have demonstrated that locomotion on such substrates is sensitive to both limb morphology and kinematics. Although reconstructions of early vertebrate skeletal morphologies exist, the kinematic strategies required for successful locomotion by these organisms have not yet been explored. To gain insight into how early walkers contended with complex substrates, we developed a robotic model with appendage morphology inspired by a model analog organism, the mudskipper. We tested mudskippers and the robot on different substrates, including rigid ground and dry granular media, varying incline angle. The mudskippers moved effectively on all level substrates using a fin-driven gait. But as incline angle increased, the animals used their tails in concert with their fins to generate propulsion. Adding an actuated tail to the robot improved robustness, making possible locomotion on otherwise inaccessible inclines. With these discoveries, we are elucidating a minimal template that may have allowed the early walkers to adapt to locomotion on land. This work was supported by NSF PoLS.

Support afferentation in the posture and locomotion control system

Science.gov (United States)

Grigoriev, Anatoly; Tomilovskaya, Elena; Kozlovskaya, Inesa

Mechanisms of support afferentation contribution in posture and locomotion control, which were uncertain up to now, became the point of intensive studies recently. This became possible since the space flights era started which created the conditions for simulated microgravity experiments under conditions of dry immersion and bedrest. The results of neurophysiological studies performed under the conditions of supportlessness have shown that decline or elimination of support loads is followed by deep and fast developing alterations in postural tonic system, including development of postural muscle atonia, changes of recruitment order of motoneurons innervating the shin muscles, spinal hyperreflexia development etc. (Kozlovskaya I.B. et al., 1987). It has been also shown that application of artificial support stimulation in the regimen of natural locomotion under these conditions decreases significantly or even eliminates the development of mentioned changes. The results of these studies laid down the basis for a new hypothesis on the trigger role of support afferentation in postural tonic system and its role in organization and control of postural synergies (Grigoriev A.I. et al., 2004). According to this hypothesis the muscle reception is considered to be the leading afferent input in the control of locomotion. However the data of recent studies pointed out strongly to the participation of support afferentation in definition of cognitive strategies and motor programs of locomotor movements (Chernikova L.A. et al., 2013) and, consequently, in the processes of their initiation (Gerasimenko Yu.P. et al., 2012). The cortical locomotor reflex composes apparently the basis of these processes. The receptive field of this reflex is located in the support zones of the soles and the central part is located in the posterior parietal areas (IPL) of brain cortex. The study is supported by RFBR grant N 13-04-12091 OFI-m.

A dual-stage sodium thermal electrochemical converter (Na-TEC)

Science.gov (United States)

Limia, Alexander; Ha, Jong Min; Kottke, Peter; Gunawan, Andrey; Fedorov, Andrei G.; Lee, Seung Woo; Yee, Shannon K.

2017-12-01

The sodium thermal electrochemical converter (Na-TEC) is a heat engine that generates electricity through the isothermal expansion of sodium ions. The Na-TEC is a closed system that can theoretically achieve conversion efficiencies above 45% when operating between thermal reservoirs at 1150 K and 550 K. However, thermal designs have confined previous single-stage devices to thermal efficiencies below 20%. To mitigate some of these limitations, we consider dividing the isothermal expansion into two stages; one at the evaporator temperature (1150 K) and another at an intermediate temperature (650 K-1050 K). This dual-stage Na-TEC takes advantage of regeneration and reheating, and could be amenable to better thermal management. Herein, we demonstrate how the dual-stage device can improve the efficiency by up to 8% points over the best performing single-stage device. We also establish an application regime map for the single- and dual-stage Na-TEC in terms of the power density and the total thermal parasitic loss. Generally, a single-stage Na-TEC should be used for applications requiring high power densities, whereas a dual-stage Na-TEC should be used for applications requiring high efficiency.

Controlling legs for locomotion-insights from robotics and neurobiology.

Science.gov (United States)

Buschmann, Thomas; Ewald, Alexander; von Twickel, Arndt; Büschges, Ansgar

2015-06-29

Walking is the most common terrestrial form of locomotion in animals. Its great versatility and flexibility has led to many attempts at building walking machines with similar capabilities. The control of walking is an active research area both in neurobiology and robotics, with a large and growing body of work. This paper gives an overview of the current knowledge on the control of legged locomotion in animals and machines and attempts to give walking control researchers from biology and robotics an overview of the current knowledge in both fields. We try to summarize the knowledge on the neurobiological basis of walking control in animals, emphasizing common principles seen in different species. In a section on walking robots, we review common approaches to walking controller design with a slight emphasis on biped walking control. We show where parallels between robotic and neurobiological walking controllers exist and how robotics and biology may benefit from each other. Finally, we discuss where research in the two fields diverges and suggest ways to bridge these gaps.

A novel crustacean swimming stroke: coordinated four-paddled locomotion in the cypridoidean ostracode Cypridopsis vidua (Müller).

Science.gov (United States)

Hunt, Gene; Park, Lisa E; Labarbera, Michael

2007-02-01

Despite the diversity and ecological importance of cypridoidean ostracodes, there have been no kinematic studies of how they swim. We used regular and high-speed video of tethered ostracodes to document locomotion in the cypridoidean species Cypridopsis vidua. Swimming in this species is drag-based, with thrust provided by both antennulae and antennae. About 15 complete power and recovery strokes occur per second; maximal speeds for the limb tips were about 30 mm/s for the antennulae and 50 mm/s for the antennae. These speeds correspond to Reynolds numbers on the order of 10(-1) to 10(0) for the limb tips and 10(-2) to 10(-1) for the setae that extend outward from the swimming limbs and provide much of the surface area of the limb. The strokes of the four thrust-producing limbs are coordinated in a manner that seems to be unique among aquatic arthropods. When viewed from the anterior, power strokes are synchronized diagonally: left antennula and right antenna power strokes start at the same time and terminate just as the power strokes for the right antennula and left antenna begin. Because power strokes occur throughout the stroke cycle, swimming in this species is smoothly continuous, without the rapid accelerations and decelerations characteristic of most small aquatic arthropods.

The Power of Integrators, Financiers, and Insurers to Reduce Proliferation Risks: Nuclear Dual-Use Goods

Energy Technology Data Exchange (ETDEWEB)

Weise, Rachel A. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Hund, Gretchen [Pacific Northwest National Lab. (PNNL), Richland, WA (United States)

2015-05-01

Globalization of manufacturing supply chains has changed the nature of nuclear proliferation. Before 1991, nonproliferation efforts focused almost exclusively on limiting the spread of materials and equipment specifically designed for nuclear use -- reactors, centrifuges, and fissile material. Dual-use items, those items with both nuclear and non-nuclear applications, were not closely scrutinized or controlled. However, in 1991 the international community discovered that Iraq had developed a fairly sophisticated nuclear weapons program by importing dual-use items; this discovery spurred the international community to increase controls on dual-use technologies. Despite these international efforts, dual-use items are still a challenge for those seeking to limit proliferation.

The Power of Integrators, Financiers, and Insurers to Reduce Proliferation Risks: Nuclear Dual-Use Goods

International Nuclear Information System (INIS)

Weise, Rachel A.; Hund, Gretchen

2015-01-01

Globalization of manufacturing supply chains has changed the nature of nuclear proliferation. Before 1991, nonproliferation efforts focused almost exclusively on limiting the spread of materials and equipment specifically designed for nuclear use -- reactors, centrifuges, and fissile material. Dual-use items, those items with both nuclear and non-nuclear applications, were not closely scrutinized or controlled. However, in 1991 the international community discovered that Iraq had developed a fairly sophisticated nuclear weapons program by importing dual-use items; this discovery spurred the international community to increase controls on dual-use technologies. Despite these international efforts, dual-use items are still a challenge for those seeking to limit proliferation.

Lameness Detection in Dairy Cows: Part 1. How to Distinguish between Non-Lame and Lame Cows Based on Differences in Locomotion or Behavior

Directory of Open Access Journals (Sweden)

Annelies Van Nuffel

2015-08-01

Full Text Available Due to its detrimental effect on cow welfare, health and production, lameness in dairy cows has received quite a lot of attention in the last few decades—not only in terms of prevention and treatment of lameness but also in terms of detection, as early treatment might decrease the number of severely lame cows in the herds as well as decrease the direct and indirect costs associated with lameness cases. Generally, lame cows are detected by the herdsman, hoof trimmer or veterinarian based on abnormal locomotion, abnormal behavior or the presence of hoof lesions during routine trimming. In the scientific literature, several guidelines are proposed to detect lame cows based on visual interpretation of the locomotion of individual cows (i.e., locomotion scoring systems. Researchers and the industry have focused on automating such observations to support the farmer in finding the lame cows in their herds, but until now, such automated systems have rarely been used in commercial herds. This review starts with the description of normal locomotion of cows in order to define ‘abnormal’ locomotion caused by lameness. Cow locomotion (gait and posture and behavioral features that change when a cow becomes lame are described and linked to the existing visual scoring systems. In addition, the lack of information of normal cow gait and a clear description of ‘abnormal’ gait are discussed. Finally, the different set-ups used during locomotion scoring and their influence on the resulting locomotion scores are evaluated.

Using the power balance model to simulate cross-country skiing on varying terrain.

Science.gov (United States)

Moxnes, John F; Sandbakk, Oyvind; Hausken, Kjell

2014-01-01

The current study adapts the power balance model to simulate cross-country skiing on varying terrain. We assumed that the skier's locomotive power at a self-chosen pace is a function of speed, which is impacted by friction, incline, air drag, and mass. An elite male skier's position along the track during ski skating was simulated and compared with his experimental data. As input values in the model, air drag and friction were estimated from the literature based on the skier's mass, snow conditions, and speed. We regard the fit as good, since the difference in racing time between simulations and measurements was 2 seconds of the 815 seconds racing time, with acceptable fit both in uphill and downhill terrain. Using this model, we estimated the influence of changes in various factors such as air drag, friction, and body mass on performance. In conclusion, the power balance model with locomotive power as a function of speed was found to be a valid tool for analyzing performance in cross-country skiing.

Afferent control of central pattern generators: experimental analysis of locomotion in the decerebrate cat.

Science.gov (United States)

Baev, K V; Esipenko, V B; Shimansky YuP

1991-01-01

Changes in the motor activity of the spinal locomotor generator evoked by tonic and phasic peripheral afferent signals during fictitious locomotion of both slow and fast rhythms were analysed in the cat. The tonic afferent inflow was conditioned by the position of the hindlimb. The phasic afferent signals were imitated by electrical stimulation of hindlimb nerves. The correlation between the kinematics of hindlimb locomotor movement and sensory inflow was investigated during actual locomotion. Reliable correlations between motor activity parameters during fictitious locomotion were revealed in cases of both slow and fast "locomotor" rhythms. The main difference between these cases was that correlations "duration-intensity" were positive in the first and negative in the second case. The functional role of "locomotor" pattern dependence on tonic sensory inflow consisted of providing stability for planting the hindlimb on the ground. For any investigated afferent input the phase moments in the "locomotor" cycle were found, in which an afferent signal caused no rearrangement in locomotor generator activity. These moments corresponded to the transitions between "flexion" and "extension" phases and to the bursts of integral afferent activity observed during real locomotion. The data obtained are compared with the results previously described for the scratching generator. The character of changes in "locomotor" activity in response to tonic and phasic sensory signals was similar to that of such changes in "scratching" rhythm in the case of fast "locomotion". Intensification of the "flexion" phase caused by phasic high-intensity stimulation of cutaneous afferents during low "locomotor" rhythm was changed to inhibition (such as observed during "scratching") when this rhythm was fast. It is concluded that the main regularities of peripheral afferent control for both the locomotor and scratching generators are the same. Moreover, these central pattern generators are just

Cognitive impairment associated with locomotive syndrome in community-dwelling elderly women in Japan

Directory of Open Access Journals (Sweden)

Nakamura M

2017-09-01

Full Text Available Misa Nakamura,1 Fumie Tazaki,1 Kazuki Nomura,1 Taeko Takano,1 Masashi Hashimoto,1 Hiroshi Hashizume,2 Ichiro Kamei1 1Department of Rehabilitation, Osaka Kawasaki Rehabilitation University, Kaizuka, Osaka, Japan; 2Department of Orthopaedic Surgery, Wakayama Medical University, Wakayama, Japan Abstract: In our worldwide aging society, elderly people should maintain cognitive and physical function to help avoid health problems. Dementia is a major brain disease among elderly people, and is caused by cognitive impairment. The locomotive syndrome (LS refers to a condition in which people require healthcare services because of problems associated with locomotion. The purpose of this study was to determine the association between cognitive impairment and LS. Study participants were 142 healthy elderly female volunteers living in a rural area in Japan. Cognitive function was assessed using the Mini-Mental State Examination (MMSE. A score of ≤26 points on the MMSE was used to indicate categorically defined poor cognitive performance (cognitive impairment. The LS was defined by a score ≥16 points, and non-LS as <16 points, on the 25-question Geriatric Locomotive Function Scale (GLFS-25. Twenty-one participants (14.8% had an MMSE score ≤26, and 19.0% were found to have LS. Compared with the MMSE >26 group, the ≤26 group was significantly older, had a higher percentage of body fat, and a higher GLFS-25 score. Those with LS were significantly older, had a higher body mass index, a higher percentage of body fat, and a lower MMSE score. Participants in the LS group had higher odds of cognitive impairment than those without LS [odds ratio (OR =3.08] by logistic regression analysis adjusted for age. Furthermore, participants with GLFS-25 scores ≥6 had higher odds of cognitive impairment than those with a GLFS-25 score <6 by logistic regression analysis adjusted for both age (OR =4.44, and age and percent body fat (OR =4.12. These findings

A P-N Sequence Generator Using LFSR with Dual Edge Trigger Technique

Directory of Open Access Journals (Sweden)

Naghwal Nitin Kumar

2016-01-01

Full Text Available This paper represents the design and implementation of a low power 4-bit LFSR using Dual edge triggered flip flop. A linear feedback shift register (LFSR is assembled by N number of flip flops connected in series and a combinational logic generally xor gate. An LFSR can generate random number sequence which acts as cipher in cryptography. A known text encrypted over long PN sequence, in order to improve security sequence made longer ie 128 bit; require long chain of flip flop leads to more power consumption. In this paper a novel circuit of random sequence generator using dual edge triggered flip flop has been proposed. Data has been generated on every edge of flip flop instead of single edge. A DETFF-LFSR can generate random number require with less number of clock cycle, it minimizes the number of flip flop result in power saving. In this paper we concentrates on the designing of power competent Test Pattern Generator (TPG using four dual edge triggered flip-flops as the basic building block, overall there is reduction of power around 25% by using these techniques.

49 CFR 231.16 - Steam locomotives used in switching service.

Science.gov (United States)

2010-10-01

... 49 Transportation 4 2010-10-01 2010-10-01 false Steam locomotives used in switching service. 231... RAILROAD ADMINISTRATION, DEPARTMENT OF TRANSPORTATION RAILROAD SAFETY APPLIANCE STANDARDS § 231.16 Steam..., buffer block, footboard, brake pipe, signal pipe, steam-heat pipe or arms of uncoupling lever shall...

49 CFR 222.21 - When must a locomotive horn be used?

Science.gov (United States)

2010-10-01

... or lead cab car shall be sounded when such locomotive or lead cab car is approaching a public highway... equipped with automatic flashing lights and gates and the gates are fully lowered; or (2) There are no...

Locomotive emissions test stand with particulate matter measurement integration : final report.

Science.gov (United States)

2015-10-01

This project builds upon previous research efforts, in which a complete instruction manual and bill of materials was developed for : a blueprint that allows any organization in the railroad industry to build their own locomotive emissions measurement...

Caterpillar locomotion-inspired valveless pneumatic micropump using a single teardrop-shaped elastomeric membrane

KAUST Repository

So, Hongyun; Pisano, Albert P.; Seo, Young Ho

2014-01-01

This paper presents a microfluidic pump operated by an asymmetrically deformed membrane, which was inspired by caterpillar locomotion. Almost all mechanical micropumps consist of two major components of fluid halting and fluid pushing parts, whereas the proposed caterpillar locomotion-inspired micropump has only a single, bilaterally symmetric membrane-like teardrop shape. A teardrop-shaped elastomeric membrane was asymmetrically deformed and then consecutively touched down to the bottom of the chamber in response to pneumatic pressure, thus achieving fluid pushing. Consecutive touchdown motions of the teardrop-shaped membrane mimicked the propagation of a caterpillar's hump during its locomotory gait. The initial touchdown motion of the teardrop-shaped membrane at the centroid worked as a valve that blocked the inlet channel, and then, the consecutive touchdown motions pushed fluid in the chamber toward the tail of the chamber connected to the outlet channel. The propagation of the touchdown motion of the teardrop-shaped membrane was investigated using computational analysis as well as experimental studies. This caterpillar locomotion-inspired micropump composed of only a single membrane can provide new opportunities for simple integration of microfluidic systems. © the Partner Organisations 2014.

Caterpillar locomotion-inspired valveless pneumatic micropump using a single teardrop-shaped elastomeric membrane

KAUST Repository

So, Hongyun

2014-01-01

This paper presents a microfluidic pump operated by an asymmetrically deformed membrane, which was inspired by caterpillar locomotion. Almost all mechanical micropumps consist of two major components of fluid halting and fluid pushing parts, whereas the proposed caterpillar locomotion-inspired micropump has only a single, bilaterally symmetric membrane-like teardrop shape. A teardrop-shaped elastomeric membrane was asymmetrically deformed and then consecutively touched down to the bottom of the chamber in response to pneumatic pressure, thus achieving fluid pushing. Consecutive touchdown motions of the teardrop-shaped membrane mimicked the propagation of a caterpillar\\'s hump during its locomotory gait. The initial touchdown motion of the teardrop-shaped membrane at the centroid worked as a valve that blocked the inlet channel, and then, the consecutive touchdown motions pushed fluid in the chamber toward the tail of the chamber connected to the outlet channel. The propagation of the touchdown motion of the teardrop-shaped membrane was investigated using computational analysis as well as experimental studies. This caterpillar locomotion-inspired micropump composed of only a single membrane can provide new opportunities for simple integration of microfluidic systems. © the Partner Organisations 2014.

Minimally Actuated Walking: Identifying Core Challenges to Economical Legged Locomotion Reveals Novel Solutions

Directory of Open Access Journals (Sweden)

Ryan T Schroeder

2018-05-01

Full Text Available Terrestrial organisms adept at locomotion employ strut-like legs for economical and robust movement across the substrate. Although it is relatively easy to observe and analyze details of the solutions these organic systems have arrived at, it is not as easy to identify the problems these movement strategies have solved. As such, it is useful to investigate fundamental challenges that effective legged locomotion overcomes in order to understand why the mechanisms employed by biological systems provide viable solutions to these challenges. Such insight can inform the design and development of legged robots that may eventually match or exceed animal performance. In the context of human walking, we apply control optimization as a design strategy for simple bipedal walking machines with minimal actuation. This approach is used to discuss key facilitators of energetically efficient locomotion in simple bipedal walkers. Furthermore, we extrapolate the approach to a novel application—a theoretical exoskeleton attached to the trunk of a human walker—to demonstrate how coordinated efforts between bipedal actuation and a machine oscillator can potentially alleviate a meaningful portion of energetic exertion associated with leg function during human walking.

Hybrid magnetic mechanism for active locomotion based on inchworm motion

International Nuclear Information System (INIS)

Kim, Sung Hoon; Hashi, Shuichiro; Ishiyama, Kazushi

2013-01-01

Magnetic robots have been studied in the past. Insect-type micro-robots are used in various biomedical applications; researchers have developed inchworm micro-robots for endoscopic use. A biological inchworm has a looping locomotion gait. However, most inchworm micro-robots depend on a general bending, or bellows, motion. In this paper, we introduce a new robotic mechanism using magnetic force and torque control in a rotating magnetic field for a looping gait. The proposed robot is controlled by the magnetic torque, attractive force, and body mechanisms (two stoppers, flexible body, and different frictional legs). The magnetic torque generates a general bending motion. In addition, the attractive force and body mechanisms produce the robot’s looping motion within a rotating magnetic field and without the use of an algorithm for field control. We verified the device’s performance and analyzed the motion through simulations and various experiments. The robot mechanism can be applied to active locomotion for various medical robots, such as wireless endoscopes. (technical note)

A review on locomotion robophysics: the study of movement at the intersection of robotics, soft matter and dynamical systems

Science.gov (United States)

Aguilar, Jeffrey; Zhang, Tingnan; Qian, Feifei; Kingsbury, Mark; McInroe, Benjamin; Mazouchova, Nicole; Li, Chen; Maladen, Ryan; Gong, Chaohui; Travers, Matt; Hatton, Ross L.; Choset, Howie; Umbanhowar, Paul B.; Goldman, Daniel I.

2016-11-01

Discovery of fundamental principles which govern and limit effective locomotion (self-propulsion) is of intellectual interest and practical importance. Human technology has created robotic moving systems that excel in movement on and within environments of societal interest: paved roads, open air and water. However, such devices cannot yet robustly and efficiently navigate (as animals do) the enormous diversity of natural environments which might be of future interest for autonomous robots; examples include vertical surfaces like trees and cliffs, heterogeneous ground like desert rubble and brush, turbulent flows found near seashores, and deformable/flowable substrates like sand, mud and soil. In this review we argue for the creation of a physics of moving systems—a ‘locomotion robophysics’—which we define as the pursuit of principles of self-generated motion. Robophysics can provide an important intellectual complement to the discipline of robotics, largely the domain of researchers from engineering and computer science. The essential idea is that we must complement the study of complex robots in complex situations with systematic study of simplified robotic devices in controlled laboratory settings and in simplified theoretical models. We must thus use the methods of physics to examine both locomotor successes and failures using parameter space exploration, systematic control, and techniques from dynamical systems. Using examples from our and others’ research, we will discuss how such robophysical studies have begun to aid engineers in the creation of devices that have begun to achieve life-like locomotor abilities on and within complex environments, have inspired interesting physics questions in low dimensional dynamical systems, geometric mechanics and soft matter physics, and have been useful to develop models for biological locomotion in complex terrain. The rapidly decreasing cost of constructing robot models with easy access to significant

Dual Entwining Structures and Dual Entwined Modules

OpenAIRE

Abuhlail, Jawad Y.

2003-01-01

In this note we introduce and investigate the concepts of dual entwining structures and dual entwined modules. This generalizes the concepts of dual Doi-Koppinen structures and dual Doi-Koppinen modules introduced (in the infinite case over rings) by the author is his dissertation.

Cellullar insights into cerebral cortical development: focusing on the locomotion mode of neuronal migration

Directory of Open Access Journals (Sweden)

Takeshi eKawauchi

2015-10-01

Full Text Available The mammalian brain consists of numerous compartments that are closely connected with each other via neural networks, comprising the basis of higher order brain functions. The highly specialized structure originates from simple pseudostratified neuroepithelium-derived neural progenitors located near the ventricle. A long journey by neurons from the ventricular side is essential for the formation of a sophisticated brain structure, including a mammalian-specific six-layered cerebral cortex. Neuronal migration consists of several contiguous steps, but the locomotion mode comprises a large part of the migration. The locomoting neurons exhibit unique features; a radial glial fiber-dependent migration requiring the endocytic recycling of N-cadherin and a neuron-specific migration mode with dilation/swelling formation that requires the actin and microtubule organization possibly regulated by cyclin-dependent kinase 5 (Cdk5, Dcx, p27kip1, Rac1 and POSH. Here I will introduce the roles of various cellular events, such as cytoskeletal organization, cell adhesion and membrane trafficking, in the regulation of the neuronal migration, with particular focus on the locomotion mode.

Fast and accurate solution for the SCUC problem in large-scale power systems using adapted binary programming and enhanced dual neural network

International Nuclear Information System (INIS)

Shafie-khah, M.; Moghaddam, M.P.; Sheikh-El-Eslami, M.K.; Catalão, J.P.S.

2014-01-01

Highlights: • A novel hybrid method based on decomposition of SCUC into QP and BP problems is proposed. • An adapted binary programming and an enhanced dual neural network model are applied. • The proposed EDNN is exactly convergent to the global optimal solution of QP. • An AC power flow procedure is developed for including contingency/security issues. • It is suited for large-scale systems, providing both accurate and fast solutions. - Abstract: This paper presents a novel hybrid method for solving the security constrained unit commitment (SCUC) problem. The proposed formulation requires much less computation time in comparison with other methods while assuring the accuracy of the results. Furthermore, the framework provided here allows including an accurate description of warmth-dependent startup costs, valve point effects, multiple fuel costs, forbidden zones of operation, and AC load flow bounds. To solve the nonconvex problem, an adapted binary programming method and enhanced dual neural network model are utilized as optimization tools, and a procedure for AC power flow modeling is developed for including contingency/security issues, as new contributions to earlier studies. Unlike classical SCUC methods, the proposed method allows to simultaneously solve the unit commitment problem and comply with the network limits. In addition to conventional test systems, a real-world large-scale power system with 493 units has been used to fully validate the effectiveness of the novel hybrid method proposed

Data Analytics Based Dual-Optimized Adaptive Model Predictive Control for the Power Plant Boiler

Directory of Open Access Journals (Sweden)

Zhenhao Tang

2017-01-01

Full Text Available To control the furnace temperature of a power plant boiler precisely, a dual-optimized adaptive model predictive control (DoAMPC method is designed based on the data analytics. In the proposed DoAMPC, an accurate predictive model is constructed adaptively by the hybrid algorithm of the least squares support vector machine and differential evolution method. Then, an optimization problem is constructed based on the predictive model and many constraint conditions. To control the boiler furnace temperature, the differential evolution method is utilized to decide the control variables by solving the optimization problem. The proposed method can adapt to the time-varying situation by updating the sample data. The experimental results based on practical data illustrate that the DoAMPC can control the boiler furnace temperature with errors of less than 1.5% which can meet the requirements of the real production process.

49 CFR 231.17 - Specifications common to all steam locomotives.

Science.gov (United States)

2010-10-01

... shall be securely fastened with bolts, rivets, or studs. (ii) Locomotives having Wootten type boilers... inches above outside edge of running boards, securely fastened with bolts, rivets, or studs. (c... inches in height, measured from the top of end sill, and securely fastened with bolts or rivets. (f...

Underwater thrust and power generation using flexible piezoelectric composites: an experimental investigation toward self-powered swimmer-sensor platforms

International Nuclear Information System (INIS)

Erturk, Alper; Delporte, Ghislain

2011-01-01

Fiber-based flexible piezoelectric composites offer several advantages to use in energy harvesting and biomimetic locomotion. These advantages include ease of application, high power density, effective bending actuation, silent operation over a range of frequencies, and light weight. Piezoelectric materials exhibit the well-known direct and converse piezoelectric effects. The direct piezoelectric effect has received growing attention for low-power generation to use in wireless electronic applications while the converse piezoelectric effect constitutes an alternative to replace the conventional actuators used in biomimetic locomotion. In this paper, underwater thrust and electricity generation are investigated experimentally by focusing on biomimetic structures with macro-fiber composite piezoelectrics. Fish-like bimorph configurations with and without a passive caudal fin (tail) are fabricated and compared. The favorable effect of having a passive caudal fin on the frequency bandwidth is reported. The presence of a passive caudal fin is observed to bring the second bending mode close to the first one, yielding a wideband behavior in thrust generation. The same smart fish configuration is tested for underwater piezoelectric power generation in response to harmonic excitation from its head. Resonant piezohydroelastic actuation is reported to generate milli-newton level hydrodynamic thrust using milli-watt level actuation power input. The average actuation power requirement for generating a mean thrust of 19 mN at 6 Hz using a 10 g piezoelastic fish with a caudal fin is measured as 120 mW. This work also discusses the feasibility of thrust generation using the harvested energy toward enabling self-powered swimmer-sensor platforms with comparisons based on the capacity levels of structural thin-film battery layers as well as harvested solar and vibrational energy

Dual model for parton densities

International Nuclear Information System (INIS)

El Hassouni, A.; Napoly, O.

1981-01-01

We derive power-counting rules for quark densities near x=1 and x=0 from parton interpretations of one-particle inclusive dual amplitudes. Using these rules, we give explicit expressions for quark distributions (including charm) inside hadrons. We can then show the compatibility between fragmentation and recombination descriptions of low-p/sub perpendicular/ processes

Vestibular-Somatosensory Convergence in Head Movement Control During Locomotion after Long-Duration Space Flight

Science.gov (United States)

Mulavara, Ajitkumar; Ruttley, Tara; Cohen, Helen; Peters, Brian; Miller, Chris; Brady, Rachel; Merkle, Lauren; Bloomberg, Jacob

2010-01-01

Exposure to the microgravity conditions of space flight induces adaptive modification in the control of vestibular-mediated reflexive head movement during locomotion after space flight. Space flight causes astronauts to be exposed to somatosensory adaptation in both the vestibular and body load-sensing (BLS) systems. The goal of these studies was to examine the contributions of vestibular and BLS-mediated somatosensory influences on head movement control during locomotion after long-duration space flight. Subjects were asked to walk on a treadmill driven at 1.8 m/s while performing a visual acuity task. Data were collected using the same testing protocol from three independent subject groups; 1) normal subjects before and after exposure to 30 minutes of 40% bodyweight unloaded treadmill walking, 2) bilateral labyrinthine deficient (LD) patients and 3) astronauts who performed the protocol before and after long duration space flight. Motion data from head and trunk segmental motion data were obtained to calculate the angular head pitch (HP) movements during walking trials while subjects performed the visual task, to estimate the contributions of vestibular reflexive mechanisms in HP movements. Results showed that exposure to unloaded locomotion caused a significant increase in HP movements, whereas in the LD patients the HP movements were significantly decreased. Astronaut subjects results showed a heterogeneous response of both increases and decreases in the amplitude of HP movement. We infer that BLS-mediated somatosensory input centrally modulates vestibular input and can adaptively modify head-movement control during locomotion. Thus, space flight may cause a central adaptation mediated by the converging vestibular and body load-sensing somatosensory systems.

Power enhancement of piezoelectric transformers for power supplies

DEFF Research Database (Denmark)

Ekhtiari, Marzieh; Steenstrup, Anders Resen; Zhang, Zhe

2016-01-01

This paper studies power enhancement of piezoelectric transformers to be used in inductorless, half-bridge, piezoelecteric-based switch mode power supplies for driving a piezo actuator motor system in a high strength magnetic environment for magnetic resonance imaging and computed tomography...... applications. A new multi element-piezo transformer solution is proposed along with a dual mode piezo transformer, providing power scaling and potentially improving the internal heat-up of a high power piezo transformer system....

Dual Schroedinger Equation as Global Optimization Algorithm

International Nuclear Information System (INIS)

Huang Xiaofei; eGain Communications, Mountain View, CA 94043

2011-01-01

The dual Schroedinger equation is defined as replacing the imaginary number i by -1 in the original one. This paper shows that the dual equation shares the same stationary states as the original one. Different from the original one, it explicitly defines a dynamic process for a system to evolve from any state to lower energy states and eventually to the lowest one. Its power as a global optimization algorithm might be used by nature for constructing atoms and molecules. It shall be interesting to verify its existence in nature.

Computer code and users' guide for the preliminary analysis of dual-mode space nuclear fission solid core power and propulsion systems, NUROC3A. AMS report No. 1239b

Energy Technology Data Exchange (ETDEWEB)

Nichols, R.A.; Smith, W.W.

1976-06-30

The three-volume report describes a dual-mode nuclear space power and propulsion system concept that employs an advanced solid-core nuclear fission reactor coupled via heat pipes to one of several electric power conversion systems. The second volume describes the computer code and users' guide for the preliminary analysis of the system.

A novel dual GLP-1 and GIP incretin receptor agonist is neuroprotective in a mouse model of Parkinson's disease by reducing chronic inflammation in the brain.

Science.gov (United States)

Cao, Lijun; Li, Dongfang; Feng, Peng; Li, Lin; Xue, Guo-Fang; Li, Guanglai; Hölscher, Christian

2016-04-13

The incretins glucagon-like peptide 1 (GLP-1) and glucose-dependent insulinotropic polypeptide (GIP) are growth factors. GLP-1 mimetics are on the market as treatments for type 2 diabetes. Both GLP-1 and GIP mimetics have shown neuroprotective properties in previous studies. In addition, the GLP-1 mimetic exendin-4 has shown protective effects in a clinical trial in Parkinson's disease (PD) patients. Novel GLP-1/GIP dual-agonist peptides have been developed to treat diabetes. Here, we report the neuroprotective effects of a novel dual agonist (DA-JC1) in the 1-methyl-4-phenyl-1,2,3,6-tetrahydropyridine (MPTP) mouse model of PD. MPTP was injected once daily (20 mg/kg intraperitoneally) for 7 days and the dual agonist was coinjected once daily (50 nmol/kg intraperitoneally). We found that the drug reduced most of the MPTP-induced motor impairments in the rotarod, open-field locomotion, and muscle strength test. The number of tyrosine hydroxylase-positive neurons in the substantia nigra and striatum was reduced by MPTP and increased by DA-JC1. Synapse numbers (synaptophysin expression) were reduced in the substantia nigra and the striatum by MPTP and DA-JC1 reversed this effect. The activation of a chronic inflammation response by MPTP was considerably reduced by the dual agonist (DA) (astroglia and microglia activation). Therefore, dual agonists show promise as a novel treatment of PD.

Scaling in Theropod Dinosaurs: Femoral Bone Strength and Locomotion

Science.gov (United States)

Lee, Scott

2015-01-01

In our first article on scaling in theropod dinosaurs, the longitudinal stress in the leg bones due to supporting the weight of the animal was studied and found not to control the dimensions of the femur. As a continuation of our study of elasticity in dinosaur bones, we now examine the transverse stress in the femur due to locomotion and find…

Preliminary design of high-power wave-guide/transmission system

Indian Academy of Sciences (India)

... CW klystron followed by wave-guide filter, dual directional coupler, high-power circulator, three 3 dB magic TEE power dividers to split the main channel into four equal channels of 250 kW each. Each individual channel has dual directional couplers, flexible wave-guide sections and high power ceramic vacuum window.

Proprioceptive Actuation Design for Dynamic Legged locomotion

Science.gov (United States)

Kim, Sangbae; Wensing, Patrick; Biomimetic Robotics Lab Team

Designing an actuator system for highly-dynamic legged locomotion exhibited by animals has been one of the grand challenges in robotics research. Conventional actuators designed for manufacturing applications have difficulty satisfying challenging requirements for high-speed locomotion, such as the need for high torque density and the ability to manage dynamic physical interactions. It is critical to introduce a new actuator design paradigm and provide guidelines for its incorporation in future mobile robots for research and industry. To this end, we suggest a paradigm called proprioceptive actuation, which enables highly- dynamic operation in legged machines. Proprioceptive actuation uses collocated force control at the joints to effectively control contact interactions at the feet under dynamic conditions. In the realm of legged machines, this paradigm provides a unique combination of high torque density, high-bandwidth force control, and the ability to mitigate impacts through backdrivability. Results show that the proposed design provides an impact mitigation factor that is comparable to other quadruped designs with series springs to handle impact. The paradigm is shown to enable the MIT Cheetah to manage the application of contact forces during dynamic bounding, with results given down to contact times of 85ms and peak forces over 450N. As a result, the MIT Cheetah achieves high-speed 3D running up to 13mph and jumping over an 18-inch high obstacle. The project is sponsored by DARPA M3 program.

Simulating spinal border cells and cerebellar granule cells under locomotion--a case study of spinocerebellar information processing.

Directory of Open Access Journals (Sweden)

Anton Spanne

Full Text Available The spinocerebellar systems are essential for the brain in the performance of coordinated movements, but our knowledge about the spinocerebellar interactions is very limited. Recently, several crucial pieces of information have been acquired for the spinal border cell (SBC component of the ventral spinocerebellar tract (VSCT, as well as the effects of SBC mossy fiber activation in granule cells of the cerebellar cortex. SBCs receive monosynaptic input from the reticulospinal tract (RST, which is an important driving system under locomotion, and disynaptic inhibition from Ib muscle afferents. The patterns of activity of RST neurons and Ib afferents under locomotion are known. The activity of VSCT neurons under fictive locomotion, i.e. without sensory feedback, is also known, but there is little information on how these neurons behave under actual locomotion and for cerebellar granule cells receiving SBC input this is completely unknown. But the available information makes it possible to simulate the interactions between the spinal and cerebellar neuronal circuitries with a relatively large set of biological constraints. Using a model of the various neuronal elements and the network they compose, we simulated the modulation of the SBCs and their target granule cells under locomotion and hence generated testable predictions of their general pattern of modulation under this condition. This particular system offers a unique opportunity to simulate these interactions with a limited number of assumptions, which helps making the model biologically plausible. Similar principles of information processing may be expected to apply to all spinocerebellar systems.

CONCENTRATION OF HARMFUL SUBSTANCES REDUCING IN SURFACE LAYER OF ATMOSPHERE AT RHEOSTAT LOCOMOTIVE TESTS

Directory of Open Access Journals (Sweden)

E. A. Bondar

2010-06-01

Full Text Available It is shown that at present an acceptable way of reducing the concentration of harmful substances in the surface layer of the atmosphere at rheostat tests of locomotives is their dispersion in a large volume of air. Channels, installed above an exhaust pipe of diesel locomotive with a break at the gas flow, work as ejectors. We have solved jointly the equation of aerodynamic characteristics of the ejector device and the equation of diffusion of gases; as a result the calculated dependence for determining the necessary height of ejector device has been obtained.

A Notion of Total Dual Integrality for Convex, Semidefinite, and Extended Formulations

OpenAIRE

Silva, Marcel K. de Carli; Tunçel, Levent

2018-01-01

Total dual integrality is a powerful and unifying concept in polyhedral combinatorics and integer programming that enables the refinement of geometric min-max relations given by linear programming Strong Duality into combinatorial min-max theorems. The definition of total dual integrality (TDI) revolves around the existence of optimal dual solutions that are integral, and thus naturally applies to a host of combinatorial optimization problems that are cast as integer programs whose LP relaxat...

The Relationship between Locomotive Syndrome and Depression in Community-Dwelling Elderly People

Directory of Open Access Journals (Sweden)

Misa Nakamura

2017-01-01

Full Text Available Locomotive syndrome (LS is a concept that refers to the condition of people requiring healthcare services because of problems associated with locomotion. Depression is a major psychiatric disease among the elderly, in addition to dementia. The purpose of this study was to determine the association between LS and depression. The study participants were 224 healthy elderly volunteers living in a rural area in Japan. LS was defined as scores ≥ 16 on the 25-question Geriatric Locomotive Function Scale (GLFS-25. Depression was defined as scores ≥ 5 on the 15-item Geriatric Depression Scale (GDS-15. Height and body weight were measured. The prevalence of LS and depression was 13.9% and 24.2%, respectively. Compared with the non-LS group, the LS group was older, was shorter, had a higher BMI, and had higher GDS-15 scores. Logistic regression analysis showed that participants with GDS-15 scores ≥ 6 had higher odds for LS than those with GDS-15 scores < 6 (odds ratio [OR] = 4.22. Conversely, the depression group had higher GLFS-25 scores than the nondepression group. Participants with GLFS-25 scores ≥ 5 had higher odds for depression than those with GLFS-25 scores < 5 (OR = 4.53. These findings suggest that there is a close relationship between LS and depression.

Sustained Treatment with Insulin Detemir in Mice Alters Brain Activity and Locomotion.

Directory of Open Access Journals (Sweden)

Tina Sartorius

Full Text Available Recent studies have identified unique brain effects of insulin detemir (Levemir®. Due to its pharmacologic properties, insulin detemir may reach higher concentrations in the brain than regular insulin. This might explain the observed increased brain stimulation after acute insulin detemir application but it remained unclear whether chronic insulin detemir treatment causes alterations in brain activity as a consequence of overstimulation.In mice, we examined insulin detemir's prolonged brain exposure by continuous subcutaneous (s.c. application using either micro-osmotic pumps or daily s.c. injections and performed continuous radiotelemetric electrocorticography and locomotion recordings.Acute intracerebroventricular injection of insulin detemir activated cortical and locomotor activity significantly more than regular insulin in equimolar doses (0.94 and 5.63 mU in total, suggesting an enhanced acute impact on brain networks. However, given continuously s.c., insulin detemir significantly reduced cortical activity (theta: 21.3±6.1% vs. 73.0±8.1%, P<0.001 and failed to maintain locomotion, while regular insulin resulted in an increase of both parameters.The data suggest that permanently-increased insulin detemir levels in the brain convert its hyperstimulatory effects and finally mediate impairments in brain activity and locomotion. This observation might be considered when human studies with insulin detemir are designed to target the brain in order to optimize treatment regimens.

Choice of optimum size of installations for dual-purpose production of desalted water and electricity, using nuclear power

International Nuclear Information System (INIS)

Gaussens, J.

1966-01-01

The author used a method starting with water and power demand curves; this leads to the rational allocation of production costs to water and power within a given market. The power demand curve is needed as it seems improbable to sell at a constant price the enormous quantity of electricity produced by a dual purpose plant. Criteria based on principles of classical economics, help to select objectively desalination methods and plant sizes. On these criteria, normative methods for tariffing action of water and power can be based, while adhering as closely as possible to structure of demand. Examples of such criteria are the maximum profit of the supplier or the maximum satisfaction of the consumers taken collectively. In the first case marginal costs must be equated to marginal revenue, in the second one marginal cost to marginal satisfaction (theory of surpluses). The plant size often determines the choice of desalination process. Therefore the shape of the water demand curve and the economic criterion adopted (public or private ownership, capital restrictions etc.) often determine in this way both size and type of plant. Before deciding on the desalination technique, market surveys and rather subtle economic analyses are therefore necessary. (author) [fr

Source book for planning nuclear dual-purpose electric/distillation desalination plants

International Nuclear Information System (INIS)

Reed, S.A.

1981-02-01

A source book on nuclear dual-purpose electric/distillation desalination plants was prepared to assist government and other planners in preparing broad evaluations of proposed applications of dual-purpose plants. The document is divided into five major sections. Section 1 presents general discussions relating to the benefits of dual-purpose plants, and spectrum for water-to-power ratios. Section 2 presents information on commercial nuclear plants manufactured by US manufacturers. Section 3 gives information on distillation desalting processes and equipment. Section 4 presents a discussion on feedwater pretreatment and scale control. Section 5 deals with methods for coupling the distillation and electrical generating plants to operate in the dual mode

Source book for planning nuclear dual-purpose electric/distillation desalination plants

Energy Technology Data Exchange (ETDEWEB)

Reed, S.A.

1981-02-01

A source book on nuclear dual-purpose electric/distillation desalination plants was prepared to assist government and other planners in preparing broad evaluations of proposed applications of dual-purpose plants. The document is divided into five major sections. Section 1 presents general discussions relating to the benefits of dual-purpose plants, and spectrum for water-to-power ratios. Section 2 presents information on commercial nuclear plants manufactured by US manufacturers. Section 3 gives information on distillation desalting processes and equipment. Section 4 presents a discussion on feedwater pretreatment and scale control. Section 5 deals with methods for coupling the distillation and electrical generating plants to operate in the dual mode.

Coupling of cytoskeleton functions for fibroblast locomotion

DEFF Research Database (Denmark)

Couchman, J R; Lenn, M; Rees, D A

1985-01-01

caused visible protrusions in projected positions at the leading edge. We conclude that fibroblast locomotion may be driven coordinately by a common set of motility mechanisms and that this coordination may be lost as a result of physical or pharmacological disturbance. Taking our evidence with results...... from other Laboratories, we propose the following cytoskeleton functions. (i) Protrusive activity, probably based on solation--gelation cycles of the actin based cytoskeleton and membrane recycling which provides cellular and membrane components for streaming through the cell body to the leading edge...

The application of high-speed cinematography for the quantitative analysis of equine locomotion.

Science.gov (United States)

Fredricson, I; Drevemo, S; Dalin, G; Hjertën, G; Björne, K

1980-04-01

Locomotive disorders constitute a serious problem in horse racing which will only be rectified by a better understanding of the causative factors associated with disturbances of gait. This study describes a system for the quantitative analysis of the locomotion of horses at speed. The method is based on high-speed cinematography with a semi-automatic system of analysis of the films. The recordings are made with a 16 mm high-speed camera run at 500 frames per second (fps) and the films are analysed by special film-reading equipment and a mini-computer. The time and linear gait variables are presented in tabular form and the angles and trajectories of the joints and body segments are presented graphically.

An Adaptive Classification Strategy for Reliable Locomotion Mode Recognition

Directory of Open Access Journals (Sweden)

Ming Liu

2017-09-01

Full Text Available Algorithms for locomotion mode recognition (LMR based on surface electromyography and mechanical sensors have recently been developed and could be used for the neural control of powered prosthetic legs. However, the variations in input signals, caused by physical changes at the sensor interface and human physiological changes, may threaten the reliability of these algorithms. This study aimed to investigate the effectiveness of applying adaptive pattern classifiers for LMR. Three adaptive classifiers, i.e., entropy-based adaptation (EBA, LearnIng From Testing data (LIFT, and Transductive Support Vector Machine (TSVM, were compared and offline evaluated using data collected from two able-bodied subjects and one transfemoral amputee. The offline analysis indicated that the adaptive classifier could effectively maintain or restore the performance of the LMR algorithm when gradual signal variations occurred. EBA and LIFT were recommended because of their better performance and higher computational efficiency. Finally, the EBA was implemented for real-time human-in-the-loop prosthesis control. The online evaluation showed that the applied EBA effectively adapted to changes in input signals across sessions and yielded more reliable prosthesis control over time, compared with the LMR without adaptation. The developed novel adaptive strategy may further enhance the reliability of neurally-controlled prosthetic legs.

Left–right coordination from simple to extreme conditions during split‐belt locomotion in the chronic spinal adult cat

Science.gov (United States)

Desrochers, Étienne; Thibaudier, Yann; Hurteau, Marie‐France; Dambreville, Charline

2016-01-01

Key points Coordination between the left and right sides is essential for dynamic stability during locomotion.The immature or neonatal mammalian spinal cord can adjust to differences in speed between the left and right sides during split‐belt locomotion by taking more steps on the fast side.We show that the adult mammalian spinal cord can also adjust its output so that the fast side can take more steps.During split‐belt locomotion, only certain parts of the cycle are modified to adjust left–right coordination, primarily those associated with swing onset.When the fast limb takes more steps than the slow limb, strong left–right interactions persist.Therefore, the adult mammalian spinal cord has a remarkable adaptive capacity for left–right coordination, from simple to extreme conditions. Abstract Although left–right coordination is essential for locomotion, its control is poorly understood, particularly in adult mammals. To investigate the spinal control of left–right coordination, a spinal transection was performed in six adult cats that were then trained to recover hindlimb locomotion. Spinal cats performed tied‐belt locomotion from 0.1 to 1.0 m s−1 and split‐belt locomotion with low to high (1:1.25–10) slow/fast speed ratios. With the left hindlimb stepping at 0.1 m s−1 and the right hindlimb stepping from 0.2 to 1.0 m s−1, 1:1, 1:2, 1:3, 1:4 and 1:5 left–right step relationships could appear. The appearance of 1:2+ relationships was not linearly dependent on the difference in speed between the slow and fast belts. The last step taken by the fast hindlimb displayed longer cycle, stance and swing durations and increased extensor activity, as the slow limb transitioned to swing. During split‐belt locomotion with 1:1, 1:2 and 1:3 relationships, the timing of stance onset of the fast limb relative to the slow limb and placement of both limbs at contact were invariant with increasing slow/fast speed ratios. In contrast, the timing of

One dimensional modeling of a diesel-CNG dual fuel engine

Science.gov (United States)

Azman, Putera Adam; Fawzi, Mas; Ismail, Muammar Mukhsin; Osman, Shahrul Azmir

2017-04-01

Some of the previous studies have shown that the use of compressed natural gas (CNG) in diesel engines potentially produce engine performance improvement and exhaust gas emission reduction, especially nitrogen oxides, unburned hydrocarbons, and carbon dioxide. On the other hand, there are other researchers who claimed that the use of CNG increases exhaust gas emissions, particularly nitrogen oxides. In this study, a one-dimensional model of a diesel-CNG dual fuel engine was made based on a 4-cylinder 2.5L common rail direct injection diesel engine. The software used is GT-Power, and it was used to analyze the engine performance and exhaust gas emissions of several diesel-CNG dual fuel blend ratios, i.e. 100:0, 90:10, 80:20, 70:30, 60:40 and 50:50. The effect of 100%, 75%, 50% engine loads on the exhaust gas emissions were also studied. The result shows that all diesel-CNG fuel blends produces higher brake torque and brake power at engine speed of 2000-3000 rpm compared with 100% diesel. The 50:50 diesel-CNG blend produces the highest brake torque and brake power, but also has the highest brake specific fuel consumption. As a higher percentage of CNG added to the dual fuel blend, unburned hydrocarbons and carbon monoxide emission increased while carbon dioxide emission decreased. The nitrogen oxides emission concentration is generally unaffected by any change of the dual fuel ratio.

S-dual inflation: BICEP2 data without unlikeliness

International Nuclear Information System (INIS)

Anchordoqui, Luis A.; Barger, Vernon; Goldberg, Haim; Huang, Xing; Marfatia, Danny

2014-01-01

We show that S-dual inflationary potentials solve the unlikeliness problem manifested in Planck data and explain the excess B-mode power observed by the BICEP2 experiment as arising from primordial tensor fluctuations

Study of 1 MW neutron source synchrotron dual frequency power circuit for the main ring magnets

International Nuclear Information System (INIS)

McGhee, D.G.

1993-01-01

This paper describes the proposed design of the resonant power circuits for the 1-MW neutron source synchrotron's main ring magnets. The synchrotron is to have a duty cycle of 30 Hz with a maximum upper limit of operation corresponding to 2.0 GeV and a maximum design value of 2.2 GeV. A stability of 30 ppM is the design goal for the main bending and focusing magnets (dipoles and quadruples), in order to achieve an overall stabffity of 100 ppm when random field and position errors of the magnets are included. The power circuits of this design are similar to those used in Argonne's Intense Pulsed Neutron Source (IPNS) where the energy losses during each cycle are supplied by continuous excitation from modulated multiphase DC power supplies. Since only 50% of the 30-Hz sinewave is used for acceleration, a dual-frequency resonant magnet circuit is used in this design. The 30-Hz repetition rate is maintained with a 20-Hz magnet guide field during acceleration and a 60-Hz reset field when no beam is present. This lengthens the guide-field rise time and shortens the fall time, improving the duty factor for acceleration. The maximum B dot is reduced by 33% during acceleration and hence, the maximum rf voltage/turn is reduced by 56%

Manual and automatic locomotion scoring systems in dairy cows: A review

NARCIS (Netherlands)

Schlageter-Tello, A.; Bokkers, E.A.M.; Groot Koerkamp, P.W.G.; Hertem, van T.; Viazzi, S.; Romanini Bites, E.; Halachmi, I.; Bahr, C.; Berckmans, D.; Lokhorst, K.

2014-01-01

The objective of this review was to describe, compare and evaluate agreement, reliability, and validity of manual and automatic locomotion scoring systems (MLSSs and ALSSs, respectively) used in dairy cattle lameness research. There are many different types of MLSSs and ALSSs. Twenty-five MLSSs were

Mathematical model for the preliminary analysis of dual-mode space nuclear fission solid core power and propulsion systems, NUROC3A. AMS report No. 1239a

Energy Technology Data Exchange (ETDEWEB)

Grey, J.; Chow, S.

1976-06-30

The three-volume report describes a dual-mode nuclear space power and propulsion system concept that employs an advanced solid-core nuclear fission reactor coupled via heat pipes to one of several electric power conversion systems. Such a concept could be particularly useful for missions which require both relatively high acceleration (e.g., for planetocentric maneuvers) and high performance at low acceleration (e.g., on heliocentric trajectories or for trajectory shaping). The first volume develops the mathematical model of the system.

Differential effects of absent visual feedback control on gait variability during different locomotion speeds.

Science.gov (United States)

Wuehr, M; Schniepp, R; Pradhan, C; Ilmberger, J; Strupp, M; Brandt, T; Jahn, K

2013-01-01

Healthy persons exhibit relatively small temporal and spatial gait variability when walking unimpeded. In contrast, patients with a sensory deficit (e.g., polyneuropathy) show an increased gait variability that depends on speed and is associated with an increased fall risk. The purpose of this study was to investigate the role of vision in gait stabilization by determining the effects of withdrawing visual information (eyes closed) on gait variability at different locomotion speeds. Ten healthy subjects (32.2 ± 7.9 years, 5 women) walked on a treadmill for 5-min periods at their preferred walking speed and at 20, 40, 70, and 80 % of maximal walking speed during the conditions of walking with eyes open (EO) and with eyes closed (EC). The coefficient of variation (CV) and fractal dimension (α) of the fluctuations in stride time, stride length, and base width were computed and analyzed. Withdrawing visual information increased the base width CV for all walking velocities (p < 0.001). The effects of absent visual information on CV and α of stride time and stride length were most pronounced during slow locomotion (p < 0.001) and declined during fast walking speeds. The results indicate that visual feedback control is used to stabilize the medio-lateral (i.e., base width) gait parameters at all speed sections. In contrast, sensory feedback control in the fore-aft direction (i.e., stride time and stride length) depends on speed. Sensory feedback contributes most to fore-aft gait stabilization during slow locomotion, whereas passive biomechanical mechanisms and an automated central pattern generation appear to control fast locomotion.

Research on the Development of the Supercritical CO{sub 2} Dual Brayton Cycle

Energy Technology Data Exchange (ETDEWEB)

Baik, Young-Jin; Na, Sun Ik; Cho, Junhyun; Shin, Hyung-Ki; Lee, Gilbong [Korea Institute of Energy Research (KIER), Daejeon (Korea, Republic of)

2016-10-15

Because of the growing interest in supercritical carbon dioxide power cycle technology owing to its potential enhancement in compactness and efficiency, supercritical carbon dioxide cycles have been studied in the fields of nuclear power, concentrated solar power (CSP), and fossil fuel power generation. This study introduces the current status of the research project on the supercritical carbon dioxide power cycle by Korea Institute of Energy Research (KIER). During the first phase of the project, the un-recuperated supercritical Brayton cycle test loop was built and tested. In phase two, researchers are designing and building a supercritical carbon dioxide dual Brayton cycle, which utilizes two turbines and two recuperators. Under the simulation condition considered in this study, it was confirmed that the design parameter has an optimal value for maximizing the net power in the supercritical carbon dioxide dual cycle.

Chronic low-dose γ-irradiation of Drosophila melanogaster larvae induces gene expression changes and enhances locomotive behavior

International Nuclear Information System (INIS)

Kim, Cha Soon; Lee, Byung Sub; Lee, In Kyung; Yang, Kwang Hee; Kim, Ji-Young; Nam, Seon Young; Seong, Ki Moon

2015-01-01

Although radiation effects have been extensively studied, the biological effects of low-dose radiation (LDR) are controversial. This study investigates LDR-induced alterations in locomotive behavior and gene expression profiles of Drosophila melanogaster. We measured locomotive behavior using larval pupation height and the rapid iterative negative geotaxis (RING) assay after exposure to 0.1 Gy γ-radiation (dose rate of 16.7 mGy/h). We also observed chronic LDR effects on development (pupation and eclosion rates) and longevity (life span). To identify chronic LDR effects on gene expression, we performed whole-genome expression analysis using gene-expression microarrays, and confirmed the results using quantitative real-time PCR. The pupation height of the LDR-treated group at the first larval instar was significantly higher (∼2-fold increase in PHI value, P < 0.05). The locomotive behavior of LDR-treated male flies (∼3 − 5 weeks of age) was significantly increased by 7.7%, 29% and 138%, respectively (P < 0.01), but pupation and eclosion rates and life spans were not significantly altered. Genome-wide expression analysis identified 344 genes that were differentially expressed in irradiated larvae compared with in control larvae. We identified several genes belonging to larval behavior functional groups such as locomotion (1.1%), oxidation reduction (8.0%), and genes involved in conventional functional groups modulated by irradiation such as defense response (4.9%), and sensory and perception (2.5%). Four candidate genes were confirmed as differentially expressed genes in irradiated larvae using qRT-PCR (>2-fold change). These data suggest that LDR stimulates locomotion-related genes, and these genes can be used as potential markers for LDR. (author)

Single-Layer, Dual-Port, Dual-Band, and Orthogonal-Circularly Polarized Microstrip Antenna Array with Low Frequency Ratio

Directory of Open Access Journals (Sweden)

Min Wang

2018-01-01

Full Text Available A single-layer, dual-port, dual-band, and dual circularly polarized (CP microstrip array is designed for satellite communication in this paper. The operating frequencies are 8.2 and 8.6 GHz with a very low ratio of 1.05. First, a rectangular patch element is fed through microstrip lines at two orthogonal edges to excite two orthogonal dominant modes of TM01 and TM10. The very low frequency ratio can be realized with high polarization isolations. Then, a 2-by-2 dual-band dual-CP subarray is constructed by two independent sets of sequentially rotated (SR feed structures. An 8-by-8 array is designed on the single-layer thin substrate. Finally, by utilizing one-to-four power dividers and semirigid coaxial cables, a 16-by-16 array is developed to achieve higher gain. Measured results show that the 16-by-16 array has 15 dB return loss (RL bandwidths of 4.81% and 6.75% and 3 dB axial ratio (AR bandwidths of 2.84% and 1.57% in the lower and the upper bands, respectively. Isolations of 18.6 dB and 19.4 dB and peak gains of 25.1 dBic and 25.6 dBic are obtained at 8.2 and 8.6 GHz, respectively.

Suspended polytetrafluoroethylene nanostructure electret film in dual variable cavities for self-powered micro-shock sensing

Science.gov (United States)

Zhu, Jianxiong; Chen, Cong; Guo, Xiaoyu

2018-04-01

We report a suspended polytetrafluoroethylene (PTFE) nanostructure electret film in dual variable cavities for a self-powered micro-shock sensing application. The prototype contained series variable air cavities, a suspended nanostructure PTFE electret film and independent electrode films. The charges on the suspended nanostructure PTFE electret film provided the electrostatic field around the electret film in the series variable air cavities. When the reported device was driven by a micro-shock pressure, the inducted electrostatic charges on both the top and bottom electrodes would vary as the micro-shock pressing or releasing. Experimental results showed that the maximum of a short-circuit current density (J sc ) and an open-circuit voltage (V oc ) reached 3 ± 0.1 nA cm‑2 and 3.6 ± 0.1 V, respectively. It was found that the parameter J sc was more advantageous in identifying stronger shocks (parameter acceleration a bigger than 0.1 m s‑2), whereas the parameter V oc was more sensitive for weaker shocks, such as acceleration a smaller than 0.1 m s‑2. Moreover, finger continuous micro-shock pressure taps application was used to demonstrate the mechanical energy conversion performance with 4.5 ± 0.2 V open-circuit voltages. The research on the nanostructure electret PTFE film in series dual variable air cavities not only gave us a fresh idea about the principle and design of the shocking sensor, but also provided an easy fabrication and a low cost shocking sensor for the Internet of Things (IoT) systems.

Numerical Comparison of NASA's Dual Brayton Power Generation System Performance Using CO2 or N2 as the Working Fluid

Science.gov (United States)

Ownens, Albert K.; Lavelle, Thomas M.; Hervol, David S.

2010-01-01

A Dual Brayton Power Conversion System (DBPCS) has been tested at the NASA Glenn Research Center using Nitrogen (N2) as the working fluid. This system uses two closed Brayton cycle systems that share a common heat source and working fluid but are otherwise independent. This system has been modeled using the Numerical Propulsion System Simulation (NPSS) environment. This paper presents the results of a numerical study that investigated system performance changes resulting when the working fluid is changed from gaseous (N2) to gaseous carbon dioxide (CO2).

Adaptive real-time dual-comb spectroscopy

Science.gov (United States)

Ideguchi, Takuro; Poisson, Antonin; Guelachvili, Guy; Picqué, Nathalie; Hänsch, Theodor W.

2014-01-01

The spectrum of a laser frequency comb consists of several hundred thousand equally spaced lines over a broad spectral bandwidth. Such frequency combs have revolutionized optical frequency metrology and they now hold much promise for significant advances in a growing number of applications including molecular spectroscopy. Despite an intriguing potential for the measurement of molecular spectra spanning tens of nanometres within tens of microseconds at Doppler-limited resolution, the development of dual-comb spectroscopy is hindered by the demanding stability requirements of the laser combs. Here we overcome this difficulty and experimentally demonstrate a concept of real-time dual-comb spectroscopy, which compensates for laser instabilities by electronic signal processing. It only uses free-running mode-locked lasers without any phase-lock electronics. We record spectra spanning the full bandwidth of near-infrared fibre lasers with Doppler-limited line profiles highly suitable for measurements of concentrations or line intensities. Our new technique of adaptive dual-comb spectroscopy offers a powerful transdisciplinary instrument for analytical sciences. PMID:24572636

Adaptive real-time dual-comb spectroscopy

Science.gov (United States)

Ideguchi, Takuro; Poisson, Antonin; Guelachvili, Guy; Picqué, Nathalie; Hänsch, Theodor W.

2014-02-01

The spectrum of a laser frequency comb consists of several hundred thousand equally spaced lines over a broad spectral bandwidth. Such frequency combs have revolutionized optical frequency metrology and they now hold much promise for significant advances in a growing number of applications including molecular spectroscopy. Despite an intriguing potential for the measurement of molecular spectra spanning tens of nanometres within tens of microseconds at Doppler-limited resolution, the development of dual-comb spectroscopy is hindered by the demanding stability requirements of the laser combs. Here we overcome this difficulty and experimentally demonstrate a concept of real-time dual-comb spectroscopy, which compensates for laser instabilities by electronic signal processing. It only uses free-running mode-locked lasers without any phase-lock electronics. We record spectra spanning the full bandwidth of near-infrared fibre lasers with Doppler-limited line profiles highly suitable for measurements of concentrations or line intensities. Our new technique of adaptive dual-comb spectroscopy offers a powerful transdisciplinary instrument for analytical sciences.

Dual side control for inductive power transfer

Science.gov (United States)

Wu, Hunter; Sealy, Kylee; Gilchrist, Aaron

2017-09-12

An apparatus for dual side control includes a measurement module that measures a voltage and a current of an IPT system. The voltage includes an output voltage and/or an input voltage and the current includes an output current and/or an input current. The output voltage and the output current are measured at an output of the IPT system and the input voltage and the input current measured at an input of the IPT system. The apparatus includes a max efficiency module that determines a maximum efficiency for the IPT system. The max efficiency module uses parameters of the IPT system to iterate to a maximum efficiency. The apparatus includes an adjustment module that adjusts one or more parameters in the IPT system consistent with the maximum efficiency calculated by the max efficiency module.

Dual turbine power plant and method of operating such plant, especially one having an HTGR steam supply

International Nuclear Information System (INIS)

Braytenbah, A.S.; Jaegtnes, K.O.

1977-01-01

A power plant including dual steam turbine-generators connected to pass superheat and reheat steam from a steam generator which derives heat from the coolant gas of a high temperature gas-cooled nuclear reactor is described. Associated with each turbine is a bypass line to conduct superheat steam in parallel with a high pressure turbine portion, and a bypass line to conduct superheat steam in parallel with a lower pressure turbine portion. Auxiliary steam turbines pass a portion of the steam flow to the reheater of the steam generator and drive gas blowers which circulate the coolant gas through the reactor and the steam source. Apparatus and method are disclosed for loading or unloading a turbine-generator while the other produces a steady power output. During such loading or unloading, the steam flows through the turbine portions are coordinated with the steam flows through the bypass lines for protection of the steam generator, and the pressure of reheated steam is regulated for improved performance of the gas blowers. 33 claims, 5 figures

A Novel Dual-Band Rectenna for Ambient RF Energy Harvesting at GSM 900 MHz and 1800 MHz

Directory of Open Access Journals (Sweden)

Dinh Khanh Ho

2017-06-01

Full Text Available This paper presents a novel dual-band rectenna for RF energy harvesting system. This rectenna is created from a dual-band antenna and a dual-band rectifier which operates at GSM bands (900 MHz and 1800 MHz. The printed monopole antenna is miniaturized by two meander-lines. The received signal from the receiving antenna is rectified by a voltage double using Schottky diode SMS-7630. The rectifier is optimized for low input power level of -20dBm using harmonic balance. Prototype is designed and fabricated. The simulation is validated by measurement with power conversion efficiency of 20% and 40.8% (in measurement at the input power level of -20dBm. The proposed rectenna has output voltage from 183-415 mV. From the measured results, this rectenna provides the possibility to harvest the ambient electromagnetic energy for powering low-power electronic devices.

Scaling in Theropod Dinosaurs: Femoral Bone Strength and Locomotion II

Science.gov (United States)

Lee, Scott

2015-01-01

In the second paper of this series, the effect of transverse femoral stresses due to locomotion in theropod dinosaurs of different sizes was examined for the case of an unchanging leg geometry. Students are invariably thrilled to learn about theropod dinosaurs, and this activity applies the concepts of torque and stress to the issue of theropod…

BiLBIQ A Biologically Inspired Robot with Walking and Rolling Locomotion

CERN Document Server

King, Ralf Simon

2013-01-01

The book ‘BiLBIQ: A biologically inspired Robot with walking and rolling locomotion’ deals with implementing a locomotion behavior observed in the biological archetype Cebrennus villosus to a robot prototype whose structural design needs to be developed.   The biological sample is investigated as far as possible and compared to other evolutional solutions within the framework of nature’s inventions. Current achievements in robotics are examined and evaluated for their relation and relevance to the robot prototype in question. An overview of what is state of the art in actuation ensures the choice of the hardware available and most suitable for this project. Through a constant consideration of the achievement of two fundamentally different ways of locomotion with one and the same structure, a robot design is developed and constructed taking hardware constraints into account. The development of a special leg structure that needs to resemble and replace body elements of the biological archetype is a speci...

Electroencephalography(EEG)-based instinctive brain-control of a quadruped locomotion robot.

Science.gov (United States)

Jia, Wenchuan; Huang, Dandan; Luo, Xin; Pu, Huayan; Chen, Xuedong; Bai, Ou

2012-01-01

Artificial intelligence and bionic control have been applied in electroencephalography (EEG)-based robot system, to execute complex brain-control task. Nevertheless, due to technical limitations of the EEG decoding, the brain-computer interface (BCI) protocol is often complex, and the mapping between the EEG signal and the practical instructions lack of logic associated, which restrict the user's actual use. This paper presents a strategy that can be used to control a quadruped locomotion robot by user's instinctive action, based on five kinds of movement related neurophysiological signal. In actual use, the user drives or imagines the limbs/wrists action to generate EEG signal to adjust the real movement of the robot according to his/her own motor reflex of the robot locomotion. This method is easy for real use, as the user generates the brain-control signal through the instinctive reaction. By adopting the behavioral control of learning and evolution based on the proposed strategy, complex movement task may be realized by instinctive brain-control.

To solve the specific emissions of locomotive diesel engines. Final report

International Nuclear Information System (INIS)

Korhonen, R.; Maeaettaenen, M.

1999-01-01

Ministry of Transport has made a goal to create an uniform system to make it possible to compare emissions of different transport forms. Kymenlaakso Polytechnic was supported by the Mobile Research Programme to measure the specific emissions of locomotive diesel engines. VR Osakeyhtioe has also supported economically the research work. During the research specific emissions of three diesel engines used in locomotives and calculated according to ISO 8178 standard were measured. In all, emissions of 14 engines were measured. For 12 engines measurements were made after the engine shop repair and for two engines before the repairing. Gaseous emissions: nitric oxide, carbon monoxide, carbon dioxide and total hydrocarbons contents were measured. Based on measured emissions and sulphur contents of the oil the weighted emissions were calculated in units g/kWh and g/kg fuel . Particular emissions were measured with dilution method and specific emissions were calculated in same units as for gaseous emissions

Design of a biped locomotion controller based on adaptive neuro-fuzzy inference systems

Energy Technology Data Exchange (ETDEWEB)

Shieh, M-Y; Chang, K-H [Department of E. E., Southern Taiwan University, 1 Nantai St., YungKang City, Tainan County 71005, Taiwan (China); Lia, Y-S [Executive Director Office, ITRI, Southern Taiwan Innovation Park, Tainan County, Taiwan (China)], E-mail: myshieh@mail.stut.edu.tw

2008-02-15

This paper proposes a method for the design of a biped locomotion controller based on the ANFIS (Adaptive Neuro-Fuzzy Inference System) inverse learning model. In the model developed here, an integrated ANFIS structure is trained to function as the system identifier for the modeling of the inverse dynamics of a biped robot. The parameters resulting from the modeling process are duplicated and integrated as those of the biped locomotion controller to provide favorable control action. As the simulation results show, the proposed controller is able to generate a stable walking cycle for a biped robot. Moreover, the experimental results demonstrate that the performance of the proposed controller is satisfactory under conditions when the robot stands in different postures or moves on a rugged surface.

Design of a biped locomotion controller based on adaptive neuro-fuzzy inference systems

International Nuclear Information System (INIS)

Shieh, M-Y; Chang, K-H; Lia, Y-S

2008-01-01

This paper proposes a method for the design of a biped locomotion controller based on the ANFIS (Adaptive Neuro-Fuzzy Inference System) inverse learning model. In the model developed here, an integrated ANFIS structure is trained to function as the system identifier for the modeling of the inverse dynamics of a biped robot. The parameters resulting from the modeling process are duplicated and integrated as those of the biped locomotion controller to provide favorable control action. As the simulation results show, the proposed controller is able to generate a stable walking cycle for a biped robot. Moreover, the experimental results demonstrate that the performance of the proposed controller is satisfactory under conditions when the robot stands in different postures or moves on a rugged surface

Using Computational and Mechanical Models to Study Animal Locomotion

OpenAIRE

Miller, Laura A.; Goldman, Daniel I.; Hedrick, Tyson L.; Tytell, Eric D.; Wang, Z. Jane; Yen, Jeannette; Alben, Silas

2012-01-01

Recent advances in computational methods have made realistic large-scale simulations of animal locomotion possible. This has resulted in numerous mathematical and computational studies of animal movement through fluids and over substrates with the purpose of better understanding organisms’ performance and improving the design of vehicles moving through air and water and on land. This work has also motivated the development of improved numerical methods and modeling techniques for animal locom...

Markerless 3D motion capture for animal locomotion studies

OpenAIRE

William Irvin Sellers; Eishi Hirasaki

2014-01-01

ABSTRACT Obtaining quantitative data describing the movements of animals is an essential step in understanding their locomotor biology. Outside the laboratory, measuring animal locomotion often relies on video-based approaches and analysis is hampered because of difficulties in calibration and often the limited availability of possible camera positions. It is also usually restricted to two dimensions, which is often an undesirable over-simplification given the essentially three-dimensional na...

Wireless powering for a self-propelled and steerable endoscopic capsule for stomach inspection.

Science.gov (United States)

Carta, R; Tortora, G; Thoné, J; Lenaerts, B; Valdastri, P; Menciassi, A; Dario, P; Puers, R

2009-12-15

This paper describes the integration of an active locomotion module in a wirelessly powered endoscopic capsule. The device is a submersible capsule optimized to operate in a fluid environment in a liquid-distended stomach. A 3D inductive link is used to supply up to 400mW to the embedded electronics and a set of 4 radio-controlled motor propellers. The design takes advantage of a ferrite-core in the receiving coil-set. This approach significantly improves the coupling with the external field source with respect to earlier work by the group. It doubles the power that can be received with a coreless coil-set under identical external conditions. The upper limit of the received power was achieved complying with the strict regulations for safe exposure of biological tissue to variable magnetic fields. The wireless transferred power was proven to be sufficient to achieve the speed of 7cm/s in any directions. An optimized locomotion strategy was defined which limits the power consumption by running only 2 motors at a time. A user interface and a joystick controller allow to fully drive the capsule in an intuitive manner. The device functionalities were successfully tested in a dry and a wet environment in a laboratory set-up.

Design and Control of a Powered Hip Exoskeleton for Walking Assistance

OpenAIRE

Wu, Qingcong; Wang, Xingsong; Du, Fengpo; Zhang, Xiaobo

2015-01-01

The wearable powered exoskeleton is a human-robot cooperation system that integrates the strength of a robot with human intelligence. This paper presents the research results into a powered hip exoskeleton (PH-EXOS) designed to provide locomotive assistance to individuals with walking impediments. The Bowden cable actuated exoskeleton has an anthropomorphic structure with six degrees of freedom (DOF) in order to match the human hip anatomy and enable natural interaction with the user. The mec...

Neural Control and Adaptive Neural Forward Models for Insect-like, Energy-Efficient, and Adaptable Locomotion of Walking Machines

DEFF Research Database (Denmark)

Manoonpong, Poramate; Parlitz, Ulrich; Wörgötter, Florentin

2013-01-01

such natural properties with artificial legged locomotion systems by using different approaches including machine learning algorithms, classical engineering control techniques, and biologically-inspired control mechanisms. However, their levels of performance are still far from the natural ones. By contrast...... on sensory feedback and adaptive neural forward models with efference copies. This neural closed-loop controller enables a walking machine to perform a multitude of different walking patterns including insect-like leg movements and gaits as well as energy-efficient locomotion. In addition, the forward models...... allow the machine to autonomously adapt its locomotion to deal with a change of terrain, losing of ground contact during stance phase, stepping on or hitting an obstacle during swing phase, leg damage, and even to promote cockroach-like climbing behavior. Thus, the results presented here show...

Nuclear dual-purpose plants for industrial energy

International Nuclear Information System (INIS)

Klepper, O.H.

1976-01-01

One of the major obstacles to extensive application of nuclear power to industrial heat is the difference between the relatively small energy requirements of individual industrial plants and the large thermal capacity of current power reactors. A practical way of overcoming this obstacle would be to operate a centrally located dual-purpose power plant that would furnish process steam to a cluster of industrial plants, in addition to generating electrical power. The present study indicates that even relatively remote industrial plants could be served by the power plant, since it might be possible to convey steam economically as much as ten miles or more. A survey of five major industries indicates a major potential market for industrial steam from large nuclear power stations

One- and two-dimensional antenna arrays for microwave wireless power transfer (MWPT) systems and dual-antenna transceivers

Science.gov (United States)

Lin, Yo-Sheng; Hu, Chun-Hao; Chang, Chi-Ho; Tsao, Ping-Chang

2018-06-01

In this work, we demonstrate novel one-dimensional (1D) and two-dimensional (2D) antenna arrays for both microwave wireless power transfer (MWPT) systems and dual-antenna transceivers. The antenna array can be used as the MWPT receiving antenna of an integrated MWPT and Bluetooth (BLE) communication module (MWPT-BLE module) for smart CNC (computer numerical control) spindle incorporated with the cloud computing system SkyMars. The 2D antenna array has n rows of 1 × m 1D array, and each array is composed of multiple (m) differential feeding antenna elements. Each differential feeding antenna element is a differential feeding structure with a microstrip antenna stripe. The stripe length is shorter than one wavelength to minimise the antenna area and to prevent being excited to a high-order mode. That is, the differential feeding antenna element can suppress the even mode. The mutual coupling between the antenna elements can be suppressed, and the isolation between the receiver and the transmitter can be enhanced. An inclination angle of the main beam aligns with the broadside, and the main beam is further concentrated and shrunk at the elevation direction. Moreover, if more differential feeding antenna elements are used, antenna gain and isolation can be further enhanced. The excellent performance of the proposed antenna arrays indicates that they are suitable for both MWPT systems and dual-antenna transceivers.

Effectiveness of the neutron-shield nanocomposites for a dual-purpose cask of Bushehr's Water–Water Energetic Reactor (VVER 1000 nuclear-power-plant spent fuels

Directory of Open Access Journals (Sweden)

Mahdi Rezaeian

2017-10-01

Full Text Available In order to perform dry interim storage and transportation of the spent-fuel assemblies of the Bushehr Nuclear Power Plant, dual-purpose casks can be utilized. The effectiveness of different neutron-shield materials for the dual-purpose cask was analyzed through a set of calculations carried out using the Monte Carlo N-Particle (MCNP code. The dose rate for the dual-purpose cask utilizing the recently developed materials of epoxy/clay/B4C and epoxy/clay/B4C/carbon fiber was less than the allowable radiation level of 2 mSv/h at any point and 0.1 mSv/h at 2 m from the external surface of the cask. By utilization of epoxy/clay/B4C instead of an ethylene glycol/water mixture, the dose rates on the side surface of the cask due to neutron sources and consequent secondary gamma rays will be reduced by 17.5% and 10%, respectively. The overall dose rate in this case will be reduced by 11%.

Interactions between posture and locomotion: motor patterns in humans walking with bent posture versus erect posture.

Science.gov (United States)

Grasso, R; Zago, M; Lacquaniti, F

2000-01-01

Human erect locomotion is unique among living primates. Evolution selected specific biomechanical features that make human locomotion mechanically efficient. These features are matched by the motor patterns generated in the CNS. What happens when humans walk with bent postures? Are normal motor patterns of erect locomotion maintained or completely reorganized? Five healthy volunteers walked straight and forward at different speeds in three different postures (regular, knee-flexed, and knee- and trunk-flexed) while their motion, ground reaction forces, and electromyographic (EMG) activity were recorded. The three postures imply large differences in the position of the center of body mass relative to the body segments. The elevation angles of the trunk, pelvis, and lower limb segments relative to the vertical in the sagittal plane, the ground reaction forces and the rectified EMGs were analyzed over the gait cycle. The waveforms of the elevation angles along the gait cycle remained essentially unchanged irrespective of the adopted postures. The first two harmonics of these kinematic waveforms explain >95% of their variance. The phase shift but not the amplitude ratio between the first harmonic of the elevation angle waveforms of adjacent pairs was affected systematically by changes in posture. Thigh, shank, and foot angles covaried close to a plane in all conditions, but the plane orientation was systematically different in bent versus erect locomotion. This was explained by the changes in the temporal coupling among the three segments. For walking speeds >1 m s(-1), the plane orientation of bent locomotion indicates a much lower mechanical efficiency relative to erect locomotion. Ground reaction forces differed prominently in bent versus erect posture displaying characteristics intermediate between those typical of walking and those of running. Mean EMG activity was greater in bent postures for all recorded muscles independent of the functional role. The waveforms

Continuum limbed robots for locomotion

Science.gov (United States)

Mutlu, Alper

This thesis focuses on continuum robots based on pneumatic muscle technology. We introduce a novel approach to use these muscles as limbs of lightweight legged robots. The flexibility of the continuum legs of these robots offers the potential to perform some duties that are not possible with classical rigid-link robots. Potential applications are as space robots in low gravity, and as cave explorer robots. The thesis covers the fabrication process of continuum pneumatic muscles and limbs. It also provides some new experimental data on this technology. Afterwards, the designs of two different novel continuum robots - one tripod, one quadruped - are introduced. Experimental data from tests using the robots is provided. The experimental results are the first published example of locomotion with tripod and quadruped continuum legged robots. Finally, discussion of the results and how far this technology can go forward is presented.

Locomotion and the Cost of Hunting in Large, Stealthy Marine Carnivores.

Science.gov (United States)

Williams, Terrie M; Fuiman, Lee A; Davis, Randall W

2015-10-01

Foraging by large (>25 kg), mammalian carnivores often entails cryptic tactics to surreptitiously locate and overcome highly mobile prey. Many forms of intermittent locomotion from stroke-and-glide maneuvers by marine mammals to sneak-and-pounce behaviors by terrestrial canids, ursids, and felids are involved. While affording proximity to vigilant prey, these tactics are also associated with unique energetic costs and benefits to the predator. We examined the energetic consequences of intermittent locomotion in mammalian carnivores and assessed the role of these behaviors in overall foraging efficiency. Behaviorally-linked, three-axis accelerometers were calibrated to provide instantaneous locomotor behaviors and associated energetic costs for wild adult Weddell seals (Leptonychotes weddellii) diving beneath the Antarctic ice. The results were compared with previously published values for other marine and terrestrial carnivores. We found that intermittent locomotion in the form of extended glides, burst-and-glide swimming, and rollercoaster maneuvers while hunting silverfish (Pleuragramma antarcticum) resulted in a marked energetic savings for the diving seals relative to continuously stroking. The cost of a foraging dive by the seals decreased by 9.2-59.6%, depending on the proportion of time gliding. These energetic savings translated into exceptionally low transport costs during hunting (COTHUNT) for diving mammals. COTHUNT for Weddell seals was nearly six times lower than predicted for large terrestrial carnivores, and demonstrates the importance of turning off the propulsive machinery to facilitate cost-efficient foraging in highly active, air-breathing marine predators. © The Author 2015. Published by Oxford University Press on behalf of the Society for Integrative and Comparative Biology. All rights reserved. For permissions please email: journals.permissions@oup.com.

Inverted Unified Power Quality Conditioner to compensate overvoltage

Directory of Open Access Journals (Sweden)

Yeison Alberto Garcés Gómez

2017-07-01

Full Text Available Introduction: The use of unified power quality conditioners UPQC in the electric systems can correct waveform distortions in a steady state, like harmonics, flicker, and the power factor. Objective: This paper presents a novel approach for active compensation of overvoltage with a UPQC in dual topology or iUPQC. Methodology: The study it is presented in five stages, the section I shows an introduction and the state of the art, section II presents the unified power quality conditioner UPQC, section III describes the generalized reactive power theory applied to the iUPQC (dual topology, section IV shows the numerical simulations and the results and section V presents the conclusions of the study. Results: The results for the application of the iUPQC to the compensation of overvoltage are proved and compared with the more representative theory related to compensation of harmonics and low power factor. Conclusions: The control algorithm presented for the unified power quality conditioner in dual topology allows to compensate the overvoltage in three-phase systems as well as voltage and current harmonics and the low power factor.